PrimeSense.h

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/*****************************************************************************
*                                                                            *
*  OpenNI 2.x Alpha                                                          *
*  Copyright (C) 2012 PrimeSense Ltd.                                        *
*                                                                            *
*  This file is part of OpenNI.                                              *
*                                                                            *
*  Licensed under the Apache License, Version 2.0 (the "License");           *
*  you may not use this file except in compliance with the License.          *
*  You may obtain a copy of the License at                                   *
*                                                                            *
*      http://www.apache.org/licenses/LICENSE-2.0                            *
*                                                                            *
*  Unless required by applicable law or agreed to in writing, software       *
*  distributed under the License is distributed on an "AS IS" BASIS,         *
*  WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.  *
*  See the License for the specific language governing permissions and       *
*  limitations under the License.                                            *
*                                                                            *
*****************************************************************************/
#ifndef PRIMESENSE_H
#define PRIMESENSE_H

#include <OniCTypes.h>

enum
{
        // Stream Properties
        PS_PROPERTY_DUMP_DATA = 0x1d270001, // boolean
        PS_PROPERTY_GAIN = 0x1d270002, // int - system specific

        // Device Properties
    PS_PROPERTY_USB_INTERFACE = 0x1d27F001, // values from XnUsbInterfaceType
};

enum
{
        // Device Commands - use via invoke()
        PS_COMMAND_AHB_READ = 0x1d27E001, // XnCommandAHB
        PS_COMMAND_AHB_WRITE = 0x1d27E002, // XnCommandAHB
        PS_COMMAND_I2C_READ = 0x1d27E003, // XnCommandI2C
        PS_COMMAND_I2C_WRITE = 0x1d27E004, // XnCommandI2C
        PS_COMMAND_SOFT_RESET = 0x1d27E005, // no arguments
        PS_COMMAND_POWER_RESET = 0x1d27E006, // no arguments
        PS_COMMAND_BEGIN_FIRMWARE_UPDATE = 0x1d27E007, // no arguments
        PS_COMMAND_END_FIRMWARE_UPDATE = 0x1d27E008, // no arguments
        PS_COMMAND_UPLOAD_FILE = 0x1d27E009, // XnCommandUploadFile
        PS_COMMAND_DOWNLOAD_FILE = 0x1d27E00A, // XnCommandDownloadFile
        PS_COMMAND_GET_FILE_LIST = 0x1d27E00B, // an array of XnFileEntry
        PS_COMMAND_FORMAT_ZONE = 0x1d27E00C, // XnCommandFormatZone
        PS_COMMAND_DUMP_ENDPOINT = 0x1d27E00D, // XnCommandDumpEndpoint
        PS_COMMAND_GET_I2C_DEVICE_LIST = 0x1d27E00E, // XnCommandGetI2CDevices
        PS_COMMAND_GET_BIST_LIST = 0x1d27E00F, // XnCommandGetBistList
        PS_COMMAND_EXECUTE_BIST = 0x1d27E010, // XnCommandExecuteBist
        PS_COMMAND_USB_TEST = 0x1d27E011, // XnCommandUsbTest
        PS_COMMAND_GET_LOG_MASK_LIST = 0x1d27E012, // XnCommandGetLogMaskList
        PS_COMMAND_SET_LOG_MASK_STATE = 0x1d27E013, // XnCommandSetLogMaskState
        PS_COMMAND_START_LOG = 0x1d27E014, // no arguments
    PS_COMMAND_STOP_LOG = 0x1d27E015, // no arguments
    PS_COMMAND_READ_TEMPERATURE = 0x1d27E016, // no arguments    
    PS_COMMAND_GET_TEMP_LIST = 0x1d27E017,// PrintTempList
    PS_COMMAND_READ_DEBUG_DATA = 0x1d27E018, //ReadDebugDaata
};

typedef enum XnUsbInterfaceType
{
        PS_USB_INTERFACE_DONT_CARE = 0,
        PS_USB_INTERFACE_ISO_ENDPOINTS = 1,
        PS_USB_INTERFACE_BULK_ENDPOINTS = 2,
} XnUsbInterfaceType;

#pragma pack (push, 1)

// Data Types
typedef struct XnFwFileVersion
{
        uint8_t major;
        uint8_t minor;
        uint8_t maintenance;
        uint8_t build;
} XnFwFileVersion;

typedef enum XnFwFileFlags
{
        XN_FILE_FLAG_BAD_CRC                                    = 0x0001,
} XnFwFileFlags;

typedef struct XnFwFileEntry
{
        char name[32];
        XnFwFileVersion version;
        uint32_t address;
        uint32_t size;
        uint16_t crc;
        uint16_t zone;
        XnFwFileFlags flags; // bitmap 
} XnFwFileEntry;

typedef struct XnI2CDeviceInfo
{
    uint8_t masterId;
    uint8_t slaveId;
        uint32_t id;
        char name[32];
} XnI2CDeviceInfo;

typedef struct XnBistInfo
{
        uint32_t id;
        char name[32];
} XnBistInfo;

typedef struct XnTempInfo
{
    uint32_t id;
    char name[16];
} XnTempInfo;

typedef struct XnFwLogMask
{
        uint32_t id;
        char name[32];
} XnFwLogMask;

typedef struct XnUsbTestEndpointResult
{
        double averageBytesPerSecond;
        uint32_t lostPackets;
} XnUsbTestEndpointResult;

// Commands

typedef struct XnCommandAHB
{
        uint32_t address;               // Address of this register
        uint32_t offsetInBits;  // Offset of the field in bits within address
        uint32_t widthInBits;   // Width of the field in bits
        uint32_t value;                 // For read requests, this is where the actual value will be filled. For write requests, the value to write.
} XnCommandAHB;

typedef struct XnCommandI2C
{
        uint32_t deviceID;              // Device to communicate with
        uint32_t addressSize;   // Size of the address, in bytes (1-4)
        uint32_t address;               // Address
        uint32_t valueSize;             // Size of the value, in bytes (1-4)
        uint32_t mask;                  // For write request - a mask to be applied to the value. For read requests - ignored.
        uint32_t value;                 // For write request - the value to be written. For read requests - the place where the actual value is written to
} XnCommandI2C;

typedef struct XnCommandUploadFile  
{
        const char* filePath;
        uint32_t uploadToFactory;
} XnCommandUploadFile;  

typedef struct XnCommandDownloadFile  
{
        uint16_t zone;
        const char*  firmwareFileName;
        const char*  targetPath;
} XnCommandDownloadFile;  

typedef struct XnCommandGetFileList
{
        uint32_t count;         // in: number of allocated elements in files array. out: number of written elements in the array
        XnFwFileEntry* files;
} XnCommandGetFileList;

typedef struct XnCommandFormatZone 
{
        uint8_t zone;
} XnCommandFormatZone;

typedef struct XnCommandDumpEndpoint
{
        uint8_t endpoint;
        bool enabled;
} XnCommandDumpEndpoint;

typedef struct XnCommandGetI2CDeviceList
{
        uint32_t count; // in: number of allocated elements in devices array. out: number of written elements in the array
        XnI2CDeviceInfo* devices;
} XnCommandGetI2CDeviceList;

typedef struct XnCommandGetBistList
{
        uint32_t count; // in: number of allocated elements in tests array. out: number of written elements in the array
        XnBistInfo* tests;
} XnCommandGetBistList;

typedef struct XnCommandGetTempList
{
        uint32_t count; // in: number of allocated elements in tests array. out: number of written elements in the array
        XnTempInfo* pTempInfos;
} XnCommandGetTempList;

typedef struct XnCommandExecuteBist
{
        uint32_t id;
        uint32_t errorCode;
        uint32_t extraDataSize; // in: number of allocated bytes in extraData. out: number of written bytes in extraData
        uint8_t* extraData;
} XnCommandExecuteBist;

typedef struct XnCommandTemperatureResponse
{
    uint32_t id;
    float temperature;
} XnCommandTemperatureResponse;

typedef struct XnCommandUsbTest
{
        uint32_t seconds;
        uint32_t endpointCount; // in: number of allocated bytes in endpoints array. out: number of written bytes in array
        XnUsbTestEndpointResult* endpoints;
} XnCommandUsbTest;

typedef struct XnCommandGetLogMaskList
{
        uint32_t count; // in: number of allocated elements in masks array. out: number of written elements in the array
        XnFwLogMask* masks;
} XnCommandGetLogMaskList;

typedef struct XnCommandSetLogMaskState
{
        uint32_t mask;
        bool enabled;
} XnCommandSetLogMaskState;

typedef struct XnCommandDebugData
{
    uint16_t dataID;    // Values come from XnLinkInternalPropID
    uint16_t dataSize;  // in: size of allocated buffer in data, out: actual bytes written to data
    uint8_t* data;
} XnCommandDebugData;

#pragma pack (pop)

#endif // PRIMESENSE_H