usb_libusb10.h
Go to the documentation of this file.00001 /* 00002 * This file is part of the OpenKinect Project. http://www.openkinect.org 00003 * 00004 * Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file 00005 * for details. 00006 * 00007 * This code is licensed to you under the terms of the Apache License, version 00008 * 2.0, or, at your option, the terms of the GNU General Public License, 00009 * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses, 00010 * or the following URLs: 00011 * http://www.apache.org/licenses/LICENSE-2.0 00012 * http://www.gnu.org/licenses/gpl-2.0.txt 00013 * 00014 * If you redistribute this file in source form, modified or unmodified, you 00015 * may: 00016 * 1) Leave this header intact and distribute it under the same terms, 00017 * accompanying it with the APACHE20 and GPL20 files, or 00018 * 2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or 00019 * 3) Delete the GPL v2 clause and accompany it with the APACHE20 file 00020 * In all cases you must keep the copyright notice intact and include a copy 00021 * of the CONTRIB file. 00022 * 00023 * Binary distributions must follow the binary distribution requirements of 00024 * either License. 00025 */ 00026 00027 #ifndef USB_LIBUSB10 00028 #define USB_LIBUSB10 00029 00030 #include <libusb-1.0/libusb.h> 00031 00032 #if defined(__APPLE__) 00033 /* 00034 From Github Issue 22 by Roefer - 00035 https://github.com/OpenKinect/libfreenect/issues/#issue/22 00036 00037 The current implementation still does not reach 30 Hz on MacOS. This 00038 is due to bad scheduling of USB transfers in libusb (Ed Note: libusb 00039 1.0.8). A fix can be found at 00040 http://www.informatik.uni-bremen.de/~roefer/libusb/libusb-osx-kinect.diff 00041 00042 (Ed Note: patch applies to libusb repo at 7da756e09fd) 00043 00044 In camera.c, I use PKTS_PER_XFER = 128, NUM_XFERS = 4. There are a 00045 few rules: PKTS_PER_XFER * NUM_XFERS <= 1000, PKTS_PER_XFER % 8 == 0. 00046 */ 00047 #define PKTS_PER_XFER 128 00048 #define NUM_XFERS 4 00049 #define DEPTH_PKTBUF 2048 00050 #define RGB_PKTBUF 2048 00051 #else 00052 #define PKTS_PER_XFER 16 00053 #define NUM_XFERS 16 00054 #define DEPTH_PKTBUF 1920 00055 #define RGB_PKTBUF 1920 00056 #endif 00057 00058 typedef struct { 00059 libusb_context *ctx; 00060 int should_free_ctx; 00061 } fnusb_ctx; 00062 00063 typedef struct { 00064 freenect_device *parent; //so we can go up from the libusb userdata 00065 libusb_device_handle *dev; 00066 } fnusb_dev; 00067 00068 typedef struct { 00069 fnusb_dev *parent; //so we can go up from the libusb userdata 00070 struct libusb_transfer **xfers; 00071 uint8_t *buffer; 00072 fnusb_iso_cb cb; 00073 int num_xfers; 00074 int pkts; 00075 int len; 00076 int dead; 00077 int dead_xfers; 00078 } fnusb_isoc_stream; 00079 00080 int fnusb_init(fnusb_ctx *ctx, freenect_usb_context *usb_ctx); 00081 int fnusb_shutdown(fnusb_ctx *ctx); 00082 int fnusb_process_events(fnusb_ctx *ctx); 00083 00084 int fnusb_open_subdevices(freenect_device *dev, int index); 00085 00086 int fnusb_start_iso(fnusb_dev *dev, fnusb_isoc_stream *strm, fnusb_iso_cb cb, int ep, int xfers, int pkts, int len); 00087 int fnusb_stop_iso(fnusb_dev *dev, fnusb_isoc_stream *strm); 00088 00089 int fnusb_control(fnusb_dev *dev, uint8_t bmRequestType, uint8_t bRequest, uint16_t wValue, uint16_t wIndex, uint8_t *data, uint16_t wLength); 00090 00091 00092 #endif