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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 HOST_PROTOCOL_H
#define HOST_PROTOCOL_H
#include <XnStreamParams.h>
#include "XnParams.h"
#include "XnDeviceSensor.h"
#include "XnFirmwareTypes.h"
#define XN_HOST_MAGIC_25 0x5053 //PS
#define XN_FW_MAGIC_25 0x5350 //SP
#define XN_HOST_MAGIC_26 0x4d47 //MG
#define XN_FW_MAGIC_26 0x4252 //BR
#define XN_FPGA_VER_FPDB_26 0x21
#define XN_FPGA_VER_FPDB_25 0x0
#define XN_FPGA_VER_CDB 0x1
#define XN_FPGA_VER_RD3 0x2
#define XN_FPGA_VER_RD5 0x3
#define XN_FPGA_VER_RD1081 0x4
#define XN_FPGA_VER_RD1082 0x5
#define XN_FPGA_VER_RD109 0x6
#define XN_CHIP_VER_PS1000 0x00101010
#define XN_CHIP_VER_PS1080 0x00202020
#define XN_CHIP_VER_PS1080A6 0x00212020
enum EPsProtocolOpCodes
{
OPCODE_GET_VERSION = 0,
OPCODE_KEEP_ALIVE = 1,
OPCODE_GET_PARAM = 2,
OPCODE_SET_PARAM = 3,
OPCODE_GET_FIXED_PARAMS = 4,
OPCODE_GET_MODE = 5,
OPCODE_SET_MODE = 6,
OPCODE_GET_LOG = 7,
OPCODE_RESERVED_0 = 8,
OPCODE_RESERVED_1 = 9,
OPCODE_I2C_WRITE = 10,
OPCODE_I2C_READ = 11,
OPCODE_TAKE_SNAPSHOT = 12,
OPCODE_INIT_FILE_UPLOAD = 13,
OPCODE_WRITE_FILE_UPLOAD = 14,
OPCODE_FINISH_FILE_UPLOAD = 15,
OPCODE_DOWNLOAD_FILE = 16,
OPCODE_DELETE_FILE = 17,
OPCODE_GET_FLASH_MAP = 18,
OPCODE_GET_FILE_LIST = 19,
OPCODE_READ_AHB = 20,
OPCODE_WRITE_AHB = 21,
OPCODE_ALGORITM_PARAMS = 22,
OPCODE_SET_FILE_ATTRIBUTES = 23,
OPCODE_EXECUTE_FILE = 24,
OPCODE_READ_FLASH = 25,
OPCODE_SET_GMC_PARAMS = 26,
OPCODE_GET_CPU_STATS = 27,
OPCODE_BIST = 28,
OPCODE_CALIBRATE_TEC = 29,
OPCODE_GET_TEC_DATA = 30,
OPCODE_CALIBRATE_EMITTER = 31,
OPCODE_GET_EMITTER_DATA = 32,
OPCODE_CALIBRATE_PROJECTOR_FAULT = 33,
OPCODE_SET_CMOS_BLANKING = 34,
OPCODE_GET_CMOS_BLANKING = 35,
OPCODE_GET_CMOS_PRESETS = 36,
OPCODE_GET_SERIAL_NUMBER = 37,
OPCODE_GET_FAST_CONVERGENCE_TEC = 38,
OPCODE_GET_PLATFORM_STRING = 39,
OPCODE_GET_USB_CORE_TYPE = 40,
OPCODE_SET_LED_STATE = 41,
OPCODE_ENABLE_EMITTER = 42,
OPCODE_KILL = 999,
};
enum EPsProtocolOpCodes_V300
{
OPCODE_V300_BIST = 26,
};
enum XnHostProtocolOpcodes_V110
{
OPCODE_V110_GET_VERSION = 0,
OPCODE_V110_KEEP_ALIVE = 1,
OPCODE_V110_GET_PARAM = 2,
OPCODE_V110_SET_PARAM = 3,
OPCODE_V110_GET_FIXED_PARAMS = 4,
OPCODE_V110_GET_MODE = 5,
OPCODE_V110_SET_MODE = 6,
OPCODE_V110_GET_LOG = 7,
OPCODE_V110_GET_CMOS_REGISTER = 8,
OPCODE_V110_SET_CMOS_REGISTER = 9,
OPCODE_V110_GET_CODEC_REGISTER = 10,
OPCODE_V110_SET_CODEC_REGISTER = 11,
OPCODE_V110_TAKE_SNAPSHOT = 12,
OPCODE_V110_INIT_FILE_UPLOAD = 13,
OPCODE_V110_WRITE_FILE_UPLOAD = 14,
OPCODE_V110_FINISH_FILE_UPLOAD = 15,
OPCODE_V110_DOWNLOAD_FILE = 16,
OPCODE_V110_DELETE_FILE = 17,
OPCODE_V110_GET_FLASH_MAP = 18,
OPCODE_V110_GET_FILE_LIST = 19,
OPCODE_V110_READ_AHB = 20,
OPCODE_V110_WRITE_AHB = 21,
OPCODE_V110_ALGORITHM_PARAMS = 22,
OPCODE_V110_SET_FILE_ATTRIBUTES = 23,
OPCODE_V110_EXECUTE_FILE = 24,
};
enum EPsProtocolOpCodes_V017
{
OPCODE_V017_GET_VERSION = 0,
OPCODE_V017_KEEP_ALIVE = 1,
OPCODE_V017_GET_PARAM = 2,
OPCODE_V017_SET_PARAM = 3,
OPCODE_V017_GET_FIXED_PARAMS = 4,
OPCODE_V017_RESET = 5,
OPCODE_V017_GET_LOG = 6,
OPCODE_V017_GET_CMOS_REGISTER = 7,
OPCODE_V017_SET_CMOS_REGISTER = 8,
OPCODE_V017_GET_CODEC_REGISTER = 9,
OPCODE_V017_SET_CODEC_REGISTER = 10,
OPCODE_V017_TAKE_SNAPSHOT = 11,
OPCODE_V017_INIT_FILE_UPLOAD = 12,
OPCODE_V017_WRITE_FILE_UPLOAD = 13,
OPCODE_V017_FINISH_FILE_UPLOAD = 14,
OPCODE_V017_DOWNLOAD_FILE = 15,
OPCODE_V017_DELETE_FILE = 16,
OPCODE_V017_GET_FLASH_MAP = 17,
OPCODE_V017_GET_FILE_LIST = 18,
OPCODE_V017_READ_AHB = 19,
OPCODE_V017_WRITE_AHB = 20,
OPCODE_V017_ALGORITM_PARAMS = 21,
};
#define OPCODE_INVALID 0xffff
typedef enum
{
XN_HOST_PROTOCOL_ALGORITHM_DEPTH_INFO = 0x00,
XN_HOST_PROTOCOL_ALGORITHM_REGISTRATION = 0x02,
XN_HOST_PROTOCOL_ALGORITHM_PADDING = 0x03,
XN_HOST_PROTOCOL_ALGORITHM_BLANKING = 0x06,
XN_HOST_PROTOCOL_ALGORITHM_DEVICE_INFO = 0x07,
XN_HOST_PROTOCOL_ALGORITHM_FREQUENCY = 0x80
} XnHostProtocolAlgorithmType;
typedef enum
{
XN_HOST_PROTOCOL_MODE_WEBCAM = 0,
XN_HOST_PROTOCOL_MODE_PS,
XN_HOST_PROTOCOL_MODE_MAINTENANCE,
XN_HOST_PROTOCOL_MODE_SOFT_RESET,
XN_HOST_PROTOCOL_MODE_REBOOT,
XN_HOST_PROTOCOL_MODE_SUSPEND,
XN_HOST_PROTOCOL_MODE_RESUME,
XN_HOST_PROTOCOL_MODE_INIT,
XN_HOST_PROTOCOL_MODE_SYSTEM_RESTORE,
XN_HOST_PROTOCOL_MODE_WAIT_FOR_ENUM,
XN_HOST_PROTOCOL_MODE_SAFE_MODE
} XnHostProtocolModeType;
enum XnHostProtocolNacks
{
ACK = 0,
NACK_UNKNOWN_ERROR = 1,
NACK_INVALID_COMMAND = 2,
NACK_BAD_PACKET_CRC = 3,
NACK_BAD_PACKET_SIZE = 4,
NACK_BAD_PARAMS = 5,
NACK_I2C_TRANSACTION_FAILED = 6,
NACK_FILE_NOT_FOUND = 7,
NACK_FILE_CREATE_FAILURE = 8,
NACK_FILE_WRITE_FAILURE = 9,
NACK_FILE_DELETE_FAILURE = 10,
NACK_FILE_READ_FAILURE = 11,
NACK_BAD_COMMAND_SIZE = 12,
NACK_NOT_READY = 13,
NACK_OVERFLOW = 14,
NACK_OVERLAY_NOT_LOADED = 15,
NACK_FILE_SYSTEM_LOCKED = 16,
};
typedef enum
{
A2D_SAMPLE_RATE_48KHZ,
A2D_SAMPLE_RATE_44KHZ,
A2D_SAMPLE_RATE_32KHZ,
A2D_SAMPLE_RATE_24KHZ,
A2D_SAMPLE_RATE_22KHZ,
A2D_SAMPLE_RATE_16KHZ,
A2D_SAMPLE_RATE_12KHZ,
A2D_SAMPLE_RATE_11KHZ,
A2D_SAMPLE_RATE_8KHZ,
A2D_NUM_OF_SAMPLE_RATES
} EA2d_SampleRate;
typedef enum XnHostProtocolUsbCore
{
XN_USB_CORE_JANGO = 0,
XN_USB_CORE_GADGETFS = 1,
} XnHostProtocolUsbCore;
#pragma pack(push,1)
typedef struct
{
XnUInt16 nMagic;
XnUInt16 nSize;
XnUInt16 nOpcode;
XnUInt16 nId;
XnUInt16 nCRC16;
} XnHostProtocolHeaderV25;
typedef struct
{
XnUInt16 nMagic;
XnUInt16 nSize;
XnUInt16 nOpcode;
XnUInt16 nId;
} XnHostProtocolHeaderV26;
typedef struct
{
XnUInt16 nErrorCode;
} XnHostProtocolReplyHeader;
typedef XnDeviceSensorGMCPoint XnHostProtocolGMCPoint_1080;
typedef struct XnHostProtocolGMCPoint_1000
{
XnDeviceSensorGMCPoint m_GMCPoint;
XnUInt16 m_Dummy;
} XnHostProtocolGMCPoint_1000;
typedef struct XnHostProtocolGMCLastConfData
{
XnInt16 nLast;
XnUInt16 nRICCLast;
XnFloat fRICC_IIR;
} XnHostProtocolGMCLastConfData;
typedef enum XnHostProtocolGMCMode
{
GMC_NORMAL_MODE = 0,
GMC_SCAN_MODE
} XnHostProtocolGMCMode;
typedef struct XnHostProtocolGMCLastPacketData
{
XnUInt16 m_GMCMode;
XnUInt16 m_CoveragePass;
XnHostProtocolGMCLastConfData m_LastConfData;
XnFloat m_A;
XnFloat m_B;
XnFloat m_C;
XnInt16 m_N;
XnUInt16 m_RICC;
XnUInt32 m_StartB;
XnUInt32 m_DeltaB;
XnInt16 m_FlashStoredRefOffset;
} XnHostProtocolGMCLastPacketData;
typedef struct XnBestTecConf
{
XnUInt16 nBestHopsCount; // Lowest hops count among all unstable points
XnUInt32 nBestSetPoint; // The TEC set point that gave m_BestHopsCount
XnInt32 nBestStep; // The TEC scan step that gave m_BestHopsCount
} XnBestTecConf;
typedef struct XnWavelengthCorrectionDebugPacket
{
XnFloat fBLast;
XnFloat fBCurrent;
XnUInt16 nIsHop;
XnUInt32 nCurrentSlidingWindow;
XnUInt16 nCurrentHopsCount;
XnUInt16 nIsTecCalibrated;
XnUInt32 nWaitPeriod;
XnUInt16 nIsWavelengthUnstable;
XnBestTecConf BestConf;
XnUInt16 nIsTotallyUnstable; //whole scan no stable point
XnUInt32 nConfiguredTecSetPoint; // 0 if not configured
XnInt32 nCurrentStep;
} XnWavelengthCorrectionDebugPacket;
#pragma pack(pop)
////////////////////////////////////// Exported h file should be only from here down
// Exported params
// All implemented protocol commands
// Init
XnStatus XnHostProtocolInitFWParams(XnDevicePrivateData* pDevicePrivateData, XnUInt8 nMajor, XnUInt8 nMinor, XnUInt16 nBuild, XnHostProtocolUsbCore usb, XnBool bGuessed);
XnStatus XnHostProtocolKeepAlive (XnDevicePrivateData* pDevicePrivateData);
XnStatus XnHostProtocolGetVersion (const XnDevicePrivateData* pDevicePrivateData, XnVersions& Version);
XnStatus XnHostProtocolAlgorithmParams (XnDevicePrivateData* pDevicePrivateData,
XnHostProtocolAlgorithmType eAlgorithmType,
void* pAlgorithmInformation, XnUInt16 nAlgInfoSize, XnResolutions nResolution, XnUInt16 nFPS);
XnStatus XnHostProtocolSetImageResolution(XnDevicePrivateData* pDevicePrivateData, XnUInt32 nResolutionParamName, XnResolutions nRes);
XnStatus XnHostProtocolSetDepthResolution(XnDevicePrivateData* pDevicePrivateData, XnResolutions nRes);
XnStatus XnHostProtocolGetFixedParams(XnDevicePrivateData* pDevicePrivateData, XnFixedParams& FixedParams);
XnStatus XnHostProtocolSetAudioSampleRate(XnDevicePrivateData* pDevicePrivateData, XnSampleRate nSampleRate);
XnStatus XnHostProtocolGetAudioSampleRate(XnDevicePrivateData* pDevicePrivateData, XnSampleRate* pSampleRate);
XnStatus XnHostProtocolSetMode (XnDevicePrivateData* pDevicePrivateData, XnUInt16 nMode);
XnStatus XnHostProtocolGetMode (XnDevicePrivateData* pDevicePrivateData, XnUInt16& nMode);
XnStatus XnHostProtocolSetParam (XnDevicePrivateData* pDevicePrivateData, XnUInt16 nParam, XnUInt16 nValue);
XnStatus XnHostProtocolSetMultipleParams(XnDevicePrivateData* pDevicePrivateData, XnUInt16 nNumOfParams, XnInnerParamData* anParams);
XnStatus XnHostProtocolReset(XnDevicePrivateData* pDevicePrivateData, XnUInt16 nResetType);
XnStatus XnHostProtocolGetParam (XnDevicePrivateData* pDevicePrivateData, XnUInt16 nParam, XnUInt16& nValue);
XnStatus XnHostProtocolSetDepthAGCBin(XnDevicePrivateData* pDevicePrivateData, XnUInt16 nBin, XnUInt16 nMinShift, XnUInt16 nMaxShift);
XnStatus XnHostProtocolGetDepthAGCBin(XnDevicePrivateData* pDevicePrivateData, XnUInt16 nBin, XnUInt16* pnMinShift, XnUInt16* pnMaxShift);
XnStatus XnHostProtocolSetCmosBlanking (XnDevicePrivateData* pDevicePrivateData, XnUInt16 nLines, XnCMOSType nCMOSID, XnUInt16 nNumberOfFrames);
XnStatus XnHostProtocolGetCmosBlanking (XnDevicePrivateData* pDevicePrivateData, XnCMOSType nCMOSID, XnUInt16* pnLines);
XnStatus XnHostProtocolGetCmosPresets (XnDevicePrivateData* pDevicePrivateData, XnCMOSType nCMOSID, XnCmosPreset* aPresets, XnUInt32& nCount);
XnStatus XnHostProtocolGetSerialNumber (XnDevicePrivateData* pDevicePrivateData, XnChar* cpSerialNumber);
XnStatus XnHostProtocolGetPlatformString(XnDevicePrivateData* pDevicePrivateData, XnChar* cpPlatformString);
XnStatus XnHostProtocolGetCMOSRegister(XnDevicePrivateData* pDevicePrivateData, XnCMOSType nCMOS, XnUInt16 nAddress, XnUInt16& nValue);
XnStatus XnHostProtocolSetCMOSRegister (XnDevicePrivateData* pDevicePrivateData, XnCMOSType nCMOS, XnUInt16 nAddress, XnUInt16 nValue);
XnStatus XnHostProtocolGetCMOSRegisterI2C(XnDevicePrivateData* pDevicePrivateData, XnCMOSType nCMOS, XnUInt16 nAddress, XnUInt16& nValue);
XnStatus XnHostProtocolSetCMOSRegisterI2C (XnDevicePrivateData* pDevicePrivateData, XnCMOSType nCMOS, XnUInt16 nAddress, XnUInt16 nValue);
XnStatus XnHostProtocolReadAHB (XnDevicePrivateData* pDevicePrivateData, XnUInt32 nAddress, XnUInt32 &nValue);
XnStatus XnHostProtocolWriteAHB (XnDevicePrivateData* pDevicePrivateData, XnUInt32 nAddress, XnUInt32 nValue, XnUInt32 nMask);
XnStatus XnHostProtocolGetUsbCoreType (XnDevicePrivateData* pDevicePrivateData, XnHostProtocolUsbCore& nValue);
XnStatus XnHostProtocolSetLedState (XnDevicePrivateData* pDevicePrivateData, XnUInt16 nLedId, XnUInt16 nState);
XnStatus XnHostProtocolSetEmitterState (XnDevicePrivateData* pDevicePrivateData, XnBool bActive);
XnStatus XnHostProtocolUpdateSupportedImageModes(XnDevicePrivateData* pDevicePrivateData);
// Commands.txt
XnStatus XnHostProtocolGetLog (XnDevicePrivateData* pDevicePrivateData, XnChar* csBuffer, XnUInt32 nBufferSize);
XnStatus XnHostProtocolFileUpload (XnDevicePrivateData* pDevicePrivateData, XnUInt32 nOffset, const XnChar* strFileName, XnUInt16 nAttributes);
XnStatus XnHostProtocolFileDownload (XnDevicePrivateData* pDevicePrivateData, XnUInt16 nFileType, const XnChar* strFileName);
XnStatus XnHostProtocolReadFlash (XnDevicePrivateData* pDevicePrivateData, XnUInt32 nOffset, XnUInt32 nSize, XnUChar* pBuffer);
XnStatus XnHostProtocolRunBIST (XnDevicePrivateData* pDevicePrivateData, XnUInt32 nTestsMask, XnUInt32* pnFailures);
XnStatus XnHostProtocolGetCPUStats (XnDevicePrivateData* pDevicePrivateData, XnTaskCPUInfo* pTasks, XnUInt32 *pnTimesCount);
XnStatus XnHostProtocolCalibrateTec (XnDevicePrivateData* pDevicePrivateData, XnUInt16 nSetPoint);
XnStatus XnHostProtocolGetTecData (XnDevicePrivateData* pDevicePrivateData, XnTecData* pTecData);
XnStatus XnHostProtocolGetTecFastConvergenceData (XnDevicePrivateData* pDevicePrivateData, XnTecFastConvergenceData* pTecData);
XnStatus XnHostProtocolCalibrateEmitter (XnDevicePrivateData* pDevicePrivateData, XnUInt16 nSetPoint);
XnStatus XnHostProtocolGetEmitterData (XnDevicePrivateData* pDevicePrivateData, XnEmitterData* pEmitterData);
XnStatus XnHostProtocolCalibrateProjectorFault (XnDevicePrivateData* pDevicePrivateData, XnUInt16 nMinThreshold, XnUInt16 nMaxThreshold, XnBool* pbProjectorFaultEvent);
XnStatus XnHostProtocolGetFileList(XnDevicePrivateData* pDevicePrivateData, XnUInt16 nFirstFileId, XnFlashFile* pFileList, XnUInt16& nNumOfEntries);
XnStatus XnHostProtocolDeleteFile(XnDevicePrivateData* pDevicePrivateData, XnUInt16 nFileId);
XnStatus XnHostProtocolWriteI2C(XnDevicePrivateData* pDevicePrivateData, const XnI2CWriteData* pI2CWriteData);
XnStatus XnHostProtocolReadI2C(XnDevicePrivateData* pDevicePrivateData, XnI2CReadData* pI2CReadData);
XnStatus XnHostProtocolSetFileAttributes(XnDevicePrivateData* pDevicePrivateData, XnUInt16 nFileId, XnUInt16 nAttributes);
#endif
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