/****************************************************************************

* *

* PrimeSense Sensor 5.x Alpha *

* Copyright (C) 2011 PrimeSense Ltd. *

* *

* This file is part of PrimeSense Sensor. *

* *

* PrimeSense Sensor is free software: you can redistribute it and/or modify*

* it under the terms of the GNU Lesser General Public License as published *

* by the Free Software Foundation, either version 3 of the License, or *

* (at your option) any later version. *

* *

* PrimeSense Sensor is distributed in the hope that it will be useful, *

* but WITHOUT ANY WARRANTY; without even the implied warranty of *

* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *

* GNU Lesser General Public License for more details. *

* *

* You should have received a copy of the GNU Lesser General Public License *

* along with PrimeSense Sensor. If not, see <http://www.gnu.org/licenses/>.*

* *

****************************************************************************/

#ifndef HOST_PROTOCOL_H

#define HOST_PROTOCOL_H

#include <XnStreamParams.h>

#include "XnParams.h"

#include "XnDeviceSensor.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_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_I2C_WRITE = 10,

OPCODE_I2C_READ = 11,

OPCODE_READ_AHB = 20,

OPCODE_WRITE_AHB = 21,

OPCODE_ALGORITM_PARAMS = 22,

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_KILL = 999,

};

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_CMOS_REGISTER = 8,

OPCODE_V110_SET_CMOS_REGISTER = 9,

OPCODE_V110_READ_AHB = 20,

OPCODE_V110_WRITE_AHB = 21,

OPCODE_V110_ALGORITHM_PARAMS = 22,

};

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_CMOS_REGISTER = 7,

OPCODE_V017_SET_CMOS_REGISTER = 8,

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,

// --avin mod--

XN_HOST_PROTOCOL_ALGORITHM_REGISTRATION = 0x40,

XN_HOST_PROTOCOL_ALGORITHM_PADDING = 0x41,

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_BAD_COMMAND_SIZE = 12,

NACK_NOT_READY = 13,

NACK_OVERFLOW = 14

};

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;

#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);

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 XnHostProtocolSetIRCropping (XnDevicePrivateData* pDevicePrivateData, XnCropping* pCropping);

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);

#endif