freenect_internal.h

/*
 * This file is part of the OpenKinect Project. http://www.openkinect.org
 *
 * Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
 * for details.
 *
 * This code is licensed to you under the terms of the Apache License, version
 * 2.0, or, at your option, the terms of the GNU General Public License,
 * version 2.0. See the APACHE20 and GPL2 files for the text of the licenses,
 * or the following URLs:
 * http://www.apache.org/licenses/LICENSE-2.0
 * http://www.gnu.org/licenses/gpl-2.0.txt
 *
 * If you redistribute this file in source form, modified or unmodified, you
 * may:
 *   1) Leave this header intact and distribute it under the same terms,
 *      accompanying it with the APACHE20 and GPL20 files, or
 *   2) Delete the Apache 2.0 clause and accompany it with the GPL2 file, or
 *   3) Delete the GPL v2 clause and accompany it with the APACHE20 file
 * In all cases you must keep the copyright notice intact and include a copy
 * of the CONTRIB file.
 *
 * Binary distributions must follow the binary distribution requirements of
 * either License.
 */

#ifndef FREENECT_INTERNAL_H
#define FREENECT_INTERNAL_H

#include <stdint.h>

#include "libfreenect.h"

typedef void (*fnusb_iso_cb)(freenect_device *dev, uint8_t *buf, int len);

#include "usb_libusb10.h"

struct _freenect_context {
        fnusb_ctx usb;
};

#ifdef FN_BIGENDIAN
static inline uint16_t fn_le16(uint16_t d)
{
  return (d<<8) | (d>>8);
}
static inline uint32_t fn_le32(uint32_t d)
{
  return (d<<24) | ((d<<8)&0xFF0000) | ((d>>8)&0xFF00) | (d>>24);
}
#else
#define fn_le16(x) (x)
#define fn_le32(x) (x)
#endif

#define DEPTH_RAW_10_BIT_SIZE 384000
#define DEPTH_RAW_11_BIT_SIZE 422400
#define FRAME_H FREENECT_FRAME_H
#define FRAME_W FREENECT_FRAME_W
#define FRAME_PIX FREENECT_FRAME_PIX

#define DEPTH_PKTSIZE 1760
#define RGB_PKTSIZE 1920

#define DEPTH_PKTDSIZE (DEPTH_PKTSIZE-12)
#define RGB_PKTDSIZE (RGB_PKTSIZE-12)

#define DEPTH_PKTS_10_BIT_PER_FRAME ((DEPTH_RAW_10_BIT_SIZE+DEPTH_PKTDSIZE-1)/DEPTH_PKTDSIZE)
#define DEPTH_PKTS_11_BIT_PER_FRAME ((DEPTH_RAW_11_BIT_SIZE+DEPTH_PKTDSIZE-1)/DEPTH_PKTDSIZE)
#define RGB_PKTS_PER_FRAME ((FRAME_PIX+RGB_PKTDSIZE-1)/RGB_PKTDSIZE)

#define MS_MAGIC_VENDOR 0x45e
#define MS_MAGIC_CAMERA_PRODUCT 0x02ae
#define MS_MAGIC_MOTOR_PRODUCT 0x02b0

typedef struct {
        uint8_t flag;
        int synced;
        uint8_t seq;
        int got_pkts;
        int pkt_num;
        int pkts_per_frame;
        int pkt_size;
        int valid_pkts;
        uint32_t last_timestamp;
        uint32_t timestamp;
        uint8_t *buf;
} packet_stream;

struct _freenect_device {
        freenect_context *parent;
        void *user_data;

        // Cameras
        fnusb_dev usb_cam;
        fnusb_isoc_stream depth_isoc;
        fnusb_isoc_stream rgb_isoc;

        freenect_depth_cb depth_cb;
  freenect_depth_raw_cb depth_raw_cb;
        freenect_rgb_cb rgb_cb;
        freenect_rgb_format rgb_format;
        freenect_depth_format depth_format;

        int cam_inited;

        packet_stream depth_stream;
        uint8_t depth_raw[DEPTH_RAW_11_BIT_SIZE];
        uint16_t depth_frame[FRAME_PIX];

        packet_stream rgb_stream;
        uint8_t rgb_raw[FRAME_PIX];
        uint8_t rgb_frame[3*FRAME_PIX];

        // Audio
        // Motor
        fnusb_dev usb_motor;

};

struct caminit {
        uint16_t command;
        uint16_t tag;
        int cmdlen;
        int replylen;
        uint8_t cmddata[1024];
        uint8_t replydata[1024];
};





#endif