Merge branch 'feature-k4w-1473-tilt-led' of git://github.com/ofTheo/libfreenect

Reviewed-by: Benn Snyder <benn.snyder@gmail.com>

Author: piedar

include/libfreenect.h

@@ -669,6 +669,26 @@ FREENECTAPI int freenect_set_depth_mode(freenect_device* dev, const freenect_fra
  */
 FREENECTAPI int freenect_set_flag(freenect_device *dev, freenect_flag flag, freenect_flag_value value);
 
+
+/**
+ * Allows the user to specify a pointer to the audio firmware in memory for the Xbox 360 Kinect
+ *
+ * @param ctx Context to open device through
+ * @param fw_ptr Pointer to audio firmware loaded in memory
+ * @param num_bytes The size of the firmware in bytes
+ */
+FREENECTAPI void freenect_set_fw_address_nui(freenect_context * ctx, unsigned char * fw_ptr, unsigned int num_bytes);
+
+/**
+ * Allows the user to specify a pointer to the audio firmware in memory for the K4W Kinect 
+ *
+ * @param ctx Context to open device through
+ * @param fw_ptr Pointer to audio firmware loaded in memory
+ * @param num_bytes The size of the firmware in bytes
+ */
+FREENECTAPI void freenect_set_fw_address_k4w(freenect_context * ctx, unsigned char * fw_ptr, unsigned int num_bytes);
+
+
 #ifdef __cplusplus
 }
 #endif

src/audio.c

@@ -30,6 +30,8 @@
 #include <string.h>
 #include <stdlib.h>
 
+#ifdef BUILD_AUDIO
+
 static void prepare_iso_out_data(freenect_device* dev, uint8_t* buffer) {
 audio_stream* stream = &dev->audio;
 if (dev->audio_out_cb) {
@@ -238,3 +240,4 @@ int freenect_stop_audio(freenect_device* dev) {
 return ret;
 }
 
+#endif 

src/core.c

@@ -293,3 +293,17 @@ FN_INTERNAL void fn_log(freenect_context *ctx, freenect_loglevel level, const ch
 va_end(ap);
 }
 }
+
+
+FREENECTAPI void freenect_set_fw_address_nui(freenect_context * ctx, unsigned char * fw_ptr, unsigned int num_bytes)
+{
+ ctx->fn_fw_nui_ptr = fw_ptr;
+ ctx->fn_fw_nui_size = num_bytes;
+}
+
+FREENECTAPI void freenect_set_fw_address_k4w(freenect_context * ctx, unsigned char * fw_ptr, unsigned int num_bytes)
+{
+ ctx->fn_fw_k4w_ptr = fw_ptr;
+ ctx->fn_fw_k4w_size = num_bytes;
+}
+

src/freenect_internal.h

@@ -53,6 +53,13 @@ struct _freenect_context {
 freenect_device_flags enabled_subdevices;
 freenect_device *first;
 int zero_plane_res;
+ 
+ //if you want to load firmware from memory rather than disk
+ unsigned char * fn_fw_nui_ptr;
+ unsigned int fn_fw_nui_size;
+
+ unsigned char * fn_fw_k4w_ptr;
+ unsigned int fn_fw_k4w_size;
 };
 
 #define LL_FATAL FREENECT_LOG_FATAL
@@ -133,7 +140,13 @@ static inline int32_t fn_le32s(int32_t s)
 #define PID_NUI_CAMERA 0x02ae
 #define PID_NUI_MOTOR 0x02b0
 #define PID_K4W_CAMERA 0x02bf
+
+// For K4W: first pid is what it starts out as,
+// second is how it appears with lastest firmware from SDK,
+// third is from beta SDK firmware ( which is what is unpacked by the fw script and doesn't support motor control )
 #define PID_K4W_AUDIO 0x02be
+#define PID_K4W_AUDIO_ALT_1 0x02c3
+#define PID_K4W_AUDIO_ALT_2 0x02bb
 
 typedef struct {
 int running;
@@ -243,4 +256,7 @@ struct _freenect_device {
 // Motor
 fnusb_dev usb_motor;
 freenect_raw_tilt_state raw_state;
+ 
+ int device_does_motor_control_with_audio;
+ int motor_control_with_audio_enabled;
 };

src/keep_alive.c

@@ -0,0 +1,208 @@
+//
+// keep_alive.c
+// Created by Theodore Watson on 1/23/14.
+
+//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 GPL20 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 GPL20 file, or
+// 3) Delete the GPL v2.0 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.
+
+
+//Based on code provided by Drew Fisher
+
+/*
+ * Copyright 2011 Drew Fisher <drew.m.fisher@gmail.com>. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ * notice, this list of conditions and the following disclaimer.
+ *
+ * 2. Redistributions in binary form must reproduce the above copyright
+ * notice, this list of conditions and the following disclaimer in the
+ * documentation and/or other materials provided with the distribution.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE REGENTS AND CONTRIBUTORS ''AS IS'' AND
+ * ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+ * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
+ * ARE DISCLAIMED. IN NO EVENT SHALL DREW FISHER OR CONTRIBUTORS BE LIABLE
+ * FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+ * DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS
+ * OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION)
+ * HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY
+ * OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF
+ * SUCH DAMAGE.
+ *
+ * The views and conclusions contained in the software and documentation are
+ * those of the authors and should not be interpreted as representing official
+ * policies, either expressed or implied, of Drew Fisher.
+ */
+
+
+
+
+#include "keep_alive.h"
+#include "freenect_internal.h"
+
+#include <libusb-1.0/libusb.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.h>
+#include <stdint.h>
+#include <unistd.h> // For usleep()
+
+#define le32(X) (X)
+#define LOG(...) fprintf(stderr, __VA_ARGS__)
+
+static uint32_t tag_seq = 1;
+static uint32_t tag_next_ack = 1;
+
+typedef struct {
+uint32_t magic;
+uint32_t tag;
+uint32_t status;
+} motor_reply;
+
+typedef struct {
+uint32_t magic;
+uint32_t tag;
+uint32_t arg1;
+uint32_t cmd;
+uint32_t arg2;
+} motor_command;
+
+static int get_reply(libusb_device_handle* dev){
+unsigned char buffer[512];
+memset(buffer, 0, 512);
+int transferred = 0;
+int res = 0;
+res = libusb_bulk_transfer(dev, 0x81, buffer, 512, &transferred, 0);
+if (res != 0) {
+LOG("freenect_extra_keep_alive get_reply(): libusb_bulk_transfer failed: %d (transferred = %d)\n", res, transferred);
+} else if (transferred != 12) {
+LOG("freenect_extra_keep_alive get_reply(): weird - got %d bytes (expected 12)\n", transferred);
+} else {
+motor_reply reply;
+memcpy(&reply, buffer, sizeof(reply));
+if (reply.magic != 0x0a6fe000) {
+LOG("freenect_extra_keep_alive Bad magic: %08X (expected 0A6FE000\n", reply.magic);
+res = -1;
+}
+if (reply.tag != tag_next_ack) {
+LOG("freenect_extra_keep_alive Reply tag out of order: expected %d, got %d\n", tag_next_ack, reply.tag);
+res = -1;
+}
+if (reply.status != 0) {
+LOG("freenect_extra_keep_alive reply status != 0: failure?\n");
+res = -1;
+}
+tag_next_ack++;
+//	LOG("freenect_extra_keep_alive get_reply(): got %d bytes:", transferred);
+//	int i;
+//	for (i = 0; i < transferred; i++) {
+//	LOG(" %02X", buffer[i]);
+//	}
+//	LOG("\n");
+}
+return res;
+}
+
+static int set_led(libusb_device_handle* dev, int state) {
+int transferred = 0;
+int res = 0;
+motor_command cmd;
+cmd.magic = le32(0x06022009);
+cmd.tag = le32(tag_seq++);
+cmd.arg1 = le32(0);
+cmd.cmd = le32(0x10);
+cmd.arg2 = (uint32_t)(le32((int32_t)state));
+unsigned char buffer[20];
+memcpy(buffer, &cmd, 20);
+// Send command to set LED to solid green
+//	LOG("About to send bulk transfer:");
+//	int i;
+//	for(i = 0; i < 20 ; i++) {
+//	LOG(" %02X", buffer[i]);
+//	}
+//	LOG("\n");
+res = libusb_bulk_transfer(dev, 0x01, buffer, 20, &transferred, 0);
+if (res != 0) {
+LOG("freenect_extra_keep_alive set_led(): libusb_bulk_transfer failed: %d (transferred = %d)\n", res, transferred);
+return res;
+}
+return get_reply(dev);
+}
+
+//this is for K4W or 1473 devices - pass in the PID of the audio device that needs the LED set.
+void freenect_extra_keep_alive(int pid){
+
+int res;
+int state_to_set = 3;
+
+libusb_context* ctx = NULL;
+libusb_init(&ctx);
+
+libusb_device_handle* dev = NULL;
+
+ //check the default audio device
+ dev = libusb_open_device_with_vid_pid(ctx, 0x045e, pid);
+ 
+ //K4W only:
+ //if the firmware is uploaded the device could have a two different PIDs based on which firmware was uploaded.
+ //so we have to check for both
+ //note: it might be better if we pass in the PID of the camera and then find the audio device that is in the same usb tree/hub - might be more reliable when multiple devices are plugged in
+ if( dev == NULL && pid == PID_K4W_AUDIO ){
+ pid = PID_K4W_AUDIO_ALT_1;
+ dev = libusb_open_device_with_vid_pid(ctx, 0x045e, pid);
+ }
+ if( dev == NULL && pid == PID_K4W_AUDIO_ALT_1 ){
+ pid = PID_K4W_AUDIO_ALT_2;
+dev = libusb_open_device_with_vid_pid(ctx, 0x045e, pid);
+ }
+ 
+ if(dev == NULL) {
+LOG("freenect extra keepAlive: Failed to open audio device\n");
+libusb_exit(ctx);
+ return;
+}
+
+res = libusb_claim_interface(dev, 0);
+if (res != 0) {
+LOG("freenect extra keepAlive: Failed to claim interface 1: %d\n", res);
+ libusb_close(dev);
+ libusb_exit(ctx);
+ return;
+}
+
+res = set_led(dev, state_to_set);
+if (res != 0) {
+LOG("freenect extra keepAlive: set_led failed\n");
+ libusb_close(dev);
+ libusb_exit(ctx);
+ return;
+}
+
+ libusb_close(dev);
+ libusb_exit(ctx);
+}

src/keep_alive.h

@@ -0,0 +1,31 @@
+// keep_alive.h
+//
+// Created by Theodore Watson on 1/23/14.
+
+//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 GPL20 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 GPL20 file, or
+// 3) Delete the GPL v2.0 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.
+
+
+#pragma once
+void freenect_extra_keep_alive(int pid);
+