/usr/include/openni2/PrimeSense.h is in libopenni2-dev 2.2.0.33+dfsg-6.
This file is owned by root:root, with mode 0o644.
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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 _PRIME_SENSE_H_
#define _PRIME_SENSE_H_
#include <OniCTypes.h>
/**
* Additional properties for PrimeSense devices
*
* @remarks
* properties structure is 0x1D27XXYY where XX is range and YY is code.
* range values:
* 00 - common stream properties
* 10 - depth stream properties
* E0 - device commands
* F0 - device properties
*/
enum
{
// Stream Properties
PS_PROPERTY_DUMP_DATA = 0x1d270001, // boolean
// Device Properties
PS_PROPERTY_USB_INTERFACE = 0x1d27F001, // values from XnUsbInterfaceType
};
/**
* Additional commands for PrimeSense devices
*
* @remarks
* Commands structure is 0x1D27XXYY where XX is range and YY is code.
* range values:
* E0 - device commands
*/
enum
{
// Device Commands - use via invoke()
PS_COMMAND_AHB_READ = 0x1d27E001, // XnCommandAHB
PS_COMMAND_AHB_WRITE = 0x1d27E002, // XnCommandAHB
PS_COMMAND_I2C_READ = 0x1d27E003, // XnCommandI2C
PS_COMMAND_I2C_WRITE = 0x1d27E004, // XnCommandI2C
PS_COMMAND_SOFT_RESET = 0x1d27E005, // no arguments
PS_COMMAND_POWER_RESET = 0x1d27E006, // no arguments
PS_COMMAND_BEGIN_FIRMWARE_UPDATE = 0x1d27E007, // no arguments
PS_COMMAND_END_FIRMWARE_UPDATE = 0x1d27E008, // no arguments
PS_COMMAND_UPLOAD_FILE = 0x1d27E009, // XnCommandUploadFile
PS_COMMAND_DOWNLOAD_FILE = 0x1d27E00A, // XnCommandDownloadFile
PS_COMMAND_GET_FILE_LIST = 0x1d27E00B, // an array of XnFileEntry
PS_COMMAND_FORMAT_ZONE = 0x1d27E00C, // XnCommandFormatZone
PS_COMMAND_DUMP_ENDPOINT = 0x1d27E00D, // XnCommandDumpEndpoint
PS_COMMAND_GET_I2C_DEVICE_LIST = 0x1d27E00E, // XnCommandGetI2CDevices
PS_COMMAND_GET_BIST_LIST = 0x1d27E00F, // XnCommandGetBistList
PS_COMMAND_EXECUTE_BIST = 0x1d27E010, // XnCommandExecuteBist
PS_COMMAND_USB_TEST = 0x1d27E011, // XnCommandUsbTest
PS_COMMAND_GET_LOG_MASK_LIST = 0x1d27E012, // XnCommandGetLogMaskList
PS_COMMAND_SET_LOG_MASK_STATE = 0x1d27E013, // XnCommandSetLogMaskState
PS_COMMAND_START_LOG = 0x1d27E014, // no arguments
PS_COMMAND_STOP_LOG = 0x1d27E015, // no arguments
};
typedef enum XnUsbInterfaceType
{
PS_USB_INTERFACE_DONT_CARE = 0,
PS_USB_INTERFACE_ISO_ENDPOINTS = 1,
PS_USB_INTERFACE_BULK_ENDPOINTS = 2,
} XnUsbInterfaceType;
#pragma pack (push, 1)
// Data Types
typedef struct XnFwFileVersion
{
uint8_t major;
uint8_t minor;
uint8_t maintenance;
uint8_t build;
} XnFwFileVersion;
typedef enum XnFwFileFlags
{
XN_FILE_FLAG_BAD_CRC = 0x0001,
} XnFwFileFlags;
typedef struct XnFwFileEntry
{
char name[32];
XnFwFileVersion version;
uint32_t address;
uint32_t size;
uint16_t crc;
uint16_t zone;
XnFwFileFlags flags; // bitmap
} XnFwFileEntry;
typedef struct XnI2CDeviceInfo
{
uint32_t id;
char name[32];
} XnI2CDeviceInfo;
typedef struct XnBistInfo
{
uint32_t id;
char name[32];
} XnBistInfo;
typedef struct XnFwLogMask
{
uint32_t id;
char name[32];
} XnFwLogMask;
typedef struct XnUsbTestEndpointResult
{
double averageBytesPerSecond;
uint32_t lostPackets;
} XnUsbTestEndpointResult;
// Commands
typedef struct XnCommandAHB
{
uint32_t address; // Address of this register
uint32_t offsetInBits; // Offset of the field in bits within address
uint32_t widthInBits; // Width of the field in bits
uint32_t value; // For read requests, this is where the actual value will be filled. For write requests, the value to write.
} XnCommandAHB;
typedef struct XnCommandI2C
{
uint32_t deviceID; // Device to communicate with
uint32_t addressSize; // Size of the address, in bytes (1-4)
uint32_t address; // Address
uint32_t valueSize; // Size of the value, in bytes (1-4)
uint32_t mask; // For write request - a mask to be applied to the value. For read requests - ignored.
uint32_t value; // For write request - the value to be written. For read requests - the place where the actual value is written to
} XnCommandI2C;
typedef struct XnCommandUploadFile
{
const char* filePath;
uint32_t uploadToFactory;
} XnCommandUploadFile;
typedef struct XnCommandDownloadFile
{
uint16_t zone;
const char* firmwareFileName;
const char* targetPath;
} XnCommandDownloadFile;
typedef struct XnCommandGetFileList
{
uint32_t count; // in: number of allocated elements in files array. out: number of written elements in the array
XnFwFileEntry* files;
} XnCommandGetFileList;
typedef struct XnCommandFormatZone
{
uint8_t zone;
} XnCommandFormatZone;
typedef struct XnCommandDumpEndpoint
{
uint8_t endpoint;
bool enabled;
} XnCommandDumpEndpoint;
typedef struct XnCommandGetI2CDeviceList
{
uint32_t count; // in: number of allocated elements in devices array. out: number of written elements in the array
XnI2CDeviceInfo* devices;
} XnCommandGetI2CDeviceList;
typedef struct XnCommandGetBistList
{
uint32_t count; // in: number of allocated elements in tests array. out: number of written elements in the array
XnBistInfo* tests;
} XnCommandGetBistList;
typedef struct XnCommandExecuteBist
{
uint32_t id;
uint32_t errorCode;
uint32_t extraDataSize; // in: number of allocated bytes in extraData. out: number of written bytes in extraData
uint8_t* extraData;
} XnCommandExecuteBist;
typedef struct XnCommandUsbTest
{
uint32_t seconds;
uint32_t endpointCount; // in: number of allocated bytes in endpoints array. out: number of written bytes in array
XnUsbTestEndpointResult* endpoints;
} XnCommandUsbTest;
typedef struct XnCommandGetLogMaskList
{
uint32_t count; // in: number of allocated elements in masks array. out: number of written elements in the array
XnFwLogMask* masks;
} XnCommandGetLogMaskList;
typedef struct XnCommandSetLogMaskState
{
uint32_t mask;
bool enabled;
} XnCommandSetLogMaskState;
#pragma pack (pop)
#endif //_PRIME_SENSE_H_
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