int freenect_set_led(freenect_device *dev, freenect_led_options option)
{
int ret;
uint8_t empty[0x1];
ret = fnusb_control(&dev->usb_motor, 0x40, 0x06, (uint16_t)option, 0x0, empty, 0x0);
return ret;
}
int freenect_update_tilt_state(freenect_device *dev)
{
freenect_context *ctx = dev->parent;
#ifdef BUILD_AUDIO
//if we have motor control via audio and fw is uploaded - call the alt function
if( dev->motor_control_with_audio_enabled ){
return update_tilt_state_alt(dev);
}
#endif
if(!(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR))
return 0;
uint8_t buf[10];
uint16_t ux, uy, uz;
int ret = fnusb_control(&dev->usb_motor, 0xC0, 0x32, 0x0, 0x0, buf, 10);
if (ret != 10) {
FN_ERROR("Error in accelerometer reading, libusb_control_transfer returned %d\n", ret);
return ret < 0 ? ret : -1;
}
ux = ((uint16_t)buf[2] << 8) | buf[3];
uy = ((uint16_t)buf[4] << 8) | buf[5];
uz = ((uint16_t)buf[6] << 8) | buf[7];
dev->raw_state.accelerometer_x = (int16_t)ux;
dev->raw_state.accelerometer_y = (int16_t)uy;
dev->raw_state.accelerometer_z = (int16_t)uz;
dev->raw_state.tilt_angle = (int8_t)buf[8];
dev->raw_state.tilt_status = (freenect_tilt_status_code)buf[9];
return ret;
}
int freenect_set_tilt_in_degrees(freenect_device *dev, double angle)
{
int ret;
uint8_t empty[0x1];
angle = (((angle<MIN_TILT_ANGLE)?MIN_TILT_ANGLE:angle)>MAX_TILT_ANGLE)?MAX_TILT_ANGLE:((angle<MIN_TILT_ANGLE)?MIN_TILT_ANGLE:angle);
angle = angle * 2;
ret = fnusb_control(&dev->usb_motor, 0x40, 0x31, (uint16_t)angle, 0x0, empty, 0x0);
return ret;
}
int freenect_set_led(freenect_device *dev, freenect_led_options option)
{
freenect_context *ctx = dev->parent;
//if we have motor control via audio and fw is uploaded - call the alt function
if( dev->motor_control_with_audio_enabled ) {
return freenect_set_led_alt(dev, option);
}
if(!(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR))
return 0;
int ret;
uint8_t empty[0x1];
ret = fnusb_control(&dev->usb_motor, 0x40, 0x06, (uint16_t)option, 0x0, empty, 0x0);
return ret;
}
int freenect_set_tilt_degs(freenect_device *dev, double angle)
{
freenect_context *ctx = dev->parent;
//if we have motor control via audio and fw is uploaded - call the alt function
if( dev->motor_control_with_audio_enabled ) {
return freenect_set_tilt_degs_alt(dev, angle);
}
if(!(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR))
return 0;
int ret;
uint8_t empty[0x1];
angle = (angle<MIN_TILT_ANGLE) ? MIN_TILT_ANGLE : ((angle>MAX_TILT_ANGLE) ? MAX_TILT_ANGLE : angle);
angle = angle * 2;
ret = fnusb_control(&dev->usb_motor, 0x40, 0x31, (int16_t)angle, 0x0, empty, 0x0);
return ret;
}
int freenect_update_tilt_state(freenect_device *dev)
{
freenect_context *ctx = dev->parent;
uint8_t buf[10];
uint16_t ux, uy, uz;
int ret = fnusb_control(&dev->usb_motor, 0xC0, 0x32, 0x0, 0x0, buf, 10);
if (ret != 10) {
FN_ERROR("Error in accelerometer reading, libusb_control_transfer returned %d\n", ret);
return ret < 0 ? ret : -1;
}
ux = ((uint16_t)buf[2] << 8) | buf[3];
uy = ((uint16_t)buf[4] << 8) | buf[5];
uz = ((uint16_t)buf[6] << 8) | buf[7];
dev->raw_state.accelerometer_x = (int16_t)ux;
dev->raw_state.accelerometer_y = (int16_t)uy;
dev->raw_state.accelerometer_z = (int16_t)uz;
dev->raw_state.tilt_angle = (int8_t)buf[8];
dev->raw_state.tilt_status = (freenect_tilt_status_code)buf[9];
return ret;
}
