===========
libnifalcon 
===========

by Kyle Machulis <kyle@nonpolynomial.com>
Nonpolynomial Labs - http://www.nonpolynomial.com

Kinematics by Kevin Ouellet
http://sourceforge.net/users/kouellet/

===========
Description
===========

libnifalcon is a development library for the NovInt Falcon, and is an open source, crossplatform alternative to NovInt's SDK. 

libnifalcon provides basic functionality to connect to the falcon and load firmware to the internal microcontroller. In addition, it comes with sample functionality made available through the firmware available in NovInt's drivers (the novint.bin file in TestUtilties and the nifalcon_test_fw files for the library source). This firmware is distributed in the firmware directory of the source distribution, and is required for the findfalcons utility to run.

Compilation directions are included in the INSTALL.txt file

=========================
NovInt Falcon Information
=========================

More information about the NovInt Falcon can be found at 

http://home.novint.com

Technical information, including protocol and hardware information, is available at

http://wiki.libnifalcon.sourceforge.net

====================
Library Requirements
====================

-----
cmake
-----

http://www.cmake.org

-----
Boost
-----

http://www.boost.org/

--------------------------------
ftd2xx (Recommended for Windows)
--------------------------------
http://www.ftdichip.com/Drivers/D2XX.htm

OR

-----------------------------
libftdi (Recommended for Mac)
-----------------------------

http://www.intra2net.com/de/produkte/opensource/ftdi/

OR

----------------------------------
libusb 1.0 (Recommended for Linux)
----------------------------------

http://libusb.wiki.sourceforge.net/Libusb1.0

=======================================
ftd2xx versus libftdi versus libusb 1.0
=======================================

libnifalcon can use three libraries to access the falcon:

FTD2XX - Library distributed by FTDI themselves
Windows: Fine - RECOMMENDED
Linux: Fine
64-bit Linux: No 64-bit drivers available
OS X: Okish?

libftdi:
Windows: Untested (Recommended to use FTD2XX)
Linux: Fine 
64-bit Linux: Fine
OS X: Fine - RECOMMENDED

libusb-1.0:
Windows: Not Available for Windows
Linux: Fine - HIGHLY RECOMMENDED
64-bit Linux: Fine - HIGHLY RECOMMENDED
OS X: Not Available for OS X

Note that libnifalcon has been written in such a way that which comm library you use should have little effect on the cross-platform performance of your code. However, this is more of a hope than a promise.

==================
Platform Specifics
==================

-------
Windows
-------

- NovInt uses the stock ftd2xx drivers, and it is recommended to use a ftd2xx version of libnifalcon on windows. If you have installed the drivers from NovInt's website, access through libnifalcon should "just work".
- libftdi drivers will require a libusb filter driver install. This is not recommended for programs that will be distributed publically, as it will require an uninstall of the usual FTDI drivers.

-----
Linux
-----

- libusb-1.0, while still beta, provides very fast non-blocking communications for Linux. Use it. 
- Programs built with libnifalcon (including example programs that come with the library) requires either root access (i.e. running under sudo) or correct udev based USB permissions to run as non-root. There's a sample udev file in the "linux" directory of the distribution that can help.

---
OSX
---

- As of ftd2xx 0.1.4 for OS X, ftd2xx seems to have gotten decent stability on OS X. libnifalcon developers prefer libftdi for the time being.