static int get_reply(fnusb_dev* dev) {
freenect_context* ctx = dev->parent->parent;
unsigned char dump[512];
bootloader_status_code buffer;
int res;
int transferred;
res = fnusb_bulk(dev, 0x81, dump, 512, &transferred);
if(res != 0 || transferred != sizeof(bootloader_status_code)) {
FN_ERROR("Error reading reply: %d\ttransferred: %d (expected %d)\n", res, transferred, (int)(sizeof(bootloader_status_code)));
return res;
}
memcpy(&buffer, dump, sizeof(bootloader_status_code));
if(fn_le32(buffer.magic) != 0x0a6fe000) {
FN_ERROR("Error reading reply: invalid magic %08X\n",buffer.magic);
return -1;
}
if(fn_le32(buffer.tag) != dev->parent->audio_tag) {
FN_ERROR("Error reading reply: non-matching tag number %08X (expected %08X)\n", buffer.tag, dev->parent->audio_tag);
return -1;
}
if(fn_le32(buffer.status) != 0) {
FN_ERROR("Notice reading reply: last uint32_t was nonzero: %d\n", buffer.status);
}
FN_INFO("Reading reply: ");
int i;
for(i = 0; i < transferred; ++i) {
FN_INFO("%02X ", ((unsigned char*)(&buffer))[i]);
}
FN_INFO("\n");
return res;
}
int freenect_set_tilt_degs_alt(freenect_device *dev, int tilt_degrees)
{
freenect_context *ctx = dev->parent;
if (tilt_degrees > 31 || tilt_degrees < -31) {
FN_WARNING("set_tilt(): degrees %d out of safe range [-31, 31]\n", tilt_degrees);
return -1;
}
fn_alt_motor_command cmd;
cmd.magic = fn_le32(0x06022009);
cmd.tag = fn_le32(tag_seq++);
cmd.arg1 = fn_le32(0);
cmd.cmd = fn_le32(0x803b);
cmd.arg2 = (uint32_t)(fn_le32((int32_t)tilt_degrees));
int transferred = 0;
int res = 0;
unsigned char buffer[20];
memcpy(buffer, &cmd, 20);
res = libusb_bulk_transfer(dev->usb_audio.dev, 0x01, buffer, 20, &transferred, 250);
if (res != 0) {
FN_ERROR("freenect_set_tilt_alt(): libusb_bulk_transfer failed: %d (transferred = %d)\n", res, transferred);
return res;
}
return get_reply(dev->usb_audio.dev, ctx);
}
int update_tilt_state_alt(freenect_device *dev)
{
freenect_context *ctx = dev->parent;
if (dev->usb_audio.dev == NULL)
{
FN_WARNING("Motor control failed: audio device missing");
return -1;
}
int transferred = 0;
int res = 0;
fn_alt_motor_command cmd;
cmd.magic = fn_le32(0x06022009);
cmd.tag = fn_le32(tag_seq++);
cmd.arg1 = fn_le32(0x68); // 104. Incidentally, the number of bytes that we expect in the reply.
cmd.cmd = fn_le32(0x8032);
unsigned char buffer[256];
memcpy(buffer, &cmd, 16);
res = libusb_bulk_transfer(dev->usb_audio.dev, 0x01, buffer, 16, &transferred, 250);
if (res != 0)
{
return res;
}
res = libusb_bulk_transfer(dev->usb_audio.dev, 0x81, buffer, 256, &transferred, 250); // 104 bytes
if (res != 0)
{
return res;
}
struct {
int32_t x;
int32_t y;
int32_t z;
int32_t tilt;
} accel_and_tilt;
memcpy(&accel_and_tilt, buffer + 16, sizeof(accel_and_tilt));
FN_SPEW("Accelerometer state: X == %d \t Y == %d \t Z == %d \t Tilt == %d\n", accel_and_tilt.x, accel_and_tilt.y, accel_and_tilt.z, accel_and_tilt.tilt);
dev->raw_state.accelerometer_x = (int16_t)accel_and_tilt.x;
dev->raw_state.accelerometer_y = (int16_t)accel_and_tilt.y;
dev->raw_state.accelerometer_z = (int16_t)accel_and_tilt.z;
// this is multiplied by 2 as the older 1414 device reports angles doubled and freenect takes this into account
dev->raw_state.tilt_angle = (int8_t)accel_and_tilt.tilt * 2;
// Reply: skip four uint32_t, then you have three int32_t that give you acceleration in that direction, it seems.
// Units still to be worked out.
return get_reply(dev->usb_audio.dev, ctx);
}
int update_tilt_state_alt(freenect_device *dev){
freenect_context *ctx = dev->parent;
int transferred = 0;
int res = 0;
fn_alt_motor_command cmd;
cmd.magic = fn_le32(0x06022009);
cmd.tag = fn_le32(tag_seq++);
cmd.arg1 = fn_le32(0x68); // 104. Incidentally, the number of bytes that we expect in the reply.
cmd.cmd = fn_le32(0x8032);
unsigned char buffer[256];
memcpy(buffer, &cmd, 16);
res = libusb_bulk_transfer(dev->usb_audio.dev, 0x01, buffer, 16, &transferred, 250);
if (res != 0) {
return res;
}
res = libusb_bulk_transfer(dev->usb_audio.dev, 0x81, buffer, 256, &transferred, 250); // 104 bytes
if (res != 0) {
return res;
} else {
// int i;
// for(i = 0 ; i < transferred ; i += 4) {
// int32_t j;
// memcpy(&j, buffer + i, 4);
// printf("\t%d\n", j);
// }
// printf("\n");
struct {
int32_t x;
int32_t y;
int32_t z;
int32_t tilt;
} accel_and_tilt;
memcpy(&accel_and_tilt, buffer + 16, sizeof(accel_and_tilt));
//printf("\tX: %d Y: %d Z:%d - tilt is %d\n", accel_and_tilt.x, accel_and_tilt.y, accel_and_tilt.z, accel_and_tilt.tilt);
dev->raw_state.accelerometer_x = (int16_t)accel_and_tilt.x;
dev->raw_state.accelerometer_y = (int16_t)accel_and_tilt.y;
dev->raw_state.accelerometer_z = (int16_t)accel_and_tilt.z;
//this is multiplied by 2 as the older 1414 device reports angles doubled and freenect takes this into account
dev->raw_state.tilt_angle = (int8_t)accel_and_tilt.tilt * 2;
}
// Reply: skip four uint32_t, then you have three int32_t that give you acceleration in that direction, it seems.
// Units still to be worked out.
return get_reply(dev->usb_audio.dev, ctx);
}
int freenect_set_led_alt(freenect_device *dev, freenect_led_options state)
{
freenect_context *ctx = dev->parent;
typedef enum {
LED_ALT_OFF = 1,
LED_ALT_BLINK_GREEN = 2,
LED_ALT_SOLID_GREEN = 3,
LED_ALT_SOLID_RED = 4,
}led_alt_state;
int transferred = 0;
int res = 0;
//The LED states are different between K4W/1473 and older 1414
if( state == LED_GREEN ){
state = LED_ALT_SOLID_GREEN;
}else if( state == LED_RED ){
state = LED_ALT_SOLID_RED;
}else if( state == LED_YELLOW ){
state = LED_ALT_SOLID_GREEN;
}else if( state == LED_OFF ){
state = LED_ALT_OFF;
}else if( state == LED_BLINK_GREEN ){
state = LED_ALT_BLINK_GREEN;
}else{
state = LED_GREEN;
}
fn_alt_motor_command cmd;
cmd.magic = fn_le32(0x06022009);
cmd.tag = fn_le32(tag_seq++);
cmd.arg1 = fn_le32(0);
cmd.cmd = fn_le32(0x10);
cmd.arg2 = (uint32_t)(fn_le32((int32_t)state));
unsigned char buffer[20];
memcpy(buffer, &cmd, 20);
res = libusb_bulk_transfer(dev->usb_audio.dev, 0x01, buffer, 20, &transferred, 0);
if (res != 0) {
FN_WARNING("freenect_set_led_alt(): libusb_bulk_transfer failed: %d (transferred = %d)\n", res, transferred);
return res;
}
return get_reply(dev->usb_audio.dev, ctx);
}
static int check_version_string(fnusb_dev* dev) {
freenect_context* ctx = dev->parent->parent;
bootloader_command bootcmd;
memset(&bootcmd, 0, sizeof(bootcmd));
bootcmd.magic = fn_le32(0x06022009);
bootcmd.tag = fn_le32(dev->parent->audio_tag);
bootcmd.bytes = fn_le32(0x60);
bootcmd.cmd = fn_le32(0);
bootcmd.addr = fn_le32(0x15);
unsigned char buffer[512];
int res;
int transferred;
FN_INFO("check_version_string(): About to send: ");
dump_bl_cmd(ctx, bootcmd);
// Send "get version string" command
res = fnusb_bulk(dev, 1, (unsigned char*)&bootcmd, sizeof(bootcmd), &transferred);
if(res != 0 || transferred != sizeof(bootcmd)) {
FN_ERROR("Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, (int)sizeof(bootcmd));
return -1;
}
// Read version string reply
res = fnusb_bulk(dev, 0x81, buffer, 512, &transferred);
if(res != 0 ) {
FN_ERROR("Error reading version string: %d\ttransferred: %d (expected %d)\n", res, transferred, 0x60);
return res;
}
FN_INFO("Read version string: ");
int i;
for(i = 0; i < transferred; ++i) {
FN_INFO("%02X ", buffer[i]);
}
FN_INFO("\n");
// Read status code reply
res = get_reply(dev);
dev->parent->audio_tag++;
return res;
}
FN_INTERNAL int upload_cemd_data(fnusb_dev* dev) {
// Now we upload the CEMD data.
freenect_context* ctx = dev->parent->parent;
cemdloader_command cemdcmd;
memset(&cemdcmd, 0, sizeof(cemdcmd));
cemdcmd.magic = fn_le32(0x06022009);
cemdcmd.tag = fn_le32(dev->parent->audio_tag);
cemdcmd.arg1 = fn_le32(0);
cemdcmd.cmd = fn_le32(0x00000133);
cemdcmd.arg2 = fn_le32(0x00064014); // This is the length of the CEMD data.
FN_INFO("Starting CEMD data upload:\n");
int res;
int transferred;
res = fnusb_bulk(dev, 1, (unsigned char*)&cemdcmd, sizeof(cemdcmd), &transferred);
if(res != 0 || transferred != sizeof(cemdcmd)) {
FN_ERROR("Error: res: %d\ttransferred: %d (expected %d)\n", res, transferred, (int)sizeof(cemdcmd));
return -1;
}
res = get_reply(dev);
dev->parent->audio_tag++;
const char* cemd_filename = "cemd_data.bin";
FILE* cf = fopen(cemd_filename, "r");
if(cf == NULL) {
FN_ERROR("upload_cemd_data: Failed to open %s: error %d", cemd_filename, errno);
return errno;
}
uint32_t addr = 0x00000000;
int read = 0;
unsigned char page[0x4000];
do {
read = fread(page, 1, 0x4000, cf);
if(read <= 0) {
break;
}
//LOG("");
cemdcmd.tag = fn_le32(dev->parent->audio_tag);
cemdcmd.arg1 = fn_le32(read);
cemdcmd.cmd = fn_le32(0x134);
cemdcmd.arg2 = fn_le32(addr);
FN_INFO("About to send: ");
dump_cemd_cmd(ctx, cemdcmd);
// Send it off!
res = fnusb_bulk(dev, 1, (unsigned char*)&cemdcmd, sizeof(cemdcmd), &transferred);
if(res != 0 || transferred != sizeof(cemdcmd)) {
FN_ERROR("Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, (int)sizeof(cemdcmd));
return -1;
}
int bytes_sent = 0;
while(bytes_sent < read) {
int to_send = (read - bytes_sent > 512 ? 512 : read - bytes_sent);
res = fnusb_bulk(dev, 1, &page[bytes_sent], to_send, &transferred);
if(res != 0 || transferred != to_send) {
FN_ERROR("Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, to_send);
return -1;
}
bytes_sent += to_send;
}
res = get_reply(dev);
addr += (uint32_t)read;
dev->parent->audio_tag++;
} while (read > 0);
fclose(cf);
cf = NULL;
cemdcmd.tag = fn_le32(dev->parent->audio_tag);
cemdcmd.arg1 = fn_le32(0); // bytes = 0
cemdcmd.cmd = fn_le32(0x135);
cemdcmd.arg2 = fn_le32(0x00064000); // mimicing the USB logs. This is the # of bytes of actual CEMD data after the 20-byte CEMD header.
FN_INFO("Finishing CEMD data upload...\n");
res = fnusb_bulk(dev, 1, (unsigned char*)&cemdcmd, sizeof(cemdcmd), &transferred);
if(res != 0 || transferred != sizeof(cemdcmd)) {
FN_ERROR("upload_cemd_data(): Error: res: %d\ttransferred: %d (expected %d)\n", res, transferred, (int)sizeof(cemdcmd));
return -1;
}
res = get_reply(dev);
dev->parent->audio_tag++;
FN_INFO("CEMD data uploaded successfully.\n");
return 0;
}
FN_INTERNAL int upload_firmware(fnusb_dev* dev) {
freenect_context* ctx = dev->parent->parent;
bootloader_command bootcmd;
memset(&bootcmd, 0, sizeof(bootcmd));
bootcmd.magic = fn_le32(0x06022009);
int res;
int transferred;
/* Search for firmware file (audios.bin) in the following places:
* $LIBFREENECT_FIRMWARE_PATH
* .
* ${HOME}/.libfreenect
* /usr/local/share/libfreenect
* /usr/share/libfreenect
*/
const char* fw_filename = "/audios.bin";
int filenamelen = strlen(fw_filename);
int i;
int searchpathcount;
FILE* fw = NULL;
for(i = 0, searchpathcount = 5; !fw && i < searchpathcount; i++) {
char* fwfile;
int needs_free = 0;
switch(i) {
case 0: {
char* envpath = getenv("LIBFREENECT_FIRMWARE_PATH");
if (!envpath)
continue;
int pathlen = strlen(envpath);
fwfile = malloc(pathlen + filenamelen + 1);
strcpy(fwfile, envpath);
strcat(fwfile, fw_filename);
needs_free = 1;
}
break;
case 1:
fwfile = "./audios.bin";
break;
case 2: {
// Construct $HOME/.libfreenect/
char* home = getenv("HOME");
if (!home)
continue;
int homelen = strlen(home);
char* dotfolder = "/.libfreenect";
int locallen = strlen(dotfolder);
fwfile = (char*)malloc(homelen + locallen + filenamelen + 1);
strcpy(fwfile, home);
strcat(fwfile, dotfolder);
strcat(fwfile, fw_filename);
needs_free = 1;
}
break;
case 3:
fwfile = "/usr/local/share/libfreenect/audios.bin";
break;
case 4:
fwfile = "/usr/share/libfreenect/audios.bin";
break;
default: break;
}
FN_INFO("Trying to open %s as firmware...\n", fwfile);
fw = fopen(fwfile, "rb");
if (needs_free) {
free(fwfile);
}
}
if (!fw) {
FN_ERROR("upload_firmware: failed to find firmware file.\n");
return -errno;
}
// Now we have an open firmware file handle.
firmware_header fwheader;
int read = 0;
read = fread(&fwheader, 1, sizeof(firmware_header), fw);
if (read != sizeof(firmware_header)) {
FN_ERROR("upload_firmware: firmware image too small, has no header?\n");
fclose(fw);
return -errno;
}
// The file is serialized as little endian.
fwheader.magic = fn_le32(fwheader.magic);
fwheader.ver_major = fn_le16(fwheader.ver_major);
fwheader.ver_minor = fn_le16(fwheader.ver_minor);
fwheader.ver_release = fn_le16(fwheader.ver_release);
fwheader.ver_patch = fn_le16(fwheader.ver_patch);
fwheader.base_addr = fn_le32(fwheader.base_addr);
fwheader.size = fn_le32(fwheader.size);
fwheader.entry_addr = fn_le32(fwheader.entry_addr);
FN_INFO("Found firmware image:\n");
FN_INFO("\tmagic %08X\n", fwheader.magic);
FN_INFO("\tversion %02d.%02d.%02d.%02d\n", fwheader.ver_major, fwheader.ver_minor, fwheader.ver_release, fwheader.ver_patch);
FN_INFO("\tbase address 0x%08x\n", fwheader.base_addr);
FN_INFO("\tsize 0x%08x\n", fwheader.size);
FN_INFO("\tentry point 0x%08x\n", fwheader.entry_addr);
rewind(fw);
uint32_t addr = fwheader.base_addr;
unsigned char page[0x4000];
int total_bytes_sent = 0;
do {
size_t block_size = (0x4000 > fwheader.size - total_bytes_sent) ? fwheader.size - total_bytes_sent : 0x4000;
read = fread(page, 1, block_size, fw);
if(read <= 0) {
break;
}
bootcmd.tag = fn_le32(dev->parent->audio_tag);
bootcmd.bytes = fn_le32(read);
bootcmd.cmd = fn_le32(0x03);
bootcmd.addr = fn_le32(addr);
FN_INFO("About to send: ");
dump_bl_cmd(ctx, bootcmd);
// Send it off!
res = fnusb_bulk(dev, 1, (unsigned char*)&bootcmd, sizeof(bootcmd), &transferred);
if(res != 0 || transferred != sizeof(bootcmd)) {
FN_ERROR("upload_firmware(): Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, (int)(sizeof(bootcmd)));
fclose(fw);
return -1;
}
int bytes_sent = 0;
while(bytes_sent < read) {
int to_send = (read - bytes_sent > 512 ? 512 : read - bytes_sent);
res = fnusb_bulk(dev, 1, &page[bytes_sent], to_send, &transferred);
if(res != 0 || transferred != to_send) {
FN_ERROR("upload_firmware(): Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, to_send);
fclose(fw);
return -1;
}
bytes_sent += to_send;
total_bytes_sent += to_send;
}
res = get_reply(dev);
addr += (uint32_t)read;
dev->parent->audio_tag++;
} while (read > 0);
fclose(fw);
fw = NULL;
if (total_bytes_sent != fwheader.size) {
FN_ERROR("upload_firmware: firmware image declared %d bytes, but file only contained %d bytes\n", fwheader.size, total_bytes_sent);
return -1;
}
bootcmd.tag = fn_le32(dev->parent->audio_tag);
bootcmd.bytes = fn_le32(0);
bootcmd.cmd = fn_le32(0x04);
bootcmd.addr = fn_le32(fwheader.entry_addr);
dump_bl_cmd(ctx, bootcmd);
res = fnusb_bulk(dev, 1, (unsigned char*)&bootcmd, sizeof(bootcmd), &transferred);
if(res != 0 || transferred != sizeof(bootcmd)) {
FN_ERROR("upload_firmware(): Error: res: %d\ttransferred: %d (expected %d)\n", res, transferred, (int)sizeof(bootcmd));
return -1;
}
res = get_reply(dev);
dev->parent->audio_tag++;
FN_INFO("Firmware successfully uploaded and launched. Device will disconnect and reenumerate.\n");
return 0;
}
FN_INTERNAL int fnusb_open_subdevices(freenect_device *dev, int index)
{
freenect_context *ctx = dev->parent;
dev->device_does_motor_control_with_audio = 0;
dev->motor_control_with_audio_enabled = 0;
dev->usb_cam.parent = dev;
dev->usb_cam.dev = NULL;
dev->usb_motor.parent = dev;
dev->usb_motor.dev = NULL;
#ifdef BUILD_AUDIO
dev->usb_audio.parent = dev;
dev->usb_audio.dev = NULL;
#endif
libusb_device **devs; //pointer to pointer of device, used to retrieve a list of devices
ssize_t cnt = libusb_get_device_list (dev->parent->usb.ctx, &devs); //get the list of devices
if (cnt < 0)
return -1;
int i = 0, nr_cam = 0, nr_mot = 0;
#ifdef BUILD_AUDIO
int nr_audio = 0;
#endif
int res;
struct libusb_device_descriptor desc;
for (i = 0; i < cnt; i++) {
int r = libusb_get_device_descriptor (devs[i], &desc);
if (r < 0)
continue;
if (desc.idVendor != VID_MICROSOFT)
continue;
res = 0;
// Search for the camera
if ((ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA) && !dev->usb_cam.dev && (desc.idProduct == PID_NUI_CAMERA || desc.idProduct == PID_K4W_CAMERA)) {
// If the index given by the user matches our camera index
if (nr_cam == index) {
res = libusb_open (devs[i], &dev->usb_cam.dev);
if (res < 0 || !dev->usb_cam.dev) {
FN_ERROR("Could not open camera: %d\n", res);
dev->usb_cam.dev = NULL;
break;
}
if (desc.idProduct == PID_K4W_CAMERA || desc.bcdDevice != fn_le32(267)) {
freenect_device_flags requested_devices = ctx->enabled_subdevices;
// Not the old kinect so we only set up the camera
ctx->enabled_subdevices = FREENECT_DEVICE_CAMERA;
ctx->zero_plane_res = 334;
dev->device_does_motor_control_with_audio = 1;
//lets also set the LED ON
//this keeps the camera alive for some systems which get freezes
if( desc.idProduct == PID_K4W_CAMERA ){
freenect_extra_keep_alive(PID_K4W_AUDIO);
}else{
freenect_extra_keep_alive(PID_NUI_AUDIO);
}
#ifdef BUILD_AUDIO
//for newer devices we need to enable the audio device for motor control
//we only do this though if motor has been requested.
if ((requested_devices & FREENECT_DEVICE_MOTOR) && (requested_devices & FREENECT_DEVICE_AUDIO) == 0)
{
ctx->enabled_subdevices = (freenect_device_flags)(ctx->enabled_subdevices | FREENECT_DEVICE_AUDIO);
}
#endif
}else{
/* The good old kinect that tilts and tweets */
ctx->zero_plane_res = 322;
}
#ifndef _WIN32
// Detach an existing kernel driver for the device
res = libusb_kernel_driver_active(dev->usb_cam.dev, 0);
if (res == 1) {
res = libusb_detach_kernel_driver(dev->usb_cam.dev, 0);
if (res < 0) {
FN_ERROR("Could not detach kernel driver for camera: %d\n", res);
libusb_close(dev->usb_cam.dev);
dev->usb_cam.dev = NULL;
break;
}
}
#endif
res = libusb_claim_interface (dev->usb_cam.dev, 0);
if (res < 0) {
FN_ERROR("Could not claim interface on camera: %d\n", res);
libusb_close(dev->usb_cam.dev);
dev->usb_cam.dev = NULL;
break;
}
if(desc.idProduct == PID_K4W_CAMERA){
res = libusb_set_interface_alt_setting(dev->usb_cam.dev, 0, 1);
if (res != 0) {
FN_ERROR("Failed to set alternate interface #1 for K4W: %d\n", res);
libusb_close(dev->usb_cam.dev);
dev->usb_cam.dev = NULL;
break;
}
}
} else {
nr_cam++;
}
}
}
if(ctx->enabled_subdevices == FREENECT_DEVICE_CAMERA || res < 0) cnt = 0;
// Search for the motor
for (i = 0; i < cnt; i++) {
int r = libusb_get_device_descriptor (devs[i], &desc);
if (r < 0)
continue;
if (desc.idVendor != VID_MICROSOFT)
continue;
if ((ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR) && !dev->usb_motor.dev && desc.idProduct == PID_NUI_MOTOR) {
// If the index given by the user matches our camera index
if (nr_mot == index) {
res = libusb_open (devs[i], &dev->usb_motor.dev);
if (res < 0 || !dev->usb_motor.dev) {
FN_ERROR("Could not open motor: %d\n", res);
dev->usb_motor.dev = NULL;
break;
}
res = libusb_claim_interface (dev->usb_motor.dev, 0);
if (res < 0) {
FN_ERROR("Could not claim interface on motor: %d\n", res);
libusb_close(dev->usb_motor.dev);
dev->usb_motor.dev = NULL;
break;
}
} else {
nr_mot++;
}
}
#ifdef BUILD_AUDIO
// TODO: check that the firmware has already been loaded; if not, upload firmware.
// Search for the audio
if ((ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO) && !dev->usb_audio.dev && (desc.idProduct == PID_NUI_AUDIO || fnusb_is_pid_k4w_audio(desc.idProduct))) {
// If the index given by the user matches our audio index
if (nr_audio == index) {
res = libusb_open (devs[i], &dev->usb_audio.dev);
if (res < 0 || !dev->usb_audio.dev) {
FN_ERROR("Could not open audio: %d\n", res);
dev->usb_audio.dev = NULL;
break;
}
res = libusb_claim_interface (dev->usb_audio.dev, 0);
if (res < 0) {
FN_ERROR("Could not claim interface on audio: %d\n", res);
libusb_close(dev->usb_audio.dev);
dev->usb_audio.dev = NULL;
break;
}
// Using the device handle that we've claimed, see if this
// device has already uploaded firmware (has 2 interfaces). If
// not, save the serial number (by reading the appropriate
// descriptor), upload the firmware, and then enter a loop
// waiting for a device with the same serial number to
// reappear.
int num_interfaces = fnusb_num_interfaces(&dev->usb_audio);
if( num_interfaces >= 2 ){
if( dev->device_does_motor_control_with_audio ){
dev->motor_control_with_audio_enabled = 1;
}
}else{
// Read the serial number from the string descriptor and save it.
unsigned char string_desc[256]; // String descriptors are at most 256 bytes
res = libusb_get_string_descriptor_ascii(dev->usb_audio.dev, desc.iSerialNumber, string_desc, 256);
if (res < 0) {
FN_ERROR("Failed to retrieve serial number for audio device in bootloader state\n");
break;
}
char* audio_serial = strdup((char*)string_desc);
FN_SPEW("Uploading firmware to audio device in bootloader state.\n");
// Check if we can load from memory - otherwise load from disk
if( desc.idProduct == PID_NUI_AUDIO && ctx->fn_fw_nui_ptr && ctx->fn_fw_nui_size > 0){
FN_SPEW("loading firmware from memory\n");
res = upload_firmware_from_memory(&dev->usb_audio, ctx->fn_fw_nui_ptr, ctx->fn_fw_nui_size);
}
else if( desc.idProduct == PID_K4W_AUDIO && ctx->fn_fw_k4w_ptr && ctx->fn_fw_k4w_size > 0 ){
FN_SPEW("loading firmware from memory\n");
res = upload_firmware_from_memory(&dev->usb_audio, ctx->fn_fw_k4w_ptr, ctx->fn_fw_k4w_size);
}
else{
res = upload_firmware(&dev->usb_audio, "audios.bin");
}
if (res < 0) {
FN_ERROR("upload_firmware failed: %d\n", res);
break;
}
libusb_close(dev->usb_audio.dev);
dev->usb_audio.dev = NULL;
// Wait for the device to reappear.
int loops = 0;
for (loops = 0; loops < 10; loops++) { // Loop for at most 10 tries.
FN_SPEW("Try %d: Looking for new audio device matching serial %s\n", loops, audio_serial);
// Scan devices.
libusb_device **new_dev_list;
int dev_index;
ssize_t num_new_devs = libusb_get_device_list(ctx->usb.ctx, &new_dev_list);
for (dev_index = 0; dev_index < num_new_devs; ++dev_index) {
struct libusb_device_descriptor new_dev_desc;
int r;
r = libusb_get_device_descriptor (new_dev_list[dev_index], &new_dev_desc);
if (r < 0)
continue;
// If this dev is a Kinect audio device, open device, read serial, and compare.
if (new_dev_desc.idVendor == VID_MICROSOFT && (new_dev_desc.idProduct == PID_NUI_AUDIO || fnusb_is_pid_k4w_audio(desc.idProduct))) {
FN_SPEW("Matched VID/PID!\n");
libusb_device_handle* new_dev_handle;
// Open device
r = libusb_open(new_dev_list[dev_index], &new_dev_handle);
if (r < 0)
continue;
// Read serial
r = libusb_get_string_descriptor_ascii(new_dev_handle, new_dev_desc.iSerialNumber, string_desc, 256);
if (r < 0) {
FN_SPEW("Lost new audio device while fetching serial number.\n");
libusb_close(new_dev_handle);
continue;
}
// Compare to expected serial
if (r == strlen(audio_serial) && strcmp((char*)string_desc, audio_serial) == 0) {
// We found it!
r = libusb_claim_interface(new_dev_handle, 0);
if (r != 0) {
// Ouch, found the device but couldn't claim the interface.
FN_SPEW("Device with serial %s reappeared but couldn't claim interface 0\n", audio_serial);
libusb_close(new_dev_handle);
continue;
}
// Save the device handle.
dev->usb_audio.dev = new_dev_handle;
// Verify that we've actually found a device running the right firmware.
num_interfaces = fnusb_num_interfaces(&dev->usb_audio);
if( num_interfaces >= 2 ){
if( dev->device_does_motor_control_with_audio ){
dev->motor_control_with_audio_enabled = 1;
}
}else{
FN_SPEW("Opened audio with matching serial but too few interfaces.\n");
dev->usb_audio.dev = NULL;
libusb_close(new_dev_handle);
continue;
} break;
} else {
FN_SPEW("Got serial %s, expected serial %s\n", (char*)string_desc, audio_serial);
}
}
}
libusb_free_device_list(new_dev_list, 1);
// If we found the right device, break out of this loop.
if (dev->usb_audio.dev)
break;
// Sleep for a second to give the device more time to reenumerate.
sleep(1);
}
free(audio_serial);
}
} else {
nr_audio++;
}
}
#endif
}
libusb_free_device_list (devs, 1); // free the list, unref the devices in it
// Check that each subdevice is either opened or not enabled.
if ( (dev->usb_cam.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA))
&& (dev->usb_motor.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR))
#ifdef BUILD_AUDIO
&& (dev->usb_audio.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO))
#endif
) {
return 0;
} else {
if (dev->usb_cam.dev) {
libusb_release_interface(dev->usb_cam.dev, 0);
libusb_close(dev->usb_cam.dev);
} else {
FN_ERROR("Failed to open camera subdevice or it is not disabled.");
}
if (dev->usb_motor.dev) {
libusb_release_interface(dev->usb_motor.dev, 0);
libusb_close(dev->usb_motor.dev);
} else {
FN_ERROR("Failed to open motor subddevice or it is not disabled.");
}
#ifdef BUILD_AUDIO
if (dev->usb_audio.dev) {
libusb_release_interface(dev->usb_audio.dev, 0);
libusb_close(dev->usb_audio.dev);
} else {
FN_ERROR("Failed to open audio subdevice or it is not disabled.");
}
#endif
return -1;
}
}
FN_INTERNAL int fnusb_open_subdevices(freenect_device *dev, int index)
{
freenect_context *ctx = dev->parent;
dev->device_does_motor_control_with_audio = 0;
dev->motor_control_with_audio_enabled = 0;
dev->usb_cam.parent = dev;
dev->usb_cam.dev = NULL;
dev->usb_motor.parent = dev;
dev->usb_motor.dev = NULL;
dev->usb_audio.parent = dev;
dev->usb_audio.dev = NULL;
libusb_device **devs; // pointer to pointer of device, used to retrieve a list of devices
ssize_t cnt = libusb_get_device_list (dev->parent->usb.ctx, &devs); //get the list of devices
if (cnt < 0)
return -1;
int i = 0, nr_cam = 0, nr_mot = 0;
int nr_audio = 0;
int res;
struct libusb_device_descriptor desc;
for (i = 0; i < cnt; i++)
{
int r = libusb_get_device_descriptor (devs[i], &desc);
if (r < 0)
continue;
if (desc.idVendor != VID_MICROSOFT)
continue;
res = 0;
// Search for the camera
if ((ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA) && !dev->usb_cam.dev && (desc.idProduct == PID_NUI_CAMERA || desc.idProduct == PID_K4W_CAMERA))
{
// If the index given by the user matches our camera index
if (nr_cam == index)
{
dev->usb_cam.VID = desc.idVendor;
dev->usb_cam.PID = desc.idProduct;
res = libusb_open (devs[i], &dev->usb_cam.dev);
if (res < 0 || !dev->usb_cam.dev)
{
FN_ERROR("Could not open camera: %d\n", res);
dev->usb_cam.dev = NULL;
break;
}
if (desc.idProduct == PID_K4W_CAMERA || desc.bcdDevice != fn_le32(267))
{
freenect_device_flags requested_devices = ctx->enabled_subdevices;
// Not the 1414 kinect so remove the motor flag, this should preserve the audio flag if set
ctx->enabled_subdevices = (freenect_device_flags)(ctx->enabled_subdevices & ~FREENECT_DEVICE_MOTOR);
ctx->zero_plane_res = 334;
dev->device_does_motor_control_with_audio = 1;
// set the LED for non 1414 devices to keep the camera alive for some systems which get freezes
libusb_device * audioDevice = fnusb_find_connected_audio_device(devs[i], devs, cnt);
if (audioDevice != NULL)
{
libusb_device_handle * audioHandle = NULL;
res = libusb_open(audioDevice, &audioHandle);
if (res != 0)
{
FN_ERROR("Failed to set the LED of K4W or 1473 device: %d\n", res);
}
else
{
// we need to do this as it is possible that the device was not closed properly in a previous session
// if we don't do this and the device wasn't closed properly - it can cause infinite hangs on LED and TILT functions
libusb_reset_device(audioHandle);
libusb_close(audioHandle);
res = libusb_open(audioDevice, &audioHandle);
if (res == 0)
{
res = libusb_claim_interface(audioHandle, 0);
if (res != 0)
{
FN_ERROR("Unable to claim interface %d\n", res);
}
else
{
fnusb_set_led_alt(audioHandle, ctx, LED_GREEN);
libusb_release_interface(audioHandle, 0);
}
libusb_close(audioHandle);
}
}
}
// for newer devices we need to enable the audio device for motor control
// we only do this though if motor has been requested.
if ((requested_devices & FREENECT_DEVICE_MOTOR) && (requested_devices & FREENECT_DEVICE_AUDIO) == 0)
{
ctx->enabled_subdevices = (freenect_device_flags)(ctx->enabled_subdevices | FREENECT_DEVICE_AUDIO);
}
}
else
{
// The good old kinect that tilts and tweets
ctx->zero_plane_res = 322;
}
res = fnusb_claim_camera(dev);
if (res < 0)
{
break;
}
}
else
{
nr_cam++;
}
}
}
if (ctx->enabled_subdevices == FREENECT_DEVICE_CAMERA || res < 0)
cnt = 0;
// Search for the motor
for (i = 0; i < cnt; i++)
{
int r = libusb_get_device_descriptor (devs[i], &desc);
if (r < 0)
continue;
if (desc.idVendor != VID_MICROSOFT)
continue;
if ((ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR) && !dev->usb_motor.dev && desc.idProduct == PID_NUI_MOTOR)
{
// If the index given by the user matches our camera index
if (nr_mot == index)
{
dev->usb_motor.VID = desc.idVendor;
dev->usb_motor.PID = desc.idProduct;
res = libusb_open (devs[i], &dev->usb_motor.dev);
if (res < 0 || !dev->usb_motor.dev)
{
FN_ERROR("Could not open motor: %d\n", res);
dev->usb_motor.dev = NULL;
break;
}
res = libusb_claim_interface (dev->usb_motor.dev, 0);
if (res < 0)
{
FN_ERROR("Could not claim interface on motor: %d\n", res);
libusb_close(dev->usb_motor.dev);
dev->usb_motor.dev = NULL;
break;
}
}
else
{
nr_mot++;
}
}
// Search for the audio
if ((ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO) && !dev->usb_audio.dev && (desc.idProduct == PID_NUI_AUDIO || fnusb_is_pid_k4w_audio(desc.idProduct)))
{
// If the index given by the user matches our audio index
if (nr_audio == index)
{
dev->usb_audio.VID = desc.idVendor;
dev->usb_audio.PID = desc.idProduct;
res = libusb_open (devs[i], &dev->usb_audio.dev);
if (res < 0 || !dev->usb_audio.dev)
{
FN_ERROR("Could not open audio: %d\n", res);
dev->usb_audio.dev = NULL;
break;
}
res = libusb_claim_interface (dev->usb_audio.dev, 0);
if (res < 0)
{
FN_ERROR("Could not claim interface on audio: %d\n", res);
libusb_close(dev->usb_audio.dev);
dev->usb_audio.dev = NULL;
break;
}
// Using the device handle that we've claimed, see if this
// device has already uploaded firmware (has 2 interfaces).
// If not, save the serial number (by reading the appropriate
// descriptor), upload the firmware, and then enter a loop
// waiting for a device with the same serial number to
// reappear.
int num_interfaces = fnusb_num_interfaces(&dev->usb_audio);
if (num_interfaces >= 2)
{
if (dev->device_does_motor_control_with_audio)
{
dev->motor_control_with_audio_enabled = 1;
}
}
else
{
// Read the serial number from the string descriptor and save it.
unsigned char string_desc[256]; // String descriptors are at most 256 bytes
res = libusb_get_string_descriptor_ascii(dev->usb_audio.dev, desc.iSerialNumber, string_desc, 256);
if (res < 0)
{
FN_ERROR("Failed to retrieve serial number for audio device in bootloader state\n");
break;
}
char* audio_serial = strdup((char*)string_desc);
FN_SPEW("Uploading firmware to audio device in bootloader state.\n");
// Check if we can load from memory - otherwise load from disk
if (desc.idProduct == PID_NUI_AUDIO && ctx->fn_fw_nui_ptr && ctx->fn_fw_nui_size > 0)
{
FN_SPEW("loading firmware from memory\n");
res = upload_firmware_from_memory(&dev->usb_audio, ctx->fn_fw_nui_ptr, ctx->fn_fw_nui_size);
}
else if (desc.idProduct == PID_K4W_AUDIO && ctx->fn_fw_k4w_ptr && ctx->fn_fw_k4w_size > 0)
{
FN_SPEW("loading firmware from memory\n");
res = upload_firmware_from_memory(&dev->usb_audio, ctx->fn_fw_k4w_ptr, ctx->fn_fw_k4w_size);
}
else
{
res = upload_firmware(&dev->usb_audio, "audios.bin");
}
if (res < 0)
{
FN_ERROR("upload_firmware failed: %d\n", res);
break;
}
libusb_close(dev->usb_audio.dev);
dev->usb_audio.dev = NULL;
// Wait for the device to reappear.
int loops = 0;
for (loops = 0; loops < 10; loops++)
{
FN_SPEW("Try %d: Looking for new audio device matching serial %s\n", loops, audio_serial);
// Scan devices.
libusb_device **new_dev_list;
int dev_index;
ssize_t num_new_devs = libusb_get_device_list(ctx->usb.ctx, &new_dev_list);
for (dev_index = 0; dev_index < num_new_devs; ++dev_index)
{
struct libusb_device_descriptor new_dev_desc;
int r;
r = libusb_get_device_descriptor (new_dev_list[dev_index], &new_dev_desc);
if (r < 0)
continue;
// If this dev is a Kinect audio device, open device, read serial, and compare.
if (new_dev_desc.idVendor == VID_MICROSOFT && (new_dev_desc.idProduct == PID_NUI_AUDIO || fnusb_is_pid_k4w_audio(desc.idProduct)))
{
FN_SPEW("Matched VID/PID!\n");
libusb_device_handle* new_dev_handle;
// Open device
r = libusb_open(new_dev_list[dev_index], &new_dev_handle);
if (r < 0)
continue;
// Read serial
r = libusb_get_string_descriptor_ascii(new_dev_handle, new_dev_desc.iSerialNumber, string_desc, 256);
if (r < 0)
{
FN_SPEW("Lost new audio device while fetching serial number.\n");
libusb_close(new_dev_handle);
continue;
}
// Compare to expected serial
if (r == strlen(audio_serial) && strcmp((char*)string_desc, audio_serial) == 0)
{
// We found it!
r = libusb_claim_interface(new_dev_handle, 0);
if (r != 0)
{
// Ouch, found the device but couldn't claim the interface.
FN_SPEW("Device with serial %s reappeared but couldn't claim interface 0\n", audio_serial);
libusb_close(new_dev_handle);
continue;
}
// Save the device handle.
dev->usb_audio.dev = new_dev_handle;
// Verify that we've actually found a device running the right firmware.
num_interfaces = fnusb_num_interfaces(&dev->usb_audio);
if (num_interfaces >= 2)
{
if (dev->device_does_motor_control_with_audio)
{
dev->motor_control_with_audio_enabled = 1;
}
}
else
{
FN_SPEW("Opened audio with matching serial but too few interfaces.\n");
dev->usb_audio.dev = NULL;
libusb_close(new_dev_handle);
continue;
}
break;
}
else
{
FN_SPEW("Got serial %s, expected serial %s\n", (char*)string_desc, audio_serial);
}
}
}
libusb_free_device_list(new_dev_list, 1);
// If we found the right device, break out of this loop.
if (dev->usb_audio.dev)
break;
// Sleep for a second to give the device more time to reenumerate.
sleep(1);
}
free(audio_serial);
}
}
else
{
nr_audio++;
}
}
}
libusb_free_device_list (devs, 1); // free the list, unref the devices in it
if ((dev->usb_cam.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_CAMERA))
&& (dev->usb_motor.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_MOTOR)))
//&& (dev->usb_audio.dev || !(ctx->enabled_subdevices & FREENECT_DEVICE_AUDIO)))
{
// Each requested subdevice is open.
// Except audio, which may fail if firmware is missing (or because it hates us).
return 0;
}
if (dev->usb_cam.dev != NULL)
{
libusb_release_interface(dev->usb_cam.dev, 0);
libusb_close(dev->usb_cam.dev);
}
else
{
FN_ERROR("Failed to open camera subdevice or it is not disabled.");
}
if (dev->usb_motor.dev != NULL)
{
libusb_release_interface(dev->usb_motor.dev, 0);
libusb_close(dev->usb_motor.dev);
}
else
{
FN_ERROR("Failed to open motor subddevice or it is not disabled.");
}
if (dev->usb_audio.dev != NULL)
{
libusb_release_interface(dev->usb_audio.dev, 0);
libusb_close(dev->usb_audio.dev);
}
else
{
FN_ERROR("Failed to open audio subdevice or it is not disabled.");
}
return -1;
}
FN_INTERNAL int upload_firmware(fnusb_dev* dev) {
freenect_context* ctx = dev->parent->parent;
bootloader_command bootcmd;
memset(&bootcmd, 0, sizeof(bootcmd));
bootcmd.magic = fn_le32(0x06022009);
int res;
int transferred;
/* Search for firmware file (audios.bin) in the following places:
* $LIBFREENECT_FIRMWARE_PATH
* .
* ${HOME}/.libfreenect
* /usr/local/share/libfreenect
* /usr/share/libfreenect
*/
const char* fw_filename = "/audios.bin";
int filenamelen = strlen(fw_filename);
int i;
int searchpathcount;
FILE* fw = NULL;
for(i = 0, searchpathcount = 5; !fw && i < searchpathcount; i++) {
char* fwfile;
int needs_free = 0;
switch(i) {
case 0: {
char* envpath = getenv("LIBFREENECT_FIRMWARE_PATH");
if (!envpath)
continue;
int pathlen = strlen(envpath);
fwfile = malloc(pathlen + filenamelen + 1);
strcpy(fwfile, envpath);
strcat(fwfile, fw_filename);
needs_free = 1;
}
break;
case 1:
fwfile = "./audios.bin";
break;
case 2: {
// Construct $HOME/.libfreenect/
char* home = getenv("HOME");
if (!home)
continue;
int homelen = strlen(home);
char* dotfolder = "/.libfreenect";
int locallen = strlen(dotfolder);
fwfile = (char*)malloc(homelen + locallen + filenamelen + 1);
strcpy(fwfile, home);
strcat(fwfile, dotfolder);
strcat(fwfile, fw_filename);
needs_free = 1;
}
break;
case 3:
fwfile = "/usr/local/share/libfreenect/audios.bin";
break;
case 4:
fwfile = "/usr/share/libfreenect/audios.bin";
break;
default: break;
}
FN_INFO("Trying to open %s as firmware...\n", fwfile);
fw = fopen(fwfile, "rb");
if (needs_free) {
free(fwfile);
}
}
if (!fw) {
FN_ERROR("upload_firmware: failed to find firmware file.\n");
return -errno;
}
// Now we have an open firmware file handle.
uint32_t addr = 0x00080000;
int read;
unsigned char page[0x4000];
do {
read = fread(page, 1, 0x4000, fw);
if(read <= 0) {
break;
}
bootcmd.tag = fn_le32(dev->parent->audio_tag);
bootcmd.bytes = fn_le32(read);
bootcmd.cmd = fn_le32(0x03);
bootcmd.addr = fn_le32(addr);
FN_INFO("About to send: ");
dump_bl_cmd(ctx, bootcmd);
// Send it off!
res = fnusb_bulk(dev, 1, (unsigned char*)&bootcmd, sizeof(bootcmd), &transferred);
if(res != 0 || transferred != sizeof(bootcmd)) {
FN_ERROR("upload_firmware(): Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, (int)(sizeof(bootcmd)));
fclose(fw);
return -1;
}
int bytes_sent = 0;
while(bytes_sent < read) {
int to_send = (read - bytes_sent > 512 ? 512 : read - bytes_sent);
res = fnusb_bulk(dev, 1, &page[bytes_sent], to_send, &transferred);
if(res != 0 || transferred != to_send) {
FN_ERROR("upload_firmware(): Error: res: %d\ttransferred: %d (expected %d)\n",res, transferred, to_send);
fclose(fw);
return -1;
}
bytes_sent += to_send;
}
res = get_reply(dev);
addr += (uint32_t)read;
dev->parent->audio_tag++;
} while (read > 0);
fclose(fw);
fw = NULL;
bootcmd.tag = fn_le32(dev->parent->audio_tag);
bootcmd.bytes = fn_le32(0);
bootcmd.cmd = fn_le32(0x04);
bootcmd.addr = fn_le32(0x00080030);
dump_bl_cmd(ctx, bootcmd);
res = fnusb_bulk(dev, 1, (unsigned char*)&bootcmd, sizeof(bootcmd), &transferred);
if(res != 0 || transferred != sizeof(bootcmd)) {
FN_ERROR("upload_firmware(): Error: res: %d\ttransferred: %d (expected %d)\n", res, transferred, (int)sizeof(bootcmd));
return -1;
}
res = get_reply(dev);
dev->parent->audio_tag++;
FN_INFO("Firmware successfully uploaded and launched. Device will disconnect and reenumerate.\n");
return 0;
}
