ch.unizh.ini.jaer.projects.opticalflow.usbinterface
Class SiLabsC8051F320_OpticalFlowHardwareInterface

java.lang.Object
  ch.unizh.ini.jaer.projects.opticalflow.usbinterface.SiLabsC8051F320_OpticalFlowHardwareInterface

All Implemented Interfaces:

MotionChipInterface, de.thesycon.usbio.PnPNotifyInterface, de.thesycon.usbio.UsbIoErrorCodes, BiasgenHardwareInterface, HardwareInterface

public class SiLabsC8051F320_OpticalFlowHardwareInterface
extends java.lang.Object
implements MotionChipInterface, de.thesycon.usbio.UsbIoErrorCodes, de.thesycon.usbio.PnPNotifyInterface

Servo motor controller using USBIO driver access to SiLabsC8051F320 device.

Author:

tobi

Nested Class Summary

protected class

SiLabsC8051F320_OpticalFlowHardwareInterface.MotionReader This reader reads data from the motion chip

Field Summary

protected de.thesycon.usbio.structs.USB_DEVICE_DESCRIPTOR	deviceDescriptor the USBIO device descriptor
protected int	gDevList the devlist handle for USBIO
static java.lang.String	GUID driver GUID (Globally unique ID, for this USB driver instance
protected de.thesycon.usbio.UsbIo	gUsbIo the UsbIo interface to the device.
protected int	numberOfStringDescriptors
static short	PID OpticalFlowBoard Product ID
protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR	stringDescriptor1 the first USB string descriptor (Vendor name) (if available)
protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR	stringDescriptor2 the second USB string descriptor (Product name) (if available)
protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR	stringDescriptor3 the third USB string descriptor (Serial number) (if available)
static short	VID Optical flow board vendor ID (This is Thesycon's VID)

Fields inherited from interface de.thesycon.usbio.UsbIoErrorCodes

USBIO_ERR_ADDITIONAL_EVENT_SIGNALLED, USBIO_ERR_ALREADY_BOUND, USBIO_ERR_ALREADY_CONFIGURED, USBIO_ERR_BABBLE_DETECTED, USBIO_ERR_BAD_START_FRAME, USBIO_ERR_BTSTUFF, USBIO_ERR_BUFFER_OVERRUN, USBIO_ERR_BUFFER_UNDERRUN, USBIO_ERR_BULK_RESTRICTION, USBIO_ERR_CANCELED, USBIO_ERR_CONTROL_NOT_SUPPORTED, USBIO_ERR_CONTROL_RESTRICTION, USBIO_ERR_CRC, USBIO_ERR_DATA_BUFFER_ERROR, USBIO_ERR_DATA_OVERRUN, USBIO_ERR_DATA_TOGGLE_MISMATCH, USBIO_ERR_DATA_UNDERRUN, USBIO_ERR_DEMO_EXPIRED, USBIO_ERR_DEV_NOT_RESPONDING, USBIO_ERR_DEVICE_GONE, USBIO_ERR_DEVICE_NOT_FOUND, USBIO_ERR_DEVICE_NOT_OPEN, USBIO_ERR_DEVICE_NOT_PRESENT, USBIO_ERR_ENDPOINT_HALTED, USBIO_ERR_EP0_RESTRICTION, USBIO_ERR_ERROR_BUSY, USBIO_ERR_ERROR_SHORT_TRANSFER, USBIO_ERR_FAILED, USBIO_ERR_FIFO, USBIO_ERR_FRAME_CONTROL_NOT_OWNED, USBIO_ERR_FRAME_CONTROL_OWNED, USBIO_ERR_INSUFFICIENT_RESOURCES, USBIO_ERR_INTERFACE_NOT_FOUND, USBIO_ERR_INTERNAL_HC_ERROR, USBIO_ERR_INTERRUPT_RESTRICTION, USBIO_ERR_INVALID_CONFIGURATION_DESCRIPTOR, USBIO_ERR_INVALID_DEVICE_STATE, USBIO_ERR_INVALID_DIRECTION, USBIO_ERR_INVALID_FUNCTION_PARAM, USBIO_ERR_INVALID_INBUFFER, USBIO_ERR_INVALID_IOCTL, USBIO_ERR_INVALID_ISO_PACKET, USBIO_ERR_INVALID_OUTBUFFER, USBIO_ERR_INVALID_PARAM, USBIO_ERR_INVALID_PARAMETER, USBIO_ERR_INVALID_PIPE_FLAGS, USBIO_ERR_INVALID_PIPE_HANDLE, USBIO_ERR_INVALID_POWER_STATE, USBIO_ERR_INVALID_RECIPIENT, USBIO_ERR_INVALID_TYPE, USBIO_ERR_INVALID_URB_FUNCTION, USBIO_ERR_ISO_NA_LATE_USBPORT, USBIO_ERR_ISO_NOT_ACCESSED_BY_HW, USBIO_ERR_ISO_NOT_ACCESSED_LATE, USBIO_ERR_ISO_RESTRICTION, USBIO_ERR_ISO_TD_ERROR, USBIO_ERR_ISOCH_REQUEST_FAILED, USBIO_ERR_LOAD_SETUP_API_FAILED, USBIO_ERR_NO_BANDWIDTH, USBIO_ERR_NO_MEMORY, USBIO_ERR_NO_SUCH_DEVICE_INSTANCE, USBIO_ERR_NOT_ACCESSED, USBIO_ERR_NOT_BOUND, USBIO_ERR_NOT_CONFIGURED, USBIO_ERR_NOT_SUPPORTED, USBIO_ERR_OPEN_PIPES, USBIO_ERR_OUT_OF_ADDRESS_SPACE, USBIO_ERR_OUT_OF_MEMORY, USBIO_ERR_PENDING_REQUESTS, USBIO_ERR_PID_CHECK_FAILURE, USBIO_ERR_PIPE_NOT_FOUND, USBIO_ERR_PIPE_RESTRICTION, USBIO_ERR_PIPE_SIZE_RESTRICTION, USBIO_ERR_POOL_EMPTY, USBIO_ERR_POWER_DOWN, USBIO_ERR_REQUEST_FAILED, USBIO_ERR_RESERVED1, USBIO_ERR_RESERVED2, USBIO_ERR_SET_CONFIG_FAILED, USBIO_ERR_SET_CONFIGURATION_FAILED, USBIO_ERR_STALL_PID, USBIO_ERR_STATUS_NOT_MAPPED, USBIO_ERR_SUCCESS, USBIO_ERR_TIMEOUT, USBIO_ERR_TOO_MUCH_ISO_PACKETS, USBIO_ERR_UNEXPECTED_PID, USBIO_ERR_USBD_BUFFER_TOO_SMALL, USBIO_ERR_USBD_INTERFACE_NOT_FOUND, USBIO_ERR_USBD_TIMEOUT, USBIO_ERR_VERSION_MISMATCH, USBIO_ERR_VID_RESTRICTION, USBIO_ERR_XACT_ERROR

Constructor Summary

SiLabsC8051F320_OpticalFlowHardwareInterface(int n)
Creates a new instance of SiLabsC8051F320_USBIO_ServoController

Method Summary

void	close() Closes the device.
void	flashConfiguration(Biasgen biasgen) flashes the configuration in non-volatile storage so they will be reloaded on reset or powerup.
byte[]	formatConfigurationBytes(Biasgen biasgen) Formats and returns the bytes that should be sent to set a particular configuration.
MotionData	getData() returns MotionData from the device
short	getDID()
int	getNumberOfStringDescriptors() returns number of string descriptors
short	getPID()
java.lang.String[]	getStringDescriptors() return the string USB descriptors for the device
java.lang.String	getTypeName() get text name of interface, e.g.
short	getVID()
int[]	getVIDPID() return the USB VID/PID of the interface
protected boolean	hasStringIdentifier() checks if device has a string identifier that is a non-empty string
boolean	isOpen() reports if interface is open().
void	onAdd()
void	onRemove()
void	open() constrcuts a new USB connection, opens it.
void	openUsbIo() This method does the hard work of opening the device, downloading the firmware, making sure everything is OK.
void	sendConfiguration(Biasgen biasgen) sends the pot values, but uses a local cache to only send those values that have changed
void	sendVendorRequest(byte request, short value, short index) sends a vender request without any data.
void	sendVendorRequest(byte request, short value, short index, de.thesycon.usbio.structs.USBIO_DATA_BUFFER dataBuffer) sends a vender request with data.
void	setCaptureMode(int mode) sets the data to be captured in each frame.
void	setPowerDown(boolean powerDown) sends the powerdown vendor request to power down the chip.

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

GUID

public static final java.lang.String GUID

driver GUID (Globally unique ID, for this USB driver instance

See Also:

Constant Field Values

VID

public static final short VID

Optical flow board vendor ID (This is Thesycon's VID)

See Also:

Constant Field Values

PID

public static final short PID

OpticalFlowBoard Product ID

See Also:

Constant Field Values

stringDescriptor1

protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR stringDescriptor1

the first USB string descriptor (Vendor name) (if available)

stringDescriptor2

protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR stringDescriptor2

the second USB string descriptor (Product name) (if available)

stringDescriptor3

protected de.thesycon.usbio.structs.USB_STRING_DESCRIPTOR stringDescriptor3

the third USB string descriptor (Serial number) (if available)

numberOfStringDescriptors

protected int numberOfStringDescriptors

deviceDescriptor

protected de.thesycon.usbio.structs.USB_DEVICE_DESCRIPTOR deviceDescriptor

the USBIO device descriptor

gUsbIo

protected de.thesycon.usbio.UsbIo gUsbIo

the UsbIo interface to the device. This is assigned on construction by the factory which uses it to open the device. here is used for all USBIO access to the device

gDevList

protected int gDevList

the devlist handle for USBIO

Constructor Detail

SiLabsC8051F320_OpticalFlowHardwareInterface

public SiLabsC8051F320_OpticalFlowHardwareInterface(int n)

Creates a new instance of SiLabsC8051F320_USBIO_ServoController

Parameters:

n - the number of the interface, in range returned by OpticalFlowHardwareInterfaceFactory.getNumInterfacesAvailable().

Method Detail

onAdd

public void onAdd()

Specified by:

onAdd in interface de.thesycon.usbio.PnPNotifyInterface

onRemove

public void onRemove()

Specified by:

onRemove in interface de.thesycon.usbio.PnPNotifyInterface

close

public void close()

Closes the device. Never throws an exception.

Specified by:

close in interface HardwareInterface

getNumberOfStringDescriptors

public int getNumberOfStringDescriptors()

returns number of string descriptors

Returns:

number of string descriptors: 2 for TmpDiff128, 3 for MonitorSequencer

hasStringIdentifier

protected boolean hasStringIdentifier()

checks if device has a string identifier that is a non-empty string

Returns:

false if not, true if there is one

open

public void open()

constrcuts a new USB connection, opens it.

Specified by:

open in interface HardwareInterface

openUsbIo

public void openUsbIo()
               throws HardwareInterfaceException

This method does the hard work of opening the device, downloading the firmware, making sure everything is OK. This method is synchronized to prevent multiple threads from trying to open at the same time, e.g. a GUI thread and the main thread. Opening the device after it has already been opened has no effect.

Throws:

HardwareInterfaceException - if there is a problem. Diagnostics are printed to stderr.

See Also:

close()

getStringDescriptors

public java.lang.String[] getStringDescriptors()

return the string USB descriptors for the device

Returns:

String[] of length 2 of USB descriptor strings.

getVIDPID

public int[] getVIDPID()

return the USB VID/PID of the interface

Returns:

int[] of length 2 containing the Vendor ID (VID) and Product ID (PID) of the device. First element is VID, second element is PID.

getVID

public short getVID()

getPID

public short getPID()

getDID

public short getDID()

Returns:

bcdDevice (the binary coded decimel device version

isOpen

public boolean isOpen()

reports if interface is open().

Specified by:

isOpen in interface HardwareInterface

Returns:

true if already open

getTypeName

public java.lang.String getTypeName()

Description copied from interface: HardwareInterface

get text name of interface, e.g. "CypressFX2" or "SiLabsC8051F320"

Specified by:

getTypeName in interface HardwareInterface

sendVendorRequest

public void sendVendorRequest(byte request,
                              short value,
                              short index)
                       throws HardwareInterfaceException

sends a vender request without any data. Thread safe.

Parameters:

request - the vendor request byte, identifies the request on the device

value - the value of the request (bValue USB field)

index - the "index" of the request (bIndex USB field)

Throws:

HardwareInterfaceException

sendVendorRequest

public void sendVendorRequest(byte request,
                              short value,
                              short index,
                              de.thesycon.usbio.structs.USBIO_DATA_BUFFER dataBuffer)
                       throws HardwareInterfaceException

sends a vender request with data. Thread-safe.

Parameters:

request - the vendor request byte, identifies the request on the device

value - the value of the request (bValue USB field)

index - the "index" of the request (bIndex USB field)

dataBuffer - the data which is to be transmitted to the device

Throws:

HardwareInterfaceException

getData

public MotionData getData()
                   throws java.util.concurrent.TimeoutException

returns MotionData from the device

Specified by:

getData in interface MotionChipInterface

Returns:

MotionData for one frame

Throws:

TimeOutException - when request for exchange with Reader thread times out. Timeout duration is set by DATA_TIMEOUT_MS.

java.util.concurrent.TimeoutException

setPowerDown

public void setPowerDown(boolean powerDown)
                  throws HardwareInterfaceException

Description copied from interface: BiasgenHardwareInterface

sends the powerdown vendor request to power down the chip.

Typically this method toggles the powerDown pin correctly to ensure on-chip biasgen is powered up. Chip may have been plugged in without being powered up. If powerdown is true, simply sets powerdown high. If powerdown is false, powerdown is toggled high and then low, to make sure a nagative transistion occurs. This transistion is necessary to ensure the startup circuit starts up the masterbias again.

Specified by:

setPowerDown in interface BiasgenHardwareInterface

Parameters:

powerDown - true to power OFF the biasgen, false to power on

Throws:

HardwareInterfaceException

sendConfiguration

public void sendConfiguration(Biasgen biasgen)
                       throws HardwareInterfaceException

sends the pot values, but uses a local cache to only send those values that have changed

Specified by:

sendConfiguration in interface BiasgenHardwareInterface

Parameters:

biasgen - the biasgen we are sending for

Throws:

HardwareInterfaceException

flashConfiguration

public void flashConfiguration(Biasgen biasgen)
                        throws HardwareInterfaceException

Description copied from interface: BiasgenHardwareInterface

flashes the configuration in non-volatile storage so they will be reloaded on reset or powerup.

Specified by:

flashConfiguration in interface BiasgenHardwareInterface

Parameters:

biasgen - holds the configuration values

Throws:

HardwareInterfaceException

setCaptureMode

public void setCaptureMode(int mode)

sets the data to be captured in each frame. The mode bits defined for the chip, e.g. Motion18, define which data will be requested. The returned MotionData will signify which data it has.

Specified by:

setCaptureMode in interface MotionChipInterface

Parameters:

mode - the mode

See Also:

Motion18

formatConfigurationBytes

public byte[] formatConfigurationBytes(Biasgen biasgen)

Description copied from interface: BiasgenHardwareInterface

Formats and returns the bytes that should be sent to set a particular configuration.

Specified by:

formatConfigurationBytes in interface BiasgenHardwareInterface

Parameters:

biasgen - the source of the configuration.

Returns:

the array to be sent.