/home/xslaby/phantom/user/libphantom/libphantom.h File Reference

#include <math.h>
#include <string.h>
#include <sys/time.h>

Go to the source code of this file.

Classes
struct	phantom_pos
struct	phantom_info
struct	phantom_device
Defines
#define	PHM_LIB_MAX_FORCE   (12.0f)
#define	PHM_DEFAULT_MAX_FORCE   (0.0f)
#define	PHM_EBIGSPEED   2
#define	PHM_EBIGFORCE   4
#define	PHM_EOVERHEAT   8
#define	PHM_ERROR   (PHM_EBIGSPEED|PHM_EBIGFORCE|PHM_EOVERHEAT)
#define	PHM_BUTTON   16
Functions
struct phantom_device *	phm_open (const char *devname)
int	phm_start (struct phantom_device *dev, unsigned int rate)
void	phm_stop (struct phantom_device *dev)
int	phm_reset (struct phantom_device *dev)
void	phm_wait (struct phantom_device *dev)
void	phm_force_clamp_max (float force[3], float max_force)
struct phantom_info *	phm_switch (struct phantom_device *dev)
static int	phm_button_state (const struct phantom_device *dev)
float *	phm_to_spherical (float in[3], float out[3])
float *	phm_to_cartesian (float in[3], float out[3])
float *	phm_interpolate (float inB[3], float inE[3], float out[3], float alpha)
void	phm_get_stylus_matrix (float *m, float a, float b, float x, float y, float z)
void	phm_get_stylus_vector (float *vector_out, const float *m, const float *vector_in)
void	phm_filter_force (float force_out[3], float force_in[3])
void	phm_filter_init (void)
void	phm_filter_1D_recursive (float force_out[3], float alpha, float force_in[3], float force_old[3])
static void	phm_filter_2D_recursive (float force_out[3], float r, float k, float force_in[3], float force_old[3], float force_old1[3])
static void	phm_music_2D_recursive (float force_out[3], float k, float force_in[3], float force_old[3])

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Detailed Description

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Define Documentation

#define PHM_BUTTON   16

is the button pressed? (don't use this directly, use phm_button_state instead)

Referenced by phm_button_state().

#define PHM_DEFAULT_MAX_FORCE   (0.0f)

use this to get default value stored in the library

#define PHM_EBIGFORCE   4

force overflew

#define PHM_EBIGSPEED   2

speed overflew

#define PHM_EOVERHEAT   8

phantom is too hot

#define PHM_ERROR   (PHM_EBIGSPEED|PHM_EBIGFORCE|PHM_EOVERHEAT)

some error occured

#define PHM_LIB_MAX_FORCE   (12.0f)

max force -- 12 Newtons

Referenced by phm_force_clamp_max().

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Function Documentation

static int phm_button_state

(

const struct phantom_device *

dev

)

[inline, static]

phm_button_state - get button state

Parameters:

dev

device returned by phm_start

Returns:

nonzero if the button is pressed

References PHM_BUTTON, and phantom_device::status.

void phm_force_clamp_max	(	float	force[3],
		float	max_force
	)

clamps the force vector to some maximum value

Parameters:

	force	forces to alter
	max_force	what should be used as max force. If PHM_DEFAULT_MAX_FORCE, use internal PHM_LIB_MAX_FORCE

References PHM_LIB_MAX_FORCE.

void phm_get_stylus_matrix	(	float *	m,
		float	a,
		float	b,
		float	x,
		float	y,
		float	z
	)

get 3x3 rotational matrix for stylus

References phm_get_stylus_matrix().

Referenced by phm_get_stylus_matrix().

void phm_get_stylus_vector	(	float *	vector_out,
		const float *	m,
		const float *	vector_in
	)

transform vector by rotational matrix for stylus

References phm_get_stylus_vector().

Referenced by phm_get_stylus_vector().

struct phantom_device* phm_open

(

const char *

devname

)

[read]

Open phantom device and create memory maps

The complement, which should be called at the end of operation is phm_stop.

Parameters:

devname

phantom /dev device name

Returns:

remember this pointer for passing it to further functions

int phm_reset

(

struct phantom_device *

dev

)

reset phantom status

This should be called before operating with phantom, since its position is otherwise undefined and computing is bogus. Call this at least once after first open.

Parameters:

dev

pointer returned by phm_open

Returns:

nonzero on failure, 0 if successfully reset

int phm_start	(	struct phantom_device *	dev,
		unsigned int	unused
	)

Interface to start force on phantom

Parameters:

	dev	pointer returned by phm_open
	unused	no longer used, for backward compatibility

Returns:

nonzero on failure, 0 if successful

void phm_stop

(

struct phantom_device *

dev

)

stop phantom and release resources

Call this, when you are finishing your work with phantom. It should be called to be clean.

It's safe to call this even if phm_start was not called, but phm_open was.

Parameters:

dev

pointer returned by phm_open

struct phantom_info* phm_switch

(

struct phantom_device *

dev

)

[read]

get info struct where to write to and read from

In most cases, this should be called *after* phm_wait returns.

Parameters:

dev

phantom_device which was returned by phm_open

Returns:

actual info structure

void phm_wait

(

struct phantom_device *

dev

)

wait until timer wakes us up

This should be used in loop for waiting for new data. You probably might want to call phm_switch after this returns.

Parameters:

dev

return value of phm_open