API

Full API documentation, automatically generated from doxygen comments.

class AEDAT3NetworkHeader : private aedat3_network_header

Public Functions

inline AEDAT3NetworkHeader()

inline AEDAT3NetworkHeader(const uint8_t *h)

inline int64_t getMagicNumber() const noexcept

inline bool checkMagicNumber() const noexcept

inline int64_t getSequenceNumber() const noexcept

inline void incrementSequenceNumber() noexcept

inline int8_t getVersionNumber() const noexcept

inline bool checkVersionNumber() const noexcept

inline int8_t getFormatNumber() const noexcept

inline void setFormatNumber(int8_t format) noexcept

inline int16_t getSourceID() const noexcept

inline void setSourceID(int16_t source) noexcept

struct caer_bias_coarsefine

#include </builds/inivation/dv/libcaer/include/libcaer/devices/davis.h>

On-chip coarse-fine bias current configuration. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

Public Members

uint8_t coarseValue: Coarse current, from 0 to 7, creates big variations in output current.

uint8_t fineValue: Fine current, from 0 to 255, creates small variations in output current.

bool enabled: Whether this bias is enabled or not.

bool sexN: Bias sex: true for ‘N’ type, false for ‘P’ type.

bool typeNormal: Bias type: true for ‘Normal’, false for ‘Cascode’.

bool currentLevelNormal: Bias current level: true for ‘Normal, false for ‘Low’.

struct caer_bias_coarsefine1024

#include </builds/inivation/dv/libcaer/include/libcaer/devices/dvs132s.h>

On-chip simplified coarse-fine bias current configuration. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

Public Members

uint16_t coarseValue: Coarse current, from 0 to 1023, creates big variations in output current.

uint16_t fineValue: Fine current, from 0 to 1023, creates small variations in output current.

struct caer_bias_dynapse

#include </builds/inivation/dv/libcaer/include/libcaer/devices/dynapse.h>

On-chip coarse-fine bias current configuration for Dynap-se. See ‘https://ai-ctx.com/support/’ section ‘Neuron’s behaviors and parameters tuning’.

Public Members

uint8_t biasAddress: Address of bias to configure, see DYNAPSE_CONFIG_BIAS_* defines.

uint8_t coarseValue: Coarse current, from 0 to 7, creates big variations in output current.

uint8_t fineValue: Fine current, from 0 to 255, creates small variations in output current.

bool enabled: Whether this bias is enabled or not.

bool sexN: Bias sex: true for ‘N’ type, false for ‘P’ type.

bool typeNormal: Bias type: true for ‘Normal’, false for ‘Cascode’.

bool biasHigh: Bias current level: true for ‘HighBias’, false for ‘LowBias’.

struct caer_bias_shiftedsource

#include </builds/inivation/dv/libcaer/include/libcaer/devices/davis.h>

On-chip shifted-source bias current configuration. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

Public Members

uint8_t refValue: Shifted-source bias level, from 0 to 63.

uint8_t regValue: Shifted-source bias current for buffer amplifier, from 0 to 63.

enum caer_bias_shiftedsource_operating_mode operatingMode: Shifted-source operating mode (see ‘enum caer_bias_shiftedsource_operating_mode’).

enum caer_bias_shiftedsource_voltage_level voltageLevel: Shifted-source voltage level (see ‘enum caer_bias_shiftedsource_voltage_level’).

struct caer_bias_vdac

#include </builds/inivation/dv/libcaer/include/libcaer/devices/davis.h>

On-chip voltage digital-to-analog converter configuration. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

Public Members

uint8_t voltageValue: Voltage, between 0 and 63, as a fraction of 1/64th of VDD=3.3V.

uint8_t currentValue: Current, between 0 and 7, that drives the voltage.

struct caer_davis_info

#include </builds/inivation/dv/libcaer/include/libcaer/devices/davis.h>

DAVIS device-related information.

Public Members

int16_t deviceID: Unique device identifier. Also ‘source’ for events.

char deviceSerialNumber[8 + 1]: Device serial number.

uint8_t deviceUSBBusNumber: Device USB bus number.

uint8_t deviceUSBDeviceAddress: Device USB device address.

char *deviceString: Device information string, for logging purposes. If not NULL, pointed-to memory is only valid while the corresponding device is open! After calling deviceClose() this is invalid memory!

int16_t firmwareVersion: USB firmware version.

int16_t logicVersion: Logic (FPGA/CPLD) version.

int16_t chipID: Chip identifier/type.

bool deviceIsMaster: Whether the device is a time-stamp master or slave.

bool muxHasStatistics: Feature test: Multiplexer statistics support (event drops).

int16_t dvsSizeX: DVS X axis resolution.

int16_t dvsSizeY: DVS Y axis resolution.

bool dvsHasPixelFilter: Feature test: DVS pixel-level filtering.

bool dvsHasBackgroundActivityFilter: Feature test: DVS Background Activity filter (and Refractory Period filter).

bool dvsHasROIFilter: Feature test: DVS ROI filter.

bool dvsHasSkipFilter: Feature test: DVS event skip filter.

bool dvsHasPolarityFilter: Feature test: DVS polarity suppression filter.

bool dvsHasStatistics: Feature test: DVS statistics support.

int16_t apsSizeX: APS X axis resolution.

int16_t apsSizeY: APS Y axis resolution.

enum caer_frame_event_color_filter apsColorFilter: APS color filter type.

bool apsHasGlobalShutter: Feature test: APS supports Global Shutter.

enum caer_imu_types imuType: IMU chip type on device.

bool extInputHasGenerator: Feature test: External Input module supports Signal-Generation.

struct caer_device_discovery_result

#include </builds/inivation/dv/libcaer/include/libcaer/devices/device_discover.h>

Result of a device discovery operation. Contains the type of the device and its informational structure; use the device type to properly select the right info structure! In the info structures, ‘deviceID’ will always be set to -1 and ‘deviceString’ will always be NULL, as those are not present during the generic discovery phase.

Public Members

uint16_t deviceType

bool deviceErrorOpen

bool deviceErrorVersion

struct caer_dvs128_info dvs128Info

struct caer_edvs_info edvsInfo

struct caer_davis_info davisInfo

struct caer_dynapse_info dynapseInfo

struct caer_dvs132s_info dvs132sInfo

struct caer_dvx_info dvXplorerInfo

struct caer_samsung_evk_info samsungEVKInfo

union caer_device_discovery_result deviceInfo

struct caer_dvs128_info

#include </builds/inivation/dv/libcaer/include/libcaer/devices/dvs128.h>

DVS128 device-related information.

Public Members

int16_t deviceID: Unique device identifier. Also ‘source’ for events.

char deviceSerialNumber[8 + 1]: Device serial number.

uint8_t deviceUSBBusNumber: Device USB bus number.

uint8_t deviceUSBDeviceAddress: Device USB device address.

char *deviceString: Device information string, for logging purposes. If not NULL, pointed-to memory is only valid while the corresponding device is open! After calling deviceClose() this is invalid memory!

int16_t firmwareVersion: USB firmware version.

bool deviceIsMaster: Whether the device is a time-stamp master or slave.

int16_t dvsSizeX: DVS X axis resolution.

int16_t dvsSizeY: DVS Y axis resolution.

struct caer_dvs132s_info

#include </builds/inivation/dv/libcaer/include/libcaer/devices/dvs132s.h>

DVS132S device-related information.

Public Members

int16_t deviceID: Unique device identifier. Also ‘source’ for events.

char deviceSerialNumber[8 + 1]: Device serial number.

uint8_t deviceUSBBusNumber: Device USB bus number.

uint8_t deviceUSBDeviceAddress: Device USB device address.

char *deviceString: Device information string, for logging purposes. If not NULL, pointed-to memory is only valid while the corresponding device is open! After calling deviceClose() this is invalid memory!

int16_t firmwareVersion: USB firmware version.

int16_t logicVersion: Logic (FPGA/CPLD) version.

int16_t chipID: Chip identifier/type.

bool deviceIsMaster: Whether the device is a time-stamp master or slave.

bool muxHasStatistics: Feature test: Multiplexer statistics support (event drops).

int16_t dvsSizeX: DVS X axis resolution.

int16_t dvsSizeY: DVS Y axis resolution.

bool dvsHasStatistics: Feature test: DVS statistics support.

enum caer_imu_types imuType: IMU chip type on device.

bool extInputHasGenerator: Feature test: External Input module supports Signal-Generation.

struct caer_dvx_info

#include </builds/inivation/dv/libcaer/include/libcaer/devices/dvxplorer.h>

DVXPLORER device-related information.

Public Members

int16_t deviceID: Unique device identifier. Also ‘source’ for events.

char deviceSerialNumber[8 + 1]: Device serial number.

uint8_t deviceUSBBusNumber: Device USB bus number.

uint8_t deviceUSBDeviceAddress: Device USB device address.

char *deviceString: Device information string, for logging purposes. If not NULL, pointed-to memory is only valid while the corresponding device is open! After calling deviceClose() this is invalid memory!

int16_t firmwareVersion: USB firmware version.

int16_t logicVersion: Logic (FPGA/CPLD) version.

int16_t chipID: Chip identifier/type.

bool deviceIsMaster: Whether the device is a time-stamp master or slave.

bool muxHasStatistics: Feature test: Multiplexer statistics support (event drops).

int16_t dvsSizeX: DVS X axis resolution.

int16_t dvsSizeY: DVS Y axis resolution.

bool dvsHasStatistics: Feature test: DVS statistics support.

enum caer_imu_types imuType: IMU chip type on device.

bool extInputHasGenerator: Feature test: External Input module supports Signal-Generation.

struct caer_dynapse_info

#include </builds/inivation/dv/libcaer/include/libcaer/devices/dynapse.h>

Dynap-se device-related information.

Public Members

int16_t deviceID: Unique device identifier. Also ‘source’ for events.

char deviceSerialNumber[8 + 1]: Device serial number.

uint8_t deviceUSBBusNumber: Device USB bus number.

uint8_t deviceUSBDeviceAddress: Device USB device address.

char *deviceString: Device information string, for logging purposes. If not NULL, pointed-to memory is only valid while the corresponding device is open! After calling deviceClose() this is invalid memory!

int16_t logicVersion: Logic (FPGA/CPLD) version.

bool deviceIsMaster: Whether the device is a time-stamp master or slave.

int16_t logicClock: Clock in MHz for main logic (FPGA/CPLD).

int16_t chipID: Chip identifier/type.

bool aerHasStatistics: Feature test: AER (spikes) statistics support.

bool muxHasStatistics: Feature test: Multiplexer statistics support (event drops).

struct caer_edvs_info

#include </builds/inivation/dv/libcaer/include/libcaer/devices/edvs.h>

EDVS device-related information.

Public Members

int16_t deviceID: Unique device identifier. Also ‘source’ for events.

char *deviceString: Device information string, for logging purposes. If not NULL, pointed-to memory is only valid while the corresponding device is open! After calling deviceClose() this is invalid memory!

bool deviceIsMaster: Whether the device is a time-stamp master or slave.

int16_t dvsSizeX: DVS X axis resolution.

int16_t dvsSizeY: DVS Y axis resolution.

char serialPortName[64]: Connected serial port name (OS-specific).

uint32_t serialBaudRate: Serial connection baud-rate.

struct caer_filter_dvs_pixel

#include </builds/inivation/dv/libcaer/include/libcaer/filters/dvs_noise.h>

Structure representing a single DVS pixel address, with X and Y components. Used in DVS filtering support.

Public Members

uint16_t x

uint16_t y

struct caer_samsung_evk_info

#include </builds/inivation/dv/libcaer/include/libcaer/devices/samsung_evk.h>

SAMSUNG_EVK device-related information.

Public Members

int16_t deviceID: Unique device identifier. Also ‘source’ for events.

char deviceSerialNumber[8 + 1]: Device serial number.

uint8_t deviceUSBBusNumber: Device USB bus number.

uint8_t deviceUSBDeviceAddress: Device USB device address.

char *deviceString: Device information string, for logging purposes. If not NULL, pointed-to memory is only valid while the corresponding device is open! After calling deviceClose() this is invalid memory!

int16_t firmwareVersion: USB firmware version.

int16_t chipID: Chip identifier/type.

int16_t dvsSizeX: DVS X axis resolution.

int16_t dvsSizeY: DVS Y axis resolution.

class davis : public libcaer::devices::usb 

Subclassed by libcaer::devices::davisfx2, libcaer::devices::davisfx3

Public Functions

inline davis(uint16_t deviceID)

inline davis(uint16_t deviceID, uint8_t busNumberRestrict, uint8_t devAddressRestrict, const std::string &serialNumberRestrict)

inline struct caer_davis_info infoGet() const noexcept

inline virtual std::string toString() const noexcept override

inline void roiConfigure(uint16_t startX, uint16_t startY, uint16_t endX, uint16_t endY) const

Public Static Functions

static inline uint16_t biasVDACGenerate(const struct caer_bias_vdac vdacBias) noexcept

static inline struct caer_bias_vdac biasVDACParse(const uint16_t vdacBias) noexcept

static inline uint16_t biasCoarseFineGenerate(const struct caer_bias_coarsefine coarseFineBias) noexcept

static inline struct caer_bias_coarsefine biasCoarseFineParse(const uint16_t coarseFineBias) noexcept

static inline struct caer_bias_coarsefine biasCoarseFineFromCurrent(const uint32_t picoAmps) noexcept

static inline uint32_t biasCoarseFineToCurrent(const struct caer_bias_coarsefine coarseFineBias) noexcept

static inline uint16_t biasShiftedSourceGenerate(const struct caer_bias_shiftedsource shiftedSourceBias) noexcept

static inline struct caer_bias_shiftedsource biasShiftedSourceParse(const uint16_t shiftedSourceBias) noexcept

Protected Functions

inline davis(uint16_t deviceID, uint16_t deviceType)

inline davis(uint16_t deviceID, uint16_t deviceType, uint8_t busNumberRestrict, uint8_t devAddressRestrict, const std::string &serialNumberRestrict)

class davisfx2 : public libcaer::devices::davis 

Public Functions

inline davisfx2(uint16_t deviceID)

inline davisfx2(uint16_t deviceID, uint8_t busNumberRestrict, uint8_t devAddressRestrict, const std::string &serialNumberRestrict)

class davisfx3 : public libcaer::devices::davis 

Public Functions

inline davisfx3(uint16_t deviceID)

inline davisfx3(uint16_t deviceID, uint8_t busNumberRestrict, uint8_t devAddressRestrict, const std::string &serialNumberRestrict)

class device

Subclassed by libcaer::devices::serial, libcaer::devices::usb

Public Functions

virtual ~device() = default

virtual std::string toString() const noexcept = 0

inline void sendDefaultConfig() const

inline void configSet(int8_t modAddr, uint8_t paramAddr, uint32_t param) const

inline void configGet(int8_t modAddr, uint8_t paramAddr, uint32_t *param) const

inline uint32_t configGet(int8_t modAddr, uint8_t paramAddr) const

inline void configGet64(int8_t modAddr, uint8_t paramAddr, uint64_t *param) const

inline uint64_t configGet64(int8_t modAddr, uint8_t paramAddr) const

inline void dataStart(void (*dataNotifyIncrease)(void *ptr), void (*dataNotifyDecrease)(void *ptr), void *dataNotifyUserPtr, void (*dataShutdownNotify)(void *ptr), void *dataShutdownUserPtr) const

inline void dataStop() const

inline std::unique_ptr<libcaer::events::EventPacketContainer> dataGet() const

Protected Functions

device() = default

Protected Attributes

std::shared_ptr<struct caer_device_handle> handle

class discover

Public Static Functions

static inline std::vector<struct caer_device_discovery_result> device(int16_t deviceType)

static inline std::vector<struct caer_device_discovery_result> all()

static inline std::unique_ptr<libcaer::devices::device> open(uint16_t deviceID, const struct caer_device_discovery_result &discoveredDevice)

class dvs128 : public libcaer::devices::usb 

Public Functions

inline dvs128(uint16_t deviceID)

inline dvs128(uint16_t deviceID, uint8_t busNumberRestrict, uint8_t devAddressRestrict, const std::string &serialNumberRestrict)

inline struct caer_dvs128_info infoGet() const noexcept

inline virtual std::string toString() const noexcept override

class dvs132s : public libcaer::devices::usb 

Public Functions

inline dvs132s(uint16_t deviceID)

inline dvs132s(uint16_t deviceID, uint8_t busNumberRestrict, uint8_t devAddressRestrict, const std::string &serialNumberRestrict)

inline struct caer_dvs132s_info infoGet() const noexcept

inline virtual std::string toString() const noexcept override

class DVSNoise

Public Functions

inline DVSNoise(uint16_t sizeX, uint16_t sizeY)

~DVSNoise() = default

inline std::string toString() const noexcept

inline void configSet(uint8_t paramAddr, uint64_t param) const

inline void configGet(uint8_t paramAddr, uint64_t *param) const

inline uint64_t configGet(uint8_t paramAddr) const

inline std::vector<struct caer_filter_dvs_pixel> getHotPixels() const

inline void apply(caerPolarityEventPacket polarity) const noexcept

inline void apply(libcaer::events::PolarityEventPacket &polarity) const noexcept

inline void apply(libcaer::events::PolarityEventPacket *polarity) const noexcept

inline void apply(caerPolarityEventPacketConst polarity) const noexcept

inline void apply(const libcaer::events::PolarityEventPacket &polarity) const noexcept

inline void apply(const libcaer::events::PolarityEventPacket *polarity) const noexcept

Private Members

std::shared_ptr<struct caer_filter_dvs_noise> handle

class dvXplorer : public libcaer::devices::usb 

Public Functions

inline dvXplorer(uint16_t deviceID)

inline dvXplorer(uint16_t deviceID, uint8_t busNumberRestrict, uint8_t devAddressRestrict, const std::string &serialNumberRestrict)

inline struct caer_dvx_info infoGet() const noexcept

inline virtual std::string toString() const noexcept override

class dynapse : public libcaer::devices::usb 

Public Functions

inline dynapse(uint16_t deviceID)

inline dynapse(uint16_t deviceID, uint8_t busNumberRestrict, uint8_t devAddressRestrict, const std::string &serialNumberRestrict)

inline struct caer_dynapse_info infoGet() const noexcept

inline virtual std::string toString() const noexcept override

inline void sendDataToUSB(const uint32_t *data, size_t numConfig) const

inline void writeSramWords(const uint16_t *data, uint32_t baseAddr, size_t numWords) const

inline void writePoissonSpikeRate(uint16_t neuronAddr, float rateHz) const

inline void writeSram(uint8_t coreId, uint8_t neuronAddrCore, uint8_t virtualCoreId, bool sx, uint8_t dx, bool sy, uint8_t dy, uint8_t sramId, uint8_t destinationCore) const

inline void writeSramN(uint16_t neuronAddr, uint8_t sramId, uint8_t virtualCoreId, bool sx, uint8_t dx, bool sy, uint8_t dy, uint8_t destinationCore) const

inline void writeCam(uint16_t inputNeuronAddr, uint16_t neuronAddr, uint8_t camId, uint8_t synapseType) const

Public Static Functions

static inline uint32_t biasDynapseGenerate(const struct caer_bias_dynapse dynapseBias) noexcept

static inline struct caer_bias_dynapse biasDynapseParse(const uint32_t dynapseBias) noexcept

static inline uint32_t generateCamBits(uint16_t inputNeuronAddr, uint16_t neuronAddr, uint8_t camId, uint8_t synapseType) noexcept

static inline uint32_t generateSramBits(uint16_t neuronAddr, uint8_t sramId, uint8_t virtualCoreId, bool sx, uint8_t dx, bool sy, uint8_t dy, uint8_t destinationCore) noexcept

static inline uint16_t coreXYToNeuronId(uint8_t coreId, uint8_t columnX, uint8_t rowY) noexcept

static inline uint16_t coreAddrToNeuronId(uint8_t coreId, uint8_t neuronAddrCore) noexcept

static inline uint16_t spikeEventGetX(const libcaer::events::SpikeEvent &event) noexcept

static inline uint16_t spikeEventGetY(const libcaer::events::SpikeEvent &event) noexcept

static inline uint16_t spikeEventGetX(const libcaer::events::SpikeEvent *event) noexcept

static inline uint16_t spikeEventGetY(const libcaer::events::SpikeEvent *event) noexcept

static inline libcaer::events::SpikeEvent spikeEventFromXY(uint16_t x, uint16_t y) noexcept

class edvs : public libcaer::devices::serial 

Public Functions

inline edvs(uint16_t deviceID, const std::string &serialPortName, uint32_t serialBaudRate)

inline struct caer_edvs_info infoGet() const noexcept

inline virtual std::string toString() const noexcept override

class EventPacket

Subclassed by libcaer::events::EventPacketCommon< FrameEventPacket, FrameEvent >, libcaer::events::EventPacketCommon< IMU6EventPacket, IMU6Event >, libcaer::events::EventPacketCommon< IMU9EventPacket, IMU9Event >, libcaer::events::EventPacketCommon< PolarityEventPacket, PolarityEvent >, libcaer::events::EventPacketCommon< SpecialEventPacket, SpecialEvent >, libcaer::events::EventPacketCommon< SpikeEventPacket, SpikeEvent >, libcaer::events::EventPacketCommon< PKT, EVT >

Public Types

enum class copyTypes

Values:

enumerator FULL

enumerator EVENTS_ONLY

enumerator VALID_EVENTS_ONLY

using value_type = GenericEvent 

using const_value_type = const GenericEvent 

using pointer = GenericEvent*

using const_pointer = const GenericEvent*

using reference = GenericEvent&

using const_reference = const GenericEvent&

using size_type = int32_t

using difference_type = ptrdiff_t

Public Functions

inline EventPacket(caerEventPacketHeader packetHeader, bool takeMemoryOwnership = true)

inline virtual ~EventPacket()

inline EventPacket(const EventPacket &rhs)

inline EventPacket &operator=(const EventPacket &rhs)

inline EventPacket(EventPacket &&rhs) noexcept

inline EventPacket &operator=(EventPacket &&rhs)

inline bool operator==(const EventPacket &rhs) const noexcept

inline bool operator!=(const EventPacket &rhs) const noexcept

inline int16_t getEventType() const noexcept

inline void setEventType(int16_t eventType)

inline int16_t getEventSource() const noexcept

inline void setEventSource(int16_t eventSource)

inline int32_t getEventSize() const noexcept

inline void setEventSize(int32_t eventSize)

inline int32_t getEventTSOffset() const noexcept

inline void setEventTSOffset(int32_t eventTSOffset)

inline int32_t getEventTSOverflow() const noexcept

inline void setEventTSOverflow(int32_t eventTSOverflow)

inline int32_t getEventCapacity() const noexcept

inline void setEventCapacity(int32_t eventCapacity)

inline int32_t getEventNumber() const noexcept

inline void setEventNumber(int32_t eventNumber)

inline int32_t getEventValid() const noexcept

inline void setEventValid(int32_t eventValid)

inline const_value_type genericGetEvent(size_type index) const

inline int64_t getDataSize() const noexcept

inline int64_t getSize() const noexcept

inline int64_t getDataSizeEvents() const noexcept

inline int64_t getSizeEvents() const noexcept

inline void clear() noexcept

inline void clean() noexcept

inline void resize(size_type newEventCapacity)

inline void shrink_to_fit()

inline void grow(size_type newEventCapacity)

inline void append(const EventPacket &appendPacket)

inline std::unique_ptr<EventPacket> copy(copyTypes ct) const

inline void swap(EventPacket &rhs)

inline caerEventPacketHeader getHeaderPointer() noexcept

inline caerEventPacketHeaderConst getHeaderPointer() const noexcept

inline bool isPacketMemoryOwner() const noexcept

inline caerEventPacketHeader getHeaderPointerForCOutput() noexcept

inline size_type capacity() const noexcept

inline size_type size() const noexcept

inline bool empty() const noexcept

Protected Functions

inline EventPacket()

inline virtual std::unique_ptr<EventPacket> virtualCopy(copyTypes ct) const

inline size_type getEventIndex(size_type index, bool limitIsCapacity) const

Protected Attributes

caerEventPacketHeader header

bool isMemoryOwner

Protected Static Functions

static inline caerEventPacketHeader internalCopy(caerEventPacketHeaderConst header, copyTypes ct)

static inline void constructorCheckCapacitySourceTSOverflow(size_type eventCapacity, int16_t eventSource, int32_t tsOverflow)

static inline void constructorCheckNullptr(const void *packet)

static inline void constructorCheckEventType(caerEventPacketHeaderConst packet, int16_t type)

template<class PKT, class EVT> class EventPacketCommon : public libcaer::events::EventPacket 

Public Types

using value_type = EVT 

using const_value_type = const EVT 

using pointer = EVT*

using const_pointer = const EVT*

using reference = EVT&

using const_reference = const EVT&

using size_type = int32_t

using difference_type = ptrdiff_t

using iterator = EventPacketIterator<value_type>

using const_iterator = EventPacketIterator<const_value_type>

using reverse_iterator = std::reverse_iterator<iterator>

using const_reverse_iterator = std::reverse_iterator<const_iterator>

Public Functions

inline reference getEvent(size_type index)

inline const_reference getEvent(size_type index) const

inline reference operator[](size_type index)

inline const_reference operator[](size_type index) const

inline reference front()

inline const_reference front() const

inline reference back()

inline const_reference back() const

inline std::unique_ptr<PKT> copy(copyTypes ct) const

inline iterator begin() noexcept

inline iterator end() noexcept

inline const_iterator begin() const noexcept

inline const_iterator end() const noexcept

inline const_iterator cbegin() const noexcept

inline const_iterator cend() const noexcept

inline reverse_iterator rbegin() noexcept

inline reverse_iterator rend() noexcept

inline const_reverse_iterator rbegin() const noexcept

inline const_reverse_iterator rend() const noexcept

inline const_reverse_iterator crbegin() const noexcept

inline const_reverse_iterator crend() const noexcept

Protected Functions

inline virtual std::unique_ptr<EventPacket> virtualCopy(copyTypes ct) const override

virtual reference virtualGetEvent(size_type index) noexcept = 0

virtual const_reference virtualGetEvent(size_type index) const noexcept = 0

class EventPacketContainer

Public Types

using value_type = std::shared_ptr<EventPacket>

using const_value_type = std::shared_ptr<const EventPacket>

using size_type = int32_t

using difference_type = ptrdiff_t

using iterator = EventPacketContainerCopyIterator<std::vector<std::shared_ptr<EventPacket>>::iterator, std::shared_ptr<EventPacket>>

using const_iterator = EventPacketContainerCopyIterator<std::vector<std::shared_ptr<EventPacket>>::const_iterator, std::shared_ptr<const EventPacket>>

using reverse_iterator = std::reverse_iterator<iterator>

using const_reverse_iterator = std::reverse_iterator<const_iterator>

Public Functions

inline EventPacketContainer(): Construct a new EventPacketContainer.

inline EventPacketContainer(size_type eventPacketsNumber)

Construct a new EventPacketContainer with enough space to store up to the given number of event packet pointers. The pointers are present and initialized to nullptr.

Parameters:: eventPacketsNumber – the initial number of event packet pointers that can be stored in this container. Must be equal to one or higher.

inline EventPacketContainer(caerEventPacketContainer packetContainer, bool takeMemoryOwnership = true)

Construct a new EventPacketContainer from a C-style caerEventPacketContainer. The contained packets can take over memory ownership if so requested.

Parameters:

packetContainer – C-style caerEventPacketContainer from which to initialize the new packet container.
takeMemoryOwnership – true if the container packets shall take over the ownership of the memory containing the events from the C-style packets.

inline size_type capacity() const noexcept

inline size_type size() const noexcept

inline bool empty() const noexcept

inline void clear() noexcept

inline value_type getEventPacket(size_type index)

Get the pointer to the event packet stored in this container at the given index.

Parameters:: index – the index of the event packet to get.
Throws:: std:out_of_range – no packet exists at given index.
Returns:: a pointer to an event packet.

inline value_type operator[](size_type index)

inline const_value_type getEventPacket(size_type index) const

Get the pointer to the event packet stored in this container at the given index. This is a read-only event packet, do not change its contents in any way!

Parameters:: index – the index of the event packet to get.
Throws:: std:out_of_range – no packet exists at given index.
Returns:: a pointer to a read-only event packet.

inline const_value_type operator[](size_type index) const

inline void setEventPacket(size_type index, value_type packetHeader)

Set the pointer to the event packet stored in this container at the given index. The index must be valid already, this does not change the container size.

Parameters:

index – the index of the event packet to set.
packetHeader – a pointer to an event packet. Can be a nullptr.

Throws:

std:out_of_range – no packet exists at given index.

inline void addEventPacket(value_type packetHeader)

Add an event packet pointer at the end of this container. Increases container size by one.

Parameters:: packetHeader – a pointer to an event packet. Can be a nullptr.

inline int64_t getLowestEventTimestamp() const noexcept

Get the lowest timestamp contained in this event packet container.

Returns:: the lowest timestamp (in µs) or -1 if not initialized.

inline int64_t getHighestEventTimestamp() const noexcept

Get the highest timestamp contained in this event packet container.

Returns:: the highest timestamp (in µs) or -1 if not initialized.

inline int32_t getEventsNumber() const noexcept

Get the number of events contained in this event packet container.

Returns:: the number of events in this container.

inline int32_t getEventsValidNumber() const noexcept

Get the number of valid events contained in this event packet container.

Returns:: the number of valid events in this container.

inline void updateStatistics() noexcept: Recalculates and updates all the packet-container level statistics (event counts and timestamps).

inline value_type findEventPacketByType(int16_t typeID)

Get the pointer to an event packet stored in this container with the given event type. This returns the first found event packet with that type ID, or nullptr if we get to the end without finding any such event packet.

Parameters:: typeID – the event type to search for.
Returns:: a pointer to an event packet with a certain type or nullptr if none found.

inline std::unique_ptr<std::vector<value_type>> findEventPacketsByType(int16_t typeID)

inline const_value_type findEventPacketByType(int16_t typeID) const

Get the pointer to a read-only event packet stored in this container with the given event type. This returns the first found event packet with that type ID, or nullptr if we get to the end without finding any such event packet.

Parameters:: typeID – the event type to search for.
Returns:: a pointer to a read-only event packet with a certain type or nullptr if none found.

inline std::unique_ptr<std::vector<const_value_type>> findEventPacketsByType(int16_t typeID) const

inline value_type findEventPacketBySource(int16_t sourceID)

Get the pointer to an event packet stored in this container from the given event source. This returns the first found event packet with that source ID, or nullptr if we get to the end without finding any such event packet.

Parameters:: sourceID – the event source to search for.
Returns:: a pointer to an event packet with a certain source or nullptr if none found.

inline std::unique_ptr<std::vector<value_type>> findEventPacketsBySource(int16_t sourceID)

inline const_value_type findEventPacketBySource(int16_t sourceID) const

Get the pointer to a read-only event packet stored in this container from the given event source. This returns the first found event packet with that source ID, or nullptr if we get to the end without finding any such event packet.

Parameters:: sourceID – the event source to search for.
Returns:: a pointer to a read-only event packet with a certain source or nullptr if none found.

inline std::unique_ptr<std::vector<const_value_type>> findEventPacketsBySource(int16_t sourceID) const

inline std::unique_ptr<EventPacketContainer> copyAllEvents() const

Make a deep copy of this event packet container and all of its event packets and their current events. A normal copy (using copy constructor or assignment) copies all the container’s internals, and correctly handles the pointers to the event packets held in it, but those will still point to the old event packets. To also copy the individual event packets and point to the new copies, use this function.

Returns:: a deep copy of this event packet container, containing all events.

inline std::unique_ptr<EventPacketContainer> copyValidEvents() const

Make a deep copy of this event packet container, with its event packets sized down to only include the currently valid events (eventValid), and discarding everything else. A normal copy (using copy constructor or assignment) copies all the container’s internals, and correctly handles the pointers to the event packets held in it, but those will still point to the old event packets. To also copy the individual event packets and point to the new copies, use this function.

Returns:: a deep copy of this event packet container, containing only valid events.

inline iterator begin() noexcept

inline iterator end() noexcept

inline const_iterator begin() const noexcept

inline const_iterator end() const noexcept

inline const_iterator cbegin() const noexcept

inline const_iterator cend() const noexcept

inline reverse_iterator rbegin() noexcept

inline reverse_iterator rend() noexcept

inline const_reverse_iterator rbegin() const noexcept

inline const_reverse_iterator rend() const noexcept

inline const_reverse_iterator crbegin() const noexcept

inline const_reverse_iterator crend() const noexcept

Private Members

int64_t lowestEventTimestamp: Smallest event timestamp contained in this packet container.

int64_t highestEventTimestamp: Largest event timestamp contained in this packet container.

int32_t eventsNumber: Number of events contained within all the packets in this container.

int32_t eventsValidNumber: Number of valid events contained within all the packets in this container.

std::vector<std::shared_ptr<EventPacket>> eventPackets: Vector of pointers to the actual event packets.

template<class InteralIterator, class SharedPtrType> class EventPacketContainerCopyIterator

Public Types

using iterator_category = typename InteralIterator::iterator_category

using value_type = SharedPtrType 

using pointer = const SharedPtrType*

using reference = const SharedPtrType&

using difference_type = typename InteralIterator::difference_type

using size_type = typename InteralIterator::difference_type

Public Functions

inline EventPacketContainerCopyIterator()

inline EventPacketContainerCopyIterator(InteralIterator _eventPacketsIterator)

inline reference operator*() const noexcept

inline pointer operator->() const noexcept

inline reference operator[](size_type idx) const noexcept

inline bool operator==(const EventPacketContainerCopyIterator &rhs) const noexcept

inline bool operator!=(const EventPacketContainerCopyIterator &rhs) const noexcept

inline bool operator<(const EventPacketContainerCopyIterator &rhs) const noexcept

inline bool operator>(const EventPacketContainerCopyIterator &rhs) const noexcept

inline bool operator<=(const EventPacketContainerCopyIterator &rhs) const noexcept

inline bool operator>=(const EventPacketContainerCopyIterator &rhs) const noexcept

inline EventPacketContainerCopyIterator &operator++() noexcept

inline EventPacketContainerCopyIterator operator++(int) noexcept

inline EventPacketContainerCopyIterator &operator--() noexcept

inline EventPacketContainerCopyIterator operator--(int) noexcept

inline EventPacketContainerCopyIterator &operator+=(size_type add) noexcept

inline EventPacketContainerCopyIterator operator+(size_type add) const noexcept

inline EventPacketContainerCopyIterator &operator-=(size_type sub) noexcept

inline EventPacketContainerCopyIterator operator-(size_type sub) const noexcept

inline difference_type operator-(const EventPacketContainerCopyIterator &rhs) const noexcept

inline void swap(EventPacketContainerCopyIterator &rhs) noexcept

Private Members

InteralIterator eventPacketsIterator

mutable SharedPtrType currElement

Friends

inline friend EventPacketContainerCopyIterator operator+(size_type lhs, const EventPacketContainerCopyIterator &rhs) noexcept

template<class T> class EventPacketIterator

Public Types

using iterator_category = std::random_access_iterator_tag

using value_type = typename std::remove_cv<T>::type

using pointer = T*

using reference = T&

using difference_type = ptrdiff_t

using size_type = int32_t

Public Functions

inline EventPacketIterator()

inline EventPacketIterator(eventPtrType _eventPtr, size_t _eventSize)

inline reference operator*() const noexcept

inline pointer operator->() const noexcept

inline reference operator[](size_type index) const noexcept

inline bool operator==(const EventPacketIterator &rhs) const noexcept

inline bool operator!=(const EventPacketIterator &rhs) const noexcept

inline bool operator<(const EventPacketIterator &rhs) const noexcept

inline bool operator>(const EventPacketIterator &rhs) const noexcept

inline bool operator<=(const EventPacketIterator &rhs) const noexcept

inline bool operator>=(const EventPacketIterator &rhs) const noexcept

inline EventPacketIterator &operator++() noexcept

inline EventPacketIterator operator++(int) noexcept

inline EventPacketIterator &operator--() noexcept

inline EventPacketIterator operator--(int) noexcept

inline EventPacketIterator &operator+=(size_type add) noexcept

inline EventPacketIterator operator+(size_type add) const noexcept

inline EventPacketIterator &operator-=(size_type sub) noexcept

inline EventPacketIterator operator-(size_type sub) const noexcept

inline difference_type operator-(const EventPacketIterator &rhs) const noexcept

inline void swap(EventPacketIterator &rhs) noexcept

Private Types

using eventPtrType = typename std::conditional<std::is_const<T>::value, const uint8_t*, uint8_t*>::type

Private Members

eventPtrType eventPtr

size_t eventSize

Friends

inline friend EventPacketIterator operator+(size_type lhs, const EventPacketIterator &rhs) noexcept

struct FrameEvent : public caer_frame_event

#include </builds/inivation/dv/libcaer/include/libcaercpp/events/frame.hpp>

Assignment/Move Constructors/Operators cannot be used with Frame Events due to their particular memory layout that is not entirely known to the compiler (dynamic pixel array). As such those constructors and operators are disabled. Please use caerGenericEventCopy() to copy frame events!

Public Types

enum class colorChannels

Values:

enumerator GRAYSCALE: Grayscale, one channel only.

enumerator RGB: Red Green Blue, 3 color channels.

enumerator RGBA: Red Green Blue Alpha, 3 color channels plus transparency.

enum class colorFilter

Values:

enumerator MONO: No color filter present, all light passes.

enumerator RGBG: Standard Bayer color filter, 1 red 2 green 1 blue. Variation 1.

enumerator GRGB: Standard Bayer color filter, 1 red 2 green 1 blue. Variation 2.

enumerator GBGR: Standard Bayer color filter, 1 red 2 green 1 blue. Variation 3.

enumerator BGRG: Standard Bayer color filter, 1 red 2 green 1 blue. Variation 4.

enumerator RGBW: Modified Bayer color filter, with white (pass all light) instead of extra green. Variation 1.

enumerator GRWB: Modified Bayer color filter, with white (pass all light) instead of extra green. Variation 2.

enumerator WBGR: Modified Bayer color filter, with white (pass all light) instead of extra green. Variation 3.

enumerator BWRG: Modified Bayer color filter, with white (pass all light) instead of extra green. Variation 4.

Public Functions

FrameEvent() = default

FrameEvent(const FrameEvent &rhs) = delete

FrameEvent &operator=(const FrameEvent &rhs) = delete

FrameEvent(FrameEvent &&rhs) = delete

FrameEvent &operator=(FrameEvent &&rhs) = delete

inline int32_t getTSStartOfFrame() const noexcept

inline int64_t getTSStartOfFrame64(const EventPacket &packet) const noexcept

inline void setTSStartOfFrame(int32_t ts)

inline int32_t getTSEndOfFrame() const noexcept

inline int64_t getTSEndOfFrame64(const EventPacket &packet) const noexcept

inline void setTSEndOfFrame(int32_t ts)

inline int32_t getTSStartOfExposure() const noexcept

inline int64_t getTSStartOfExposure64(const EventPacket &packet) const noexcept

inline void setTSStartOfExposure(int32_t ts)

inline int32_t getTSEndOfExposure() const noexcept

inline int64_t getTSEndOfExposure64(const EventPacket &packet) const noexcept

inline void setTSEndOfExposure(int32_t ts)

inline int32_t getTimestamp() const noexcept

inline int64_t getTimestamp64(const EventPacket &packet) const noexcept

inline int32_t getExposureLength() const noexcept

inline bool isValid() const noexcept

inline void validate(EventPacket &packet) noexcept

inline void invalidate(EventPacket &packet) noexcept

inline uint8_t getROIIdentifier() const noexcept

inline void setROIIdentifier(uint8_t roiIdent) noexcept

inline colorFilter getColorFilter() const noexcept

inline void setColorFilter(colorFilter cFilter) noexcept

inline int32_t getLengthX() const noexcept

inline int32_t getLengthY() const noexcept

inline colorChannels getChannelNumber() const noexcept

inline void setLengthXLengthYChannelNumber(int32_t lenX, int32_t lenY, colorChannels cNumber, const EventPacket &packet)

inline size_t getPixelsMaxIndex() const noexcept

inline size_t getPixelsSize() const noexcept

inline int32_t getPositionX() const noexcept

inline void setPositionX(int32_t posX) noexcept

inline int32_t getPositionY() const noexcept

inline void setPositionY(int32_t posY) noexcept

inline uint16_t getPixel(int32_t xAddress, int32_t yAddress) const

inline void setPixel(int32_t xAddress, int32_t yAddress, uint16_t pixelValue)

inline uint16_t getPixel(int32_t xAddress, int32_t yAddress, uint8_t channel) const

inline void setPixel(int32_t xAddress, int32_t yAddress, uint8_t channel, uint16_t pixelValue)

inline uint16_t getPixelUnsafe(int32_t xAddress, int32_t yAddress) const noexcept

inline void setPixelUnsafe(int32_t xAddress, int32_t yAddress, uint16_t pixelValue) noexcept

inline uint16_t getPixelUnsafe(int32_t xAddress, int32_t yAddress, uint8_t channel) const noexcept

inline void setPixelUnsafe(int32_t xAddress, int32_t yAddress, uint8_t channel, uint16_t pixelValue) noexcept

inline uint16_t *getPixelArrayUnsafe() noexcept

inline const uint16_t *getPixelArrayUnsafe() const noexcept

class FrameEventPacket : public libcaer::events::EventPacketCommon<FrameEventPacket, FrameEvent>

Public Types

enum class demosaicTypes

Values:

enumerator STANDARD

enumerator TO_GRAY

enum class contrastTypes

Values:

enumerator STANDARD

Public Functions

inline FrameEventPacket(size_type eventCapacity, int16_t eventSource, int32_t tsOverflow, int32_t maxLengthX, int32_t maxLengthY, int16_t maxChannelNumber)

inline FrameEventPacket(size_type eventCapacity, int16_t eventSource, int32_t tsOverflow, int32_t maxNumPixels, int16_t maxChannelNumber)

inline FrameEventPacket(caerFrameEventPacket packet, bool takeMemoryOwnership = true)

inline FrameEventPacket(caerEventPacketHeader packetHeader, bool takeMemoryOwnership = true)

inline size_t getPixelsSize() const noexcept

inline size_t getPixelsMaxIndex() const noexcept

inline std::unique_ptr<FrameEventPacket> demosaic(demosaicTypes demosaicType) const

inline void contrast(contrastTypes contrastType) noexcept

Protected Functions

inline virtual reference virtualGetEvent(size_type index) noexcept override

inline virtual const_reference virtualGetEvent(size_type index) const noexcept override

struct GenericEvent

Public Functions

inline int32_t getTimestamp() const noexcept

inline int64_t getTimestamp64() const noexcept

inline bool isValid() const noexcept

inline void copy(void *eventPtrDestination, caerEventPacketHeaderConst headerPtrDestination) const

inline void copy(struct GenericEvent &destinationEvent) const

inline void copy(struct GenericEvent *destinationEvent) const

Public Members

const void *event

caerEventPacketHeaderConst header

struct IMU6Event : public caer_imu6_event

Public Functions

inline int32_t getTimestamp() const noexcept

inline int64_t getTimestamp64(const EventPacket &packet) const noexcept

inline void setTimestamp(int32_t ts)

inline bool isValid() const noexcept

inline void validate(EventPacket &packet) noexcept

inline void invalidate(EventPacket &packet) noexcept

inline float getAccelX() const noexcept

inline void setAccelX(float accelX) noexcept

inline float getAccelY() const noexcept

inline void setAccelY(float accelY) noexcept

inline float getAccelZ() const noexcept

inline void setAccelZ(float accelZ) noexcept

inline float getGyroX() const noexcept

inline void setGyroX(float gyroX) noexcept

inline float getGyroY() const noexcept

inline void setGyroY(float gyroY) noexcept

inline float getGyroZ() const noexcept

inline void setGyroZ(float gyroZ) noexcept

inline float getTemp() const noexcept

inline void setTemp(float t) noexcept

class IMU6EventPacket : public libcaer::events::EventPacketCommon<IMU6EventPacket, IMU6Event>

Public Functions

inline IMU6EventPacket(size_type eventCapacity, int16_t eventSource, int32_t tsOverflow)

inline IMU6EventPacket(caerIMU6EventPacket packet, bool takeMemoryOwnership = true)

inline IMU6EventPacket(caerEventPacketHeader packetHeader, bool takeMemoryOwnership = true)

Protected Functions

inline virtual reference virtualGetEvent(size_type index) noexcept override

inline virtual const_reference virtualGetEvent(size_type index) const noexcept override

struct IMU9Event : public caer_imu9_event

Public Functions

inline int32_t getTimestamp() const noexcept

inline int64_t getTimestamp64(const EventPacket &packet) const noexcept

inline void setTimestamp(int32_t ts)

inline bool isValid() const noexcept

inline void validate(EventPacket &packet) noexcept

inline void invalidate(EventPacket &packet) noexcept

inline float getAccelX() const noexcept

inline void setAccelX(float accelX) noexcept

inline float getAccelY() const noexcept

inline void setAccelY(float accelY) noexcept

inline float getAccelZ() const noexcept

inline void setAccelZ(float accelZ) noexcept

inline float getGyroX() const noexcept

inline void setGyroX(float gyroX) noexcept

inline float getGyroY() const noexcept

inline void setGyroY(float gyroY) noexcept

inline float getGyroZ() const noexcept

inline void setGyroZ(float gyroZ) noexcept

inline float getTemp() const noexcept

inline void setTemp(float t) noexcept

inline float getCompX() const noexcept

inline void setCompX(float compX) noexcept

inline float getCompY() const noexcept

inline void setCompY(float compY) noexcept

inline float getCompZ() const noexcept

inline void setCompZ(float compZ) noexcept

class IMU9EventPacket : public libcaer::events::EventPacketCommon<IMU9EventPacket, IMU9Event>

Public Functions

inline IMU9EventPacket(size_type eventCapacity, int16_t eventSource, int32_t tsOverflow)

inline IMU9EventPacket(caerIMU9EventPacket packet, bool takeMemoryOwnership = true)

inline IMU9EventPacket(caerEventPacketHeader packetHeader, bool takeMemoryOwnership = true)

Protected Functions

inline virtual reference virtualGetEvent(size_type index) noexcept override

inline virtual const_reference virtualGetEvent(size_type index) const noexcept override

struct PolarityEvent : public caer_polarity_event

Public Functions

inline int32_t getTimestamp() const noexcept

inline int64_t getTimestamp64(const EventPacket &packet) const noexcept

inline void setTimestamp(int32_t ts)

inline bool isValid() const noexcept

inline void validate(EventPacket &packet) noexcept

inline void invalidate(EventPacket &packet) noexcept

inline bool getPolarity() const noexcept

inline void setPolarity(bool pol) noexcept

inline uint16_t getY() const noexcept

inline void setY(uint16_t y) noexcept

inline uint16_t getX() const noexcept

inline void setX(uint16_t x) noexcept

class PolarityEventPacket : public libcaer::events::EventPacketCommon<PolarityEventPacket, PolarityEvent>

Public Functions

inline PolarityEventPacket(size_type eventCapacity, int16_t eventSource, int32_t tsOverflow)

inline PolarityEventPacket(caerPolarityEventPacket packet, bool takeMemoryOwnership = true)

inline PolarityEventPacket(caerEventPacketHeader packetHeader, bool takeMemoryOwnership = true)

Protected Functions

inline virtual reference virtualGetEvent(size_type index) noexcept override

inline virtual const_reference virtualGetEvent(size_type index) const noexcept override

template<typename T> class RingBuffer

Public Functions

inline RingBuffer(size_t sz)

inline bool operator==(const RingBuffer &rhs) const noexcept

inline bool operator!=(const RingBuffer &rhs) const noexcept

inline void put(const T &elem)

inline bool full() const noexcept

inline T get()

inline T look() const

inline bool empty() const noexcept

Private Members

size_t putPos

size_t getPos

std::vector<std::atomic<T>> elements

const size_t sizeAdj

const T placeholder

class samsungEVK : public libcaer::devices::usb 

Public Functions

inline samsungEVK(uint16_t deviceID)

inline samsungEVK(uint16_t deviceID, uint8_t busNumberRestrict, uint8_t devAddressRestrict, const std::string &serialNumberRestrict)

inline struct caer_samsung_evk_info infoGet() const noexcept

inline virtual std::string toString() const noexcept override

class serial : public libcaer::devices::device 

Subclassed by libcaer::devices::edvs

Protected Functions

inline serial(uint16_t deviceID, uint16_t deviceType, const std::string &serialPortName, uint32_t serialBaudRate)

struct SpecialEvent : public caer_special_event

Public Functions

inline int32_t getTimestamp() const noexcept

inline int64_t getTimestamp64(const EventPacket &packet) const noexcept

inline void setTimestamp(int32_t ts)

inline bool isValid() const noexcept

inline void validate(EventPacket &packet) noexcept

inline void invalidate(EventPacket &packet) noexcept

inline uint8_t getType() const noexcept

inline void setType(uint8_t t) noexcept

inline uint32_t getData() const noexcept

inline void setData(uint32_t d) noexcept

class SpecialEventPacket : public libcaer::events::EventPacketCommon<SpecialEventPacket, SpecialEvent>

Public Functions

inline SpecialEventPacket(size_type eventCapacity, int16_t eventSource, int32_t tsOverflow)

inline SpecialEventPacket(caerSpecialEventPacket packet, bool takeMemoryOwnership = true)

inline SpecialEventPacket(caerEventPacketHeader packetHeader, bool takeMemoryOwnership = true)

inline reference findEventByType(uint8_t type)

inline const_reference findEventByType(uint8_t type) const

inline reference findValidEventByType(uint8_t type)

inline const_reference findValidEventByType(uint8_t type) const

Protected Functions

inline virtual reference virtualGetEvent(size_type index) noexcept override

inline virtual const_reference virtualGetEvent(size_type index) const noexcept override

struct SpikeEvent : public caer_spike_event

Public Functions

inline int32_t getTimestamp() const noexcept

inline int64_t getTimestamp64(const EventPacket &packet) const noexcept

inline void setTimestamp(int32_t ts)

inline bool isValid() const noexcept

inline void validate(EventPacket &packet) noexcept

inline void invalidate(EventPacket &packet) noexcept

inline uint8_t getSourceCoreID() const noexcept

inline void setSourceCoreID(uint8_t coreID) noexcept

inline uint8_t getChipID() const noexcept

inline void setChipID(uint8_t chipID) noexcept

inline uint32_t getNeuronID() const noexcept

inline void setNeuronID(uint32_t neuronID) noexcept

class SpikeEventPacket : public libcaer::events::EventPacketCommon<SpikeEventPacket, SpikeEvent>

Public Functions

inline SpikeEventPacket(size_type eventCapacity, int16_t eventSource, int32_t tsOverflow)

inline SpikeEventPacket(caerSpikeEventPacket packet, bool takeMemoryOwnership = true)

inline SpikeEventPacket(caerEventPacketHeader packetHeader, bool takeMemoryOwnership = true)

Protected Functions

inline virtual reference virtualGetEvent(size_type index) noexcept override

inline virtual const_reference virtualGetEvent(size_type index) const noexcept override

class usb : public libcaer::devices::device 

Subclassed by libcaer::devices::davis, libcaer::devices::dvXplorer, libcaer::devices::dvs128, libcaer::devices::dvs132s, libcaer::devices::dynapse, libcaer::devices::samsungEVK

Protected Functions

inline usb(uint16_t deviceID, uint16_t deviceType)

inline usb(uint16_t deviceID, uint16_t deviceType, uint8_t busNumberRestrict, uint8_t devAddressRestrict, const std::string &serialNumberRestrict)

namespace libcaer

namespace devices

namespace events

namespace utils

Functions

inline std::unique_ptr<EventPacket> makeUniqueFromCStruct(caerEventPacketHeader packet, bool takeMemoryOwnership)

inline std::shared_ptr<EventPacket> makeSharedFromCStruct(caerEventPacketHeader packet, bool takeMemoryOwnership)

inline enum caer_frame_utils_pixel_color getPixelColor(libcaer::events::FrameEvent::colorFilter cFilter, int32_t x, int32_t y)

inline enum caer_frame_utils_pixel_color getPixelColor(enum caer_frame_event_color_filter cFilter, int32_t x, int32_t y)

namespace filters

namespace log

Enums

enum class logLevel

Values:

enumerator EMERGENCY

enumerator ALERT

enumerator CRITICAL

enumerator ERROR

enumerator WARNING

enumerator NOTICE

enumerator INFO

enumerator DEBUG

Functions

inline void logLevelSet(logLevel l) noexcept

inline logLevel logLevelGet() noexcept

inline void callbackSet(caerLogCallback callback) noexcept

inline caerLogCallback callbackGet() noexcept

inline void fileDescriptorsSet(int fd1, int fd2) noexcept

inline int fileDescriptorsGetFirst() noexcept

inline int fileDescriptorsGetSecond() noexcept

inline void log(logLevel l, const char *subSystem, const char *format, ...) noexcept

inline void logVA(logLevel l, const char *subSystem, const char *format, va_list args) noexcept

inline void logVAFull(uint8_t systemLogLevel, logLevel l, const char *subSystem, const char *format, va_list args) noexcept

inline void disable(bool disableLogging) noexcept

inline bool disabled() noexcept

namespace network

namespace ringbuffer

file davis.h

#include “../events/frame.h”

#include “../events/imu6.h”

#include “../events/polarity.h”

#include “../events/special.h”

#include “imu_support.h”

#include “usb.h”

DAVIS specific configuration defines and information structures.

Defines

CAER_DEVICE_DAVIS_FX2: Device type definition for iniVation DAVIS FX2-based boards, like DAVIS240a/b/c. Deprecated in favor of CAER_DEVICE_DAVIS.

CAER_DEVICE_DAVIS_FX3: Device type definition for iniVation DAVIS FX3-based boards, like DAVIS346. Deprecated in favor of CAER_DEVICE_DAVIS.

CAER_DEVICE_DAVIS: Device type definition for iniVation DAVIS boards, supporting both FX2 and FX3 generation devices. This is the preferred way to access cameras now.

CAER_DEVICE_DAVIS_RPI: Device type definition for iniVation Raspberry Pi-based DAVIS boards. REMOVED, OBSOLETE!

DAVIS_CHIP_DAVIS240A: DAVIS240A chip identifier. 240x180, no color, no global shutter.

DAVIS_CHIP_DAVIS240B: DAVIS240B chip identifier. 240x180, no color, 50 test columns left-side.

DAVIS_CHIP_DAVIS240C: DAVIS240C chip identifier. 240x180, no color.

DAVIS_CHIP_DAVIS128: DAVIS128 chip identifier. 128x128, color possible, internal ADC.

DAVIS_CHIP_DAVIS346A: DAVIS346A chip identifier. 346x260, color possible, internal ADC.

DAVIS_CHIP_DAVIS346B: DAVIS346B chip identifier. 346x260, color possible, internal ADC.

DAVIS_CHIP_DAVIS640: DAVIS640 chip identifier. 640x480, color possible, internal ADC.

DAVIS_CHIP_DAVIS640H: DAVIS640H chip identifier. 640x480 APS, 320x240 DVS, color possible, internal ADC.

DAVIS_CHIP_DAVIS208: DAVIS208 chip identifier. 208x192, special sensitive test pixels, color possible, internal ADC.

DAVIS_CHIP_DAVIS346C: DAVIS346C chip identifier. 346x260, BSI, color possible, internal ADC.

IS_DAVIS128(chipID): Macros to check a chip identifier integer against the known chip types. Returns true if a chip identifier matches, false otherwise.

IS_DAVIS208(chipID)

IS_DAVIS240A(chipID)

IS_DAVIS240B(chipID)

IS_DAVIS240C(chipID)

IS_DAVIS240(chipID)

IS_DAVIS346A(chipID)

IS_DAVIS346B(chipID)

IS_DAVIS346C(chipID)

IS_DAVIS346(chipID)

IS_DAVIS640(chipID)

IS_DAVIS640H(chipID)

DAVIS_CONFIG_MUX: Module address: device-side Multiplexer configuration. The Multiplexer is responsible for mixing, timestamping and outputting (via USB) the various event types generated by the device. It is also responsible for timestamp generation and synchronization.

DAVIS_CONFIG_DVS: Module address: device-side DVS configuration. The DVS state machine handshakes with the chip’s AER bus and gets the polarity events from it. It supports various configurable delays, as well as advanced filtering capabilities on the polarity events.

DAVIS_CONFIG_APS: Module address: device-side APS (Frame) configuration. The APS (Active-Pixel-Sensor) is responsible for getting the normal, synchronous frame from the camera chip. It supports various options for very precise timing control, as well as Region of Interest imaging.

DAVIS_CONFIG_IMU: Module address: device-side IMU (Inertial Measurement Unit) configuration. The IMU module connects to the external IMU chip and sends data on the device’s movement in space. It can configure various options on the external chip, such as accelerometer range or gyroscope refresh rate.

DAVIS_CONFIG_EXTINPUT: Module address: device-side External Input (signal detector/generator) configuration. The External Input module is used to detect external signals on the external input jack and inject an event into the event stream when this happens. It can detect pulses of a specific length or rising and falling edges. On some systems, a signal generator module is also present, which can generate PWM-like pulsed signals with configurable timing.

DAVIS_CONFIG_BIAS: Module address: device-side chip bias configuration. Shared with DAVIS_CONFIG_CHIP. This state machine is responsible for configuring the chip’s bias generator.

DAVIS_CONFIG_CHIP: Module address: device-side chip control configuration. Shared with DAVIS_CONFIG_BIAS. This state machine is responsible for configuring the chip’s internal control shift registers, to set special options.

DAVIS_CONFIG_SYSINFO: Module address: device-side system information. The system information module provides various details on the device, such as currently installed logic revision or clock speeds. All its parameters are read-only. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation for more details on what information is available.

DAVIS_CONFIG_USB: Module address: device-side USB output configuration. The USB output module forwards the data from the device and the FPGA/CPLD to the USB chip, usually a Cypress FX2 or FX3.

DAVIS_CONFIG_DDRAER: Module address: device-side DDR-AER output configuration. The DDR-AER output module forwards the data from the device and the FPGA/CPLD to some external device using a 4-phase handshake with data on both flanks.

DAVIS_CONFIG_MUX_RUN: Parameter address for module DAVIS_CONFIG_MUX: run the Multiplexer state machine, which is responsible for mixing the various event types at the device level, timestamping them and outputting them via USB or other connectors.

DAVIS_CONFIG_MUX_TIMESTAMP_RUN: Parameter address for module DAVIS_CONFIG_MUX: run the Timestamp Generator inside the Multiplexer state machine, which will provide microsecond accurate timestamps to the events passing through.

DAVIS_CONFIG_MUX_TIMESTAMP_RESET: Parameter address for module DAVIS_CONFIG_MUX: reset the Timestamp Generator to zero. This also sends a reset pulse to all connected slave devices, resetting their timestamp too.

DAVIS_CONFIG_MUX_RUN_CHIP: Parameter address for module DAVIS_CONFIG_MUX: power up the chip’s bias generator, enabling the chip to work.

DAVIS_CONFIG_MUX_DROP_EXTINPUT_ON_TRANSFER_STALL: Parameter address for module DAVIS_CONFIG_MUX: drop External Input events if the USB output FIFO is full, instead of having them pile up at the input FIFOs.

DAVIS_CONFIG_MUX_DROP_DVS_ON_TRANSFER_STALL: Parameter address for module DAVIS_CONFIG_MUX: drop DVS events if the USB output FIFO is full, instead of having them pile up at the input FIFOs.

DAVIS_CONFIG_MUX_HAS_STATISTICS: Parameter address for module DAVIS_CONFIG_MUX: read-only parameter, information about the presence of the statistics feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_MUX_STATISTICS_EXTINPUT_DROPPED: Parameter address for module DAVIS_CONFIG_MUX: read-only parameter, representing the number of dropped External Input events on the device due to full USB buffers. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DAVIS_CONFIG_MUX_STATISTICS_DVS_DROPPED: Parameter address for module DAVIS_CONFIG_MUX: read-only parameter, representing the number of dropped DVS events on the device due to full USB buffers. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DAVIS_CONFIG_DVS_SIZE_COLUMNS: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, contains the X axis resolution of the DVS events returned by the camera. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DAVIS_CONFIG_DVS_SIZE_ROWS: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, contains the Y axis resolution of the DVS events returned by the camera. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DAVIS_CONFIG_DVS_ORIENTATION_INFO: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, contains information on the orientation of the X/Y axes, whether they should be inverted or not on the host when parsing incoming events. Bit 2: dvsInvertXY Bit 1: reserved Bit 0: reserved This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DAVIS_CONFIG_DVS_RUN: Parameter address for module DAVIS_CONFIG_DVS: run the DVS state machine and get polarity events from the chip by handshaking with its AER bus.

DAVIS_CONFIG_DVS_WAIT_ON_TRANSFER_STALL: Parameter address for module DAVIS_CONFIG_DVS: if the output FIFO for this module is full, stall the AER handshake with the chip and wait until it’s free again, instead of just continuing the handshake and dropping the resulting events.

DAVIS_CONFIG_DVS_EXTERNAL_AER_CONTROL: Parameter address for module DAVIS_CONFIG_DVS: enable external AER control. This ensures the chip and the DVS pixel array are running, but doesn’t do the handshake and leaves the ACK pin in high-impedance, to allow for an external system to take over the AER communication with the chip. DAVIS_CONFIG_DVS_RUN has to be turned off for this to work.

DAVIS_CONFIG_DVS_HAS_PIXEL_FILTER: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, information about the presence of the pixel filter feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_DVS_FILTER_PIXEL_0_ROW: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 0, Y axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_0_COLUMN: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 0, X axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_1_ROW: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 1, Y axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_1_COLUMN: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 1, X axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_2_ROW: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 2, Y axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_2_COLUMN: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 2, X axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_3_ROW: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 3, Y axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_3_COLUMN: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 3, X axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_4_ROW: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 4, Y axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_4_COLUMN: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 4, X axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_5_ROW: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 5, Y axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_5_COLUMN: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 5, X axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_6_ROW: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 6, Y axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_6_COLUMN: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 6, X axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_7_ROW: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 7, Y axis setting.

DAVIS_CONFIG_DVS_FILTER_PIXEL_7_COLUMN: Parameter address for module DAVIS_CONFIG_DVS: the pixel filter completely suppresses up to eight pixels in the DVS array, filtering out all events produced by them. This is the pixel 7, X axis setting.

DAVIS_CONFIG_DVS_HAS_BACKGROUND_ACTIVITY_FILTER: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, information about the presence of the background-activity filter feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_DVS_FILTER_BACKGROUND_ACTIVITY: Parameter address for module DAVIS_CONFIG_DVS: enable the background-activity filter, which tries to remove events caused by transistor leakage, by rejecting uncorrelated events.

DAVIS_CONFIG_DVS_FILTER_BACKGROUND_ACTIVITY_TIME: Parameter address for module DAVIS_CONFIG_DVS: specify the time difference constant for the background-activity filter. Range: 0 - 4095, in 250µs units. Events that are correlated within this time-frame are let through, while others are filtered out.

DAVIS_CONFIG_DVS_FILTER_REFRACTORY_PERIOD: Parameter address for module DAVIS_CONFIG_DVS: enable the refractory period filter, which limits the firing rate of pixels. This is supported together with the background-activity filter.

DAVIS_CONFIG_DVS_FILTER_REFRACTORY_PERIOD_TIME: Parameter address for module DAVIS_CONFIG_DVS: specify the time constant for the refractory period filter. Range: 0 - 4095, in 250µs units. Pixels will be inhibited from generating new events during this time after the last even has fired.

DAVIS_CONFIG_DVS_HAS_ROI_FILTER: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, information about the presence of the ROI filter feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_DVS_FILTER_ROI_START_COLUMN: Parameter address for module DAVIS_CONFIG_DVS: start position on the X axis for Region of Interest. Must be between 0 and DVS_SIZE_X-1, and be smaller or equal to DAVIS_CONFIG_DVS_FILTER_ROI_END_COLUMN.

DAVIS_CONFIG_DVS_FILTER_ROI_START_ROW: Parameter address for module DAVIS_CONFIG_DVS: start position on the Y axis for Region of Interest. Must be between 0 and DVS_SIZE_Y-1, and be smaller or equal to DAVIS_CONFIG_DVS_FILTER_ROI_END_ROW.

DAVIS_CONFIG_DVS_FILTER_ROI_END_COLUMN: Parameter address for module DAVIS_CONFIG_DVS: end position on the X axis for Region of Interest. Must be between 0 and DVS_SIZE_X-1, and be greater or equal to DAVIS_CONFIG_DVS_FILTER_ROI_START_COLUMN.

DAVIS_CONFIG_DVS_FILTER_ROI_END_ROW: Parameter address for module DAVIS_CONFIG_DVS: end position on the Y axis for Region of Interest. Must be between 0 and DVS_SIZE_Y-1, and be greater or equal to DAVIS_CONFIG_DVS_FILTER_ROI_START_ROW.

DAVIS_CONFIG_DVS_HAS_SKIP_FILTER: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, information about the presence of the event skip filter feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_DVS_FILTER_SKIP_EVENTS: Parameter address for module DAVIS_CONFIG_DVS: enable the event skip filter, which simply throws away one event every N events (decimation filter).

DAVIS_CONFIG_DVS_FILTER_SKIP_EVENTS_EVERY: Parameter address for module DAVIS_CONFIG_DVS: number of events to let through before skipping one. Range: 0 - 255 events.

DAVIS_CONFIG_DVS_HAS_POLARITY_FILTER: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, information about the presence of the polarity suppression filter feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_DVS_FILTER_POLARITY_FLATTEN: Parameter address for module DAVIS_CONFIG_DVS: flatten all polarities to OFF (0).

DAVIS_CONFIG_DVS_FILTER_POLARITY_SUPPRESS: Parameter address for module DAVIS_CONFIG_DVS: suppress one of the two ON/OFF polarities completely. Use DAVIS_CONFIG_DVS_FILTER_POLARITY_IGNORE to select which.

DAVIS_CONFIG_DVS_FILTER_POLARITY_SUPPRESS_TYPE: Parameter address for module DAVIS_CONFIG_DVS: polarity to suppress (0=OFF, 1=ON). Use DAVIS_CONFIG_DVS_FILTER_POLARITY_IGNORE to enable.

DAVIS_CONFIG_DVS_HAS_STATISTICS: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, information about the presence of the statistics feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_DVS_STATISTICS_EVENTS_ROW: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, representing the number of row event transactions completed on the device. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DAVIS_CONFIG_DVS_STATISTICS_EVENTS_COLUMN: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, representing the number of column event transactions completed on the device. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DAVIS_CONFIG_DVS_STATISTICS_EVENTS_DROPPED: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, representing the number of dropped transaction sequences on the device due to full buffers. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DAVIS_CONFIG_DVS_STATISTICS_FILTERED_PIXELS: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, representing the number of dropped events due to the pixel filter. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DAVIS_CONFIG_DVS_STATISTICS_FILTERED_BACKGROUND_ACTIVITY: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, representing the number of dropped events due to the background-activity filter. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DAVIS_CONFIG_DVS_STATISTICS_FILTERED_REFRACTORY_PERIOD: Parameter address for module DAVIS_CONFIG_DVS: read-only parameter, representing the number of dropped events due to the refractory period filter. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DAVIS_CONFIG_DVS_FILTER_PIXEL_AUTO_TRAIN: Parameter address for module DAVIS_CONFIG_DVS: automatically discover the eight most active pixels (above ~5KHz) and set up the hardware pixel filter to remove them from the output.

DAVIS_CONFIG_APS_SIZE_COLUMNS: Parameter address for module DAVIS_CONFIG_APS: read-only parameter, contains the X axis resolution of the APS frames returned by the camera. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DAVIS_CONFIG_APS_SIZE_ROWS: Parameter address for module DAVIS_CONFIG_APS: read-only parameter, contains the Y axis resolution of the APS frames returned by the camera. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DAVIS_CONFIG_APS_ORIENTATION_INFO: Parameter address for module DAVIS_CONFIG_APS: read-only parameter, contains information on the orientation of the X/Y axes, whether they should be inverted or not on the host when parsing incoming pixels, as well as if the X or Y axes need to be flipped when reading the pixels. Bit 2: apsInvertXY Bit 1: apsFlipX Bit 0: apsFlipY This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DAVIS_CONFIG_APS_COLOR_FILTER: Parameter address for module DAVIS_CONFIG_APS: read-only parameter, contains information on the type of color filter present on the device. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper color filter information.

DAVIS_CONFIG_APS_RUN: Parameter address for module DAVIS_CONFIG_APS: enable the APS module and take intensity images of the scene. While this parameter is enabled, frames will be taken continuously. To slow down the frame-rate, see DAVIS_CONFIG_APS_FRAME_DELAY. To only take snapshots, see DAVIS_CONFIG_APS_SNAPSHOT.

DAVIS_CONFIG_APS_WAIT_ON_TRANSFER_STALL: Parameter address for module DAVIS_CONFIG_APS: if the output FIFO for this module is full, stall the APS state machine and wait until it’s free again, instead of just dropping the pixels as they are being read out. This guarantees a complete frame readout, at the possible cost of slight timing differences between pixels. If disabled, incomplete frames may be transmitted and will then be dropped on the host, resulting in lower frame-rates, especially during high DVS traffic.

DAVIS_CONFIG_APS_HAS_GLOBAL_SHUTTER: Parameter address for module DAVIS_CONFIG_APS: read-only parameter, information about the presence of the global shutter feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_APS_GLOBAL_SHUTTER: Parameter address for module DAVIS_CONFIG_APS: enable Global Shutter mode instead of Rolling Shutter. The Global Shutter eliminates motion artifacts, but is noisier than the Rolling Shutter (worse quality).

DAVIS_CONFIG_APS_START_COLUMN_0: Parameter address for module DAVIS_CONFIG_APS: start position on the X axis for Region of Interest 0. Must be between 0 and APS_SIZE_X-1, and be smaller or equal to DAVIS_CONFIG_APS_END_COLUMN_0.

DAVIS_CONFIG_APS_START_ROW_0: Parameter address for module DAVIS_CONFIG_APS: start position on the Y axis for Region of Interest 0. Must be between 0 and APS_SIZE_Y-1, and be smaller or equal to DAVIS_CONFIG_APS_END_ROW_0.

DAVIS_CONFIG_APS_END_COLUMN_0: Parameter address for module DAVIS_CONFIG_APS: end position on the X axis for Region of Interest 0. Must be between 0 and APS_SIZE_X-1, and be greater or equal to DAVIS_CONFIG_APS_START_COLUMN_0.

DAVIS_CONFIG_APS_END_ROW_0: Parameter address for module DAVIS_CONFIG_APS: end position on the Y axis for Region of Interest 0. Must be between 0 and APS_SIZE_Y-1, and be greater or equal to DAVIS_CONFIG_APS_START_ROW_0.

DAVIS_CONFIG_APS_EXPOSURE: Parameter address for module DAVIS_CONFIG_APS: frame exposure time. Range: 0-4194303, in microseconds (maximum ~4s). Very precise for Global Shutter, slightly less exact for Rolling Shutter due to column-based timing constraints.

DAVIS_CONFIG_APS_FRAME_INTERVAL: Parameter address for module DAVIS_CONFIG_APS: time between consecutive frames. Range: 0-8388607, in microseconds (maximum ~8s). This can be used to set a frame-rate. Please note the frame-rate is best-effort, and may not be met if readout and exposure times exceed this value.

DAVIS640H_CONFIG_APS_TRANSFER: Parameter address for module DAVIS_CONFIG_APS (only for DAVIS640H chip): charge transfer time in ADCClock cycles.

DAVIS640H_CONFIG_APS_RSFDSETTLE: Parameter address for module DAVIS_CONFIG_APS (only for DAVIS640H chip): Rolling Shutter FD settle time in ADCClock cycles.

DAVIS640H_CONFIG_APS_GSPDRESET: Parameter address for module DAVIS_CONFIG_APS (only for DAVIS640H chip): Global Shutter PD reset time in ADCClock cycles.

DAVIS640H_CONFIG_APS_GSRESETFALL: Parameter address for module DAVIS_CONFIG_APS (only for DAVIS640H chip): Global Shutter Reset Fall time in ADCClock cycles.

DAVIS640H_CONFIG_APS_GSTXFALL: Parameter address for module DAVIS_CONFIG_APS (only for DAVIS640H chip): Global Shutter Transfer Fall time in ADCClock cycles.

DAVIS640H_CONFIG_APS_GSFDRESET: Parameter address for module DAVIS_CONFIG_APS (only for DAVIS640H chip): Global Shutter FD reset time in ADCClock cycles.

DAVIS_CONFIG_APS_SNAPSHOT: Parameter address for module DAVIS_CONFIG_APS: takes a snapshot (one frame), like a photo-camera. More efficient implementation that just toggling the DAVIS_CONFIG_APS_RUN parameter. The APS module should not be running prior to calling this, as it only makes sense if frames are not being generated at the time. Also, DAVIS_CONFIG_APS_FRAME_INTERVAL should be set to zero if only doing snapshots, to ensure a quicker readiness for the next one, since the delay is always observed after taking a frame.

DAVIS_CONFIG_APS_AUTOEXPOSURE: Parameter address for module DAVIS_CONFIG_APS: automatic exposure control, tries to set the exposure value automatically to an appropriate value to maximize information in the scene and minimize under- and over-exposure.

DAVIS_CONFIG_APS_FRAME_MODE: Parameter address for module DAVIS_CONFIG_APS: select desired type of frame output. Available are: 0 - Default, meaning grayscale on MONO cameras and RGB color on cameras with color filters. 1 - Grayscale, always a grayscale intensity frame. 2 - Original, send the frame exactly as it comes in from the device (will show grid pattern on color cameras).

DAVIS_CONFIG_IMU_TYPE: Parameter address for module DAVIS_CONFIG_IMU: read-only parameter, contains information on the type of IMU chip being used in this device: 0 - no IMU present 1 - InvenSense MPU 6050/6150 2 - InvenSense MPU 9250 This is reserved for internal use and should not be used by anything other than libcaer.

DAVIS_CONFIG_IMU_ORIENTATION_INFO: Parameter address for module DAVIS_CONFIG_IMU: read-only parameter, contains information on the orientation of the X/Y/Z axes, whether they should be flipped or not on the host when parsing incoming IMU data samples. Bit 2: imuFlipX Bit 1: imuFlipY Bit 0: imuFlipZ This is reserved for internal use and should not be used by anything other than libcaer. Generated IMU events are already properly flipped when returned to the user.

DAVIS_CONFIG_IMU_RUN_ACCELEROMETER: Parameter address for module DAVIS_CONFIG_IMU: enable the IMU’s accelerometer. This takes the IMU chip out of sleep.

DAVIS_CONFIG_IMU_RUN_GYROSCOPE: Parameter address for module DAVIS_CONFIG_IMU: enable the IMU’s gyroscope. This takes the IMU chip out of sleep.

DAVIS_CONFIG_IMU_RUN_TEMPERATURE: Parameter address for module DAVIS_CONFIG_IMU: enable the IMU’s temperature sensor. This takes the IMU chip out of sleep.

DAVIS_CONFIG_IMU_SAMPLE_RATE_DIVIDER: Parameter address for module DAVIS_CONFIG_IMU: this specifies the divider from the Gyroscope Output Rate used to generate the Sample Rate for the IMU. Valid values are from 0 to 255. The Sample Rate is generated like this: Sample Rate = Gyroscope Output Rate / (1 + DAVIS_CONFIG_IMU_SAMPLE_RATE_DIVIDER) where Gyroscope Output Rate = 8 kHz when DAVIS_CONFIG_IMU_DIGITAL_LOW_PASS_FILTER is disabled (set to 0 or 7), and 1 kHz when enabled. Note: the accelerometer output rate is 1 kHz. This means that for a Sample Rate greater than 1 kHz, the same accelerometer sample may be output multiple times.

DAVIS_CONFIG_IMU_ACCEL_DLPF

Parameter address for module DAVIS_CONFIG_IMU: this configures the digital low-pass filter for both the accelerometer and the gyroscope on InvenSense MPU 6050/6150 IMU devices, or for the accelerometer only on InvenSense MPU 9250. Valid values are from 0 to 7 and have the following meaning:

On InvenSense MPU 6050/6150: 0 - Accel: BW=260Hz, Delay=0ms, FS=1kHz - Gyro: BW=256Hz, Delay=0.98ms, FS=8kHz 1 - Accel: BW=184Hz, Delay=2.0ms, FS=1kHz - Gyro: BW=188Hz, Delay=1.9ms, FS=1kHz 2 - Accel: BW=94Hz, Delay=3.0ms, FS=1kHz - Gyro: BW=98Hz, Delay=2.8ms, FS=1kHz 3 - Accel: BW=44Hz, Delay=4.9ms, FS=1kHz - Gyro: BW=42Hz, Delay=4.8ms, FS=1kHz 4 - Accel: BW=21Hz, Delay=8.5ms, FS=1kHz - Gyro: BW=20Hz, Delay=8.3ms, FS=1kHz 5 - Accel: BW=10Hz, Delay=13.8ms, FS=1kHz - Gyro: BW=10Hz, Delay=13.4ms, FS=1kHz 6 - Accel: BW=5Hz, Delay=19.0ms, FS=1kHz - Gyro: BW=5Hz, Delay=18.6ms, FS=1kHz 7 - Accel: RESERVED, FS=1kHz - Gyro: RESERVED, FS=8kHz

On InvenSense MPU 9250: 0 - Accel: BW=218.1Hz, Delay=1.88ms, FS=1kHz 1 - Accel: BW=218.1Hz, Delay=1.88ms, FS=1kHz 2 - Accel: BW=99Hz, Delay=2.88ms, FS=1kHz 3 - Accel: BW=44.8Hz, Delay=4.88ms, FS=1kHz 4 - Accel: BW=21.2Hz, Delay=8.87ms, FS=1kHz 5 - Accel: BW=10.2Hz, Delay=16.83ms, FS=1kHz 6 - Accel: BW=5.05Hz, Delay=32.48ms, FS=1kHz 7 - Accel: BW=420Hz, Delay=1.38ms, FS=1kHz

DAVIS_CONFIG_IMU_DIGITAL_LOW_PASS_FILTER

DAVIS_CONFIG_IMU_ACCEL_FULL_SCALE: Parameter address for module DAVIS_CONFIG_IMU: select the full scale range of the accelerometer outputs. Valid values are: 0 - +- 2 g 1 - +- 4 g 2 - +- 8 g 3 - +- 16 g

DAVIS_CONFIG_IMU_GYRO_DLPF

Parameter address for module DAVIS_CONFIG_IMU: this configures the digital low-pass filter for the gyroscope on devices using the InvenSense MPU 9250. Valid values are from 0 to 7 and have the following meaning:

0 - Gyro: BW=250Hz, Delay=0.97ms, FS=8kHz 1 - Gyro: BW=184Hz, Delay=2.9ms, FS=1kHz 2 - Gyro: BW=92Hz, Delay=3.9ms, FS=1kHz 3 - Gyro: BW=41Hz, Delay=5.9ms, FS=1kHz 4 - Gyro: BW=20Hz, Delay=9.9ms, FS=1kHz 5 - Gyro: BW=10Hz, Delay=17.85ms, FS=1kHz 6 - Gyro: BW=5Hz, Delay=33.48ms, FS=1kHz 7 - Gyro: BW=3600Hz, Delay=0.17ms, FS=8kHz

DAVIS_CONFIG_IMU_GYRO_FULL_SCALE: Parameter address for module DAVIS_CONFIG_IMU: select the full scale range of the gyroscope outputs. Valid values are: 0 - +- 250 °/s 1 - +- 500 °/s 2 - +- 1000 °/s 3 - +- 2000 °/s

DAVIS_CONFIG_EXTINPUT_RUN_DETECTOR: Parameter address for module DAVIS_CONFIG_EXTINPUT: enable the signal detector module. It generates events when it sees certain types of signals, such as edges or pulses of a defined length, on the IN JACK signal. This can be useful to inject events into the event stream in response to external stimuli or controls, such as turning on a LED lamp.

DAVIS_CONFIG_EXTINPUT_DETECT_RISING_EDGES: Parameter address for module DAVIS_CONFIG_EXTINPUT: send a special EXTERNAL_INPUT_RISING_EDGE event when a rising edge is detected (transition from low voltage to high).

DAVIS_CONFIG_EXTINPUT_DETECT_FALLING_EDGES: Parameter address for module DAVIS_CONFIG_EXTINPUT: send a special EXTERNAL_INPUT_FALLING_EDGE event when a falling edge is detected (transition from high voltage to low).

DAVIS_CONFIG_EXTINPUT_DETECT_PULSES: Parameter address for module DAVIS_CONFIG_EXTINPUT: send a special EXTERNAL_INPUT_PULSE event when a pulse, of a specified, configurable polarity and length, is detected. See DAVIS_CONFIG_EXTINPUT_DETECT_PULSE_POLARITY and DAVIS_CONFIG_EXTINPUT_DETECT_PULSE_LENGTH for more details.

DAVIS_CONFIG_EXTINPUT_DETECT_PULSE_POLARITY: Parameter address for module DAVIS_CONFIG_EXTINPUT: the polarity the pulse must exhibit to be detected as such. ‘1’ means active high; a pulse will start when the signal goes from low to high and will continue to be seen as the same pulse as long as it stays high. ‘0’ means active low; a pulse will start when the signal goes from high to low and will continue to be seen as the same pulse as long as it stays low.

DAVIS_CONFIG_EXTINPUT_DETECT_PULSE_LENGTH: Parameter address for module DAVIS_CONFIG_EXTINPUT: the minimal length that a pulse must have to trigger the sending of a special event. Range: 1-1048575, in microseconds.

DAVIS_CONFIG_EXTINPUT_HAS_GENERATOR: Parameter address for module DAVIS_CONFIG_EXTINPUT: read-only parameter, information about the presence of the signal generator feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_EXTINPUT_RUN_GENERATOR: Parameter address for module DAVIS_CONFIG_EXTINPUT: enable the signal generator module. It generates a PWM-like signal based on configurable parameters and outputs it on the OUT JACK signal.

DAVIS_CONFIG_EXTINPUT_GENERATE_PULSE_POLARITY: Parameter address for module DAVIS_CONFIG_EXTINPUT: polarity of the PWM-like signal to be generated. ‘1’ means active high, ‘0’ means active low.

DAVIS_CONFIG_EXTINPUT_GENERATE_PULSE_INTERVAL: Parameter address for module DAVIS_CONFIG_EXTINPUT: the interval between the start of two consecutive pulses. Range: 1-1048575, in microseconds. This must be bigger or equal to DAVIS_CONFIG_EXTINPUT_GENERATE_PULSE_LENGTH. To generate a signal with 50% duty cycle, this would have to be exactly double of DAVIS_CONFIG_EXTINPUT_GENERATE_PULSE_LENGTH.

DAVIS_CONFIG_EXTINPUT_GENERATE_PULSE_LENGTH: Parameter address for module DAVIS_CONFIG_EXTINPUT: the length a pulse stays active. Range: 1-1048575, in microseconds. This must be smaller or equal to DAVIS_CONFIG_EXTINPUT_GENERATE_PULSE_INTERVAL. To generate a signal with 50% duty cycle, this would have to be exactly half of DAVIS_CONFIG_EXTINPUT_GENERATE_PULSE_INTERVAL.

DAVIS_CONFIG_EXTINPUT_GENERATE_INJECT_ON_RISING_EDGE: Parameter address for module DAVIS_CONFIG_EXTINPUT: enables event injection when a rising edge occurs in the generated signal; a special event EXTERNAL_GENERATOR_RISING_EDGE is emitted into the event stream.

DAVIS_CONFIG_EXTINPUT_GENERATE_INJECT_ON_FALLING_EDGE: Parameter address for module DAVIS_CONFIG_EXTINPUT: enables event injection when a falling edge occurs in the generated signal; a special event EXTERNAL_GENERATOR_FALLING_EDGE is emitted into the event stream.

DAVIS_CONFIG_SYSINFO_LOGIC_VERSION: Parameter address for module DAVIS_CONFIG_SYSINFO: read-only parameter, the version of the logic currently running on the device’s FPGA/CPLD. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_SYSINFO_CHIP_IDENTIFIER: Parameter address for module DAVIS_CONFIG_SYSINFO: read-only parameter, an integer used to identify the different types of sensor chips used on the device. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_SYSINFO_DEVICE_IS_MASTER: Parameter address for module DAVIS_CONFIG_SYSINFO: read-only parameter, whether the device is currently a timestamp master or slave when synchronizing multiple devices together. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_SYSINFO_LOGIC_CLOCK: Parameter address for module DAVIS_CONFIG_SYSINFO: read-only parameter, the frequency in MHz at which the main FPGA/CPLD logic is running. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_SYSINFO_ADC_CLOCK: Parameter address for module DAVIS_CONFIG_SYSINFO: read-only parameter, the frequency in MHz at which the FPGA/CPLD logic related to APS frame grabbing is running. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DAVIS_CONFIG_SYSINFO_USB_CLOCK: Parameter address for module DAVIS_CONFIG_SYSINFO: read-only parameter, the frequency in MHz at which the FPGA/CPLD logic related to USB data transmission is running. This is reserved for internal use and should not be used by anything other than libcaer.

DAVIS_CONFIG_SYSINFO_CLOCK_DEVIATION: Parameter address for module DAVIS_CONFIG_SYSINFO: read-only parameter, the deviation factor for the clocks. Due to how FX3 generates the clocks, which are then used by FPGA/CPLD, they are not integers but have a fractional part. This is reserved for internal use and should not be used by anything other than libcaer.

DAVIS_CONFIG_SYSINFO_LOGIC_PATCH: Parameter address for module DAVIS_CONFIG_SYSINFO: read-only parameter, the patch version of the logic currently running on the device’s FPGA/CPLD. This is reserved for internal use and should not be used by anything other than libcaer.

DAVIS_CONFIG_USB_RUN: Parameter address for module DAVIS_CONFIG_USB: enable the USB FIFO module, which transfers the data from the FPGA/CPLD to the USB chip, to be then sent to the host. Turning this off will suppress any USB data communication!

DAVIS_CONFIG_USB_EARLY_PACKET_DELAY: Parameter address for module DAVIS_CONFIG_USB: the time delay after which a packet of data is committed to USB, even if it is not full yet (short USB packet). The value is in 125µs time-slices, corresponding to how USB schedules its operations (a value of 4 for example would mean waiting at most 0.5ms until sending a short USB packet to the host).

DAVIS_CONFIG_DDRAER_RUN: Parameter address for module DAVIS_CONFIG_DDRAER: enable the DDR-AER output module, which transfers the data from the FPGA/CPLD to some external device like a Raspberry Pi.

DAVIS128_CONFIG_BIAS_APSOVERFLOWLEVEL

Parameter address for module DAVIS128_CONFIG_BIAS: DAVIS128 chip biases. Bias configuration values must be generated using the proper functions, which are:

caerBiasVDACGenerate() for VDAC (voltage) biases.
caerBiasCoarseFineGenerate() for coarse-fine (current) biases.
caerBiasShiftedSourceGenerate() for shifted-source biases. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DAVIS128_CONFIG_BIAS_APSCAS

DAVIS128_CONFIG_BIAS_ADCREFHIGH

DAVIS128_CONFIG_BIAS_ADCREFLOW

DAVIS128_CONFIG_BIAS_LOCALBUFBN

DAVIS128_CONFIG_BIAS_PADFOLLBN

DAVIS128_CONFIG_BIAS_DIFFBN

DAVIS128_CONFIG_BIAS_ONBN

DAVIS128_CONFIG_BIAS_OFFBN

DAVIS128_CONFIG_BIAS_PIXINVBN

DAVIS128_CONFIG_BIAS_PRBP

DAVIS128_CONFIG_BIAS_PRSFBP

DAVIS128_CONFIG_BIAS_REFRBP

DAVIS128_CONFIG_BIAS_READOUTBUFBP

DAVIS128_CONFIG_BIAS_APSROSFBN

DAVIS128_CONFIG_BIAS_ADCCOMPBP

DAVIS128_CONFIG_BIAS_COLSELLOWBN

DAVIS128_CONFIG_BIAS_DACBUFBP

DAVIS128_CONFIG_BIAS_LCOLTIMEOUTBN

DAVIS128_CONFIG_BIAS_AEPDBN

DAVIS128_CONFIG_BIAS_AEPUXBP

DAVIS128_CONFIG_BIAS_AEPUYBP

DAVIS128_CONFIG_BIAS_IFREFRBN

DAVIS128_CONFIG_BIAS_IFTHRBN

DAVIS128_CONFIG_BIAS_BIASBUFFER

DAVIS128_CONFIG_BIAS_SSP

DAVIS128_CONFIG_BIAS_SSN

DAVIS128_CONFIG_CHIP_DIGITALMUX0: Parameter address for module DAVIS128_CONFIG_CHIP: DAVIS128 chip configuration. These are for expert control and should never be used or changed unless for advanced debugging purposes. To change the Global Shutter configuration, please use DAVIS_CONFIG_APS_GLOBAL_SHUTTER instead.

DAVIS128_CONFIG_CHIP_DIGITALMUX1

DAVIS128_CONFIG_CHIP_DIGITALMUX2

DAVIS128_CONFIG_CHIP_DIGITALMUX3

DAVIS128_CONFIG_CHIP_ANALOGMUX0

DAVIS128_CONFIG_CHIP_ANALOGMUX1

DAVIS128_CONFIG_CHIP_ANALOGMUX2

DAVIS128_CONFIG_CHIP_BIASMUX0

DAVIS128_CONFIG_CHIP_RESETCALIBNEURON

DAVIS128_CONFIG_CHIP_TYPENCALIBNEURON

DAVIS128_CONFIG_CHIP_RESETTESTPIXEL

DAVIS128_CONFIG_CHIP_AERNAROW

DAVIS128_CONFIG_CHIP_USEAOUT

DAVIS128_CONFIG_CHIP_GLOBAL_SHUTTER

DAVIS128_CONFIG_CHIP_SELECTGRAYCOUNTER

DAVIS208_CONFIG_BIAS_APSOVERFLOWLEVEL

Parameter address for module DAVIS208_CONFIG_BIAS: DAVIS208 chip biases. Bias configuration values must be generated using the proper functions, which are:

caerBiasVDACGenerate() for VDAC (voltage) biases.
caerBiasCoarseFineGenerate() for coarse-fine (current) biases.
caerBiasShiftedSourceGenerate() for shifted-source biases. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DAVIS208_CONFIG_BIAS_APSCAS

DAVIS208_CONFIG_BIAS_ADCREFHIGH

DAVIS208_CONFIG_BIAS_ADCREFLOW

DAVIS208_CONFIG_BIAS_RESETHIGHPASS

DAVIS208_CONFIG_BIAS_REFSS

DAVIS208_CONFIG_BIAS_LOCALBUFBN

DAVIS208_CONFIG_BIAS_PADFOLLBN

DAVIS208_CONFIG_BIAS_DIFFBN

DAVIS208_CONFIG_BIAS_ONBN

DAVIS208_CONFIG_BIAS_OFFBN

DAVIS208_CONFIG_BIAS_PIXINVBN

DAVIS208_CONFIG_BIAS_PRBP

DAVIS208_CONFIG_BIAS_PRSFBP

DAVIS208_CONFIG_BIAS_REFRBP

DAVIS208_CONFIG_BIAS_READOUTBUFBP

DAVIS208_CONFIG_BIAS_APSROSFBN

DAVIS208_CONFIG_BIAS_ADCCOMPBP

DAVIS208_CONFIG_BIAS_COLSELLOWBN

DAVIS208_CONFIG_BIAS_DACBUFBP

DAVIS208_CONFIG_BIAS_LCOLTIMEOUTBN

DAVIS208_CONFIG_BIAS_AEPDBN

DAVIS208_CONFIG_BIAS_AEPUXBP

DAVIS208_CONFIG_BIAS_AEPUYBP

DAVIS208_CONFIG_BIAS_IFREFRBN

DAVIS208_CONFIG_BIAS_IFTHRBN

DAVIS208_CONFIG_BIAS_REGBIASBP

DAVIS208_CONFIG_BIAS_REFSSBN

DAVIS208_CONFIG_BIAS_BIASBUFFER

DAVIS208_CONFIG_BIAS_SSP

DAVIS208_CONFIG_BIAS_SSN

DAVIS208_CONFIG_CHIP_DIGITALMUX0: Parameter address for module DAVIS208_CONFIG_CHIP: DAVIS208 chip configuration. These are for expert control and should never be used or changed unless for advanced debugging purposes. To change the Global Shutter configuration, please use DAVIS_CONFIG_APS_GLOBAL_SHUTTER instead.

DAVIS208_CONFIG_CHIP_DIGITALMUX1

DAVIS208_CONFIG_CHIP_DIGITALMUX2

DAVIS208_CONFIG_CHIP_DIGITALMUX3

DAVIS208_CONFIG_CHIP_ANALOGMUX0

DAVIS208_CONFIG_CHIP_ANALOGMUX1

DAVIS208_CONFIG_CHIP_ANALOGMUX2

DAVIS208_CONFIG_CHIP_BIASMUX0

DAVIS208_CONFIG_CHIP_RESETCALIBNEURON

DAVIS208_CONFIG_CHIP_TYPENCALIBNEURON

DAVIS208_CONFIG_CHIP_RESETTESTPIXEL

DAVIS208_CONFIG_CHIP_AERNAROW

DAVIS208_CONFIG_CHIP_USEAOUT

DAVIS208_CONFIG_CHIP_GLOBAL_SHUTTER

DAVIS208_CONFIG_CHIP_SELECTGRAYCOUNTER

DAVIS208_CONFIG_CHIP_SELECTPREAMPAVG

DAVIS208_CONFIG_CHIP_SELECTBIASREFSS

DAVIS208_CONFIG_CHIP_SELECTSENSE

DAVIS208_CONFIG_CHIP_SELECTPOSFB

DAVIS208_CONFIG_CHIP_SELECTHIGHPASS

DAVIS240_CONFIG_BIAS_DIFFBN

Parameter address for module DAVIS240_CONFIG_BIAS: DAVIS240chip biases. Bias configuration values must be generated using the proper functions, which are:

caerBiasCoarseFineGenerate() for coarse-fine (current) biases.
caerBiasShiftedSourceGenerate() for shifted-source biases. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DAVIS240_CONFIG_BIAS_ONBN

DAVIS240_CONFIG_BIAS_OFFBN

DAVIS240_CONFIG_BIAS_APSCASEPC

DAVIS240_CONFIG_BIAS_DIFFCASBNC

DAVIS240_CONFIG_BIAS_APSROSFBN

DAVIS240_CONFIG_BIAS_LOCALBUFBN

DAVIS240_CONFIG_BIAS_PIXINVBN

DAVIS240_CONFIG_BIAS_PRBP

DAVIS240_CONFIG_BIAS_PRSFBP

DAVIS240_CONFIG_BIAS_REFRBP

DAVIS240_CONFIG_BIAS_AEPDBN

DAVIS240_CONFIG_BIAS_LCOLTIMEOUTBN

DAVIS240_CONFIG_BIAS_AEPUXBP

DAVIS240_CONFIG_BIAS_AEPUYBP

DAVIS240_CONFIG_BIAS_IFTHRBN

DAVIS240_CONFIG_BIAS_IFREFRBN

DAVIS240_CONFIG_BIAS_PADFOLLBN

DAVIS240_CONFIG_BIAS_APSOVERFLOWLEVELBN

DAVIS240_CONFIG_BIAS_BIASBUFFER

DAVIS240_CONFIG_BIAS_SSP

DAVIS240_CONFIG_BIAS_SSN

DAVIS240_CONFIG_CHIP_DIGITALMUX0: Parameter address for module DAVIS240_CONFIG_CHIP: DAVIS240 chip configuration. These are for expert control and should never be used or changed unless for advanced debugging purposes. To change the Global Shutter configuration, please use DAVIS_CONFIG_APS_GLOBAL_SHUTTER instead. On DAVIS240B cameras, DAVIS240_CONFIG_CHIP_SPECIALPIXELCONTROL can be used to enable the test pixel array.

DAVIS240_CONFIG_CHIP_DIGITALMUX1

DAVIS240_CONFIG_CHIP_DIGITALMUX2

DAVIS240_CONFIG_CHIP_DIGITALMUX3

DAVIS240_CONFIG_CHIP_ANALOGMUX0

DAVIS240_CONFIG_CHIP_ANALOGMUX1

DAVIS240_CONFIG_CHIP_ANALOGMUX2

DAVIS240_CONFIG_CHIP_BIASMUX0

DAVIS240_CONFIG_CHIP_RESETCALIBNEURON

DAVIS240_CONFIG_CHIP_TYPENCALIBNEURON

DAVIS240_CONFIG_CHIP_RESETTESTPIXEL

DAVIS240_CONFIG_CHIP_SPECIALPIXELCONTROL

DAVIS240_CONFIG_CHIP_AERNAROW

DAVIS240_CONFIG_CHIP_USEAOUT

DAVIS240_CONFIG_CHIP_GLOBAL_SHUTTER

DAVIS346_CONFIG_BIAS_APSOVERFLOWLEVEL

Parameter address for module DAVIS346_CONFIG_BIAS: DAVIS346 chip biases. Bias configuration values must be generated using the proper functions, which are:

caerBiasVDACGenerate() for VDAC (voltage) biases.
caerBiasCoarseFineGenerate() for coarse-fine (current) biases.
caerBiasShiftedSourceGenerate() for shifted-source biases. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DAVIS346_CONFIG_BIAS_APSCAS

DAVIS346_CONFIG_BIAS_ADCREFHIGH

DAVIS346_CONFIG_BIAS_ADCREFLOW

DAVIS346_CONFIG_BIAS_ADCTESTVOLTAGE

DAVIS346_CONFIG_BIAS_LOCALBUFBN

DAVIS346_CONFIG_BIAS_PADFOLLBN

DAVIS346_CONFIG_BIAS_DIFFBN

DAVIS346_CONFIG_BIAS_ONBN

DAVIS346_CONFIG_BIAS_OFFBN

DAVIS346_CONFIG_BIAS_PIXINVBN

DAVIS346_CONFIG_BIAS_PRBP

DAVIS346_CONFIG_BIAS_PRSFBP

DAVIS346_CONFIG_BIAS_REFRBP

DAVIS346_CONFIG_BIAS_READOUTBUFBP

DAVIS346_CONFIG_BIAS_APSROSFBN

DAVIS346_CONFIG_BIAS_ADCCOMPBP

DAVIS346_CONFIG_BIAS_COLSELLOWBN

DAVIS346_CONFIG_BIAS_DACBUFBP

DAVIS346_CONFIG_BIAS_LCOLTIMEOUTBN

DAVIS346_CONFIG_BIAS_AEPDBN

DAVIS346_CONFIG_BIAS_AEPUXBP

DAVIS346_CONFIG_BIAS_AEPUYBP

DAVIS346_CONFIG_BIAS_IFREFRBN

DAVIS346_CONFIG_BIAS_IFTHRBN

DAVIS346_CONFIG_BIAS_BIASBUFFER

DAVIS346_CONFIG_BIAS_SSP

DAVIS346_CONFIG_BIAS_SSN

DAVIS346_CONFIG_CHIP_DIGITALMUX0: Parameter address for module DAVIS346_CONFIG_CHIP: DAVIS346 chip configuration. These are for expert control and should never be used or changed unless for advanced debugging purposes. To change the Global Shutter configuration, please use DAVIS_CONFIG_APS_GLOBAL_SHUTTER instead.

DAVIS346_CONFIG_CHIP_DIGITALMUX1

DAVIS346_CONFIG_CHIP_DIGITALMUX2

DAVIS346_CONFIG_CHIP_DIGITALMUX3

DAVIS346_CONFIG_CHIP_ANALOGMUX0

DAVIS346_CONFIG_CHIP_ANALOGMUX1

DAVIS346_CONFIG_CHIP_ANALOGMUX2

DAVIS346_CONFIG_CHIP_BIASMUX0

DAVIS346_CONFIG_CHIP_RESETCALIBNEURON

DAVIS346_CONFIG_CHIP_TYPENCALIBNEURON

DAVIS346_CONFIG_CHIP_RESETTESTPIXEL

DAVIS346_CONFIG_CHIP_AERNAROW

DAVIS346_CONFIG_CHIP_USEAOUT

DAVIS346_CONFIG_CHIP_GLOBAL_SHUTTER

DAVIS346_CONFIG_CHIP_SELECTGRAYCOUNTER

DAVIS346_CONFIG_CHIP_TESTADC

DAVIS640_CONFIG_BIAS_APSOVERFLOWLEVEL

Parameter address for module DAVIS640_CONFIG_BIAS: DAVIS640 chip biases. Bias configuration values must be generated using the proper functions, which are:

caerBiasVDACGenerate() for VDAC (voltage) biases.
caerBiasCoarseFineGenerate() for coarse-fine (current) biases.
caerBiasShiftedSourceGenerate() for shifted-source biases. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DAVIS640_CONFIG_BIAS_APSCAS

DAVIS640_CONFIG_BIAS_ADCREFHIGH

DAVIS640_CONFIG_BIAS_ADCREFLOW

DAVIS640_CONFIG_BIAS_ADCTESTVOLTAGE

DAVIS640_CONFIG_BIAS_LOCALBUFBN

DAVIS640_CONFIG_BIAS_PADFOLLBN

DAVIS640_CONFIG_BIAS_DIFFBN

DAVIS640_CONFIG_BIAS_ONBN

DAVIS640_CONFIG_BIAS_OFFBN

DAVIS640_CONFIG_BIAS_PIXINVBN

DAVIS640_CONFIG_BIAS_PRBP

DAVIS640_CONFIG_BIAS_PRSFBP

DAVIS640_CONFIG_BIAS_REFRBP

DAVIS640_CONFIG_BIAS_READOUTBUFBP

DAVIS640_CONFIG_BIAS_APSROSFBN

DAVIS640_CONFIG_BIAS_ADCCOMPBP

DAVIS640_CONFIG_BIAS_COLSELLOWBN

DAVIS640_CONFIG_BIAS_DACBUFBP

DAVIS640_CONFIG_BIAS_LCOLTIMEOUTBN

DAVIS640_CONFIG_BIAS_AEPDBN

DAVIS640_CONFIG_BIAS_AEPUXBP

DAVIS640_CONFIG_BIAS_AEPUYBP

DAVIS640_CONFIG_BIAS_IFREFRBN

DAVIS640_CONFIG_BIAS_IFTHRBN

DAVIS640_CONFIG_BIAS_BIASBUFFER

DAVIS640_CONFIG_BIAS_SSP

DAVIS640_CONFIG_BIAS_SSN

DAVIS640_CONFIG_CHIP_DIGITALMUX0: Parameter address for module DAVIS640_CONFIG_CHIP: DAVIS640 chip configuration. These are for expert control and should never be used or changed unless for advanced debugging purposes. To change the Global Shutter configuration, please use DAVIS_CONFIG_APS_GLOBAL_SHUTTER instead.

DAVIS640_CONFIG_CHIP_DIGITALMUX1

DAVIS640_CONFIG_CHIP_DIGITALMUX2

DAVIS640_CONFIG_CHIP_DIGITALMUX3

DAVIS640_CONFIG_CHIP_ANALOGMUX0

DAVIS640_CONFIG_CHIP_ANALOGMUX1

DAVIS640_CONFIG_CHIP_ANALOGMUX2

DAVIS640_CONFIG_CHIP_BIASMUX0

DAVIS640_CONFIG_CHIP_RESETCALIBNEURON

DAVIS640_CONFIG_CHIP_TYPENCALIBNEURON

DAVIS640_CONFIG_CHIP_RESETTESTPIXEL

DAVIS640_CONFIG_CHIP_AERNAROW

DAVIS640_CONFIG_CHIP_USEAOUT

DAVIS640_CONFIG_CHIP_GLOBAL_SHUTTER

DAVIS640_CONFIG_CHIP_SELECTGRAYCOUNTER

DAVIS640_CONFIG_CHIP_TESTADC

DAVIS640H_CONFIG_BIAS_APSCAS

Parameter address for module DAVIS640H_CONFIG_BIAS: DAVIS640H chip biases. Bias configuration values must be generated using the proper functions, which are:

caerBiasVDACGenerate() for VDAC (voltage) biases.
caerBiasCoarseFineGenerate() for coarse-fine (current) biases.
caerBiasShiftedSourceGenerate() for shifted-source biases. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DAVIS640H_CONFIG_BIAS_OVG1LO

DAVIS640H_CONFIG_BIAS_OVG2LO

DAVIS640H_CONFIG_BIAS_TX2OVG2HI

DAVIS640H_CONFIG_BIAS_GND07

DAVIS640H_CONFIG_BIAS_ADCTESTVOLTAGE

DAVIS640H_CONFIG_BIAS_ADCREFHIGH

DAVIS640H_CONFIG_BIAS_ADCREFLOW

DAVIS640H_CONFIG_BIAS_IFREFRBN

DAVIS640H_CONFIG_BIAS_IFTHRBN

DAVIS640H_CONFIG_BIAS_LOCALBUFBN

DAVIS640H_CONFIG_BIAS_PADFOLLBN

DAVIS640H_CONFIG_BIAS_PIXINVBN

DAVIS640H_CONFIG_BIAS_DIFFBN

DAVIS640H_CONFIG_BIAS_ONBN

DAVIS640H_CONFIG_BIAS_OFFBN

DAVIS640H_CONFIG_BIAS_PRBP

DAVIS640H_CONFIG_BIAS_PRSFBP

DAVIS640H_CONFIG_BIAS_REFRBP

DAVIS640H_CONFIG_BIAS_ARRAYBIASBUFFERBN

DAVIS640H_CONFIG_BIAS_ARRAYLOGICBUFFERBN

DAVIS640H_CONFIG_BIAS_FALLTIMEBN

DAVIS640H_CONFIG_BIAS_RISETIMEBP

DAVIS640H_CONFIG_BIAS_READOUTBUFBP

DAVIS640H_CONFIG_BIAS_APSROSFBN

DAVIS640H_CONFIG_BIAS_ADCCOMPBP

DAVIS640H_CONFIG_BIAS_DACBUFBP

DAVIS640H_CONFIG_BIAS_LCOLTIMEOUTBN

DAVIS640H_CONFIG_BIAS_AEPDBN

DAVIS640H_CONFIG_BIAS_AEPUXBP

DAVIS640H_CONFIG_BIAS_AEPUYBP

DAVIS640H_CONFIG_BIAS_BIASBUFFER

DAVIS640H_CONFIG_BIAS_SSP

DAVIS640H_CONFIG_BIAS_SSN

DAVIS640H_CONFIG_CHIP_DIGITALMUX0: Parameter address for module DAVIS640H_CONFIG_CHIP: DAVIS640H chip configuration. These are for expert control and should never be used or changed unless for advanced debugging purposes. To change the Global Shutter configuration, please use DAVIS_CONFIG_APS_GLOBAL_SHUTTER instead.

DAVIS640H_CONFIG_CHIP_DIGITALMUX1

DAVIS640H_CONFIG_CHIP_DIGITALMUX2

DAVIS640H_CONFIG_CHIP_DIGITALMUX3

DAVIS640H_CONFIG_CHIP_ANALOGMUX0

DAVIS640H_CONFIG_CHIP_ANALOGMUX1

DAVIS640H_CONFIG_CHIP_ANALOGMUX2

DAVIS640H_CONFIG_CHIP_BIASMUX0

DAVIS640H_CONFIG_CHIP_RESETCALIBNEURON

DAVIS640H_CONFIG_CHIP_TYPENCALIBNEURON

DAVIS640H_CONFIG_CHIP_RESETTESTPIXEL

DAVIS640H_CONFIG_CHIP_AERNAROW

DAVIS640H_CONFIG_CHIP_USEAOUT

DAVIS640H_CONFIG_CHIP_SELECTGRAYCOUNTER

DAVIS640H_CONFIG_CHIP_TESTADC

DAVIS640H_CONFIG_CHIP_ADJUSTOVG1LO

DAVIS640H_CONFIG_CHIP_ADJUSTOVG2LO

DAVIS640H_CONFIG_CHIP_ADJUSTTX2OVG2HI

Enums

enum caer_davis_aps_frame_modes

List of supported APS frame modes.

Values:

enumerator APS_FRAME_DEFAULT

enumerator APS_FRAME_GRAYSCALE

enumerator APS_FRAME_ORIGINAL

enum caer_bias_shiftedsource_operating_mode

Shifted-source bias operating mode.

Values:

enumerator SHIFTED_SOURCE: Standard mode.

enumerator HI_Z: High impedance (driven from outside).

enumerator TIED_TO_RAIL: Tied to ground (SSN) or VDD (SSP).

enum caer_bias_shiftedsource_voltage_level

Shifted-source bias voltage level.

Values:

enumerator SPLIT_GATE: Standard mode (200-400mV).

enumerator SINGLE_DIODE: Higher shifted-source voltage (one cascode).

enumerator DOUBLE_DIODE: Even higher shifted-source voltage (two cascodes).

Functions

LIBRARY_PUBLIC_VISIBILITY struct caer_davis_info caerDavisInfoGet (caerDeviceHandle handle)

Return basic information on the device, such as its ID, its resolution, the logic version, and so on. See the ‘struct caer_davis_info’ documentation for more details.

Parameters:: handle – a valid device handle.
Returns:: a copy of the device information structure if successful, an empty structure (all zeros) on failure.

LIBRARY_PUBLIC_VISIBILITY uint16_t caerBiasVDACGenerate (const struct caer_bias_vdac vdacBias)

Transform VDAC bias structure into internal integer representation, suited for sending directly to the device via caerDeviceConfigSet().

Parameters:: vdacBias – VDAC bias structure.
Returns:: internal integer representation for device configuration.

LIBRARY_PUBLIC_VISIBILITY struct caer_bias_vdac caerBiasVDACParse (const uint16_t vdacBias)

Transform internal integer representation, as received by calls to caerDeviceConfigGet(), into a VDAC bias structure, for easier handling and understanding of the various parameters.

Parameters:: vdacBias – internal integer representation from device.
Returns:: VDAC bias structure.

LIBRARY_PUBLIC_VISIBILITY uint16_t caerBiasCoarseFineGenerate (const struct caer_bias_coarsefine coarseFineBias)

Transform coarse-fine bias structure into internal integer representation, suited for sending directly to the device via caerDeviceConfigSet().

Parameters:: coarseFineBias – coarse-fine bias structure.
Returns:: internal integer representation for device configuration.

LIBRARY_PUBLIC_VISIBILITY struct caer_bias_coarsefine caerBiasCoarseFineParse (const uint16_t coarseFineBias)

Transform internal integer representation, as received by calls to caerDeviceConfigGet(), into a coarse-fine bias structure, for easier handling and understanding of the various parameters.

Parameters:: coarseFineBias – internal integer representation from device.
Returns:: coarse-fine bias structure.

LIBRARY_PUBLIC_VISIBILITY struct caer_bias_coarsefine caerBiasCoarseFineFromCurrent (uint32_t picoAmps)

Transform current value in pico-Ampere to coarse-fine bias structure. Limit is 24.8 micro-Ampere.

Parameters:: picoAmps – desired current value in pico-Ampere.
Returns:: coarse-fine bias structure.

LIBRARY_PUBLIC_VISIBILITY uint32_t caerBiasCoarseFineToCurrent (struct caer_bias_coarsefine coarseFineBias)

Transform coarse-fine bias structure into corresponding current value in pico-Ampere.

Parameters:: coarseFineBias – coarse-fine bias structure.
Returns:: corresponding current value in pico-Ampere.

LIBRARY_PUBLIC_VISIBILITY uint16_t caerBiasShiftedSourceGenerate (const struct caer_bias_shiftedsource shiftedSourceBias)

Transform shifted-source bias structure into internal integer representation, suited for sending directly to the device via caerDeviceConfigSet().

Parameters:: shiftedSourceBias – shifted-source bias structure.
Returns:: internal integer representation for device configuration.

LIBRARY_PUBLIC_VISIBILITY struct caer_bias_shiftedsource caerBiasShiftedSourceParse (const uint16_t shiftedSourceBias)

Transform internal integer representation, as received by calls to caerDeviceConfigGet(), into a shifted-source bias structure, for easier handling and understanding of the various parameters.

Parameters:: shiftedSourceBias – internal integer representation from device.
Returns:: shifted-source bias structure.

LIBRARY_PUBLIC_VISIBILITY bool caerDavisROIConfigure (caerDeviceHandle handle, uint16_t startX, uint16_t startY, uint16_t endX, uint16_t endY)

Configure the APS ROI region in one step. This function guarantees efficiency and atomicity (no partial-sized results possible).

Parameters:

handle – a valid device handle.
startX – start corner X coordinate (0, 0 is upper left of frame).
startY – start corner Y coordinate (0, 0 is upper left of frame).
endX – end corner X coordinate (0, 0 is upper left of frame). Must be bigger than startX.
endY – end corner Y coordinate (0, 0 is upper left of frame). Must be bigger than startY.

Returns:

true on success, false otherwise.

file device.h

#include “../libcaer.h”

#include “../events/packetContainer.h”

Common functions to access, configure and exchange data with supported devices. Also contains defines for host related configuration options.

Defines

CAER_SUPPORTED_DEVICES_NUMBER: Number of devices supported by this library. 0 - CAER_DEVICE_DVS128 1 - CAER_DEVICE_DAVIS_FX2 2 - CAER_DEVICE_DAVIS_FX3 3 - CAER_DEVICE_DYNAPSE 4 - CAER_DEVICE_DAVIS 5 - CAER_DEVICE_EDVS 6 - CAER_DEVICE_DAVIS_RPI // REMOVED 7 - CAER_DEVICE_DVS132S 8 - CAER_DEVICE_DVXPLORER 9 - CAER_DEVICE_SAMSUNG_EVK

CAER_HOST_CONFIG_DATAEXCHANGE: Module address: host-side data exchange (ring-buffer) configuration.

CAER_HOST_CONFIG_PACKETS: Module address: host-side event packets generation configuration.

CAER_HOST_CONFIG_LOG: Module address: host-side logging configuration.

CAER_HOST_CONFIG_DATAEXCHANGE_BUFFER_SIZE: Parameter address for module CAER_HOST_CONFIG_DATAEXCHANGE: set size of elements that can be held by the thread-safe FIFO buffer between the data transfer thread and the main thread. The default values are usually fine, only change them if you’re running into lots of dropped/missing packets; you can turn on the INFO log level to see when this is the case.

CAER_HOST_CONFIG_DATAEXCHANGE_BLOCKING: Parameter address for module CAER_HOST_CONFIG_DATAEXCHANGE: when calling caerDeviceDataGet(), the function can either be blocking, meaning it waits until it has a valid EventPacketContainer to return, or not, meaning it returns right away. This behavior can be set with this flag. Please see the caerDeviceDataGet() documentation for more information on its return values.

CAER_HOST_CONFIG_DATAEXCHANGE_START_PRODUCERS: Parameter address for module CAER_HOST_CONFIG_DATAEXCHANGE: whether to start all the data producer modules on the device (DVS, APS, Mux, …) automatically when starting the data transfer thread with caerDeviceDataStart() or not. If disabled, be aware you will have to start the right modules manually, which can be useful if you need precise control over which ones are running at any time.

CAER_HOST_CONFIG_DATAEXCHANGE_STOP_PRODUCERS: Parameter address for module CAER_HOST_CONFIG_DATAEXCHANGE: whether to stop all the data producer modules on the device (DVS, APS, Mux, …) automatically when stopping the data transfer thread with caerDeviceDataStop() or not. If disabled, be aware you will have to stop the right modules manually, to halt the data flow, which can be useful if you need precise control over which ones are running at any time.

CAER_HOST_CONFIG_PACKETS_MAX_CONTAINER_PACKET_SIZE: Parameter address for module CAER_HOST_CONFIG_PACKETS: set the maximum number of events any of a packet container’s packets may hold before it’s made available to the user. Set to zero to disable. This is checked for each number of events held in each typed EventPacket that is a part of the EventPacketContainer.

CAER_HOST_CONFIG_PACKETS_MAX_CONTAINER_INTERVAL: Parameter address for module CAER_HOST_CONFIG_PACKETS: set the time interval between subsequent packet containers. Must be at least 1 microsecond. The value is in microseconds, and is checked across all types of events contained in the EventPacketContainer.

CAER_HOST_CONFIG_LOG_LEVEL: Parameter address for module CAER_HOST_CONFIG_LOG: set the log-level for this device, to be used when logging messages. Defaults to the value of the global log-level when the device was first opened.

Typedefs

typedef struct caer_device_handle *caerDeviceHandle: Pointer to an open device on which to operate.

Functions

LIBRARY_PUBLIC_VISIBILITY bool caerDeviceClose (caerDeviceHandle *handle)

Close a previously opened device and invalidate its handle.

Parameters:: handle – pointer to a valid device handle. Will set handle to NULL if closing is successful, to prevent further usage of this handle for other operations.
Returns:: true if closing was successful, false on errors.

LIBRARY_PUBLIC_VISIBILITY bool caerDeviceSendDefaultConfig (caerDeviceHandle handle)

Send a set of good default configuration settings to the device. This avoids users having to set every configuration option each time, especially when wanting to get going quickly or just needing to change a few settings to get to the desired operating mode.

Parameters:: handle – a valid device handle.
Returns:: true if sending the configuration was successful, false on errors.

LIBRARY_PUBLIC_VISIBILITY bool caerDeviceConfigSet (caerDeviceHandle handle, int8_t modAddr, uint8_t paramAddr, uint32_t param)

Set a configuration parameter to a given value.

Parameters:

handle – a valid device handle.
modAddr – a module address, used to specify which configuration module one wants to update. Negative addresses are used for host-side configuration, while positive addresses (including zero) are used for device-side configuration.
paramAddr – a parameter address, to select a specific parameter to update from this particular configuration module. Only positive numbers (including zero) are allowed.
param – a configuration parameter’s new value.

Returns:

true if sending the configuration was successful, false on errors.

LIBRARY_PUBLIC_VISIBILITY bool caerDeviceConfigGet (caerDeviceHandle handle, int8_t modAddr, uint8_t paramAddr, uint32_t *param)

Get the value of a configuration parameter.

Parameters:

handle – a valid device handle.
modAddr – a module address, used to specify which configuration module one wants to query. Negative addresses are used for host-side configuration, while positive addresses (including zero) are used for device-side configuration.
paramAddr – a parameter address, to select a specific parameter to query from this particular configuration module. Only positive numbers (including zero) are allowed.
param – a pointer to an integer, in which to store the configuration parameter’s current value. The integer will always be either set to zero (on failure), or to the current value (on success).

Returns:

true if getting the configuration was successful, false on errors.

LIBRARY_PUBLIC_VISIBILITY bool caerDeviceConfigGet64 (caerDeviceHandle handle, int8_t modAddr, uint8_t paramAddr, uint64_t *param)

Get the value of a 64bit configuration parameter. This is for special read-only configuration parameters only! Use only when required by the parameter’s documentation!

Parameters:

handle – a valid device handle.
modAddr – a module address, used to specify which configuration module one wants to query. Negative addresses are used for host-side configuration, while positive addresses (including zero) are used for device-side configuration.
paramAddr – a parameter address, to select a specific parameter to query from this particular configuration module. Only positive numbers (including zero) are allowed.
param – a pointer to a 64bit integer, in which to store the configuration parameter’s current value. The integer will always be either set to zero (on failure), or to the current value (on success).

Returns:

true if getting the configuration was successful, false on errors.

LIBRARY_PUBLIC_VISIBILITY bool caerDeviceDataStart (caerDeviceHandle handle, void(*dataNotifyIncrease)(void *ptr), void(*dataNotifyDecrease)(void *ptr), void *dataNotifyUserPtr, void(*dataShutdownNotify)(void *ptr), void *dataShutdownUserPtr)

Start getting data from the device, setting up the data transfers and starting the data producers (see CAER_HOST_CONFIG_DATAEXCHANGE_START_PRODUCERS). Supports notification of new data and exceptional shutdown events via user-defined call-backs.

Parameters:

handle – a valid device handle.
dataNotifyIncrease – function pointer, called every time a new piece of data available and has been put in the FIFO buffer for consumption. dataNotifyUserPtr will be passed as parameter to the function.
dataNotifyDecrease – function pointer, called every time a new piece of data has been consumed from the FIFO buffer inside caerDeviceDataGet(). dataNotifyUserPtr will be passed as parameter to the function.
dataNotifyUserPtr – pointer that will be passed to the dataNotifyIncrease and dataNotifyDecrease functions. Can be NULL.
dataShutdownNotify – function pointer, called on exceptional shut-down of the data transfers. This is used to detect exceptional shut-downs that do not come from calling caerDeviceDataStop(), such as when the device is disconnected or all data transfers fail.
dataShutdownUserPtr – pointer that will be passed to the dataShutdownNotify function. Can be NULL.

Returns:

true if starting the data transfer was successful, false on errors.

LIBRARY_PUBLIC_VISIBILITY bool caerDeviceDataStop (caerDeviceHandle handle)

Stop getting data from the device, shutting down the data transfers and stopping the data producers (see CAER_HOST_CONFIG_DATAEXCHANGE_STOP_PRODUCERS). This normal shut-down will not generate a notification (see caerDeviceDataStart()).

Parameters:: handle – a valid device handle.
Returns:: true if stopping the data transfer was successful, false on errors.

LIBRARY_PUBLIC_VISIBILITY caerEventPacketContainer caerDeviceDataGet (caerDeviceHandle handle)

Get an event packet container, which contains events of various types generated by the device, for further processing. The returned data structures are allocated in memory and will need to be freed. The caerEventPacketContainerFree() function can be used to correctly free the full container memory. For single caerEventPackets, just use free(). This function can be made blocking with the CAER_HOST_CONFIG_DATAEXCHANGE_BLOCKING configuration parameter. By default it is non-blocking.

Parameters:: handle – a valid device handle.
Returns:: a valid event packet container. NULL will be returned on errors, such as exceptional device shutdown, or when there is no container available in non-blocking mode. Always check this return value!

file device_discover.h

#include “davis.h”

#include “dvs128.h”

#include “dvs132s.h”

#include “dvxplorer.h”

#include “dynapse.h”

#include “edvs.h”

#include “samsung_evk.h”

Functions to discover supported devices attached to the current host system, and then open them.

Defines

CAER_DEVICE_DISCOVER_ALL: Define for special value to discover all device types.

Typedefs

typedef struct caer_device_discovery_result *caerDeviceDiscoveryResult: Pointer to result of a device discovery operation.

Functions

LIBRARY_PUBLIC_VISIBILITY ssize_t caerDeviceDiscover (int16_t deviceType, caerDeviceDiscoveryResult *discoveredDevices)

Discover all supported devices that are accessible on this system. Use -1 as ‘deviceType’ to search for any device, or an actual device type ID to only search for matches of that specific type.

Parameters:

deviceType – type of device to search for, use -1 for any.
discoveredDevices – pointer to array of results, memory will be allocated for it automatically. On error, the pointer is set to NULL. Remember to free() the memory once done!

Returns:

number of discovered devices, 0 if no device could be found; or -1 if an error occurred.

LIBRARY_PUBLIC_VISIBILITY caerDeviceHandle caerDeviceDiscoverOpen (uint16_t deviceID, caerDeviceDiscoveryResult discoveredDevice)

Open a specific device based on information returned by caerDeviceDiscover(), then assign an ID to it and return a handle for further usage.

Parameters:

deviceID – a unique ID to identify the device from others. Will be used as the source for EventPackets being generated from its data.
discoveredDevice – pointer to the result of a device discovery operation. Uniquely identifies a particular device.

Returns:

a valid device handle that can be used with the other libcaer functions, or NULL on error. Always check for this!

file dvs128.h

#include “../events/polarity.h”

#include “../events/special.h”

#include “usb.h”

DVS128 specific configuration defines and information structures.

Defines

CAER_DEVICE_DVS128: Device type definition for iniVation DVS128.

DVS128_CONFIG_DVS: Module address: device-side DVS configuration.

DVS128_CONFIG_BIAS: Module address: device-side chip bias generator configuration.

DVS128_CONFIG_DVS_RUN: Parameter address for module DVS128_CONFIG_DVS: run the DVS chip and generate polarity event data.

DVS128_CONFIG_DVS_TIMESTAMP_RESET: Parameter address for module DVS128_CONFIG_DVS: reset the time-stamp counter of the device. This is a temporary configuration switch and will reset itself right away.

DVS128_CONFIG_DVS_ARRAY_RESET: Parameter address for module DVS128_CONFIG_DVS: reset the whole DVS pixel array. This is a temporary configuration switch and will reset itself right away.

DVS128_CONFIG_DVS_TS_MASTER: Parameter address for module DVS128_CONFIG_DVS: control if this DVS is a timestamp master device. Default is enabled.

DVS128_CONFIG_BIAS_CAS: Parameter address for module DVS128_CONFIG_BIAS: First stage amplifier cascode bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS128_CONFIG_BIAS_INJGND: Parameter address for module DVS128_CONFIG_BIAS: Injected ground bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS128_CONFIG_BIAS_REQPD: Parameter address for module DVS128_CONFIG_BIAS: Pull down on chip request (AER). See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS128_CONFIG_BIAS_PUX: Parameter address for module DVS128_CONFIG_BIAS: Pull up on request from X arbiter (AER). See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS128_CONFIG_BIAS_DIFFOFF: Parameter address for module DVS128_CONFIG_BIAS: Off events threshold bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS128_CONFIG_BIAS_REQ: Parameter address for module DVS128_CONFIG_BIAS: Pull down for passive load inverters in digital AER pixel circuitry. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS128_CONFIG_BIAS_REFR: Parameter address for module DVS128_CONFIG_BIAS: Refractory period bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS128_CONFIG_BIAS_PUY: Parameter address for module DVS128_CONFIG_BIAS: Pull up on request from Y arbiter (AER). See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS128_CONFIG_BIAS_DIFFON: Parameter address for module DVS128_CONFIG_BIAS: On events threshold bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS128_CONFIG_BIAS_DIFF: Parameter address for module DVS128_CONFIG_BIAS: Differential (second stage amplifier) bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS128_CONFIG_BIAS_FOLL: Parameter address for module DVS128_CONFIG_BIAS: Source follower bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS128_CONFIG_BIAS_PR: Parameter address for module DVS128_CONFIG_BIAS: Photoreceptor bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

Functions

LIBRARY_PUBLIC_VISIBILITY struct caer_dvs128_info caerDVS128InfoGet (caerDeviceHandle handle)

Return basic information on the device, such as its ID, its resolution, the logic version, and so on. See the ‘struct caer_dvs128_info’ documentation for more details.

Parameters:: handle – a valid device handle.
Returns:: a copy of the device information structure if successful, an empty structure (all zeros) on failure.

file dvs132s.h

#include “../events/polarity.h”

#include “../events/special.h”

#include “imu_support.h”

#include “usb.h”

DVS132S specific configuration defines and information structures.

Defines

CAER_DEVICE_DVS132S: Device type definition for iniVation DVS132S.

DVS132S_CHIP_ID: DVS132S chip identifier. 104x132, synchronous readout.

DVS132S_CONFIG_MUX: Module address: device-side Multiplexer configuration. The Multiplexer is responsible for mixing, timestamping and outputting (via USB) the various event types generated by the device. It is also responsible for timestamp generation and synchronization.

DVS132S_CONFIG_DVS: Module address: device-side DVS configuration. The DVS state machine interacts with the DVS chip and gets the polarity events from it. It supports various configurable delays, as well as advanced filtering capabilities on the polarity events.

DVS132S_CONFIG_IMU: Module address: device-side IMU (Inertial Measurement Unit) configuration. The IMU module connects to the external IMU chip and sends data on the device’s movement in space. It can configure various options on the external chip, such as accelerometer range or gyroscope refresh rate.

DVS132S_CONFIG_EXTINPUT: Module address: device-side External Input (signal detector/generator) configuration. The External Input module is used to detect external signals on the external input jack and inject an event into the event stream when this happens. It can detect pulses of a specific length or rising and falling edges. On some systems, a signal generator module is also present, which can generate PWM-like pulsed signals with configurable timing.

DVS132S_CONFIG_BIAS: Module address: device-side chip bias configuration. This state machine is responsible for configuring the chip’s bias generator.

DVS132S_CONFIG_SYSINFO: Module address: device-side system information. The system information module provides various details on the device, such as currently installed logic revision or clock speeds. All its parameters are read-only. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dvs132s_info’ documentation for more details on what information is available.

DVS132S_CONFIG_USB: Module address: device-side USB output configuration. The USB output module forwards the data from the device and the FPGA/CPLD to the USB chip, usually a Cypress FX2 or FX3.

DVS132S_CONFIG_MUX_RUN: Parameter address for module DVS132S_CONFIG_MUX: run the Multiplexer state machine, which is responsible for mixing the various event types at the device level, timestamping them and outputting them via USB or other connectors.

DVS132S_CONFIG_MUX_TIMESTAMP_RUN: Parameter address for module DVS132S_CONFIG_MUX: run the Timestamp Generator inside the Multiplexer state machine, which will provide microsecond accurate timestamps to the events passing through.

DVS132S_CONFIG_MUX_TIMESTAMP_RESET: Parameter address for module DVS132S_CONFIG_MUX: reset the Timestamp Generator to zero. This also sends a reset pulse to all connected slave devices, resetting their timestamp too.

DVS132S_CONFIG_MUX_RUN_CHIP: Parameter address for module DVS132S_CONFIG_MUX: power up the chip’s bias generator, enabling the chip to work.

DVS132S_CONFIG_MUX_DROP_EXTINPUT_ON_TRANSFER_STALL: Parameter address for module DVS132S_CONFIG_MUX: drop External Input events if the USB output FIFO is full, instead of having them pile up at the input FIFOs.

DVS132S_CONFIG_MUX_DROP_DVS_ON_TRANSFER_STALL: Parameter address for module DVS132S_CONFIG_MUX: drop DVS events if the USB output FIFO is full, instead of having them pile up at the input FIFOs.

DVS132S_CONFIG_MUX_HAS_STATISTICS: Parameter address for module DVS132S_CONFIG_MUX: read-only parameter, information about the presence of the statistics feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DVS132S_CONFIG_MUX_STATISTICS_EXTINPUT_DROPPED: Parameter address for module DVS132S_CONFIG_MUX: read-only parameter, representing the number of dropped External Input events on the device due to full USB buffers. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DVS132S_CONFIG_MUX_STATISTICS_DVS_DROPPED: Parameter address for module DVS132S_CONFIG_MUX: read-only parameter, representing the number of dropped DVS events on the device due to full USB buffers. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DVS132S_CONFIG_DVS_SIZE_COLUMNS: Parameter address for module DVS132S_CONFIG_DVS: read-only parameter, contains the X axis resolution of the DVS events returned by the camera. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DVS132S_CONFIG_DVS_SIZE_ROWS: Parameter address for module DVS132S_CONFIG_DVS: read-only parameter, contains the Y axis resolution of the DVS events returned by the camera. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DVS132S_CONFIG_DVS_ORIENTATION_INFO: Parameter address for module DVS132S_CONFIG_DVS: read-only parameter, contains information on the orientation of the X/Y axes, whether they should be inverted or not on the host when parsing incoming events. Bit 2: dvsInvertXY Bit 1: reserved Bit 0: reserved This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DVS132S_CONFIG_DVS_RUN: Parameter address for module DVS132S_CONFIG_DVS: run the DVS state machine and read out polarity events from the chip.

DVS132S_CONFIG_DVS_WAIT_ON_TRANSFER_STALL: Parameter address for module DVS132S_CONFIG_DVS: if the output FIFO for this module is full, stall the chip readout and wait until it’s free again, instead of just continuing reading and dropping the resulting events.

DVS132S_CONFIG_DVS_FILTER_AT_LEAST_2_UNSIGNED: Parameter address for module DVS132S_CONFIG_DVS:

DVS132S_CONFIG_DVS_FILTER_NOT_ALL_4_UNSIGNED: Parameter address for module DVS132S_CONFIG_DVS:

DVS132S_CONFIG_DVS_FILTER_AT_LEAST_2_SIGNED: Parameter address for module DVS132S_CONFIG_DVS:

DVS132S_CONFIG_DVS_FILTER_NOT_ALL_4_SIGNED: Parameter address for module DVS132S_CONFIG_DVS:

DVS132S_CONFIG_DVS_RESTART_TIME: Parameter address for module DVS132S_CONFIG_DVS: 7 bits, Time unit: 1us. Max: ~125us.

DVS132S_CONFIG_DVS_CAPTURE_INTERVAL: Parameter address for module DVS132S_CONFIG_DVS: 21 bits, Time unit: 1us. Max: ~2s.

DVS132S_CONFIG_DVS_ROW_ENABLE_31_TO_0: Parameter address for module DVS132S_CONFIG_DVS:

DVS132S_CONFIG_DVS_ROW_ENABLE_63_TO_32: Parameter address for module DVS132S_CONFIG_DVS:

DVS132S_CONFIG_DVS_ROW_ENABLE_65_TO_64: Parameter address for module DVS132S_CONFIG_DVS:

DVS132S_CONFIG_DVS_COLUMN_ENABLE_31_TO_0: Parameter address for module DVS132S_CONFIG_DVS:

DVS132S_CONFIG_DVS_COLUMN_ENABLE_51_TO_32: Parameter address for module DVS132S_CONFIG_DVS:

DVS132S_CONFIG_DVS_HAS_STATISTICS: Parameter address for module DVS132S_CONFIG_DVS: read-only parameter, information about the presence of the statistics feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DVS132S_CONFIG_DVS_STATISTICS_TRANSACTIONS_SUCCESS: Parameter address for module DVS132S_CONFIG_DVS: read-only parameter, representing the number of event transactions completed successfully on the device. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DVS132S_CONFIG_DVS_STATISTICS_TRANSACTIONS_SKIPPED: Parameter address for module DVS132S_CONFIG_DVS: read-only parameter, representing the number of dropped transaction sequences on the device due to full buffers. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DVS132S_CONFIG_DVS_STATISTICS_TRANSACTIONS_ERRORED: Parameter address for module DVS132S_CONFIG_DVS: read-only parameter, representing the number of erroneous transaction sequences on the device due problems in the address or polarities returned by the chip.

DVS132S_CONFIG_IMU_TYPE: Parameter address for module DVS132S_CONFIG_IMU: read-only parameter, contains information on the type of IMU chip being used in this device: 0 - no IMU present 3 - Bosch BMI 160 This is reserved for internal use and should not be used by anything other than libcaer.

DVS132S_CONFIG_IMU_ORIENTATION_INFO: Parameter address for module DVS132S_CONFIG_IMU: read-only parameter, contains information on the orientation of the X/Y/Z axes, whether they should be flipped or not on the host when parsing incoming IMU data samples. Bit 2: imuFlipX Bit 1: imuFlipY Bit 0: imuFlipZ This is reserved for internal use and should not be used by anything other than libcaer. Generated IMU events are already properly flipped when returned to the user.

DVS132S_CONFIG_IMU_RUN_ACCELEROMETER: Parameter address for module DVS132S_CONFIG_IMU: enable the IMU’s accelerometer. This takes the IMU chip out of sleep.

DVS132S_CONFIG_IMU_RUN_GYROSCOPE: Parameter address for module DVS132S_CONFIG_IMU: enable the IMU’s gyroscope. This takes the IMU chip out of sleep.

DVS132S_CONFIG_IMU_RUN_TEMPERATURE: Parameter address for module DVS132S_CONFIG_IMU: enable the IMU’s temperature sensor. This takes the IMU chip out of sleep.

DVS132S_CONFIG_IMU_ACCEL_DATA_RATE: Parameter address for module DVS132S_CONFIG_IMU: 8 settings: 0 - 12.5 Hz 1 - 25 Hz 2 - 50 Hz 3 - 100 Hz 4 - 200 Hz 5 - 400 Hz 6 - 800 Hz 7 - 1600 Hz

DVS132S_CONFIG_IMU_ACCEL_FILTER: Parameter address for module DVS132S_CONFIG_IMU: 3 settings: 0 - OSR4 1 - OSR2 2 - Normal

DVS132S_CONFIG_IMU_ACCEL_RANGE: Parameter address for module DVS132S_CONFIG_IMU: 4 settings: 0 - +- 2g 1 - +- 4g 2 - +- 8g 3 - +- 16g

DVS132S_CONFIG_IMU_GYRO_DATA_RATE: Parameter address for module DVS132S_CONFIG_IMU: 8 settings: 0 - 25 Hz 1 - 50 Hz 2 - 100 Hz 3 - 200 Hz 4 - 400 Hz 5 - 800 Hz 6 - 1600 Hz 7 - 3200 Hz

DVS132S_CONFIG_IMU_GYRO_FILTER: Parameter address for module DVS132S_CONFIG_IMU: 3 settings: 0 - OSR4 1 - OSR2 2 - Normal

DVS132S_CONFIG_IMU_GYRO_RANGE: Parameter address for module DVS132S_CONFIG_IMU: 5 settings: 0 - +- 2000°/s 1 - +- 1000°/s 2 - +- 500°/s 3 - +- 250°/s 4 - +- 125°/s

DVS132S_CONFIG_EXTINPUT_RUN_DETECTOR: Parameter address for module DVS132S_CONFIG_EXTINPUT: enable the signal detector module. It generates events when it sees certain types of signals, such as edges or pulses of a defined length, on the SIGNAL pin of the INPUT synchronization connector. This can be useful to inject events into the event stream in response to external stimuli or controls, such as turning on a LED lamp.

DVS132S_CONFIG_EXTINPUT_DETECT_RISING_EDGES: Parameter address for module DVS132S_CONFIG_EXTINPUT: send a special EXTERNAL_INPUT_RISING_EDGE event when a rising edge is detected (transition from low voltage to high).

DVS132S_CONFIG_EXTINPUT_DETECT_FALLING_EDGES: Parameter address for module DVS132S_CONFIG_EXTINPUT: send a special EXTERNAL_INPUT_FALLING_EDGE event when a falling edge is detected (transition from high voltage to low).

DVS132S_CONFIG_EXTINPUT_DETECT_PULSES: Parameter address for module DVS132S_CONFIG_EXTINPUT: send a special EXTERNAL_INPUT_PULSE event when a pulse, of a specified, configurable polarity and length, is detected. See DVS132S_CONFIG_EXTINPUT_DETECT_PULSE_POLARITY and DVS132S_CONFIG_EXTINPUT_DETECT_PULSE_LENGTH for more details.

DVS132S_CONFIG_EXTINPUT_DETECT_PULSE_POLARITY: Parameter address for module DVS132S_CONFIG_EXTINPUT: the polarity the pulse must exhibit to be detected as such. ‘1’ means active high; a pulse will start when the signal goes from low to high and will continue to be seen as the same pulse as long as it stays high. ‘0’ means active low; a pulse will start when the signal goes from high to low and will continue to be seen as the same pulse as long as it stays low.

DVS132S_CONFIG_EXTINPUT_DETECT_PULSE_LENGTH: Parameter address for module DVS132S_CONFIG_EXTINPUT: the minimal length that a pulse must have to trigger the sending of a special event. This is measured in cycles at LogicClock frequency (see ‘struct caer_davis_info’ for details on how to get the frequency).

DVS132S_CONFIG_EXTINPUT_HAS_GENERATOR: Parameter address for module DVS132S_CONFIG_EXTINPUT: read-only parameter, information about the presence of the signal generator feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DVS132S_CONFIG_EXTINPUT_RUN_GENERATOR: Parameter address for module DVS132S_CONFIG_EXTINPUT: enable the signal generator module. It generates a PWM-like signal based on configurable parameters and outputs it on the OUT JACK signal.

DVS132S_CONFIG_EXTINPUT_GENERATE_PULSE_POLARITY: Parameter address for module DVS132S_CONFIG_EXTINPUT: polarity of the PWM-like signal to be generated. ‘1’ means active high, ‘0’ means active low.

DVS132S_CONFIG_EXTINPUT_GENERATE_PULSE_INTERVAL: Parameter address for module DVS132S_CONFIG_EXTINPUT: the interval between the start of two consecutive pulses, expressed in cycles at LogicClock frequency (see ‘struct caer_davis_info’ for details on how to get the frequency). This must be bigger or equal to DVS132S_CONFIG_EXTINPUT_GENERATE_PULSE_LENGTH. To generate a signal with 50% duty cycle, this would have to be exactly double of DVS132S_CONFIG_EXTINPUT_GENERATE_PULSE_LENGTH.

DVS132S_CONFIG_EXTINPUT_GENERATE_PULSE_LENGTH: Parameter address for module DVS132S_CONFIG_EXTINPUT: the length a pulse stays active, expressed in cycles at LogicClock frequency (see ‘struct caer_davis_info’ for details on how to get the frequency). This must be smaller or equal to DVS132S_CONFIG_EXTINPUT_GENERATE_PULSE_INTERVAL. To generate a signal with 50% duty cycle, this would have to be exactly half of DVS132S_CONFIG_EXTINPUT_GENERATE_PULSE_INTERVAL.

DVS132S_CONFIG_EXTINPUT_GENERATE_INJECT_ON_RISING_EDGE: Parameter address for module DVS132S_CONFIG_EXTINPUT: enables event injection when a rising edge occurs in the generated signal; a special event EXTERNAL_GENERATOR_RISING_EDGE is emitted into the event stream.

DVS132S_CONFIG_EXTINPUT_GENERATE_INJECT_ON_FALLING_EDGE: Parameter address for module DVS132S_CONFIG_EXTINPUT: enables event injection when a falling edge occurs in the generated signal; a special event EXTERNAL_GENERATOR_FALLING_EDGE is emitted into the event stream.

DVS132S_CONFIG_SYSINFO_LOGIC_VERSION: Parameter address for module DVS132S_CONFIG_SYSINFO: read-only parameter, the version of the logic currently running on the device’s FPGA/CPLD. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dvs132s_info’ documentation to get this information.

DVS132S_CONFIG_SYSINFO_CHIP_IDENTIFIER: Parameter address for module DVS132S_CONFIG_SYSINFO: read-only parameter, an integer used to identify the different types of sensor chips used on the device. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dvs132s_info’ documentation to get this information.

DVS132S_CONFIG_SYSINFO_DEVICE_IS_MASTER: Parameter address for module DVS132S_CONFIG_SYSINFO: read-only parameter, whether the device is currently a timestamp master or slave when synchronizing multiple devices together. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dvs132s_info’ documentation to get this information.

DVS132S_CONFIG_SYSINFO_LOGIC_CLOCK: Parameter address for module DVS132S_CONFIG_SYSINFO: read-only parameter, the frequency in MHz at which the main FPGA/CPLD logic is running. This is reserved for internal use and should not be used by anything other than libcaer.

DVS132S_CONFIG_SYSINFO_USB_CLOCK: Parameter address for module DVS132S_CONFIG_SYSINFO: read-only parameter, the frequency in MHz at which the FPGA/CPLD logic related to USB data transmission is running. This is reserved for internal use and should not be used by anything other than libcaer.

DVS132S_CONFIG_SYSINFO_CLOCK_DEVIATION: Parameter address for module DVS132S_CONFIG_SYSINFO: read-only parameter, the deviation factor for the clocks. Due to how FX3 generates the clocks, which are then used by FPGA/CPLD, they are not integers but have a fractional part. This is reserved for internal use and should not be used by anything other than libcaer.

DVS132S_CONFIG_SYSINFO_LOGIC_PATCH: Parameter address for module DVS132S_CONFIG_SYSINFO: read-only parameter, the patch version of the logic currently running on the device’s FPGA/CPLD. This is reserved for internal use and should not be used by anything other than libcaer.

DVS132S_CONFIG_USB_RUN: Parameter address for module DVS132S_CONFIG_USB: enable the USB FIFO module, which transfers the data from the FPGA/CPLD to the USB chip, to be then sent to the host. Turning this off will suppress any USB data communication!

DVS132S_CONFIG_USB_EARLY_PACKET_DELAY: Parameter address for module DVS132S_CONFIG_USB: the time delay after which a packet of data is committed to USB, even if it is not full yet (short USB packet). The value is in 125µs time-slices, corresponding to how USB schedules its operations (a value of 4 for example would mean waiting at most 0.5ms until sending a short USB packet to the host).

DVS132S_CONFIG_BIAS_PRBP

Parameter address for module DVS132S_CONFIG_BIAS: DVS132S chip biases. Bias configuration values must be generated using the proper functions, which are:

caerBiasCoarseFine1024Generate() for coarse-fine (current) biases. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

DVS132S_CONFIG_BIAS_PRSFBP

DVS132S_CONFIG_BIAS_BLPUBP

DVS132S_CONFIG_BIAS_BIASBUFBP

DVS132S_CONFIG_BIAS_OFFBN

DVS132S_CONFIG_BIAS_DIFFBN

DVS132S_CONFIG_BIAS_ONBN

DVS132S_CONFIG_BIAS_CASBN

DVS132S_CONFIG_BIAS_DPBN

DVS132S_CONFIG_BIAS_BIASBUFBN

DVS132S_CONFIG_BIAS_ABUFBN

Functions

LIBRARY_PUBLIC_VISIBILITY struct caer_dvs132s_info caerDVS132SInfoGet (caerDeviceHandle handle)

Return basic information on the device, such as its ID, its resolution, the logic version, and so on. See the ‘struct caer_dvs132s_info’ documentation for more details.

Parameters:: handle – a valid device handle.
Returns:: a copy of the device information structure if successful, an empty structure (all zeros) on failure.

LIBRARY_PUBLIC_VISIBILITY uint32_t caerBiasCoarseFine1024Generate (struct caer_bias_coarsefine1024 coarseFine1024Bias)

Transform simplified coarse-fine bias structure into internal integer representation, suited for sending directly to the device via caerDeviceConfigSet().

Parameters:: coarseFine1024Bias – coarse-fine bias structure.
Returns:: internal integer representation for device configuration.

LIBRARY_PUBLIC_VISIBILITY struct caer_bias_coarsefine1024 caerBiasCoarseFine1024Parse (uint32_t coarseFine1024Bias)

Transform internal integer representation, as received by calls to caerDeviceConfigGet(), into a simplified coarse-fine bias structure, for easier handling and understanding of the various parameters.

Parameters:: coarseFine1024Bias – internal integer representation from device.
Returns:: coarse-fine bias structure.

LIBRARY_PUBLIC_VISIBILITY struct caer_bias_coarsefine1024 caerBiasCoarseFine1024FromCurrent (uint32_t picoAmps)

Transform current value in pico-Ampere to coarse-fine bias structure. Limit is 1.0 micro-Ampere.

Parameters:: picoAmps – desired current value in pico-Ampere.
Returns:: coarse-fine bias structure.

LIBRARY_PUBLIC_VISIBILITY uint32_t caerBiasCoarseFine1024ToCurrent (struct caer_bias_coarsefine1024 coarseFine1024Bias)

Transform coarse-fine bias structure into corresponding current value in pico-Ampere.

Parameters:: coarseFine1024Bias – coarse-fine bias structure.
Returns:: corresponding current value in pico-Ampere.

file dvxplorer.h

#include “../events/imu6.h”

#include “../events/polarity.h”

#include “../events/special.h”

#include “imu_support.h”

#include “usb.h”

DVXPLORER specific configuration defines and information structures.

Defines

CAER_DEVICE_DVXPLORER: Device type definition for iniVation DVXplorer.

DVXPLORER_CHIP_ID: Samsung chip identifier. 640x480, semi-synchronous readout.

DVXPLORER_LITE_CHIP_ID: Samsung chip identifier. 320x240, semi-synchronous readout.

DVX_MUX: Module address: device-side Multiplexer configuration. The Multiplexer is responsible for mixing, timestamping and outputting (via USB) the various event types generated by the device. It is also responsible for timestamp generation and synchronization.

DVX_DVS: Module address: device-side DVS configuration. The DVS state machine interacts with the DVS chip and gets the polarity events from it. It supports various configurable delays, as well as advanced filtering capabilities on the polarity events.

DVX_IMU: Module address: device-side IMU (Inertial Measurement Unit) configuration. The IMU module connects to the external IMU chip and sends data on the device’s movement in space. It can configure various options on the external chip, such as accelerometer range or gyroscope refresh rate.

DVX_EXTINPUT: Module address: device-side External Input (signal detector/generator) configuration. The External Input module is used to detect external signals on the external input jack and inject an event into the event stream when this happens. It can detect pulses of a specific length or rising and falling edges. On some systems, a signal generator module is also present, which can generate PWM-like pulsed signals with configurable timing.

DVX_SYSINFO: Module address: device-side system information. The system information module provides various details on the device, such as currently installed logic revision or clock speeds. All its parameters are read-only. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dvx_info’ documentation for more details on what information is available.

DVX_USB: Module address: device-side USB output configuration. The USB output module forwards the data from the device and the FPGA/CPLD to the USB chip, usually a Cypress FX2 or FX3.

DVX_MUX_RUN: Parameter address for module DVX_MUX: run the Multiplexer state machine, which is responsible for mixing the various event types at the device level, timestamping them and outputting them via USB or other connectors.

DVX_MUX_TIMESTAMP_RUN: Parameter address for module DVX_MUX: run the Timestamp Generator inside the Multiplexer state machine, which will provide microsecond accurate timestamps to the events passing through.

DVX_MUX_TIMESTAMP_RESET: Parameter address for module DVX_MUX: reset the Timestamp Generator to zero. This also sends a reset pulse to all connected slave devices, resetting their timestamp too.

DVX_MUX_RUN_CHIP: Parameter address for module DVX_MUX: power up the chip’s bias generator, enabling the chip to work.

DVX_MUX_DROP_EXTINPUT_ON_TRANSFER_STALL: Parameter address for module DVX_MUX: drop External Input events if the USB output FIFO is full, instead of having them pile up at the input FIFOs.

DVX_MUX_DROP_DVS_ON_TRANSFER_STALL: Parameter address for module DVX_MUX: drop DVS events if the USB output FIFO is full, instead of having them pile up at the input FIFOs.

DVX_MUX_HAS_STATISTICS: Parameter address for module DVX_MUX: read-only parameter, information about the presence of the statistics feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DVX_MUX_STATISTICS_EXTINPUT_DROPPED: Parameter address for module DVX_MUX: read-only parameter, representing the number of dropped External Input events on the device due to full USB buffers. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DVX_MUX_STATISTICS_DVS_DROPPED: Parameter address for module DVX_MUX: read-only parameter, representing the number of dropped DVS events on the device due to full USB buffers. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DVX_DVS_SIZE_COLUMNS: Parameter address for module DVX_DVS: read-only parameter, contains the X axis resolution of the DVS events returned by the camera. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DVX_DVS_SIZE_ROWS: Parameter address for module DVX_DVS: read-only parameter, contains the Y axis resolution of the DVS events returned by the camera. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DVX_DVS_ORIENTATION_INFO: Parameter address for module DVX_DVS: read-only parameter, contains information on the orientation of the X/Y axes, whether they should be inverted or not on the host when parsing incoming events. Bit 2: dvsInvertXY Bit 1: reserved Bit 0: reserved This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get proper size information that already considers the rotation and orientation settings.

DVX_DVS_RUN: Parameter address for module DVX_DVS: run the DVS state machine and read out polarity events from the chip.

DVX_DVS_HAS_STATISTICS: Parameter address for module DVX_DVS: read-only parameter, information about the presence of the statistics feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DVX_DVS_STATISTICS_COLUMN: Parameter address for module DVX_DVS: read-only parameter, representing the number of column transactions completed successfully on the device. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DVX_DVS_STATISTICS_GROUP: Parameter address for module DVX_DVS: read-only parameter, representing the number of SGroup/MGroup transactions completed successfully on the device. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DVX_DVS_STATISTICS_DROPPED_COLUMN: Parameter address for module DVX_DVS: read-only parameter, representing the number of dropped column transactions on the device. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DVX_DVS_STATISTICS_DROPPED_GROUP: Parameter address for module DVX_DVS: read-only parameter, representing the number of dropped SGroup/MGroup transactions on the device. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DVX_IMU_TYPE: Parameter address for module DVX_IMU: read-only parameter, contains information on the type of IMU chip being used in this device: 0 - no IMU present 3 - Bosch BMI 160 This is reserved for internal use and should not be used by anything other than libcaer.

DVX_IMU_ORIENTATION_INFO: Parameter address for module DVX_IMU: read-only parameter, contains information on the orientation of the X/Y/Z axes, whether they should be flipped or not on the host when parsing incoming IMU data samples. Bit 2: imuFlipX Bit 1: imuFlipY Bit 0: imuFlipZ This is reserved for internal use and should not be used by anything other than libcaer. Generated IMU events are already properly flipped when returned to the user.

DVX_IMU_RUN_ACCELEROMETER: Parameter address for module DVX_IMU: enable the IMU’s accelerometer. This takes the IMU chip out of sleep.

DVX_IMU_RUN_GYROSCOPE: Parameter address for module DVX_IMU: enable the IMU’s gyroscope. This takes the IMU chip out of sleep.

DVX_IMU_RUN_TEMPERATURE: Parameter address for module DVX_IMU: enable the IMU’s temperature sensor. This takes the IMU chip out of sleep.

DVX_IMU_ACCEL_DATA_RATE: Parameter address for module DVX_IMU: 8 settings: 0 - 12.5 Hz 1 - 25 Hz 2 - 50 Hz 3 - 100 Hz 4 - 200 Hz 5 - 400 Hz 6 - 800 Hz 7 - 1600 Hz

DVX_IMU_ACCEL_FILTER: Parameter address for module DVX_IMU: 3 settings: 0 - OSR4 1 - OSR2 2 - Normal

DVX_IMU_ACCEL_RANGE: Parameter address for module DVX_IMU: 4 settings: 0 - +- 2g 1 - +- 4g 2 - +- 8g 3 - +- 16g

DVX_IMU_GYRO_DATA_RATE: Parameter address for module DVX_IMU: 8 settings: 0 - 25 Hz 1 - 50 Hz 2 - 100 Hz 3 - 200 Hz 4 - 400 Hz 5 - 800 Hz 6 - 1600 Hz 7 - 3200 Hz

DVX_IMU_GYRO_FILTER: Parameter address for module DVX_IMU: 3 settings: 0 - OSR4 1 - OSR2 2 - Normal

DVX_IMU_GYRO_RANGE: Parameter address for module DVX_IMU: 5 settings: 0 - +- 2000°/s 1 - +- 1000°/s 2 - +- 500°/s 3 - +- 250°/s 4 - +- 125°/s

DVX_EXTINPUT_RUN_DETECTOR: Parameter address for module DVX_EXTINPUT: enable the signal detector module. It generates events when it sees certain types of signals, such as edges or pulses of a defined length, on the SIGNAL pin of the INPUT synchronization connector. This can be useful to inject events into the event stream in response to external stimuli or controls, such as turning on a LED lamp.

DVX_EXTINPUT_DETECT_RISING_EDGES: Parameter address for module DVX_EXTINPUT: send a special EXTERNAL_INPUT_RISING_EDGE event when a rising edge is detected (transition from low voltage to high).

DVX_EXTINPUT_DETECT_FALLING_EDGES: Parameter address for module DVX_EXTINPUT: send a special EXTERNAL_INPUT_FALLING_EDGE event when a falling edge is detected (transition from high voltage to low).

DVX_EXTINPUT_DETECT_PULSES: Parameter address for module DVX_EXTINPUT: send a special EXTERNAL_INPUT_PULSE event when a pulse, of a specified, configurable polarity and length, is detected. See DVX_EXTINPUT_DETECT_PULSE_POLARITY and DVX_EXTINPUT_DETECT_PULSE_LENGTH for more details.

DVX_EXTINPUT_DETECT_PULSE_POLARITY: Parameter address for module DVX_EXTINPUT: the polarity the pulse must exhibit to be detected as such. ‘1’ means active high; a pulse will start when the signal goes from low to high and will continue to be seen as the same pulse as long as it stays high. ‘0’ means active low; a pulse will start when the signal goes from high to low and will continue to be seen as the same pulse as long as it stays low.

DVX_EXTINPUT_DETECT_PULSE_LENGTH: Parameter address for module DVX_EXTINPUT: the minimal length that a pulse must have to trigger the sending of a special event. This is measured in cycles at LogicClock frequency (see ‘struct caer_davis_info’ for details on how to get the frequency).

DVX_EXTINPUT_HAS_GENERATOR: Parameter address for module DVX_EXTINPUT: read-only parameter, information about the presence of the signal generator feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_davis_info’ documentation to get this information.

DVX_EXTINPUT_RUN_GENERATOR: Parameter address for module DVX_EXTINPUT: enable the signal generator module. It generates a PWM-like signal based on configurable parameters and outputs it on the OUT JACK signal.

DVX_EXTINPUT_GENERATE_PULSE_POLARITY: Parameter address for module DVX_EXTINPUT: polarity of the PWM-like signal to be generated. ‘1’ means active high, ‘0’ means active low.

DVX_EXTINPUT_GENERATE_PULSE_INTERVAL: Parameter address for module DVX_EXTINPUT: the interval between the start of two consecutive pulses, expressed in cycles at LogicClock frequency (see ‘struct caer_davis_info’ for details on how to get the frequency). This must be bigger or equal to DVX_EXTINPUT_GENERATE_PULSE_LENGTH. To generate a signal with 50% duty cycle, this would have to be exactly double of DVX_EXTINPUT_GENERATE_PULSE_LENGTH.

DVX_EXTINPUT_GENERATE_PULSE_LENGTH: Parameter address for module DVX_EXTINPUT: the length a pulse stays active, expressed in cycles at LogicClock frequency (see ‘struct caer_davis_info’ for details on how to get the frequency). This must be smaller or equal to DVX_EXTINPUT_GENERATE_PULSE_INTERVAL. To generate a signal with 50% duty cycle, this would have to be exactly half of DVX_EXTINPUT_GENERATE_PULSE_INTERVAL.

DVX_EXTINPUT_GENERATE_INJECT_ON_RISING_EDGE: Parameter address for module DVX_EXTINPUT: enables event injection when a rising edge occurs in the generated signal; a special event EXTERNAL_GENERATOR_RISING_EDGE is emitted into the event stream.

DVX_EXTINPUT_GENERATE_INJECT_ON_FALLING_EDGE: Parameter address for module DVX_EXTINPUT: enables event injection when a falling edge occurs in the generated signal; a special event EXTERNAL_GENERATOR_FALLING_EDGE is emitted into the event stream.

DVX_SYSINFO_LOGIC_VERSION: Parameter address for module DVX_SYSINFO: read-only parameter, the version of the logic currently running on the device’s FPGA/CPLD. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dvx_info’ documentation to get this information.

DVX_SYSINFO_CHIP_IDENTIFIER: Parameter address for module DVX_SYSINFO: read-only parameter, an integer used to identify the different types of sensor chips used on the device. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dvx_info’ documentation to get this information.

DVX_SYSINFO_DEVICE_IS_MASTER: Parameter address for module DVX_SYSINFO: read-only parameter, whether the device is currently a timestamp master or slave when synchronizing multiple devices together. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dvx_info’ documentation to get this information.

DVX_SYSINFO_LOGIC_CLOCK: Parameter address for module DVX_SYSINFO: read-only parameter, the frequency in MHz at which the main FPGA/CPLD logic is running. This is reserved for internal use and should not be used by anything other than libcaer.

DVX_SYSINFO_USB_CLOCK: Parameter address for module DVX_SYSINFO: read-only parameter, the frequency in MHz at which the FPGA/CPLD logic related to USB data transmission is running. This is reserved for internal use and should not be used by anything other than libcaer.

DVX_SYSINFO_CLOCK_DEVIATION: Parameter address for module DVX_SYSINFO: read-only parameter, the deviation factor for the clocks. Due to how FX3 generates the clocks, which are then used by FPGA/CPLD, they are not integers but have a fractional part. This is reserved for internal use and should not be used by anything other than libcaer.

DVX_SYSINFO_LOGIC_PATCH: Parameter address for module DVX_SYSINFO: read-only parameter, the patch version of the logic currently running on the device’s FPGA/CPLD. This is reserved for internal use and should not be used by anything other than libcaer.

DVX_USB_RUN: Parameter address for module DVX_USB: enable the USB FIFO module, which transfers the data from the FPGA/CPLD to the USB chip, to be then sent to the host. Turning this off will suppress any USB data communication!

DVX_USB_EARLY_PACKET_DELAY: Parameter address for module DVX_USB: the time delay after which a packet of data is committed to USB, even if it is not full yet (short USB packet). The value is in 125µs time-slices, corresponding to how USB schedules its operations (a value of 4 for example would mean waiting at most 0.5ms until sending a short USB packet to the host).

DVX_DVS_CHIP: Module address: device-side chip configuration. This state machine is responsible for configuring the Samsung DVS chip.

DVX_DVS_CHIP_MODE

DVX_DVS_CHIP_EVENT_FLATTEN

DVX_DVS_CHIP_EVENT_ON_ONLY

DVX_DVS_CHIP_EVENT_OFF_ONLY

DVX_DVS_CHIP_SUBSAMPLE_ENABLE

DVX_DVS_CHIP_AREA_BLOCKING_ENABLE

DVX_DVS_CHIP_DUAL_BINNING_ENABLE

DVX_DVS_CHIP_SUBSAMPLE_VERTICAL

DVX_DVS_CHIP_SUBSAMPLE_HORIZONTAL

DVX_DVS_CHIP_AREA_BLOCKING_0

DVX_DVS_CHIP_AREA_BLOCKING_1

DVX_DVS_CHIP_AREA_BLOCKING_2

DVX_DVS_CHIP_AREA_BLOCKING_3

DVX_DVS_CHIP_AREA_BLOCKING_4

DVX_DVS_CHIP_AREA_BLOCKING_5

DVX_DVS_CHIP_AREA_BLOCKING_6

DVX_DVS_CHIP_AREA_BLOCKING_7

DVX_DVS_CHIP_AREA_BLOCKING_8

DVX_DVS_CHIP_AREA_BLOCKING_9

DVX_DVS_CHIP_AREA_BLOCKING_10

DVX_DVS_CHIP_AREA_BLOCKING_11

DVX_DVS_CHIP_AREA_BLOCKING_12

DVX_DVS_CHIP_AREA_BLOCKING_13

DVX_DVS_CHIP_AREA_BLOCKING_14

DVX_DVS_CHIP_AREA_BLOCKING_15

DVX_DVS_CHIP_AREA_BLOCKING_16

DVX_DVS_CHIP_AREA_BLOCKING_17

DVX_DVS_CHIP_AREA_BLOCKING_18

DVX_DVS_CHIP_AREA_BLOCKING_19

DVX_DVS_CHIP_TIMESTAMP_RESET

DVX_DVS_CHIP_GLOBAL_RESET_ENABLE

DVX_DVS_CHIP_GLOBAL_RESET_DURING_READOUT

DVX_DVS_CHIP_GLOBAL_HOLD_ENABLE

DVX_DVS_CHIP_FIXED_READ_TIME_ENABLE

DVX_DVS_CHIP_EXTERNAL_TRIGGER_MODE

DVX_DVS_CHIP_TIMING_ED

DVX_DVS_CHIP_TIMING_GH2GRS

DVX_DVS_CHIP_TIMING_GRS

DVX_DVS_CHIP_TIMING_GH2SEL

DVX_DVS_CHIP_TIMING_SELW

DVX_DVS_CHIP_TIMING_SEL2AY_R

DVX_DVS_CHIP_TIMING_SEL2AY_F

DVX_DVS_CHIP_TIMING_SEL2R_R

DVX_DVS_CHIP_TIMING_SEL2R_F

DVX_DVS_CHIP_TIMING_NEXT_SEL

DVX_DVS_CHIP_TIMING_NEXT_GH

DVX_DVS_CHIP_TIMING_READ_FIXED

DVX_DVS_CHIP_DTAG_CONTROL

DVX_DVS_CHIP_MODE_OFF

DVX_DVS_CHIP_MODE_MONITOR

DVX_DVS_CHIP_MODE_STREAM

DVX_DVS_CHIP_DTAG_CONTROL_STOP

DVX_DVS_CHIP_DTAG_CONTROL_START

DVX_DVS_CHIP_DTAG_CONTROL_RESTART

DVX_DVS_CHIP_EXTERNAL_TRIGGER_MODE_TIMESTAMP_RESET

DVX_DVS_CHIP_EXTERNAL_TRIGGER_MODE_SINGLE_FRAME

DVX_DVS_CHIP_SUBSAMPLE_VERTICAL_NONE

DVX_DVS_CHIP_SUBSAMPLE_VERTICAL_HALF

DVX_DVS_CHIP_SUBSAMPLE_VERTICAL_FOURTH

DVX_DVS_CHIP_SUBSAMPLE_VERTICAL_EIGHTH

DVX_DVS_CHIP_SUBSAMPLE_HORIZONTAL_NONE

DVX_DVS_CHIP_SUBSAMPLE_HORIZONTAL_HALF

DVX_DVS_CHIP_SUBSAMPLE_HORIZONTAL_FOURTH

DVX_DVS_CHIP_SUBSAMPLE_HORIZONTAL_EIGHTH

DVX_DVS_CHIP_CROPPER

DVX_DVS_CHIP_CROPPER_ENABLE

DVX_DVS_CHIP_CROPPER_Y_START_ADDRESS

DVX_DVS_CHIP_CROPPER_Y_END_ADDRESS

DVX_DVS_CHIP_CROPPER_X_START_ADDRESS

DVX_DVS_CHIP_CROPPER_X_END_ADDRESS

DVX_DVS_CHIP_ACTIVITY_DECISION

DVX_DVS_CHIP_ACTIVITY_DECISION_ENABLE

DVX_DVS_CHIP_ACTIVITY_DECISION_POS_THRESHOLD

DVX_DVS_CHIP_ACTIVITY_DECISION_NEG_THRESHOLD

DVX_DVS_CHIP_ACTIVITY_DECISION_DEC_RATE

DVX_DVS_CHIP_ACTIVITY_DECISION_DEC_TIME

DVX_DVS_CHIP_ACTIVITY_DECISION_POS_MAX_COUNT

DVX_DVS_CHIP_BIAS

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_LOG

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_SF

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_ON

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_nRST

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_LOGA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_LOGD

DVX_DVS_CHIP_BIAS_CURRENT_LEVEL_SF

DVX_DVS_CHIP_BIAS_CURRENT_LEVEL_nOFF

DVX_DVS_CHIP_BIAS_CURRENT_AMP

DVX_DVS_CHIP_BIAS_CURRENT_ON

DVX_DVS_CHIP_BIAS_CURRENT_OFF

DVX_DVS_CHIP_BIAS_SIMPLE

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_LOG_5uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_LOG_50uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_SF_0_5uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_SF_5uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_ON_5uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_ON_50uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_nRST_0_5uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_nRST_5uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_LOGA_5uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_LOGA_50uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_LOGD_5uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_LOGD_50uA

DVX_DVS_CHIP_BIAS_CURRENT_RANGE_LOGD_500uA

DVX_DVS_CHIP_BIAS_CURRENT_LEVEL_SF_x0_1

DVX_DVS_CHIP_BIAS_CURRENT_LEVEL_SF_x1

DVX_DVS_CHIP_BIAS_CURRENT_LEVEL_nOFF_x0_1

DVX_DVS_CHIP_BIAS_CURRENT_LEVEL_nOFF_x1

DVX_DVS_CHIP_BIAS_SIMPLE_VERY_LOW

DVX_DVS_CHIP_BIAS_SIMPLE_LOW

DVX_DVS_CHIP_BIAS_SIMPLE_DEFAULT

DVX_DVS_CHIP_BIAS_SIMPLE_HIGH

DVX_DVS_CHIP_BIAS_SIMPLE_VERY_HIGH

Functions

LIBRARY_PUBLIC_VISIBILITY struct caer_dvx_info caerDVXplorerInfoGet (caerDeviceHandle handle)

Return basic information on the device, such as its ID, its resolution, the logic version, and so on. See the ‘struct caer_dvx_info’ documentation for more details.

Parameters:: handle – a valid device handle.
Returns:: a copy of the device information structure if successful, an empty structure (all zeros) on failure.

file dynapse.h

#include “../events/special.h”

#include “../events/spike.h”

#include “usb.h”

Dynap-se specific configuration defines and information structures.

Defines

CAER_DEVICE_DYNAPSE: Device type definition for aiCTX Dynap-se FX2-based boards.

DYNAPSE_CHIP_DYNAPSE: Dynap-se chip identifier.

DYNAPSE_CONFIG_MUX: Module address: device-side Multiplexer configuration. The Multiplexer is responsible for mixing, timestamping and outputting (via USB) the various event types generated by the device. It is also responsible for timestamp generation.

DYNAPSE_CONFIG_AER: Module address: device-side AER configuration (from chip). The AER state machine handshakes with the chip’s AER bus and gets the spike events from it. It supports various configurable delays.

DYNAPSE_CONFIG_CHIP: Module address: device-side chip control configuration. This state machine is responsible for configuring the chip’s internal control registers, to set special options and biases.

DYNAPSE_CONFIG_SYSINFO: Module address: device-side system information. The system information module provides various details on the device, such as currently installed logic revision or clock speeds. All its parameters are read-only. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dynapse_info’ documentation for more details on what information is available.

DYNAPSE_CONFIG_USB: Module address: device-side USB output configuration. The USB output module forwards the data from the device and the FPGA/CPLD to the USB chip, usually a Cypress FX2 or FX3.

DYNAPSE_CONFIG_CLEAR_CAM: Clear CAM content, on all cores of a chip. No arguments are used. Remember to select the chip you want to configure before this!

DYNAPSE_CONFIG_DEFAULT_SRAM: Clear SRAM content, use one SRAM cell (cell 0, out of the four available) to monitor neurons via USB. ‘paramAddr’ is the chip ID on which to operate, other arguments are unused. Remember to also select the chip you want to configure before this!

DYNAPSE_CONFIG_MONITOR_NEU: Setup analog neuron monitoring via SMA connectors. ‘paramAddr’ takes the core ID to be monitored, ‘param’ the neuron ID. Remember to select the chip you want to configure before this!

DYNAPSE_CONFIG_DEFAULT_SRAM_EMPTY: Clear SRAM content, route nothing outside (all four SRAM cells zero). No arguments are used. Remember to select the chip you want to configure before this!

DYNAPSE_CONFIG_SRAM: Module address: Device side SRAM controller configuration. The module holds an address, a word to be written to SRAM, the most recent word read using a read command, and a read/write command. Reads/writes are triggered when the address field is changed. Example: caerDynapseWriteSramWords(devHandle, SRAMData, baseAddr, numWords); Writes numWords words from array SRAMData to the SRAM, starting at baseAddr. This define is for internal use of caerDynapseWriteSramWords(); it can be used on its own, but we recommend using the above function that hides all the internal details of writing to the FPGA SRAM.

DYNAPSE_CONFIG_SYNAPSERECONFIG: Module address: Device side Synapse Reconfiguration module configuration. Provides run control, selection between using a single kernel for all neurons and reading per-neuron kernels from SRAM, programming of the global kernel, as well as target output chip ID selection and SRAM kernel table base address.

DYNAPSE_CONFIG_SPIKEGEN: Module address: Device side spike generator module configuration. Provides start/stop control of spike train application and selection of fixed/variable inter-spike intervals and their location in memory.

DYNAPSE_CONFIG_TAU2_SET: Set certain neurons of a core to use the TAU2 neuron leak bias. By default neurons use the TAU1 neuron leak bias. You can also use DYNAPSE_CONFIG_TAU1_RESET and DYNAPSE_CONFIG_TAU2_RESET to reset all neurons in a core to the same bias. ‘paramAddr’ takes the core ID to be set, ‘param’ the neuron ID. Remember to select the chip you want to configure before this!

DYNAPSE_CONFIG_POISSONSPIKEGEN: Module address: Device side poisson generator configuration Provides run/stop control of poisson spike generation and rate setting for 1024 sources.

DYNAPSE_CONFIG_TAU1_RESET: Reset all neurons of a core to use the TAU1 neuron leak bias. ‘paramAddr’ takes the core ID to be reset, other arguments are unused. Remember to select the chip you want to configure before this!

DYNAPSE_CONFIG_TAU2_RESET: Reset all neurons of a core to use the TAU2 neuron leak bias. ‘paramAddr’ takes the core ID to be reset, other arguments are unused. Remember to select the chip you want to configure before this!

DYNAPSE_CONFIG_POISSONSPIKEGEN_RUN: Parameter address for module DYNAPSE_CONFIG_POISSONSPIKEGEN: Enables or disables generation of poisson spike trains.

DYNAPSE_CONFIG_POISSONSPIKEGEN_WRITEADDRESS: Parameter address for module DYNAPSE_CONFIG_POISSONSPIKEGEN: Selects the address of a poisson spike train source. Writing to this parameter will apply the rate previously written to the WRITEDATA field.

DYNAPSE_CONFIG_POISSONSPIKEGEN_WRITEDATA: Parameter address for module DYNAPSE_CONFIG_POISSONSPIKEGEN: Holds data that will be written to the address specified by WRITEADDRESS.

DYNAPSE_CONFIG_POISSONSPIKEGEN_CHIPID: Parameter address for module DYNAPSE_CONFIG_POISSONSPIKEGEN: Chip ID of the chip that will receive events generated by the poisson spike generator.

DYNAPSE_CONFIG_SPIKEGEN_RUN: Parameter address for module DYNAPSE_CONFIG_SPIKEGEN: Instructs the spike generator to start applying the configured spike train when the parameter changes from false to true.

DYNAPSE_CONFIG_SPIKEGEN_VARMODE: Parameter address for module DYNAPSE_CONFIG_SPIKEGEN: Selects variable inter-spike interval mode (true) or fixed inter-spike interval mode (false).

DYNAPSE_CONFIG_SPIKEGEN_BASEADDR: Parameter address for module DYNAPSE_CONFIG_SPIKEGEN: Sets the start address of a spike train in memory.

DYNAPSE_CONFIG_SPIKEGEN_STIMCOUNT: Paramter address for module DYNAPSE_CONFIG_SPIKEGEN: Sets the number of events to read from memory for a single application of a spike train.

DYNAPSE_CONFIG_SPIKEGEN_ISI: Parameter address for module DYNAPSE_CONFIG_SPIKEGEN: Sets the inter-spike interval that will be used in fixed ISI mode (VARMODE false).

DYNAPSE_CONFIG_SPIKEGEN_ISIBASE: Parameter address for module DYNAPSE_CONFIG_SPIKEGEN: Sets the time base resolution for inter-spike intervals as the number of FPGA clock cycles.

DYNAPSE_CONFIG_SPIKEGEN_REPEAT: Parameter address for module DYNAPSE_CONFIG_SPIKEGEN: Sets repeat mode to true or false.

DYNAPSE_CONFIG_SYNAPSERECONFIG_RUN: Parameter address for module DYNAPSE_CONFIG_SYNAPSERECONFIG: Run control. Starts and stops handshaking with DVS.

DYNAPSE_CONFIG_SYNAPSERECONFIG_GLOBALKERNEL: Parameter address for module DYNAPSE_CONFIG_SYNAPSERECONFIG: Bits 16 down to 12 select the address in the global kernel table and bits 11 down to 0 specify the data. The 12 data bits are split into 4*3 synaptic weight bits which map onto positive/negative polarity events from 2 DVS pixels.

DYNAPSE_CONFIG_SYNAPSERECONFIG_USESRAMKERNELS: Parameter address for module DYNAPSE_CONFIG_SYNAPSERECONFIG: Boolean parameter for selecting between using kernels stored in SRAM or the global kernel table. 1 for SRAM, 0 for global kernel table.

DYNAPSE_CONFIG_SYNAPSERECONFIG_CHIPSELECT: Parameter address for module DYNAPSE_CONFIG_SYNAPSERECONFIG: Select which chip outputs should go to.

DYNAPSE_CONFIG_SYNAPSERECONFIG_SRAMBASEADDR: Parameter address for module DYNAPSE_CONFIG_SYNAPSERECONFIG: SRAM base address configuration in increments of 32 Kib. Setting this to N will place the SRAM kernel LUT in the range [N*2^15,((N+1)*2^15)-1]

DYNAPSE_CONFIG_SRAM_ADDRESS: Parameter address for module DYNAPSE_CONFIG_SRAM: Holds the address that will be used for the next read/write. Writing or reading this field will trigger the command contained in the command register to be executed on the FPGA.

DYNAPSE_CONFIG_SRAM_READDATA: Parameter address for module DYNAPSE_CONFIG_SRAM: Holds the most recently read data from the SRAM. Read-only parameter.

DYNAPSE_CONFIG_SRAM_WRITEDATA: Parameter address for module DYNAPSE_CONFIG_SRAM: Holds the data that will be written on the next write. Example: caerDeviceConfigSet(devHandle, DYNAPSE_CONFIG_SRAM, DYNAPSE_CONFIG_SRAM_WRITEDATA, wData); caerDeviceConfigSet(devHandle, DYNAPSE_CONFIG_SRAM, DYNAPSE_CONFIG_SRAM_RWCOMMAND, DYNAPSE_CONFIG_SRAM_WRITE); caerDeviceConfigSet(devHandle, DYNAPSE_CONFIG_SRAM, DYNAPSE_CONFIG_SRAM_ADDRESS, wAddr); Writes wData to the address specified by wAddr.

DYNAPSE_CONFIG_SRAM_RWCOMMAND: Parameter address for module DYNAPSE_CONFIG_SRAM: Holds the command that will be executed when the address field is written to. Example: caerDeviceConfigSet(devHandle, DYNAPSE_CONFIG_SRAM, DYNAPSE_CONFIG_SRAM_RWCOMMAND, DYNAPSE_CONFIG_SRAM_WRITE); Sets the SRAM controller up for doing writes. DYNAPSE_CONFIG_SRAM_READ and DYNAPSE_CONFIG_SRAM_WRITE are supported.

DYNAPSE_CONFIG_SRAM_READ: Command for module DYNAPSE_CONFIG_SRAM: Read command for the RWCOMMAND field. Example: caerDeviceConfigSet(devHandle, DYNAPSE_CONFIG_SRAM, DYNAPSE_CONFIG_SRAM_RWCOMMAND, DYNAPSE_CONFIG_SRAM_READ); Sets the SRAM controller up for doing reads.

DYNAPSE_CONFIG_SRAM_WRITE: Command for module DYNAPSE_CONFIG_SRAM: Write command for the RWCOMMAND field. Example: caerDeviceConfigSet(devHandle, DYNAPSE_CONFIG_SRAM, DYNAPSE_CONFIG_SRAM_RWCOMMAND, DYNAPSE_CONFIG_SRAM_WRITE); Sets the SRAM controller up for doing writes.

DYNAPSE_CONFIG_SRAM_BURSTMODE: Parameter address for module DYNAPSE_CONFIG_SRAM: Burst mode enable for fast writing. Disables updates on address change and instead updates on data change, while automatically incrementing the writing address. Two 16-bit words are written per 32-bit word sent to the SPI controller starting with the least significant half word.

DYNAPSE_CONFIG_MUX_RUN: Parameter address for module DYNAPSE_CONFIG_MUX: run the Multiplexer state machine, which is responsible for mixing the various event types at the device level, timestamping them and outputting them via USB or other connectors.

DYNAPSE_CONFIG_MUX_TIMESTAMP_RUN: Parameter address for module DYNAPSE_CONFIG_MUX: run the Timestamp Generator inside the Multiplexer state machine, which will provide microsecond accurate timestamps to the events passing through.

DYNAPSE_CONFIG_MUX_TIMESTAMP_RESET: Parameter address for module DYNAPSE_CONFIG_MUX: reset the Timestamp Generator to zero. This also sends a reset pulse to all connected slave devices, resetting their timestamp too.

DYNAPSE_CONFIG_MUX_FORCE_CHIP_BIAS_ENABLE: Parameter address for module DYNAPSE_CONFIG_MUX: under normal circumstances, the chip’s bias generator is only powered up when either the AER or the configuration state machines are running, to save power. This flag forces the bias generator to be powered up all the time.

DYNAPSE_CONFIG_MUX_DROP_AER_ON_TRANSFER_STALL: Parameter address for module DYNAPSE_CONFIG_MUX: drop AER events if the USB output FIFO is full, instead of having them pile up at the input FIFOs.

DYNAPSE_CONFIG_MUX_HAS_STATISTICS: Parameter address for module DYNAPSE_CONFIG_MUX: read-only parameter, information about the presence of the statistics feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dynapse_info’ documentation to get this information.

DYNAPSE_CONFIG_MUX_STATISTICS_AER_DROPPED: Parameter address for module DYNAPSE_CONFIG_MUX: read-only parameter, representing the number of dropped AER (spike) events on the device due to full USB buffers. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DYNAPSE_CONFIG_AER_RUN: Parameter address for module DYNAPSE_CONFIG_AER: run the AER state machine and get spike events from the chip by handshaking with its AER bus.

DYNAPSE_CONFIG_AER_ACK_DELAY: Parameter address for module DYNAPSE_CONFIG_AER: delay capturing the data and acknowledging it on the AER bus for the events by this many LogicClock cycles.

DYNAPSE_CONFIG_AER_ACK_EXTENSION: Parameter address for module DYNAPSE_CONFIG_AER: extend the length of the acknowledge on the AER bus for the events by this many LogicClock cycles.

DYNAPSE_CONFIG_AER_WAIT_ON_TRANSFER_STALL: Parameter address for module DYNAPSE_CONFIG_AER: if the output FIFO for this module is full, stall the AER handshake with the chip and wait until it’s free again, instead of just continuing the handshake and dropping the resulting events.

DYNAPSE_CONFIG_AER_EXTERNAL_AER_CONTROL: Parameter address for module DYNAPSE_CONFIG_AER: enable external AER control. This ensures the chip and the neuron array are running, but doesn’t do the handshake and leaves the ACK pin in high-impedance, to allow for an external system to take over the AER communication with the chip. DYNAPSE_CONFIG_AER_RUN has to be turned off for this to work.

DYNAPSE_CONFIG_AER_HAS_STATISTICS: Parameter address for module DYNAPSE_CONFIG_AER: read-only parameter, information about the presence of the statistics feature. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dynapse_info’ documentation to get this information.

DYNAPSE_CONFIG_AER_STATISTICS_EVENTS: Parameter address for module DYNAPSE_CONFIG_AER: read-only parameter, representing the number of event transactions completed on the device. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DYNAPSE_CONFIG_AER_STATISTICS_EVENTS_DROPPED: Parameter address for module DYNAPSE_CONFIG_AER: read-only parameter, representing the number of dropped transaction sequences on the device due to full buffers. This is a 64bit value, and should always be read using the function: caerDeviceConfigGet64().

DYNAPSE_CONFIG_CHIP_RUN: Parameter address for module DYNAPSE_CONFIG_CHIP: enable the configuration AER state machine to send bias and control configuration to the chip.

DYNAPSE_CONFIG_CHIP_ID: Parameter address for module DYNAPSE_CONFIG_CHIP: set the chip ID to which configuration content is being sent.

DYNAPSE_CONFIG_CHIP_CONTENT: Parameter address for module DYNAPSE_CONFIG_CHIP: set the configuration content to send to the chip. Every time this changes, the chip ID is appended and the configuration is sent out to the chip.

DYNAPSE_CONFIG_CHIP_REQ_DELAY: Parameter address for module DYNAPSE_CONFIG_CHIP: delay doing the request after putting out the data by this many LogicClock cycles.

DYNAPSE_CONFIG_CHIP_REQ_EXTENSION: Parameter address for module DYNAPSE_CONFIG_CHIP: extend the request after receiving the ACK by this many LogicClock cycles.

DYNAPSE_CONFIG_SYSINFO_LOGIC_VERSION: Parameter address for module DYNAPSE_CONFIG_SYSINFO: read-only parameter, the version of the logic currently running on the device’s FPGA/CPLD. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dynapse_info’ documentation to get this information.

DYNAPSE_CONFIG_SYSINFO_CHIP_IDENTIFIER: Parameter address for module DYNAPSE_CONFIG_SYSINFO: read-only parameter, an integer used to identify the different types of sensor chips used on the device. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dynapse_info’ documentation to get this information.

DYNAPSE_CONFIG_SYSINFO_DEVICE_IS_MASTER: Parameter address for module DYNAPSE_CONFIG_SYSINFO: read-only parameter, whether the device is currently a timestamp master or slave when synchronizing multiple devices together. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dynapse_info’ documentation to get this information.

DYNAPSE_CONFIG_SYSINFO_LOGIC_CLOCK: Parameter address for module DYNAPSE_CONFIG_SYSINFO: read-only parameter, the frequency in MHz at which the main FPGA/CPLD logic is running. This is reserved for internal use and should not be used by anything other than libcaer. Please see the ‘struct caer_dynapse_info’ documentation to get this information.

DYNAPSE_CONFIG_USB_RUN: Parameter address for module DYNAPSE_CONFIG_USB: enable the USB FIFO module, which transfers the data from the FPGA/CPLD to the USB chip, to be then sent to the host. Turning this off will suppress any USB data communication!

DYNAPSE_CONFIG_USB_EARLY_PACKET_DELAY: Parameter address for module DYNAPSE_CONFIG_USB: the time delay after which a packet of data is committed to USB, even if it is not full yet (short USB packet). The value is in 125µs time-slices, corresponding to how USB schedules its operations (a value of 4 for example would mean waiting at most 0.5ms until sending a short USB packet to the host).

DYNAPSE_CONFIG_SRAM_DIRECTION_POS: On-chip SRAM for spike routing.

DYNAPSE_CONFIG_SRAM_DIRECTION_NEG

DYNAPSE_CONFIG_SRAM_DIRECTION_Y_NORTH

DYNAPSE_CONFIG_SRAM_DIRECTION_Y_SOUTH

DYNAPSE_CONFIG_SRAM_DIRECTION_X_EAST

DYNAPSE_CONFIG_SRAM_DIRECTION_X_WEST

DYNAPSE_X4BOARD_NUMCHIPS: Number of chips on the board.

DYNAPSE_X4BOARD_NEUX: Number of neurons in the x direction of the board.

DYNAPSE_X4BOARD_NEUY: Number of neurons in the y direction of the board.

DYNAPSE_X4BOARD_COREX: Number of cores in the x direction of the board.

DYNAPSE_X4BOARD_COREY: Number of cores in the y direction of the board.

DYNAPSE_CONFIG_DYNAPSE_U0: Chip 0 ID.

DYNAPSE_CONFIG_DYNAPSE_U1: Chip 1 ID.

DYNAPSE_CONFIG_DYNAPSE_U2: Chip 2 ID.

DYNAPSE_CONFIG_DYNAPSE_U3: Chip 3 ID.

DYNAPSE_CONFIG_NUMCORES: Number of cores per chip.

DYNAPSE_CONFIG_NUMNEURONS: Number of neurons in single chip.

DYNAPSE_CONFIG_NUMNEURONS_CORE: Number of neurons per core.

DYNAPSE_CONFIG_XCHIPSIZE: Number of columns of neurons in a chip.

DYNAPSE_CONFIG_YCHIPSIZE: Number of rows of neurons in a core.

DYNAPSE_CONFIG_NEUCOL: Number of columns of neurons in a core.

DYNAPSE_CONFIG_NEUROW: Number of rows of neurons in a core.

DYNAPSE_CONFIG_CAMCOL: Number of columns of CAMs in a core.

DYNAPSE_CONFIG_NUMCAM_NEU: Number of CAMs per neuron.

DYNAPSE_CONFIG_NUMSRAM_NEU: Number of SRAM cells per neuron.

DYNAPSE_CONFIG_CAMTYPE_F_EXC: Fast excitatory synapse.

DYNAPSE_CONFIG_CAMTYPE_S_EXC: Slow excitatory synapse.

DYNAPSE_CONFIG_CAMTYPE_F_INH: Fast inhibitory synapse.

DYNAPSE_CONFIG_CAMTYPE_S_INH: Slow inhibitory synapse.

DYNAPSE_CONFIG_BIAS_C0_PULSE_PWLK_P

Parameter address for module DYNAPSE_CONFIG_BIAS: DYNAPSE chip biases. Bias configuration values must be generated using the proper functions, which are:

caerBiasDynapseGenerate() for Dynap-se coarse-fine (current) biases. See ‘https://ai-ctx.com/support/’ section ‘Neuron’s behaviors and parameters tuning’.

DYNAPSE_CONFIG_BIAS_C0_PS_WEIGHT_INH_S_N

DYNAPSE_CONFIG_BIAS_C0_PS_WEIGHT_INH_F_N

DYNAPSE_CONFIG_BIAS_C0_PS_WEIGHT_EXC_S_N

DYNAPSE_CONFIG_BIAS_C0_PS_WEIGHT_EXC_F_N

DYNAPSE_CONFIG_BIAS_C0_IF_RFR_N

DYNAPSE_CONFIG_BIAS_C0_IF_TAU1_N

DYNAPSE_CONFIG_BIAS_C0_IF_AHTAU_N

DYNAPSE_CONFIG_BIAS_C0_IF_CASC_N

DYNAPSE_CONFIG_BIAS_C0_IF_TAU2_N

DYNAPSE_CONFIG_BIAS_C0_IF_BUF_P

DYNAPSE_CONFIG_BIAS_C0_IF_AHTHR_N

DYNAPSE_CONFIG_BIAS_C0_IF_THR_N

DYNAPSE_CONFIG_BIAS_C0_NPDPIE_THR_S_P

DYNAPSE_CONFIG_BIAS_C0_NPDPIE_THR_F_P

DYNAPSE_CONFIG_BIAS_C0_NPDPII_THR_F_P

DYNAPSE_CONFIG_BIAS_C0_NPDPII_THR_S_P

DYNAPSE_CONFIG_BIAS_C0_IF_NMDA_N

DYNAPSE_CONFIG_BIAS_C0_IF_DC_P

DYNAPSE_CONFIG_BIAS_C0_IF_AHW_P

DYNAPSE_CONFIG_BIAS_C0_NPDPII_TAU_S_P

DYNAPSE_CONFIG_BIAS_C0_NPDPII_TAU_F_P

DYNAPSE_CONFIG_BIAS_C0_NPDPIE_TAU_F_P

DYNAPSE_CONFIG_BIAS_C0_NPDPIE_TAU_S_P

DYNAPSE_CONFIG_BIAS_C0_R2R_P

DYNAPSE_CONFIG_BIAS_C1_PULSE_PWLK_P

DYNAPSE_CONFIG_BIAS_C1_PS_WEIGHT_INH_S_N

DYNAPSE_CONFIG_BIAS_C1_PS_WEIGHT_INH_F_N

DYNAPSE_CONFIG_BIAS_C1_PS_WEIGHT_EXC_S_N

DYNAPSE_CONFIG_BIAS_C1_PS_WEIGHT_EXC_F_N

DYNAPSE_CONFIG_BIAS_C1_IF_RFR_N

DYNAPSE_CONFIG_BIAS_C1_IF_TAU1_N

DYNAPSE_CONFIG_BIAS_C1_IF_AHTAU_N

DYNAPSE_CONFIG_BIAS_C1_IF_CASC_N

DYNAPSE_CONFIG_BIAS_C1_IF_TAU2_N

DYNAPSE_CONFIG_BIAS_C1_IF_BUF_P

DYNAPSE_CONFIG_BIAS_C1_IF_AHTHR_N

DYNAPSE_CONFIG_BIAS_C1_IF_THR_N

DYNAPSE_CONFIG_BIAS_C1_NPDPIE_THR_S_P

DYNAPSE_CONFIG_BIAS_C1_NPDPIE_THR_F_P

DYNAPSE_CONFIG_BIAS_C1_NPDPII_THR_F_P

DYNAPSE_CONFIG_BIAS_C1_NPDPII_THR_S_P

DYNAPSE_CONFIG_BIAS_C1_IF_NMDA_N

DYNAPSE_CONFIG_BIAS_C1_IF_DC_P

DYNAPSE_CONFIG_BIAS_C1_IF_AHW_P

DYNAPSE_CONFIG_BIAS_C1_NPDPII_TAU_S_P

DYNAPSE_CONFIG_BIAS_C1_NPDPII_TAU_F_P

DYNAPSE_CONFIG_BIAS_C1_NPDPIE_TAU_F_P

DYNAPSE_CONFIG_BIAS_C1_NPDPIE_TAU_S_P

DYNAPSE_CONFIG_BIAS_C1_R2R_P

DYNAPSE_CONFIG_BIAS_U_BUFFER

DYNAPSE_CONFIG_BIAS_U_SSP

DYNAPSE_CONFIG_BIAS_U_SSN

DYNAPSE_CONFIG_BIAS_C2_PULSE_PWLK_P

DYNAPSE_CONFIG_BIAS_C2_PS_WEIGHT_INH_S_N

DYNAPSE_CONFIG_BIAS_C2_PS_WEIGHT_INH_F_N

DYNAPSE_CONFIG_BIAS_C2_PS_WEIGHT_EXC_S_N

DYNAPSE_CONFIG_BIAS_C2_PS_WEIGHT_EXC_F_N

DYNAPSE_CONFIG_BIAS_C2_IF_RFR_N

DYNAPSE_CONFIG_BIAS_C2_IF_TAU1_N

DYNAPSE_CONFIG_BIAS_C2_IF_AHTAU_N

DYNAPSE_CONFIG_BIAS_C2_IF_CASC_N

DYNAPSE_CONFIG_BIAS_C2_IF_TAU2_N

DYNAPSE_CONFIG_BIAS_C2_IF_BUF_P

DYNAPSE_CONFIG_BIAS_C2_IF_AHTHR_N

DYNAPSE_CONFIG_BIAS_C2_IF_THR_N

DYNAPSE_CONFIG_BIAS_C2_NPDPIE_THR_S_P

DYNAPSE_CONFIG_BIAS_C2_NPDPIE_THR_F_P

DYNAPSE_CONFIG_BIAS_C2_NPDPII_THR_F_P

DYNAPSE_CONFIG_BIAS_C2_NPDPII_THR_S_P

DYNAPSE_CONFIG_BIAS_C2_IF_NMDA_N

DYNAPSE_CONFIG_BIAS_C2_IF_DC_P

DYNAPSE_CONFIG_BIAS_C2_IF_AHW_P

DYNAPSE_CONFIG_BIAS_C2_NPDPII_TAU_S_P

DYNAPSE_CONFIG_BIAS_C2_NPDPII_TAU_F_P

DYNAPSE_CONFIG_BIAS_C2_NPDPIE_TAU_F_P

DYNAPSE_CONFIG_BIAS_C2_NPDPIE_TAU_S_P

DYNAPSE_CONFIG_BIAS_C2_R2R_P

DYNAPSE_CONFIG_BIAS_C3_PULSE_PWLK_P

DYNAPSE_CONFIG_BIAS_C3_PS_WEIGHT_INH_S_N

DYNAPSE_CONFIG_BIAS_C3_PS_WEIGHT_INH_F_N

DYNAPSE_CONFIG_BIAS_C3_PS_WEIGHT_EXC_S_N

DYNAPSE_CONFIG_BIAS_C3_PS_WEIGHT_EXC_F_N

DYNAPSE_CONFIG_BIAS_C3_IF_RFR_N

DYNAPSE_CONFIG_BIAS_C3_IF_TAU1_N

DYNAPSE_CONFIG_BIAS_C3_IF_AHTAU_N

DYNAPSE_CONFIG_BIAS_C3_IF_CASC_N

DYNAPSE_CONFIG_BIAS_C3_IF_TAU2_N

DYNAPSE_CONFIG_BIAS_C3_IF_BUF_P

DYNAPSE_CONFIG_BIAS_C3_IF_AHTHR_N

DYNAPSE_CONFIG_BIAS_C3_IF_THR_N

DYNAPSE_CONFIG_BIAS_C3_NPDPIE_THR_S_P

DYNAPSE_CONFIG_BIAS_C3_NPDPIE_THR_F_P

DYNAPSE_CONFIG_BIAS_C3_NPDPII_THR_F_P

DYNAPSE_CONFIG_BIAS_C3_NPDPII_THR_S_P

DYNAPSE_CONFIG_BIAS_C3_IF_NMDA_N

DYNAPSE_CONFIG_BIAS_C3_IF_DC_P

DYNAPSE_CONFIG_BIAS_C3_IF_AHW_P

DYNAPSE_CONFIG_BIAS_C3_NPDPII_TAU_S_P

DYNAPSE_CONFIG_BIAS_C3_NPDPII_TAU_F_P

DYNAPSE_CONFIG_BIAS_C3_NPDPIE_TAU_F_P

DYNAPSE_CONFIG_BIAS_C3_NPDPIE_TAU_S_P

DYNAPSE_CONFIG_BIAS_C3_R2R_P

DYNAPSE_CONFIG_BIAS_D_BUFFER

DYNAPSE_CONFIG_BIAS_D_SSP

DYNAPSE_CONFIG_BIAS_D_SSN

Functions

LIBRARY_PUBLIC_VISIBILITY struct caer_dynapse_info caerDynapseInfoGet (caerDeviceHandle handle)

Return basic information on the device, such as its ID, the logic version, and so on. See the ‘struct caer_dynapse_info’ documentation for more details.

Parameters:: handle – a valid device handle.
Returns:: a copy of the device information structure if successful, an empty structure (all zeros) on failure.

LIBRARY_PUBLIC_VISIBILITY uint32_t caerBiasDynapseGenerate (const struct caer_bias_dynapse dynapseBias)

Transform coarse-fine bias structure into internal integer representation, suited for sending directly to the device via caerDeviceConfigSet().

Parameters:: dynapseBias – coarse-fine bias structure.
Returns:: internal integer representation for device configuration.

LIBRARY_PUBLIC_VISIBILITY struct caer_bias_dynapse caerBiasDynapseParse (const uint32_t dynapseBias)

Transform internal integer representation, as received by calls to caerDeviceConfigGet(), into a coarse-fine bias structure, for easier handling and understanding of the various parameters.

Parameters:: dynapseBias – internal integer representation from device.
Returns:: coarse-fine bias structure.

LIBRARY_PUBLIC_VISIBILITY bool caerDynapseWriteSramWords (caerDeviceHandle handle, const uint16_t *data, uint32_t baseAddr, size_t numWords)

Transfer 16bit words from memory to device SRAM, with configurable starting address and number of words. This works on the FPGA SRAM!

Parameters:

handle – a valid device handle.
data – array from which to read data to send to SRAM.
baseAddr – SRAM start address where to put the data.
numWords – number of 16bit words to transfer.

Returns:

true on success, false otherwise.

LIBRARY_PUBLIC_VISIBILITY bool caerDynapseWritePoissonSpikeRate (caerDeviceHandle handle, uint16_t neuronAddr, float rateHz)

Specifies the poisson spike generator’s spike rate.

Parameters:

handle – a valid device handle.
neuronAddr – The target neuron of the poisson spike train, range [0,1023].
rateHz – The rate in Hz of the spike train, this will be quantized to the nearest supported level, range [0,4300].

Returns:

true on success, false otherwise.

LIBRARY_PUBLIC_VISIBILITY bool caerDynapseWriteSram (caerDeviceHandle handle, uint8_t coreId, uint8_t neuronAddrCore, uint8_t virtualCoreId, bool sx, uint8_t dx, bool sy, uint8_t dy, uint8_t sramId, uint8_t destinationCore)

THIS FUNCTION IS DEPRECATED. USE caerDynapseWriteSramN() INSTEAD! The new function uses the global neuron ID (range [0,1023]) like all others, instead of the separate core ID/neuron ID syntax. Also the arguments are in the same order as caerDynapseGenerateSramBits(), in particular the ‘sramId’ comes right after ‘neuronId’.

Write one of the 4 SRAMs of a single neuron. Writing the SRAM means writing the destination address of where the spikes will be routed to. This works on the on-chip SRAM!

Remember to select the chip you want to configure before calling this function!

Parameters:

handle – a valid device handle.
coreId – the chip’s core ID, range [0,3].
neuronAddrCore – the neuron’s address within this core, range [0,255].
virtualCoreId – fake source core ID, set it to this value instead of the actual source core ID, range [0,3].
sx – X direction, can be one of: [DYNAPSE_CONFIG_SRAM_DIRECTION_X_EAST,DYNAPSE_CONFIG_SRAM_DIRECTION_X_WEST].
dx – X delta, number of chips to jumps before reaching destination, range is [0,3].
sy – Y direction, can be one of: [DYNAPSE_CONFIG_SRAM_DIRECTION_Y_NORTH,DYNAPSE_CONFIG_SRAM_DIRECTION_Y_SOUTH].
dy – Y delta, number of chips to jumps before reaching destination, range is [0,3].
sramId – SRAM address (one of four cells), range [0,3].
destinationCore – spike destination core, uses one-hot coding for the 4 cores: [C3,C2,C1,C0] -> [0,0,0,0] (0 decimal) no core, [1,1,1,1] (15 decimal) all cores

Returns:

true on success, false otherwise.

LIBRARY_PUBLIC_VISIBILITY bool caerDynapseWriteSramN (caerDeviceHandle handle, uint16_t neuronAddr, uint8_t sramId, uint8_t virtualCoreId, bool sx, uint8_t dx, bool sy, uint8_t dy, uint8_t destinationCore)

Write one of the 4 SRAMs of a single neuron. Writing the SRAM means writing the destination address of where the spikes will be routed to. This works on the on-chip SRAM!

Remember to select the chip you want to configure before calling this function!

Parameters:

handle – a valid device handle.
neuronAddr – the neuron to program, range [0,1023] (use caerDynapseCoreXYToNeuronId() for a 2D mapping).
sramId – SRAM address (one of four cells), range [0,3].
virtualCoreId – fake source core ID, set it to this value instead of the actual source core ID, range [0,3].
sx – X direction, can be one of: [DYNAPSE_CONFIG_SRAM_DIRECTION_X_EAST,DYNAPSE_CONFIG_SRAM_DIRECTION_X_WEST].
dx – X delta, number of chips to jumps before reaching destination, range is [0,3].
sy – Y direction, can be one of: [DYNAPSE_CONFIG_SRAM_DIRECTION_Y_NORTH,DYNAPSE_CONFIG_SRAM_DIRECTION_Y_SOUTH].
dy – Y delta, number of chips to jumps before reaching destination, range is [0,3].
destinationCore – spike destination core, uses one-hot coding for the 4 cores: [C3,C2,C1,C0] -> [0,0,0,0] (0 decimal) no core, [1,1,1,1] (15 decimal) all cores

Returns:

true on success, false otherwise.

LIBRARY_PUBLIC_VISIBILITY bool caerDynapseWriteCam (caerDeviceHandle handle, uint16_t inputNeuronAddr, uint16_t neuronAddr, uint8_t camId, uint8_t synapseType)

Write a single CAM, to specify which spikes are allowed as input into a neuron.

Remember to select the chip you want to configure before calling this function!

Parameters:

handle – a valid device handle.
inputNeuronAddr – the neuron address that should be let in as input to this neuron, range [0,1023].
neuronAddr – the neuron address whose CAM should be programmed, range [0,1023].
camId – CAM address (synapse), each neuron has 64, range [0,63].
synapseType – one of the four possible synaptic weights: [DYNAPSE_CONFIG_CAMTYPE_F_EXC,DYNAPSE_CONFIG_CAMTYPE_S_EXC,DYNAPSE_CONFIG_CAMTYPE_F_INH,DYNAPSE_CONFIG_CAMTYPE_S_INH].

Returns:

true on success, false otherwise.

LIBRARY_PUBLIC_VISIBILITY bool caerDynapseSendDataToUSB (caerDeviceHandle handle, const uint32_t *data, size_t numConfig)

Send array of configuration parameters to the device via USB.

Remember to select the chip you want to configure before calling this function!

Parameters:

handle – a valid device handle.
data – an array of integers holding configuration data.
numConfig – number of configuration parameters to send.

Returns:

true on success, false otherwise.

LIBRARY_PUBLIC_VISIBILITY uint32_t caerDynapseGenerateCamBits (uint16_t inputNeuronAddr, uint16_t neuronAddr, uint8_t camId, uint8_t synapseType)

Generate bits to write a single CAM, to specify which spikes are allowed as input into a neuron.

Parameters:

inputNeuronAddr – the neuron address that should be let in as input to this neuron, range [0,1023] (use caerDynapseCoreXYToNeuronId() for a 2D mapping).
neuronAddr – the neuron to program, range [0,1023] (use caerDynapseCoreXYToNeuronId() for a 2D mapping).
camId – CAM address (synapse), each neuron has 64, range [0,63].
synapseType – one of the four possible synaptic weights: [DYNAPSE_CONFIG_CAMTYPE_F_EXC,DYNAPSE_CONFIG_CAMTYPE_S_EXC,DYNAPSE_CONFIG_CAMTYPE_F_INH,DYNAPSE_CONFIG_CAMTYPE_S_INH].

Returns:

bits to send to device.

LIBRARY_PUBLIC_VISIBILITY uint32_t caerDynapseGenerateSramBits (uint16_t neuronAddr, uint8_t sramId, uint8_t virtualCoreId, bool sx, uint8_t dx, bool sy, uint8_t dy, uint8_t destinationCore)

Generate bits to write one of the 4 SRAMs of a single neuron. Writing the SRAM means writing the destination address of where the spikes will be routed to. This works on the on-chip SRAM!

Parameters:

neuronAddr – the neuron to program, range [0,1023] (use caerDynapseCoreXYToNeuronId() for a 2D mapping).
sramId – SRAM address (one of four cells), range [0,3].
virtualCoreId – fake source core ID, set it to this value instead of the actual source core ID, range [0,3].
sx – X direction, can be one of: [DYNAPSE_CONFIG_SRAM_DIRECTION_X_EAST,DYNAPSE_CONFIG_SRAM_DIRECTION_X_WEST].
dx – X delta, number of chips to jumps before reaching destination, range is [0,3].
sy – Y direction, can be one of: [DYNAPSE_CONFIG_SRAM_DIRECTION_Y_NORTH,DYNAPSE_CONFIG_SRAM_DIRECTION_Y_SOUTH].
dy – Y delta, number of chips to jumps before reaching destination, range is [0,3].
destinationCore – spike destination core, uses one-hot coding for the 4 cores: [C3,C2,C1,C0] -> [0,0,0,0] (0 decimal) no core, [1,1,1,1] (15 decimal) all cores

Returns:

bits to send to device.

LIBRARY_PUBLIC_VISIBILITY uint16_t caerDynapseCoreXYToNeuronId (uint8_t coreId, uint8_t columnX, uint8_t rowY)

Map core ID and column/row address to the correct chip global neuron address.

Parameters:

coreId – the chip’s core ID, range [0,3].
columnX – the neuron’s column address, range [0,15].
rowY – the neuron’s row address, range [0,15].

Returns:

chip global neuron address.

LIBRARY_PUBLIC_VISIBILITY uint16_t caerDynapseCoreAddrToNeuronId (uint8_t coreId, uint8_t neuronAddrCore)

Map core ID and per-core neuron address to the correct chip global neuron address.

Parameters:

coreId – the chip’s core ID, range [0,3].
neuronAddrCore – the neuron’s address within this core, range [0,255].

Returns:

chip global neuron address.

LIBRARY_PUBLIC_VISIBILITY uint16_t caerDynapseSpikeEventGetX (caerSpikeEventConst event)

Get the X (column) address for a spike event, in pixels. The (0, 0) address is in the upper left corner.

Parameters:: event – a valid SpikeEvent pointer. Cannot be NULL.
Returns:: the event X address in pixels.

LIBRARY_PUBLIC_VISIBILITY uint16_t caerDynapseSpikeEventGetY (caerSpikeEventConst event)

Get the Y (row) address for a spike event, in pixels. The (0, 0) address is in the upper left corner.

Parameters:: event – a valid SpikeEvent pointer. Cannot be NULL.
Returns:: the event Y address in pixels.

LIBRARY_PUBLIC_VISIBILITY struct caer_spike_event caerDynapseSpikeEventFromXY (uint16_t x, uint16_t y)

Get the chip ID, core ID and neuron ID from the X and Y coordinates. This is the reverse transform to: caerDynapseSpikeEventGetX() / caerDynapseSpikeEventGetY(). The return value is a ‘struct caer_spike_event’ because it already has functions to get/set all the needed values.

Parameters:

x – a X coordinate as returned by caerDynapseSpikeEventGetX().
y – a Y coordinate as returned by caerDynapseSpikeEventGetY().

Returns:

a SpikeEvent struct holding chip ID, core ID and neuron ID.

file edvs.h

#include “../events/polarity.h”

#include “../events/special.h”

#include “serial.h”

EDVS-4337 specific configuration defines and information structures.

Defines

CAER_DEVICE_EDVS: Device type definition for iniVation EDVS-4337.

EDVS_CONFIG_DVS: Module address: device-side DVS configuration.

EDVS_CONFIG_BIAS: Module address: device-side chip bias generator configuration.

EDVS_CONFIG_DVS_RUN: Parameter address for module EDVS_CONFIG_DVS: run the DVS chip and generate polarity event data.

EDVS_CONFIG_DVS_TIMESTAMP_RESET: Parameter address for module EDVS_CONFIG_DVS: reset the time-stamp counter of the device. This is a temporary configuration switch and will reset itself right away.

EDVS_CONFIG_BIAS_CAS: Parameter address for module EDVS_CONFIG_BIAS: First stage amplifier cascode bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

EDVS_CONFIG_BIAS_INJGND: Parameter address for module EDVS_CONFIG_BIAS: Injected ground bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

EDVS_CONFIG_BIAS_REQPD: Parameter address for module EDVS_CONFIG_BIAS: Pull down on chip request (AER). See ‘https://inivation.com/support/hardware/biasing/’ for more details.

EDVS_CONFIG_BIAS_PUX: Parameter address for module EDVS_CONFIG_BIAS: Pull up on request from X arbiter (AER). See ‘https://inivation.com/support/hardware/biasing/’ for more details.

EDVS_CONFIG_BIAS_DIFFOFF: Parameter address for module EDVS_CONFIG_BIAS: Off events threshold bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

EDVS_CONFIG_BIAS_REQ: Parameter address for module EDVS_CONFIG_BIAS: Pull down for passive load inverters in digital AER pixel circuitry. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

EDVS_CONFIG_BIAS_REFR: Parameter address for module EDVS_CONFIG_BIAS: Refractory period bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

EDVS_CONFIG_BIAS_PUY: Parameter address for module EDVS_CONFIG_BIAS: Pull up on request from Y arbiter (AER). See ‘https://inivation.com/support/hardware/biasing/’ for more details.

EDVS_CONFIG_BIAS_DIFFON: Parameter address for module EDVS_CONFIG_BIAS: On events threshold bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

EDVS_CONFIG_BIAS_DIFF: Parameter address for module EDVS_CONFIG_BIAS: Differential (second stage amplifier) bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

EDVS_CONFIG_BIAS_FOLL: Parameter address for module EDVS_CONFIG_BIAS: Source follower bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

EDVS_CONFIG_BIAS_PR: Parameter address for module EDVS_CONFIG_BIAS: Photoreceptor bias. See ‘https://inivation.com/support/hardware/biasing/’ for more details.

Functions

LIBRARY_PUBLIC_VISIBILITY struct caer_edvs_info caerEDVSInfoGet (caerDeviceHandle handle)

Return basic information on the device, such as its ID, its resolution, the logic version, and so on. See the ‘struct caer_edvs_info’ documentation for more details.

Parameters:: handle – a valid device handle.
Returns:: a copy of the device information structure if successful, an empty structure (all zeros) on failure.

file imu_support.h

Enums

enum caer_imu_types

List of supported IMU models.

Values:

enumerator IMU_NONE

enumerator IMU_INVENSENSE_6050_6150

enumerator IMU_INVENSENSE_9250

enumerator IMU_BOSCH_BMI_160

enum caer_imu_invensense_accel_scale

List of accelerometer scale settings for InvenSense IMUs.

Values:

enumerator ACCEL_2G

enumerator ACCEL_4G

enumerator ACCEL_8G

enumerator ACCEL_16G

enum caer_imu_invensense_gyro_scale

List of gyroscope scale settings for InvenSense IMUs.

Values:

enumerator GYRO_250DPS

enumerator GYRO_500DPS

enumerator GYRO_1000DPS

enumerator GYRO_2000DPS

enum caer_imu_bosch_accel_scale

List of accelerometer scale settings for Bosch IMU.

Values:

enumerator BOSCH_ACCEL_2G

enumerator BOSCH_ACCEL_4G

enumerator BOSCH_ACCEL_8G

enumerator BOSCH_ACCEL_16G

enum caer_imu_bosch_accel_data_rate

List of accelerometer data rate settings for Bosch IMU.

Values:

enumerator BOSCH_ACCEL_12_5HZ

enumerator BOSCH_ACCEL_25HZ

enumerator BOSCH_ACCEL_50HZ

enumerator BOSCH_ACCEL_100HZ

enumerator BOSCH_ACCEL_200HZ

enumerator BOSCH_ACCEL_400HZ

enumerator BOSCH_ACCEL_800HZ

enumerator BOSCH_ACCEL_1600HZ

enum caer_imu_bosch_accel_filter

List of accelerometer filter settings for Bosch IMU.

Values:

enumerator BOSCH_ACCEL_OSR4

enumerator BOSCH_ACCEL_OSR2

enumerator BOSCH_ACCEL_NORMAL

enum caer_imu_bosch_gyro_scale

List of gyroscope scale settings for Bosch IMU.

Values:

enumerator BOSCH_GYRO_2000DPS

enumerator BOSCH_GYRO_1000DPS

enumerator BOSCH_GYRO_500DPS

enumerator BOSCH_GYRO_250DPS

enumerator BOSCH_GYRO_125DPS

enum caer_imu_bosch_gyro_data_rate

List of gyroscope data rate settings for Bosch IMU.

Values:

enumerator BOSCH_GYRO_25HZ

enumerator BOSCH_GYRO_50HZ

enumerator BOSCH_GYRO_100HZ

enumerator BOSCH_GYRO_200HZ

enumerator BOSCH_GYRO_400HZ

enumerator BOSCH_GYRO_800HZ

enumerator BOSCH_GYRO_1600HZ

enumerator BOSCH_GYRO_3200HZ

enum caer_imu_bosch_gyro_filter

List of gyroscope filter settings for Bosch IMU.

Values:

enumerator BOSCH_GYRO_OSR4

enumerator BOSCH_GYRO_OSR2

enumerator BOSCH_GYRO_NORMAL

file samsung_evk.h

#include “../events/polarity.h”

#include “../events/special.h”

#include “usb.h”

SAMSUNG_EVK specific configuration defines and information structures.

Defines

CAER_DEVICE_SAMSUNG_EVK: Device type definition for Samsung EVK.

SAMSUNG_EVK_CHIP_ID: Samsung chip identifier. 640x480, semi-synchronous readout.

SAMSUNG_EVK_DVS

SAMSUNG_EVK_DVS_MODE

SAMSUNG_EVK_DVS_EVENT_FLATTEN

SAMSUNG_EVK_DVS_EVENT_ON_ONLY

SAMSUNG_EVK_DVS_EVENT_OFF_ONLY

SAMSUNG_EVK_DVS_SUBSAMPLE_ENABLE

SAMSUNG_EVK_DVS_AREA_BLOCKING_ENABLE

SAMSUNG_EVK_DVS_DUAL_BINNING_ENABLE

SAMSUNG_EVK_DVS_SUBSAMPLE_VERTICAL

SAMSUNG_EVK_DVS_SUBSAMPLE_HORIZONTAL

SAMSUNG_EVK_DVS_AREA_BLOCKING_0

SAMSUNG_EVK_DVS_AREA_BLOCKING_1

SAMSUNG_EVK_DVS_AREA_BLOCKING_2

SAMSUNG_EVK_DVS_AREA_BLOCKING_3

SAMSUNG_EVK_DVS_AREA_BLOCKING_4

SAMSUNG_EVK_DVS_AREA_BLOCKING_5

SAMSUNG_EVK_DVS_AREA_BLOCKING_6

SAMSUNG_EVK_DVS_AREA_BLOCKING_7

SAMSUNG_EVK_DVS_AREA_BLOCKING_8

SAMSUNG_EVK_DVS_AREA_BLOCKING_9

SAMSUNG_EVK_DVS_AREA_BLOCKING_10

SAMSUNG_EVK_DVS_AREA_BLOCKING_11

SAMSUNG_EVK_DVS_AREA_BLOCKING_12

SAMSUNG_EVK_DVS_AREA_BLOCKING_13

SAMSUNG_EVK_DVS_AREA_BLOCKING_14

SAMSUNG_EVK_DVS_AREA_BLOCKING_15

SAMSUNG_EVK_DVS_AREA_BLOCKING_16

SAMSUNG_EVK_DVS_AREA_BLOCKING_17

SAMSUNG_EVK_DVS_AREA_BLOCKING_18

SAMSUNG_EVK_DVS_AREA_BLOCKING_19

SAMSUNG_EVK_DVS_TIMESTAMP_RESET

SAMSUNG_EVK_DVS_GLOBAL_RESET_ENABLE

SAMSUNG_EVK_DVS_GLOBAL_RESET_DURING_READOUT

SAMSUNG_EVK_DVS_GLOBAL_HOLD_ENABLE

SAMSUNG_EVK_DVS_FIXED_READ_TIME_ENABLE

SAMSUNG_EVK_DVS_EXTERNAL_TRIGGER_MODE

SAMSUNG_EVK_DVS_TIMING_ED

SAMSUNG_EVK_DVS_TIMING_GH2GRS

SAMSUNG_EVK_DVS_TIMING_GRS

SAMSUNG_EVK_DVS_TIMING_GH2SEL

SAMSUNG_EVK_DVS_TIMING_SELW

SAMSUNG_EVK_DVS_TIMING_SEL2AY_R

SAMSUNG_EVK_DVS_TIMING_SEL2AY_F

SAMSUNG_EVK_DVS_TIMING_SEL2R_R

SAMSUNG_EVK_DVS_TIMING_SEL2R_F

SAMSUNG_EVK_DVS_TIMING_NEXT_SEL

SAMSUNG_EVK_DVS_TIMING_NEXT_GH

SAMSUNG_EVK_DVS_TIMING_READ_FIXED

SAMSUNG_EVK_DVS_MODE_OFF

SAMSUNG_EVK_DVS_MODE_MONITOR

SAMSUNG_EVK_DVS_MODE_STREAM

SAMSUNG_EVK_DVS_EXTERNAL_TRIGGER_MODE_TIMESTAMP_RESET

SAMSUNG_EVK_DVS_EXTERNAL_TRIGGER_MODE_SINGLE_FRAME

SAMSUNG_EVK_DVS_SUBSAMPLE_VERTICAL_NONE

SAMSUNG_EVK_DVS_SUBSAMPLE_VERTICAL_HALF

SAMSUNG_EVK_DVS_SUBSAMPLE_VERTICAL_FOURTH

SAMSUNG_EVK_DVS_SUBSAMPLE_VERTICAL_EIGHTH

SAMSUNG_EVK_DVS_SUBSAMPLE_HORIZONTAL_NONE

SAMSUNG_EVK_DVS_SUBSAMPLE_HORIZONTAL_HALF

SAMSUNG_EVK_DVS_SUBSAMPLE_HORIZONTAL_FOURTH

SAMSUNG_EVK_DVS_SUBSAMPLE_HORIZONTAL_EIGHTH

SAMSUNG_EVK_DVS_CROPPER

SAMSUNG_EVK_DVS_CROPPER_ENABLE

SAMSUNG_EVK_DVS_CROPPER_Y_START_ADDRESS

SAMSUNG_EVK_DVS_CROPPER_Y_END_ADDRESS

SAMSUNG_EVK_DVS_CROPPER_X_START_ADDRESS

SAMSUNG_EVK_DVS_CROPPER_X_END_ADDRESS

SAMSUNG_EVK_DVS_ACTIVITY_DECISION

SAMSUNG_EVK_DVS_ACTIVITY_DECISION_ENABLE

SAMSUNG_EVK_DVS_ACTIVITY_DECISION_POS_THRESHOLD

SAMSUNG_EVK_DVS_ACTIVITY_DECISION_NEG_THRESHOLD

SAMSUNG_EVK_DVS_ACTIVITY_DECISION_DEC_RATE

SAMSUNG_EVK_DVS_ACTIVITY_DECISION_DEC_TIME

SAMSUNG_EVK_DVS_ACTIVITY_DECISION_POS_MAX_COUNT

SAMSUNG_EVK_DVS_BIAS

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_LOG

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_SF

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_ON

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_nRST

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_LOGA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_LOGD

SAMSUNG_EVK_DVS_BIAS_CURRENT_LEVEL_SF

SAMSUNG_EVK_DVS_BIAS_CURRENT_LEVEL_nOFF

SAMSUNG_EVK_DVS_BIAS_CURRENT_AMP

SAMSUNG_EVK_DVS_BIAS_CURRENT_ON

SAMSUNG_EVK_DVS_BIAS_CURRENT_OFF

SAMSUNG_EVK_DVS_BIAS_SIMPLE

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_LOG_5uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_LOG_50uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_SF_0_5uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_SF_5uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_ON_5uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_ON_50uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_nRST_0_5uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_nRST_5uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_LOGA_5uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_LOGA_50uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_LOGD_5uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_LOGD_50uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_RANGE_LOGD_500uA

SAMSUNG_EVK_DVS_BIAS_CURRENT_LEVEL_SF_x0_1

SAMSUNG_EVK_DVS_BIAS_CURRENT_LEVEL_SF_x1

SAMSUNG_EVK_DVS_BIAS_CURRENT_LEVEL_nOFF_x0_1

SAMSUNG_EVK_DVS_BIAS_CURRENT_LEVEL_nOFF_x1

SAMSUNG_EVK_DVS_BIAS_SIMPLE_VERY_LOW

SAMSUNG_EVK_DVS_BIAS_SIMPLE_LOW

SAMSUNG_EVK_DVS_BIAS_SIMPLE_DEFAULT

SAMSUNG_EVK_DVS_BIAS_SIMPLE_HIGH

SAMSUNG_EVK_DVS_BIAS_SIMPLE_VERY_HIGH

Functions

LIBRARY_PUBLIC_VISIBILITY struct caer_samsung_evk_info caerSamsungEVKInfoGet (caerDeviceHandle handle)

Return basic information on the device, such as its ID, its resolution, the logic version, and so on. See the ‘struct caer_samsung_evk_info’ documentation for more details.

Parameters:: handle – a valid device handle.
Returns:: a copy of the device information structure if successful, an empty structure (all zeros) on failure.

file serial.h

#include “device.h”

Common functions to access, configure and exchange data with supported serial port devices. Also contains defines for serial port specific configuration options.

Defines

CAER_HOST_CONFIG_SERIAL: Module address: host-side serial port configuration.

CAER_HOST_CONFIG_SERIAL_READ_SIZE: Parameter address for module CAER_HOST_CONFIG_SERIAL: read size for serial port communication.

CAER_HOST_CONFIG_SERIAL_BAUD_RATE_2M: Parameter values for module CAER_HOST_CONFIG_SERIAL: possible baud-rates for serial port communication.

CAER_HOST_CONFIG_SERIAL_BAUD_RATE_4M

CAER_HOST_CONFIG_SERIAL_BAUD_RATE_8M

CAER_HOST_CONFIG_SERIAL_BAUD_RATE_12M

Functions

LIBRARY_PUBLIC_VISIBILITY caerDeviceHandle caerDeviceOpenSerial (uint16_t deviceID, uint16_t deviceType, const char *serialPortName, uint32_t serialBaudRate)

Open a specified serial port device, assign an ID to it and return a handle for further usage. Various means can be employed to limit the selection of the device.

Parameters:

deviceID – a unique ID to identify the device from others. Will be used as the source for EventPackets being generated from its data.
deviceType – type of the device to open. Currently supported are: CAER_DEVICE_EDVS
serialPortName – name of the serial port device to open.
serialBaudRate – baud-rate for serial port communication.

Returns:

a valid device handle that can be used with the other libcaer functions, or NULL on error. Always check for this! On error, errno is also set to provide more precise information about the failure cause.

file usb.h

#include “device.h”

Common functions to access, configure and exchange data with supported USB devices. Also contains defines for USB specific configuration options.

Defines

CAER_HOST_CONFIG_USB: Module address: host-side USB configuration.

CAER_HOST_CONFIG_USB_BUFFER_NUMBER: Parameter address for module CAER_HOST_CONFIG_USB: set number of buffers used by libusb for asynchronous data transfers with the USB device. The default values are usually fine, only change them if you’re running into I/O limits.

CAER_HOST_CONFIG_USB_BUFFER_SIZE: Parameter address for module CAER_HOST_CONFIG_USB: set size of each buffer used by libusb for asynchronous data transfers with the USB device. The default values are usually fine, only change them if you’re running into I/O limits.

Functions

LIBRARY_PUBLIC_VISIBILITY caerDeviceHandle caerDeviceOpen (uint16_t deviceID, uint16_t deviceType, uint8_t busNumberRestrict, uint8_t devAddressRestrict, const char *serialNumberRestrict)

Open a specified USB device, assign an ID to it and return a handle for further usage. Various means can be employed to limit the selection of the device.

Parameters:

deviceID – a unique ID to identify the device from others. Will be used as the source for EventPackets being generated from its data.
deviceType – type of the device to open. Currently supported are: CAER_DEVICE_DVS128, CAER_DEVICE_DAVIS, CAER_DEVICE_DYNAPSE, CAER_DEVICE_DVS132S, CAER_DEVICE_DVXPLORER, CAER_DEVICE_SAMSUNG_EVK
busNumberRestrict – restrict the search for viable devices to only this USB bus number.
devAddressRestrict – restrict the search for viable devices to only this USB device address.
serialNumberRestrict – restrict the search for viable devices to only devices which do possess the given Serial Number in their USB SerialNumber descriptor.

Returns:

a valid device handle that can be used with the other libcaer functions, or NULL on error. Always check for this! On error, errno is also set to provide more precise information about the failure cause.

file common.h

#include “../libcaer.h”

Common EventPacket header format definition and handling functions. Every EventPacket, of any type, has as a first member a common header, which describes various properties of the contained events. This allows easy parsing of events. See the ‘struct caer_event_packet_header’ documentation for more details.

Defines

caerLogEHO

VALID_MARK_SHIFT: Generic validity mark: this bit is used to mark whether an event is still valid or not, and can be used to efficiently filter out events from a packet. The caerXXXEventValidate() and caerXXXEventInvalidate() functions should be used to toggle this! 0 in the 0th bit of the first byte means invalid, 1 means valid. This way zeroing-out an event packet sets all its events to invalid. Care must be taken to put the field containing the validity mark always as the first member of an event.

VALID_MARK_MASK

TS_OVERFLOW_SHIFT: 64bit timestamp support: since timestamps wrap around after some time, being only 31 bit (32 bit signed int), another timestamp at the packet level provides another 31 bit (32 bit signed int), to enable the generation of a 62 bit (64 bit signed int) microsecond timestamp which is guaranteed to never wrap around (in the next 146’138 years at least). The TSOverflow needs to be shifted by 31 thus when constructing such a timestamp.

CAER_DEFAULT_EVENT_TYPES_COUNT: Number of default event types that are part of libcaer. Corresponds to the count of definitions inside the ‘enum caer_default_event_types’ enumeration.

CAER_EVENT_PACKET_HEADER_SIZE: Size of the EventPacket header. This is constant across all supported systems.

CAER_ITERATOR_ALL_START(PACKET_HEADER, EVENT_TYPE)

Generic iterator over all events in a packet. Returns the current index in the ‘caerIteratorCounter’ variable of type ‘int32_t’ and the current event in the ‘caerIteratorElement’ variable of type EVENT_TYPE.

PACKET_HEADER: a valid EventPacket header pointer. Cannot be NULL. EVENT_TYPE: the event pointer type for this EventPacket (ie. caerPolarityEvent or caerFrameEvent).

CAER_ITERATOR_ALL_END: Generic iterator close statement.

CAER_ITERATOR_VALID_START(PACKET_HEADER, EVENT_TYPE)

Generic iterator over only the valid events in a packet. Returns the current index in the ‘caerIteratorCounter’ variable of type ‘int32_t’ and the current event in the ‘caerIteratorElement’ variable of type EVENT_TYPE.

PACKET_HEADER: a valid EventPacket header pointer. Cannot be NULL. EVENT_TYPE: the event pointer type for this EventPacket (ie. caerPolarityEvent or caerFrameEvent).

CAER_ITERATOR_VALID_END: Generic iterator close statement.

Typedefs

typedef struct caer_event_packet_header *caerEventPacketHeader: Type for pointer to EventPacket header data structure.

typedef const struct caer_event_packet_header *caerEventPacketHeaderConst

Enums

enum caer_default_event_types

List of supported event types. Each event type has its own integer representation. All event types below 100 are reserved for use by libcaer and cAER. DO NOT USE THEM FOR YOUR OWN EVENT TYPES!

Values:

enumerator SPECIAL_EVENT: Special events.

enumerator POLARITY_EVENT: Polarity (change, DVS) events.

enumerator FRAME_EVENT: Frame (intensity, APS) events.

enumerator IMU6_EVENT: 6 axes IMU events.

enumerator IMU9_EVENT: 9 axes IMU events.

enumerator SAMPLE_EVENT: ADC sample events (deprecated).

enumerator EAR_EVENT: Ear (cochlea) events (deprecated).

enumerator CONFIG_EVENT: Device configuration events (deprecated).

enumerator POINT1D_EVENT: 1D measurement events (deprecated).

enumerator POINT2D_EVENT: 2D measurement events (deprecated).

enumerator POINT3D_EVENT: 3D measurement events (deprecated).

enumerator POINT4D_EVENT: 4D measurement events (deprecated).

enumerator SPIKE_EVENT: Spike events.

enumerator MATRIX4x4_EVENT: 4D matrix events (deprecated).

Functions

PACKED_STRUCT (struct caer_event_packet_header { int16_t eventType;int16_t eventSource;int32_t eventSize;int32_t eventTSOffset;int32_t eventTSOverflow;int32_t eventCapacity;int32_t eventNumber;int32_t eventValid;}): EventPacket header data structure definition. The size, also defined in CAER_EVENT_PACKET_HEADER_SIZE, must always be constant. The header is common to all types of event packets and is always the very first member of an event packet data structure. Signed integers are used for compatibility with languages that do not have unsigned ones, such as Java.

static inline int16_t caerEventPacketHeaderGetEventType(caerEventPacketHeaderConst header)

Return the numerical event type ID, representing the event type this EventPacket is containing.

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the numerical event type (see ‘enum caer_default_event_types’).

static inline void caerEventPacketHeaderSetEventType(caerEventPacketHeader header, int16_t eventType)

Set the numerical event type ID, representing the event type this EventPacket will contain. All event types below 100 are reserved for use by libcaer and cAER. DO NOT USE THEM FOR YOUR OWN EVENT TYPES!

Parameters:

header – a valid EventPacket header pointer. Cannot be NULL.
eventType – the numerical event type (see ‘enum caer_default_event_types’).

static inline int16_t caerEventPacketHeaderGetEventSource(caerEventPacketHeaderConst header)

Get the numerical event source ID, representing the event source that generated all the events present in this packet.

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the numerical event source ID.

static inline void caerEventPacketHeaderSetEventSource(caerEventPacketHeader header, int16_t eventSource)

Set the numerical event source ID, representing the event source that generated all the events present in this packet. This ID should be unique at least within a process, if not within the whole system, to guarantee correct identification of who generated an event later on.

Parameters:

header – a valid EventPacket header pointer. Cannot be NULL.
eventSource – the numerical event source ID.

static inline int32_t caerEventPacketHeaderGetEventSize(caerEventPacketHeaderConst header)

Get the size of a single event, in bytes. All events inside an event packet always have the same size.

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the event size in bytes.

static inline void caerEventPacketHeaderSetEventSize(caerEventPacketHeader header, int32_t eventSize)

Set the size of a single event, in bytes. All events inside an event packet always have the same size.

Parameters:

header – a valid EventPacket header pointer. Cannot be NULL.
eventSize – the event size in bytes.

static inline int32_t caerEventPacketHeaderGetEventTSOffset(caerEventPacketHeaderConst header)

Get the offset, in bytes, to where the field with the main 32 bit timestamp is stored. This is useful for generic access to the timestamp field, given that different event types might have it at different offsets or might even have multiple timestamps, in which case this offset references the ‘main’ timestamp, the most representative one.

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the event timestamp offset in bytes.

static inline void caerEventPacketHeaderSetEventTSOffset(caerEventPacketHeader header, int32_t eventTSOffset)

Set the offset, in bytes, to where the field with the main 32 bit timestamp is stored. This is useful for generic access to the timestamp field, given that different event types might have it at different offsets or might even have multiple timestamps, in which case this offset references the ‘main’ timestamp, the most representative one.

Parameters:

header – a valid EventPacket header pointer. Cannot be NULL.
eventTSOffset – the event timestamp offset in bytes.

static inline int32_t caerEventPacketHeaderGetEventTSOverflow(caerEventPacketHeaderConst header)

Get the 32 bit timestamp overflow counter (in microseconds). This is per-packet and is used to generate a 64 bit timestamp that never wraps around. Since timestamps wrap around after some time, being only 31 bit (32 bit signed int), another timestamp at the packet level provides another 31 bit (32 bit signed int), to enable the generation of a 62 bit (64 bit signed int) microsecond timestamp which is guaranteed to never wrap around (in the next 146’138 years at least).

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the packet-level timestamp overflow counter, in microseconds.

static inline void caerEventPacketHeaderSetEventTSOverflow(caerEventPacketHeader header, int32_t eventTSOverflow)

Set the 32 bit timestamp overflow counter (in microseconds). This is per-packet and is used to generate a 64 bit timestamp that never wraps around. Since timestamps wrap around after some time, being only 31 bit (32 bit signed int), another timestamp at the packet level provides another 31 bit (32 bit signed int), to enable the generation of a 62 bit (64 bit signed int) microsecond timestamp which is guaranteed to never wrap around (in the next 146’138 years at least).

Parameters:

header – a valid EventPacket header pointer. Cannot be NULL.
eventTSOverflow – the packet-level timestamp overflow counter, in microseconds.

static inline int32_t caerEventPacketHeaderGetEventCapacity(caerEventPacketHeaderConst header)

Get the maximum number of events this packet can store.

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the number of events this packet can hold.

static inline void caerEventPacketHeaderSetEventCapacity(caerEventPacketHeader header, int32_t eventsCapacity)

Set the maximum number of events this packet can store. This is determined at packet allocation time and should not be changed during the life-time of the packet.

Parameters:

header – a valid EventPacket header pointer. Cannot be NULL.
eventsCapacity – the number of events this packet can hold.

static inline int32_t caerEventPacketHeaderGetEventNumber(caerEventPacketHeaderConst header)

Get the number of events currently stored in this packet, considering both valid and invalid events.

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the number of events in this packet.

static inline void caerEventPacketHeaderSetEventNumber(caerEventPacketHeader header, int32_t eventsNumber)

Set the number of events currently stored in this packet, considering both valid and invalid events.

Parameters:

header – a valid EventPacket header pointer. Cannot be NULL.
eventsNumber – the number of events in this packet.

static inline int32_t caerEventPacketHeaderGetEventValid(caerEventPacketHeaderConst header)

Get the number of valid events in this packet, disregarding invalid ones (where the invalid mark is set).

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the number of valid events in this packet.

static inline void caerEventPacketHeaderSetEventValid(caerEventPacketHeader header, int32_t eventsValid)

Set the number of valid events in this packet, disregarding invalid ones (where the invalid mark is set).

Parameters:

header – a valid EventPacket header pointer. Cannot be NULL.
eventsValid – the number of valid events in this packet.

static inline const void *caerGenericEventGetEvent(caerEventPacketHeaderConst headerPtr, int32_t n)

Get a generic pointer to an event, without having to know what event type the packet is containing.

Parameters:

headerPtr – a valid EventPacket header pointer. Cannot be NULL.
n – the index of the returned event. Must be within [0,eventNumber[ bounds.

Returns:

a generic pointer to the requested event. NULL on error. This points to unmodifiable memory, as it should never be used for anything other than read operations, such as caerGenericEventGetTimestamp(). Don’t modify the memory, you have no idea what it is! If you do know, just use the proper typed packet functions.

static inline int32_t caerGenericEventGetTimestamp(const void *eventPtr, caerEventPacketHeaderConst headerPtr)

Get the main 32 bit timestamp for a generic event, without having to know what event type the packet is containing.

Parameters:

eventPtr – a generic pointer to an event. Cannot be NULL.
headerPtr – a valid EventPacket header pointer. Cannot be NULL.

Returns:

the main 32 bit timestamp of this event.

static inline int64_t caerGenericEventGetTimestamp64(const void *eventPtr, caerEventPacketHeaderConst headerPtr)

Get the main 64 bit timestamp for a generic event, without having to know what event type the packet is containing. This takes the per-packet timestamp into account too, generating a timestamp that doesn’t suffer from overflow problems.

Parameters:

eventPtr – a generic pointer to an event. Cannot be NULL.
headerPtr – a valid EventPacket header pointer. Cannot be NULL.

Returns:

the main 64 bit timestamp of this event.

static inline bool caerGenericEventIsValid(const void *eventPtr)

Check if the given generic event is valid or not.

Parameters:: eventPtr – a generic pointer to an event. Cannot be NULL.
Returns:: true if the event is valid, false otherwise.

static inline bool caerGenericEventCopy(void *eventPtrDestination, const void *eventPtrSource, caerEventPacketHeaderConst headerPtrDestination, caerEventPacketHeaderConst headerPtrSource)

Copy a given event’s content to another location in memory.

Parameters:

eventPtrDestination – a generic pointer to an event to copy to. Cannot be NULL.
eventPtrSource – a generic pointer to an event to copy from. Cannot be NULL.
headerPtrDestination – a valid EventPacket header pointer from the destination packet. Cannot be NULL.
headerPtrSource – a valid EventPacket header pointer from the source packet. Cannot be NULL.

Returns:

true on successful copy, false otherwise.

static inline int64_t caerEventPacketGetDataSize(caerEventPacketHeaderConst header)

Get the data size of an event packet, in bytes. This is only the size of the data portion, excluding the header.

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the event packet data size in bytes.

static inline int64_t caerEventPacketGetSize(caerEventPacketHeaderConst header)

Get the full size of an event packet, in bytes. This includes both the header and the data portion.

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the event packet size in bytes.

static inline int64_t caerEventPacketGetDataSizeEvents(caerEventPacketHeaderConst header)

Get the data size of an event packet, in bytes, up to its last actual event. This means only up to EventNumber, not up to EventCapacity. This is only the size of the data portion, excluding the header.

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the event packet data size in bytes (up to event number).

static inline int64_t caerEventPacketGetSizeEvents(caerEventPacketHeaderConst header)

Get the full size of an event packet, in bytes, up to its last actual event. This means only up to EventNumber, not up to EventCapacity. This includes both the header and the data portion.

Parameters:: header – a valid EventPacket header pointer. Cannot be NULL.
Returns:: the event packet size in bytes (up to event number).

static inline bool caerEventPacketEquals(caerEventPacketHeaderConst firstPacket, caerEventPacketHeaderConst secondPacket)

Verify if two event packets are equal. This means that the header and all events are equal.

Parameters:

firstPacket – an event packet to be compared.
secondPacket – the other event packet to compare against.

Returns:

true if both are the same, false otherwise.

static inline void caerEventPacketClear(caerEventPacketHeader packet)

Clear a packet by zeroing out all events. Capacity doesn’t change, event number is set to zero.

Parameters:: packet – an event packet to clear out.

static inline void caerEventPacketClean(caerEventPacketHeader packet)

Clean a packet by removing all invalid events, so that the total number of events is the number of valid events. The packet’s capacity doesn’t change.

Parameters:: packet – an event packet to clean.

static inline caerEventPacketHeader caerEventPacketResize(caerEventPacketHeader packet, int32_t newEventCapacity)

Resize an event packet. First, the packet is cleaned (all invalid events removed), then:

If the old and new event capacity are equal, nothing else changes.
If the new capacity is bigger, the packet is enlarged and the new events are initialized to all zeros (invalid).
If the new capacity is smaller, the packet is truncated at the given point. Use free() to reclaim this memory afterwards.

Parameters:

packet – the current event packet.
newEventCapacity – the new maximum number of events this packet can hold. Cannot be zero.

Returns:

a valid event packet handle or NULL on error. On success, the old packet handle is to be considered invalid and not to be used anymore. On failure, the old packet handle is still valid, but will have been cleaned of all invalid events!

static inline caerEventPacketHeader caerEventPacketGrow(caerEventPacketHeader packet, int32_t newEventCapacity)

Grows an event packet. This only supports strictly increasing the size of a packet. For a more flexible resize operation, see caerEventPacketResize(). Use free() to reclaim this memory afterwards.

Parameters:

packet – the current event packet.
newEventCapacity – the new maximum number of events this packet can hold. Cannot be zero.

Returns:

a valid event packet handle or NULL on error. On success, the old packet handle is to be considered invalid and not to be used anymore. On failure, the old packet handle is not touched in any way.

static inline caerEventPacketHeader caerEventPacketAppend(caerEventPacketHeader packet, caerEventPacketHeader appendPacket)

Appends an event packet to another. This is a simple append operation, no timestamp reordering is done. Please ensure time is monotonically increasing over the two packets! Use free() to reclaim this memory afterwards.

Parameters:

packet – the main events packet.
appendPacket – the events packet to append on the main one.

Returns:

a valid event packet handle or NULL on error. On success, the old packet handle is to be considered invalid and not to be used anymore. On failure, the old packet handle is not touched in any way. The appendPacket handle is never touched in any way.

static inline caerEventPacketHeader caerEventPacketCopy(caerEventPacketHeaderConst packet)

Make a full copy of an event packet (up to eventCapacity).

Parameters:: packet – an event packet to copy.
Returns:: a full copy of an event packet.

static inline caerEventPacketHeader caerEventPacketCopyOnlyEvents(caerEventPacketHeaderConst packet)

Make a copy of an event packet, sized down to only include the currently present events (eventNumber, valid+invalid), and not including the possible extra unused events (up to eventCapacity).

Parameters:: packet – an event packet to copy.
Returns:: a sized down copy of an event packet.

static inline caerEventPacketHeader caerEventPacketCopyOnlyValidEvents(caerEventPacketHeaderConst packet)

Make a copy of an event packet, sized down to only include the currently valid events (eventValid), and discarding everything else.

Parameters:: packet – an event packet to copy.
Returns:: a copy of an event packet, containing only valid events.

static inline caerEventPacketHeader caerEventPacketAllocate(int32_t eventCapacity, int16_t eventSource, int32_t tsOverflow, int16_t eventType, int32_t eventSize, int32_t eventTSOffset)

Allocate memory for an event packet and fill its header with the proper information. THIS FUNCTION IS INTENDED FOR INTERNAL USE ONLY BY THE VARIOUS EVENT PACKET TYPES FOR MEMORY ALLOCATION.

Returns:: memory for an event packet, NULL on error.

file frame.h

#include “common.h”

Frame Events format definition and handling functions. This event type encodes intensity frames, like you would get from a normal APS camera. It supports multiple channels for color, color filter information, as well as multiple Regions of Interest (ROI). The (0, 0) pixel is in the upper left corner of the screen, like in OpenCV/computer graphics. The pixel array is laid out row by row (increasing X axis), going from top to bottom (increasing Y axis). To copy a frame event, the usual assignment operator = cannot be used. Please use caerGenericEventCopy() to copy frame events!

Defines

FRAME_COLOR_CHANNELS_SHIFT: Shift and mask values for the color channels number, the color filter arrangement and the ROI identifier contained in the ‘info’ field of the frame event. Multiple channels (RGB for example) are possible, see the ‘enum caer_frame_event_color_channels’. To understand the original color filter arrangement to interpolate color images, see the ‘enum caer_frame_event_color_filter’. Also, up to 128 different Regions of Interest (ROI) can be tracked. Bit 0 is the valid mark, see ‘common.h’ for more details.

FRAME_COLOR_CHANNELS_MASK

FRAME_COLOR_FILTER_SHIFT

FRAME_COLOR_FILTER_MASK

FRAME_ROI_IDENTIFIER_SHIFT

FRAME_ROI_IDENTIFIER_MASK

CAER_FRAME_ITERATOR_ALL_START(FRAME_PACKET)

Iterator over all frame events in a packet. Returns the current index in the ‘caerFrameIteratorCounter’ variable of type ‘int32_t’ and the current event in the ‘caerFrameIteratorElement’ variable of type caerFrameEvent.

FRAME_PACKET: a valid FrameEventPacket pointer. Cannot be NULL.

CAER_FRAME_CONST_ITERATOR_ALL_START(FRAME_PACKET)

Const-Iterator over all frame events in a packet. Returns the current index in the ‘caerFrameIteratorCounter’ variable of type ‘int32_t’ and the current read-only event in the ‘caerFrameIteratorElement’ variable of type caerFrameEventConst.

FRAME_PACKET: a valid FrameEventPacket pointer. Cannot be NULL.

CAER_FRAME_ITERATOR_ALL_END: Iterator close statement.

CAER_FRAME_ITERATOR_VALID_START(FRAME_PACKET)

Iterator over only the valid frame events in a packet. Returns the current index in the ‘caerFrameIteratorCounter’ variable of type ‘int32_t’ and the current event in the ‘caerFrameIteratorElement’ variable of type caerFrameEvent.

FRAME_PACKET: a valid FrameEventPacket pointer. Cannot be NULL.

CAER_FRAME_CONST_ITERATOR_VALID_START(FRAME_PACKET)

Const-Iterator over only the valid frame events in a packet. Returns the current index in the ‘caerFrameIteratorCounter’ variable of type ‘int32_t’ and the current read-only event in the ‘caerFrameIteratorElement’ variable of type caerFrameEventConst.

FRAME_PACKET: a valid FrameEventPacket pointer. Cannot be NULL.

CAER_FRAME_ITERATOR_VALID_END: Iterator close statement.

CAER_FRAME_REVERSE_ITERATOR_ALL_START(FRAME_PACKET)

Reverse iterator over all frame events in a packet. Returns the current index in the ‘caerFrameIteratorCounter’ variable of type ‘int32_t’ and the current event in the ‘caerFrameIteratorElement’ variable of type caerFrameEvent.

FRAME_PACKET: a valid FrameEventPacket pointer. Cannot be NULL.

CAER_FRAME_CONST_REVERSE_ITERATOR_ALL_START(FRAME_PACKET)

Const-Reverse iterator over all frame events in a packet. Returns the current index in the ‘caerFrameIteratorCounter’ variable of type ‘int32_t’ and the current read-only event in the ‘caerFrameIteratorElement’ variable of type caerFrameEventConst.

FRAME_PACKET: a valid FrameEventPacket pointer. Cannot be NULL.

CAER_FRAME_REVERSE_ITERATOR_ALL_END: Reverse iterator close statement.

CAER_FRAME_REVERSE_ITERATOR_VALID_START(FRAME_PACKET)

Reverse iterator over only the valid frame events in a packet. Returns the current index in the ‘caerFrameIteratorCounter’ variable of type ‘int32_t’ and the current event in the ‘caerFrameIteratorElement’ variable of type caerFrameEvent.

FRAME_PACKET: a valid FrameEventPacket pointer. Cannot be NULL.

CAER_FRAME_CONST_REVERSE_ITERATOR_VALID_START(FRAME_PACKET)

Const-Reverse iterator over only the valid frame events in a packet. Returns the current index in the ‘caerFrameIteratorCounter’ variable of type ‘int32_t’ and the current read-only event in the ‘caerFrameIteratorElement’ variable of type caerFrameEventConst.

FRAME_PACKET: a valid FrameEventPacket pointer. Cannot be NULL.

CAER_FRAME_REVERSE_ITERATOR_VALID_END: Reverse iterator close statement.

Typedefs

typedef struct caer_frame_event *caerFrameEvent: Type for pointer to frame event data structure.

typedef const struct caer_frame_event *caerFrameEventConst

typedef struct caer_frame_event_packet *caerFrameEventPacket: Type for pointer to frame event packet data structure.

typedef const struct caer_frame_event_packet *caerFrameEventPacketConst

Enums

enum caer_frame_event_color_channels

List of all frame event color channel identifiers. Used to interpret the frame event color channel field.

Values:

enumerator GRAYSCALE: Grayscale, one channel only.

enumerator RGB: Red Green Blue, 3 color channels.

enumerator RGBA: Red Green Blue Alpha, 3 color channels plus transparency.

enum caer_frame_event_color_filter

List of all frame event color filter identifiers. Used to interpret the frame event color filter field.

Values:

enumerator MONO: No color filter present, all light passes.

enumerator RGBG: Standard Bayer color filter, 1 red 2 green 1 blue. Variation 1.

enumerator GRGB: Standard Bayer color filter, 1 red 2 green 1 blue. Variation 2.

enumerator GBGR: Standard Bayer color filter, 1 red 2 green 1 blue. Variation 3.

enumerator BGRG: Standard Bayer color filter, 1 red 2 green 1 blue. Variation 4.

enumerator RGBW: Modified Bayer color filter, with white (pass all light) instead of extra green. Variation 1.

enumerator GRWB: Modified Bayer color filter, with white (pass all light) instead of extra green. Variation 2.

enumerator WBGR: Modified Bayer color filter, with white (pass all light) instead of extra green. Variation 3.

enumerator BWRG: Modified Bayer color filter, with white (pass all light) instead of extra green. Variation 4.

Functions

PACKED_STRUCT (struct caer_frame_event { uint32_t info;int32_t ts_startframe;int32_t ts_endframe;int32_t ts_startexposure;int32_t ts_endexposure;int32_t lengthX;int32_t lengthY;int32_t positionX;int32_t positionY;uint16_t pixels[1];}): Frame event data structure definition. This contains the actual information on the frame (ROI, color channels, color filter), several timestamps to signal start and end of capture and of exposure, as well as the actual pixels, in a 16 bit normalized format. The (0, 0) address is in the upper left corner, like in OpenCV/computer graphics. The pixel array is laid out row by row (increasing X axis), going from top to bottom (increasing Y axis). Signed integers are used for fields that are to be interpreted directly, for compatibility with languages that do not have unsigned integer types, such as Java. To copy a frame event, the usual assignment operator = cannot be used. Please use caerGenericEventCopy() to copy frame events!

PACKED_STRUCT (struct caer_frame_event_packet { struct caer_event_packet_header packetHeader;}): Frame event packet data structure definition. EventPackets are always made up of the common packet header, followed by ‘eventCapacity’ events. Everything has to be in one contiguous memory block. Direct access to the events array is not possible for Frame events. To calculate position offsets, use the ‘eventSize’ field in the packet header.

static inline caerFrameEventPacket caerFrameEventPacketAllocateNumPixels(int32_t eventCapacity, int16_t eventSource, int32_t tsOverflow, int32_t maxNumPixels, int16_t maxChannelNumber)

Allocate a new frame events packet, passing the total number of maximum pixels instead of the maximum X/Y dimensions expected. Use free() to reclaim this memory. The frame events allocate memory for a maximum sized pixels array, depending on the parameters passed to this function, so that every event occupies the same amount of memory (constant size). The actual frames inside of it might be smaller than that, for example when using ROI, and their actual size is stored inside the frame event and should always be queried from there. The unused part of a pixels array is guaranteed to be zeros.

Parameters:

eventCapacity – the maximum number of events this packet will hold.
eventSource – the unique ID representing the source/generator of this packet.
tsOverflow – the current timestamp overflow counter value for this packet.
maxNumPixels – the maximum number of pixels that can be held by a frame event.
maxChannelNumber – the maximum expected number of channels for frames in this packet.

Returns:

a valid FrameEventPacket handle or NULL on error.

static inline caerFrameEventPacket caerFrameEventPacketAllocate(int32_t eventCapacity, int16_t eventSource, int32_t tsOverflow, int32_t maxLengthX, int32_t maxLengthY, int16_t maxChannelNumber)

Allocate a new frame events packet. Use free() to reclaim this memory. The frame events allocate memory for a maximum sized pixels array, depending on the parameters passed to this function, so that every event occupies the same amount of memory (constant size). The actual frames inside of it might be smaller than that, for example when using ROI, and their actual size is stored inside the frame event and should always be queried from there. The unused part of a pixels array is guaranteed to be zeros.

Parameters:

eventCapacity – the maximum number of events this packet will hold.
eventSource – the unique ID representing the source/generator of this packet.
tsOverflow – the current timestamp overflow counter value for this packet.
maxLengthX – the maximum expected X axis size for frames in this packet.
maxLengthY – the maximum expected Y axis size for frames in this packet.
maxChannelNumber – the maximum expected number of channels for frames in this packet.

Returns:

a valid FrameEventPacket handle or NULL on error.

static inline caerFrameEventPacket caerFrameEventPacketFromPacketHeader(caerEventPacketHeader header)

Transform a generic event packet header into a Frame event packet. This takes care of proper casting and checks that the packet type really matches the intended conversion type.

Parameters:: header – a valid event packet header pointer. Cannot be NULL.
Returns:: a properly converted, typed event packet pointer.

static inline caerFrameEventPacketConst caerFrameEventPacketFromPacketHeaderConst(caerEventPacketHeaderConst header)

Transform a generic read-only event packet header into a read-only Frame event packet. This takes care of proper casting and checks that the packet type really matches the intended conversion type.

Parameters:: header – a valid read-only event packet header pointer. Cannot be NULL.
Returns:: a properly converted, read-only typed event packet pointer.

static inline caerFrameEvent caerFrameEventPacketGetEvent(caerFrameEventPacket packet, int32_t n)

Get the frame event at the given index from the event packet. To copy a frame event, the usual assignment operator = cannot be used. Please use caerGenericEventCopy() to copy frame events!

Parameters:

packet – a valid FrameEventPacket pointer. Cannot be NULL.
n – the index of the returned event. Must be within [0,eventCapacity[ bounds.

Returns:

the requested frame event. NULL on error.

static inline caerFrameEventConst caerFrameEventPacketGetEventConst(caerFrameEventPacketConst packet, int32_t n)

Get the frame event at the given index from the event packet. This is a read-only event, do not change its contents in any way! To copy a frame event, the usual assignment operator = cannot be used. Please use caerGenericEventCopy() to copy frame events!

Parameters:

packet – a valid FrameEventPacket pointer. Cannot be NULL.
n – the index of the returned event. Must be within [0,eventCapacity[ bounds.

Returns:

the requested read-only frame event. NULL on error.

static inline int32_t caerFrameEventGetTSStartOfFrame(caerFrameEventConst event)

Get the 32bit start of frame capture timestamp, in microseconds. Be aware that this wraps around! You can either ignore this fact, or handle the special ‘TIMESTAMP_WRAP’ event that is generated when this happens, or use the 64bit timestamp which never wraps around. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: this event’s 32bit microsecond start of frame timestamp.

static inline int64_t caerFrameEventGetTSStartOfFrame64(caerFrameEventConst event, caerFrameEventPacketConst packet)

Get the 64bit start of frame capture timestamp, in microseconds. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
packet – the FrameEventPacket pointer for the packet containing this event. Cannot be NULL.

Returns:

this event’s 64bit microsecond start of frame timestamp.

static inline void caerFrameEventSetTSStartOfFrame(caerFrameEvent event, int32_t startFrame)

Set the 32bit start of frame capture timestamp, the value has to be in microseconds.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
startFrame – a positive 32bit microsecond timestamp.

static inline int32_t caerFrameEventGetTSEndOfFrame(caerFrameEventConst event)

Get the 32bit end of frame capture timestamp, in microseconds. Be aware that this wraps around! You can either ignore this fact, or handle the special ‘TIMESTAMP_WRAP’ event that is generated when this happens, or use the 64bit timestamp which never wraps around. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: this event’s 32bit microsecond end of frame timestamp.

static inline int64_t caerFrameEventGetTSEndOfFrame64(caerFrameEventConst event, caerFrameEventPacketConst packet)

Get the 64bit end of frame capture timestamp, in microseconds. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
packet – the FrameEventPacket pointer for the packet containing this event. Cannot be NULL.

Returns:

this event’s 64bit microsecond end of frame timestamp.

static inline void caerFrameEventSetTSEndOfFrame(caerFrameEvent event, int32_t endFrame)

Set the 32bit end of frame capture timestamp, the value has to be in microseconds.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
endFrame – a positive 32bit microsecond timestamp.

static inline int32_t caerFrameEventGetTSStartOfExposure(caerFrameEventConst event)

Get the 32bit start of exposure timestamp, in microseconds. Be aware that this wraps around! You can either ignore this fact, or handle the special ‘TIMESTAMP_WRAP’ event that is generated when this happens, or use the 64bit timestamp which never wraps around. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: this event’s 32bit microsecond start of exposure timestamp.

static inline int64_t caerFrameEventGetTSStartOfExposure64(caerFrameEventConst event, caerFrameEventPacketConst packet)

Get the 64bit start of exposure timestamp, in microseconds. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
packet – the FrameEventPacket pointer for the packet containing this event. Cannot be NULL.

Returns:

this event’s 64bit microsecond start of exposure timestamp.

static inline void caerFrameEventSetTSStartOfExposure(caerFrameEvent event, int32_t startExposure)

Set the 32bit start of exposure timestamp, the value has to be in microseconds.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
startExposure – a positive 32bit microsecond timestamp.

static inline int32_t caerFrameEventGetTSEndOfExposure(caerFrameEventConst event)

Get the 32bit end of exposure timestamp, in microseconds. Be aware that this wraps around! You can either ignore this fact, or handle the special ‘TIMESTAMP_WRAP’ event that is generated when this happens, or use the 64bit timestamp which never wraps around. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: this event’s 32bit microsecond end of exposure timestamp.

static inline int64_t caerFrameEventGetTSEndOfExposure64(caerFrameEventConst event, caerFrameEventPacketConst packet)

Get the 64bit end of exposure timestamp, in microseconds. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
packet – the FrameEventPacket pointer for the packet containing this event. Cannot be NULL.

Returns:

this event’s 64bit microsecond end of exposure timestamp.

static inline void caerFrameEventSetTSEndOfExposure(caerFrameEvent event, int32_t endExposure)

Set the 32bit end of exposure timestamp, the value has to be in microseconds.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
endExposure – a positive 32bit microsecond timestamp.

static inline int32_t caerFrameEventGetExposureLength(caerFrameEventConst event)

The total length, in microseconds, of the frame exposure time.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: the exposure time in microseconds.

static inline int32_t caerFrameEventGetTimestamp(caerFrameEventConst event)

Get the 32bit event timestamp, in microseconds. This is a median of the exposure timestamps. Be aware that this wraps around! You can either ignore this fact, or handle the special ‘TIMESTAMP_WRAP’ event that is generated when this happens, or use the 64bit timestamp which never wraps around. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: this event’s 32bit microsecond timestamp.

static inline int64_t caerFrameEventGetTimestamp64(caerFrameEventConst event, caerFrameEventPacketConst packet)

Get the 64bit event timestamp, in microseconds. This is a median of the exposure timestamps. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
packet – the FrameEventPacket pointer for the packet containing this event. Cannot be NULL.

Returns:

this event’s 64bit microsecond timestamp.

static inline bool caerFrameEventIsValid(caerFrameEventConst event)

Check if this frame event is valid.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: true if valid, false if not.

static inline void caerFrameEventValidate(caerFrameEvent event, caerFrameEventPacket packet)

Validate the current event by setting its valid bit to true and increasing the event packet’s event count and valid event count. Only works on events that are invalid. DO NOT CALL THIS AFTER HAVING PREVIOUSLY ALREADY INVALIDATED THIS EVENT, the total count will be incorrect.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
packet – the FrameEventPacket pointer for the packet containing this event. Cannot be NULL.

static inline void caerFrameEventInvalidate(caerFrameEvent event, caerFrameEventPacket packet)

Invalidate the current event by setting its valid bit to false and decreasing the number of valid events held in the packet. Only works with events that are already valid!

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
packet – the FrameEventPacket pointer for the packet containing this event. Cannot be NULL.

static inline size_t caerFrameEventPacketGetPixelsSize(caerFrameEventPacketConst packet)

Get the maximum size of the pixels array in bytes, based upon how much memory was allocated to it by ‘caerFrameEventPacketAllocate()’.

Parameters:: packet – a valid FrameEventPacket pointer. Cannot be NULL.
Returns:: maximum pixels array size in bytes.

static inline size_t caerFrameEventPacketGetPixelsMaxIndex(caerFrameEventPacketConst packet)

Get the maximum index into the pixels array, based upon how much memory was allocated to it by ‘caerFrameEventPacketAllocate()’.

Parameters:: packet – a valid FrameEventPacket pointer. Cannot be NULL.
Returns:: maximum pixels array index.

static inline uint8_t caerFrameEventGetROIIdentifier(caerFrameEventConst event)

Get the numerical identifier for the Region of Interest (ROI) region, to distinguish between multiple of them.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: numerical ROI identifier.

static inline void caerFrameEventSetROIIdentifier(caerFrameEvent event, uint8_t roiIdentifier)

Set the numerical identifier for the Region of Interest (ROI) region, to distinguish between multiple of them.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
roiIdentifier – numerical ROI identifier.

static inline enum caer_frame_event_color_filter caerFrameEventGetColorFilter(caerFrameEventConst event)

Get the identifier for the color filter used by the sensor. Useful for interpolating color images.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: color filter identifier.

static inline void caerFrameEventSetColorFilter(caerFrameEvent event, enum caer_frame_event_color_filter colorFilter)

Set the identifier for the color filter used by the sensor. Useful for interpolating color images.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
colorFilter – color filter identifier.

static inline int32_t caerFrameEventGetLengthX(caerFrameEventConst event)

Get the actual X axis length for the current frame.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: frame X axis length.

static inline int32_t caerFrameEventGetLengthY(caerFrameEventConst event)

Get the actual Y axis length for the current frame.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: frame Y axis length.

static inline enum caer_frame_event_color_channels caerFrameEventGetChannelNumber(caerFrameEventConst event)

Get the actual color channels number for the current frame. This can be used to store RGB frames for example.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: frame color channels number.

static inline void caerFrameEventSetLengthXLengthYChannelNumber(caerFrameEvent event, int32_t lengthX, int32_t lengthY, enum caer_frame_event_color_channels channelNumber, caerFrameEventPacketConst packet)

Set the X and Y axes length and the color channels number for a frame, while taking into account the maximum amount of memory available for the pixel array, as allocated in ‘caerFrameEventPacketAllocate()’.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
lengthX – the frame’s X axis length.
lengthY – the frame’s Y axis length.
channelNumber – the number of color channels for this frame.
packet – the FrameEventPacket pointer for the packet containing this event. Cannot be NULL.

static inline size_t caerFrameEventGetPixelsMaxIndex(caerFrameEventConst event)

Get the maximum valid index into the pixel array, at which you can still get valid pixels.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: maximum valid pixels array index.

static inline size_t caerFrameEventGetPixelsSize(caerFrameEventConst event)

Get the maximum size of the pixels array in bytes, in which you can still get valid pixels.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: maximum valid pixels array size in bytes.

static inline int32_t caerFrameEventGetPositionX(caerFrameEventConst event)

Get the X axis position offset. This is used to place partial frames, like the ones gotten from ROI readouts, in the visual space.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: X axis position offset.

static inline void caerFrameEventSetPositionX(caerFrameEvent event, int32_t positionX)

Set the X axis position offset. This is used to place partial frames, like the ones gotten from ROI readouts, in the visual space.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
positionX – X axis position offset.

static inline int32_t caerFrameEventGetPositionY(caerFrameEventConst event)

Get the Y axis position offset. This is used to place partial frames, like the ones gotten from ROI readouts, in the visual space.

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: Y axis position offset.

static inline void caerFrameEventSetPositionY(caerFrameEvent event, int32_t positionY)

Set the Y axis position offset. This is used to place partial frames, like the ones gotten from ROI readouts, in the visual space.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
positionY – Y axis position offset.

static inline uint16_t caerFrameEventGetPixel(caerFrameEventConst event, int32_t xAddress, int32_t yAddress)

Get the pixel value at the specified (X, Y) address. (X, Y) are checked against the actual possible values for this frame. Different channels are not taken into account! The (0, 0) pixel is in the upper left corner, like in OpenCV/computer graphics.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
xAddress – X address value (checked).
yAddress – Y address value (checked).

Returns:

pixel value (normalized to 16 bit depth).

static inline void caerFrameEventSetPixel(caerFrameEvent event, int32_t xAddress, int32_t yAddress, uint16_t pixelValue)

Set the pixel value at the specified (X, Y) address. (X, Y) are checked against the actual possible values for this frame. Different channels are not taken into account! The (0, 0) pixel is in the upper left corner, like in OpenCV/computer graphics.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
xAddress – X address value (checked).
yAddress – Y address value (checked).
pixelValue – pixel value (normalized to 16 bit depth).

static inline uint16_t caerFrameEventGetPixelForChannel(caerFrameEventConst event, int32_t xAddress, int32_t yAddress, uint8_t channel)

Get the pixel value at the specified (X, Y) address, taking into account the specified channel. (X, Y) and the channel number are checked against the actual possible values for this frame. The (0, 0) pixel is in the upper left corner, like in OpenCV/computer graphics.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
xAddress – X address value (checked).
yAddress – Y address value (checked).
channel – the channel number (checked).

Returns:

pixel value (normalized to 16 bit depth).

static inline void caerFrameEventSetPixelForChannel(caerFrameEvent event, int32_t xAddress, int32_t yAddress, uint8_t channel, uint16_t pixelValue)

Set the pixel value at the specified (X, Y) address, taking into account the specified channel. (X, Y) and the channel number are checked against the actual possible values for this frame. The (0, 0) pixel is in the upper left corner, like in OpenCV/computer graphics.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
xAddress – X address value (checked).
yAddress – Y address value (checked).
channel – the channel number (checked).
pixelValue – pixel value (normalized to 16 bit depth).

static inline uint16_t caerFrameEventGetPixelUnsafe(caerFrameEventConst event, int32_t xAddress, int32_t yAddress)

Get the pixel value at the specified (X, Y) address. No checks on (X, Y) are performed! The (0, 0) pixel is in the upper left corner, like in OpenCV/computer graphics.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
xAddress – X address value (unchecked).
yAddress – Y address value (unchecked).

Returns:

pixel value (normalized to 16 bit depth).

static inline void caerFrameEventSetPixelUnsafe(caerFrameEvent event, int32_t xAddress, int32_t yAddress, uint16_t pixelValue)

Set the pixel value at the specified (X, Y) address. No checks on (X, Y) are performed! The (0, 0) pixel is in the upper left corner, like in OpenCV/computer graphics.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
xAddress – X address value (unchecked).
yAddress – Y address value (unchecked).
pixelValue – pixel value (normalized to 16 bit depth).

static inline uint16_t caerFrameEventGetPixelForChannelUnsafe(caerFrameEventConst event, int32_t xAddress, int32_t yAddress, uint8_t channel)

Get the pixel value at the specified (X, Y) address, taking into account the specified channel. No checks on (X, Y) and the channel number are performed! The (0, 0) pixel is in the upper left corner, like in OpenCV/computer graphics.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
xAddress – X address value (unchecked).
yAddress – Y address value (unchecked).
channel – the channel number (unchecked).

Returns:

pixel value (normalized to 16 bit depth).

static inline void caerFrameEventSetPixelForChannelUnsafe(caerFrameEvent event, int32_t xAddress, int32_t yAddress, uint8_t channel, uint16_t pixelValue)

Set the pixel value at the specified (X, Y) address, taking into account the specified channel. No checks on (X, Y) and the channel number are performed! The (0, 0) pixel is in the upper left corner, like in OpenCV/computer graphics.

Parameters:

event – a valid FrameEvent pointer. Cannot be NULL.
xAddress – X address value (unchecked).
yAddress – Y address value (unchecked).
channel – the channel number (unchecked).
pixelValue – pixel value (normalized to 16 bit depth).

static inline uint16_t *caerFrameEventGetPixelArrayUnsafe(caerFrameEvent event)

Get a direct pointer to the underlying pixels array. This can be used to both get and set values. No checks at all are performed at any point, nor any conversions, use this at your own risk! Remember that the 16 bit pixel values are in little-endian! The pixel array is laid out row by row (increasing X axis), going from top to bottom (increasing Y axis).

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: the pixels array (16 bit integers are little-endian).

static inline const uint16_t *caerFrameEventGetPixelArrayUnsafeConst(caerFrameEventConst event)

Get a direct read-only pointer to the underlying pixels array. This can be used to only get values. No checks at all are performed at any point, nor any conversions, use this at your own risk! Remember that the 16 bit pixel values are in little-endian! The pixel array is laid out row by row (increasing X axis), going from top to bottom (increasing Y axis).

Parameters:: event – a valid FrameEvent pointer. Cannot be NULL.
Returns:: the read-only pixels array (16 bit integers are little-endian).

file imu6.h

#include “common.h”

IMU6 (6 axes) Events format definition and handling functions. This contains data coming from the Inertial Measurement Unit chip, with the 3-axes accelerometer and 3-axes gyroscope. Temperature is also included.

Defines

CAER_IMU6_ITERATOR_ALL_START(IMU6_PACKET)

Iterator over all IMU6 events in a packet. Returns the current index in the ‘caerIMU6IteratorCounter’ variable of type ‘int32_t’ and the current event in the ‘caerIMU6IteratorElement’ variable of type caerIMU6Event.

IMU6_PACKET: a valid IMU6EventPacket pointer. Cannot be NULL.

CAER_IMU6_CONST_ITERATOR_ALL_START(IMU6_PACKET)

Const-Iterator over all IMU6 events in a packet. Returns the current index in the ‘caerIMU6IteratorCounter’ variable of type ‘int32_t’ and the current read-only event in the ‘caerIMU6IteratorElement’ variable of type caerIMU6EventConst.

IMU6_PACKET: a valid IMU6EventPacket pointer. Cannot be NULL.

CAER_IMU6_ITERATOR_ALL_END: Iterator close statement.

CAER_IMU6_ITERATOR_VALID_START(IMU6_PACKET)

Iterator over only the valid IMU6 events in a packet. Returns the current index in the ‘caerIMU6IteratorCounter’ variable of type ‘int32_t’ and the current event in the ‘caerIMU6IteratorElement’ variable of type caerIMU6Event.

IMU6_PACKET: a valid IMU6EventPacket pointer. Cannot be NULL.

CAER_IMU6_CONST_ITERATOR_VALID_START(IMU6_PACKET)

Const-Iterator over only the valid IMU6 events in a packet. Returns the current index in the ‘caerIMU6IteratorCounter’ variable of type ‘int32_t’ and the current read-only event in the ‘caerIMU6IteratorElement’ variable of type caerIMU6EventConst.

IMU6_PACKET: a valid IMU6EventPacket pointer. Cannot be NULL.

CAER_IMU6_ITERATOR_VALID_END: Iterator close statement.

CAER_IMU6_REVERSE_ITERATOR_ALL_START(IMU6_PACKET)

Reverse iterator over all IMU6 events in a packet. Returns the current index in the ‘caerIMU6IteratorCounter’ variable of type ‘int32_t’ and the current event in the ‘caerIMU6IteratorElement’ variable of type caerIMU6Event.

IMU6_PACKET: a valid IMU6EventPacket pointer. Cannot be NULL.

CAER_IMU6_CONST_REVERSE_ITERATOR_ALL_START(IMU6_PACKET)

Const-Reverse iterator over all IMU6 events in a packet. Returns the current index in the ‘caerIMU6IteratorCounter’ variable of type ‘int32_t’ and the current read-only event in the ‘caerIMU6IteratorElement’ variable of type caerIMU6EventConst.

IMU6_PACKET: a valid IMU6EventPacket pointer. Cannot be NULL.

CAER_IMU6_REVERSE_ITERATOR_ALL_END: Reverse iterator close statement.

CAER_IMU6_REVERSE_ITERATOR_VALID_START(IMU6_PACKET)

Reverse iterator over only the valid IMU6 events in a packet. Returns the current index in the ‘caerIMU6IteratorCounter’ variable of type ‘int32_t’ and the current event in the ‘caerIMU6IteratorElement’ variable of type caerIMU6Event.

IMU6_PACKET: a valid IMU6EventPacket pointer. Cannot be NULL.

CAER_IMU6_CONST_REVERSE_ITERATOR_VALID_START(IMU6_PACKET)

Const-Reverse iterator over only the valid IMU6 events in a packet. Returns the current index in the ‘caerIMU6IteratorCounter’ variable of type ‘int32_t’ and the current read-only event in the ‘caerIMU6IteratorElement’ variable of type caerIMU6EventConst.

IMU6_PACKET: a valid IMU6EventPacket pointer. Cannot be NULL.

CAER_IMU6_REVERSE_ITERATOR_VALID_END: Reverse iterator close statement.

Typedefs

typedef struct caer_imu6_event *caerIMU6Event: Type for pointer to IMU 6-axes event data structure.

typedef const struct caer_imu6_event *caerIMU6EventConst

typedef struct caer_imu6_event_packet *caerIMU6EventPacket: Type for pointer to IMU 6-axes event packet data structure.

typedef const struct caer_imu6_event_packet *caerIMU6EventPacketConst

Functions

PACKED_STRUCT (struct caer_imu6_event { uint32_t info;int32_t timestamp;float accel_x;float accel_y;float accel_z;float gyro_x;float gyro_y;float gyro_z;float temp;}): IMU 6-axes event data structure definition. This contains accelerometer and gyroscope headings, plus temperature. The X, Y and Z axes are referred to the camera plane. X increases to the right, Y going up and Z towards where the lens is pointing. Rotation for the gyroscope is counter-clockwise along the increasing axis, for all three axes. Floats are in IEEE 754-2008 binary32 format. Signed integers are used for fields that are to be interpreted directly, for compatibility with languages that do not have unsigned integer types, such as Java.

PACKED_STRUCT (struct caer_imu6_event_packet { struct caer_event_packet_header packetHeader;struct caer_imu6_event events[];}): IMU 6-axes event packet data structure definition. EventPackets are always made up of the common packet header, followed by ‘eventCapacity’ events. Everything has to be in one contiguous memory block.

static inline caerIMU6EventPacket caerIMU6EventPacketAllocate(int32_t eventCapacity, int16_t eventSource, int32_t tsOverflow)

Allocate a new IMU 6-axes events packet. Use free() to reclaim this memory.

Parameters:

eventCapacity – the maximum number of events this packet will hold.
eventSource – the unique ID representing the source/generator of this packet.
tsOverflow – the current timestamp overflow counter value for this packet.

Returns:

a valid IMU6EventPacket handle or NULL on error.

static inline caerIMU6EventPacket caerIMU6EventPacketFromPacketHeader(caerEventPacketHeader header)

Transform a generic event packet header into an IMU 6-axes event packet. This takes care of proper casting and checks that the packet type really matches the intended conversion type.

Parameters:: header – a valid event packet header pointer. Cannot be NULL.
Returns:: a properly converted, typed event packet pointer.

static inline caerIMU6EventPacketConst caerIMU6EventPacketFromPacketHeaderConst(caerEventPacketHeaderConst header)

Transform a generic read-only event packet header into a read-only IMU 6-axes event packet. This takes care of proper casting and checks that the packet type really matches the intended conversion type.

Parameters:: header – a valid read-only event packet header pointer. Cannot be NULL.
Returns:: a properly converted, read-only typed event packet pointer.

static inline caerIMU6Event caerIMU6EventPacketGetEvent(caerIMU6EventPacket packet, int32_t n)

Get the IMU 6-axes event at the given index from the event packet.

Parameters:

packet – a valid IMU6EventPacket pointer. Cannot be NULL.
n – the index of the returned event. Must be within [0,eventCapacity[ bounds.

Returns:

the requested IMU 6-axes event. NULL on error.

static inline caerIMU6EventConst caerIMU6EventPacketGetEventConst(caerIMU6EventPacketConst packet, int32_t n)

Get the IMU 6-axes event at the given index from the event packet. This is a read-only event, do not change its contents in any way!

Parameters:

packet – a valid IMU6EventPacket pointer. Cannot be NULL.
n – the index of the returned event. Must be within [0,eventCapacity[ bounds.

Returns:

the requested read-only IMU 6-axes event. NULL on error.

static inline int32_t caerIMU6EventGetTimestamp(caerIMU6EventConst event)

Get the 32bit event timestamp, in microseconds. Be aware that this wraps around! You can either ignore this fact, or handle the special ‘TIMESTAMP_WRAP’ event that is generated when this happens, or use the 64bit timestamp which never wraps around. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:: event – a valid IMU6Event pointer. Cannot be NULL.
Returns:: this event’s 32bit microsecond timestamp.

static inline int64_t caerIMU6EventGetTimestamp64(caerIMU6EventConst event, caerIMU6EventPacketConst packet)

Get the 64bit event timestamp, in microseconds. See ‘caerEventPacketHeaderGetEventTSOverflow()’ documentation for more details on the 64bit timestamp.

Parameters:

event – a valid IMU6Event pointer. Cannot be NULL.
packet – the IMU6EventPacket pointer for the packet containing this event. Cannot be NULL.

Returns:

this event’s 64bit microsecond timestamp.

static inline void caerIMU6EventSetTimestamp(caerIMU6Event event, int32_t timestamp)

Set the 32bit event timestamp, the value has to be in microseconds.

Parameters:

event – a valid IMU6Event pointer. Cannot be NULL.
timestamp – a positive 32bit microsecond timestamp.

static inline bool caerIMU6EventIsValid(caerIMU6EventConst event)

Check if this IMU 6-axes event is valid.

Parameters:: event – a valid IMU6Event pointer. Cannot be NULL.
Returns:: true if valid, false if not.

static inline void caerIMU6EventValidate(caerIMU6Event event, caerIMU6EventPacket packet)

Validate the current event by setting its valid bit to true and increasing the event packet’s event count and valid event count. Only works on events that are invalid. DO NOT CALL THIS AFTER HAVING PREVIOUSLY ALREADY INVALIDATED THIS EVENT, the total count will be incorrect.

Parameters:

event – a valid IMU6Event pointer. Cannot be NULL.
packet – the IMU6EventPacket pointer for the packet containing this event. Cannot be NULL.

static inline void caerIMU6EventInvalidate(caerIMU6Event event, caerIMU6EventPacket packet)

Invalidate the current event by setting its valid bit to false and decreasing the number of valid events held in the packet. Only works with events that are already valid!

Parameters:

event – a valid IMU6Event pointer. Cannot be NULL.
packet – the IMU6EventPacket pointer for the packet containing this event. Cannot be NULL.

static inline float caerIMU6EventGetAccelX(caerIMU6EventConst event)

Get the X axis acceleration reading (from accelerometer). This is in g (1 g = 9.81 m/s²).

Parameters:: event – a valid IMU6Event pointer. Cannot be NULL.
Returns:: acceleration on the X axis.

static inline void caerIMU6EventSetAccelX(caerIMU6Event event, float accelX)

Set the X axis acceleration reading (from accelerometer). This is in g (1 g = 9.81 m/s²).

Parameters:

event – a valid IMU6Event pointer. Cannot be NULL.
accelX – acceleration on the X axis.

static inline float caerIMU6EventGetAccelY(caerIMU6EventConst event)

Get the Y axis acceleration reading (from accelerometer). This is in g (1 g = 9.81 m/s²).

Parameters:: event – a valid IMU6Event pointer. Cannot be NULL.
Returns:: acceleration on the Y axis.

static inline void caerIMU6EventSetAccelY(caerIMU6Event event, float accelY)

Set the Y axis acceleration reading (from accelerometer). This is in g (1 g = 9.81 m/s²).

Parameters:

event – a valid IMU6Event pointer. Cannot be NULL.
accelY – acceleration on the Y axis.

static inline float caerIMU6EventGetAccelZ(caerIMU6EventConst event)

Get the Z axis acceleration reading (from accelerometer). This is in g (1 g = 9.81 m/s²).

Parameters:: event – a valid IMU6Event pointer. Cannot be NULL.
Returns:: acceleration on the Z axis.

static inline void caerIMU6EventSetAccelZ(caerIMU6Event event, float accelZ)

Set the Z axis acceleration reading (from accelerometer). This is in g (1 g = 9.81 m/s²).

Parameters:

event – a valid IMU6Event pointer. Cannot be NULL.
accelZ – acceleration on the Z axis.

static inline float caerIMU6EventGetGyroX(caerIMU6EventConst event)

Get the X axis (roll) angular velocity reading (from gyroscope). This is in °/s (deg/sec).

Parameters:: event – a valid IMU6Event pointer. Cannot be NULL.
Returns:: angular velocity on the X axis (roll).

static inline void caerIMU6EventSetGyroX(caerIMU6Event event, float gyroX)

Set the X axis (roll) angular velocity reading (from gyroscope). This is in °/s (deg/sec).

Parameters:

event – a valid IMU6Event pointer. Cannot be NULL.
gyroX – angular velocity on the X axis (roll).

static inline float caerIMU6EventGetGyroY(caerIMU6EventConst event)

Get the Y axis (pitch) angular velocity reading (from gyroscope). This is in °/s (deg/sec).

Parameters:: event – a valid IMU6Event pointer. Cannot be NULL.
Returns:: angular velocity on the Y axis (pitch).

static inline void caerIMU6EventSetGyroY(caerIMU6Event event, float gyroY)

Set the Y axis (pitch) angular velocity reading (from gyroscope). This is in °/s (deg/sec).

Parameters:

event – a valid IMU6Event pointer. Cannot be NULL.
gyroY – angular velocity on the Y axis (pitch).

static inline float caerIMU6EventGetGyroZ(caerIMU6EventConst event)

Get the Z axis (yaw) angular velocity reading (from gyroscope). This is in °/s (deg/sec).

Parameters:: event – a valid IMU6Event pointer. Cannot be NULL.
Returns:: angular velocity on the Z axis (yaw).

static inline void caerIMU6EventSetGyroZ(caerIMU6Event event, float gyroZ)

Set the Z axis (yaw) angular velocity reading (from gyroscope). This is in °/s (deg/sec).

Parameters:

event – a valid IMU6Event pointer. Cannot be NULL.
gyroZ – angular velocity on the Z axis (yaw).

static inline float caerIMU6EventGetTemp(caerIMU6EventConst event)

Get the temperature reading. This is in °C.

Parameters:: event – a valid IMU6Event pointer. Cannot be NULL.
Returns:: temperature in °C.

static inline void caerIMU6EventSetTemp(caerIMU6Event event, float temp)

Set the temperature reading. This is in °C.

Parameters:

event – a valid IMU6Event pointer. Cannot be NULL.
temp – temperature in °C.

file imu9.h

#include “common.h”

IMU9 (9 axes) Events format definition and handling functions. This contains data coming from the Inertial Measurement Unit chip, with the 3-axes accelerometer and 3-axes gyroscope. Temperature is also included. Further, 3-axes from the magnetometer are included, which can be used to get a compass-like heading.

Defines

CAER_IMU9_ITERATOR_ALL_START(IMU9_PACKET)

Iterator over all IMU9 events in a packet. Returns the current index in the ‘caerIMU9IteratorCounter’ variable of type ‘int32_t’ and the current event in the ‘caerIMU9IteratorElement’ variable of type caerIMU9Event.