sensel.h Includes: <windows.h> Introduction Functions senselAllocateFrameData senselClose senselFreeFrameData senselGetBufferControl senselGetContactsEnableBlobMerge senselGetContactsMask senselGetContactsMinForce senselGetDeviceList senselGetDynamicBaselineEnabled(SENSEL_HANDLE, unsigned char *) senselGetFirmwareInfo senselGetFrame senselGetFrameContent senselGetLEDBrightness senselGetMaxFrameRate senselGetMaxLEDBrightness senselGetNumAvailableFrames senselGetNumAvailableLEDs senselGetPowerButtonPressed senselGetScanDetail senselGetScanMode senselGetSensorInfo senselGetSupportedFrameContent senselOpen senselOpenDeviceByComPort senselOpenDeviceByID senselOpenDeviceBySerialNum senselReadReg senselReadRegVS senselReadSensor senselSetBufferControl senselSetContactsEnableBlobMerge senselSetContactsMask senselSetContactsMinForce senselSetDynamicBaselineEnabled(SENSEL_HANDLE, unsigned char) senselSetFrameContent senselSetLEDBrightness senselSetMaxFrameRate senselSetScanDetail senselSetScanMode senselSoftReset senselStartScanning senselStopScanning senselWriteReg senselWriteRegVS senselAllocateFrameData SENSEL_API SenselStatus WINAPI senselAllocateFrameData( SENSEL_HANDLE handle, SenselFrameData **data); Parameters handle Sensel device handle for which to create a FrameData structure for data Pointer to FrameData to allocate. Return Value SENSEL_OK on success or error Discussion Allocates a FrameData and initializes all buffers according to device capabilities. senselClose SENSEL_API SenselStatus WINAPI senselClose( SENSEL_HANDLE handle); Parameters handle Sensel device to be closed Return Value SENSEL_OK on success or error Discussion Closes the device associated with handle and frees all memory. senselFreeFrameData SENSEL_API SenselStatus WINAPI senselFreeFrameData( SENSEL_HANDLE handle, SenselFrameData *data); Parameters handle Sensel device handle data FrameData to free. Return Value SENSEL_OK on success or error Discussion Frees all memory allocated to FrameData including the FrameData itself. senselGetBufferControl SENSEL_API SenselStatus WINAPI senselGetBufferControl( SENSEL_HANDLE handle, unsigned char *num); Parameters handle Sensel device handle num Pointer to contain current setting Return Value SENSEL_OK on success or error Discussion Gets the number of frame buffers the device should store internaly. senselGetContactsEnableBlobMerge SENSEL_API SenselStatus WINAPI senselGetContactsEnableBlobMerge( SENSEL_HANDLE handle, unsigned char *val); Parameters handle Sensel device handle val Pointer to contain current setting Return Value SENSEL_OK on success or error Discussion Get contact blob merging setting senselGetContactsMask SENSEL_API SenselStatus WINAPI senselGetContactsMask( SENSEL_HANDLE handle, unsigned char *mask); Parameters handle Sensel device handle mask Pointer to retrieve current max framerate Return Value SENSEL_OK on success or error Discussion Gets the current contact mask setting for the device senselGetContactsMinForce SENSEL_API SenselStatus WINAPI senselGetContactsMinForce( SENSEL_HANDLE handle, unsigned short *val); Parameters handle Sensel device handle val Pointer to contain current setting Return Value SENSEL_OK on success or error Discussion Gets the minimum force a contact needs to have to be reported senselGetDeviceList SENSEL_API SenselStatus WINAPI senselGetDeviceList( SenselDeviceList *list); Parameters list Device list to be populated Return Value SENSEL_OK on success or error Discussion Scans for all availale sensel devices and populates list accordingly senselGetDynamicBaselineEnabled(SENSEL_HANDLE, unsigned char *) SENSEL_API SenselStatus WINAPI senselGetDynamicBaselineEnabled( SENSEL_HANDLE handle, unsigned char *val); Parameters handle Sensel device handle val Pointer to enable/disable flag Return Value SENSEL_OK on success or error Discussion Returns state of dynamic baseline enabled flag senselGetFirmwareInfo SENSEL_API SenselStatus WINAPI senselGetFirmwareInfo( SENSEL_HANDLE handle, SenselFirmwareInfo *fw_info); Parameters handle Sensel device handle fw_info Pointer to SenselFirmwareInfo structure to populate Return Value SENSEL_OK on success or error Discussion Retrieve firmware device information senselGetFrame SENSEL_API SenselStatus WINAPI senselGetFrame( SENSEL_HANDLE handle, SenselFrameData *data); Parameters handle Sensel device handle data Pointer to pre-allocated FrameData to populate Return Value SENSEL_OK on success or error Discussion Returns one frame of data in data. senselGetFrameContent SENSEL_API SenselStatus WINAPI senselGetFrameContent( SENSEL_HANDLE handle, unsigned char *content); Parameters handle Sensel device handle content Pointer to content level to retrieve Return Value SENSEL_OK on success or error Discussion Get the current frame content mask from the device senselGetLEDBrightness SENSEL_API SenselStatus WINAPI senselGetLEDBrightness( SENSEL_HANDLE handle, unsigned char led_id, unsigned short *brightness); Parameters handle Sensel device handle led_id Index of the LED to update brightness Pointer to brightness setting Return Value SENSEL_OK on success or error Discussion Retrieve the current brightness of an LED senselGetMaxFrameRate SENSEL_API SenselStatus WINAPI senselGetMaxFrameRate( SENSEL_HANDLE handle, unsigned short *val); Parameters handle Sensel device handle val Pointer to retrieve current max framerate Return Value SENSEL_OK on success or error Discussion Gets the maximum framerate at which the device should report senselGetMaxLEDBrightness SENSEL_API SenselStatus WINAPI senselGetMaxLEDBrightness( SENSEL_HANDLE handle, unsigned short *max_brightness); Parameters handle Sensel device handle max_brightness Pointer to maximum per LED brightness Return Value SENSEL_OK on success or error Discussion Retrieve the maximum brightness value an LED can be set to senselGetNumAvailableFrames SENSEL_API SenselStatus WINAPI senselGetNumAvailableFrames( SENSEL_HANDLE handle, unsigned int *num_avail_frames); Parameters handle Sensel device handle num_avail_frames Will contain the number of frames available to GetFrame Return Value SENSEL_OK on success or error Discussion Returns in num_avail_frames the number of data frames available. senselGetNumAvailableLEDs SENSEL_API SenselStatus WINAPI senselGetNumAvailableLEDs( SENSEL_HANDLE handle, unsigned char *num_leds); Parameters handle Sensel device handle num_leds Pointer to number of leds on device Return Value SENSEL_OK on success or error Discussion Retrieve number of LEDs available on the device senselGetPowerButtonPressed SENSEL_API SenselStatus WINAPI senselGetPowerButtonPressed( SENSEL_HANDLE handle, unsigned char *pressed); Parameters handle Sensel device handle pressed Pointer to hold state of power button Return Value SENSEL_OK on success or error Discussion Pressed will be 1 if button was pressed or 0 otherwize senselGetScanDetail SENSEL_API SenselStatus WINAPI senselGetScanDetail( SENSEL_HANDLE handle, SenselScanDetail *detail); Parameters handle Sensel device handle detail Pointer to scan detail level to retrieve Return Value SENSEL_OK on success or error Discussion Get the current scanning level setting senselGetScanMode SENSEL_API SenselStatus WINAPI senselGetScanMode( SENSEL_HANDLE handle, SenselScanMode *mode); Parameters handle Sensel device handle mode Pointer to retrieve Scan mode setting Return Value SENSEL_OK on success or error Discussion Gets the current scan mode. senselGetSensorInfo SENSEL_API SenselStatus WINAPI senselGetSensorInfo( SENSEL_HANDLE handle, SenselSensorInfo *info); Parameters handle Sensel device handle to information about info Pointer to a structure to populate Return Value SENSEL_OK on success or error Discussion Retrieves the sensor information senselGetSupportedFrameContent SENSEL_API SenselStatus WINAPI senselGetSupportedFrameContent( SENSEL_HANDLE handle, unsigned char *content); Parameters handle Sensel device handle content Pointer to frame content supported by device Return Value SENSEL_OK on success or error Discussion Retrieve the frame content that the device supports senselOpen SENSEL_API SenselStatus WINAPI senselOpen( SENSEL_HANDLE *handle); Parameters handle Sensel device handle to be allocated Return Value SENSEL_OK on success or error Discussion Opens the first available Sensel sensor senselOpenDeviceByComPort SENSEL_API SenselStatus WINAPI senselOpenDeviceByComPort( SENSEL_HANDLE *handle, unsigned char *com_port); Parameters handle Sensel device handle to be initialized com_port com_port path of the device to open Return Value SENSEL_OK on success or error Discussion Opens the devices associated to the given com_port as returned by senselGetDeviceList. senselGetDeviceList must be called prior to this call senselOpenDeviceByID SENSEL_API SenselStatus WINAPI senselOpenDeviceByID( SENSEL_HANDLE *handle, unsigned char idx); Parameters handle Sensel device handle to be initialized idx identifier of the device to open Return Value SENSEL_OK on success or error Discussion Opens the devices associated to the given idx as returned by senselGetDeviceList. senselGetDeviceList must be called prior to this call senselOpenDeviceBySerialNum SENSEL_API SenselStatus WINAPI senselOpenDeviceBySerialNum( SENSEL_HANDLE *handle, unsigned char *serial_num); Parameters handle Sensel device handle to be initialized serial_num serial_number of the device to open Return Value SENSEL_OK on success or error Discussion Opens the devices associated to the given serial_num as returned by senselGetDeviceList. senselGetDeviceList must be called prior to this call senselReadReg SENSEL_API SenselStatus WINAPI senselReadReg( SENSEL_HANDLE handle, unsigned char reg, unsigned char size, unsigned char *buf); Parameters handle Sensel device handle reg Register to read size Size of the register buf Buffer to store the result Return Value SENSEL_OK on success or error Discussion Reads size bytes from register reg and stores the value in buf. senselReadRegVS SENSEL_API SenselStatus WINAPI senselReadRegVS( SENSEL_HANDLE handle, unsigned char reg, unsigned int buf_size, unsigned char *buf, unsigned int *read_size); Parameters handle Sensel device handle reg Register to write buf_size Size of the "buf" buffer buf Buffer to store the result read_size Variable to store the number of bytes read from register Return Value SENSEL_OK on success or error Discussion Reads up to buf_size bytes from register reg and stores it in buf. On success, read_size will contain the number of bytes read from the register. senselReadSensor SENSEL_API SenselStatus WINAPI senselReadSensor( SENSEL_HANDLE handle); Parameters handle Sensel device handle Return Value SENSEL_OK on success or error Discussion Reads out and stores all pending frames from the sensor senselSetBufferControl SENSEL_API SenselStatus WINAPI senselSetBufferControl( SENSEL_HANDLE handle, unsigned char num); Parameters handle Sensel device handle num Number of buffers Return Value SENSEL_OK on success or error Discussion Sets the number of frame buffers the device should store internaly. senselSetContactsEnableBlobMerge SENSEL_API SenselStatus WINAPI senselSetContactsEnableBlobMerge( SENSEL_HANDLE handle, unsigned char val); Parameters handle Sensel device handle val 0 to disable - 1 to enable Return Value SENSEL_OK on success or error Discussion Set contact blob merging setting senselSetContactsMask SENSEL_API SenselStatus WINAPI senselSetContactsMask( SENSEL_HANDLE handle, unsigned char mask); Parameters handle Sensel device handle mask Contact information mask Return Value SENSEL_OK on success or error Discussion Sets the contact information reported by the sensor mask can be any combination of CONTACT_MASK_* Contacts returned in subsequent GetFrame calls will reflect this setting. senselSetContactsMinForce SENSEL_API SenselStatus WINAPI senselSetContactsMinForce( SENSEL_HANDLE handle, unsigned short val); Parameters handle Sensel device handle val Force value Return Value SENSEL_OK on success or error Discussion Sets the minimum force a contact needs to have to be reported senselSetDynamicBaselineEnabled(SENSEL_HANDLE, unsigned char) SENSEL_API SenselStatus WINAPI senselSetDynamicBaselineEnabled( SENSEL_HANDLE handle, unsigned char val); Parameters handle Sensel device handle val Enable/Disable flag Return Value SENSEL_OK on success or error Discussion Enables or disables dynamic baselining based on val. If dynamic baseline is disabled, the baseline does not evolve over time. senselSetFrameContent SENSEL_API SenselStatus WINAPI senselSetFrameContent( SENSEL_HANDLE handle, unsigned char content); Parameters handle Sensel device handle content Frame content mask Return Value SENSEL_OK on success or error Discussion Sets the information returned by the sensor. content can be any combination of FRAME_CONTENT_*_MASK. FrameData returned in subsequent GetFrame calls will reflect this setting. senselSetLEDBrightness SENSEL_API SenselStatus WINAPI senselSetLEDBrightness( SENSEL_HANDLE handle, unsigned char led_id, unsigned short brightness); Parameters handle Sensel device handle led_id Index of the LED to update brightness Brightness setting Return Value SENSEL_OK on success or error Discussion Update the brightness of one LED senselSetMaxFrameRate SENSEL_API SenselStatus WINAPI senselSetMaxFrameRate( SENSEL_HANDLE handle, unsigned short val); Parameters handle Sensel device handle val Max framerate Return Value SENSEL_OK on success or error Discussion Sets the maximum framerate at which the device should report senselSetScanDetail SENSEL_API SenselStatus WINAPI senselSetScanDetail( SENSEL_HANDLE handle, SenselScanDetail detail); Parameters handle Sensel device handle detail Scan detail level Return Value SENSEL_OK on success or error Discussion Set the level of scanning detail returned by the device. This setting trades precision for performance. senselSetScanMode SENSEL_API SenselStatus WINAPI senselSetScanMode( SENSEL_HANDLE handle, SenselScanMode mode); Parameters handle Sensel device handle mode Scan mode setting Return Value SENSEL_OK on success or error Discussion Sets the current scan mode. senselSoftReset SENSEL_API SenselStatus WINAPI senselSoftReset( SENSEL_HANDLE handle); Parameters handle Sensel device to reset Return Value SENSEL_OK on success or error Discussion Executes a soft reset the device referenced by handle. All registers are reset to their initial state senselStartScanning SENSEL_API SenselStatus WINAPI senselStartScanning( SENSEL_HANDLE handle); Parameters handle Sensel device handle Return Value SENSEL_OK on success or error Discussion Start sensor scanning senselStopScanning SENSEL_API SenselStatus WINAPI senselStopScanning( SENSEL_HANDLE handle); Parameters handle Sensel device handle Return Value SENSEL_OK on success or error Discussion Stop sensor scanning senselWriteReg SENSEL_API SenselStatus WINAPI senselWriteReg( SENSEL_HANDLE handle, unsigned char reg, unsigned char size, unsigned char *buf); Parameters handle Sensel device handle reg Register to write size Size of the register buf Buffer containing the data to write Return Value SENSEL_OK on success or error Discussion Writes size bytes from buf into register reg senselWriteRegVS SENSEL_API SenselStatus WINAPI senselWriteRegVS( SENSEL_HANDLE handle, unsigned char reg, unsigned int size, unsigned char *buf, unsigned int *write_size); Parameters handle Sensel device handle reg Register to write size Size of data to write from buf buf Buffer holding data to write write_size Variable to store the number of bytes actually written Return Value SENSEL_OK on success or error Discussion Write up to size bytes from buf to register reg. On success, write_size will contain the number of bytes written to the register. Typedefs SENSEL_HANDLE SenselAccelData SenselContact SenselContactState SenselDeviceID SenselDeviceList SenselFirmwareInfo SenselFrameData SenselScanDetail SenselScanMode SenselSensorInfo SenselStatus SENSEL_HANDLE typedef void *SENSEL_HANDLE; Discussion Handle to a Sensel device SenselAccelData typedef struct { int x; // X axis acceleration int y; // Y axis acceleration int z; // Z axis acceleration } SenselAccelData; Discussion Accelerometer information SenselContact typedef struct { unsigned char content_bit_mask; // Mask of what contact data is valid unsigned char id; // Contact id unsigned int state; // Contact state (enum SenselContactState) float x_pos; // X position in mm float y_pos; // Y position in mm float total_force; // Total contact force in grams float area; // Area in sensor elements // CONTACT_MASK_ELLIPSE float orientation; // Angle in degrees float major_axis; // Length of the major axis in mm float minor_axis; // Length of the minor axis in mm // CONTACT_MASK_DELTAS float delta_x; // X contact displacement in mm float delta_y; // Y contact displacement in mm float delta_force; // Force delta in grams float delta_area; // Area delta in sensor elements // CONTACT_MASK_BOUNDING_BOX float min_x; // Bounding box min X coordinate in mm float min_y; // Bounding box min Y coordinate in mm float max_x; // Bounding box max X coordinate in mm float max_y; // Bounding box max Y coordinate in mm // CONTACT_MASK_PEAK float peak_x; // X position of the peak in mm float peak_y; // Y position of the peak in mm float peak_force; // Peak force in grams } SenselContact; Discussion Structure containing all information related to a detected contact The content_bit_mask reflects which data is valid SenselContactState typedef enum { CONTACT_INVALID = 0, // Contact is invalid CONTACT_START = 1, // Contact has started CONTACT_MOVE = 2, // Contact has moved CONTACT_END = 3, // Contact has ended } SenselContactState; Discussion Describes the current state of a contact SenselDeviceID typedef struct { unsigned char idx; // ID of the sensor unsigned char serial_num[64]; // Serial number of the sensor unsigned char com_port[64]; // Com port associated with the sensor } SenselDeviceID; Discussion Sensel identifier information SenselDeviceList typedef struct { unsigned char num_devices; // Num of devices found SenselDeviceID devices[SENSEL_MAX_DEVICES]; // Sensel device ID details } SenselDeviceList; Discussion List of connected Sensel devices SenselFirmwareInfo typedef struct { unsigned char fw_protocol_version; // Sensel communication protocol supported by the device unsigned char fw_version_major; // Major version of the firmware unsigned char fw_version_minor; // Minor version of the firmware unsigned short fw_version_build; // ?? unsigned char fw_version_release; // ?? unsigned short device_id; // Sensel device type unsigned char device_revision; // Device revision } SenselFirmwareInfo; Discussion Structure containing firmware information SenselFrameData typedef struct { unsigned char content_bit_mask; // Data contents of the frame int lost_frame_count; // Number of frames dropped unsigned char n_contacts; // Number of contacts SenselContact *contacts; // Array of contacts float *force_array; // Force image buffer unsigned char *labels_array; // Labels buffer SenselAccelData *accel_data; // Accelerometer data } SenselFrameData; Discussion Container for one frame of data. Available content of the frame needs to be checked by looking at the content_bit_mask SenselScanDetail typedef enum { SCAN_DETAIL_HIGH = 0, // Scan at full resolution SCAN_DETAIL_MEDIUM = 1, // Scan at half resolution SCAN_DETAIL_LOW = 2, // Scan at quarter resolution SCAN_DETAIL_UNKNOWN = 3, } SenselScanDetail; Discussion Describes the current state of a contact SenselScanMode typedef enum { SCAN_MODE_DISABLE, SCAN_MODE_SYNC, SCAN_MODE_ASYNC, } SenselScanMode; Discussion Device scan reporting mode SenselSensorInfo typedef struct { unsigned char max_contacts; // Maximum number of contacts the sensor supports unsigned short num_rows; // Total number of rows unsigned short num_cols; // Total number of columns float width; // Width of the sensor in millimeters float height; // Height of the sensor in millimeters } SenselSensorInfo; Discussion Structure containing sensor information SenselStatus typedef enum { SENSEL_OK = 0, // Call was successful SENSEL_ERROR = -1, // Call returned an error } SenselStatus; Discussion Status returned by API calls   Last Updated: Thursday, April 13, 2017