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6612155a AO |
1 | /* |
2 | * kinect sensor device camera, gspca driver | |
3 | * | |
4 | * Copyright (C) 2011 Antonio Ospite <ospite@studenti.unina.it> | |
5 | * | |
6 | * Based on the OpenKinect project and libfreenect | |
7 | * http://openkinect.org/wiki/Init_Analysis | |
8 | * | |
9 | * Special thanks to Steven Toth and kernellabs.com for sponsoring a Kinect | |
10 | * sensor device which I tested the driver on. | |
11 | * | |
12 | * This program is free software; you can redistribute it and/or modify | |
13 | * it under the terms of the GNU General Public License as published by | |
14 | * the Free Software Foundation; either version 2 of the License, or | |
15 | * any later version. | |
16 | * | |
17 | * This program is distributed in the hope that it will be useful, | |
18 | * but WITHOUT ANY WARRANTY; without even the implied warranty of | |
19 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | |
20 | * GNU General Public License for more details. | |
21 | * | |
22 | * You should have received a copy of the GNU General Public License | |
23 | * along with this program; if not, write to the Free Software | |
24 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA | |
25 | */ | |
26 | ||
133a9fe9 JP |
27 | #define pr_fmt(fmt) KBUILD_MODNAME ": " fmt |
28 | ||
6612155a AO |
29 | #define MODULE_NAME "kinect" |
30 | ||
31 | #include "gspca.h" | |
32 | ||
33 | #define CTRL_TIMEOUT 500 | |
34 | ||
35 | MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>"); | |
36 | MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver"); | |
37 | MODULE_LICENSE("GPL"); | |
38 | ||
6612155a AO |
39 | struct pkt_hdr { |
40 | uint8_t magic[2]; | |
41 | uint8_t pad; | |
42 | uint8_t flag; | |
43 | uint8_t unk1; | |
44 | uint8_t seq; | |
45 | uint8_t unk2; | |
46 | uint8_t unk3; | |
47 | uint32_t timestamp; | |
48 | }; | |
49 | ||
50 | struct cam_hdr { | |
51 | uint8_t magic[2]; | |
52 | uint16_t len; | |
53 | uint16_t cmd; | |
54 | uint16_t tag; | |
55 | }; | |
56 | ||
57 | /* specific webcam descriptor */ | |
58 | struct sd { | |
59 | struct gspca_dev gspca_dev; /* !! must be the first item */ | |
60 | uint16_t cam_tag; /* a sequence number for packets */ | |
3fabe8f4 | 61 | uint8_t stream_flag; /* to identify different stream types */ |
bb066467 DF |
62 | uint8_t obuf[0x400]; /* output buffer for control commands */ |
63 | uint8_t ibuf[0x200]; /* input buffer for control commands */ | |
6612155a AO |
64 | }; |
65 | ||
6612155a AO |
66 | #define MODE_640x480 0x0001 |
67 | #define MODE_640x488 0x0002 | |
68 | #define MODE_1280x1024 0x0004 | |
69 | ||
70 | #define FORMAT_BAYER 0x0010 | |
71 | #define FORMAT_UYVY 0x0020 | |
72 | #define FORMAT_Y10B 0x0040 | |
73 | ||
74 | #define FPS_HIGH 0x0100 | |
75 | ||
76 | static const struct v4l2_pix_format video_camera_mode[] = { | |
77 | {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE, | |
78 | .bytesperline = 640, | |
79 | .sizeimage = 640 * 480, | |
80 | .colorspace = V4L2_COLORSPACE_SRGB, | |
81 | .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH}, | |
82 | {640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE, | |
83 | .bytesperline = 640 * 2, | |
84 | .sizeimage = 640 * 480 * 2, | |
85 | .colorspace = V4L2_COLORSPACE_SRGB, | |
86 | .priv = MODE_640x480 | FORMAT_UYVY}, | |
87 | {1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE, | |
88 | .bytesperline = 1280, | |
89 | .sizeimage = 1280 * 1024, | |
90 | .colorspace = V4L2_COLORSPACE_SRGB, | |
91 | .priv = MODE_1280x1024 | FORMAT_BAYER}, | |
92 | {640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, | |
93 | .bytesperline = 640 * 10 / 8, | |
94 | .sizeimage = 640 * 488 * 10 / 8, | |
95 | .colorspace = V4L2_COLORSPACE_SRGB, | |
96 | .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH}, | |
97 | {1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, | |
98 | .bytesperline = 1280 * 10 / 8, | |
99 | .sizeimage = 1280 * 1024 * 10 / 8, | |
100 | .colorspace = V4L2_COLORSPACE_SRGB, | |
101 | .priv = MODE_1280x1024 | FORMAT_Y10B}, | |
102 | }; | |
103 | ||
104 | static int kinect_write(struct usb_device *udev, uint8_t *data, | |
105 | uint16_t wLength) | |
106 | { | |
107 | return usb_control_msg(udev, | |
108 | usb_sndctrlpipe(udev, 0), | |
109 | 0x00, | |
110 | USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE, | |
111 | 0, 0, data, wLength, CTRL_TIMEOUT); | |
112 | } | |
113 | ||
114 | static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength) | |
115 | { | |
116 | return usb_control_msg(udev, | |
117 | usb_rcvctrlpipe(udev, 0), | |
118 | 0x00, | |
119 | USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE, | |
120 | 0, 0, data, wLength, CTRL_TIMEOUT); | |
121 | } | |
122 | ||
123 | static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf, | |
124 | unsigned int cmd_len, void *replybuf, unsigned int reply_len) | |
125 | { | |
126 | struct sd *sd = (struct sd *) gspca_dev; | |
127 | struct usb_device *udev = gspca_dev->dev; | |
128 | int res, actual_len; | |
bb066467 DF |
129 | uint8_t *obuf = sd->obuf; |
130 | uint8_t *ibuf = sd->ibuf; | |
6612155a AO |
131 | struct cam_hdr *chdr = (void *)obuf; |
132 | struct cam_hdr *rhdr = (void *)ibuf; | |
133 | ||
134 | if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) { | |
133a9fe9 | 135 | pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len); |
6612155a AO |
136 | return -1; |
137 | } | |
138 | ||
139 | chdr->magic[0] = 0x47; | |
140 | chdr->magic[1] = 0x4d; | |
141 | chdr->cmd = cpu_to_le16(cmd); | |
142 | chdr->tag = cpu_to_le16(sd->cam_tag); | |
143 | chdr->len = cpu_to_le16(cmd_len / 2); | |
144 | ||
145 | memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len); | |
146 | ||
147 | res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr)); | |
148 | PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd, | |
149 | sd->cam_tag, cmd_len, res); | |
150 | if (res < 0) { | |
133a9fe9 | 151 | pr_err("send_cmd: Output control transfer failed (%d)\n", res); |
6612155a AO |
152 | return res; |
153 | } | |
154 | ||
155 | do { | |
156 | actual_len = kinect_read(udev, ibuf, 0x200); | |
157 | } while (actual_len == 0); | |
158 | PDEBUG(D_USBO, "Control reply: %d", res); | |
159 | if (actual_len < sizeof(*rhdr)) { | |
133a9fe9 | 160 | pr_err("send_cmd: Input control transfer failed (%d)\n", res); |
6612155a AO |
161 | return res; |
162 | } | |
163 | actual_len -= sizeof(*rhdr); | |
164 | ||
165 | if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) { | |
133a9fe9 JP |
166 | pr_err("send_cmd: Bad magic %02x %02x\n", |
167 | rhdr->magic[0], rhdr->magic[1]); | |
6612155a AO |
168 | return -1; |
169 | } | |
170 | if (rhdr->cmd != chdr->cmd) { | |
133a9fe9 JP |
171 | pr_err("send_cmd: Bad cmd %02x != %02x\n", |
172 | rhdr->cmd, chdr->cmd); | |
6612155a AO |
173 | return -1; |
174 | } | |
175 | if (rhdr->tag != chdr->tag) { | |
133a9fe9 JP |
176 | pr_err("send_cmd: Bad tag %04x != %04x\n", |
177 | rhdr->tag, chdr->tag); | |
6612155a AO |
178 | return -1; |
179 | } | |
180 | if (cpu_to_le16(rhdr->len) != (actual_len/2)) { | |
133a9fe9 JP |
181 | pr_err("send_cmd: Bad len %04x != %04x\n", |
182 | cpu_to_le16(rhdr->len), (int)(actual_len/2)); | |
6612155a AO |
183 | return -1; |
184 | } | |
185 | ||
186 | if (actual_len > reply_len) { | |
133a9fe9 JP |
187 | pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n", |
188 | reply_len, actual_len); | |
6612155a AO |
189 | memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len); |
190 | } else { | |
191 | memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len); | |
192 | } | |
193 | ||
194 | sd->cam_tag++; | |
195 | ||
196 | return actual_len; | |
197 | } | |
198 | ||
199 | static int write_register(struct gspca_dev *gspca_dev, uint16_t reg, | |
200 | uint16_t data) | |
201 | { | |
202 | uint16_t reply[2]; | |
203 | uint16_t cmd[2]; | |
204 | int res; | |
205 | ||
206 | cmd[0] = cpu_to_le16(reg); | |
207 | cmd[1] = cpu_to_le16(data); | |
208 | ||
209 | PDEBUG(D_USBO, "Write Reg 0x%04x <= 0x%02x", reg, data); | |
210 | res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4); | |
211 | if (res < 0) | |
212 | return res; | |
213 | if (res != 2) { | |
133a9fe9 JP |
214 | pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n", |
215 | res, reply[0], reply[1]); | |
6612155a AO |
216 | } |
217 | return 0; | |
218 | } | |
219 | ||
220 | /* this function is called at probe time */ | |
221 | static int sd_config(struct gspca_dev *gspca_dev, | |
222 | const struct usb_device_id *id) | |
223 | { | |
224 | struct sd *sd = (struct sd *) gspca_dev; | |
225 | struct cam *cam; | |
226 | ||
227 | sd->cam_tag = 0; | |
228 | ||
f1703aa6 | 229 | /* Only video stream is supported for now, |
6612155a AO |
230 | * which has stream flag = 0x80 */ |
231 | sd->stream_flag = 0x80; | |
232 | ||
233 | cam = &gspca_dev->cam; | |
234 | ||
235 | cam->cam_mode = video_camera_mode; | |
236 | cam->nmodes = ARRAY_SIZE(video_camera_mode); | |
237 | ||
238 | #if 0 | |
f1703aa6 | 239 | /* Setting those values is not needed for video stream */ |
6612155a AO |
240 | cam->npkt = 15; |
241 | gspca_dev->pkt_size = 960 * 2; | |
242 | #endif | |
243 | ||
244 | return 0; | |
245 | } | |
246 | ||
247 | /* this function is called at probe and resume time */ | |
248 | static int sd_init(struct gspca_dev *gspca_dev) | |
249 | { | |
250 | PDEBUG(D_PROBE, "Kinect Camera device."); | |
251 | ||
252 | return 0; | |
253 | } | |
254 | ||
255 | static int sd_start(struct gspca_dev *gspca_dev) | |
256 | { | |
257 | int mode; | |
258 | uint8_t fmt_reg, fmt_val; | |
259 | uint8_t res_reg, res_val; | |
260 | uint8_t fps_reg, fps_val; | |
261 | uint8_t mode_val; | |
262 | ||
263 | mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv; | |
264 | ||
265 | if (mode & FORMAT_Y10B) { | |
266 | fmt_reg = 0x19; | |
267 | res_reg = 0x1a; | |
268 | fps_reg = 0x1b; | |
269 | mode_val = 0x03; | |
270 | } else { | |
271 | fmt_reg = 0x0c; | |
272 | res_reg = 0x0d; | |
273 | fps_reg = 0x0e; | |
274 | mode_val = 0x01; | |
275 | } | |
276 | ||
277 | /* format */ | |
278 | if (mode & FORMAT_UYVY) | |
279 | fmt_val = 0x05; | |
280 | else | |
281 | fmt_val = 0x00; | |
282 | ||
283 | if (mode & MODE_1280x1024) | |
284 | res_val = 0x02; | |
285 | else | |
286 | res_val = 0x01; | |
287 | ||
288 | if (mode & FPS_HIGH) | |
289 | fps_val = 0x1e; | |
290 | else | |
291 | fps_val = 0x0f; | |
292 | ||
293 | ||
294 | /* turn off IR-reset function */ | |
295 | write_register(gspca_dev, 0x105, 0x00); | |
296 | ||
297 | /* Reset video stream */ | |
298 | write_register(gspca_dev, 0x05, 0x00); | |
299 | ||
300 | /* Due to some ridiculous condition in the firmware, we have to start | |
301 | * and stop the depth stream before the camera will hand us 1280x1024 | |
302 | * IR. This is a stupid workaround, but we've yet to find a better | |
303 | * solution. | |
304 | * | |
305 | * Thanks to Drew Fisher for figuring this out. | |
306 | */ | |
307 | if (mode & (FORMAT_Y10B | MODE_1280x1024)) { | |
308 | write_register(gspca_dev, 0x13, 0x01); | |
309 | write_register(gspca_dev, 0x14, 0x1e); | |
310 | write_register(gspca_dev, 0x06, 0x02); | |
311 | write_register(gspca_dev, 0x06, 0x00); | |
312 | } | |
313 | ||
314 | write_register(gspca_dev, fmt_reg, fmt_val); | |
315 | write_register(gspca_dev, res_reg, res_val); | |
316 | write_register(gspca_dev, fps_reg, fps_val); | |
317 | ||
318 | /* Start video stream */ | |
319 | write_register(gspca_dev, 0x05, mode_val); | |
320 | ||
321 | /* disable Hflip */ | |
322 | write_register(gspca_dev, 0x47, 0x00); | |
323 | ||
324 | return 0; | |
325 | } | |
326 | ||
327 | static void sd_stopN(struct gspca_dev *gspca_dev) | |
328 | { | |
329 | /* reset video stream */ | |
330 | write_register(gspca_dev, 0x05, 0x00); | |
331 | } | |
332 | ||
333 | static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len) | |
334 | { | |
335 | struct sd *sd = (struct sd *) gspca_dev; | |
336 | ||
337 | struct pkt_hdr *hdr = (void *)__data; | |
338 | uint8_t *data = __data + sizeof(*hdr); | |
339 | int datalen = len - sizeof(*hdr); | |
340 | ||
341 | uint8_t sof = sd->stream_flag | 1; | |
342 | uint8_t mof = sd->stream_flag | 2; | |
343 | uint8_t eof = sd->stream_flag | 5; | |
344 | ||
345 | if (len < 12) | |
346 | return; | |
347 | ||
348 | if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') { | |
133a9fe9 JP |
349 | pr_warn("[Stream %02x] Invalid magic %02x%02x\n", |
350 | sd->stream_flag, hdr->magic[0], hdr->magic[1]); | |
6612155a AO |
351 | return; |
352 | } | |
353 | ||
354 | if (hdr->flag == sof) | |
355 | gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen); | |
356 | ||
357 | else if (hdr->flag == mof) | |
358 | gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen); | |
359 | ||
360 | else if (hdr->flag == eof) | |
361 | gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen); | |
362 | ||
363 | else | |
133a9fe9 | 364 | pr_warn("Packet type not recognized...\n"); |
6612155a AO |
365 | } |
366 | ||
367 | /* sub-driver description */ | |
368 | static const struct sd_desc sd_desc = { | |
369 | .name = MODULE_NAME, | |
6612155a AO |
370 | .config = sd_config, |
371 | .init = sd_init, | |
372 | .start = sd_start, | |
373 | .stopN = sd_stopN, | |
374 | .pkt_scan = sd_pkt_scan, | |
375 | /* | |
6612155a AO |
376 | .get_streamparm = sd_get_streamparm, |
377 | .set_streamparm = sd_set_streamparm, | |
378 | */ | |
379 | }; | |
380 | ||
381 | /* -- module initialisation -- */ | |
f7242d30 | 382 | static const struct usb_device_id device_table[] = { |
6612155a AO |
383 | {USB_DEVICE(0x045e, 0x02ae)}, |
384 | {} | |
385 | }; | |
386 | ||
387 | MODULE_DEVICE_TABLE(usb, device_table); | |
388 | ||
389 | /* -- device connect -- */ | |
390 | static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id) | |
391 | { | |
392 | return gspca_dev_probe(intf, id, &sd_desc, sizeof(struct sd), | |
393 | THIS_MODULE); | |
394 | } | |
395 | ||
396 | static struct usb_driver sd_driver = { | |
397 | .name = MODULE_NAME, | |
398 | .id_table = device_table, | |
399 | .probe = sd_probe, | |
400 | .disconnect = gspca_disconnect, | |
401 | #ifdef CONFIG_PM | |
402 | .suspend = gspca_suspend, | |
403 | .resume = gspca_resume, | |
8bb58964 | 404 | .reset_resume = gspca_resume, |
6612155a AO |
405 | #endif |
406 | }; | |
407 | ||
ecb3b2b3 | 408 | module_usb_driver(sd_driver); |