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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 | ||
23 | #define pr_fmt(fmt) KBUILD_MODNAME ": " fmt | |
24 | ||
25 | #define MODULE_NAME "kinect" | |
26 | ||
27 | #include "gspca.h" | |
28 | ||
29 | #define CTRL_TIMEOUT 500 | |
30 | ||
31 | MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>"); | |
32 | MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver"); | |
33 | MODULE_LICENSE("GPL"); | |
34 | ||
35 | static bool depth_mode; | |
36 | ||
37 | struct pkt_hdr { | |
38 | uint8_t magic[2]; | |
39 | uint8_t pad; | |
40 | uint8_t flag; | |
41 | uint8_t unk1; | |
42 | uint8_t seq; | |
43 | uint8_t unk2; | |
44 | uint8_t unk3; | |
45 | uint32_t timestamp; | |
46 | }; | |
47 | ||
48 | struct cam_hdr { | |
49 | uint8_t magic[2]; | |
50 | __le16 len; | |
51 | __le16 cmd; | |
52 | __le16 tag; | |
53 | }; | |
54 | ||
55 | /* specific webcam descriptor */ | |
56 | struct sd { | |
57 | struct gspca_dev gspca_dev; /* !! must be the first item */ | |
58 | uint16_t cam_tag; /* a sequence number for packets */ | |
59 | uint8_t stream_flag; /* to identify different stream types */ | |
60 | uint8_t obuf[0x400]; /* output buffer for control commands */ | |
61 | uint8_t ibuf[0x200]; /* input buffer for control commands */ | |
62 | }; | |
63 | ||
64 | #define MODE_640x480 0x0001 | |
65 | #define MODE_640x488 0x0002 | |
66 | #define MODE_1280x1024 0x0004 | |
67 | ||
68 | #define FORMAT_BAYER 0x0010 | |
69 | #define FORMAT_UYVY 0x0020 | |
70 | #define FORMAT_Y10B 0x0040 | |
71 | ||
72 | #define FPS_HIGH 0x0100 | |
73 | ||
74 | static const struct v4l2_pix_format depth_camera_mode[] = { | |
75 | {640, 480, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, | |
76 | .bytesperline = 640 * 10 / 8, | |
77 | .sizeimage = 640 * 480 * 10 / 8, | |
78 | .colorspace = V4L2_COLORSPACE_SRGB, | |
79 | .priv = MODE_640x488 | FORMAT_Y10B}, | |
80 | }; | |
81 | ||
82 | static const struct v4l2_pix_format video_camera_mode[] = { | |
83 | {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE, | |
84 | .bytesperline = 640, | |
85 | .sizeimage = 640 * 480, | |
86 | .colorspace = V4L2_COLORSPACE_SRGB, | |
87 | .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH}, | |
88 | {640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE, | |
89 | .bytesperline = 640 * 2, | |
90 | .sizeimage = 640 * 480 * 2, | |
91 | .colorspace = V4L2_COLORSPACE_SRGB, | |
92 | .priv = MODE_640x480 | FORMAT_UYVY}, | |
93 | {1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE, | |
94 | .bytesperline = 1280, | |
95 | .sizeimage = 1280 * 1024, | |
96 | .colorspace = V4L2_COLORSPACE_SRGB, | |
97 | .priv = MODE_1280x1024 | FORMAT_BAYER}, | |
98 | {640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, | |
99 | .bytesperline = 640 * 10 / 8, | |
100 | .sizeimage = 640 * 488 * 10 / 8, | |
101 | .colorspace = V4L2_COLORSPACE_SRGB, | |
102 | .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH}, | |
103 | {1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, | |
104 | .bytesperline = 1280 * 10 / 8, | |
105 | .sizeimage = 1280 * 1024 * 10 / 8, | |
106 | .colorspace = V4L2_COLORSPACE_SRGB, | |
107 | .priv = MODE_1280x1024 | FORMAT_Y10B}, | |
108 | }; | |
109 | ||
110 | static int kinect_write(struct usb_device *udev, uint8_t *data, | |
111 | uint16_t wLength) | |
112 | { | |
113 | return usb_control_msg(udev, | |
114 | usb_sndctrlpipe(udev, 0), | |
115 | 0x00, | |
116 | USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE, | |
117 | 0, 0, data, wLength, CTRL_TIMEOUT); | |
118 | } | |
119 | ||
120 | static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength) | |
121 | { | |
122 | return usb_control_msg(udev, | |
123 | usb_rcvctrlpipe(udev, 0), | |
124 | 0x00, | |
125 | USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE, | |
126 | 0, 0, data, wLength, CTRL_TIMEOUT); | |
127 | } | |
128 | ||
129 | static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf, | |
130 | unsigned int cmd_len, void *replybuf, unsigned int reply_len) | |
131 | { | |
132 | struct sd *sd = (struct sd *) gspca_dev; | |
133 | struct usb_device *udev = gspca_dev->dev; | |
134 | int res, actual_len; | |
135 | uint8_t *obuf = sd->obuf; | |
136 | uint8_t *ibuf = sd->ibuf; | |
137 | struct cam_hdr *chdr = (void *)obuf; | |
138 | struct cam_hdr *rhdr = (void *)ibuf; | |
139 | ||
140 | if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) { | |
141 | pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len); | |
142 | return -1; | |
143 | } | |
144 | ||
145 | chdr->magic[0] = 0x47; | |
146 | chdr->magic[1] = 0x4d; | |
147 | chdr->cmd = cpu_to_le16(cmd); | |
148 | chdr->tag = cpu_to_le16(sd->cam_tag); | |
149 | chdr->len = cpu_to_le16(cmd_len / 2); | |
150 | ||
151 | memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len); | |
152 | ||
153 | res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr)); | |
154 | PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd, | |
155 | sd->cam_tag, cmd_len, res); | |
156 | if (res < 0) { | |
157 | pr_err("send_cmd: Output control transfer failed (%d)\n", res); | |
158 | return res; | |
159 | } | |
160 | ||
161 | do { | |
162 | actual_len = kinect_read(udev, ibuf, 0x200); | |
163 | } while (actual_len == 0); | |
164 | PDEBUG(D_USBO, "Control reply: %d", actual_len); | |
165 | if (actual_len < sizeof(*rhdr)) { | |
166 | pr_err("send_cmd: Input control transfer failed (%d)\n", | |
167 | actual_len); | |
168 | return actual_len < 0 ? actual_len : -EREMOTEIO; | |
169 | } | |
170 | actual_len -= sizeof(*rhdr); | |
171 | ||
172 | if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) { | |
173 | pr_err("send_cmd: Bad magic %02x %02x\n", | |
174 | rhdr->magic[0], rhdr->magic[1]); | |
175 | return -1; | |
176 | } | |
177 | if (rhdr->cmd != chdr->cmd) { | |
178 | pr_err("send_cmd: Bad cmd %02x != %02x\n", | |
179 | rhdr->cmd, chdr->cmd); | |
180 | return -1; | |
181 | } | |
182 | if (rhdr->tag != chdr->tag) { | |
183 | pr_err("send_cmd: Bad tag %04x != %04x\n", | |
184 | rhdr->tag, chdr->tag); | |
185 | return -1; | |
186 | } | |
187 | if (le16_to_cpu(rhdr->len) != (actual_len/2)) { | |
188 | pr_err("send_cmd: Bad len %04x != %04x\n", | |
189 | le16_to_cpu(rhdr->len), (int)(actual_len/2)); | |
190 | return -1; | |
191 | } | |
192 | ||
193 | if (actual_len > reply_len) { | |
194 | pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n", | |
195 | reply_len, actual_len); | |
196 | memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len); | |
197 | } else { | |
198 | memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len); | |
199 | } | |
200 | ||
201 | sd->cam_tag++; | |
202 | ||
203 | return actual_len; | |
204 | } | |
205 | ||
206 | static int write_register(struct gspca_dev *gspca_dev, uint16_t reg, | |
207 | uint16_t data) | |
208 | { | |
209 | uint16_t reply[2]; | |
210 | __le16 cmd[2]; | |
211 | int res; | |
212 | ||
213 | cmd[0] = cpu_to_le16(reg); | |
214 | cmd[1] = cpu_to_le16(data); | |
215 | ||
216 | PDEBUG(D_USBO, "Write Reg 0x%04x <= 0x%02x", reg, data); | |
217 | res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4); | |
218 | if (res < 0) | |
219 | return res; | |
220 | if (res != 2) { | |
221 | pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n", | |
222 | res, reply[0], reply[1]); | |
223 | } | |
224 | return 0; | |
225 | } | |
226 | ||
227 | /* this function is called at probe time */ | |
228 | static int sd_config_video(struct gspca_dev *gspca_dev, | |
229 | const struct usb_device_id *id) | |
230 | { | |
231 | struct sd *sd = (struct sd *) gspca_dev; | |
232 | struct cam *cam; | |
233 | ||
234 | sd->cam_tag = 0; | |
235 | ||
236 | sd->stream_flag = 0x80; | |
237 | ||
238 | cam = &gspca_dev->cam; | |
239 | ||
240 | cam->cam_mode = video_camera_mode; | |
241 | cam->nmodes = ARRAY_SIZE(video_camera_mode); | |
242 | ||
243 | gspca_dev->xfer_ep = 0x81; | |
244 | ||
245 | #if 0 | |
246 | /* Setting those values is not needed for video stream */ | |
247 | cam->npkt = 15; | |
248 | gspca_dev->pkt_size = 960 * 2; | |
249 | #endif | |
250 | ||
251 | return 0; | |
252 | } | |
253 | ||
254 | static int sd_config_depth(struct gspca_dev *gspca_dev, | |
255 | const struct usb_device_id *id) | |
256 | { | |
257 | struct sd *sd = (struct sd *) gspca_dev; | |
258 | struct cam *cam; | |
259 | ||
260 | sd->cam_tag = 0; | |
261 | ||
262 | sd->stream_flag = 0x70; | |
263 | ||
264 | cam = &gspca_dev->cam; | |
265 | ||
266 | cam->cam_mode = depth_camera_mode; | |
267 | cam->nmodes = ARRAY_SIZE(depth_camera_mode); | |
268 | ||
269 | gspca_dev->xfer_ep = 0x82; | |
270 | ||
271 | return 0; | |
272 | } | |
273 | ||
274 | /* this function is called at probe and resume time */ | |
275 | static int sd_init(struct gspca_dev *gspca_dev) | |
276 | { | |
277 | PDEBUG(D_PROBE, "Kinect Camera device."); | |
278 | ||
279 | return 0; | |
280 | } | |
281 | ||
282 | static int sd_start_video(struct gspca_dev *gspca_dev) | |
283 | { | |
284 | int mode; | |
285 | uint8_t fmt_reg, fmt_val; | |
286 | uint8_t res_reg, res_val; | |
287 | uint8_t fps_reg, fps_val; | |
288 | uint8_t mode_val; | |
289 | ||
290 | mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv; | |
291 | ||
292 | if (mode & FORMAT_Y10B) { | |
293 | fmt_reg = 0x19; | |
294 | res_reg = 0x1a; | |
295 | fps_reg = 0x1b; | |
296 | mode_val = 0x03; | |
297 | } else { | |
298 | fmt_reg = 0x0c; | |
299 | res_reg = 0x0d; | |
300 | fps_reg = 0x0e; | |
301 | mode_val = 0x01; | |
302 | } | |
303 | ||
304 | /* format */ | |
305 | if (mode & FORMAT_UYVY) | |
306 | fmt_val = 0x05; | |
307 | else | |
308 | fmt_val = 0x00; | |
309 | ||
310 | if (mode & MODE_1280x1024) | |
311 | res_val = 0x02; | |
312 | else | |
313 | res_val = 0x01; | |
314 | ||
315 | if (mode & FPS_HIGH) | |
316 | fps_val = 0x1e; | |
317 | else | |
318 | fps_val = 0x0f; | |
319 | ||
320 | ||
321 | /* turn off IR-reset function */ | |
322 | write_register(gspca_dev, 0x105, 0x00); | |
323 | ||
324 | /* Reset video stream */ | |
325 | write_register(gspca_dev, 0x05, 0x00); | |
326 | ||
327 | /* Due to some ridiculous condition in the firmware, we have to start | |
328 | * and stop the depth stream before the camera will hand us 1280x1024 | |
329 | * IR. This is a stupid workaround, but we've yet to find a better | |
330 | * solution. | |
331 | * | |
332 | * Thanks to Drew Fisher for figuring this out. | |
333 | */ | |
334 | if (mode & (FORMAT_Y10B | MODE_1280x1024)) { | |
335 | write_register(gspca_dev, 0x13, 0x01); | |
336 | write_register(gspca_dev, 0x14, 0x1e); | |
337 | write_register(gspca_dev, 0x06, 0x02); | |
338 | write_register(gspca_dev, 0x06, 0x00); | |
339 | } | |
340 | ||
341 | write_register(gspca_dev, fmt_reg, fmt_val); | |
342 | write_register(gspca_dev, res_reg, res_val); | |
343 | write_register(gspca_dev, fps_reg, fps_val); | |
344 | ||
345 | /* Start video stream */ | |
346 | write_register(gspca_dev, 0x05, mode_val); | |
347 | ||
348 | /* disable Hflip */ | |
349 | write_register(gspca_dev, 0x47, 0x00); | |
350 | ||
351 | return 0; | |
352 | } | |
353 | ||
354 | static int sd_start_depth(struct gspca_dev *gspca_dev) | |
355 | { | |
356 | /* turn off IR-reset function */ | |
357 | write_register(gspca_dev, 0x105, 0x00); | |
358 | ||
359 | /* reset depth stream */ | |
360 | write_register(gspca_dev, 0x06, 0x00); | |
361 | /* Depth Stream Format 0x03: 11 bit stream | 0x02: 10 bit */ | |
362 | write_register(gspca_dev, 0x12, 0x02); | |
363 | /* Depth Stream Resolution 1: standard (640x480) */ | |
364 | write_register(gspca_dev, 0x13, 0x01); | |
365 | /* Depth Framerate / 0x1e (30): 30 fps */ | |
366 | write_register(gspca_dev, 0x14, 0x1e); | |
367 | /* Depth Stream Control / 2: Open Depth Stream */ | |
368 | write_register(gspca_dev, 0x06, 0x02); | |
369 | /* disable depth hflip / LSB = 0: Smoothing Disabled */ | |
370 | write_register(gspca_dev, 0x17, 0x00); | |
371 | ||
372 | return 0; | |
373 | } | |
374 | ||
375 | static void sd_stopN_video(struct gspca_dev *gspca_dev) | |
376 | { | |
377 | /* reset video stream */ | |
378 | write_register(gspca_dev, 0x05, 0x00); | |
379 | } | |
380 | ||
381 | static void sd_stopN_depth(struct gspca_dev *gspca_dev) | |
382 | { | |
383 | /* reset depth stream */ | |
384 | write_register(gspca_dev, 0x06, 0x00); | |
385 | } | |
386 | ||
387 | static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len) | |
388 | { | |
389 | struct sd *sd = (struct sd *) gspca_dev; | |
390 | ||
391 | struct pkt_hdr *hdr = (void *)__data; | |
392 | uint8_t *data = __data + sizeof(*hdr); | |
393 | int datalen = len - sizeof(*hdr); | |
394 | ||
395 | uint8_t sof = sd->stream_flag | 1; | |
396 | uint8_t mof = sd->stream_flag | 2; | |
397 | uint8_t eof = sd->stream_flag | 5; | |
398 | ||
399 | if (len < 12) | |
400 | return; | |
401 | ||
402 | if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') { | |
403 | pr_warn("[Stream %02x] Invalid magic %02x%02x\n", | |
404 | sd->stream_flag, hdr->magic[0], hdr->magic[1]); | |
405 | return; | |
406 | } | |
407 | ||
408 | if (hdr->flag == sof) | |
409 | gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen); | |
410 | ||
411 | else if (hdr->flag == mof) | |
412 | gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen); | |
413 | ||
414 | else if (hdr->flag == eof) | |
415 | gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen); | |
416 | ||
417 | else | |
418 | pr_warn("Packet type not recognized...\n"); | |
419 | } | |
420 | ||
421 | /* sub-driver description */ | |
422 | static const struct sd_desc sd_desc_video = { | |
423 | .name = MODULE_NAME, | |
424 | .config = sd_config_video, | |
425 | .init = sd_init, | |
426 | .start = sd_start_video, | |
427 | .stopN = sd_stopN_video, | |
428 | .pkt_scan = sd_pkt_scan, | |
429 | /* | |
430 | .get_streamparm = sd_get_streamparm, | |
431 | .set_streamparm = sd_set_streamparm, | |
432 | */ | |
433 | }; | |
434 | static const struct sd_desc sd_desc_depth = { | |
435 | .name = MODULE_NAME, | |
436 | .config = sd_config_depth, | |
437 | .init = sd_init, | |
438 | .start = sd_start_depth, | |
439 | .stopN = sd_stopN_depth, | |
440 | .pkt_scan = sd_pkt_scan, | |
441 | /* | |
442 | .get_streamparm = sd_get_streamparm, | |
443 | .set_streamparm = sd_set_streamparm, | |
444 | */ | |
445 | }; | |
446 | ||
447 | /* -- module initialisation -- */ | |
448 | static const struct usb_device_id device_table[] = { | |
449 | {USB_DEVICE(0x045e, 0x02ae)}, | |
450 | {USB_DEVICE(0x045e, 0x02bf)}, | |
451 | {} | |
452 | }; | |
453 | ||
454 | MODULE_DEVICE_TABLE(usb, device_table); | |
455 | ||
456 | /* -- device connect -- */ | |
457 | static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id) | |
458 | { | |
459 | if (depth_mode) | |
460 | return gspca_dev_probe(intf, id, &sd_desc_depth, | |
461 | sizeof(struct sd), THIS_MODULE); | |
462 | else | |
463 | return gspca_dev_probe(intf, id, &sd_desc_video, | |
464 | sizeof(struct sd), THIS_MODULE); | |
465 | } | |
466 | ||
467 | static struct usb_driver sd_driver = { | |
468 | .name = MODULE_NAME, | |
469 | .id_table = device_table, | |
470 | .probe = sd_probe, | |
471 | .disconnect = gspca_disconnect, | |
472 | #ifdef CONFIG_PM | |
473 | .suspend = gspca_suspend, | |
474 | .resume = gspca_resume, | |
475 | .reset_resume = gspca_resume, | |
476 | #endif | |
477 | }; | |
478 | ||
479 | module_usb_driver(sd_driver); | |
480 | ||
481 | module_param(depth_mode, bool, 0644); | |
482 | MODULE_PARM_DESC(depth_mode, "0=video 1=depth"); |