drivers/media/usb/gspca/kinect.c

   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");