drivers/media/video/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  * 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
  27 #define pr_fmt(fmt) KBUILD_MODNAME ": " fmt
  28
  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
  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 */
  61         uint8_t stream_flag;        /* to identify different stream types */
  62         uint8_t obuf[0x400];        /* output buffer for control commands */
  63         uint8_t ibuf[0x200];        /* input buffer for control commands */
  64 };
  65
  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;
 129         uint8_t *obuf = sd->obuf;
 130         uint8_t *ibuf = sd->ibuf;
 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))) {
 135                 pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len);
 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) {
 151                 pr_err("send_cmd: Output control transfer failed (%d)\n", res);
 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)) {
 160                 pr_err("send_cmd: Input control transfer failed (%d)\n", res);
 161                 return res;
 162         }
 163         actual_len -= sizeof(*rhdr);
 164
 165         if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
 166                 pr_err("send_cmd: Bad magic %02x %02x\n",
 167                        rhdr->magic[0], rhdr->magic[1]);
 168                 return -1;
 169         }
 170         if (rhdr->cmd != chdr->cmd) {
 171                 pr_err("send_cmd: Bad cmd %02x != %02x\n",
 172                        rhdr->cmd, chdr->cmd);
 173                 return -1;
 174         }
 175         if (rhdr->tag != chdr->tag) {
 176                 pr_err("send_cmd: Bad tag %04x != %04x\n",
 177                        rhdr->tag, chdr->tag);
 178                 return -1;
 179         }
 180         if (cpu_to_le16(rhdr->len) != (actual_len/2)) {
 181                 pr_err("send_cmd: Bad len %04x != %04x\n",
 182                        cpu_to_le16(rhdr->len), (int)(actual_len/2));
 183                 return -1;
 184         }
 185
 186         if (actual_len > reply_len) {
 187                 pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n",
 188                         reply_len, actual_len);
 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) {
 214                 pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n",
 215                         res, reply[0], reply[1]);
 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
 229         /* Only video stream is supported for now,
 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
 239         /* Setting those values is not needed for video stream */
 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') {
 349                 pr_warn("[Stream %02x] Invalid magic %02x%02x\n",
 350                         sd->stream_flag, hdr->magic[0], hdr->magic[1]);
 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
 364                 pr_warn("Packet type not recognized...\n");
 365 }
 366
 367 /* sub-driver description */
 368 static const struct sd_desc sd_desc = {
 369         .name      = MODULE_NAME,
 370         .config    = sd_config,
 371         .init      = sd_init,
 372         .start     = sd_start,
 373         .stopN     = sd_stopN,
 374         .pkt_scan  = sd_pkt_scan,
 375         /*
 376         .get_streamparm = sd_get_streamparm,
 377         .set_streamparm = sd_set_streamparm,
 378         */
 379 };
 380
 381 /* -- module initialisation -- */
 382 static const struct usb_device_id device_table[] = {
 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,
 404         .reset_resume = gspca_resume,
 405 #endif
 406 };
 407
 408 module_usb_driver(sd_driver);