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Linux/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  * 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 static bool depth_mode;
 40 
 41 struct pkt_hdr {
 42         uint8_t magic[2];
 43         uint8_t pad;
 44         uint8_t flag;
 45         uint8_t unk1;
 46         uint8_t seq;
 47         uint8_t unk2;
 48         uint8_t unk3;
 49         uint32_t timestamp;
 50 };
 51 
 52 struct cam_hdr {
 53         uint8_t magic[2];
 54         __le16 len;
 55         __le16 cmd;
 56         __le16 tag;
 57 };
 58 
 59 /* specific webcam descriptor */
 60 struct sd {
 61         struct gspca_dev gspca_dev; /* !! must be the first item */
 62         uint16_t cam_tag;           /* a sequence number for packets */
 63         uint8_t stream_flag;        /* to identify different stream types */
 64         uint8_t obuf[0x400];        /* output buffer for control commands */
 65         uint8_t ibuf[0x200];        /* input buffer for control commands */
 66 };
 67 
 68 #define MODE_640x480   0x0001
 69 #define MODE_640x488   0x0002
 70 #define MODE_1280x1024 0x0004
 71 
 72 #define FORMAT_BAYER   0x0010
 73 #define FORMAT_UYVY    0x0020
 74 #define FORMAT_Y10B    0x0040
 75 
 76 #define FPS_HIGH       0x0100
 77 
 78 static const struct v4l2_pix_format depth_camera_mode[] = {
 79         {640, 480, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
 80          .bytesperline = 640 * 10 / 8,
 81          .sizeimage =  640 * 480 * 10 / 8,
 82          .colorspace = V4L2_COLORSPACE_SRGB,
 83          .priv = MODE_640x488 | FORMAT_Y10B},
 84 };
 85 
 86 static const struct v4l2_pix_format video_camera_mode[] = {
 87         {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
 88          .bytesperline = 640,
 89          .sizeimage = 640 * 480,
 90          .colorspace = V4L2_COLORSPACE_SRGB,
 91          .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH},
 92         {640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE,
 93          .bytesperline = 640 * 2,
 94          .sizeimage = 640 * 480 * 2,
 95          .colorspace = V4L2_COLORSPACE_SRGB,
 96          .priv = MODE_640x480 | FORMAT_UYVY},
 97         {1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
 98          .bytesperline = 1280,
 99          .sizeimage = 1280 * 1024,
100          .colorspace = V4L2_COLORSPACE_SRGB,
101          .priv = MODE_1280x1024 | FORMAT_BAYER},
102         {640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
103          .bytesperline = 640 * 10 / 8,
104          .sizeimage =  640 * 488 * 10 / 8,
105          .colorspace = V4L2_COLORSPACE_SRGB,
106          .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH},
107         {1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
108          .bytesperline = 1280 * 10 / 8,
109          .sizeimage =  1280 * 1024 * 10 / 8,
110          .colorspace = V4L2_COLORSPACE_SRGB,
111          .priv = MODE_1280x1024 | FORMAT_Y10B},
112 };
113 
114 static int kinect_write(struct usb_device *udev, uint8_t *data,
115                         uint16_t wLength)
116 {
117         return usb_control_msg(udev,
118                               usb_sndctrlpipe(udev, 0),
119                               0x00,
120                               USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
121                               0, 0, data, wLength, CTRL_TIMEOUT);
122 }
123 
124 static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength)
125 {
126         return usb_control_msg(udev,
127                               usb_rcvctrlpipe(udev, 0),
128                               0x00,
129                               USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
130                               0, 0, data, wLength, CTRL_TIMEOUT);
131 }
132 
133 static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
134                 unsigned int cmd_len, void *replybuf, unsigned int reply_len)
135 {
136         struct sd *sd = (struct sd *) gspca_dev;
137         struct usb_device *udev = gspca_dev->dev;
138         int res, actual_len;
139         uint8_t *obuf = sd->obuf;
140         uint8_t *ibuf = sd->ibuf;
141         struct cam_hdr *chdr = (void *)obuf;
142         struct cam_hdr *rhdr = (void *)ibuf;
143 
144         if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
145                 pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len);
146                 return -1;
147         }
148 
149         chdr->magic[0] = 0x47;
150         chdr->magic[1] = 0x4d;
151         chdr->cmd = cpu_to_le16(cmd);
152         chdr->tag = cpu_to_le16(sd->cam_tag);
153         chdr->len = cpu_to_le16(cmd_len / 2);
154 
155         memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);
156 
157         res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));
158         PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd,
159                 sd->cam_tag, cmd_len, res);
160         if (res < 0) {
161                 pr_err("send_cmd: Output control transfer failed (%d)\n", res);
162                 return res;
163         }
164 
165         do {
166                 actual_len = kinect_read(udev, ibuf, 0x200);
167         } while (actual_len == 0);
168         PDEBUG(D_USBO, "Control reply: %d", actual_len);
169         if (actual_len < sizeof(*rhdr)) {
170                 pr_err("send_cmd: Input control transfer failed (%d)\n",
171                        actual_len);
172                 return actual_len < 0 ? actual_len : -EREMOTEIO;
173         }
174         actual_len -= sizeof(*rhdr);
175 
176         if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
177                 pr_err("send_cmd: Bad magic %02x %02x\n",
178                        rhdr->magic[0], rhdr->magic[1]);
179                 return -1;
180         }
181         if (rhdr->cmd != chdr->cmd) {
182                 pr_err("send_cmd: Bad cmd %02x != %02x\n",
183                        rhdr->cmd, chdr->cmd);
184                 return -1;
185         }
186         if (rhdr->tag != chdr->tag) {
187                 pr_err("send_cmd: Bad tag %04x != %04x\n",
188                        rhdr->tag, chdr->tag);
189                 return -1;
190         }
191         if (le16_to_cpu(rhdr->len) != (actual_len/2)) {
192                 pr_err("send_cmd: Bad len %04x != %04x\n",
193                        le16_to_cpu(rhdr->len), (int)(actual_len/2));
194                 return -1;
195         }
196 
197         if (actual_len > reply_len) {
198                 pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n",
199                         reply_len, actual_len);
200                 memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len);
201         } else {
202                 memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len);
203         }
204 
205         sd->cam_tag++;
206 
207         return actual_len;
208 }
209 
210 static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
211                         uint16_t data)
212 {
213         uint16_t reply[2];
214         __le16 cmd[2];
215         int res;
216 
217         cmd[0] = cpu_to_le16(reg);
218         cmd[1] = cpu_to_le16(data);
219 
220         PDEBUG(D_USBO, "Write Reg 0x%04x <= 0x%02x", reg, data);
221         res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4);
222         if (res < 0)
223                 return res;
224         if (res != 2) {
225                 pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n",
226                         res, reply[0], reply[1]);
227         }
228         return 0;
229 }
230 
231 /* this function is called at probe time */
232 static int sd_config_video(struct gspca_dev *gspca_dev,
233                      const struct usb_device_id *id)
234 {
235         struct sd *sd = (struct sd *) gspca_dev;
236         struct cam *cam;
237 
238         sd->cam_tag = 0;
239 
240         sd->stream_flag = 0x80;
241 
242         cam = &gspca_dev->cam;
243 
244         cam->cam_mode = video_camera_mode;
245         cam->nmodes = ARRAY_SIZE(video_camera_mode);
246 
247         gspca_dev->xfer_ep = 0x81;
248 
249 #if 0
250         /* Setting those values is not needed for video stream */
251         cam->npkt = 15;
252         gspca_dev->pkt_size = 960 * 2;
253 #endif
254 
255         return 0;
256 }
257 
258 static int sd_config_depth(struct gspca_dev *gspca_dev,
259                      const struct usb_device_id *id)
260 {
261         struct sd *sd = (struct sd *) gspca_dev;
262         struct cam *cam;
263 
264         sd->cam_tag = 0;
265 
266         sd->stream_flag = 0x70;
267 
268         cam = &gspca_dev->cam;
269 
270         cam->cam_mode = depth_camera_mode;
271         cam->nmodes = ARRAY_SIZE(depth_camera_mode);
272 
273         gspca_dev->xfer_ep = 0x82;
274 
275         return 0;
276 }
277 
278 /* this function is called at probe and resume time */
279 static int sd_init(struct gspca_dev *gspca_dev)
280 {
281         PDEBUG(D_PROBE, "Kinect Camera device.");
282 
283         return 0;
284 }
285 
286 static int sd_start_video(struct gspca_dev *gspca_dev)
287 {
288         int mode;
289         uint8_t fmt_reg, fmt_val;
290         uint8_t res_reg, res_val;
291         uint8_t fps_reg, fps_val;
292         uint8_t mode_val;
293 
294         mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;
295 
296         if (mode & FORMAT_Y10B) {
297                 fmt_reg = 0x19;
298                 res_reg = 0x1a;
299                 fps_reg = 0x1b;
300                 mode_val = 0x03;
301         } else {
302                 fmt_reg = 0x0c;
303                 res_reg = 0x0d;
304                 fps_reg = 0x0e;
305                 mode_val = 0x01;
306         }
307 
308         /* format */
309         if (mode & FORMAT_UYVY)
310                 fmt_val = 0x05;
311         else
312                 fmt_val = 0x00;
313 
314         if (mode & MODE_1280x1024)
315                 res_val = 0x02;
316         else
317                 res_val = 0x01;
318 
319         if (mode & FPS_HIGH)
320                 fps_val = 0x1e;
321         else
322                 fps_val = 0x0f;
323 
324 
325         /* turn off IR-reset function */
326         write_register(gspca_dev, 0x105, 0x00);
327 
328         /* Reset video stream */
329         write_register(gspca_dev, 0x05, 0x00);
330 
331         /* Due to some ridiculous condition in the firmware, we have to start
332          * and stop the depth stream before the camera will hand us 1280x1024
333          * IR.  This is a stupid workaround, but we've yet to find a better
334          * solution.
335          *
336          * Thanks to Drew Fisher for figuring this out.
337          */
338         if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
339                 write_register(gspca_dev, 0x13, 0x01);
340                 write_register(gspca_dev, 0x14, 0x1e);
341                 write_register(gspca_dev, 0x06, 0x02);
342                 write_register(gspca_dev, 0x06, 0x00);
343         }
344 
345         write_register(gspca_dev, fmt_reg, fmt_val);
346         write_register(gspca_dev, res_reg, res_val);
347         write_register(gspca_dev, fps_reg, fps_val);
348 
349         /* Start video stream */
350         write_register(gspca_dev, 0x05, mode_val);
351 
352         /* disable Hflip */
353         write_register(gspca_dev, 0x47, 0x00);
354 
355         return 0;
356 }
357 
358 static int sd_start_depth(struct gspca_dev *gspca_dev)
359 {
360         /* turn off IR-reset function */
361         write_register(gspca_dev, 0x105, 0x00);
362 
363         /* reset depth stream */
364         write_register(gspca_dev, 0x06, 0x00);
365         /* Depth Stream Format 0x03: 11 bit stream | 0x02: 10 bit */
366         write_register(gspca_dev, 0x12, 0x02);
367         /* Depth Stream Resolution 1: standard (640x480) */
368         write_register(gspca_dev, 0x13, 0x01);
369         /* Depth Framerate / 0x1e (30): 30 fps */
370         write_register(gspca_dev, 0x14, 0x1e);
371         /* Depth Stream Control  / 2: Open Depth Stream */
372         write_register(gspca_dev, 0x06, 0x02);
373         /* disable depth hflip / LSB = 0: Smoothing Disabled */
374         write_register(gspca_dev, 0x17, 0x00);
375 
376         return 0;
377 }
378 
379 static void sd_stopN_video(struct gspca_dev *gspca_dev)
380 {
381         /* reset video stream */
382         write_register(gspca_dev, 0x05, 0x00);
383 }
384 
385 static void sd_stopN_depth(struct gspca_dev *gspca_dev)
386 {
387         /* reset depth stream */
388         write_register(gspca_dev, 0x06, 0x00);
389 }
390 
391 static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
392 {
393         struct sd *sd = (struct sd *) gspca_dev;
394 
395         struct pkt_hdr *hdr = (void *)__data;
396         uint8_t *data = __data + sizeof(*hdr);
397         int datalen = len - sizeof(*hdr);
398 
399         uint8_t sof = sd->stream_flag | 1;
400         uint8_t mof = sd->stream_flag | 2;
401         uint8_t eof = sd->stream_flag | 5;
402 
403         if (len < 12)
404                 return;
405 
406         if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
407                 pr_warn("[Stream %02x] Invalid magic %02x%02x\n",
408                         sd->stream_flag, hdr->magic[0], hdr->magic[1]);
409                 return;
410         }
411 
412         if (hdr->flag == sof)
413                 gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen);
414 
415         else if (hdr->flag == mof)
416                 gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
417 
418         else if (hdr->flag == eof)
419                 gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);
420 
421         else
422                 pr_warn("Packet type not recognized...\n");
423 }
424 
425 /* sub-driver description */
426 static const struct sd_desc sd_desc_video = {
427         .name      = MODULE_NAME,
428         .config    = sd_config_video,
429         .init      = sd_init,
430         .start     = sd_start_video,
431         .stopN     = sd_stopN_video,
432         .pkt_scan  = sd_pkt_scan,
433         /*
434         .get_streamparm = sd_get_streamparm,
435         .set_streamparm = sd_set_streamparm,
436         */
437 };
438 static const struct sd_desc sd_desc_depth = {
439         .name      = MODULE_NAME,
440         .config    = sd_config_depth,
441         .init      = sd_init,
442         .start     = sd_start_depth,
443         .stopN     = sd_stopN_depth,
444         .pkt_scan  = sd_pkt_scan,
445         /*
446         .get_streamparm = sd_get_streamparm,
447         .set_streamparm = sd_set_streamparm,
448         */
449 };
450 
451 /* -- module initialisation -- */
452 static const struct usb_device_id device_table[] = {
453         {USB_DEVICE(0x045e, 0x02ae)},
454         {USB_DEVICE(0x045e, 0x02bf)},
455         {}
456 };
457 
458 MODULE_DEVICE_TABLE(usb, device_table);
459 
460 /* -- device connect -- */
461 static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
462 {
463         if (depth_mode)
464                 return gspca_dev_probe(intf, id, &sd_desc_depth,
465                                        sizeof(struct sd), THIS_MODULE);
466         else
467                 return gspca_dev_probe(intf, id, &sd_desc_video,
468                                        sizeof(struct sd), THIS_MODULE);
469 }
470 
471 static struct usb_driver sd_driver = {
472         .name       = MODULE_NAME,
473         .id_table   = device_table,
474         .probe      = sd_probe,
475         .disconnect = gspca_disconnect,
476 #ifdef CONFIG_PM
477         .suspend    = gspca_suspend,
478         .resume     = gspca_resume,
479         .reset_resume = gspca_resume,
480 #endif
481 };
482 
483 module_usb_driver(sd_driver);
484 
485 module_param(depth_mode, bool, 0644);
486 MODULE_PARM_DESC(depth_mode, "0=video 1=depth");
487 

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