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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 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         {USB_DEVICE(0x045e, 0x02bf)},
385         {}
386 };
387 
388 MODULE_DEVICE_TABLE(usb, device_table);
389 
390 /* -- device connect -- */
391 static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
392 {
393         return gspca_dev_probe(intf, id, &sd_desc, sizeof(struct sd),
394                                 THIS_MODULE);
395 }
396 
397 static struct usb_driver sd_driver = {
398         .name       = MODULE_NAME,
399         .id_table   = device_table,
400         .probe      = sd_probe,
401         .disconnect = gspca_disconnect,
402 #ifdef CONFIG_PM
403         .suspend    = gspca_suspend,
404         .resume     = gspca_resume,
405         .reset_resume = gspca_resume,
406 #endif
407 };
408 
409 module_usb_driver(sd_driver);
410 

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