summaryrefslogtreecommitdiffstats
path: root/drivers/media/usb/gspca/kinect.c
blob: f993f6280c5694d7e50b19ba67564375a71b8eda (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
/*
 * kinect sensor device camera, gspca driver
 *
 * Copyright (C) 2011  Antonio Ospite <ospite@studenti.unina.it>
 *
 * Based on the OpenKinect project and libfreenect
 * http://openkinect.org/wiki/Init_Analysis
 *
 * Special thanks to Steven Toth and kernellabs.com for sponsoring a Kinect
 * sensor device which I tested the driver on.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 */

#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt

#define MODULE_NAME "kinect"

#include "gspca.h"

#define CTRL_TIMEOUT 500

MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>");
MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
MODULE_LICENSE("GPL");

static bool depth_mode;

struct pkt_hdr {
	uint8_t magic[2];
	uint8_t pad;
	uint8_t flag;
	uint8_t unk1;
	uint8_t seq;
	uint8_t unk2;
	uint8_t unk3;
	uint32_t timestamp;
};

struct cam_hdr {
	uint8_t magic[2];
	__le16 len;
	__le16 cmd;
	__le16 tag;
};

/* specific webcam descriptor */
struct sd {
	struct gspca_dev gspca_dev; /* !! must be the first item */
	uint16_t cam_tag;           /* a sequence number for packets */
	uint8_t stream_flag;        /* to identify different stream types */
	uint8_t obuf[0x400];        /* output buffer for control commands */
	uint8_t ibuf[0x200];        /* input buffer for control commands */
};

#define MODE_640x480   0x0001
#define MODE_640x488   0x0002
#define MODE_1280x1024 0x0004

#define FORMAT_BAYER   0x0010
#define FORMAT_UYVY    0x0020
#define FORMAT_Y10B    0x0040

#define FPS_HIGH       0x0100

static const struct v4l2_pix_format depth_camera_mode[] = {
	{640, 480, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
	 .bytesperline = 640 * 10 / 8,
	 .sizeimage =  640 * 480 * 10 / 8,
	 .colorspace = V4L2_COLORSPACE_SRGB,
	 .priv = MODE_640x488 | FORMAT_Y10B},
};

static const struct v4l2_pix_format video_camera_mode[] = {
	{640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
	 .bytesperline = 640,
	 .sizeimage = 640 * 480,
	 .colorspace = V4L2_COLORSPACE_SRGB,
	 .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH},
	{640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE,
	 .bytesperline = 640 * 2,
	 .sizeimage = 640 * 480 * 2,
	 .colorspace = V4L2_COLORSPACE_SRGB,
	 .priv = MODE_640x480 | FORMAT_UYVY},
	{1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
	 .bytesperline = 1280,
	 .sizeimage = 1280 * 1024,
	 .colorspace = V4L2_COLORSPACE_SRGB,
	 .priv = MODE_1280x1024 | FORMAT_BAYER},
	{640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
	 .bytesperline = 640 * 10 / 8,
	 .sizeimage =  640 * 488 * 10 / 8,
	 .colorspace = V4L2_COLORSPACE_SRGB,
	 .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH},
	{1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
	 .bytesperline = 1280 * 10 / 8,
	 .sizeimage =  1280 * 1024 * 10 / 8,
	 .colorspace = V4L2_COLORSPACE_SRGB,
	 .priv = MODE_1280x1024 | FORMAT_Y10B},
};

static int kinect_write(struct usb_device *udev, uint8_t *data,
			uint16_t wLength)
{
	return usb_control_msg(udev,
			      usb_sndctrlpipe(udev, 0),
			      0x00,
			      USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
			      0, 0, data, wLength, CTRL_TIMEOUT);
}

static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength)
{
	return usb_control_msg(udev,
			      usb_rcvctrlpipe(udev, 0),
			      0x00,
			      USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
			      0, 0, data, wLength, CTRL_TIMEOUT);
}

static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
		unsigned int cmd_len, void *replybuf, unsigned int reply_len)
{
	struct sd *sd = (struct sd *) gspca_dev;
	struct usb_device *udev = gspca_dev->dev;
	int res, actual_len;
	uint8_t *obuf = sd->obuf;
	uint8_t *ibuf = sd->ibuf;
	struct cam_hdr *chdr = (void *)obuf;
	struct cam_hdr *rhdr = (void *)ibuf;

	if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
		pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len);
		return -1;
	}

	chdr->magic[0] = 0x47;
	chdr->magic[1] = 0x4d;
	chdr->cmd = cpu_to_le16(cmd);
	chdr->tag = cpu_to_le16(sd->cam_tag);
	chdr->len = cpu_to_le16(cmd_len / 2);

	memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);

	res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));
	gspca_dbg(gspca_dev, D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d\n",
		  cmd,
		  sd->cam_tag, cmd_len, res);
	if (res < 0) {
		pr_err("send_cmd: Output control transfer failed (%d)\n", res);
		return res;
	}

	do {
		actual_len = kinect_read(udev, ibuf, 0x200);
	} while (actual_len == 0);
	gspca_dbg(gspca_dev, D_USBO, "Control reply: %d\n", actual_len);
	if (actual_len < (int)sizeof(*rhdr)) {
		pr_err("send_cmd: Input control transfer failed (%d)\n",
		       actual_len);
		return actual_len < 0 ? actual_len : -EREMOTEIO;
	}
	actual_len -= sizeof(*rhdr);

	if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
		pr_err("send_cmd: Bad magic %02x %02x\n",
		       rhdr->magic[0], rhdr->magic[1]);
		return -1;
	}
	if (rhdr->cmd != chdr->cmd) {
		pr_err("send_cmd: Bad cmd %02x != %02x\n",
		       rhdr->cmd, chdr->cmd);
		return -1;
	}
	if (rhdr->tag != chdr->tag) {
		pr_err("send_cmd: Bad tag %04x != %04x\n",
		       rhdr->tag, chdr->tag);
		return -1;
	}
	if (le16_to_cpu(rhdr->len) != (actual_len/2)) {
		pr_err("send_cmd: Bad len %04x != %04x\n",
		       le16_to_cpu(rhdr->len), (int)(actual_len/2));
		return -1;
	}

	if (actual_len > reply_len) {
		pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n",
			reply_len, actual_len);
		memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len);
	} else {
		memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len);
	}

	sd->cam_tag++;

	return actual_len;
}

static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
			uint16_t data)
{
	uint16_t reply[2];
	__le16 cmd[2];
	int res;

	cmd[0] = cpu_to_le16(reg);
	cmd[1] = cpu_to_le16(data);

	gspca_dbg(gspca_dev, D_USBO, "Write Reg 0x%04x <= 0x%02x\n", reg, data);
	res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4);
	if (res < 0)
		return res;
	if (res != 2) {
		pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n",
			res, reply[0], reply[1]);
	}
	return 0;
}

/* this function is called at probe time */
static int sd_config_video(struct gspca_dev *gspca_dev,
		     const struct usb_device_id *id)
{
	struct sd *sd = (struct sd *) gspca_dev;
	struct cam *cam;

	sd->cam_tag = 0;

	sd->stream_flag = 0x80;

	cam = &gspca_dev->cam;

	cam->cam_mode = video_camera_mode;
	cam->nmodes = ARRAY_SIZE(video_camera_mode);

	gspca_dev->xfer_ep = 0x81;

#if 0
	/* Setting those values is not needed for video stream */
	cam->npkt = 15;
	gspca_dev->pkt_size = 960 * 2;
#endif

	return 0;
}

static int sd_config_depth(struct gspca_dev *gspca_dev,
		     const struct usb_device_id *id)
{
	struct sd *sd = (struct sd *) gspca_dev;
	struct cam *cam;

	sd->cam_tag = 0;

	sd->stream_flag = 0x70;

	cam = &gspca_dev->cam;

	cam->cam_mode = depth_camera_mode;
	cam->nmodes = ARRAY_SIZE(depth_camera_mode);

	gspca_dev->xfer_ep = 0x82;

	return 0;
}

/* this function is called at probe and resume time */
static int sd_init(struct gspca_dev *gspca_dev)
{
	gspca_dbg(gspca_dev, D_PROBE, "Kinect Camera device.\n");

	return 0;
}

static int sd_start_video(struct gspca_dev *gspca_dev)
{
	int mode;
	uint8_t fmt_reg, fmt_val;
	uint8_t res_reg, res_val;
	uint8_t fps_reg, fps_val;
	uint8_t mode_val;

	mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;

	if (mode & FORMAT_Y10B) {
		fmt_reg = 0x19;
		res_reg = 0x1a;
		fps_reg = 0x1b;
		mode_val = 0x03;
	} else {
		fmt_reg = 0x0c;
		res_reg = 0x0d;
		fps_reg = 0x0e;
		mode_val = 0x01;
	}

	/* format */
	if (mode & FORMAT_UYVY)
		fmt_val = 0x05;
	else
		fmt_val = 0x00;

	if (mode & MODE_1280x1024)
		res_val = 0x02;
	else
		res_val = 0x01;

	if (mode & FPS_HIGH)
		fps_val = 0x1e;
	else
		fps_val = 0x0f;


	/* turn off IR-reset function */
	write_register(gspca_dev, 0x105, 0x00);

	/* Reset video stream */
	write_register(gspca_dev, 0x05, 0x00);

	/* Due to some ridiculous condition in the firmware, we have to start
	 * and stop the depth stream before the camera will hand us 1280x1024
	 * IR.  This is a stupid workaround, but we've yet to find a better
	 * solution.
	 *
	 * Thanks to Drew Fisher for figuring this out.
	 */
	if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
		write_register(gspca_dev, 0x13, 0x01);
		write_register(gspca_dev, 0x14, 0x1e);
		write_register(gspca_dev, 0x06, 0x02);
		write_register(gspca_dev, 0x06, 0x00);
	}

	write_register(gspca_dev, fmt_reg, fmt_val);
	write_register(gspca_dev, res_reg, res_val);
	write_register(gspca_dev, fps_reg, fps_val);

	/* Start video stream */
	write_register(gspca_dev, 0x05, mode_val);

	/* disable Hflip */
	write_register(gspca_dev, 0x47, 0x00);

	return 0;
}

static int sd_start_depth(struct gspca_dev *gspca_dev)
{
	/* turn off IR-reset function */
	write_register(gspca_dev, 0x105, 0x00);

	/* reset depth stream */
	write_register(gspca_dev, 0x06, 0x00);
	/* Depth Stream Format 0x03: 11 bit stream | 0x02: 10 bit */
	write_register(gspca_dev, 0x12, 0x02);
	/* Depth Stream Resolution 1: standard (640x480) */
	write_register(gspca_dev, 0x13, 0x01);
	/* Depth Framerate / 0x1e (30): 30 fps */
	write_register(gspca_dev, 0x14, 0x1e);
	/* Depth Stream Control  / 2: Open Depth Stream */
	write_register(gspca_dev, 0x06, 0x02);
	/* disable depth hflip / LSB = 0: Smoothing Disabled */
	write_register(gspca_dev, 0x17, 0x00);

	return 0;
}

static void sd_stopN_video(struct gspca_dev *gspca_dev)
{
	/* reset video stream */
	write_register(gspca_dev, 0x05, 0x00);
}

static void sd_stopN_depth(struct gspca_dev *gspca_dev)
{
	/* reset depth stream */
	write_register(gspca_dev, 0x06, 0x00);
}

static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
{
	struct sd *sd = (struct sd *) gspca_dev;

	struct pkt_hdr *hdr = (void *)__data;
	uint8_t *data = __data + sizeof(*hdr);
	int datalen = len - sizeof(*hdr);

	uint8_t sof = sd->stream_flag | 1;
	uint8_t mof = sd->stream_flag | 2;
	uint8_t eof = sd->stream_flag | 5;

	if (len < 12)
		return;

	if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
		pr_warn("[Stream %02x] Invalid magic %02x%02x\n",
			sd->stream_flag, hdr->magic[0], hdr->magic[1]);
		return;
	}

	if (hdr->flag == sof)
		gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen);

	else if (hdr->flag == mof)
		gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);

	else if (hdr->flag == eof)
		gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);

	else
		pr_warn("Packet type not recognized...\n");
}

/* sub-driver description */
static const struct sd_desc sd_desc_video = {
	.name      = MODULE_NAME,
	.config    = sd_config_video,
	.init      = sd_init,
	.start     = sd_start_video,
	.stopN     = sd_stopN_video,
	.pkt_scan  = sd_pkt_scan,
	/*
	.get_streamparm = sd_get_streamparm,
	.set_streamparm = sd_set_streamparm,
	*/
};
static const struct sd_desc sd_desc_depth = {
	.name      = MODULE_NAME,
	.config    = sd_config_depth,
	.init      = sd_init,
	.start     = sd_start_depth,
	.stopN     = sd_stopN_depth,
	.pkt_scan  = sd_pkt_scan,
	/*
	.get_streamparm = sd_get_streamparm,
	.set_streamparm = sd_set_streamparm,
	*/
};

/* -- module initialisation -- */
static const struct usb_device_id device_table[] = {
	{USB_DEVICE(0x045e, 0x02ae)},
	{USB_DEVICE(0x045e, 0x02bf)},
	{}
};

MODULE_DEVICE_TABLE(usb, device_table);

/* -- device connect -- */
static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
{
	if (depth_mode)
		return gspca_dev_probe(intf, id, &sd_desc_depth,
				       sizeof(struct sd), THIS_MODULE);
	else
		return gspca_dev_probe(intf, id, &sd_desc_video,
				       sizeof(struct sd), THIS_MODULE);
}

static struct usb_driver sd_driver = {
	.name       = MODULE_NAME,
	.id_table   = device_table,
	.probe      = sd_probe,
	.disconnect = gspca_disconnect,
#ifdef CONFIG_PM
	.suspend    = gspca_suspend,
	.resume     = gspca_resume,
	.reset_resume = gspca_resume,
#endif
};

module_usb_driver(sd_driver);

module_param(depth_mode, bool, 0644);
MODULE_PARM_DESC(depth_mode, "0=video 1=depth");