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
kinect_write(struct usb_device * udev,uint8_t * data,uint16_t wLength)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
kinect_read(struct usb_device * udev,uint8_t * data,uint16_t wLength)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
send_cmd(struct gspca_dev * gspca_dev,uint16_t cmd,void * cmdbuf,unsigned int cmd_len,void * replybuf,unsigned int reply_len)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
write_register(struct gspca_dev * gspca_dev,uint16_t reg,uint16_t data)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 */
sd_config_video(struct gspca_dev * gspca_dev,const struct usb_device_id * id)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
sd_config_depth(struct gspca_dev * gspca_dev,const struct usb_device_id * id)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 */
sd_init(struct gspca_dev * gspca_dev)279 static int sd_init(struct gspca_dev *gspca_dev)
280 {
281 PDEBUG(D_PROBE, "Kinect Camera device.");
282
283 return 0;
284 }
285
sd_start_video(struct gspca_dev * gspca_dev)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
sd_start_depth(struct gspca_dev * gspca_dev)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
sd_stopN_video(struct gspca_dev * gspca_dev)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
sd_stopN_depth(struct gspca_dev * gspca_dev)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
sd_pkt_scan(struct gspca_dev * gspca_dev,u8 * __data,int len)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 -- */
sd_probe(struct usb_interface * intf,const struct usb_device_id * id)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