--- /dev/null
+/*
+ * 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.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#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));
+ PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", 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);
+ PDEBUG(D_USBO, "Control reply: %d", actual_len);
+ if (actual_len < 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);
+
+ PDEBUG(D_USBO, "Write Reg 0x%04x <= 0x%02x", 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)
+{
+ PDEBUG(D_PROBE, "Kinect Camera device.");
+
+ 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");
Code Review / kvmfornfv.git / blobdiff