/* * 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");