487 lines
12 KiB
C
487 lines
12 KiB
C
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/*
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* kinect sensor device camera, gspca driver
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*
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* Copyright (C) 2011 Antonio Ospite <ospite@studenti.unina.it>
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*
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* Based on the OpenKinect project and libfreenect
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* http://openkinect.org/wiki/Init_Analysis
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*
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* Special thanks to Steven Toth and kernellabs.com for sponsoring a Kinect
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* sensor device which I tested the driver on.
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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*/
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#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt
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#define MODULE_NAME "kinect"
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#include "gspca.h"
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#define CTRL_TIMEOUT 500
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MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>");
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MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
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MODULE_LICENSE("GPL");
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static bool depth_mode;
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struct pkt_hdr {
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uint8_t magic[2];
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uint8_t pad;
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uint8_t flag;
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uint8_t unk1;
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uint8_t seq;
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uint8_t unk2;
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uint8_t unk3;
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uint32_t timestamp;
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};
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struct cam_hdr {
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uint8_t magic[2];
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__le16 len;
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__le16 cmd;
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__le16 tag;
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};
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/* specific webcam descriptor */
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struct sd {
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struct gspca_dev gspca_dev; /* !! must be the first item */
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uint16_t cam_tag; /* a sequence number for packets */
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uint8_t stream_flag; /* to identify different stream types */
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uint8_t obuf[0x400]; /* output buffer for control commands */
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uint8_t ibuf[0x200]; /* input buffer for control commands */
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};
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#define MODE_640x480 0x0001
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#define MODE_640x488 0x0002
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#define MODE_1280x1024 0x0004
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#define FORMAT_BAYER 0x0010
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#define FORMAT_UYVY 0x0020
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#define FORMAT_Y10B 0x0040
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#define FPS_HIGH 0x0100
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static const struct v4l2_pix_format depth_camera_mode[] = {
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{640, 480, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
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.bytesperline = 640 * 10 / 8,
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.sizeimage = 640 * 480 * 10 / 8,
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.colorspace = V4L2_COLORSPACE_SRGB,
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.priv = MODE_640x488 | FORMAT_Y10B},
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};
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static const struct v4l2_pix_format video_camera_mode[] = {
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{640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
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.bytesperline = 640,
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.sizeimage = 640 * 480,
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.colorspace = V4L2_COLORSPACE_SRGB,
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.priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH},
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{640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE,
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.bytesperline = 640 * 2,
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.sizeimage = 640 * 480 * 2,
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.colorspace = V4L2_COLORSPACE_SRGB,
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.priv = MODE_640x480 | FORMAT_UYVY},
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{1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
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.bytesperline = 1280,
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.sizeimage = 1280 * 1024,
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.colorspace = V4L2_COLORSPACE_SRGB,
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.priv = MODE_1280x1024 | FORMAT_BAYER},
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{640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
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.bytesperline = 640 * 10 / 8,
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.sizeimage = 640 * 488 * 10 / 8,
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.colorspace = V4L2_COLORSPACE_SRGB,
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.priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH},
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{1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
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.bytesperline = 1280 * 10 / 8,
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.sizeimage = 1280 * 1024 * 10 / 8,
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.colorspace = V4L2_COLORSPACE_SRGB,
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.priv = MODE_1280x1024 | FORMAT_Y10B},
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};
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static int kinect_write(struct usb_device *udev, uint8_t *data,
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uint16_t wLength)
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{
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return usb_control_msg(udev,
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usb_sndctrlpipe(udev, 0),
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0x00,
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USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
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0, 0, data, wLength, CTRL_TIMEOUT);
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}
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static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength)
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{
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return usb_control_msg(udev,
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usb_rcvctrlpipe(udev, 0),
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0x00,
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USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
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0, 0, data, wLength, CTRL_TIMEOUT);
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}
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static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
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unsigned int cmd_len, void *replybuf, unsigned int reply_len)
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{
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struct sd *sd = (struct sd *) gspca_dev;
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struct usb_device *udev = gspca_dev->dev;
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int res, actual_len;
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uint8_t *obuf = sd->obuf;
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uint8_t *ibuf = sd->ibuf;
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struct cam_hdr *chdr = (void *)obuf;
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struct cam_hdr *rhdr = (void *)ibuf;
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if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
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pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len);
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return -1;
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}
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chdr->magic[0] = 0x47;
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chdr->magic[1] = 0x4d;
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chdr->cmd = cpu_to_le16(cmd);
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chdr->tag = cpu_to_le16(sd->cam_tag);
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chdr->len = cpu_to_le16(cmd_len / 2);
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memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);
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res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));
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PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd,
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sd->cam_tag, cmd_len, res);
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if (res < 0) {
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pr_err("send_cmd: Output control transfer failed (%d)\n", res);
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return res;
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}
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do {
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actual_len = kinect_read(udev, ibuf, 0x200);
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} while (actual_len == 0);
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PDEBUG(D_USBO, "Control reply: %d", actual_len);
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if (actual_len < sizeof(*rhdr)) {
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pr_err("send_cmd: Input control transfer failed (%d)\n",
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actual_len);
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return actual_len < 0 ? actual_len : -EREMOTEIO;
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}
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actual_len -= sizeof(*rhdr);
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if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
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pr_err("send_cmd: Bad magic %02x %02x\n",
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rhdr->magic[0], rhdr->magic[1]);
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return -1;
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}
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if (rhdr->cmd != chdr->cmd) {
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pr_err("send_cmd: Bad cmd %02x != %02x\n",
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rhdr->cmd, chdr->cmd);
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return -1;
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}
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if (rhdr->tag != chdr->tag) {
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pr_err("send_cmd: Bad tag %04x != %04x\n",
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rhdr->tag, chdr->tag);
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return -1;
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}
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if (le16_to_cpu(rhdr->len) != (actual_len/2)) {
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pr_err("send_cmd: Bad len %04x != %04x\n",
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le16_to_cpu(rhdr->len), (int)(actual_len/2));
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return -1;
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}
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if (actual_len > reply_len) {
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pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n",
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reply_len, actual_len);
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memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len);
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} else {
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memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len);
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}
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sd->cam_tag++;
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return actual_len;
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}
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static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
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uint16_t data)
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{
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uint16_t reply[2];
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__le16 cmd[2];
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int res;
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cmd[0] = cpu_to_le16(reg);
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cmd[1] = cpu_to_le16(data);
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PDEBUG(D_USBO, "Write Reg 0x%04x <= 0x%02x", reg, data);
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res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4);
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if (res < 0)
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return res;
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if (res != 2) {
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pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n",
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res, reply[0], reply[1]);
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}
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return 0;
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}
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/* this function is called at probe time */
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static int sd_config_video(struct gspca_dev *gspca_dev,
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const struct usb_device_id *id)
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{
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struct sd *sd = (struct sd *) gspca_dev;
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struct cam *cam;
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sd->cam_tag = 0;
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sd->stream_flag = 0x80;
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cam = &gspca_dev->cam;
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cam->cam_mode = video_camera_mode;
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cam->nmodes = ARRAY_SIZE(video_camera_mode);
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gspca_dev->xfer_ep = 0x81;
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#if 0
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/* Setting those values is not needed for video stream */
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cam->npkt = 15;
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gspca_dev->pkt_size = 960 * 2;
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#endif
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return 0;
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}
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static int sd_config_depth(struct gspca_dev *gspca_dev,
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const struct usb_device_id *id)
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{
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struct sd *sd = (struct sd *) gspca_dev;
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struct cam *cam;
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sd->cam_tag = 0;
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sd->stream_flag = 0x70;
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cam = &gspca_dev->cam;
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cam->cam_mode = depth_camera_mode;
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cam->nmodes = ARRAY_SIZE(depth_camera_mode);
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gspca_dev->xfer_ep = 0x82;
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return 0;
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}
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/* this function is called at probe and resume time */
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static int sd_init(struct gspca_dev *gspca_dev)
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{
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PDEBUG(D_PROBE, "Kinect Camera device.");
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return 0;
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}
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static int sd_start_video(struct gspca_dev *gspca_dev)
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{
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int mode;
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uint8_t fmt_reg, fmt_val;
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uint8_t res_reg, res_val;
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uint8_t fps_reg, fps_val;
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uint8_t mode_val;
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mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;
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if (mode & FORMAT_Y10B) {
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fmt_reg = 0x19;
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res_reg = 0x1a;
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fps_reg = 0x1b;
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mode_val = 0x03;
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} else {
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fmt_reg = 0x0c;
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res_reg = 0x0d;
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fps_reg = 0x0e;
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mode_val = 0x01;
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}
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/* format */
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if (mode & FORMAT_UYVY)
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fmt_val = 0x05;
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else
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fmt_val = 0x00;
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if (mode & MODE_1280x1024)
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res_val = 0x02;
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else
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res_val = 0x01;
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if (mode & FPS_HIGH)
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fps_val = 0x1e;
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else
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fps_val = 0x0f;
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/* turn off IR-reset function */
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write_register(gspca_dev, 0x105, 0x00);
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/* Reset video stream */
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write_register(gspca_dev, 0x05, 0x00);
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/* Due to some ridiculous condition in the firmware, we have to start
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* and stop the depth stream before the camera will hand us 1280x1024
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* IR. This is a stupid workaround, but we've yet to find a better
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* solution.
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*
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* Thanks to Drew Fisher for figuring this out.
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*/
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if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
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write_register(gspca_dev, 0x13, 0x01);
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write_register(gspca_dev, 0x14, 0x1e);
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write_register(gspca_dev, 0x06, 0x02);
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write_register(gspca_dev, 0x06, 0x00);
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}
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write_register(gspca_dev, fmt_reg, fmt_val);
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write_register(gspca_dev, res_reg, res_val);
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write_register(gspca_dev, fps_reg, fps_val);
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/* Start video stream */
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write_register(gspca_dev, 0x05, mode_val);
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/* disable Hflip */
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write_register(gspca_dev, 0x47, 0x00);
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return 0;
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}
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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");
|