drivers/media/video/gspca/kinect.c

   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 #ifdef GSPCA_DEBUG
  40 int gspca_debug = D_ERR | D_PROBE | D_CONF | D_STREAM | D_FRAM | D_PACK |
  41         D_USBI | D_USBO | D_V4L2;
  42 #endif
  43
  44 struct pkt_hdr {
  45         uint8_t magic[2];
  46         uint8_t pad;
  47         uint8_t flag;
  48         uint8_t unk1;
  49         uint8_t seq;
  50         uint8_t unk2;
  51         uint8_t unk3;
  52         uint32_t timestamp;
  53 };
  54
  55 struct cam_hdr {
  56         uint8_t magic[2];
  57         uint16_t len;
  58         uint16_t cmd;
  59         uint16_t tag;
  60 };
  61
  62 /* specific webcam descriptor */
  63 struct sd {
  64         struct gspca_dev gspca_dev; /* !! must be the first item */
  65         uint16_t cam_tag;           /* a sequence number for packets */
  66         uint8_t stream_flag;        /* to identify different stream types */
  67         uint8_t obuf[0x400];        /* output buffer for control commands */
  68         uint8_t ibuf[0x200];        /* input buffer for control commands */
  69 };
  70
  71 /* V4L2 controls supported by the driver */
  72 /* controls prototypes here */
  73
  74 static const struct ctrl sd_ctrls[] = {
  75 };
  76
  77 #define MODE_640x480   0x0001
  78 #define MODE_640x488   0x0002
  79 #define MODE_1280x1024 0x0004
  80
  81 #define FORMAT_BAYER   0x0010
  82 #define FORMAT_UYVY    0x0020
  83 #define FORMAT_Y10B    0x0040
  84
  85 #define FPS_HIGH       0x0100
  86
  87 static const struct v4l2_pix_format video_camera_mode[] = {
  88         {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
  89          .bytesperline = 640,
  90          .sizeimage = 640 * 480,
  91          .colorspace = V4L2_COLORSPACE_SRGB,
  92          .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH},
  93         {640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE,
  94          .bytesperline = 640 * 2,
  95          .sizeimage = 640 * 480 * 2,
  96          .colorspace = V4L2_COLORSPACE_SRGB,
  97          .priv = MODE_640x480 | FORMAT_UYVY},
  98         {1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
  99          .bytesperline = 1280,
 100          .sizeimage = 1280 * 1024,
 101          .colorspace = V4L2_COLORSPACE_SRGB,
 102          .priv = MODE_1280x1024 | FORMAT_BAYER},
 103         {640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
 104          .bytesperline = 640 * 10 / 8,
 105          .sizeimage =  640 * 488 * 10 / 8,
 106          .colorspace = V4L2_COLORSPACE_SRGB,
 107          .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH},
 108         {1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
 109          .bytesperline = 1280 * 10 / 8,
 110          .sizeimage =  1280 * 1024 * 10 / 8,
 111          .colorspace = V4L2_COLORSPACE_SRGB,
 112          .priv = MODE_1280x1024 | FORMAT_Y10B},
 113 };
 114
 115 static int kinect_write(struct usb_device *udev, uint8_t *data,
 116                         uint16_t wLength)
 117 {
 118         return usb_control_msg(udev,
 119                               usb_sndctrlpipe(udev, 0),
 120                               0x00,
 121                               USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
 122                               0, 0, data, wLength, CTRL_TIMEOUT);
 123 }
 124
 125 static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength)
 126 {
 127         return usb_control_msg(udev,
 128                               usb_rcvctrlpipe(udev, 0),
 129                               0x00,
 130                               USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
 131                               0, 0, data, wLength, CTRL_TIMEOUT);
 132 }
 133
 134 static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
 135                 unsigned int cmd_len, void *replybuf, unsigned int reply_len)
 136 {
 137         struct sd *sd = (struct sd *) gspca_dev;
 138         struct usb_device *udev = gspca_dev->dev;
 139         int res, actual_len;
 140         uint8_t *obuf = sd->obuf;
 141         uint8_t *ibuf = sd->ibuf;
 142         struct cam_hdr *chdr = (void *)obuf;
 143         struct cam_hdr *rhdr = (void *)ibuf;
 144
 145         if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
 146                 pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len);
 147                 return -1;
 148         }
 149
 150         chdr->magic[0] = 0x47;
 151         chdr->magic[1] = 0x4d;
 152         chdr->cmd = cpu_to_le16(cmd);
 153         chdr->tag = cpu_to_le16(sd->cam_tag);
 154         chdr->len = cpu_to_le16(cmd_len / 2);
 155
 156         memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);
 157
 158         res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));
 159         PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd,
 160                 sd->cam_tag, cmd_len, res);
 161         if (res < 0) {
 162                 pr_err("send_cmd: Output control transfer failed (%d)\n", res);
 163                 return res;
 164         }
 165
 166         do {
 167                 actual_len = kinect_read(udev, ibuf, 0x200);
 168         } while (actual_len == 0);
 169         PDEBUG(D_USBO, "Control reply: %d", res);
 170         if (actual_len < sizeof(*rhdr)) {
 171                 pr_err("send_cmd: Input control transfer failed (%d)\n", res);
 172                 return res;
 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 (cpu_to_le16(rhdr->len) != (actual_len/2)) {
 192                 pr_err("send_cmd: Bad len %04x != %04x\n",
 193                        cpu_to_le16(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
 210 static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
 211                         uint16_t data)
 212 {
 213         uint16_t reply[2];
 214         uint16_t 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 */
 232 static int sd_config(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         /* Only video stream is supported for now,
 241          * which has stream flag = 0x80 */
 242         sd->stream_flag = 0x80;
 243
 244         cam = &gspca_dev->cam;
 245
 246         cam->cam_mode = video_camera_mode;
 247         cam->nmodes = ARRAY_SIZE(video_camera_mode);
 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
 258 /* this function is called at probe and resume time */
 259 static int sd_init(struct gspca_dev *gspca_dev)
 260 {
 261         PDEBUG(D_PROBE, "Kinect Camera device.");
 262
 263         return 0;
 264 }
 265
 266 static int sd_start(struct gspca_dev *gspca_dev)
 267 {
 268         int mode;
 269         uint8_t fmt_reg, fmt_val;
 270         uint8_t res_reg, res_val;
 271         uint8_t fps_reg, fps_val;
 272         uint8_t mode_val;
 273
 274         mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;
 275
 276         if (mode & FORMAT_Y10B) {
 277                 fmt_reg = 0x19;
 278                 res_reg = 0x1a;
 279                 fps_reg = 0x1b;
 280                 mode_val = 0x03;
 281         } else {
 282                 fmt_reg = 0x0c;
 283                 res_reg = 0x0d;
 284                 fps_reg = 0x0e;
 285                 mode_val = 0x01;
 286         }
 287
 288         /* format */
 289         if (mode & FORMAT_UYVY)
 290                 fmt_val = 0x05;
 291         else
 292                 fmt_val = 0x00;
 293
 294         if (mode & MODE_1280x1024)
 295                 res_val = 0x02;
 296         else
 297                 res_val = 0x01;
 298
 299         if (mode & FPS_HIGH)
 300                 fps_val = 0x1e;
 301         else
 302                 fps_val = 0x0f;
 303
 304
 305         /* turn off IR-reset function */
 306         write_register(gspca_dev, 0x105, 0x00);
 307
 308         /* Reset video stream */
 309         write_register(gspca_dev, 0x05, 0x00);
 310
 311         /* Due to some ridiculous condition in the firmware, we have to start
 312          * and stop the depth stream before the camera will hand us 1280x1024
 313          * IR.  This is a stupid workaround, but we've yet to find a better
 314          * solution.
 315          *
 316          * Thanks to Drew Fisher for figuring this out.
 317          */
 318         if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
 319                 write_register(gspca_dev, 0x13, 0x01);
 320                 write_register(gspca_dev, 0x14, 0x1e);
 321                 write_register(gspca_dev, 0x06, 0x02);
 322                 write_register(gspca_dev, 0x06, 0x00);
 323         }
 324
 325         write_register(gspca_dev, fmt_reg, fmt_val);
 326         write_register(gspca_dev, res_reg, res_val);
 327         write_register(gspca_dev, fps_reg, fps_val);
 328
 329         /* Start video stream */
 330         write_register(gspca_dev, 0x05, mode_val);
 331
 332         /* disable Hflip */
 333         write_register(gspca_dev, 0x47, 0x00);
 334
 335         return 0;
 336 }
 337
 338 static void sd_stopN(struct gspca_dev *gspca_dev)
 339 {
 340         /* reset video stream */
 341         write_register(gspca_dev, 0x05, 0x00);
 342 }
 343
 344 static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
 345 {
 346         struct sd *sd = (struct sd *) gspca_dev;
 347
 348         struct pkt_hdr *hdr = (void *)__data;
 349         uint8_t *data = __data + sizeof(*hdr);
 350         int datalen = len - sizeof(*hdr);
 351
 352         uint8_t sof = sd->stream_flag | 1;
 353         uint8_t mof = sd->stream_flag | 2;
 354         uint8_t eof = sd->stream_flag | 5;
 355
 356         if (len < 12)
 357                 return;
 358
 359         if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
 360                 pr_warn("[Stream %02x] Invalid magic %02x%02x\n",
 361                         sd->stream_flag, hdr->magic[0], hdr->magic[1]);
 362                 return;
 363         }
 364
 365         if (hdr->flag == sof)
 366                 gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen);
 367
 368         else if (hdr->flag == mof)
 369                 gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
 370
 371         else if (hdr->flag == eof)
 372                 gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);
 373
 374         else
 375                 pr_warn("Packet type not recognized...\n");
 376 }
 377
 378 /* sub-driver description */
 379 static const struct sd_desc sd_desc = {
 380         .name      = MODULE_NAME,
 381         .ctrls     = sd_ctrls,
 382         .nctrls    = ARRAY_SIZE(sd_ctrls),
 383         .config    = sd_config,
 384         .init      = sd_init,
 385         .start     = sd_start,
 386         .stopN     = sd_stopN,
 387         .pkt_scan  = sd_pkt_scan,
 388         /*
 389         .querymenu = sd_querymenu,
 390         .get_streamparm = sd_get_streamparm,
 391         .set_streamparm = sd_set_streamparm,
 392         */
 393 };
 394
 395 /* -- module initialisation -- */
 396 static const struct usb_device_id device_table[] = {
 397         {USB_DEVICE(0x045e, 0x02ae)},
 398         {}
 399 };
 400
 401 MODULE_DEVICE_TABLE(usb, device_table);
 402
 403 /* -- device connect -- */
 404 static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
 405 {
 406         return gspca_dev_probe(intf, id, &sd_desc, sizeof(struct sd),
 407                                 THIS_MODULE);
 408 }
 409
 410 static struct usb_driver sd_driver = {
 411         .name       = MODULE_NAME,
 412         .id_table   = device_table,
 413         .probe      = sd_probe,
 414         .disconnect = gspca_disconnect,
 415 #ifdef CONFIG_PM
 416         .suspend    = gspca_suspend,
 417         .resume     = gspca_resume,
 418 #endif
 419 };
 420
 421 /* -- module insert / remove -- */
 422 static int __init sd_mod_init(void)
 423 {
 424         return usb_register(&sd_driver);
 425 }
 426
 427 static void __exit sd_mod_exit(void)
 428 {
 429         usb_deregister(&sd_driver);
 430 }
 431
 432 module_init(sd_mod_init);
 433 module_exit(sd_mod_exit);