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 MODULE_NAME "kinect"
  28
  29 #include "gspca.h"
  30
  31 #define CTRL_TIMEOUT 500
  32
  33 MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>");
  34 MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
  35 MODULE_LICENSE("GPL");
  36
  37 #ifdef GSPCA_DEBUG
  38 int gspca_debug = D_ERR | D_PROBE | D_CONF | D_STREAM | D_FRAM | D_PACK |
  39         D_USBI | D_USBO | D_V4L2;
  40 #endif
  41
  42 struct pkt_hdr {
  43         uint8_t magic[2];
  44         uint8_t pad;
  45         uint8_t flag;
  46         uint8_t unk1;
  47         uint8_t seq;
  48         uint8_t unk2;
  49         uint8_t unk3;
  50         uint32_t timestamp;
  51 };
  52
  53 struct cam_hdr {
  54         uint8_t magic[2];
  55         uint16_t len;
  56         uint16_t cmd;
  57         uint16_t tag;
  58 };
  59
  60 /* specific webcam descriptor */
  61 struct sd {
  62         struct gspca_dev gspca_dev; /* !! must be the first item */
  63         uint16_t cam_tag;           /* a sequence number for packets */
  64         uint8_t stream_flag;        /* to identify different stream types */
  65         uint8_t obuf[0x400];        /* output buffer for control commands */
  66         uint8_t ibuf[0x200];        /* input buffer for control commands */
  67 };
  68
  69 /* V4L2 controls supported by the driver */
  70 /* controls prototypes here */
  71
  72 static const struct ctrl sd_ctrls[] = {
  73 };
  74
  75 #define MODE_640x480   0x0001
  76 #define MODE_640x488   0x0002
  77 #define MODE_1280x1024 0x0004
  78
  79 #define FORMAT_BAYER   0x0010
  80 #define FORMAT_UYVY    0x0020
  81 #define FORMAT_Y10B    0x0040
  82
  83 #define FPS_HIGH       0x0100
  84
  85 static const struct v4l2_pix_format video_camera_mode[] = {
  86         {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
  87          .bytesperline = 640,
  88          .sizeimage = 640 * 480,
  89          .colorspace = V4L2_COLORSPACE_SRGB,
  90          .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH},
  91         {640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE,
  92          .bytesperline = 640 * 2,
  93          .sizeimage = 640 * 480 * 2,
  94          .colorspace = V4L2_COLORSPACE_SRGB,
  95          .priv = MODE_640x480 | FORMAT_UYVY},
  96         {1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
  97          .bytesperline = 1280,
  98          .sizeimage = 1280 * 1024,
  99          .colorspace = V4L2_COLORSPACE_SRGB,
 100          .priv = MODE_1280x1024 | FORMAT_BAYER},
 101         {640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
 102          .bytesperline = 640 * 10 / 8,
 103          .sizeimage =  640 * 488 * 10 / 8,
 104          .colorspace = V4L2_COLORSPACE_SRGB,
 105          .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH},
 106         {1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
 107          .bytesperline = 1280 * 10 / 8,
 108          .sizeimage =  1280 * 1024 * 10 / 8,
 109          .colorspace = V4L2_COLORSPACE_SRGB,
 110          .priv = MODE_1280x1024 | FORMAT_Y10B},
 111 };
 112
 113 static int kinect_write(struct usb_device *udev, uint8_t *data,
 114                         uint16_t wLength)
 115 {
 116         return usb_control_msg(udev,
 117                               usb_sndctrlpipe(udev, 0),
 118                               0x00,
 119                               USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
 120                               0, 0, data, wLength, CTRL_TIMEOUT);
 121 }
 122
 123 static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength)
 124 {
 125         return usb_control_msg(udev,
 126                               usb_rcvctrlpipe(udev, 0),
 127                               0x00,
 128                               USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
 129                               0, 0, data, wLength, CTRL_TIMEOUT);
 130 }
 131
 132 static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
 133                 unsigned int cmd_len, void *replybuf, unsigned int reply_len)
 134 {
 135         struct sd *sd = (struct sd *) gspca_dev;
 136         struct usb_device *udev = gspca_dev->dev;
 137         int res, actual_len;
 138         uint8_t *obuf = sd->obuf;
 139         uint8_t *ibuf = sd->ibuf;
 140         struct cam_hdr *chdr = (void *)obuf;
 141         struct cam_hdr *rhdr = (void *)ibuf;
 142
 143         if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
 144                 err("send_cmd: Invalid command length (0x%x)", cmd_len);
 145                 return -1;
 146         }
 147
 148         chdr->magic[0] = 0x47;
 149         chdr->magic[1] = 0x4d;
 150         chdr->cmd = cpu_to_le16(cmd);
 151         chdr->tag = cpu_to_le16(sd->cam_tag);
 152         chdr->len = cpu_to_le16(cmd_len / 2);
 153
 154         memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);
 155
 156         res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));
 157         PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd,
 158                 sd->cam_tag, cmd_len, res);
 159         if (res < 0) {
 160                 err("send_cmd: Output control transfer failed (%d)", res);
 161                 return res;
 162         }
 163
 164         do {
 165                 actual_len = kinect_read(udev, ibuf, 0x200);
 166         } while (actual_len == 0);
 167         PDEBUG(D_USBO, "Control reply: %d", res);
 168         if (actual_len < sizeof(*rhdr)) {
 169                 err("send_cmd: Input control transfer failed (%d)", res);
 170                 return res;
 171         }
 172         actual_len -= sizeof(*rhdr);
 173
 174         if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
 175                 err("send_cmd: Bad magic %02x %02x", rhdr->magic[0],
 176                         rhdr->magic[1]);
 177                 return -1;
 178         }
 179         if (rhdr->cmd != chdr->cmd) {
 180                 err("send_cmd: Bad cmd %02x != %02x", rhdr->cmd, chdr->cmd);
 181                 return -1;
 182         }
 183         if (rhdr->tag != chdr->tag) {
 184                 err("send_cmd: Bad tag %04x != %04x", rhdr->tag, chdr->tag);
 185                 return -1;
 186         }
 187         if (cpu_to_le16(rhdr->len) != (actual_len/2)) {
 188                 err("send_cmd: Bad len %04x != %04x",
 189                                 cpu_to_le16(rhdr->len), (int)(actual_len/2));
 190                 return -1;
 191         }
 192
 193         if (actual_len > reply_len) {
 194                 warn("send_cmd: Data buffer is %d bytes long, but got %d bytes",
 195                                 reply_len, actual_len);
 196                 memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len);
 197         } else {
 198                 memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len);
 199         }
 200
 201         sd->cam_tag++;
 202
 203         return actual_len;
 204 }
 205
 206 static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
 207                         uint16_t data)
 208 {
 209         uint16_t reply[2];
 210         uint16_t cmd[2];
 211         int res;
 212
 213         cmd[0] = cpu_to_le16(reg);
 214         cmd[1] = cpu_to_le16(data);
 215
 216         PDEBUG(D_USBO, "Write Reg 0x%04x <= 0x%02x", reg, data);
 217         res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4);
 218         if (res < 0)
 219                 return res;
 220         if (res != 2) {
 221                 warn("send_cmd returned %d [%04x %04x], 0000 expected",
 222                                 res, reply[0], reply[1]);
 223         }
 224         return 0;
 225 }
 226
 227 /* this function is called at probe time */
 228 static int sd_config(struct gspca_dev *gspca_dev,
 229                      const struct usb_device_id *id)
 230 {
 231         struct sd *sd = (struct sd *) gspca_dev;
 232         struct cam *cam;
 233
 234         sd->cam_tag = 0;
 235
 236         /* Only video stream is supported for now,
 237          * which has stream flag = 0x80 */
 238         sd->stream_flag = 0x80;
 239
 240         cam = &gspca_dev->cam;
 241
 242         cam->cam_mode = video_camera_mode;
 243         cam->nmodes = ARRAY_SIZE(video_camera_mode);
 244
 245 #if 0
 246         /* Setting those values is not needed for video stream */
 247         cam->npkt = 15;
 248         gspca_dev->pkt_size = 960 * 2;
 249 #endif
 250
 251         return 0;
 252 }
 253
 254 /* this function is called at probe and resume time */
 255 static int sd_init(struct gspca_dev *gspca_dev)
 256 {
 257         PDEBUG(D_PROBE, "Kinect Camera device.");
 258
 259         return 0;
 260 }
 261
 262 static int sd_start(struct gspca_dev *gspca_dev)
 263 {
 264         int mode;
 265         uint8_t fmt_reg, fmt_val;
 266         uint8_t res_reg, res_val;
 267         uint8_t fps_reg, fps_val;
 268         uint8_t mode_val;
 269
 270         mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;
 271
 272         if (mode & FORMAT_Y10B) {
 273                 fmt_reg = 0x19;
 274                 res_reg = 0x1a;
 275                 fps_reg = 0x1b;
 276                 mode_val = 0x03;
 277         } else {
 278                 fmt_reg = 0x0c;
 279                 res_reg = 0x0d;
 280                 fps_reg = 0x0e;
 281                 mode_val = 0x01;
 282         }
 283
 284         /* format */
 285         if (mode & FORMAT_UYVY)
 286                 fmt_val = 0x05;
 287         else
 288                 fmt_val = 0x00;
 289
 290         if (mode & MODE_1280x1024)
 291                 res_val = 0x02;
 292         else
 293                 res_val = 0x01;
 294
 295         if (mode & FPS_HIGH)
 296                 fps_val = 0x1e;
 297         else
 298                 fps_val = 0x0f;
 299
 300
 301         /* turn off IR-reset function */
 302         write_register(gspca_dev, 0x105, 0x00);
 303
 304         /* Reset video stream */
 305         write_register(gspca_dev, 0x05, 0x00);
 306
 307         /* Due to some ridiculous condition in the firmware, we have to start
 308          * and stop the depth stream before the camera will hand us 1280x1024
 309          * IR.  This is a stupid workaround, but we've yet to find a better
 310          * solution.
 311          *
 312          * Thanks to Drew Fisher for figuring this out.
 313          */
 314         if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
 315                 write_register(gspca_dev, 0x13, 0x01);
 316                 write_register(gspca_dev, 0x14, 0x1e);
 317                 write_register(gspca_dev, 0x06, 0x02);
 318                 write_register(gspca_dev, 0x06, 0x00);
 319         }
 320
 321         write_register(gspca_dev, fmt_reg, fmt_val);
 322         write_register(gspca_dev, res_reg, res_val);
 323         write_register(gspca_dev, fps_reg, fps_val);
 324
 325         /* Start video stream */
 326         write_register(gspca_dev, 0x05, mode_val);
 327
 328         /* disable Hflip */
 329         write_register(gspca_dev, 0x47, 0x00);
 330
 331         return 0;
 332 }
 333
 334 static void sd_stopN(struct gspca_dev *gspca_dev)
 335 {
 336         /* reset video stream */
 337         write_register(gspca_dev, 0x05, 0x00);
 338 }
 339
 340 static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
 341 {
 342         struct sd *sd = (struct sd *) gspca_dev;
 343
 344         struct pkt_hdr *hdr = (void *)__data;
 345         uint8_t *data = __data + sizeof(*hdr);
 346         int datalen = len - sizeof(*hdr);
 347
 348         uint8_t sof = sd->stream_flag | 1;
 349         uint8_t mof = sd->stream_flag | 2;
 350         uint8_t eof = sd->stream_flag | 5;
 351
 352         if (len < 12)
 353                 return;
 354
 355         if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
 356                 warn("[Stream %02x] Invalid magic %02x%02x", sd->stream_flag,
 357                                 hdr->magic[0], hdr->magic[1]);
 358                 return;
 359         }
 360
 361         if (hdr->flag == sof)
 362                 gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen);
 363
 364         else if (hdr->flag == mof)
 365                 gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
 366
 367         else if (hdr->flag == eof)
 368                 gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);
 369
 370         else
 371                 warn("Packet type not recognized...");
 372 }
 373
 374 /* sub-driver description */
 375 static const struct sd_desc sd_desc = {
 376         .name      = MODULE_NAME,
 377         .ctrls     = sd_ctrls,
 378         .nctrls    = ARRAY_SIZE(sd_ctrls),
 379         .config    = sd_config,
 380         .init      = sd_init,
 381         .start     = sd_start,
 382         .stopN     = sd_stopN,
 383         .pkt_scan  = sd_pkt_scan,
 384         /*
 385         .querymenu = sd_querymenu,
 386         .get_streamparm = sd_get_streamparm,
 387         .set_streamparm = sd_set_streamparm,
 388         */
 389 };
 390
 391 /* -- module initialisation -- */
 392 static const struct usb_device_id device_table[] = {
 393         {USB_DEVICE(0x045e, 0x02ae)},
 394         {}
 395 };
 396
 397 MODULE_DEVICE_TABLE(usb, device_table);
 398
 399 /* -- device connect -- */
 400 static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
 401 {
 402         return gspca_dev_probe(intf, id, &sd_desc, sizeof(struct sd),
 403                                 THIS_MODULE);
 404 }
 405
 406 static struct usb_driver sd_driver = {
 407         .name       = MODULE_NAME,
 408         .id_table   = device_table,
 409         .probe      = sd_probe,
 410         .disconnect = gspca_disconnect,
 411 #ifdef CONFIG_PM
 412         .suspend    = gspca_suspend,
 413         .resume     = gspca_resume,
 414 #endif
 415 };
 416
 417 /* -- module insert / remove -- */
 418 static int __init sd_mod_init(void)
 419 {
 420         return usb_register(&sd_driver);
 421 }
 422
 423 static void __exit sd_mod_exit(void)
 424 {
 425         usb_deregister(&sd_driver);
 426 }
 427
 428 module_init(sd_mod_init);
 429 module_exit(sd_mod_exit);