drivers/media/usb/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
  23 #define pr_fmt(fmt) KBUILD_MODNAME ": " fmt
  24
  25 #define MODULE_NAME "kinect"
  26
  27 #include "gspca.h"
  28
  29 #define CTRL_TIMEOUT 500
  30
  31 MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>");
  32 MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
  33 MODULE_LICENSE("GPL");
  34
  35 static bool depth_mode;
  36
  37 struct pkt_hdr {
  38         uint8_t magic[2];
  39         uint8_t pad;
  40         uint8_t flag;
  41         uint8_t unk1;
  42         uint8_t seq;
  43         uint8_t unk2;
  44         uint8_t unk3;
  45         uint32_t timestamp;
  46 };
  47
  48 struct cam_hdr {
  49         uint8_t magic[2];
  50         __le16 len;
  51         __le16 cmd;
  52         __le16 tag;
  53 };
  54
  55 /* specific webcam descriptor */
  56 struct sd {
  57         struct gspca_dev gspca_dev; /* !! must be the first item */
  58         uint16_t cam_tag;           /* a sequence number for packets */
  59         uint8_t stream_flag;        /* to identify different stream types */
  60         uint8_t obuf[0x400];        /* output buffer for control commands */
  61         uint8_t ibuf[0x200];        /* input buffer for control commands */
  62 };
  63
  64 #define MODE_640x480   0x0001
  65 #define MODE_640x488   0x0002
  66 #define MODE_1280x1024 0x0004
  67
  68 #define FORMAT_BAYER   0x0010
  69 #define FORMAT_UYVY    0x0020
  70 #define FORMAT_Y10B    0x0040
  71
  72 #define FPS_HIGH       0x0100
  73
  74 static const struct v4l2_pix_format depth_camera_mode[] = {
  75         {640, 480, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
  76          .bytesperline = 640 * 10 / 8,
  77          .sizeimage =  640 * 480 * 10 / 8,
  78          .colorspace = V4L2_COLORSPACE_SRGB,
  79          .priv = MODE_640x488 | FORMAT_Y10B},
  80 };
  81
  82 static const struct v4l2_pix_format video_camera_mode[] = {
  83         {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
  84          .bytesperline = 640,
  85          .sizeimage = 640 * 480,
  86          .colorspace = V4L2_COLORSPACE_SRGB,
  87          .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH},
  88         {640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE,
  89          .bytesperline = 640 * 2,
  90          .sizeimage = 640 * 480 * 2,
  91          .colorspace = V4L2_COLORSPACE_SRGB,
  92          .priv = MODE_640x480 | FORMAT_UYVY},
  93         {1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
  94          .bytesperline = 1280,
  95          .sizeimage = 1280 * 1024,
  96          .colorspace = V4L2_COLORSPACE_SRGB,
  97          .priv = MODE_1280x1024 | FORMAT_BAYER},
  98         {640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
  99          .bytesperline = 640 * 10 / 8,
 100          .sizeimage =  640 * 488 * 10 / 8,
 101          .colorspace = V4L2_COLORSPACE_SRGB,
 102          .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH},
 103         {1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
 104          .bytesperline = 1280 * 10 / 8,
 105          .sizeimage =  1280 * 1024 * 10 / 8,
 106          .colorspace = V4L2_COLORSPACE_SRGB,
 107          .priv = MODE_1280x1024 | FORMAT_Y10B},
 108 };
 109
 110 static int kinect_write(struct usb_device *udev, uint8_t *data,
 111                         uint16_t wLength)
 112 {
 113         return usb_control_msg(udev,
 114                               usb_sndctrlpipe(udev, 0),
 115                               0x00,
 116                               USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
 117                               0, 0, data, wLength, CTRL_TIMEOUT);
 118 }
 119
 120 static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength)
 121 {
 122         return usb_control_msg(udev,
 123                               usb_rcvctrlpipe(udev, 0),
 124                               0x00,
 125                               USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
 126                               0, 0, data, wLength, CTRL_TIMEOUT);
 127 }
 128
 129 static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
 130                 unsigned int cmd_len, void *replybuf, unsigned int reply_len)
 131 {
 132         struct sd *sd = (struct sd *) gspca_dev;
 133         struct usb_device *udev = gspca_dev->dev;
 134         int res, actual_len;
 135         uint8_t *obuf = sd->obuf;
 136         uint8_t *ibuf = sd->ibuf;
 137         struct cam_hdr *chdr = (void *)obuf;
 138         struct cam_hdr *rhdr = (void *)ibuf;
 139
 140         if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
 141                 pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len);
 142                 return -1;
 143         }
 144
 145         chdr->magic[0] = 0x47;
 146         chdr->magic[1] = 0x4d;
 147         chdr->cmd = cpu_to_le16(cmd);
 148         chdr->tag = cpu_to_le16(sd->cam_tag);
 149         chdr->len = cpu_to_le16(cmd_len / 2);
 150
 151         memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);
 152
 153         res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));
 154         gspca_dbg(gspca_dev, D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d\n",
 155                   cmd,
 156                   sd->cam_tag, cmd_len, res);
 157         if (res < 0) {
 158                 pr_err("send_cmd: Output control transfer failed (%d)\n", res);
 159                 return res;
 160         }
 161
 162         do {
 163                 actual_len = kinect_read(udev, ibuf, 0x200);
 164         } while (actual_len == 0);
 165         gspca_dbg(gspca_dev, D_USBO, "Control reply: %d\n", actual_len);
 166         if (actual_len < (int)sizeof(*rhdr)) {
 167                 pr_err("send_cmd: Input control transfer failed (%d)\n",
 168                        actual_len);
 169                 return actual_len < 0 ? actual_len : -EREMOTEIO;
 170         }
 171         actual_len -= sizeof(*rhdr);
 172
 173         if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
 174                 pr_err("send_cmd: Bad magic %02x %02x\n",
 175                        rhdr->magic[0], rhdr->magic[1]);
 176                 return -1;
 177         }
 178         if (rhdr->cmd != chdr->cmd) {
 179                 pr_err("send_cmd: Bad cmd %02x != %02x\n",
 180                        rhdr->cmd, chdr->cmd);
 181                 return -1;
 182         }
 183         if (rhdr->tag != chdr->tag) {
 184                 pr_err("send_cmd: Bad tag %04x != %04x\n",
 185                        rhdr->tag, chdr->tag);
 186                 return -1;
 187         }
 188         if (le16_to_cpu(rhdr->len) != (actual_len/2)) {
 189                 pr_err("send_cmd: Bad len %04x != %04x\n",
 190                        le16_to_cpu(rhdr->len), (int)(actual_len/2));
 191                 return -1;
 192         }
 193
 194         if (actual_len > reply_len) {
 195                 pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n",
 196                         reply_len, actual_len);
 197                 memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len);
 198         } else {
 199                 memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len);
 200         }
 201
 202         sd->cam_tag++;
 203
 204         return actual_len;
 205 }
 206
 207 static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
 208                         uint16_t data)
 209 {
 210         uint16_t reply[2];
 211         __le16 cmd[2];
 212         int res;
 213
 214         cmd[0] = cpu_to_le16(reg);
 215         cmd[1] = cpu_to_le16(data);
 216
 217         gspca_dbg(gspca_dev, D_USBO, "Write Reg 0x%04x <= 0x%02x\n", reg, data);
 218         res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4);
 219         if (res < 0)
 220                 return res;
 221         if (res != 2) {
 222                 pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n",
 223                         res, reply[0], reply[1]);
 224         }
 225         return 0;
 226 }
 227
 228 /* this function is called at probe time */
 229 static int sd_config_video(struct gspca_dev *gspca_dev,
 230                      const struct usb_device_id *id)
 231 {
 232         struct sd *sd = (struct sd *) gspca_dev;
 233         struct cam *cam;
 234
 235         sd->cam_tag = 0;
 236
 237         sd->stream_flag = 0x80;
 238
 239         cam = &gspca_dev->cam;
 240
 241         cam->cam_mode = video_camera_mode;
 242         cam->nmodes = ARRAY_SIZE(video_camera_mode);
 243
 244         gspca_dev->xfer_ep = 0x81;
 245
 246 #if 0
 247         /* Setting those values is not needed for video stream */
 248         cam->npkt = 15;
 249         gspca_dev->pkt_size = 960 * 2;
 250 #endif
 251
 252         return 0;
 253 }
 254
 255 static int sd_config_depth(struct gspca_dev *gspca_dev,
 256                      const struct usb_device_id *id)
 257 {
 258         struct sd *sd = (struct sd *) gspca_dev;
 259         struct cam *cam;
 260
 261         sd->cam_tag = 0;
 262
 263         sd->stream_flag = 0x70;
 264
 265         cam = &gspca_dev->cam;
 266
 267         cam->cam_mode = depth_camera_mode;
 268         cam->nmodes = ARRAY_SIZE(depth_camera_mode);
 269
 270         gspca_dev->xfer_ep = 0x82;
 271
 272         return 0;
 273 }
 274
 275 /* this function is called at probe and resume time */
 276 static int sd_init(struct gspca_dev *gspca_dev)
 277 {
 278         gspca_dbg(gspca_dev, D_PROBE, "Kinect Camera device.\n");
 279
 280         return 0;
 281 }
 282
 283 static int sd_start_video(struct gspca_dev *gspca_dev)
 284 {
 285         int mode;
 286         uint8_t fmt_reg, fmt_val;
 287         uint8_t res_reg, res_val;
 288         uint8_t fps_reg, fps_val;
 289         uint8_t mode_val;
 290
 291         mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;
 292
 293         if (mode & FORMAT_Y10B) {
 294                 fmt_reg = 0x19;
 295                 res_reg = 0x1a;
 296                 fps_reg = 0x1b;
 297                 mode_val = 0x03;
 298         } else {
 299                 fmt_reg = 0x0c;
 300                 res_reg = 0x0d;
 301                 fps_reg = 0x0e;
 302                 mode_val = 0x01;
 303         }
 304
 305         /* format */
 306         if (mode & FORMAT_UYVY)
 307                 fmt_val = 0x05;
 308         else
 309                 fmt_val = 0x00;
 310
 311         if (mode & MODE_1280x1024)
 312                 res_val = 0x02;
 313         else
 314                 res_val = 0x01;
 315
 316         if (mode & FPS_HIGH)
 317                 fps_val = 0x1e;
 318         else
 319                 fps_val = 0x0f;
 320
 321
 322         /* turn off IR-reset function */
 323         write_register(gspca_dev, 0x105, 0x00);
 324
 325         /* Reset video stream */
 326         write_register(gspca_dev, 0x05, 0x00);
 327
 328         /* Due to some ridiculous condition in the firmware, we have to start
 329          * and stop the depth stream before the camera will hand us 1280x1024
 330          * IR.  This is a stupid workaround, but we've yet to find a better
 331          * solution.
 332          *
 333          * Thanks to Drew Fisher for figuring this out.
 334          */
 335         if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
 336                 write_register(gspca_dev, 0x13, 0x01);
 337                 write_register(gspca_dev, 0x14, 0x1e);
 338                 write_register(gspca_dev, 0x06, 0x02);
 339                 write_register(gspca_dev, 0x06, 0x00);
 340         }
 341
 342         write_register(gspca_dev, fmt_reg, fmt_val);
 343         write_register(gspca_dev, res_reg, res_val);
 344         write_register(gspca_dev, fps_reg, fps_val);
 345
 346         /* Start video stream */
 347         write_register(gspca_dev, 0x05, mode_val);
 348
 349         /* disable Hflip */
 350         write_register(gspca_dev, 0x47, 0x00);
 351
 352         return 0;
 353 }
 354
 355 static int sd_start_depth(struct gspca_dev *gspca_dev)
 356 {
 357         /* turn off IR-reset function */
 358         write_register(gspca_dev, 0x105, 0x00);
 359
 360         /* reset depth stream */
 361         write_register(gspca_dev, 0x06, 0x00);
 362         /* Depth Stream Format 0x03: 11 bit stream | 0x02: 10 bit */
 363         write_register(gspca_dev, 0x12, 0x02);
 364         /* Depth Stream Resolution 1: standard (640x480) */
 365         write_register(gspca_dev, 0x13, 0x01);
 366         /* Depth Framerate / 0x1e (30): 30 fps */
 367         write_register(gspca_dev, 0x14, 0x1e);
 368         /* Depth Stream Control  / 2: Open Depth Stream */
 369         write_register(gspca_dev, 0x06, 0x02);
 370         /* disable depth hflip / LSB = 0: Smoothing Disabled */
 371         write_register(gspca_dev, 0x17, 0x00);
 372
 373         return 0;
 374 }
 375
 376 static void sd_stopN_video(struct gspca_dev *gspca_dev)
 377 {
 378         /* reset video stream */
 379         write_register(gspca_dev, 0x05, 0x00);
 380 }
 381
 382 static void sd_stopN_depth(struct gspca_dev *gspca_dev)
 383 {
 384         /* reset depth stream */
 385         write_register(gspca_dev, 0x06, 0x00);
 386 }
 387
 388 static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
 389 {
 390         struct sd *sd = (struct sd *) gspca_dev;
 391
 392         struct pkt_hdr *hdr = (void *)__data;
 393         uint8_t *data = __data + sizeof(*hdr);
 394         int datalen = len - sizeof(*hdr);
 395
 396         uint8_t sof = sd->stream_flag | 1;
 397         uint8_t mof = sd->stream_flag | 2;
 398         uint8_t eof = sd->stream_flag | 5;
 399
 400         if (len < 12)
 401                 return;
 402
 403         if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
 404                 pr_warn("[Stream %02x] Invalid magic %02x%02x\n",
 405                         sd->stream_flag, hdr->magic[0], hdr->magic[1]);
 406                 return;
 407         }
 408
 409         if (hdr->flag == sof)
 410                 gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen);
 411
 412         else if (hdr->flag == mof)
 413                 gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
 414
 415         else if (hdr->flag == eof)
 416                 gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);
 417
 418         else
 419                 pr_warn("Packet type not recognized...\n");
 420 }
 421
 422 /* sub-driver description */
 423 static const struct sd_desc sd_desc_video = {
 424         .name      = MODULE_NAME,
 425         .config    = sd_config_video,
 426         .init      = sd_init,
 427         .start     = sd_start_video,
 428         .stopN     = sd_stopN_video,
 429         .pkt_scan  = sd_pkt_scan,
 430         /*
 431         .get_streamparm = sd_get_streamparm,
 432         .set_streamparm = sd_set_streamparm,
 433         */
 434 };
 435 static const struct sd_desc sd_desc_depth = {
 436         .name      = MODULE_NAME,
 437         .config    = sd_config_depth,
 438         .init      = sd_init,
 439         .start     = sd_start_depth,
 440         .stopN     = sd_stopN_depth,
 441         .pkt_scan  = sd_pkt_scan,
 442         /*
 443         .get_streamparm = sd_get_streamparm,
 444         .set_streamparm = sd_set_streamparm,
 445         */
 446 };
 447
 448 /* -- module initialisation -- */
 449 static const struct usb_device_id device_table[] = {
 450         {USB_DEVICE(0x045e, 0x02ae)},
 451         {USB_DEVICE(0x045e, 0x02bf)},
 452         {}
 453 };
 454
 455 MODULE_DEVICE_TABLE(usb, device_table);
 456
 457 /* -- device connect -- */
 458 static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
 459 {
 460         if (depth_mode)
 461                 return gspca_dev_probe(intf, id, &sd_desc_depth,
 462                                        sizeof(struct sd), THIS_MODULE);
 463         else
 464                 return gspca_dev_probe(intf, id, &sd_desc_video,
 465                                        sizeof(struct sd), THIS_MODULE);
 466 }
 467
 468 static struct usb_driver sd_driver = {
 469         .name       = MODULE_NAME,
 470         .id_table   = device_table,
 471         .probe      = sd_probe,
 472         .disconnect = gspca_disconnect,
 473 #ifdef CONFIG_PM
 474         .suspend    = gspca_suspend,
 475         .resume     = gspca_resume,
 476         .reset_resume = gspca_resume,
 477 #endif
 478 };
 479
 480 module_usb_driver(sd_driver);
 481
 482 module_param(depth_mode, bool, 0644);
 483 MODULE_PARM_DESC(depth_mode, "0=video 1=depth");