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  * 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 static bool depth_mode;
  40
  41 struct pkt_hdr {
  42         uint8_t magic[2];
  43         uint8_t pad;
  44         uint8_t flag;
  45         uint8_t unk1;
  46         uint8_t seq;
  47         uint8_t unk2;
  48         uint8_t unk3;
  49         uint32_t timestamp;
  50 };
  51
  52 struct cam_hdr {
  53         uint8_t magic[2];
  54         __le16 len;
  55         __le16 cmd;
  56         __le16 tag;
  57 };
  58
  59 /* specific webcam descriptor */
  60 struct sd {
  61         struct gspca_dev gspca_dev; /* !! must be the first item */
  62         uint16_t cam_tag;           /* a sequence number for packets */
  63         uint8_t stream_flag;        /* to identify different stream types */
  64         uint8_t obuf[0x400];        /* output buffer for control commands */
  65         uint8_t ibuf[0x200];        /* input buffer for control commands */
  66 };
  67
  68 #define MODE_640x480   0x0001
  69 #define MODE_640x488   0x0002
  70 #define MODE_1280x1024 0x0004
  71
  72 #define FORMAT_BAYER   0x0010
  73 #define FORMAT_UYVY    0x0020
  74 #define FORMAT_Y10B    0x0040
  75
  76 #define FPS_HIGH       0x0100
  77
  78 static const struct v4l2_pix_format depth_camera_mode[] = {
  79         {640, 480, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
  80          .bytesperline = 640 * 10 / 8,
  81          .sizeimage =  640 * 480 * 10 / 8,
  82          .colorspace = V4L2_COLORSPACE_SRGB,
  83          .priv = MODE_640x488 | FORMAT_Y10B},
  84 };
  85
  86 static const struct v4l2_pix_format video_camera_mode[] = {
  87         {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
  88          .bytesperline = 640,
  89          .sizeimage = 640 * 480,
  90          .colorspace = V4L2_COLORSPACE_SRGB,
  91          .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH},
  92         {640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE,
  93          .bytesperline = 640 * 2,
  94          .sizeimage = 640 * 480 * 2,
  95          .colorspace = V4L2_COLORSPACE_SRGB,
  96          .priv = MODE_640x480 | FORMAT_UYVY},
  97         {1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
  98          .bytesperline = 1280,
  99          .sizeimage = 1280 * 1024,
 100          .colorspace = V4L2_COLORSPACE_SRGB,
 101          .priv = MODE_1280x1024 | FORMAT_BAYER},
 102         {640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
 103          .bytesperline = 640 * 10 / 8,
 104          .sizeimage =  640 * 488 * 10 / 8,
 105          .colorspace = V4L2_COLORSPACE_SRGB,
 106          .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH},
 107         {1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
 108          .bytesperline = 1280 * 10 / 8,
 109          .sizeimage =  1280 * 1024 * 10 / 8,
 110          .colorspace = V4L2_COLORSPACE_SRGB,
 111          .priv = MODE_1280x1024 | FORMAT_Y10B},
 112 };
 113
 114 static int kinect_write(struct usb_device *udev, uint8_t *data,
 115                         uint16_t wLength)
 116 {
 117         return usb_control_msg(udev,
 118                               usb_sndctrlpipe(udev, 0),
 119                               0x00,
 120                               USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
 121                               0, 0, data, wLength, CTRL_TIMEOUT);
 122 }
 123
 124 static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength)
 125 {
 126         return usb_control_msg(udev,
 127                               usb_rcvctrlpipe(udev, 0),
 128                               0x00,
 129                               USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
 130                               0, 0, data, wLength, CTRL_TIMEOUT);
 131 }
 132
 133 static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
 134                 unsigned int cmd_len, void *replybuf, unsigned int reply_len)
 135 {
 136         struct sd *sd = (struct sd *) gspca_dev;
 137         struct usb_device *udev = gspca_dev->dev;
 138         int res, actual_len;
 139         uint8_t *obuf = sd->obuf;
 140         uint8_t *ibuf = sd->ibuf;
 141         struct cam_hdr *chdr = (void *)obuf;
 142         struct cam_hdr *rhdr = (void *)ibuf;
 143
 144         if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
 145                 pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len);
 146                 return -1;
 147         }
 148
 149         chdr->magic[0] = 0x47;
 150         chdr->magic[1] = 0x4d;
 151         chdr->cmd = cpu_to_le16(cmd);
 152         chdr->tag = cpu_to_le16(sd->cam_tag);
 153         chdr->len = cpu_to_le16(cmd_len / 2);
 154
 155         memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);
 156
 157         res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));
 158         PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd,
 159                 sd->cam_tag, cmd_len, res);
 160         if (res < 0) {
 161                 pr_err("send_cmd: Output control transfer failed (%d)\n", res);
 162                 return res;
 163         }
 164
 165         do {
 166                 actual_len = kinect_read(udev, ibuf, 0x200);
 167         } while (actual_len == 0);
 168         PDEBUG(D_USBO, "Control reply: %d", actual_len);
 169         if (actual_len < sizeof(*rhdr)) {
 170                 pr_err("send_cmd: Input control transfer failed (%d)\n",
 171                        actual_len);
 172                 return actual_len < 0 ? actual_len : -EREMOTEIO;
 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 (le16_to_cpu(rhdr->len) != (actual_len/2)) {
 192                 pr_err("send_cmd: Bad len %04x != %04x\n",
 193                        le16_to_cpu(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         __le16 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_video(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         sd->stream_flag = 0x80;
 241
 242         cam = &gspca_dev->cam;
 243
 244         cam->cam_mode = video_camera_mode;
 245         cam->nmodes = ARRAY_SIZE(video_camera_mode);
 246
 247         gspca_dev->xfer_ep = 0x81;
 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 static int sd_config_depth(struct gspca_dev *gspca_dev,
 259                      const struct usb_device_id *id)
 260 {
 261         struct sd *sd = (struct sd *) gspca_dev;
 262         struct cam *cam;
 263
 264         sd->cam_tag = 0;
 265
 266         sd->stream_flag = 0x70;
 267
 268         cam = &gspca_dev->cam;
 269
 270         cam->cam_mode = depth_camera_mode;
 271         cam->nmodes = ARRAY_SIZE(depth_camera_mode);
 272
 273         gspca_dev->xfer_ep = 0x82;
 274
 275         return 0;
 276 }
 277
 278 /* this function is called at probe and resume time */
 279 static int sd_init(struct gspca_dev *gspca_dev)
 280 {
 281         PDEBUG(D_PROBE, "Kinect Camera device.");
 282
 283         return 0;
 284 }
 285
 286 static int sd_start_video(struct gspca_dev *gspca_dev)
 287 {
 288         int mode;
 289         uint8_t fmt_reg, fmt_val;
 290         uint8_t res_reg, res_val;
 291         uint8_t fps_reg, fps_val;
 292         uint8_t mode_val;
 293
 294         mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;
 295
 296         if (mode & FORMAT_Y10B) {
 297                 fmt_reg = 0x19;
 298                 res_reg = 0x1a;
 299                 fps_reg = 0x1b;
 300                 mode_val = 0x03;
 301         } else {
 302                 fmt_reg = 0x0c;
 303                 res_reg = 0x0d;
 304                 fps_reg = 0x0e;
 305                 mode_val = 0x01;
 306         }
 307
 308         /* format */
 309         if (mode & FORMAT_UYVY)
 310                 fmt_val = 0x05;
 311         else
 312                 fmt_val = 0x00;
 313
 314         if (mode & MODE_1280x1024)
 315                 res_val = 0x02;
 316         else
 317                 res_val = 0x01;
 318
 319         if (mode & FPS_HIGH)
 320                 fps_val = 0x1e;
 321         else
 322                 fps_val = 0x0f;
 323
 324
 325         /* turn off IR-reset function */
 326         write_register(gspca_dev, 0x105, 0x00);
 327
 328         /* Reset video stream */
 329         write_register(gspca_dev, 0x05, 0x00);
 330
 331         /* Due to some ridiculous condition in the firmware, we have to start
 332          * and stop the depth stream before the camera will hand us 1280x1024
 333          * IR.  This is a stupid workaround, but we've yet to find a better
 334          * solution.
 335          *
 336          * Thanks to Drew Fisher for figuring this out.
 337          */
 338         if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
 339                 write_register(gspca_dev, 0x13, 0x01);
 340                 write_register(gspca_dev, 0x14, 0x1e);
 341                 write_register(gspca_dev, 0x06, 0x02);
 342                 write_register(gspca_dev, 0x06, 0x00);
 343         }
 344
 345         write_register(gspca_dev, fmt_reg, fmt_val);
 346         write_register(gspca_dev, res_reg, res_val);
 347         write_register(gspca_dev, fps_reg, fps_val);
 348
 349         /* Start video stream */
 350         write_register(gspca_dev, 0x05, mode_val);
 351
 352         /* disable Hflip */
 353         write_register(gspca_dev, 0x47, 0x00);
 354
 355         return 0;
 356 }
 357
 358 static int sd_start_depth(struct gspca_dev *gspca_dev)
 359 {
 360         /* turn off IR-reset function */
 361         write_register(gspca_dev, 0x105, 0x00);
 362
 363         /* reset depth stream */
 364         write_register(gspca_dev, 0x06, 0x00);
 365         /* Depth Stream Format 0x03: 11 bit stream | 0x02: 10 bit */
 366         write_register(gspca_dev, 0x12, 0x02);
 367         /* Depth Stream Resolution 1: standard (640x480) */
 368         write_register(gspca_dev, 0x13, 0x01);
 369         /* Depth Framerate / 0x1e (30): 30 fps */
 370         write_register(gspca_dev, 0x14, 0x1e);
 371         /* Depth Stream Control  / 2: Open Depth Stream */
 372         write_register(gspca_dev, 0x06, 0x02);
 373         /* disable depth hflip / LSB = 0: Smoothing Disabled */
 374         write_register(gspca_dev, 0x17, 0x00);
 375
 376         return 0;
 377 }
 378
 379 static void sd_stopN_video(struct gspca_dev *gspca_dev)
 380 {
 381         /* reset video stream */
 382         write_register(gspca_dev, 0x05, 0x00);
 383 }
 384
 385 static void sd_stopN_depth(struct gspca_dev *gspca_dev)
 386 {
 387         /* reset depth stream */
 388         write_register(gspca_dev, 0x06, 0x00);
 389 }
 390
 391 static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
 392 {
 393         struct sd *sd = (struct sd *) gspca_dev;
 394
 395         struct pkt_hdr *hdr = (void *)__data;
 396         uint8_t *data = __data + sizeof(*hdr);
 397         int datalen = len - sizeof(*hdr);
 398
 399         uint8_t sof = sd->stream_flag | 1;
 400         uint8_t mof = sd->stream_flag | 2;
 401         uint8_t eof = sd->stream_flag | 5;
 402
 403         if (len < 12)
 404                 return;
 405
 406         if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
 407                 pr_warn("[Stream %02x] Invalid magic %02x%02x\n",
 408                         sd->stream_flag, hdr->magic[0], hdr->magic[1]);
 409                 return;
 410         }
 411
 412         if (hdr->flag == sof)
 413                 gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen);
 414
 415         else if (hdr->flag == mof)
 416                 gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
 417
 418         else if (hdr->flag == eof)
 419                 gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);
 420
 421         else
 422                 pr_warn("Packet type not recognized...\n");
 423 }
 424
 425 /* sub-driver description */
 426 static const struct sd_desc sd_desc_video = {
 427         .name      = MODULE_NAME,
 428         .config    = sd_config_video,
 429         .init      = sd_init,
 430         .start     = sd_start_video,
 431         .stopN     = sd_stopN_video,
 432         .pkt_scan  = sd_pkt_scan,
 433         /*
 434         .get_streamparm = sd_get_streamparm,
 435         .set_streamparm = sd_set_streamparm,
 436         */
 437 };
 438 static const struct sd_desc sd_desc_depth = {
 439         .name      = MODULE_NAME,
 440         .config    = sd_config_depth,
 441         .init      = sd_init,
 442         .start     = sd_start_depth,
 443         .stopN     = sd_stopN_depth,
 444         .pkt_scan  = sd_pkt_scan,
 445         /*
 446         .get_streamparm = sd_get_streamparm,
 447         .set_streamparm = sd_set_streamparm,
 448         */
 449 };
 450
 451 /* -- module initialisation -- */
 452 static const struct usb_device_id device_table[] = {
 453         {USB_DEVICE(0x045e, 0x02ae)},
 454         {USB_DEVICE(0x045e, 0x02bf)},
 455         {}
 456 };
 457
 458 MODULE_DEVICE_TABLE(usb, device_table);
 459
 460 /* -- device connect -- */
 461 static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
 462 {
 463         if (depth_mode)
 464                 return gspca_dev_probe(intf, id, &sd_desc_depth,
 465                                        sizeof(struct sd), THIS_MODULE);
 466         else
 467                 return gspca_dev_probe(intf, id, &sd_desc_video,
 468                                        sizeof(struct sd), THIS_MODULE);
 469 }
 470
 471 static struct usb_driver sd_driver = {
 472         .name       = MODULE_NAME,
 473         .id_table   = device_table,
 474         .probe      = sd_probe,
 475         .disconnect = gspca_disconnect,
 476 #ifdef CONFIG_PM
 477         .suspend    = gspca_suspend,
 478         .resume     = gspca_resume,
 479         .reset_resume = gspca_resume,
 480 #endif
 481 };
 482
 483 module_usb_driver(sd_driver);
 484
 485 module_param(depth_mode, bool, 0644);
 486 MODULE_PARM_DESC(depth_mode, "0=video 1=depth");