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 struct pkt_hdr {
  40         uint8_t magic[2];
  41         uint8_t pad;
  42         uint8_t flag;
  43         uint8_t unk1;
  44         uint8_t seq;
  45         uint8_t unk2;
  46         uint8_t unk3;
  47         uint32_t timestamp;
  48 };
  49
  50 struct cam_hdr {
  51         uint8_t magic[2];
  52         uint16_t len;
  53         uint16_t cmd;
  54         uint16_t tag;
  55 };
  56
  57 /* specific webcam descriptor */
  58 struct sd {
  59         struct gspca_dev gspca_dev; /* !! must be the first item */
  60         uint16_t cam_tag;           /* a sequence number for packets */
  61         uint8_t stream_flag;        /* to identify different stream types */
  62         uint8_t obuf[0x400];        /* output buffer for control commands */
  63         uint8_t ibuf[0x200];        /* input buffer for control commands */
  64 };
  65
  66 /* V4L2 controls supported by the driver */
  67 /* controls prototypes here */
  68
  69 static const struct ctrl sd_ctrls[] = {
  70 };
  71
  72 #define MODE_640x480   0x0001
  73 #define MODE_640x488   0x0002
  74 #define MODE_1280x1024 0x0004
  75
  76 #define FORMAT_BAYER   0x0010
  77 #define FORMAT_UYVY    0x0020
  78 #define FORMAT_Y10B    0x0040
  79
  80 #define FPS_HIGH       0x0100
  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         PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd,
 155                 sd->cam_tag, cmd_len, res);
 156         if (res < 0) {
 157                 pr_err("send_cmd: Output control transfer failed (%d)\n", res);
 158                 return res;
 159         }
 160
 161         do {
 162                 actual_len = kinect_read(udev, ibuf, 0x200);
 163         } while (actual_len == 0);
 164         PDEBUG(D_USBO, "Control reply: %d", res);
 165         if (actual_len < sizeof(*rhdr)) {
 166                 pr_err("send_cmd: Input control transfer failed (%d)\n", res);
 167                 return res;
 168         }
 169         actual_len -= sizeof(*rhdr);
 170
 171         if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
 172                 pr_err("send_cmd: Bad magic %02x %02x\n",
 173                        rhdr->magic[0], rhdr->magic[1]);
 174                 return -1;
 175         }
 176         if (rhdr->cmd != chdr->cmd) {
 177                 pr_err("send_cmd: Bad cmd %02x != %02x\n",
 178                        rhdr->cmd, chdr->cmd);
 179                 return -1;
 180         }
 181         if (rhdr->tag != chdr->tag) {
 182                 pr_err("send_cmd: Bad tag %04x != %04x\n",
 183                        rhdr->tag, chdr->tag);
 184                 return -1;
 185         }
 186         if (cpu_to_le16(rhdr->len) != (actual_len/2)) {
 187                 pr_err("send_cmd: Bad len %04x != %04x\n",
 188                        cpu_to_le16(rhdr->len), (int)(actual_len/2));
 189                 return -1;
 190         }
 191
 192         if (actual_len > reply_len) {
 193                 pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n",
 194                         reply_len, actual_len);
 195                 memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len);
 196         } else {
 197                 memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len);
 198         }
 199
 200         sd->cam_tag++;
 201
 202         return actual_len;
 203 }
 204
 205 static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
 206                         uint16_t data)
 207 {
 208         uint16_t reply[2];
 209         uint16_t cmd[2];
 210         int res;
 211
 212         cmd[0] = cpu_to_le16(reg);
 213         cmd[1] = cpu_to_le16(data);
 214
 215         PDEBUG(D_USBO, "Write Reg 0x%04x <= 0x%02x", reg, data);
 216         res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4);
 217         if (res < 0)
 218                 return res;
 219         if (res != 2) {
 220                 pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n",
 221                         res, reply[0], reply[1]);
 222         }
 223         return 0;
 224 }
 225
 226 /* this function is called at probe time */
 227 static int sd_config(struct gspca_dev *gspca_dev,
 228                      const struct usb_device_id *id)
 229 {
 230         struct sd *sd = (struct sd *) gspca_dev;
 231         struct cam *cam;
 232
 233         sd->cam_tag = 0;
 234
 235         /* Only video stream is supported for now,
 236          * which has stream flag = 0x80 */
 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 #if 0
 245         /* Setting those values is not needed for video stream */
 246         cam->npkt = 15;
 247         gspca_dev->pkt_size = 960 * 2;
 248 #endif
 249
 250         return 0;
 251 }
 252
 253 /* this function is called at probe and resume time */
 254 static int sd_init(struct gspca_dev *gspca_dev)
 255 {
 256         PDEBUG(D_PROBE, "Kinect Camera device.");
 257
 258         return 0;
 259 }
 260
 261 static int sd_start(struct gspca_dev *gspca_dev)
 262 {
 263         int mode;
 264         uint8_t fmt_reg, fmt_val;
 265         uint8_t res_reg, res_val;
 266         uint8_t fps_reg, fps_val;
 267         uint8_t mode_val;
 268
 269         mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;
 270
 271         if (mode & FORMAT_Y10B) {
 272                 fmt_reg = 0x19;
 273                 res_reg = 0x1a;
 274                 fps_reg = 0x1b;
 275                 mode_val = 0x03;
 276         } else {
 277                 fmt_reg = 0x0c;
 278                 res_reg = 0x0d;
 279                 fps_reg = 0x0e;
 280                 mode_val = 0x01;
 281         }
 282
 283         /* format */
 284         if (mode & FORMAT_UYVY)
 285                 fmt_val = 0x05;
 286         else
 287                 fmt_val = 0x00;
 288
 289         if (mode & MODE_1280x1024)
 290                 res_val = 0x02;
 291         else
 292                 res_val = 0x01;
 293
 294         if (mode & FPS_HIGH)
 295                 fps_val = 0x1e;
 296         else
 297                 fps_val = 0x0f;
 298
 299
 300         /* turn off IR-reset function */
 301         write_register(gspca_dev, 0x105, 0x00);
 302
 303         /* Reset video stream */
 304         write_register(gspca_dev, 0x05, 0x00);
 305
 306         /* Due to some ridiculous condition in the firmware, we have to start
 307          * and stop the depth stream before the camera will hand us 1280x1024
 308          * IR.  This is a stupid workaround, but we've yet to find a better
 309          * solution.
 310          *
 311          * Thanks to Drew Fisher for figuring this out.
 312          */
 313         if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
 314                 write_register(gspca_dev, 0x13, 0x01);
 315                 write_register(gspca_dev, 0x14, 0x1e);
 316                 write_register(gspca_dev, 0x06, 0x02);
 317                 write_register(gspca_dev, 0x06, 0x00);
 318         }
 319
 320         write_register(gspca_dev, fmt_reg, fmt_val);
 321         write_register(gspca_dev, res_reg, res_val);
 322         write_register(gspca_dev, fps_reg, fps_val);
 323
 324         /* Start video stream */
 325         write_register(gspca_dev, 0x05, mode_val);
 326
 327         /* disable Hflip */
 328         write_register(gspca_dev, 0x47, 0x00);
 329
 330         return 0;
 331 }
 332
 333 static void sd_stopN(struct gspca_dev *gspca_dev)
 334 {
 335         /* reset video stream */
 336         write_register(gspca_dev, 0x05, 0x00);
 337 }
 338
 339 static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
 340 {
 341         struct sd *sd = (struct sd *) gspca_dev;
 342
 343         struct pkt_hdr *hdr = (void *)__data;
 344         uint8_t *data = __data + sizeof(*hdr);
 345         int datalen = len - sizeof(*hdr);
 346
 347         uint8_t sof = sd->stream_flag | 1;
 348         uint8_t mof = sd->stream_flag | 2;
 349         uint8_t eof = sd->stream_flag | 5;
 350
 351         if (len < 12)
 352                 return;
 353
 354         if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
 355                 pr_warn("[Stream %02x] Invalid magic %02x%02x\n",
 356                         sd->stream_flag, hdr->magic[0], hdr->magic[1]);
 357                 return;
 358         }
 359
 360         if (hdr->flag == sof)
 361                 gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen);
 362
 363         else if (hdr->flag == mof)
 364                 gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
 365
 366         else if (hdr->flag == eof)
 367                 gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);
 368
 369         else
 370                 pr_warn("Packet type not recognized...\n");
 371 }
 372
 373 /* sub-driver description */
 374 static const struct sd_desc sd_desc = {
 375         .name      = MODULE_NAME,
 376         .ctrls     = sd_ctrls,
 377         .nctrls    = ARRAY_SIZE(sd_ctrls),
 378         .config    = sd_config,
 379         .init      = sd_init,
 380         .start     = sd_start,
 381         .stopN     = sd_stopN,
 382         .pkt_scan  = sd_pkt_scan,
 383         /*
 384         .querymenu = sd_querymenu,
 385         .get_streamparm = sd_get_streamparm,
 386         .set_streamparm = sd_set_streamparm,
 387         */
 388 };
 389
 390 /* -- module initialisation -- */
 391 static const struct usb_device_id device_table[] = {
 392         {USB_DEVICE(0x045e, 0x02ae)},
 393         {}
 394 };
 395
 396 MODULE_DEVICE_TABLE(usb, device_table);
 397
 398 /* -- device connect -- */
 399 static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
 400 {
 401         return gspca_dev_probe(intf, id, &sd_desc, sizeof(struct sd),
 402                                 THIS_MODULE);
 403 }
 404
 405 static struct usb_driver sd_driver = {
 406         .name       = MODULE_NAME,
 407         .id_table   = device_table,
 408         .probe      = sd_probe,
 409         .disconnect = gspca_disconnect,
 410 #ifdef CONFIG_PM
 411         .suspend    = gspca_suspend,
 412         .resume     = gspca_resume,
 413 #endif
 414 };
 415
 416 module_usb_driver(sd_driver);