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 #define MODE_640x480 0x0001 67 #define MODE_640x488 0x0002 68 #define MODE_1280x1024 0x0004 69 70 #define FORMAT_BAYER 0x0010 71 #define FORMAT_UYVY 0x0020 72 #define FORMAT_Y10B 0x0040 73 74 #define FPS_HIGH 0x0100 75 76 static const struct v4l2_pix_format video_camera_mode[] = { 77 {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE, 78 .bytesperline = 640, 79 .sizeimage = 640 * 480, 80 .colorspace = V4L2_COLORSPACE_SRGB, 81 .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH}, 82 {640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE, 83 .bytesperline = 640 * 2, 84 .sizeimage = 640 * 480 * 2, 85 .colorspace = V4L2_COLORSPACE_SRGB, 86 .priv = MODE_640x480 | FORMAT_UYVY}, 87 {1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE, 88 .bytesperline = 1280, 89 .sizeimage = 1280 * 1024, 90 .colorspace = V4L2_COLORSPACE_SRGB, 91 .priv = MODE_1280x1024 | FORMAT_BAYER}, 92 {640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, 93 .bytesperline = 640 * 10 / 8, 94 .sizeimage = 640 * 488 * 10 / 8, 95 .colorspace = V4L2_COLORSPACE_SRGB, 96 .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH}, 97 {1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, 98 .bytesperline = 1280 * 10 / 8, 99 .sizeimage = 1280 * 1024 * 10 / 8, 100 .colorspace = V4L2_COLORSPACE_SRGB, 101 .priv = MODE_1280x1024 | FORMAT_Y10B}, 102 }; 103 104 static int kinect_write(struct usb_device *udev, uint8_t *data, 105 uint16_t wLength) 106 { 107 return usb_control_msg(udev, 108 usb_sndctrlpipe(udev, 0), 109 0x00, 110 USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE, 111 0, 0, data, wLength, CTRL_TIMEOUT); 112 } 113 114 static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength) 115 { 116 return usb_control_msg(udev, 117 usb_rcvctrlpipe(udev, 0), 118 0x00, 119 USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE, 120 0, 0, data, wLength, CTRL_TIMEOUT); 121 } 122 123 static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf, 124 unsigned int cmd_len, void *replybuf, unsigned int reply_len) 125 { 126 struct sd *sd = (struct sd *) gspca_dev; 127 struct usb_device *udev = gspca_dev->dev; 128 int res, actual_len; 129 uint8_t *obuf = sd->obuf; 130 uint8_t *ibuf = sd->ibuf; 131 struct cam_hdr *chdr = (void *)obuf; 132 struct cam_hdr *rhdr = (void *)ibuf; 133 134 if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) { 135 pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len); 136 return -1; 137 } 138 139 chdr->magic[0] = 0x47; 140 chdr->magic[1] = 0x4d; 141 chdr->cmd = cpu_to_le16(cmd); 142 chdr->tag = cpu_to_le16(sd->cam_tag); 143 chdr->len = cpu_to_le16(cmd_len / 2); 144 145 memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len); 146 147 res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr)); 148 PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd, 149 sd->cam_tag, cmd_len, res); 150 if (res < 0) { 151 pr_err("send_cmd: Output control transfer failed (%d)\n", res); 152 return res; 153 } 154 155 do { 156 actual_len = kinect_read(udev, ibuf, 0x200); 157 } while (actual_len == 0); 158 PDEBUG(D_USBO, "Control reply: %d", actual_len); 159 if (actual_len < sizeof(*rhdr)) { 160 pr_err("send_cmd: Input control transfer failed (%d)\n", 161 actual_len); 162 return actual_len < 0 ? actual_len : -EREMOTEIO; 163 } 164 actual_len -= sizeof(*rhdr); 165 166 if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) { 167 pr_err("send_cmd: Bad magic %02x %02x\n", 168 rhdr->magic[0], rhdr->magic[1]); 169 return -1; 170 } 171 if (rhdr->cmd != chdr->cmd) { 172 pr_err("send_cmd: Bad cmd %02x != %02x\n", 173 rhdr->cmd, chdr->cmd); 174 return -1; 175 } 176 if (rhdr->tag != chdr->tag) { 177 pr_err("send_cmd: Bad tag %04x != %04x\n", 178 rhdr->tag, chdr->tag); 179 return -1; 180 } 181 if (cpu_to_le16(rhdr->len) != (actual_len/2)) { 182 pr_err("send_cmd: Bad len %04x != %04x\n", 183 cpu_to_le16(rhdr->len), (int)(actual_len/2)); 184 return -1; 185 } 186 187 if (actual_len > reply_len) { 188 pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n", 189 reply_len, actual_len); 190 memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len); 191 } else { 192 memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len); 193 } 194 195 sd->cam_tag++; 196 197 return actual_len; 198 } 199 200 static int write_register(struct gspca_dev *gspca_dev, uint16_t reg, 201 uint16_t data) 202 { 203 uint16_t reply[2]; 204 uint16_t cmd[2]; 205 int res; 206 207 cmd[0] = cpu_to_le16(reg); 208 cmd[1] = cpu_to_le16(data); 209 210 PDEBUG(D_USBO, "Write Reg 0x%04x <= 0x%02x", reg, data); 211 res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4); 212 if (res < 0) 213 return res; 214 if (res != 2) { 215 pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n", 216 res, reply[0], reply[1]); 217 } 218 return 0; 219 } 220 221 /* this function is called at probe time */ 222 static int sd_config(struct gspca_dev *gspca_dev, 223 const struct usb_device_id *id) 224 { 225 struct sd *sd = (struct sd *) gspca_dev; 226 struct cam *cam; 227 228 sd->cam_tag = 0; 229 230 /* Only video stream is supported for now, 231 * which has stream flag = 0x80 */ 232 sd->stream_flag = 0x80; 233 234 cam = &gspca_dev->cam; 235 236 cam->cam_mode = video_camera_mode; 237 cam->nmodes = ARRAY_SIZE(video_camera_mode); 238 239 #if 0 240 /* Setting those values is not needed for video stream */ 241 cam->npkt = 15; 242 gspca_dev->pkt_size = 960 * 2; 243 #endif 244 245 return 0; 246 } 247 248 /* this function is called at probe and resume time */ 249 static int sd_init(struct gspca_dev *gspca_dev) 250 { 251 PDEBUG(D_PROBE, "Kinect Camera device."); 252 253 return 0; 254 } 255 256 static int sd_start(struct gspca_dev *gspca_dev) 257 { 258 int mode; 259 uint8_t fmt_reg, fmt_val; 260 uint8_t res_reg, res_val; 261 uint8_t fps_reg, fps_val; 262 uint8_t mode_val; 263 264 mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv; 265 266 if (mode & FORMAT_Y10B) { 267 fmt_reg = 0x19; 268 res_reg = 0x1a; 269 fps_reg = 0x1b; 270 mode_val = 0x03; 271 } else { 272 fmt_reg = 0x0c; 273 res_reg = 0x0d; 274 fps_reg = 0x0e; 275 mode_val = 0x01; 276 } 277 278 /* format */ 279 if (mode & FORMAT_UYVY) 280 fmt_val = 0x05; 281 else 282 fmt_val = 0x00; 283 284 if (mode & MODE_1280x1024) 285 res_val = 0x02; 286 else 287 res_val = 0x01; 288 289 if (mode & FPS_HIGH) 290 fps_val = 0x1e; 291 else 292 fps_val = 0x0f; 293 294 295 /* turn off IR-reset function */ 296 write_register(gspca_dev, 0x105, 0x00); 297 298 /* Reset video stream */ 299 write_register(gspca_dev, 0x05, 0x00); 300 301 /* Due to some ridiculous condition in the firmware, we have to start 302 * and stop the depth stream before the camera will hand us 1280x1024 303 * IR. This is a stupid workaround, but we've yet to find a better 304 * solution. 305 * 306 * Thanks to Drew Fisher for figuring this out. 307 */ 308 if (mode & (FORMAT_Y10B | MODE_1280x1024)) { 309 write_register(gspca_dev, 0x13, 0x01); 310 write_register(gspca_dev, 0x14, 0x1e); 311 write_register(gspca_dev, 0x06, 0x02); 312 write_register(gspca_dev, 0x06, 0x00); 313 } 314 315 write_register(gspca_dev, fmt_reg, fmt_val); 316 write_register(gspca_dev, res_reg, res_val); 317 write_register(gspca_dev, fps_reg, fps_val); 318 319 /* Start video stream */ 320 write_register(gspca_dev, 0x05, mode_val); 321 322 /* disable Hflip */ 323 write_register(gspca_dev, 0x47, 0x00); 324 325 return 0; 326 } 327 328 static void sd_stopN(struct gspca_dev *gspca_dev) 329 { 330 /* reset video stream */ 331 write_register(gspca_dev, 0x05, 0x00); 332 } 333 334 static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len) 335 { 336 struct sd *sd = (struct sd *) gspca_dev; 337 338 struct pkt_hdr *hdr = (void *)__data; 339 uint8_t *data = __data + sizeof(*hdr); 340 int datalen = len - sizeof(*hdr); 341 342 uint8_t sof = sd->stream_flag | 1; 343 uint8_t mof = sd->stream_flag | 2; 344 uint8_t eof = sd->stream_flag | 5; 345 346 if (len < 12) 347 return; 348 349 if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') { 350 pr_warn("[Stream %02x] Invalid magic %02x%02x\n", 351 sd->stream_flag, hdr->magic[0], hdr->magic[1]); 352 return; 353 } 354 355 if (hdr->flag == sof) 356 gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen); 357 358 else if (hdr->flag == mof) 359 gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen); 360 361 else if (hdr->flag == eof) 362 gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen); 363 364 else 365 pr_warn("Packet type not recognized...\n"); 366 } 367 368 /* sub-driver description */ 369 static const struct sd_desc sd_desc = { 370 .name = MODULE_NAME, 371 .config = sd_config, 372 .init = sd_init, 373 .start = sd_start, 374 .stopN = sd_stopN, 375 .pkt_scan = sd_pkt_scan, 376 /* 377 .get_streamparm = sd_get_streamparm, 378 .set_streamparm = sd_set_streamparm, 379 */ 380 }; 381 382 /* -- module initialisation -- */ 383 static const struct usb_device_id device_table[] = { 384 {USB_DEVICE(0x045e, 0x02ae)}, 385 {USB_DEVICE(0x045e, 0x02bf)}, 386 {} 387 }; 388 389 MODULE_DEVICE_TABLE(usb, device_table); 390 391 /* -- device connect -- */ 392 static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id) 393 { 394 return gspca_dev_probe(intf, id, &sd_desc, sizeof(struct sd), 395 THIS_MODULE); 396 } 397 398 static struct usb_driver sd_driver = { 399 .name = MODULE_NAME, 400 .id_table = device_table, 401 .probe = sd_probe, 402 .disconnect = gspca_disconnect, 403 #ifdef CONFIG_PM 404 .suspend = gspca_suspend, 405 .resume = gspca_resume, 406 .reset_resume = gspca_resume, 407 #endif 408 }; 409 410 module_usb_driver(sd_driver); 411