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"); 487