kinect.c

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/*
 * kinect sensor device camera, gspca driver
 *
 * Copyright (C) 2011  Antonio Ospite <[email protected]>
 *
 * Based on the OpenKinect project and libfreenect
 * http://openkinect.org/wiki/Init_Analysis
 *
 * Special thanks to Steven Toth and kernellabs.com for sponsoring a Kinect
 * sensor device which I tested the driver on.
 *
 * This program is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program; if not, write to the Free Software
 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
 */

#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt

#define MODULE_NAME "kinect"

#include "gspca.h"

#define CTRL_TIMEOUT 500

MODULE_AUTHOR("Antonio Ospite <[email protected]>");
MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
MODULE_LICENSE("GPL");

struct pkt_hdr {
    uint8_t magic[2];
    uint8_t pad;
    uint8_t flag;
    uint8_t unk1;
    uint8_t seq;
    uint8_t unk2;
    uint8_t unk3;
    uint32_t timestamp;
};

struct cam_hdr {
    uint8_t magic[2];
    uint16_t len;
    uint16_t cmd;
    uint16_t tag;
};

/* specific webcam descriptor */
struct sd {
    struct gspca_dev gspca_dev; /* !! must be the first item */
    uint16_t cam_tag;           /* a sequence number for packets */
    uint8_t stream_flag;        /* to identify different stream types */
    uint8_t obuf[0x400];        /* output buffer for control commands */
    uint8_t ibuf[0x200];        /* input buffer for control commands */
};

#define MODE_640x480   0x0001
#define MODE_640x488   0x0002
#define MODE_1280x1024 0x0004

#define FORMAT_BAYER   0x0010
#define FORMAT_UYVY    0x0020
#define FORMAT_Y10B    0x0040

#define FPS_HIGH       0x0100

static const struct v4l2_pix_format video_camera_mode[] = {
    {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
     .bytesperline = 640,
     .sizeimage = 640 * 480,
     .colorspace = V4L2_COLORSPACE_SRGB,
     .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH},
    {640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE,
     .bytesperline = 640 * 2,
     .sizeimage = 640 * 480 * 2,
     .colorspace = V4L2_COLORSPACE_SRGB,
     .priv = MODE_640x480 | FORMAT_UYVY},
    {1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
     .bytesperline = 1280,
     .sizeimage = 1280 * 1024,
     .colorspace = V4L2_COLORSPACE_SRGB,
     .priv = MODE_1280x1024 | FORMAT_BAYER},
    {640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
     .bytesperline = 640 * 10 / 8,
     .sizeimage =  640 * 488 * 10 / 8,
     .colorspace = V4L2_COLORSPACE_SRGB,
     .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH},
    {1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
     .bytesperline = 1280 * 10 / 8,
     .sizeimage =  1280 * 1024 * 10 / 8,
     .colorspace = V4L2_COLORSPACE_SRGB,
     .priv = MODE_1280x1024 | FORMAT_Y10B},
};

static int kinect_write(struct usb_device *udev, uint8_t *data,
            uint16_t wLength)
{
    return usb_control_msg(udev,
                  usb_sndctrlpipe(udev, 0),
                  0x00,
                  USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
                  0, 0, data, wLength, CTRL_TIMEOUT);
}

static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength)
{
    return usb_control_msg(udev,
                  usb_rcvctrlpipe(udev, 0),
                  0x00,
                  USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
                  0, 0, data, wLength, CTRL_TIMEOUT);
}

static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
        unsigned int cmd_len, void *replybuf, unsigned int reply_len)
{
    struct sd *sd = (struct sd *) gspca_dev;
    struct usb_device *udev = gspca_dev->dev;
    int res, actual_len;
    uint8_t *obuf = sd->obuf;
    uint8_t *ibuf = sd->ibuf;
    struct cam_hdr *chdr = (void *)obuf;
    struct cam_hdr *rhdr = (void *)ibuf;

    if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
        pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len);
        return -1;
    }

    chdr->magic[0] = 0x47;
    chdr->magic[1] = 0x4d;
    chdr->cmd = cpu_to_le16(cmd);
    chdr->tag = cpu_to_le16(sd->cam_tag);
    chdr->len = cpu_to_le16(cmd_len / 2);

    memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);

    res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));
    PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd,
        sd->cam_tag, cmd_len, res);
    if (res < 0) {
        pr_err("send_cmd: Output control transfer failed (%d)\n", res);
        return res;
    }

    do {
        actual_len = kinect_read(udev, ibuf, 0x200);
    } while (actual_len == 0);
    PDEBUG(D_USBO, "Control reply: %d", res);
    if (actual_len < sizeof(*rhdr)) {
        pr_err("send_cmd: Input control transfer failed (%d)\n", res);
        return res;
    }
    actual_len -= sizeof(*rhdr);

    if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
        pr_err("send_cmd: Bad magic %02x %02x\n",
               rhdr->magic[0], rhdr->magic[1]);
        return -1;
    }
    if (rhdr->cmd != chdr->cmd) {
        pr_err("send_cmd: Bad cmd %02x != %02x\n",
               rhdr->cmd, chdr->cmd);
        return -1;
    }
    if (rhdr->tag != chdr->tag) {
        pr_err("send_cmd: Bad tag %04x != %04x\n",
               rhdr->tag, chdr->tag);
        return -1;
    }
    if (cpu_to_le16(rhdr->len) != (actual_len/2)) {
        pr_err("send_cmd: Bad len %04x != %04x\n",
               cpu_to_le16(rhdr->len), (int)(actual_len/2));
        return -1;
    }

    if (actual_len > reply_len) {
        pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n",
            reply_len, actual_len);
        memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len);
    } else {
        memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len);
    }

    sd->cam_tag++;

    return actual_len;
}

static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
            uint16_t data)
{
    uint16_t reply[2];
    uint16_t cmd[2];
    int res;

    cmd[0] = cpu_to_le16(reg);
    cmd[1] = cpu_to_le16(data);

    PDEBUG(D_USBO, "Write Reg 0x%04x <= 0x%02x", reg, data);
    res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4);
    if (res < 0)
        return res;
    if (res != 2) {
        pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n",
            res, reply[0], reply[1]);
    }
    return 0;
}

/* this function is called at probe time */
static int sd_config(struct gspca_dev *gspca_dev,
             const struct usb_device_id *id)
{
    struct sd *sd = (struct sd *) gspca_dev;
    struct cam *cam;

    sd->cam_tag = 0;

    /* Only video stream is supported for now,
     * which has stream flag = 0x80 */
    sd->stream_flag = 0x80;

    cam = &gspca_dev->cam;

    cam->cam_mode = video_camera_mode;
    cam->nmodes = ARRAY_SIZE(video_camera_mode);

#if 0
    /* Setting those values is not needed for video stream */
    cam->npkt = 15;
    gspca_dev->pkt_size = 960 * 2;
#endif

    return 0;
}

/* this function is called at probe and resume time */
static int sd_init(struct gspca_dev *gspca_dev)
{
    PDEBUG(D_PROBE, "Kinect Camera device.");

    return 0;
}

static int sd_start(struct gspca_dev *gspca_dev)
{
    int mode;
    uint8_t fmt_reg, fmt_val;
    uint8_t res_reg, res_val;
    uint8_t fps_reg, fps_val;
    uint8_t mode_val;

    mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;

    if (mode & FORMAT_Y10B) {
        fmt_reg = 0x19;
        res_reg = 0x1a;
        fps_reg = 0x1b;
        mode_val = 0x03;
    } else {
        fmt_reg = 0x0c;
        res_reg = 0x0d;
        fps_reg = 0x0e;
        mode_val = 0x01;
    }

    /* format */
    if (mode & FORMAT_UYVY)
        fmt_val = 0x05;
    else
        fmt_val = 0x00;

    if (mode & MODE_1280x1024)
        res_val = 0x02;
    else
        res_val = 0x01;

    if (mode & FPS_HIGH)
        fps_val = 0x1e;
    else
        fps_val = 0x0f;


    /* turn off IR-reset function */
    write_register(gspca_dev, 0x105, 0x00);

    /* Reset video stream */
    write_register(gspca_dev, 0x05, 0x00);

    /* Due to some ridiculous condition in the firmware, we have to start
     * and stop the depth stream before the camera will hand us 1280x1024
     * IR.  This is a stupid workaround, but we've yet to find a better
     * solution.
     *
     * Thanks to Drew Fisher for figuring this out.
     */
    if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
        write_register(gspca_dev, 0x13, 0x01);
        write_register(gspca_dev, 0x14, 0x1e);
        write_register(gspca_dev, 0x06, 0x02);
        write_register(gspca_dev, 0x06, 0x00);
    }

    write_register(gspca_dev, fmt_reg, fmt_val);
    write_register(gspca_dev, res_reg, res_val);
    write_register(gspca_dev, fps_reg, fps_val);

    /* Start video stream */
    write_register(gspca_dev, 0x05, mode_val);

    /* disable Hflip */
    write_register(gspca_dev, 0x47, 0x00);

    return 0;
}

static void sd_stopN(struct gspca_dev *gspca_dev)
{
    /* reset video stream */
    write_register(gspca_dev, 0x05, 0x00);
}

static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
{
    struct sd *sd = (struct sd *) gspca_dev;

    struct pkt_hdr *hdr = (void *)__data;
    uint8_t *data = __data + sizeof(*hdr);
    int datalen = len - sizeof(*hdr);

    uint8_t sof = sd->stream_flag | 1;
    uint8_t mof = sd->stream_flag | 2;
    uint8_t eof = sd->stream_flag | 5;

    if (len < 12)
        return;

    if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
        pr_warn("[Stream %02x] Invalid magic %02x%02x\n",
            sd->stream_flag, hdr->magic[0], hdr->magic[1]);
        return;
    }

    if (hdr->flag == sof)
        gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen);

    else if (hdr->flag == mof)
        gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);

    else if (hdr->flag == eof)
        gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);

    else
        pr_warn("Packet type not recognized...\n");
}

/* sub-driver description */
static const struct sd_desc sd_desc = {
    .name      = MODULE_NAME,
    .config    = sd_config,
    .init      = sd_init,
    .start     = sd_start,
    .stopN     = sd_stopN,
    .pkt_scan  = sd_pkt_scan,
    /*
    .get_streamparm = sd_get_streamparm,
    .set_streamparm = sd_set_streamparm,
    */
};

/* -- module initialisation -- */
static const struct usb_device_id device_table[] = {
    {USB_DEVICE(0x045e, 0x02ae)},
    {}
};

MODULE_DEVICE_TABLE(usb, device_table);

/* -- device connect -- */
static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
{
    return gspca_dev_probe(intf, id, &sd_desc, sizeof(struct sd),
                THIS_MODULE);
}

static struct usb_driver sd_driver = {
    .name       = MODULE_NAME,
    .id_table   = device_table,
    .probe      = sd_probe,
    .disconnect = gspca_disconnect,
#ifdef CONFIG_PM
    .suspend    = gspca_suspend,
    .resume     = gspca_resume,
    .reset_resume = gspca_resume,
#endif
};

module_usb_driver(sd_driver);