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|
/*
* kinect sensor device camera, gspca driver
*
* Copyright (C) 2011 Antonio Ospite <ospite@studenti.unina.it>
*
* 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.
*/
#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt
#define MODULE_NAME "kinect"
#include "gspca.h"
#define CTRL_TIMEOUT 500
MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>");
MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
MODULE_LICENSE("GPL");
static bool depth_mode;
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];
__le16 len;
__le16 cmd;
__le16 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 depth_camera_mode[] = {
{640, 480, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
.bytesperline = 640 * 10 / 8,
.sizeimage = 640 * 480 * 10 / 8,
.colorspace = V4L2_COLORSPACE_SRGB,
.priv = MODE_640x488 | FORMAT_Y10B},
};
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));
gspca_dbg(gspca_dev, D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d\n",
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);
gspca_dbg(gspca_dev, D_USBO, "Control reply: %d\n", actual_len);
if (actual_len < (int)sizeof(*rhdr)) {
pr_err("send_cmd: Input control transfer failed (%d)\n",
actual_len);
return actual_len < 0 ? actual_len : -EREMOTEIO;
}
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 (le16_to_cpu(rhdr->len) != (actual_len/2)) {
pr_err("send_cmd: Bad len %04x != %04x\n",
le16_to_cpu(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<
|