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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
35MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>");
36MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
37MODULE_LICENSE("GPL");
38
39static bool depth_mode;
40
41struct 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
52struct cam_hdr {
53 uint8_t magic[2];
54 __le16 len;
55 __le16 cmd;
56 __le16 tag;
57};
58
59
60struct sd {
61 struct gspca_dev gspca_dev;
62 uint16_t cam_tag;
63 uint8_t stream_flag;
64 uint8_t obuf[0x400];
65 uint8_t ibuf[0x200];
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
78static 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
86static 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
114static 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
124static 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
133static 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
210static 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
232static 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
251 cam->npkt = 15;
252 gspca_dev->pkt_size = 960 * 2;
253#endif
254
255 return 0;
256}
257
258static 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
279static int sd_init(struct gspca_dev *gspca_dev)
280{
281 PDEBUG(D_PROBE, "Kinect Camera device.");
282
283 return 0;
284}
285
286static 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
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
326 write_register(gspca_dev, 0x105, 0x00);
327
328
329 write_register(gspca_dev, 0x05, 0x00);
330
331
332
333
334
335
336
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
350 write_register(gspca_dev, 0x05, mode_val);
351
352
353 write_register(gspca_dev, 0x47, 0x00);
354
355 return 0;
356}
357
358static int sd_start_depth(struct gspca_dev *gspca_dev)
359{
360
361 write_register(gspca_dev, 0x105, 0x00);
362
363
364 write_register(gspca_dev, 0x06, 0x00);
365
366 write_register(gspca_dev, 0x12, 0x02);
367
368 write_register(gspca_dev, 0x13, 0x01);
369
370 write_register(gspca_dev, 0x14, 0x1e);
371
372 write_register(gspca_dev, 0x06, 0x02);
373
374 write_register(gspca_dev, 0x17, 0x00);
375
376 return 0;
377}
378
379static void sd_stopN_video(struct gspca_dev *gspca_dev)
380{
381
382 write_register(gspca_dev, 0x05, 0x00);
383}
384
385static void sd_stopN_depth(struct gspca_dev *gspca_dev)
386{
387
388 write_register(gspca_dev, 0x06, 0x00);
389}
390
391static 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
426static 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
435
436
437};
438static 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
447
448
449};
450
451
452static const struct usb_device_id device_table[] = {
453 {USB_DEVICE(0x045e, 0x02ae)},
454 {USB_DEVICE(0x045e, 0x02bf)},
455 {}
456};
457
458MODULE_DEVICE_TABLE(usb, device_table);
459
460
461static 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
471static 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
483module_usb_driver(sd_driver);
484
485module_param(depth_mode, bool, 0644);
486MODULE_PARM_DESC(depth_mode, "0=video 1=depth");
487