1 | // SPDX-License-Identifier: GPL-2.0-or-later |
2 | /* |
3 | * kinect sensor device camera, gspca driver |
4 | * |
5 | * Copyright (C) 2011 Antonio Ospite <ospite@studenti.unina.it> |
6 | * |
7 | * Based on the OpenKinect project and libfreenect |
8 | * http://openkinect.org/wiki/Init_Analysis |
9 | * |
10 | * Special thanks to Steven Toth and kernellabs.com for sponsoring a Kinect |
11 | * sensor device which I tested the driver on. |
12 | */ |
13 | |
14 | #define pr_fmt(fmt) KBUILD_MODNAME ": " fmt |
15 | |
16 | #define MODULE_NAME "kinect" |
17 | |
18 | #include "gspca.h" |
19 | |
20 | #define CTRL_TIMEOUT 500 |
21 | |
22 | MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>" ); |
23 | MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver" ); |
24 | MODULE_LICENSE("GPL" ); |
25 | |
26 | static bool depth_mode; |
27 | |
28 | struct pkt_hdr { |
29 | uint8_t magic[2]; |
30 | uint8_t pad; |
31 | uint8_t flag; |
32 | uint8_t unk1; |
33 | uint8_t seq; |
34 | uint8_t unk2; |
35 | uint8_t unk3; |
36 | uint32_t timestamp; |
37 | }; |
38 | |
39 | struct cam_hdr { |
40 | uint8_t magic[2]; |
41 | __le16 len; |
42 | __le16 cmd; |
43 | __le16 tag; |
44 | }; |
45 | |
46 | /* specific webcam descriptor */ |
47 | struct sd { |
48 | struct gspca_dev gspca_dev; /* !! must be the first item */ |
49 | uint16_t cam_tag; /* a sequence number for packets */ |
50 | uint8_t stream_flag; /* to identify different stream types */ |
51 | uint8_t obuf[0x400]; /* output buffer for control commands */ |
52 | uint8_t ibuf[0x200]; /* input buffer for control commands */ |
53 | }; |
54 | |
55 | #define MODE_640x480 0x0001 |
56 | #define MODE_640x488 0x0002 |
57 | #define MODE_1280x1024 0x0004 |
58 | |
59 | #define FORMAT_BAYER 0x0010 |
60 | #define FORMAT_UYVY 0x0020 |
61 | #define FORMAT_Y10B 0x0040 |
62 | |
63 | #define FPS_HIGH 0x0100 |
64 | |
65 | static const struct v4l2_pix_format depth_camera_mode[] = { |
66 | {640, 480, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, |
67 | .bytesperline = 640 * 10 / 8, |
68 | .sizeimage = 640 * 480 * 10 / 8, |
69 | .colorspace = V4L2_COLORSPACE_SRGB, |
70 | .priv = MODE_640x488 | FORMAT_Y10B}, |
71 | }; |
72 | |
73 | static const struct v4l2_pix_format video_camera_mode[] = { |
74 | {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE, |
75 | .bytesperline = 640, |
76 | .sizeimage = 640 * 480, |
77 | .colorspace = V4L2_COLORSPACE_SRGB, |
78 | .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH}, |
79 | {640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE, |
80 | .bytesperline = 640 * 2, |
81 | .sizeimage = 640 * 480 * 2, |
82 | .colorspace = V4L2_COLORSPACE_SRGB, |
83 | .priv = MODE_640x480 | FORMAT_UYVY}, |
84 | {1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE, |
85 | .bytesperline = 1280, |
86 | .sizeimage = 1280 * 1024, |
87 | .colorspace = V4L2_COLORSPACE_SRGB, |
88 | .priv = MODE_1280x1024 | FORMAT_BAYER}, |
89 | {640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, |
90 | .bytesperline = 640 * 10 / 8, |
91 | .sizeimage = 640 * 488 * 10 / 8, |
92 | .colorspace = V4L2_COLORSPACE_SRGB, |
93 | .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH}, |
94 | {1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, |
95 | .bytesperline = 1280 * 10 / 8, |
96 | .sizeimage = 1280 * 1024 * 10 / 8, |
97 | .colorspace = V4L2_COLORSPACE_SRGB, |
98 | .priv = MODE_1280x1024 | FORMAT_Y10B}, |
99 | }; |
100 | |
101 | static int kinect_write(struct usb_device *udev, uint8_t *data, |
102 | uint16_t wLength) |
103 | { |
104 | return usb_control_msg(dev: udev, |
105 | usb_sndctrlpipe(udev, 0), |
106 | request: 0x00, |
107 | USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE, |
108 | value: 0, index: 0, data, size: wLength, CTRL_TIMEOUT); |
109 | } |
110 | |
111 | static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength) |
112 | { |
113 | return usb_control_msg(dev: udev, |
114 | usb_rcvctrlpipe(udev, 0), |
115 | request: 0x00, |
116 | USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE, |
117 | value: 0, index: 0, data, size: wLength, CTRL_TIMEOUT); |
118 | } |
119 | |
120 | static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf, |
121 | unsigned int cmd_len, void *replybuf, unsigned int reply_len) |
122 | { |
123 | struct sd *sd = (struct sd *) gspca_dev; |
124 | struct usb_device *udev = gspca_dev->dev; |
125 | int res, actual_len; |
126 | uint8_t *obuf = sd->obuf; |
127 | uint8_t *ibuf = sd->ibuf; |
128 | struct cam_hdr *chdr = (void *)obuf; |
129 | struct cam_hdr *rhdr = (void *)ibuf; |
130 | |
131 | if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) { |
132 | pr_err("send_cmd: Invalid command length (0x%x)\n" , cmd_len); |
133 | return -1; |
134 | } |
135 | |
136 | chdr->magic[0] = 0x47; |
137 | chdr->magic[1] = 0x4d; |
138 | chdr->cmd = cpu_to_le16(cmd); |
139 | chdr->tag = cpu_to_le16(sd->cam_tag); |
140 | chdr->len = cpu_to_le16(cmd_len / 2); |
141 | |
142 | memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len); |
143 | |
144 | res = kinect_write(udev, data: obuf, wLength: cmd_len + sizeof(*chdr)); |
145 | gspca_dbg(gspca_dev, D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d\n" , |
146 | cmd, |
147 | sd->cam_tag, cmd_len, res); |
148 | if (res < 0) { |
149 | pr_err("send_cmd: Output control transfer failed (%d)\n" , res); |
150 | return res; |
151 | } |
152 | |
153 | do { |
154 | actual_len = kinect_read(udev, data: ibuf, wLength: 0x200); |
155 | } while (actual_len == 0); |
156 | gspca_dbg(gspca_dev, D_USBO, "Control reply: %d\n" , actual_len); |
157 | if (actual_len < (int)sizeof(*rhdr)) { |
158 | pr_err("send_cmd: Input control transfer failed (%d)\n" , |
159 | actual_len); |
160 | return actual_len < 0 ? actual_len : -EREMOTEIO; |
161 | } |
162 | actual_len -= sizeof(*rhdr); |
163 | |
164 | if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) { |
165 | pr_err("send_cmd: Bad magic %02x %02x\n" , |
166 | rhdr->magic[0], rhdr->magic[1]); |
167 | return -1; |
168 | } |
169 | if (rhdr->cmd != chdr->cmd) { |
170 | pr_err("send_cmd: Bad cmd %02x != %02x\n" , |
171 | rhdr->cmd, chdr->cmd); |
172 | return -1; |
173 | } |
174 | if (rhdr->tag != chdr->tag) { |
175 | pr_err("send_cmd: Bad tag %04x != %04x\n" , |
176 | rhdr->tag, chdr->tag); |
177 | return -1; |
178 | } |
179 | if (le16_to_cpu(rhdr->len) != (actual_len/2)) { |
180 | pr_err("send_cmd: Bad len %04x != %04x\n" , |
181 | le16_to_cpu(rhdr->len), (int)(actual_len/2)); |
182 | return -1; |
183 | } |
184 | |
185 | if (actual_len > reply_len) { |
186 | pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n" , |
187 | reply_len, actual_len); |
188 | memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len); |
189 | } else { |
190 | memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len); |
191 | } |
192 | |
193 | sd->cam_tag++; |
194 | |
195 | return actual_len; |
196 | } |
197 | |
198 | static int write_register(struct gspca_dev *gspca_dev, uint16_t reg, |
199 | uint16_t data) |
200 | { |
201 | uint16_t reply[2]; |
202 | __le16 cmd[2]; |
203 | int res; |
204 | |
205 | cmd[0] = cpu_to_le16(reg); |
206 | cmd[1] = cpu_to_le16(data); |
207 | |
208 | gspca_dbg(gspca_dev, D_USBO, "Write Reg 0x%04x <= 0x%02x\n" , reg, data); |
209 | res = send_cmd(gspca_dev, cmd: 0x03, cmdbuf: cmd, cmd_len: 4, replybuf: reply, reply_len: 4); |
210 | if (res < 0) |
211 | return res; |
212 | if (res != 2) { |
213 | pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n" , |
214 | res, reply[0], reply[1]); |
215 | } |
216 | return 0; |
217 | } |
218 | |
219 | /* this function is called at probe time */ |
220 | static int sd_config_video(struct gspca_dev *gspca_dev, |
221 | const struct usb_device_id *id) |
222 | { |
223 | struct sd *sd = (struct sd *) gspca_dev; |
224 | struct cam *cam; |
225 | |
226 | sd->cam_tag = 0; |
227 | |
228 | sd->stream_flag = 0x80; |
229 | |
230 | cam = &gspca_dev->cam; |
231 | |
232 | cam->cam_mode = video_camera_mode; |
233 | cam->nmodes = ARRAY_SIZE(video_camera_mode); |
234 | |
235 | gspca_dev->xfer_ep = 0x81; |
236 | |
237 | #if 0 |
238 | /* Setting those values is not needed for video stream */ |
239 | cam->npkt = 15; |
240 | gspca_dev->pkt_size = 960 * 2; |
241 | #endif |
242 | |
243 | return 0; |
244 | } |
245 | |
246 | static int sd_config_depth(struct gspca_dev *gspca_dev, |
247 | const struct usb_device_id *id) |
248 | { |
249 | struct sd *sd = (struct sd *) gspca_dev; |
250 | struct cam *cam; |
251 | |
252 | sd->cam_tag = 0; |
253 | |
254 | sd->stream_flag = 0x70; |
255 | |
256 | cam = &gspca_dev->cam; |
257 | |
258 | cam->cam_mode = depth_camera_mode; |
259 | cam->nmodes = ARRAY_SIZE(depth_camera_mode); |
260 | |
261 | gspca_dev->xfer_ep = 0x82; |
262 | |
263 | return 0; |
264 | } |
265 | |
266 | /* this function is called at probe and resume time */ |
267 | static int sd_init(struct gspca_dev *gspca_dev) |
268 | { |
269 | gspca_dbg(gspca_dev, D_PROBE, "Kinect Camera device.\n" ); |
270 | |
271 | return 0; |
272 | } |
273 | |
274 | static int sd_start_video(struct gspca_dev *gspca_dev) |
275 | { |
276 | int mode; |
277 | uint8_t fmt_reg, fmt_val; |
278 | uint8_t res_reg, res_val; |
279 | uint8_t fps_reg, fps_val; |
280 | uint8_t mode_val; |
281 | |
282 | mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv; |
283 | |
284 | if (mode & FORMAT_Y10B) { |
285 | fmt_reg = 0x19; |
286 | res_reg = 0x1a; |
287 | fps_reg = 0x1b; |
288 | mode_val = 0x03; |
289 | } else { |
290 | fmt_reg = 0x0c; |
291 | res_reg = 0x0d; |
292 | fps_reg = 0x0e; |
293 | mode_val = 0x01; |
294 | } |
295 | |
296 | /* format */ |
297 | if (mode & FORMAT_UYVY) |
298 | fmt_val = 0x05; |
299 | else |
300 | fmt_val = 0x00; |
301 | |
302 | if (mode & MODE_1280x1024) |
303 | res_val = 0x02; |
304 | else |
305 | res_val = 0x01; |
306 | |
307 | if (mode & FPS_HIGH) |
308 | fps_val = 0x1e; |
309 | else |
310 | fps_val = 0x0f; |
311 | |
312 | |
313 | /* turn off IR-reset function */ |
314 | write_register(gspca_dev, reg: 0x105, data: 0x00); |
315 | |
316 | /* Reset video stream */ |
317 | write_register(gspca_dev, reg: 0x05, data: 0x00); |
318 | |
319 | /* Due to some ridiculous condition in the firmware, we have to start |
320 | * and stop the depth stream before the camera will hand us 1280x1024 |
321 | * IR. This is a stupid workaround, but we've yet to find a better |
322 | * solution. |
323 | * |
324 | * Thanks to Drew Fisher for figuring this out. |
325 | */ |
326 | if (mode & (FORMAT_Y10B | MODE_1280x1024)) { |
327 | write_register(gspca_dev, reg: 0x13, data: 0x01); |
328 | write_register(gspca_dev, reg: 0x14, data: 0x1e); |
329 | write_register(gspca_dev, reg: 0x06, data: 0x02); |
330 | write_register(gspca_dev, reg: 0x06, data: 0x00); |
331 | } |
332 | |
333 | write_register(gspca_dev, reg: fmt_reg, data: fmt_val); |
334 | write_register(gspca_dev, reg: res_reg, data: res_val); |
335 | write_register(gspca_dev, reg: fps_reg, data: fps_val); |
336 | |
337 | /* Start video stream */ |
338 | write_register(gspca_dev, reg: 0x05, data: mode_val); |
339 | |
340 | /* disable Hflip */ |
341 | write_register(gspca_dev, reg: 0x47, data: 0x00); |
342 | |
343 | return 0; |
344 | } |
345 | |
346 | static int sd_start_depth(struct gspca_dev *gspca_dev) |
347 | { |
348 | /* turn off IR-reset function */ |
349 | write_register(gspca_dev, reg: 0x105, data: 0x00); |
350 | |
351 | /* reset depth stream */ |
352 | write_register(gspca_dev, reg: 0x06, data: 0x00); |
353 | /* Depth Stream Format 0x03: 11 bit stream | 0x02: 10 bit */ |
354 | write_register(gspca_dev, reg: 0x12, data: 0x02); |
355 | /* Depth Stream Resolution 1: standard (640x480) */ |
356 | write_register(gspca_dev, reg: 0x13, data: 0x01); |
357 | /* Depth Framerate / 0x1e (30): 30 fps */ |
358 | write_register(gspca_dev, reg: 0x14, data: 0x1e); |
359 | /* Depth Stream Control / 2: Open Depth Stream */ |
360 | write_register(gspca_dev, reg: 0x06, data: 0x02); |
361 | /* disable depth hflip / LSB = 0: Smoothing Disabled */ |
362 | write_register(gspca_dev, reg: 0x17, data: 0x00); |
363 | |
364 | return 0; |
365 | } |
366 | |
367 | static void sd_stopN_video(struct gspca_dev *gspca_dev) |
368 | { |
369 | /* reset video stream */ |
370 | write_register(gspca_dev, reg: 0x05, data: 0x00); |
371 | } |
372 | |
373 | static void sd_stopN_depth(struct gspca_dev *gspca_dev) |
374 | { |
375 | /* reset depth stream */ |
376 | write_register(gspca_dev, reg: 0x06, data: 0x00); |
377 | } |
378 | |
379 | static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len) |
380 | { |
381 | struct sd *sd = (struct sd *) gspca_dev; |
382 | |
383 | struct pkt_hdr *hdr = (void *)__data; |
384 | uint8_t *data = __data + sizeof(*hdr); |
385 | int datalen = len - sizeof(*hdr); |
386 | |
387 | uint8_t sof = sd->stream_flag | 1; |
388 | uint8_t mof = sd->stream_flag | 2; |
389 | uint8_t eof = sd->stream_flag | 5; |
390 | |
391 | if (len < 12) |
392 | return; |
393 | |
394 | if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') { |
395 | pr_warn("[Stream %02x] Invalid magic %02x%02x\n" , |
396 | sd->stream_flag, hdr->magic[0], hdr->magic[1]); |
397 | return; |
398 | } |
399 | |
400 | if (hdr->flag == sof) |
401 | gspca_frame_add(gspca_dev, packet_type: FIRST_PACKET, data, len: datalen); |
402 | |
403 | else if (hdr->flag == mof) |
404 | gspca_frame_add(gspca_dev, packet_type: INTER_PACKET, data, len: datalen); |
405 | |
406 | else if (hdr->flag == eof) |
407 | gspca_frame_add(gspca_dev, packet_type: LAST_PACKET, data, len: datalen); |
408 | |
409 | else |
410 | pr_warn("Packet type not recognized...\n" ); |
411 | } |
412 | |
413 | /* sub-driver description */ |
414 | static const struct sd_desc sd_desc_video = { |
415 | .name = MODULE_NAME, |
416 | .config = sd_config_video, |
417 | .init = sd_init, |
418 | .start = sd_start_video, |
419 | .stopN = sd_stopN_video, |
420 | .pkt_scan = sd_pkt_scan, |
421 | /* |
422 | .get_streamparm = sd_get_streamparm, |
423 | .set_streamparm = sd_set_streamparm, |
424 | */ |
425 | }; |
426 | static const struct sd_desc sd_desc_depth = { |
427 | .name = MODULE_NAME, |
428 | .config = sd_config_depth, |
429 | .init = sd_init, |
430 | .start = sd_start_depth, |
431 | .stopN = sd_stopN_depth, |
432 | .pkt_scan = sd_pkt_scan, |
433 | /* |
434 | .get_streamparm = sd_get_streamparm, |
435 | .set_streamparm = sd_set_streamparm, |
436 | */ |
437 | }; |
438 | |
439 | /* -- module initialisation -- */ |
440 | static const struct usb_device_id device_table[] = { |
441 | {USB_DEVICE(0x045e, 0x02ae)}, |
442 | {USB_DEVICE(0x045e, 0x02bf)}, |
443 | {} |
444 | }; |
445 | |
446 | MODULE_DEVICE_TABLE(usb, device_table); |
447 | |
448 | /* -- device connect -- */ |
449 | static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id) |
450 | { |
451 | if (depth_mode) |
452 | return gspca_dev_probe(intf, id, sd_desc: &sd_desc_depth, |
453 | dev_size: sizeof(struct sd), THIS_MODULE); |
454 | else |
455 | return gspca_dev_probe(intf, id, sd_desc: &sd_desc_video, |
456 | dev_size: sizeof(struct sd), THIS_MODULE); |
457 | } |
458 | |
459 | static struct usb_driver sd_driver = { |
460 | .name = MODULE_NAME, |
461 | .id_table = device_table, |
462 | .probe = sd_probe, |
463 | .disconnect = gspca_disconnect, |
464 | #ifdef CONFIG_PM |
465 | .suspend = gspca_suspend, |
466 | .resume = gspca_resume, |
467 | .reset_resume = gspca_resume, |
468 | #endif |
469 | }; |
470 | |
471 | module_usb_driver(sd_driver); |
472 | |
473 | module_param(depth_mode, bool, 0644); |
474 | MODULE_PARM_DESC(depth_mode, "0=video 1=depth" ); |
475 | |