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
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/* specific webcam descriptor */
60struct 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
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/* this function is called at probe time */
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	/* 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
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/* this function is called at probe and resume time */
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	/* 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
358static 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
379static void sd_stopN_video(struct gspca_dev *gspca_dev)
380{
381	/* reset video stream */
382	write_register(gspca_dev, 0x05, 0x00);
383}
384
385static void sd_stopN_depth(struct gspca_dev *gspca_dev)
386{
387	/* reset depth stream */
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/* sub-driver description */
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	.get_streamparm = sd_get_streamparm,
435	.set_streamparm = sd_set_streamparm,
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	.get_streamparm = sd_get_streamparm,
447	.set_streamparm = sd_set_streamparm,
448	*/
449};
450
451/* -- module initialisation -- */
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/* -- device connect -- */
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