root/drivers/media/usb/gspca/kinect.c

DEFINITIONS

1. kinect_write
2. kinect_read
3. send_cmd
4. write_register
5. sd_config_video
6. sd_config_depth
7. sd_init
8. sd_start_video
9. sd_start_depth
10. sd_stopN_video
11. sd_stopN_depth
12. sd_pkt_scan
13. sd_probe

   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(udev,
 105                               usb_sndctrlpipe(udev, 0),
 106                               0x00,
 107                               USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
 108                               0, 0, data, 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(udev,
 114                               usb_rcvctrlpipe(udev, 0),
 115                               0x00,
 116                               USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
 117                               0, 0, data, 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, obuf, 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, ibuf, 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, 0x03, cmd, 4, reply, 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, 0x105, 0x00);
 315 
 316         /* Reset video stream */
 317         write_register(gspca_dev, 0x05, 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, 0x13, 0x01);
 328                 write_register(gspca_dev, 0x14, 0x1e);
 329                 write_register(gspca_dev, 0x06, 0x02);
 330                 write_register(gspca_dev, 0x06, 0x00);
 331         }
 332 
 333         write_register(gspca_dev, fmt_reg, fmt_val);
 334         write_register(gspca_dev, res_reg, res_val);
 335         write_register(gspca_dev, fps_reg, fps_val);
 336 
 337         /* Start video stream */
 338         write_register(gspca_dev, 0x05, mode_val);
 339 
 340         /* disable Hflip */
 341         write_register(gspca_dev, 0x47, 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, 0x105, 0x00);
 350 
 351         /* reset depth stream */
 352         write_register(gspca_dev, 0x06, 0x00);
 353         /* Depth Stream Format 0x03: 11 bit stream | 0x02: 10 bit */
 354         write_register(gspca_dev, 0x12, 0x02);
 355         /* Depth Stream Resolution 1: standard (640x480) */
 356         write_register(gspca_dev, 0x13, 0x01);
 357         /* Depth Framerate / 0x1e (30): 30 fps */
 358         write_register(gspca_dev, 0x14, 0x1e);
 359         /* Depth Stream Control  / 2: Open Depth Stream */
 360         write_register(gspca_dev, 0x06, 0x02);
 361         /* disable depth hflip / LSB = 0: Smoothing Disabled */
 362         write_register(gspca_dev, 0x17, 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, 0x05, 0x00);
 371 }
 372 
 373 static void sd_stopN_depth(struct gspca_dev *gspca_dev)
 374 {
 375         /* reset depth stream */
 376         write_register(gspca_dev, 0x06, 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, FIRST_PACKET, data, datalen);
 402 
 403         else if (hdr->flag == mof)
 404                 gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
 405 
 406         else if (hdr->flag == eof)
 407                 gspca_frame_add(gspca_dev, LAST_PACKET, data, 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_depth,
 453                                        sizeof(struct sd), THIS_MODULE);
 454         else
 455                 return gspca_dev_probe(intf, id, &sd_desc_video,
 456                                        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");