gspca - kinect: fix a typo s/steram/stream/

[gspca_kinect.git] / kinect.c

diff --git a/kinect.c b/kinect.c
index c646490..b4f9e2b 100644 (file)
--- a/kinect.c
+++ b/kinect.c
@@ -1,11 +1,14 @@
 /*
  * kinect sensor device camera, gspca driver
  *
 /*
  * kinect sensor device camera, gspca driver
  *

- * Copyright (C) 2010  Antonio Ospite <ospite@studenti.unina.it>
+ * Copyright (C) 2011  Antonio Ospite <ospite@studenti.unina.it>

  *
  *

- * Based on the OpenKinect project and libfreenect by Ector Martin
+ * Based on the OpenKinect project and libfreenect

  * http://openkinect.org/wiki/Init_Analysis
  * 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
  * 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


@@ -31,6 +34,11 @@ MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>");
 MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
 MODULE_LICENSE("GPL");
 
 MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
 MODULE_LICENSE("GPL");
 

+#ifdef DEBUG
+int gspca_debug = D_ERR | D_PROBE | D_CONF | D_STREAM | D_FRAM | D_PACK |
+       D_USBI | D_USBO | D_V4L2;
+#endif
+

 struct pkt_hdr {
        uint8_t magic[2];
        uint8_t pad;
 struct pkt_hdr {
        uint8_t magic[2];
        uint8_t pad;


@@ -42,20 +50,20 @@ struct pkt_hdr {
        uint32_t timestamp;
 };
 
        uint32_t timestamp;
 };
 

-typedef struct {
+struct cam_hdr {

        uint8_t magic[2];
        uint16_t len;
        uint16_t cmd;
        uint16_t tag;
        uint8_t magic[2];
        uint16_t len;
        uint16_t cmd;
        uint16_t tag;

-} cam_hdr;
-
-int gspca_debug = D_ERR | D_PROBE | D_CONF | D_STREAM | D_FRAM | D_PACK |
-       D_USBI | D_USBO | D_V4L2;
+};

 
 /* specific webcam descriptor */
 struct sd {
 
 /* specific webcam descriptor */
 struct sd {

-       struct gspca_dev gspca_dev;     /* !! must be the first item */
-       uint16_t cam_tag;
+       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 */

 };
 
 /* V4L2 controls supported by the driver */
 };
 
 /* V4L2 controls supported by the driver */


@@ -64,15 +72,46 @@ struct sd {
 static const struct ctrl sd_ctrls[] = {
 };
 
 static const struct ctrl sd_ctrls[] = {
 };
 

-static const struct v4l2_pix_format color_camera_mode[] = {
+#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 video_camera_mode[] = {

        {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
         .bytesperline = 640,
         .sizeimage = 640 * 480,
         .colorspace = V4L2_COLORSPACE_SRGB,
        {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
         .bytesperline = 640,
         .sizeimage = 640 * 480,
         .colorspace = V4L2_COLORSPACE_SRGB,

-        .priv = 0},
+        .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)
+static int kinect_write(struct usb_device *udev, uint8_t *data,
+                       uint16_t wLength)

 {
        return usb_control_msg(udev,
                              usb_sndctrlpipe(udev, 0),
 {
        return usb_control_msg(udev,
                              usb_sndctrlpipe(udev, 0),


@@ -96,10 +135,10 @@ static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
        struct sd *sd = (struct sd *) gspca_dev;
        struct usb_device *udev = gspca_dev->dev;
        int res, actual_len;
        struct sd *sd = (struct sd *) gspca_dev;
        struct usb_device *udev = gspca_dev->dev;
        int res, actual_len;

-       uint8_t obuf[0x400];
-       uint8_t ibuf[0x200];
-       cam_hdr *chdr = (void*)obuf;
-       cam_hdr *rhdr = (void*)ibuf;
+       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))) {
                err("send_cmd: Invalid command length (0x%x)", cmd_len);
 
        if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
                err("send_cmd: Invalid command length (0x%x)", cmd_len);


@@ -115,7 +154,8 @@ static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
        memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);
 
        res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));
        memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);
 
        res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));

-       info("Control cmd=%04x tag=%04x len=%04x: %d", cmd, sd->cam_tag, cmd_len, res);
+       PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd,
+               sd->cam_tag, cmd_len, res);

        if (res < 0) {
                err("send_cmd: Output control transfer failed (%d)", res);
                return res;
        if (res < 0) {
                err("send_cmd: Output control transfer failed (%d)", res);
                return res;


@@ -124,7 +164,7 @@ static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
        do {
                actual_len = kinect_read(udev, ibuf, 0x200);
        } while (actual_len == 0);
        do {
                actual_len = kinect_read(udev, ibuf, 0x200);
        } while (actual_len == 0);

-       info("Control reply: %d", res);
+       PDEBUG(D_USBO, "Control reply: %d", res);

        if (actual_len < sizeof(*rhdr)) {
                err("send_cmd: Input control transfer failed (%d)", res);
                return res;
        if (actual_len < sizeof(*rhdr)) {
                err("send_cmd: Input control transfer failed (%d)", res);
                return res;


@@ -132,7 +172,8 @@ static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
        actual_len -= sizeof(*rhdr);
 
        if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
        actual_len -= sizeof(*rhdr);
 
        if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {

-               err("send_cmd: Bad magic %02x %02x", rhdr->magic[0], rhdr->magic[1]);
+               err("send_cmd: Bad magic %02x %02x", rhdr->magic[0],
+                       rhdr->magic[1]);

                return -1;
        }
        if (rhdr->cmd != chdr->cmd) {
                return -1;
        }
        if (rhdr->cmd != chdr->cmd) {


@@ -162,7 +203,8 @@ static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
        return actual_len;
 }
 
        return actual_len;
 }
 

-static int write_register(struct gspca_dev *gspca_dev, uint16_t reg, uint16_t data)
+static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
+                       uint16_t data)

 {
        uint16_t reply[2];
        uint16_t cmd[2];
 {
        uint16_t reply[2];
        uint16_t cmd[2];


@@ -191,13 +233,20 @@ static int sd_config(struct gspca_dev *gspca_dev,
 
        sd->cam_tag = 0;
 
 
        sd->cam_tag = 0;
 

+       /* Only color camera is supported for now,
+        * which has stream flag = 0x80 */
+       sd->stream_flag = 0x80;
+

        cam = &gspca_dev->cam;
 
        cam = &gspca_dev->cam;
 

-       cam->cam_mode = color_camera_mode;
-       cam->nmodes = ARRAY_SIZE(color_camera_mode);
+       cam->cam_mode = video_camera_mode;
+       cam->nmodes = ARRAY_SIZE(video_camera_mode);

 
 

-       //cam->npkt = 15;
-       //gspca_dev->pkt_size = 960 * 2;
+#if 0
+       /* Setting those values is not needed for color camera */
+       cam->npkt = 15;
+       gspca_dev->pkt_size = 960 * 2;
+#endif

 
        return 0;
 }
 
        return 0;
 }


@@ -212,42 +261,99 @@ static int sd_init(struct gspca_dev *gspca_dev)
 
 static int sd_start(struct gspca_dev *gspca_dev)
 {
 
 static int sd_start(struct gspca_dev *gspca_dev)
 {

-       write_register(gspca_dev, 0x05, 0x00); // reset video stream
-       write_register(gspca_dev, 0x0c, 0x00);
-       write_register(gspca_dev, 0x0d, 0x01);
-       write_register(gspca_dev, 0x0e, 0x1e); // 30Hz bayer
+       int mode;
+       uint8_t fmt_reg, fmt_val;
+       uint8_t res_reg, res_val;
+       uint8_t fps_reg, fps_val;
+       uint8_t mode_val;
+
+       mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;
+
+       if (mode & FORMAT_Y10B) {
+               fmt_reg = 0x19;
+               res_reg = 0x1a;
+               fps_reg = 0x1b;
+               mode_val = 0x03;
+       } else {
+               fmt_reg = 0x0c;
+               res_reg = 0x0d;
+               fps_reg = 0x0e;
+               mode_val = 0x01;
+       }

 
 

-       /* Video Format: Raw bayer data */
-       write_register(gspca_dev, 0x05, 0x01); // start video stream
+       /* format */
+       if (mode & FORMAT_UYVY)
+               fmt_val = 0x05;
+       else
+               fmt_val = 0x00;

 
 

-       write_register(gspca_dev, 0x47, 0x00); // disable Hflip
+       if (mode & MODE_1280x1024)
+               res_val = 0x02;
+       else
+               res_val = 0x01;
+
+       if (mode & FPS_HIGH)
+               fps_val = 0x1e;
+       else
+               fps_val = 0x0f;
+
+
+       /* turn off IR-reset function */
+       write_register(gspca_dev, 0x105, 0x00);
+
+       /* Reset video stream */
+       write_register(gspca_dev, 0x05, 0x00);
+
+       /* Due to some ridiculous condition in the firmware, we have to start
+        * and stop the depth stream before the camera will hand us 1280x1024
+        * IR.  This is a stupid workaround, but we've yet to find a better
+        * solution.
+        *
+        * Thanks to Drew Fisher for figuring this out.
+        */
+       if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
+               write_register(gspca_dev, 0x13, 0x01);
+               write_register(gspca_dev, 0x14, 0x1e);
+               write_register(gspca_dev, 0x06, 0x02);
+               write_register(gspca_dev, 0x06, 0x00);
+       }
+
+       write_register(gspca_dev, fmt_reg, fmt_val);
+       write_register(gspca_dev, res_reg, res_val);
+       write_register(gspca_dev, fps_reg, fps_val);
+
+       /* Start video stream */
+       write_register(gspca_dev, 0x05, mode_val);
+
+       /* disable Hflip */
+       write_register(gspca_dev, 0x47, 0x00);

 
        return 0;
 }
 
 static void sd_stopN(struct gspca_dev *gspca_dev)
 {
 
        return 0;
 }
 
 static void sd_stopN(struct gspca_dev *gspca_dev)
 {

-       write_register(gspca_dev, 0x05, 0x00); // reset video stream
+       /* reset video stream */
+       write_register(gspca_dev, 0x05, 0x00);

 }
 
 static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
 {
 }
 
 static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
 {

-       //struct sd *sd = (struct sd *) gspca_dev;
-       
-       struct pkt_hdr *hdr = (void*)__data;
+       struct sd *sd = (struct sd *) gspca_dev;
+
+       struct pkt_hdr *hdr = (void *)__data;

        uint8_t *data = __data + sizeof(*hdr);
        int datalen = len - sizeof(*hdr);
 
        uint8_t *data = __data + sizeof(*hdr);
        int datalen = len - sizeof(*hdr);
 

-       /* strm->flag == 0x80 for the color camera stream */
-       uint8_t sof = 0x80 | 1;
-       uint8_t mof = 0x80 | 2;
-       uint8_t eof = 0x80 | 5;
+       uint8_t sof = sd->stream_flag | 1;
+       uint8_t mof = sd->stream_flag | 2;
+       uint8_t eof = sd->stream_flag | 5;

 
        if (len < 12)
                return;
 
        if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
 
        if (len < 12)
                return;
 
        if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {

-               warn("[Stream %02x] Invalid magic %02x%02x", 0x80, //strm->flag
+               warn("[Stream %02x] Invalid magic %02x%02x", sd->stream_flag,

                                hdr->magic[0], hdr->magic[1]);
                return;
        }
                                hdr->magic[0], hdr->magic[1]);
                return;
        }


@@ -258,11 +364,11 @@ static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
        else if (hdr->flag == mof)
                gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
 
        else if (hdr->flag == mof)
                gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
 

-       else if(hdr->flag == eof)
+       else if (hdr->flag == eof)

                gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);
 
        else
                gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);
 
        else

-               warn("Not recognized...");
+               warn("Packet type not recognized...");

 }
 
 /* sub-driver description */
 }
 
 /* sub-driver description */