/*
* 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
- *
+ *
+ * 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
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;
uint32_t timestamp;
};
-typedef struct {
+struct cam_hdr {
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 {
- 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 */
};
#define MODE_640x480 0x0001
-#define MODE_1280x1024 0x0002
+#define MODE_640x488 0x0002
+#define MODE_1280x1024 0x0004
#define FORMAT_BAYER 0x0010
-#define FORMAT_UYUV 0x0020
+#define FORMAT_UYVY 0x0020
+#define FORMAT_Y10B 0x0040
#define FPS_HIGH 0x0100
-static const struct v4l2_pix_format color_camera_mode[] = {
+static const struct v4l2_pix_format video_camera_mode[] = {
{640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
.bytesperline = 640,
.sizeimage = 640 * 480,
.bytesperline = 640 * 2,
.sizeimage = 640 * 480 * 2,
.colorspace = V4L2_COLORSPACE_SRGB,
- .priv = MODE_640x480 | FORMAT_UYUV},
+ .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),
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);
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;
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;
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 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];
sd->cam_tag = 0;
+ /* Only video stream is supported for now,
+ * which has stream flag = 0x80 */
+ sd->stream_flag = 0x80;
+
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 video stream */
+ cam->npkt = 15;
+ gspca_dev->pkt_size = 960 * 2;
+#endif
return 0;
}
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;
- fmt_reg = 0x0c;
- res_reg = 0x0d;
- fps_reg = 0x0e;
+ 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;
+ }
/* format */
- if (mode & FORMAT_UYUV)
+ if (mode & FORMAT_UYVY)
fmt_val = 0x05;
else
fmt_val = 0x00;
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, 0x01);
+ write_register(gspca_dev, 0x05, mode_val);
/* disable Hflip */
write_register(gspca_dev, 0x47, 0x00);
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)
{
- //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);
- /* 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') {
- 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;
}
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
- warn("Not recognized...");
+ warn("Packet type not recognized...");
}
/* sub-driver description */
projects / gspca_kinect.git / blobdiff