X-Git-Url: https://git.ao2.it/gspca_kinect.git/blobdiff_plain/2ab1e6a46241cd76b78cf59001836d77d23601ae..f1dbbffa061a3cd6e26425ab637b37da515255da:/kinect.c?ds=sidebyside diff --git a/kinect.c b/kinect.c index c646490..b4f9e2b 100644 --- a/kinect.c +++ b/kinect.c @@ -1,11 +1,14 @@ /* * kinect sensor device camera, gspca driver * - * Copyright (C) 2010 Antonio Ospite + * Copyright (C) 2011 Antonio Ospite * - * 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 @@ -31,6 +34,11 @@ MODULE_AUTHOR("Antonio Ospite "); 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; @@ -42,20 +50,20 @@ struct pkt_hdr { 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 */ @@ -64,15 +72,46 @@ struct sd { 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, - .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), @@ -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; - 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); @@ -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)); - 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; @@ -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); - 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; @@ -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) { - 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) { @@ -162,7 +203,8 @@ static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf, 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]; @@ -191,13 +233,20 @@ static int sd_config(struct gspca_dev *gspca_dev, 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->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; } @@ -212,42 +261,99 @@ static int sd_init(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) { - 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; } @@ -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 == 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 */