X-Git-Url: https://git.ao2.it/gspca_kinect.git/blobdiff_plain/dcf3254fafd08eed1d0312a2ce0f39f53c47be3f..71340e51fc094a564c462be235d36cf7ae3fac10:/kinect.c

diff --git a/kinect.c b/kinect.c
index c91bf33..0d8acda 100644
--- a/kinect.c
+++ b/kinect.c
@@ -1,9 +1,9 @@
 /*
  * 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
  * 
  * This program is free software; you can redistribute it and/or modify
@@ -31,6 +31,11 @@ MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>");
 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;
@@ -49,9 +54,6 @@ typedef struct {
 	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 */
@@ -65,14 +67,16 @@ static const struct ctrl sd_ctrls[] = {
 };
 
 #define MODE_640x480   0x0001
-#define MODE_1280x1024 0x0002
+#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 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,
@@ -88,6 +92,16 @@ static const struct v4l2_pix_format color_camera_mode[] = {
 	 .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)
@@ -133,7 +147,7 @@ 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;
@@ -142,7 +156,7 @@ 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;
@@ -211,8 +225,8 @@ static int sd_config(struct gspca_dev *gspca_dev,
 
 	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;
@@ -234,12 +248,21 @@ static int sd_start(struct gspca_dev *gspca_dev)
 	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_UYVY)
@@ -257,15 +280,33 @@ static int sd_start(struct gspca_dev *gspca_dev)
 	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);