--- /dev/null
+/*
+ * kinect sensor device camera, gspca driver
+ *
+ * Copyright (C) 2010 Antonio Ospite <ospite@studenti.unina.it>
+ *
+ * Based on the OpenKinect project and libfreenect by Ector Martin
+ * http://openkinect.org/wiki/Init_Analysis
+ *
+ * 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
+ * any later version.
+ *
+ * This program is distributed in the hope that it will be useful,
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+ * GNU General Public License for more details.
+ *
+ * You should have received a copy of the GNU General Public License
+ * along with this program; if not, write to the Free Software
+ * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
+ */
+
+#define MODULE_NAME "kinect"
+
+#include "gspca.h"
+
+#define CTRL_TIMEOUT 500
+
+MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>");
+MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
+MODULE_LICENSE("GPL");
+
+struct pkt_hdr {
+ uint8_t magic[2];
+ uint8_t pad;
+ uint8_t flag;
+ uint8_t unk1;
+ uint8_t seq;
+ uint8_t unk2;
+ uint8_t unk3;
+ uint32_t timestamp;
+};
+
+typedef struct {
+ 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;
+};
+
+/* V4L2 controls supported by the driver */
+/* controls prototypes here */
+
+static const struct ctrl sd_ctrls[] = {
+};
+
+static const struct v4l2_pix_format color_camera_mode[] = {
+ {640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
+ .bytesperline = 640,
+ .sizeimage = 640 * 480,
+ .colorspace = V4L2_COLORSPACE_SRGB,
+ .priv = 0},
+};
+
+static int kinect_write(struct usb_device *udev, uint8_t *data, uint16_t wLength)
+{
+ return usb_control_msg(udev,
+ usb_sndctrlpipe(udev, 0),
+ 0x00,
+ USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
+ 0, 0, data, wLength, CTRL_TIMEOUT);
+}
+
+static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength)
+{
+ return usb_control_msg(udev,
+ usb_rcvctrlpipe(udev, 0),
+ 0x00,
+ USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
+ 0, 0, data, wLength, CTRL_TIMEOUT);
+}
+
+static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
+ unsigned int cmd_len, void *replybuf, unsigned int reply_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;
+
+ if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
+ err("send_cmd: Invalid command length (0x%x)", cmd_len);
+ return -1;
+ }
+
+ chdr->magic[0] = 0x47;
+ chdr->magic[1] = 0x4d;
+ chdr->cmd = cpu_to_le16(cmd);
+ chdr->tag = cpu_to_le16(sd->cam_tag);
+ chdr->len = cpu_to_le16(cmd_len / 2);
+
+ 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);
+ 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);
+ 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]);
+ return -1;
+ }
+ if (rhdr->cmd != chdr->cmd) {
+ err("send_cmd: Bad cmd %02x != %02x", rhdr->cmd, chdr->cmd);
+ return -1;
+ }
+ if (rhdr->tag != chdr->tag) {
+ err("send_cmd: Bad tag %04x != %04x", rhdr->tag, chdr->tag);
+ return -1;
+ }
+ if (cpu_to_le16(rhdr->len) != (actual_len/2)) {
+ err("send_cmd: Bad len %04x != %04x",
+ cpu_to_le16(rhdr->len), (int)(actual_len/2));
+ return -1;
+ }
+
+ if (actual_len > reply_len) {
+ warn("send_cmd: Data buffer is %d bytes long, but got %d bytes",
+ reply_len, actual_len);
+ memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len);
+ } else {
+ memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len);
+ }
+
+ sd->cam_tag++;
+
+ return actual_len;
+}
+
+static int write_register(struct gspca_dev *gspca_dev, uint16_t reg, uint16_t data)
+{
+ uint16_t reply[2];
+ uint16_t cmd[2];
+ int res;
+
+ cmd[0] = cpu_to_le16(reg);
+ cmd[1] = cpu_to_le16(data);
+
+ PDEBUG(D_USBO, "Write Reg 0x%04x <= 0x%02x", reg, data);
+ res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4);
+ if (res < 0)
+ return res;
+ if (res != 2) {
+ warn("send_cmd returned %d [%04x %04x], 0000 expected",
+ res, reply[0], reply[1]);
+ }
+ return 0;
+}
+
+/* this function is called at probe time */
+static int sd_config(struct gspca_dev *gspca_dev,
+ const struct usb_device_id *id)
+{
+ struct sd *sd = (struct sd *) gspca_dev;
+ struct cam *cam;
+
+ sd->cam_tag = 0;
+
+ cam = &gspca_dev->cam;
+
+ cam->cam_mode = color_camera_mode;
+ cam->nmodes = ARRAY_SIZE(color_camera_mode);
+
+ //cam->npkt = 15;
+ //gspca_dev->pkt_size = 960 * 2;
+
+ return 0;
+}
+
+/* this function is called at probe and resume time */
+static int sd_init(struct gspca_dev *gspca_dev)
+{
+ PDEBUG(D_PROBE, "Kinect Camera device.");
+
+ return 0;
+}
+
+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
+
+ /* Video Format: Raw bayer data */
+ write_register(gspca_dev, 0x05, 0x01); // start video stream
+
+ write_register(gspca_dev, 0x47, 0x00); // disable Hflip
+
+ return 0;
+}
+
+static void sd_stopN(struct gspca_dev *gspca_dev)
+{
+ write_register(gspca_dev, 0x05, 0x00); // reset video stream
+}
+
+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;
+ 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;
+
+ if (len < 12)
+ return;
+
+ if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
+ warn("[Stream %02x] Invalid magic %02x%02x", 0x80, //strm->flag
+ hdr->magic[0], hdr->magic[1]);
+ return;
+ }
+
+ if (hdr->flag == sof)
+ gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen);
+
+ else if (hdr->flag == mof)
+ gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
+
+ else if(hdr->flag == eof)
+ gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);
+
+ else
+ warn("Not recognized...");
+}
+
+/* sub-driver description */
+static const struct sd_desc sd_desc = {
+ .name = MODULE_NAME,
+ .ctrls = sd_ctrls,
+ .nctrls = ARRAY_SIZE(sd_ctrls),
+ .config = sd_config,
+ .init = sd_init,
+ .start = sd_start,
+ .stopN = sd_stopN,
+ .pkt_scan = sd_pkt_scan,
+ /*
+ .querymenu = sd_querymenu,
+ .get_streamparm = sd_get_streamparm,
+ .set_streamparm = sd_set_streamparm,
+ */
+};
+
+/* -- module initialisation -- */
+static const __devinitdata struct usb_device_id device_table[] = {
+ {USB_DEVICE(0x045e, 0x02ae)},
+ {}
+};
+
+MODULE_DEVICE_TABLE(usb, device_table);
+
+/* -- device connect -- */
+static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
+{
+ return gspca_dev_probe(intf, id, &sd_desc, sizeof(struct sd),
+ THIS_MODULE);
+}
+
+static struct usb_driver sd_driver = {
+ .name = MODULE_NAME,
+ .id_table = device_table,
+ .probe = sd_probe,
+ .disconnect = gspca_disconnect,
+#ifdef CONFIG_PM
+ .suspend = gspca_suspend,
+ .resume = gspca_resume,
+#endif
+};
+
+/* -- module insert / remove -- */
+static int __init sd_mod_init(void)
+{
+ return usb_register(&sd_driver);
+}
+
+static void __exit sd_mod_exit(void)
+{
+ usb_deregister(&sd_driver);
+}
+
+module_init(sd_mod_init);
+module_exit(sd_mod_exit);
projects / gspca_kinect.git / commitdiff