1/*
2 * kinect sensor device camera, gspca driver
3 *
4 * Copyright (C) 2011  Antonio Ospite <ospite@studenti.unina.it>
5 *
6 * Based on the OpenKinect project and libfreenect
7 * http://openkinect.org/wiki/Init_Analysis
8 *
9 * Special thanks to Steven Toth and kernellabs.com for sponsoring a Kinect
10 * sensor device which I tested the driver on.
11 *
12 * This program is free software; you can redistribute it and/or modify
13 * it under the terms of the GNU General Public License as published by
14 * the Free Software Foundation; either version 2 of the License, or
15 * any later version.
16 *
17 * This program is distributed in the hope that it will be useful,
18 * but WITHOUT ANY WARRANTY; without even the implied warranty of
19 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
20 * GNU General Public License for more details.
21 *
22 * You should have received a copy of the GNU General Public License
23 * along with this program; if not, write to the Free Software
24 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
25 */
26
27#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt
28
29#define MODULE_NAME "kinect"
30
31#include "gspca.h"
32
33#define CTRL_TIMEOUT 500
34
35MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>");
36MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
37MODULE_LICENSE("GPL");
38
39struct pkt_hdr {
40	uint8_t magic[2];
41	uint8_t pad;
42	uint8_t flag;
43	uint8_t unk1;
44	uint8_t seq;
45	uint8_t unk2;
46	uint8_t unk3;
47	uint32_t timestamp;
48};
49
50struct cam_hdr {
51	uint8_t magic[2];
52	uint16_t len;
53	uint16_t cmd;
54	uint16_t tag;
55};
56
57/* specific webcam descriptor */
58struct sd {
59	struct gspca_dev gspca_dev; /* !! must be the first item */
60	uint16_t cam_tag;           /* a sequence number for packets */
61	uint8_t stream_flag;        /* to identify different stream types */
62	uint8_t obuf[0x400];        /* output buffer for control commands */
63	uint8_t ibuf[0x200];        /* input buffer for control commands */
64};
65
66/* V4L2 controls supported by the driver */
67/* controls prototypes here */
68
69static const struct ctrl sd_ctrls[] = {
70};
71
72#define MODE_640x480   0x0001
73#define MODE_640x488   0x0002
74#define MODE_1280x1024 0x0004
75
76#define FORMAT_BAYER   0x0010
77#define FORMAT_UYVY    0x0020
78#define FORMAT_Y10B    0x0040
79
80#define FPS_HIGH       0x0100
81
82static const struct v4l2_pix_format video_camera_mode[] = {
83	{640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
84	 .bytesperline = 640,
85	 .sizeimage = 640 * 480,
86	 .colorspace = V4L2_COLORSPACE_SRGB,
87	 .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH},
88	{640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE,
89	 .bytesperline = 640 * 2,
90	 .sizeimage = 640 * 480 * 2,
91	 .colorspace = V4L2_COLORSPACE_SRGB,
92	 .priv = MODE_640x480 | FORMAT_UYVY},
93	{1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
94	 .bytesperline = 1280,
95	 .sizeimage = 1280 * 1024,
96	 .colorspace = V4L2_COLORSPACE_SRGB,
97	 .priv = MODE_1280x1024 | FORMAT_BAYER},
98	{640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
99	 .bytesperline = 640 * 10 / 8,
100	 .sizeimage =  640 * 488 * 10 / 8,
101	 .colorspace = V4L2_COLORSPACE_SRGB,
102	 .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH},
103	{1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
104	 .bytesperline = 1280 * 10 / 8,
105	 .sizeimage =  1280 * 1024 * 10 / 8,
106	 .colorspace = V4L2_COLORSPACE_SRGB,
107	 .priv = MODE_1280x1024 | FORMAT_Y10B},
108};
109
110static int kinect_write(struct usb_device *udev, uint8_t *data,
111			uint16_t wLength)
112{
113	return usb_control_msg(udev,
114			      usb_sndctrlpipe(udev, 0),
115			      0x00,
116			      USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
117			      0, 0, data, wLength, CTRL_TIMEOUT);
118}
119
120static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength)
121{
122	return usb_control_msg(udev,
123			      usb_rcvctrlpipe(udev, 0),
124			      0x00,
125			      USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
126			      0, 0, data, wLength, CTRL_TIMEOUT);
127}
128
129static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
130		unsigned int cmd_len, void *replybuf, unsigned int reply_len)
131{
132	struct sd *sd = (struct sd *) gspca_dev;
133	struct usb_device *udev = gspca_dev->dev;
134	int res, actual_len;
135	uint8_t *obuf = sd->obuf;
136	uint8_t *ibuf = sd->ibuf;
137	struct cam_hdr *chdr = (void *)obuf;
138	struct cam_hdr *rhdr = (void *)ibuf;
139
140	if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
141		pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len);
142		return -1;
143	}
144
145	chdr->magic[0] = 0x47;
146	chdr->magic[1] = 0x4d;
147	chdr->cmd = cpu_to_le16(cmd);
148	chdr->tag = cpu_to_le16(sd->cam_tag);
149	chdr->len = cpu_to_le16(cmd_len / 2);
150
151	memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);
152
153	res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));
154	PDEBUG(D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d", cmd,
155		sd->cam_tag, cmd_len, res);
156	if (res < 0) {
157		pr_err("send_cmd: Output control transfer failed (%d)\n", res);
158		return res;
159	}
160
161	do {
162		actual_len = kinect_read(udev, ibuf, 0x200);
163	} while (actual_len == 0);
164	PDEBUG(D_USBO, "Control reply: %d", res);
165	if (actual_len < sizeof(*rhdr)) {
166		pr_err("send_cmd: Input control transfer failed (%d)\n", res);
167		return res;
168	}
169	actual_len -= sizeof(*rhdr);
170
171	if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
172		pr_err("send_cmd: Bad magic %02x %02x\n",
173		       rhdr->magic[0], rhdr->magic[1]);
174		return -1;
175	}
176	if (rhdr->cmd != chdr->cmd) {
177		pr_err("send_cmd: Bad cmd %02x != %02x\n",
178		       rhdr->cmd, chdr->cmd);
179		return -1;
180	}
181	if (rhdr->tag != chdr->tag) {
182		pr_err("send_cmd: Bad tag %04x != %04x\n",
183		       rhdr->tag, chdr->tag);
184		return -1;
185	}
186	if (cpu_to_le16(rhdr->len) != (actual_len/2)) {
187		pr_err("send_cmd: Bad len %04x != %04x\n",
188		       cpu_to_le16(rhdr->len), (int)(actual_len/2));
189		return -1;
190	}
191
192	if (actual_len > reply_len) {
193		pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n",
194			reply_len, actual_len);
195		memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len);
196	} else {
197		memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len);
198	}
199
200	sd->cam_tag++;
201
202	return actual_len;
203}
204
205static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
206			uint16_t data)
207{
208	uint16_t reply[2];
209	uint16_t cmd[2];
210	int res;
211
212	cmd[0] = cpu_to_le16(reg);
213	cmd[1] = cpu_to_le16(data);
214
215	PDEBUG(D_USBO, "Write Reg 0x%04x <= 0x%02x", reg, data);
216	res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4);
217	if (res < 0)
218		return res;
219	if (res != 2) {
220		pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n",
221			res, reply[0], reply[1]);
222	}
223	return 0;
224}
225
226/* this function is called at probe time */
227static int sd_config(struct gspca_dev *gspca_dev,
228		     const struct usb_device_id *id)
229{
230	struct sd *sd = (struct sd *) gspca_dev;
231	struct cam *cam;
232
233	sd->cam_tag = 0;
234
235	/* Only video stream is supported for now,
236	 * which has stream flag = 0x80 */
237	sd->stream_flag = 0x80;
238
239	cam = &gspca_dev->cam;
240
241	cam->cam_mode = video_camera_mode;
242	cam->nmodes = ARRAY_SIZE(video_camera_mode);
243
244#if 0
245	/* Setting those values is not needed for video stream */
246	cam->npkt = 15;
247	gspca_dev->pkt_size = 960 * 2;
248#endif
249
250	return 0;
251}
252
253/* this function is called at probe and resume time */
254static int sd_init(struct gspca_dev *gspca_dev)
255{
256	PDEBUG(D_PROBE, "Kinect Camera device.");
257
258	return 0;
259}
260
261static int sd_start(struct gspca_dev *gspca_dev)
262{
263	int mode;
264	uint8_t fmt_reg, fmt_val;
265	uint8_t res_reg, res_val;
266	uint8_t fps_reg, fps_val;
267	uint8_t mode_val;
268
269	mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;
270
271	if (mode & FORMAT_Y10B) {
272		fmt_reg = 0x19;
273		res_reg = 0x1a;
274		fps_reg = 0x1b;
275		mode_val = 0x03;
276	} else {
277		fmt_reg = 0x0c;
278		res_reg = 0x0d;
279		fps_reg = 0x0e;
280		mode_val = 0x01;
281	}
282
283	/* format */
284	if (mode & FORMAT_UYVY)
285		fmt_val = 0x05;
286	else
287		fmt_val = 0x00;
288
289	if (mode & MODE_1280x1024)
290		res_val = 0x02;
291	else
292		res_val = 0x01;
293
294	if (mode & FPS_HIGH)
295		fps_val = 0x1e;
296	else
297		fps_val = 0x0f;
298
299
300	/* turn off IR-reset function */
301	write_register(gspca_dev, 0x105, 0x00);
302
303	/* Reset video stream */
304	write_register(gspca_dev, 0x05, 0x00);
305
306	/* Due to some ridiculous condition in the firmware, we have to start
307	 * and stop the depth stream before the camera will hand us 1280x1024
308	 * IR.  This is a stupid workaround, but we've yet to find a better
309	 * solution.
310	 *
311	 * Thanks to Drew Fisher for figuring this out.
312	 */
313	if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
314		write_register(gspca_dev, 0x13, 0x01);
315		write_register(gspca_dev, 0x14, 0x1e);
316		write_register(gspca_dev, 0x06, 0x02);
317		write_register(gspca_dev, 0x06, 0x00);
318	}
319
320	write_register(gspca_dev, fmt_reg, fmt_val);
321	write_register(gspca_dev, res_reg, res_val);
322	write_register(gspca_dev, fps_reg, fps_val);
323
324	/* Start video stream */
325	write_register(gspca_dev, 0x05, mode_val);
326
327	/* disable Hflip */
328	write_register(gspca_dev, 0x47, 0x00);
329
330	return 0;
331}
332
333static void sd_stopN(struct gspca_dev *gspca_dev)
334{
335	/* reset video stream */
336	write_register(gspca_dev, 0x05, 0x00);
337}
338
339static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
340{
341	struct sd *sd = (struct sd *) gspca_dev;
342
343	struct pkt_hdr *hdr = (void *)__data;
344	uint8_t *data = __data + sizeof(*hdr);
345	int datalen = len - sizeof(*hdr);
346
347	uint8_t sof = sd->stream_flag | 1;
348	uint8_t mof = sd->stream_flag | 2;
349	uint8_t eof = sd->stream_flag | 5;
350
351	if (len < 12)
352		return;
353
354	if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
355		pr_warn("[Stream %02x] Invalid magic %02x%02x\n",
356			sd->stream_flag, hdr->magic[0], hdr->magic[1]);
357		return;
358	}
359
360	if (hdr->flag == sof)
361		gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen);
362
363	else if (hdr->flag == mof)
364		gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
365
366	else if (hdr->flag == eof)
367		gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);
368
369	else
370		pr_warn("Packet type not recognized...\n");
371}
372
373/* sub-driver description */
374static const struct sd_desc sd_desc = {
375	.name      = MODULE_NAME,
376	.ctrls     = sd_ctrls,
377	.nctrls    = ARRAY_SIZE(sd_ctrls),
378	.config    = sd_config,
379	.init      = sd_init,
380	.start     = sd_start,
381	.stopN     = sd_stopN,
382	.pkt_scan  = sd_pkt_scan,
383	/*
384	.querymenu = sd_querymenu,
385	.get_streamparm = sd_get_streamparm,
386	.set_streamparm = sd_set_streamparm,
387	*/
388};
389
390/* -- module initialisation -- */
391static const struct usb_device_id device_table[] = {
392	{USB_DEVICE(0x045e, 0x02ae)},
393	{}
394};
395
396MODULE_DEVICE_TABLE(usb, device_table);
397
398/* -- device connect -- */
399static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
400{
401	return gspca_dev_probe(intf, id, &sd_desc, sizeof(struct sd),
402				THIS_MODULE);
403}
404
405static struct usb_driver sd_driver = {
406	.name       = MODULE_NAME,
407	.id_table   = device_table,
408	.probe      = sd_probe,
409	.disconnect = gspca_disconnect,
410#ifdef CONFIG_PM
411	.suspend    = gspca_suspend,
412	.resume     = gspca_resume,
413#endif
414};
415
416module_usb_driver(sd_driver);
417