1// SPDX-License-Identifier: GPL-2.0-or-later
2/*
3 * kinect sensor device camera, gspca driver
4 *
5 * Copyright (C) 2011  Antonio Ospite <ospite@studenti.unina.it>
6 *
7 * Based on the OpenKinect project and libfreenect
8 * http://openkinect.org/wiki/Init_Analysis
9 *
10 * Special thanks to Steven Toth and kernellabs.com for sponsoring a Kinect
11 * sensor device which I tested the driver on.
12 */
13
14#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt
15
16#define MODULE_NAME "kinect"
17
18#include "gspca.h"
19
20#define CTRL_TIMEOUT 500
21
22MODULE_AUTHOR("Antonio Ospite <ospite@studenti.unina.it>");
23MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
24MODULE_LICENSE("GPL");
25
26static bool depth_mode;
27
28struct pkt_hdr {
29	uint8_t magic[2];
30	uint8_t pad;
31	uint8_t flag;
32	uint8_t unk1;
33	uint8_t seq;
34	uint8_t unk2;
35	uint8_t unk3;
36	uint32_t timestamp;
37};
38
39struct cam_hdr {
40	uint8_t magic[2];
41	__le16 len;
42	__le16 cmd;
43	__le16 tag;
44};
45
46/* specific webcam descriptor */
47struct sd {
48	struct gspca_dev gspca_dev; /* !! must be the first item */
49	uint16_t cam_tag;           /* a sequence number for packets */
50	uint8_t stream_flag;        /* to identify different stream types */
51	uint8_t obuf[0x400];        /* output buffer for control commands */
52	uint8_t ibuf[0x200];        /* input buffer for control commands */
53};
54
55#define MODE_640x480   0x0001
56#define MODE_640x488   0x0002
57#define MODE_1280x1024 0x0004
58
59#define FORMAT_BAYER   0x0010
60#define FORMAT_UYVY    0x0020
61#define FORMAT_Y10B    0x0040
62
63#define FPS_HIGH       0x0100
64
65static const struct v4l2_pix_format depth_camera_mode[] = {
66	{640, 480, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
67	 .bytesperline = 640 * 10 / 8,
68	 .sizeimage =  640 * 480 * 10 / 8,
69	 .colorspace = V4L2_COLORSPACE_SRGB,
70	 .priv = MODE_640x488 | FORMAT_Y10B},
71};
72
73static const struct v4l2_pix_format video_camera_mode[] = {
74	{640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
75	 .bytesperline = 640,
76	 .sizeimage = 640 * 480,
77	 .colorspace = V4L2_COLORSPACE_SRGB,
78	 .priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH},
79	{640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE,
80	 .bytesperline = 640 * 2,
81	 .sizeimage = 640 * 480 * 2,
82	 .colorspace = V4L2_COLORSPACE_SRGB,
83	 .priv = MODE_640x480 | FORMAT_UYVY},
84	{1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
85	 .bytesperline = 1280,
86	 .sizeimage = 1280 * 1024,
87	 .colorspace = V4L2_COLORSPACE_SRGB,
88	 .priv = MODE_1280x1024 | FORMAT_BAYER},
89	{640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
90	 .bytesperline = 640 * 10 / 8,
91	 .sizeimage =  640 * 488 * 10 / 8,
92	 .colorspace = V4L2_COLORSPACE_SRGB,
93	 .priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH},
94	{1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
95	 .bytesperline = 1280 * 10 / 8,
96	 .sizeimage =  1280 * 1024 * 10 / 8,
97	 .colorspace = V4L2_COLORSPACE_SRGB,
98	 .priv = MODE_1280x1024 | FORMAT_Y10B},
99};
100
101static int kinect_write(struct usb_device *udev, uint8_t *data,
102			uint16_t wLength)
103{
104	return usb_control_msg(udev,
105			      usb_sndctrlpipe(udev, 0),
106			      0x00,
107			      USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
108			      0, 0, data, wLength, CTRL_TIMEOUT);
109}
110
111static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength)
112{
113	return usb_control_msg(udev,
114			      usb_rcvctrlpipe(udev, 0),
115			      0x00,
116			      USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE,
117			      0, 0, data, wLength, CTRL_TIMEOUT);
118}
119
120static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf,
121		unsigned int cmd_len, void *replybuf, unsigned int reply_len)
122{
123	struct sd *sd = (struct sd *) gspca_dev;
124	struct usb_device *udev = gspca_dev->dev;
125	int res, actual_len;
126	uint8_t *obuf = sd->obuf;
127	uint8_t *ibuf = sd->ibuf;
128	struct cam_hdr *chdr = (void *)obuf;
129	struct cam_hdr *rhdr = (void *)ibuf;
130
131	if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) {
132		pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len);
133		return -1;
134	}
135
136	chdr->magic[0] = 0x47;
137	chdr->magic[1] = 0x4d;
138	chdr->cmd = cpu_to_le16(cmd);
139	chdr->tag = cpu_to_le16(sd->cam_tag);
140	chdr->len = cpu_to_le16(cmd_len / 2);
141
142	memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len);
143
144	res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr));
145	gspca_dbg(gspca_dev, D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d\n",
146		  cmd,
147		  sd->cam_tag, cmd_len, res);
148	if (res < 0) {
149		pr_err("send_cmd: Output control transfer failed (%d)\n", res);
150		return res;
151	}
152
153	do {
154		actual_len = kinect_read(udev, ibuf, 0x200);
155	} while (actual_len == 0);
156	gspca_dbg(gspca_dev, D_USBO, "Control reply: %d\n", actual_len);
157	if (actual_len < (int)sizeof(*rhdr)) {
158		pr_err("send_cmd: Input control transfer failed (%d)\n",
159		       actual_len);
160		return actual_len < 0 ? actual_len : -EREMOTEIO;
161	}
162	actual_len -= sizeof(*rhdr);
163
164	if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) {
165		pr_err("send_cmd: Bad magic %02x %02x\n",
166		       rhdr->magic[0], rhdr->magic[1]);
167		return -1;
168	}
169	if (rhdr->cmd != chdr->cmd) {
170		pr_err("send_cmd: Bad cmd %02x != %02x\n",
171		       rhdr->cmd, chdr->cmd);
172		return -1;
173	}
174	if (rhdr->tag != chdr->tag) {
175		pr_err("send_cmd: Bad tag %04x != %04x\n",
176		       rhdr->tag, chdr->tag);
177		return -1;
178	}
179	if (le16_to_cpu(rhdr->len) != (actual_len/2)) {
180		pr_err("send_cmd: Bad len %04x != %04x\n",
181		       le16_to_cpu(rhdr->len), (int)(actual_len/2));
182		return -1;
183	}
184
185	if (actual_len > reply_len) {
186		pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n",
187			reply_len, actual_len);
188		memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len);
189	} else {
190		memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len);
191	}
192
193	sd->cam_tag++;
194
195	return actual_len;
196}
197
198static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
199			uint16_t data)
200{
201	uint16_t reply[2];
202	__le16 cmd[2];
203	int res;
204
205	cmd[0] = cpu_to_le16(reg);
206	cmd[1] = cpu_to_le16(data);
207
208	gspca_dbg(gspca_dev, D_USBO, "Write Reg 0x%04x <= 0x%02x\n", reg, data);
209	res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4);
210	if (res < 0)
211		return res;
212	if (res != 2) {
213		pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n",
214			res, reply[0], reply[1]);
215	}
216	return 0;
217}
218
219/* this function is called at probe time */
220static int sd_config_video(struct gspca_dev *gspca_dev,
221		     const struct usb_device_id *id)
222{
223	struct sd *sd = (struct sd *) gspca_dev;
224	struct cam *cam;
225
226	sd->cam_tag = 0;
227
228	sd->stream_flag = 0x80;
229
230	cam = &gspca_dev->cam;
231
232	cam->cam_mode = video_camera_mode;
233	cam->nmodes = ARRAY_SIZE(video_camera_mode);
234
235	gspca_dev->xfer_ep = 0x81;
236
237#if 0
238	/* Setting those values is not needed for video stream */
239	cam->npkt = 15;
240	gspca_dev->pkt_size = 960 * 2;
241#endif
242
243	return 0;
244}
245
246static int sd_config_depth(struct gspca_dev *gspca_dev,
247		     const struct usb_device_id *id)
248{
249	struct sd *sd = (struct sd *) gspca_dev;
250	struct cam *cam;
251
252	sd->cam_tag = 0;
253
254	sd->stream_flag = 0x70;
255
256	cam = &gspca_dev->cam;
257
258	cam->cam_mode = depth_camera_mode;
259	cam->nmodes = ARRAY_SIZE(depth_camera_mode);
260
261	gspca_dev->xfer_ep = 0x82;
262
263	return 0;
264}
265
266/* this function is called at probe and resume time */
267static int sd_init(struct gspca_dev *gspca_dev)
268{
269	gspca_dbg(gspca_dev, D_PROBE, "Kinect Camera device.\n");
270
271	return 0;
272}
273
274static int sd_start_video(struct gspca_dev *gspca_dev)
275{
276	int mode;
277	uint8_t fmt_reg, fmt_val;
278	uint8_t res_reg, res_val;
279	uint8_t fps_reg, fps_val;
280	uint8_t mode_val;
281
282	mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv;
283
284	if (mode & FORMAT_Y10B) {
285		fmt_reg = 0x19;
286		res_reg = 0x1a;
287		fps_reg = 0x1b;
288		mode_val = 0x03;
289	} else {
290		fmt_reg = 0x0c;
291		res_reg = 0x0d;
292		fps_reg = 0x0e;
293		mode_val = 0x01;
294	}
295
296	/* format */
297	if (mode & FORMAT_UYVY)
298		fmt_val = 0x05;
299	else
300		fmt_val = 0x00;
301
302	if (mode & MODE_1280x1024)
303		res_val = 0x02;
304	else
305		res_val = 0x01;
306
307	if (mode & FPS_HIGH)
308		fps_val = 0x1e;
309	else
310		fps_val = 0x0f;
311
312
313	/* turn off IR-reset function */
314	write_register(gspca_dev, 0x105, 0x00);
315
316	/* Reset video stream */
317	write_register(gspca_dev, 0x05, 0x00);
318
319	/* Due to some ridiculous condition in the firmware, we have to start
320	 * and stop the depth stream before the camera will hand us 1280x1024
321	 * IR.  This is a stupid workaround, but we've yet to find a better
322	 * solution.
323	 *
324	 * Thanks to Drew Fisher for figuring this out.
325	 */
326	if (mode & (FORMAT_Y10B | MODE_1280x1024)) {
327		write_register(gspca_dev, 0x13, 0x01);
328		write_register(gspca_dev, 0x14, 0x1e);
329		write_register(gspca_dev, 0x06, 0x02);
330		write_register(gspca_dev, 0x06, 0x00);
331	}
332
333	write_register(gspca_dev, fmt_reg, fmt_val);
334	write_register(gspca_dev, res_reg, res_val);
335	write_register(gspca_dev, fps_reg, fps_val);
336
337	/* Start video stream */
338	write_register(gspca_dev, 0x05, mode_val);
339
340	/* disable Hflip */
341	write_register(gspca_dev, 0x47, 0x00);
342
343	return 0;
344}
345
346static int sd_start_depth(struct gspca_dev *gspca_dev)
347{
348	/* turn off IR-reset function */
349	write_register(gspca_dev, 0x105, 0x00);
350
351	/* reset depth stream */
352	write_register(gspca_dev, 0x06, 0x00);
353	/* Depth Stream Format 0x03: 11 bit stream | 0x02: 10 bit */
354	write_register(gspca_dev, 0x12, 0x02);
355	/* Depth Stream Resolution 1: standard (640x480) */
356	write_register(gspca_dev, 0x13, 0x01);
357	/* Depth Framerate / 0x1e (30): 30 fps */
358	write_register(gspca_dev, 0x14, 0x1e);
359	/* Depth Stream Control  / 2: Open Depth Stream */
360	write_register(gspca_dev, 0x06, 0x02);
361	/* disable depth hflip / LSB = 0: Smoothing Disabled */
362	write_register(gspca_dev, 0x17, 0x00);
363
364	return 0;
365}
366
367static void sd_stopN_video(struct gspca_dev *gspca_dev)
368{
369	/* reset video stream */
370	write_register(gspca_dev, 0x05, 0x00);
371}
372
373static void sd_stopN_depth(struct gspca_dev *gspca_dev)
374{
375	/* reset depth stream */
376	write_register(gspca_dev, 0x06, 0x00);
377}
378
379static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
380{
381	struct sd *sd = (struct sd *) gspca_dev;
382
383	struct pkt_hdr *hdr = (void *)__data;
384	uint8_t *data = __data + sizeof(*hdr);
385	int datalen = len - sizeof(*hdr);
386
387	uint8_t sof = sd->stream_flag | 1;
388	uint8_t mof = sd->stream_flag | 2;
389	uint8_t eof = sd->stream_flag | 5;
390
391	if (len < 12)
392		return;
393
394	if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') {
395		pr_warn("[Stream %02x] Invalid magic %02x%02x\n",
396			sd->stream_flag, hdr->magic[0], hdr->magic[1]);
397		return;
398	}
399
400	if (hdr->flag == sof)
401		gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen);
402
403	else if (hdr->flag == mof)
404		gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen);
405
406	else if (hdr->flag == eof)
407		gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen);
408
409	else
410		pr_warn("Packet type not recognized...\n");
411}
412
413/* sub-driver description */
414static const struct sd_desc sd_desc_video = {
415	.name      = MODULE_NAME,
416	.config    = sd_config_video,
417	.init      = sd_init,
418	.start     = sd_start_video,
419	.stopN     = sd_stopN_video,
420	.pkt_scan  = sd_pkt_scan,
421	/*
422	.get_streamparm = sd_get_streamparm,
423	.set_streamparm = sd_set_streamparm,
424	*/
425};
426static const struct sd_desc sd_desc_depth = {
427	.name      = MODULE_NAME,
428	.config    = sd_config_depth,
429	.init      = sd_init,
430	.start     = sd_start_depth,
431	.stopN     = sd_stopN_depth,
432	.pkt_scan  = sd_pkt_scan,
433	/*
434	.get_streamparm = sd_get_streamparm,
435	.set_streamparm = sd_set_streamparm,
436	*/
437};
438
439/* -- module initialisation -- */
440static const struct usb_device_id device_table[] = {
441	{USB_DEVICE(0x045e, 0x02ae)},
442	{USB_DEVICE(0x045e, 0x02bf)},
443	{}
444};
445
446MODULE_DEVICE_TABLE(usb, device_table);
447
448/* -- device connect -- */
449static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id)
450{
451	if (depth_mode)
452		return gspca_dev_probe(intf, id, &sd_desc_depth,
453				       sizeof(struct sd), THIS_MODULE);
454	else
455		return gspca_dev_probe(intf, id, &sd_desc_video,
456				       sizeof(struct sd), THIS_MODULE);
457}
458
459static struct usb_driver sd_driver = {
460	.name       = MODULE_NAME,
461	.id_table   = device_table,
462	.probe      = sd_probe,
463	.disconnect = gspca_disconnect,
464#ifdef CONFIG_PM
465	.suspend    = gspca_suspend,
466	.resume     = gspca_resume,
467	.reset_resume = gspca_resume,
468#endif
469};
470
471module_usb_driver(sd_driver);
472
473module_param(depth_mode, bool, 0644);
474MODULE_PARM_DESC(depth_mode, "0=video 1=depth");
475