Add support for the depth mode at 10bpp, use a command line parameter to
switch mode.
NOTE: this is just a proof-of-concept, the final implementation will
have to expose two v4l2 devices, one for the video stream and one for
the depth stream.
Signed-off-by: Alexander Sosna <alexander@xxxxxxx>
Signed-off-by: Antonio Ospite <ao2@xxxxxx>
---
For now a command line parameter called "depth_mode" is used to select which
mode to activate when loading the driver, this is necessary because gspca is
not quite ready to have a subdriver call gspca_dev_probe() multiple times.
The problem seems to be that gspca assumes one video device per USB
_interface_, and so it stores a pointer to gspca_dev as the interface
private data: see usb_set_intfdata(intf, gspca_dev) in
gspca_dev_probe2().
If anyone feels brave (do a backup first, etc. etc.), hack the sd_probe()
below to register both the devices: you will get the two v4l nodes and both
streams will work OK, but the kernel will halt when you disconnect the device,
i.e. some problem arises in gspca_disconnect() after the usb_get_intfdata(intf)
call.
I am still figuring out the details of the failure sequence, and I'll try to
imagine a way to support the use case "multiple v4l devices on one USB
interface", but this will take some more time.
Thanks,
Antonio
drivers/media/usb/gspca/kinect.c | 97 +++++++++++++++++++++++++++++++++++-----
1 file changed, 86 insertions(+), 11 deletions(-)
diff --git a/drivers/media/usb/gspca/kinect.c b/drivers/media/usb/gspca/kinect.c
index 081f051..ce688d8 100644
--- a/drivers/media/usb/gspca/kinect.c
+++ b/drivers/media/usb/gspca/kinect.c
@@ -36,6 +36,8 @@ MODULE_AUTHOR("Antonio Ospite <ospite@xxxxxxxxxxxxxxxxx>");
MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver");
MODULE_LICENSE("GPL");
+static bool depth_mode;
+
struct pkt_hdr {
uint8_t magic[2];
uint8_t pad;
@@ -73,6 +75,14 @@ struct sd {
#define FPS_HIGH 0x0100
+static const struct v4l2_pix_format depth_camera_mode[] = {
+ {640, 480, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE,
+ .bytesperline = 640 * 10 / 8,
+ .sizeimage = 640 * 480 * 10 / 8,
+ .colorspace = V4L2_COLORSPACE_SRGB,
+ .priv = MODE_640x488 | FORMAT_Y10B},
+};
+
static const struct v4l2_pix_format video_camera_mode[] = {
{640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE,
.bytesperline = 640,
@@ -219,7 +229,7 @@ static int write_register(struct gspca_dev *gspca_dev, uint16_t reg,
}
/* this function is called at probe time */
-static int sd_config(struct gspca_dev *gspca_dev,
+static int sd_config_video(struct gspca_dev *gspca_dev,
const struct usb_device_id *id)
{
struct sd *sd = (struct sd *) gspca_dev;
@@ -227,8 +237,7 @@ static int sd_config(struct gspca_dev *gspca_dev,
sd->cam_tag = 0;
- /* Only video stream is supported for now,
- * which has stream flag = 0x80 */
+ /* video has stream flag = 0x80 */
sd->stream_flag = 0x80;
cam = &gspca_dev->cam;
@@ -245,6 +254,26 @@ static int sd_config(struct gspca_dev *gspca_dev,
return 0;
}
+static int sd_config_depth(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;
+
+ /* depth has stream flag = 0x70 */
+ sd->stream_flag = 0x70;
+ cam->cam_mode = depth_camera_mode;
+ cam->nmodes = ARRAY_SIZE(depth_camera_mode);
+
+ gspca_dev->xfer_ep_index = 1;
+
+ return 0;
+}
+
/* this function is called at probe and resume time */
static int sd_init(struct gspca_dev *gspca_dev)
{
@@ -253,7 +282,7 @@ static int sd_init(struct gspca_dev *gspca_dev)
return 0;
}
-static int sd_start(struct gspca_dev *gspca_dev)
+static int sd_start_video(struct gspca_dev *gspca_dev)
{
int mode;
uint8_t fmt_reg, fmt_val;
@@ -325,12 +354,39 @@ static int sd_start(struct gspca_dev *gspca_dev)
return 0;
}
-static void sd_stopN(struct gspca_dev *gspca_dev)
+static int sd_start_depth(struct gspca_dev *gspca_dev)
+{
+ /* turn off IR-reset function */
+ write_register(gspca_dev, 0x105, 0x00);
+
+ /* reset depth stream */
+ write_register(gspca_dev, 0x06, 0x00);
+ /* Depth Stream Format 0x03: 11 bit stream | 0x02: 10 bit */
+ write_register(gspca_dev, 0x12, 0x02);
+ /* Depth Stream Resolution 1: standard (640x480) */
+ write_register(gspca_dev, 0x13, 0x01);
+ /* Depth Framerate / 0x1e (30): 30 fps */
+ write_register(gspca_dev, 0x14, 0x1e);
+ /* Depth Stream Control / 2: Open Depth Stream */
+ write_register(gspca_dev, 0x06, 0x02);
+ /* disable depth hflip / LSB = 0: Smoothing Disabled */
+ write_register(gspca_dev, 0x17, 0x00);
+
+ return 0;
+}
+
+static void sd_stopN_video(struct gspca_dev *gspca_dev)
{
/* reset video stream */
write_register(gspca_dev, 0x05, 0x00);
}
+static void sd_stopN_depth(struct gspca_dev *gspca_dev)
+{
+ /* reset depth stream */
+ write_register(gspca_dev, 0x06, 0x00);
+}
+
static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
{
struct sd *sd = (struct sd *) gspca_dev;
@@ -366,12 +422,24 @@ static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len)
}
/* sub-driver description */
-static const struct sd_desc sd_desc = {
+static const struct sd_desc sd_desc_video = {
.name = MODULE_NAME,
- .config = sd_config,
+ .config = sd_config_video,
.init = sd_init,
- .start = sd_start,
- .stopN = sd_stopN,
+ .start = sd_start_video,
+ .stopN = sd_stopN_video,
+ .pkt_scan = sd_pkt_scan,
+ /*
+ .get_streamparm = sd_get_streamparm,
+ .set_streamparm = sd_set_streamparm,
+ */
+};
+static const struct sd_desc sd_desc_depth = {
+ .name = MODULE_NAME,
+ .config = sd_config_depth,
+ .init = sd_init,
+ .start = sd_start_depth,
+ .stopN = sd_stopN_depth,
.pkt_scan = sd_pkt_scan,
/*
.get_streamparm = sd_get_streamparm,
@@ -391,8 +459,12 @@ 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);
+ if (depth_mode)
+ return gspca_dev_probe(intf, id, &sd_desc_depth,
+ sizeof(struct sd), THIS_MODULE);
+ else
+ return gspca_dev_probe(intf, id, &sd_desc_video,
+ sizeof(struct sd), THIS_MODULE);
}
static struct usb_driver sd_driver = {
@@ -408,3 +480,6 @@ static struct usb_driver sd_driver = {
};
module_usb_driver(sd_driver);
+
+module_param(depth_mode, bool, 0644);
+MODULE_PARM_DESC(depth_mode, "0=rgb 1=depth");
--
2.0.0
--
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