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474 lines
12 KiB
474 lines
12 KiB
// SPDX-License-Identifier: GPL-2.0-or-later |
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/* |
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* kinect sensor device camera, gspca driver |
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* |
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* Copyright (C) 2011 Antonio Ospite <[email protected]> |
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* |
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* Based on the OpenKinect project and libfreenect |
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* http://openkinect.org/wiki/Init_Analysis |
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* |
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* Special thanks to Steven Toth and kernellabs.com for sponsoring a Kinect |
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* sensor device which I tested the driver on. |
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*/ |
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#define pr_fmt(fmt) KBUILD_MODNAME ": " fmt |
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#define MODULE_NAME "kinect" |
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#include "gspca.h" |
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#define CTRL_TIMEOUT 500 |
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MODULE_AUTHOR("Antonio Ospite <[email protected]>"); |
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MODULE_DESCRIPTION("GSPCA/Kinect Sensor Device USB Camera Driver"); |
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MODULE_LICENSE("GPL"); |
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static bool depth_mode; |
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struct pkt_hdr { |
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uint8_t magic[2]; |
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uint8_t pad; |
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uint8_t flag; |
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uint8_t unk1; |
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uint8_t seq; |
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uint8_t unk2; |
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uint8_t unk3; |
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uint32_t timestamp; |
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}; |
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struct cam_hdr { |
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uint8_t magic[2]; |
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__le16 len; |
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__le16 cmd; |
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__le16 tag; |
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}; |
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/* specific webcam descriptor */ |
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struct sd { |
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struct gspca_dev gspca_dev; /* !! must be the first item */ |
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uint16_t cam_tag; /* a sequence number for packets */ |
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uint8_t stream_flag; /* to identify different stream types */ |
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uint8_t obuf[0x400]; /* output buffer for control commands */ |
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uint8_t ibuf[0x200]; /* input buffer for control commands */ |
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}; |
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#define MODE_640x480 0x0001 |
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#define MODE_640x488 0x0002 |
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#define MODE_1280x1024 0x0004 |
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#define FORMAT_BAYER 0x0010 |
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#define FORMAT_UYVY 0x0020 |
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#define FORMAT_Y10B 0x0040 |
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#define FPS_HIGH 0x0100 |
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static const struct v4l2_pix_format depth_camera_mode[] = { |
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{640, 480, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, |
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.bytesperline = 640 * 10 / 8, |
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.sizeimage = 640 * 480 * 10 / 8, |
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.colorspace = V4L2_COLORSPACE_SRGB, |
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.priv = MODE_640x488 | FORMAT_Y10B}, |
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}; |
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static const struct v4l2_pix_format video_camera_mode[] = { |
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{640, 480, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE, |
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.bytesperline = 640, |
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.sizeimage = 640 * 480, |
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.colorspace = V4L2_COLORSPACE_SRGB, |
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.priv = MODE_640x480 | FORMAT_BAYER | FPS_HIGH}, |
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{640, 480, V4L2_PIX_FMT_UYVY, V4L2_FIELD_NONE, |
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.bytesperline = 640 * 2, |
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.sizeimage = 640 * 480 * 2, |
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.colorspace = V4L2_COLORSPACE_SRGB, |
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.priv = MODE_640x480 | FORMAT_UYVY}, |
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{1280, 1024, V4L2_PIX_FMT_SGRBG8, V4L2_FIELD_NONE, |
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.bytesperline = 1280, |
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.sizeimage = 1280 * 1024, |
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.colorspace = V4L2_COLORSPACE_SRGB, |
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.priv = MODE_1280x1024 | FORMAT_BAYER}, |
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{640, 488, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, |
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.bytesperline = 640 * 10 / 8, |
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.sizeimage = 640 * 488 * 10 / 8, |
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.colorspace = V4L2_COLORSPACE_SRGB, |
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.priv = MODE_640x488 | FORMAT_Y10B | FPS_HIGH}, |
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{1280, 1024, V4L2_PIX_FMT_Y10BPACK, V4L2_FIELD_NONE, |
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.bytesperline = 1280 * 10 / 8, |
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.sizeimage = 1280 * 1024 * 10 / 8, |
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.colorspace = V4L2_COLORSPACE_SRGB, |
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.priv = MODE_1280x1024 | FORMAT_Y10B}, |
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}; |
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static int kinect_write(struct usb_device *udev, uint8_t *data, |
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uint16_t wLength) |
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{ |
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return usb_control_msg(udev, |
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usb_sndctrlpipe(udev, 0), |
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0x00, |
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USB_DIR_OUT | USB_TYPE_VENDOR | USB_RECIP_DEVICE, |
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0, 0, data, wLength, CTRL_TIMEOUT); |
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} |
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static int kinect_read(struct usb_device *udev, uint8_t *data, uint16_t wLength) |
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{ |
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return usb_control_msg(udev, |
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usb_rcvctrlpipe(udev, 0), |
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0x00, |
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USB_DIR_IN | USB_TYPE_VENDOR | USB_RECIP_DEVICE, |
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0, 0, data, wLength, CTRL_TIMEOUT); |
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} |
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static int send_cmd(struct gspca_dev *gspca_dev, uint16_t cmd, void *cmdbuf, |
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unsigned int cmd_len, void *replybuf, unsigned int reply_len) |
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{ |
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struct sd *sd = (struct sd *) gspca_dev; |
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struct usb_device *udev = gspca_dev->dev; |
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int res, actual_len; |
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uint8_t *obuf = sd->obuf; |
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uint8_t *ibuf = sd->ibuf; |
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struct cam_hdr *chdr = (void *)obuf; |
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struct cam_hdr *rhdr = (void *)ibuf; |
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if (cmd_len & 1 || cmd_len > (0x400 - sizeof(*chdr))) { |
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pr_err("send_cmd: Invalid command length (0x%x)\n", cmd_len); |
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return -1; |
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} |
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chdr->magic[0] = 0x47; |
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chdr->magic[1] = 0x4d; |
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chdr->cmd = cpu_to_le16(cmd); |
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chdr->tag = cpu_to_le16(sd->cam_tag); |
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chdr->len = cpu_to_le16(cmd_len / 2); |
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memcpy(obuf+sizeof(*chdr), cmdbuf, cmd_len); |
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res = kinect_write(udev, obuf, cmd_len + sizeof(*chdr)); |
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gspca_dbg(gspca_dev, D_USBO, "Control cmd=%04x tag=%04x len=%04x: %d\n", |
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cmd, |
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sd->cam_tag, cmd_len, res); |
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if (res < 0) { |
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pr_err("send_cmd: Output control transfer failed (%d)\n", res); |
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return res; |
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} |
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do { |
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actual_len = kinect_read(udev, ibuf, 0x200); |
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} while (actual_len == 0); |
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gspca_dbg(gspca_dev, D_USBO, "Control reply: %d\n", actual_len); |
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if (actual_len < (int)sizeof(*rhdr)) { |
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pr_err("send_cmd: Input control transfer failed (%d)\n", |
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actual_len); |
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return actual_len < 0 ? actual_len : -EREMOTEIO; |
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} |
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actual_len -= sizeof(*rhdr); |
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if (rhdr->magic[0] != 0x52 || rhdr->magic[1] != 0x42) { |
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pr_err("send_cmd: Bad magic %02x %02x\n", |
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rhdr->magic[0], rhdr->magic[1]); |
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return -1; |
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} |
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if (rhdr->cmd != chdr->cmd) { |
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pr_err("send_cmd: Bad cmd %02x != %02x\n", |
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rhdr->cmd, chdr->cmd); |
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return -1; |
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} |
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if (rhdr->tag != chdr->tag) { |
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pr_err("send_cmd: Bad tag %04x != %04x\n", |
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rhdr->tag, chdr->tag); |
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return -1; |
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} |
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if (le16_to_cpu(rhdr->len) != (actual_len/2)) { |
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pr_err("send_cmd: Bad len %04x != %04x\n", |
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le16_to_cpu(rhdr->len), (int)(actual_len/2)); |
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return -1; |
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} |
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if (actual_len > reply_len) { |
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pr_warn("send_cmd: Data buffer is %d bytes long, but got %d bytes\n", |
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reply_len, actual_len); |
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memcpy(replybuf, ibuf+sizeof(*rhdr), reply_len); |
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} else { |
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memcpy(replybuf, ibuf+sizeof(*rhdr), actual_len); |
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} |
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sd->cam_tag++; |
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return actual_len; |
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} |
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static int write_register(struct gspca_dev *gspca_dev, uint16_t reg, |
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uint16_t data) |
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{ |
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uint16_t reply[2]; |
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__le16 cmd[2]; |
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int res; |
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cmd[0] = cpu_to_le16(reg); |
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cmd[1] = cpu_to_le16(data); |
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gspca_dbg(gspca_dev, D_USBO, "Write Reg 0x%04x <= 0x%02x\n", reg, data); |
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res = send_cmd(gspca_dev, 0x03, cmd, 4, reply, 4); |
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if (res < 0) |
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return res; |
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if (res != 2) { |
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pr_warn("send_cmd returned %d [%04x %04x], 0000 expected\n", |
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res, reply[0], reply[1]); |
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} |
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return 0; |
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} |
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/* this function is called at probe time */ |
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static int sd_config_video(struct gspca_dev *gspca_dev, |
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const struct usb_device_id *id) |
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{ |
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struct sd *sd = (struct sd *) gspca_dev; |
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struct cam *cam; |
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sd->cam_tag = 0; |
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sd->stream_flag = 0x80; |
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cam = &gspca_dev->cam; |
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cam->cam_mode = video_camera_mode; |
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cam->nmodes = ARRAY_SIZE(video_camera_mode); |
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gspca_dev->xfer_ep = 0x81; |
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#if 0 |
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/* Setting those values is not needed for video stream */ |
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cam->npkt = 15; |
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gspca_dev->pkt_size = 960 * 2; |
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#endif |
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return 0; |
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} |
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static int sd_config_depth(struct gspca_dev *gspca_dev, |
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const struct usb_device_id *id) |
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{ |
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struct sd *sd = (struct sd *) gspca_dev; |
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struct cam *cam; |
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sd->cam_tag = 0; |
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sd->stream_flag = 0x70; |
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cam = &gspca_dev->cam; |
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cam->cam_mode = depth_camera_mode; |
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cam->nmodes = ARRAY_SIZE(depth_camera_mode); |
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gspca_dev->xfer_ep = 0x82; |
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return 0; |
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} |
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/* this function is called at probe and resume time */ |
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static int sd_init(struct gspca_dev *gspca_dev) |
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{ |
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gspca_dbg(gspca_dev, D_PROBE, "Kinect Camera device.\n"); |
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return 0; |
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} |
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static int sd_start_video(struct gspca_dev *gspca_dev) |
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{ |
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int mode; |
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uint8_t fmt_reg, fmt_val; |
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uint8_t res_reg, res_val; |
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uint8_t fps_reg, fps_val; |
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uint8_t mode_val; |
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mode = gspca_dev->cam.cam_mode[gspca_dev->curr_mode].priv; |
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if (mode & FORMAT_Y10B) { |
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fmt_reg = 0x19; |
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res_reg = 0x1a; |
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fps_reg = 0x1b; |
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mode_val = 0x03; |
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} else { |
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fmt_reg = 0x0c; |
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res_reg = 0x0d; |
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fps_reg = 0x0e; |
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mode_val = 0x01; |
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} |
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/* format */ |
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if (mode & FORMAT_UYVY) |
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fmt_val = 0x05; |
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else |
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fmt_val = 0x00; |
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if (mode & MODE_1280x1024) |
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res_val = 0x02; |
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else |
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res_val = 0x01; |
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if (mode & FPS_HIGH) |
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fps_val = 0x1e; |
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else |
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fps_val = 0x0f; |
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/* turn off IR-reset function */ |
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write_register(gspca_dev, 0x105, 0x00); |
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/* Reset video stream */ |
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write_register(gspca_dev, 0x05, 0x00); |
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/* Due to some ridiculous condition in the firmware, we have to start |
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* and stop the depth stream before the camera will hand us 1280x1024 |
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* IR. This is a stupid workaround, but we've yet to find a better |
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* solution. |
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* |
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* Thanks to Drew Fisher for figuring this out. |
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*/ |
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if (mode & (FORMAT_Y10B | MODE_1280x1024)) { |
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write_register(gspca_dev, 0x13, 0x01); |
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write_register(gspca_dev, 0x14, 0x1e); |
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write_register(gspca_dev, 0x06, 0x02); |
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write_register(gspca_dev, 0x06, 0x00); |
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} |
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write_register(gspca_dev, fmt_reg, fmt_val); |
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write_register(gspca_dev, res_reg, res_val); |
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write_register(gspca_dev, fps_reg, fps_val); |
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/* Start video stream */ |
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write_register(gspca_dev, 0x05, mode_val); |
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/* disable Hflip */ |
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write_register(gspca_dev, 0x47, 0x00); |
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return 0; |
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} |
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static int sd_start_depth(struct gspca_dev *gspca_dev) |
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{ |
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/* turn off IR-reset function */ |
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write_register(gspca_dev, 0x105, 0x00); |
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/* reset depth stream */ |
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write_register(gspca_dev, 0x06, 0x00); |
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/* Depth Stream Format 0x03: 11 bit stream | 0x02: 10 bit */ |
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write_register(gspca_dev, 0x12, 0x02); |
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/* Depth Stream Resolution 1: standard (640x480) */ |
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write_register(gspca_dev, 0x13, 0x01); |
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/* Depth Framerate / 0x1e (30): 30 fps */ |
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write_register(gspca_dev, 0x14, 0x1e); |
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/* Depth Stream Control / 2: Open Depth Stream */ |
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write_register(gspca_dev, 0x06, 0x02); |
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/* disable depth hflip / LSB = 0: Smoothing Disabled */ |
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write_register(gspca_dev, 0x17, 0x00); |
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return 0; |
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} |
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static void sd_stopN_video(struct gspca_dev *gspca_dev) |
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{ |
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/* reset video stream */ |
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write_register(gspca_dev, 0x05, 0x00); |
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} |
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static void sd_stopN_depth(struct gspca_dev *gspca_dev) |
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{ |
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/* reset depth stream */ |
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write_register(gspca_dev, 0x06, 0x00); |
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} |
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static void sd_pkt_scan(struct gspca_dev *gspca_dev, u8 *__data, int len) |
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{ |
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struct sd *sd = (struct sd *) gspca_dev; |
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struct pkt_hdr *hdr = (void *)__data; |
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uint8_t *data = __data + sizeof(*hdr); |
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int datalen = len - sizeof(*hdr); |
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uint8_t sof = sd->stream_flag | 1; |
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uint8_t mof = sd->stream_flag | 2; |
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uint8_t eof = sd->stream_flag | 5; |
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if (len < 12) |
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return; |
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if (hdr->magic[0] != 'R' || hdr->magic[1] != 'B') { |
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pr_warn("[Stream %02x] Invalid magic %02x%02x\n", |
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sd->stream_flag, hdr->magic[0], hdr->magic[1]); |
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return; |
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} |
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if (hdr->flag == sof) |
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gspca_frame_add(gspca_dev, FIRST_PACKET, data, datalen); |
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else if (hdr->flag == mof) |
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gspca_frame_add(gspca_dev, INTER_PACKET, data, datalen); |
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else if (hdr->flag == eof) |
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gspca_frame_add(gspca_dev, LAST_PACKET, data, datalen); |
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else |
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pr_warn("Packet type not recognized...\n"); |
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} |
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/* sub-driver description */ |
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static const struct sd_desc sd_desc_video = { |
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.name = MODULE_NAME, |
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.config = sd_config_video, |
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.init = sd_init, |
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.start = sd_start_video, |
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.stopN = sd_stopN_video, |
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.pkt_scan = sd_pkt_scan, |
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/* |
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.get_streamparm = sd_get_streamparm, |
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.set_streamparm = sd_set_streamparm, |
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*/ |
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}; |
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static const struct sd_desc sd_desc_depth = { |
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.name = MODULE_NAME, |
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.config = sd_config_depth, |
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.init = sd_init, |
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.start = sd_start_depth, |
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.stopN = sd_stopN_depth, |
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.pkt_scan = sd_pkt_scan, |
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/* |
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.get_streamparm = sd_get_streamparm, |
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.set_streamparm = sd_set_streamparm, |
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*/ |
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}; |
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/* -- module initialisation -- */ |
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static const struct usb_device_id device_table[] = { |
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{USB_DEVICE(0x045e, 0x02ae)}, |
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{USB_DEVICE(0x045e, 0x02bf)}, |
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{} |
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}; |
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MODULE_DEVICE_TABLE(usb, device_table); |
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/* -- device connect -- */ |
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static int sd_probe(struct usb_interface *intf, const struct usb_device_id *id) |
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{ |
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if (depth_mode) |
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return gspca_dev_probe(intf, id, &sd_desc_depth, |
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sizeof(struct sd), THIS_MODULE); |
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else |
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return gspca_dev_probe(intf, id, &sd_desc_video, |
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sizeof(struct sd), THIS_MODULE); |
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} |
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static struct usb_driver sd_driver = { |
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.name = MODULE_NAME, |
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.id_table = device_table, |
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.probe = sd_probe, |
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.disconnect = gspca_disconnect, |
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#ifdef CONFIG_PM |
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.suspend = gspca_suspend, |
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.resume = gspca_resume, |
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.reset_resume = gspca_resume, |
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#endif |
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}; |
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module_usb_driver(sd_driver); |
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module_param(depth_mode, bool, 0644); |
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MODULE_PARM_DESC(depth_mode, "0=video 1=depth");
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