From 6ea0d588d35b55e6df8e9ac12b95c34a669c39d4 Mon Sep 17 00:00:00 2001 From: Guennadi Liakhovetski Date: Fri, 3 Aug 2018 07:37:08 -0400 Subject: media: uvcvideo: Add a D4M camera description D4M is a mobile model from the D4XX family of Intel RealSense cameras. This patch adds a descriptor for it, which enables reading per-frame metadata from it. Signed-off-by: Guennadi Liakhovetski [laurent.pinchart@ideasonboard.com Small clarifications to the documentation] Signed-off-by: Laurent Pinchart Signed-off-by: Mauro Carvalho Chehab --- Documentation/media/uapi/v4l/meta-formats.rst | 1 + Documentation/media/uapi/v4l/pixfmt-meta-d4xx.rst | 210 ++++++++++++++++++++++ drivers/media/usb/uvc/uvc_driver.c | 11 ++ include/uapi/linux/videodev2.h | 1 + 4 files changed, 223 insertions(+) create mode 100644 Documentation/media/uapi/v4l/pixfmt-meta-d4xx.rst diff --git a/Documentation/media/uapi/v4l/meta-formats.rst b/Documentation/media/uapi/v4l/meta-formats.rst index 0c4e1ecf5879..cf971d5ad9ea 100644 --- a/Documentation/media/uapi/v4l/meta-formats.rst +++ b/Documentation/media/uapi/v4l/meta-formats.rst @@ -12,6 +12,7 @@ These formats are used for the :ref:`metadata` interface only. .. toctree:: :maxdepth: 1 + pixfmt-meta-d4xx pixfmt-meta-uvc pixfmt-meta-vsp1-hgo pixfmt-meta-vsp1-hgt diff --git a/Documentation/media/uapi/v4l/pixfmt-meta-d4xx.rst b/Documentation/media/uapi/v4l/pixfmt-meta-d4xx.rst new file mode 100644 index 000000000000..63bf1a2c9116 --- /dev/null +++ b/Documentation/media/uapi/v4l/pixfmt-meta-d4xx.rst @@ -0,0 +1,210 @@ +.. -*- coding: utf-8; mode: rst -*- + +.. _v4l2-meta-fmt-d4xx: + +******************************* +V4L2_META_FMT_D4XX ('D4XX') +******************************* + +Intel D4xx UVC Cameras Metadata + + +Description +=========== + +Intel D4xx (D435 and other) cameras include per-frame metadata in their UVC +payload headers, following the Microsoft(R) UVC extension proposal [1_]. That +means, that the private D4XX metadata, following the standard UVC header, is +organised in blocks. D4XX cameras implement several standard block types, +proposed by Microsoft, and several proprietary ones. Supported standard metadata +types are MetadataId_CaptureStats (ID 3), MetadataId_CameraExtrinsics (ID 4), +and MetadataId_CameraIntrinsics (ID 5). For their description see [1_]. This +document describes proprietary metadata types, used by D4xx cameras. + +V4L2_META_FMT_D4XX buffers follow the metadata buffer layout of +V4L2_META_FMT_UVC with the only difference, that it also includes proprietary +payload header data. D4xx cameras use bulk transfers and only send one payload +per frame, therefore their headers cannot be larger than 255 bytes. + +Below are proprietary Microsoft style metadata types, used by D4xx cameras, +where all fields are in little endian order: + +.. flat-table:: D4xx metadata + :widths: 1 4 + :header-rows: 1 + :stub-columns: 0 + + * - Field + - Description + * - :cspan:`1` *Depth Control* + * - __u32 ID + - 0x80000000 + * - __u32 Size + - Size in bytes (currently 56) + * - __u32 Version + - Version of this structure. The documentation herein corresponds to + version xxx. The version number will be incremented when new fields are + added. + * - __u32 Flags + - A bitmask of flags: see [2_] below + * - __u32 Gain + - Gain value in internal units, same as the V4L2_CID_GAIN control, used to + capture the frame + * - __u32 Exposure + - Exposure time (in microseconds) used to capture the frame + * - __u32 Laser power + - Power of the laser LED 0-360, used for depth measurement + * - __u32 AE mode + - 0: manual; 1: automatic exposure + * - __u32 Exposure priority + - Exposure priority value: 0 - constant frame rate + * - __u32 AE ROI left + - Left border of the AE Region of Interest (all ROI values are in pixels + and lie between 0 and maximum width or height respectively) + * - __u32 AE ROI right + - Right border of the AE Region of Interest + * - __u32 AE ROI top + - Top border of the AE Region of Interest + * - __u32 AE ROI bottom + - Bottom border of the AE Region of Interest + * - __u32 Preset + - Preset selector value, default: 0, unless changed by the user + * - __u32 Laser mode + - 0: off, 1: on + * - :cspan:`1` *Capture Timing* + * - __u32 ID + - 0x80000001 + * - __u32 Size + - Size in bytes (currently 40) + * - __u32 Version + - Version of this structure. The documentation herein corresponds to + version xxx. The version number will be incremented when new fields are + added. + * - __u32 Flags + - A bitmask of flags: see [3_] below + * - __u32 Frame counter + - Monotonically increasing counter + * - __u32 Optical time + - Time in microseconds from the beginning of a frame till its middle + * - __u32 Readout time + - Time, used to read out a frame in microseconds + * - __u32 Exposure time + - Frame exposure time in microseconds + * - __u32 Frame interval + - In microseconds = 1000000 / framerate + * - __u32 Pipe latency + - Time in microseconds from start of frame to data in USB buffer + * - :cspan:`1` *Configuration* + * - __u32 ID + - 0x80000002 + * - __u32 Size + - Size in bytes (currently 40) + * - __u32 Version + - Version of this structure. The documentation herein corresponds to + version xxx. The version number will be incremented when new fields are + added. + * - __u32 Flags + - A bitmask of flags: see [4_] below + * - __u8 Hardware type + - Camera hardware version [5_] + * - __u8 SKU ID + - Camera hardware configuration [6_] + * - __u32 Cookie + - Internal synchronisation + * - __u16 Format + - Image format code [7_] + * - __u16 Width + - Width in pixels + * - __u16 Height + - Height in pixels + * - __u16 Framerate + - Requested frame rate per second + * - __u16 Trigger + - Byte 0: bit 0: depth and RGB are synchronised, bit 1: external trigger + +.. _1: + +[1] https://docs.microsoft.com/en-us/windows-hardware/drivers/stream/uvc-extensions-1-5 + +.. _2: + +[2] Depth Control flags specify which fields are valid: :: + + 0x00000001 Gain + 0x00000002 Exposure + 0x00000004 Laser power + 0x00000008 AE mode + 0x00000010 Exposure priority + 0x00000020 AE ROI + 0x00000040 Preset + +.. _3: + +[3] Capture Timing flags specify which fields are valid: :: + + 0x00000001 Frame counter + 0x00000002 Optical time + 0x00000004 Readout time + 0x00000008 Exposure time + 0x00000010 Frame interval + 0x00000020 Pipe latency + +.. _4: + +[4] Configuration flags specify which fields are valid: :: + + 0x00000001 Hardware type + 0x00000002 SKU ID + 0x00000004 Cookie + 0x00000008 Format + 0x00000010 Width + 0x00000020 Height + 0x00000040 Framerate + 0x00000080 Trigger + 0x00000100 Cal count + +.. _5: + +[5] Camera model: :: + + 0 DS5 + 1 IVCAM2 + +.. _6: + +[6] 8-bit camera hardware configuration bitfield: :: + + [1:0] depthCamera + 00: no depth + 01: standard depth + 10: wide depth + 11: reserved + [2] depthIsActive - has a laser projector + [3] RGB presence + [4] Inertial Measurement Unit (IMU) presence + [5] projectorType + 0: HPTG + 1: Princeton + [6] 0: a projector, 1: an LED + [7] reserved + +.. _7: + +[7] Image format codes per video streaming interface: + +Depth: :: + + 1 Z16 + 2 Z + +Left sensor: :: + + 1 Y8 + 2 UYVY + 3 R8L8 + 4 Calibration + 5 W10 + +Fish Eye sensor: :: + + 1 RAW8 diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c index 9bc6027d04d0..b1114ec37a55 100644 --- a/drivers/media/usb/uvc/uvc_driver.c +++ b/drivers/media/usb/uvc/uvc_driver.c @@ -2339,6 +2339,8 @@ static const struct uvc_device_info uvc_quirk_force_y8 = { }; #define UVC_INFO_QUIRK(q) (kernel_ulong_t)&(struct uvc_device_info){.quirks = q} +#define UVC_INFO_META(m) (kernel_ulong_t)&(struct uvc_device_info) \ + {.meta_format = m} /* * The Logitech cameras listed below have their interface class set to @@ -2812,6 +2814,15 @@ static const struct usb_device_id uvc_ids[] = { .bInterfaceSubClass = 1, .bInterfaceProtocol = 0, .driver_info = (kernel_ulong_t)&uvc_quirk_force_y8 }, + /* Intel RealSense D4M */ + { .match_flags = USB_DEVICE_ID_MATCH_DEVICE + | USB_DEVICE_ID_MATCH_INT_INFO, + .idVendor = 0x8086, + .idProduct = 0x0b03, + .bInterfaceClass = USB_CLASS_VIDEO, + .bInterfaceSubClass = 1, + .bInterfaceProtocol = 0, + .driver_info = UVC_INFO_META(V4L2_META_FMT_D4XX) }, /* Generic USB Video Class */ { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) }, { USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_15) }, diff --git a/include/uapi/linux/videodev2.h b/include/uapi/linux/videodev2.h index 622f0479d668..184e4dbe8f9c 100644 --- a/include/uapi/linux/videodev2.h +++ b/include/uapi/linux/videodev2.h @@ -703,6 +703,7 @@ struct v4l2_pix_format { #define V4L2_META_FMT_VSP1_HGO v4l2_fourcc('V', 'S', 'P', 'H') /* R-Car VSP1 1-D Histogram */ #define V4L2_META_FMT_VSP1_HGT v4l2_fourcc('V', 'S', 'P', 'T') /* R-Car VSP1 2-D Histogram */ #define V4L2_META_FMT_UVC v4l2_fourcc('U', 'V', 'C', 'H') /* UVC Payload Header metadata */ +#define V4L2_META_FMT_D4XX v4l2_fourcc('D', '4', 'X', 'X') /* D4XX Payload Header metadata */ /* priv field value to indicates that subsequent fields are valid. */ #define V4L2_PIX_FMT_PRIV_MAGIC 0xfeedcafe -- cgit v1.2.3