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 Linect: A MS Kinect Linux Driver
==================================

Note : Driver still in development.

This program is free software; you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation; either version 2 of the License, or
any later version.

This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.

Author: Arturo Casal

Driver based on the stk11xx driver by Nicolas VIVIEN, 
and the libfreenect library by OpenKinect Team.

---------------------------------------------------------------------------------------------------

Table of contents :

1. Requirements

2. Compilation

3. Usage
 4.1 Option "freemotor"
 4.2 Option "freeled"

4. Motor and led control

5. Test v4l2 cameras

6. License

---------------------------------------------------------------------------------------------------

1. Requirements

Kernel 2.6.21 or higher
Kinect device model 1414

---------------------------------------------------------------------------------------------------

2. Kernel module Compilation

   To build the kernel module :
   $ make

   To install the kernel module :
   # make install

   Clean building :
   $ make clean

---------------------------------------------------------------------------------------------------

3. Usage

 3.1 Option "freemotor" module (boolean)

   default: freemotor=0

   $ modprobe linect freemotor=1

   If freemotor=0, the driver will reset the motor position to its default on startup (middle).
   If freemotor=1, the driver won't reset the motor position.

 3.2 Option "freeled" module
 
   default: freeled=0

   $ modprobe linect freeled=1

   If freeled=0, the driver will use the led to indicate the device status.
   If freeled=1, the driver won't use the led.

---------------------------------------------------------------------------------------------------

4. Motor and led control

Each Kinect device connected will have a directory at /proc/linect/X/, where X is the device ID.

There you will find:

   * "led": set led status (char and raw entry)

	Values: 0=off, 1=green, 2=red, 3=yellow, 4=blink yellow, 5=blink green, 6=blink red yellow

	Usage: bash => $ echo 2 > /proc/linect/1/led (set led red)
	       c => char val = 2; 
		    df = fopen("/proc/linect/1/led", "a"); 
		    fwrite(&val, 1, 1, df);

   * "motor_char": set motor degrees (char entry)

	Values: [0, 62], 0=down, 31=middle, 62=up.

	Usage: bash => $ echo 47 > /proc/linect/1/motor_char (set motor to +16º)

   * "motor_raw": set motor degrees (raw entry)

	Values: [0, 62], 0=down, 31=middle, 62=up.

	Usage: c => char val = 2; 
		    df = fopen("/proc/linect/1/motor_raw", "a"); 
		    fwrite(&val, 1, 1, df); //(set motor to -29º)

   * "accel_char": get accelerometer info (char entry)

	Values: [0, 62], 0=down, 31=middle, 62=up.

	Usage: bash => $ cat /proc/linect/1/accel_info

   * "accel_raw": get accelerometer info (raw entry)

	Values: [0, 62], 0=down, 31=middle, 62=up.

	Usage: c => short xyz[3]; //(2 bytes each)
		    df = fopen("/proc/linect/1/accel_raw", "r"); 
		    fread(&xyz, 2, 3, df);
		    printf("Accel values x=%f y=%f z=%f\n", (double)xyz[0]/(9.80665*819),
		    (double)xyz[1]/(9.80665*819), (double)xyz[2]/(9.80665*819));

To convert the accelerometer values to device axis values : double dvalue = value / (9.80665*819);

---------------------------------------------------------------------------------------------------

5. Test v4l2 cameras

To use mplayer:

VGA Color Camera
$ mplayer tv:// -tv driver=v4l2:width=640:height=480:outfmt=rgb24:device=/dev/video0

Depth Color Camera (synthetic)
$ mplayer tv:// -tv driver=v4l2:width=640:height=480:outfmt=rgb24:device=/dev/video1

---------------------------------------------------------------------------------------------------

6. License

The linect kernel module is distributed under the GPL licence.

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An Open Source Kinect Linux module driver compatible with Video4Linux 2

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