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linux/drivers/media/video/usbvideo/vicam.c

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/*
* USB ViCam WebCam driver
* Copyright (c) 2002 Joe Burks (jburks@wavicle.org),
* Christopher L Cheney (ccheney@cheney.cx),
* Pavel Machek (pavel@suse.cz),
* John Tyner (jtyner@cs.ucr.edu),
* Monroe Williams (monroe@pobox.com)
*
* Supports 3COM HomeConnect PC Digital WebCam
* Supports Compro PS39U WebCam
*
* 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
* (at your option) 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.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
*
* This source code is based heavily on the CPiA webcam driver which was
* written by Peter Pregler, Scott J. Bertin and Johannes Erdfelt
*
* Portions of this code were also copied from usbvideo.c
*
* Special thanks to the whole team at Sourceforge for help making
* this driver become a reality. Notably:
* Andy Armstrong who reverse engineered the color encoding and
* Pavel Machek and Chris Cheney who worked on reverse engineering the
* camera controls and wrote the first generation driver.
*/
#include <linux/kernel.h>
#include <linux/module.h>
#include <linux/init.h>
#include <linux/videodev.h>
#include <linux/usb.h>
#include <linux/vmalloc.h>
#include <linux/mm.h>
#include <linux/slab.h>
#include <linux/smp_lock.h>
#include <linux/mutex.h>
#include <linux/firmware.h>
#include <linux/ihex.h>
#include "usbvideo.h"
// #define VICAM_DEBUG
#ifdef VICAM_DEBUG
#define ADBG(lineno,fmt,args...) printk(fmt, jiffies, __func__, lineno, ##args)
#define DBG(fmt,args...) ADBG((__LINE__),KERN_DEBUG __FILE__"(%ld):%s (%d):"fmt,##args)
#else
#define DBG(fmn,args...) do {} while(0)
#endif
#define DRIVER_AUTHOR "Joe Burks, jburks@wavicle.org"
#define DRIVER_DESC "ViCam WebCam Driver"
/* Define these values to match your device */
#define USB_VICAM_VENDOR_ID 0x04c1
#define USB_VICAM_PRODUCT_ID 0x009d
#define USB_COMPRO_VENDOR_ID 0x0602
#define USB_COMPRO_PRODUCT_ID 0x1001
#define VICAM_BYTES_PER_PIXEL 3
#define VICAM_MAX_READ_SIZE (512*242+128)
#define VICAM_MAX_FRAME_SIZE (VICAM_BYTES_PER_PIXEL*320*240)
#define VICAM_FRAMES 2
#define VICAM_HEADER_SIZE 64
/* rvmalloc / rvfree copied from usbvideo.c
*
* Not sure why these are not yet non-statics which I can reference through
* usbvideo.h the same as it is in 2.4.20. I bet this will get fixed sometime
* in the future.
*
*/
static void *rvmalloc(unsigned long size)
{
void *mem;
unsigned long adr;
size = PAGE_ALIGN(size);
mem = vmalloc_32(size);
if (!mem)
return NULL;
memset(mem, 0, size); /* Clear the ram out, no junk to the user */
adr = (unsigned long) mem;
while (size > 0) {
SetPageReserved(vmalloc_to_page((void *)adr));
adr += PAGE_SIZE;
size -= PAGE_SIZE;
}
return mem;
}
static void rvfree(void *mem, unsigned long size)
{
unsigned long adr;
if (!mem)
return;
adr = (unsigned long) mem;
while ((long) size > 0) {
ClearPageReserved(vmalloc_to_page((void *)adr));
adr += PAGE_SIZE;
size -= PAGE_SIZE;
}
vfree(mem);
}
struct vicam_camera {
u16 shutter_speed; // capture shutter speed
u16 gain; // capture gain
u8 *raw_image; // raw data captured from the camera
u8 *framebuf; // processed data in RGB24 format
u8 *cntrlbuf; // area used to send control msgs
struct video_device vdev; // v4l video device
struct usb_device *udev; // usb device
/* guard against simultaneous accesses to the camera */
struct mutex cam_lock;
int is_initialized;
u8 open_count;
u8 bulkEndpoint;
int needsDummyRead;
};
static int vicam_probe( struct usb_interface *intf, const struct usb_device_id *id);
static void vicam_disconnect(struct usb_interface *intf);
static void read_frame(struct vicam_camera *cam, int framenum);
static void vicam_decode_color(const u8 *, u8 *);
static int __send_control_msg(struct vicam_camera *cam,
u8 request,
u16 value,
u16 index,
unsigned char *cp,
u16 size)
{
int status;
/* cp must be memory that has been allocated by kmalloc */
status = usb_control_msg(cam->udev,
usb_sndctrlpipe(cam->udev, 0),
request,
USB_DIR_OUT | USB_TYPE_VENDOR |
USB_RECIP_DEVICE, value, index,
cp, size, 1000);
status = min(status, 0);
if (status < 0) {
printk(KERN_INFO "Failed sending control message, error %d.\n",
status);
}
return status;
}
static int send_control_msg(struct vicam_camera *cam,
u8 request,
u16 value,
u16 index,
unsigned char *cp,
u16 size)
{
int status = -ENODEV;
mutex_lock(&cam->cam_lock);
if (cam->udev) {
status = __send_control_msg(cam, request, value,
index, cp, size);
}
mutex_unlock(&cam->cam_lock);
return status;
}
static int
initialize_camera(struct vicam_camera *cam)
{
int err;
const struct ihex_binrec *rec;
const struct firmware *uninitialized_var(fw);
err = request_ihex_firmware(&fw, "vicam/firmware.fw", &cam->udev->dev);
if (err) {
printk(KERN_ERR "Failed to load \"vicam/firmware.fw\": %d\n",
err);
return err;
}
for (rec = (void *)fw->data; rec; rec = ihex_next_binrec(rec)) {
memcpy(cam->cntrlbuf, rec->data, be16_to_cpu(rec->len));
err = send_control_msg(cam, 0xff, 0, 0,
cam->cntrlbuf, be16_to_cpu(rec->len));
if (err)
break;
}
release_firmware(fw);
return err;
}
static int
set_camera_power(struct vicam_camera *cam, int state)
{
int status;
if ((status = send_control_msg(cam, 0x50, state, 0, NULL, 0)) < 0)
return status;
if (state) {
send_control_msg(cam, 0x55, 1, 0, NULL, 0);
}
return 0;
}
static long
vicam_ioctl(struct file *file, unsigned int ioctlnr, unsigned long arg)
{
void __user *user_arg = (void __user *)arg;
struct vicam_camera *cam = file->private_data;
long retval = 0;
if (!cam)
return -ENODEV;
switch (ioctlnr) {
/* query capabilities */
case VIDIOCGCAP:
{
struct video_capability b;
DBG("VIDIOCGCAP\n");
memset(&b, 0, sizeof(b));
strcpy(b.name, "ViCam-based Camera");
b.type = VID_TYPE_CAPTURE;
b.channels = 1;
b.audios = 0;
b.maxwidth = 320; /* VIDEOSIZE_CIF */
b.maxheight = 240;
b.minwidth = 320; /* VIDEOSIZE_48_48 */
b.minheight = 240;
if (copy_to_user(user_arg, &b, sizeof(b)))
retval = -EFAULT;
break;
}
/* get/set video source - we are a camera and nothing else */
case VIDIOCGCHAN:
{
struct video_channel v;
DBG("VIDIOCGCHAN\n");
if (copy_from_user(&v, user_arg, sizeof(v))) {
retval = -EFAULT;
break;
}
if (v.channel != 0) {
retval = -EINVAL;
break;
}
v.channel = 0;
strcpy(v.name, "Camera");
v.tuners = 0;
v.flags = 0;
v.type = VIDEO_TYPE_CAMERA;
v.norm = 0;
if (copy_to_user(user_arg, &v, sizeof(v)))
retval = -EFAULT;
break;
}
case VIDIOCSCHAN:
{
int v;
if (copy_from_user(&v, user_arg, sizeof(v)))
retval = -EFAULT;
DBG("VIDIOCSCHAN %d\n", v);
if (retval == 0 && v != 0)
retval = -EINVAL;
break;
}
/* image properties */
case VIDIOCGPICT:
{
struct video_picture vp;
DBG("VIDIOCGPICT\n");
memset(&vp, 0, sizeof (struct video_picture));
vp.brightness = cam->gain << 8;
vp.depth = 24;
vp.palette = VIDEO_PALETTE_RGB24;
if (copy_to_user(user_arg, &vp, sizeof (struct video_picture)))
retval = -EFAULT;
break;
}
case VIDIOCSPICT:
{
struct video_picture vp;
if (copy_from_user(&vp, user_arg, sizeof(vp))) {
retval = -EFAULT;
break;
}
DBG("VIDIOCSPICT depth = %d, pal = %d\n", vp.depth,
vp.palette);
cam->gain = vp.brightness >> 8;
if (vp.depth != 24
|| vp.palette != VIDEO_PALETTE_RGB24)
retval = -EINVAL;
break;
}
/* get/set capture window */
case VIDIOCGWIN:
{
struct video_window vw;
vw.x = 0;
vw.y = 0;
vw.width = 320;
vw.height = 240;
vw.chromakey = 0;
vw.flags = 0;
vw.clips = NULL;
vw.clipcount = 0;
DBG("VIDIOCGWIN\n");
if (copy_to_user(user_arg, (void *)&vw, sizeof(vw)))
retval = -EFAULT;
// I'm not sure what the deal with a capture window is, it is very poorly described
// in the doc. So I won't support it now.
break;
}
case VIDIOCSWIN:
{
struct video_window vw;
if (copy_from_user(&vw, user_arg, sizeof(vw))) {
retval = -EFAULT;
break;
}
DBG("VIDIOCSWIN %d x %d\n", vw.width, vw.height);
if ( vw.width != 320 || vw.height != 240 )
retval = -EFAULT;
break;
}
/* mmap interface */
case VIDIOCGMBUF:
{
struct video_mbuf vm;
int i;
DBG("VIDIOCGMBUF\n");
memset(&vm, 0, sizeof (vm));
vm.size =
VICAM_MAX_FRAME_SIZE * VICAM_FRAMES;
vm.frames = VICAM_FRAMES;
for (i = 0; i < VICAM_FRAMES; i++)
vm.offsets[i] = VICAM_MAX_FRAME_SIZE * i;
if (copy_to_user(user_arg, (void *)&vm, sizeof(vm)))
retval = -EFAULT;
break;
}
case VIDIOCMCAPTURE:
{
struct video_mmap vm;
// int video_size;
if (copy_from_user((void *)&vm, user_arg, sizeof(vm))) {
retval = -EFAULT;
break;
}
DBG("VIDIOCMCAPTURE frame=%d, height=%d, width=%d, format=%d.\n",vm.frame,vm.width,vm.height,vm.format);
if ( vm.frame >= VICAM_FRAMES || vm.format != VIDEO_PALETTE_RGB24 )
retval = -EINVAL;
// in theory right here we'd start the image capturing
// (fill in a bulk urb and submit it asynchronously)
//
// Instead we're going to do a total hack job for now and
// retrieve the frame in VIDIOCSYNC
break;
}
case VIDIOCSYNC:
{
int frame;
if (copy_from_user((void *)&frame, user_arg, sizeof(int))) {
retval = -EFAULT;
break;
}
DBG("VIDIOCSYNC: %d\n", frame);
read_frame(cam, frame);
vicam_decode_color(cam->raw_image,
cam->framebuf +
frame * VICAM_MAX_FRAME_SIZE );
break;
}
/* pointless to implement overlay with this camera */
case VIDIOCCAPTURE:
case VIDIOCGFBUF:
case VIDIOCSFBUF:
case VIDIOCKEY:
retval = -EINVAL;
break;
/* tuner interface - we have none */
case VIDIOCGTUNER:
case VIDIOCSTUNER:
case VIDIOCGFREQ:
case VIDIOCSFREQ:
retval = -EINVAL;
break;
/* audio interface - we have none */
case VIDIOCGAUDIO:
case VIDIOCSAUDIO:
retval = -EINVAL;
break;
default:
retval = -ENOIOCTLCMD;
break;
}
return retval;
}
static int
vicam_open(struct file *file)
{
struct vicam_camera *cam = video_drvdata(file);
DBG("open\n");
if (!cam) {
printk(KERN_ERR
"vicam video_device improperly initialized");
return -EINVAL;
}
/* the videodev_lock held above us protects us from
* simultaneous opens...for now. we probably shouldn't
* rely on this fact forever.
*/
lock_kernel();
if (cam->open_count > 0) {
printk(KERN_INFO
"vicam_open called on already opened camera");
unlock_kernel();
return -EBUSY;
}
cam->raw_image = kmalloc(VICAM_MAX_READ_SIZE, GFP_KERNEL);
if (!cam->raw_image) {
unlock_kernel();
return -ENOMEM;
}
cam->framebuf = rvmalloc(VICAM_MAX_FRAME_SIZE * VICAM_FRAMES);
if (!cam->framebuf) {
kfree(cam->raw_image);
unlock_kernel();
return -ENOMEM;
}
cam->cntrlbuf = kmalloc(PAGE_SIZE, GFP_KERNEL);
if (!cam->cntrlbuf) {
kfree(cam->raw_image);
rvfree(cam->framebuf, VICAM_MAX_FRAME_SIZE * VICAM_FRAMES);
unlock_kernel();
return -ENOMEM;
}
// First upload firmware, then turn the camera on
if (!cam->is_initialized) {
initialize_camera(cam);
cam->is_initialized = 1;
}
set_camera_power(cam, 1);
cam->needsDummyRead = 1;
cam->open_count++;
file->private_data = cam;
unlock_kernel();
return 0;
}
static int
vicam_close(struct file *file)
{
struct vicam_camera *cam = file->private_data;
int open_count;
struct usb_device *udev;
DBG("close\n");
/* it's not the end of the world if
* we fail to turn the camera off.
*/
set_camera_power(cam, 0);
kfree(cam->raw_image);
rvfree(cam->framebuf, VICAM_MAX_FRAME_SIZE * VICAM_FRAMES);
kfree(cam->cntrlbuf);
mutex_lock(&cam->cam_lock);
cam->open_count--;
open_count = cam->open_count;
udev = cam->udev;
mutex_unlock(&cam->cam_lock);
if (!open_count && !udev) {
kfree(cam);
}
return 0;
}
static void vicam_decode_color(const u8 *data, u8 *rgb)
{
/* vicam_decode_color - Convert from Vicam Y-Cr-Cb to RGB
* Copyright (C) 2002 Monroe Williams (monroe@pobox.com)
*/
int i, prevY, nextY;
prevY = 512;
nextY = 512;
data += VICAM_HEADER_SIZE;
for( i = 0; i < 240; i++, data += 512 ) {
const int y = ( i * 242 ) / 240;
int j, prevX, nextX;
int Y, Cr, Cb;
if ( y == 242 - 1 ) {
nextY = -512;
}
prevX = 1;
nextX = 1;
for ( j = 0; j < 320; j++, rgb += 3 ) {
const int x = ( j * 512 ) / 320;
const u8 * const src = &data[x];
if ( x == 512 - 1 ) {
nextX = -1;
}
Cr = ( src[prevX] - src[0] ) +
( src[nextX] - src[0] );
Cr /= 2;
Cb = ( src[prevY] - src[prevX + prevY] ) +
( src[prevY] - src[nextX + prevY] ) +
( src[nextY] - src[prevX + nextY] ) +
( src[nextY] - src[nextX + nextY] );
Cb /= 4;
Y = 1160 * ( src[0] + ( Cr / 2 ) - 16 );
if ( i & 1 ) {
int Ct = Cr;
Cr = Cb;
Cb = Ct;
}
if ( ( x ^ i ) & 1 ) {
Cr = -Cr;
Cb = -Cb;
}
rgb[0] = clamp( ( ( Y + ( 2017 * Cb ) ) +
500 ) / 900, 0, 255 );
rgb[1] = clamp( ( ( Y - ( 392 * Cb ) -
( 813 * Cr ) ) +
500 ) / 1000, 0, 255 );
rgb[2] = clamp( ( ( Y + ( 1594 * Cr ) ) +
500 ) / 1300, 0, 255 );
prevX = -1;
}
prevY = -512;
}
}
static void
read_frame(struct vicam_camera *cam, int framenum)
{
unsigned char *request = cam->cntrlbuf;
int realShutter;
int n;
int actual_length;
if (cam->needsDummyRead) {
cam->needsDummyRead = 0;
read_frame(cam, framenum);
}
memset(request, 0, 16);
request[0] = cam->gain; // 0 = 0% gain, FF = 100% gain
request[1] = 0; // 512x242 capture
request[2] = 0x90; // the function of these two bytes
request[3] = 0x07; // is not yet understood
if (cam->shutter_speed > 60) {
// Short exposure
realShutter =
((-15631900 / cam->shutter_speed) + 260533) / 1000;
request[4] = realShutter & 0xFF;
request[5] = (realShutter >> 8) & 0xFF;
request[6] = 0x03;
request[7] = 0x01;
} else {
// Long exposure
realShutter = 15600 / cam->shutter_speed - 1;
request[4] = 0;
request[5] = 0;
request[6] = realShutter & 0xFF;
request[7] = realShutter >> 8;
}
// Per John Markus Bjørndalen, byte at index 8 causes problems if it isn't 0
request[8] = 0;
// bytes 9-15 do not seem to affect exposure or image quality
mutex_lock(&cam->cam_lock);
if (!cam->udev) {
goto done;
}
n = __send_control_msg(cam, 0x51, 0x80, 0, request, 16);
if (n < 0) {
printk(KERN_ERR
" Problem sending frame capture control message");
goto done;
}
n = usb_bulk_msg(cam->udev,
usb_rcvbulkpipe(cam->udev, cam->bulkEndpoint),
cam->raw_image,
512 * 242 + 128, &actual_length, 10000);
if (n < 0) {
printk(KERN_ERR "Problem during bulk read of frame data: %d\n",
n);
}
done:
mutex_unlock(&cam->cam_lock);
}
static ssize_t
vicam_read( struct file *file, char __user *buf, size_t count, loff_t *ppos )
{
struct vicam_camera *cam = file->private_data;
DBG("read %d bytes.\n", (int) count);
if (*ppos >= VICAM_MAX_FRAME_SIZE) {
*ppos = 0;
return 0;
}
if (*ppos == 0) {
read_frame(cam, 0);
vicam_decode_color(cam->raw_image,
cam->framebuf +
0 * VICAM_MAX_FRAME_SIZE);
}
count = min_t(size_t, count, VICAM_MAX_FRAME_SIZE - *ppos);
if (copy_to_user(buf, &cam->framebuf[*ppos], count)) {
count = -EFAULT;
} else {
*ppos += count;
}
if (count == VICAM_MAX_FRAME_SIZE) {
*ppos = 0;
}
return count;
}
static int
vicam_mmap(struct file *file, struct vm_area_struct *vma)
{
// TODO: allocate the raw frame buffer if necessary
unsigned long page, pos;
unsigned long start = vma->vm_start;
unsigned long size = vma->vm_end-vma->vm_start;
struct vicam_camera *cam = file->private_data;
if (!cam)
return -ENODEV;
DBG("vicam_mmap: %ld\n", size);
/* We let mmap allocate as much as it wants because Linux was adding 2048 bytes
* to the size the application requested for mmap and it was screwing apps up.
if (size > VICAM_FRAMES*VICAM_MAX_FRAME_SIZE)
return -EINVAL;
*/
pos = (unsigned long)cam->framebuf;
while (size > 0) {
page = vmalloc_to_pfn((void *)pos);
if (remap_pfn_range(vma, start, page, PAGE_SIZE, PAGE_SHARED))
return -EAGAIN;
start += PAGE_SIZE;
pos += PAGE_SIZE;
if (size > PAGE_SIZE)
size -= PAGE_SIZE;
else
size = 0;
}
return 0;
}
static const struct v4l2_file_operations vicam_fops = {
.owner = THIS_MODULE,
.open = vicam_open,
.release = vicam_close,
.read = vicam_read,
.mmap = vicam_mmap,
.ioctl = vicam_ioctl,
};
static struct video_device vicam_template = {
.name = "ViCam-based USB Camera",
.fops = &vicam_fops,
.minor = -1,
.release = video_device_release_empty,
};
/* table of devices that work with this driver */
static struct usb_device_id vicam_table[] = {
{USB_DEVICE(USB_VICAM_VENDOR_ID, USB_VICAM_PRODUCT_ID)},
{USB_DEVICE(USB_COMPRO_VENDOR_ID, USB_COMPRO_PRODUCT_ID)},
{} /* Terminating entry */
};
MODULE_DEVICE_TABLE(usb, vicam_table);
static struct usb_driver vicam_driver = {
.name = "vicam",
.probe = vicam_probe,
.disconnect = vicam_disconnect,
.id_table = vicam_table
};
/**
* vicam_probe
* @intf: the interface
* @id: the device id
*
* Called by the usb core when a new device is connected that it thinks
* this driver might be interested in.
*/
static int
vicam_probe( struct usb_interface *intf, const struct usb_device_id *id)
{
struct usb_device *dev = interface_to_usbdev(intf);
int bulkEndpoint = 0;
const struct usb_host_interface *interface;
const struct usb_endpoint_descriptor *endpoint;
struct vicam_camera *cam;
printk(KERN_INFO "ViCam based webcam connected\n");
interface = intf->cur_altsetting;
DBG(KERN_DEBUG "Interface %d. has %u. endpoints!\n",
interface->desc.bInterfaceNumber, (unsigned) (interface->desc.bNumEndpoints));
endpoint = &interface->endpoint[0].desc;
if (usb_endpoint_is_bulk_in(endpoint)) {
/* we found a bulk in endpoint */
bulkEndpoint = endpoint->bEndpointAddress;
} else {
printk(KERN_ERR
"No bulk in endpoint was found ?! (this is bad)\n");
}
if ((cam =
kzalloc(sizeof (struct vicam_camera), GFP_KERNEL)) == NULL) {
printk(KERN_WARNING
"could not allocate kernel memory for vicam_camera struct\n");
return -ENOMEM;
}
cam->shutter_speed = 15;
mutex_init(&cam->cam_lock);
memcpy(&cam->vdev, &vicam_template, sizeof(vicam_template));
video_set_drvdata(&cam->vdev, cam);
cam->udev = dev;
cam->bulkEndpoint = bulkEndpoint;
if (video_register_device(&cam->vdev, VFL_TYPE_GRABBER, -1) < 0) {
kfree(cam);
printk(KERN_WARNING "video_register_device failed\n");
return -EIO;
}
printk(KERN_INFO "ViCam webcam driver now controlling video device %d\n",
cam->vdev.num);
usb_set_intfdata (intf, cam);
return 0;
}
static void
vicam_disconnect(struct usb_interface *intf)
{
int open_count;
struct vicam_camera *cam = usb_get_intfdata (intf);
usb_set_intfdata (intf, NULL);
/* we must unregister the device before taking its
* cam_lock. This is because the video open call
* holds the same lock as video unregister. if we
* unregister inside of the cam_lock and open also
* uses the cam_lock, we get deadlock.
*/
video_unregister_device(&cam->vdev);
/* stop the camera from being used */
mutex_lock(&cam->cam_lock);
/* mark the camera as gone */
cam->udev = NULL;
/* the only thing left to do is synchronize with
* our close/release function on who should release
* the camera memory. if there are any users using the
* camera, it's their job. if there are no users,
* it's ours.
*/
open_count = cam->open_count;
mutex_unlock(&cam->cam_lock);
if (!open_count) {
kfree(cam);
}
printk(KERN_DEBUG "ViCam-based WebCam disconnected\n");
}
/*
*/
static int __init
usb_vicam_init(void)
{
int retval;
DBG(KERN_INFO "ViCam-based WebCam driver startup\n");
retval = usb_register(&vicam_driver);
if (retval)
printk(KERN_WARNING "usb_register failed!\n");
return retval;
}
static void __exit
usb_vicam_exit(void)
{
DBG(KERN_INFO
"ViCam-based WebCam driver shutdown\n");
usb_deregister(&vicam_driver);
}
module_init(usb_vicam_init);
module_exit(usb_vicam_exit);
MODULE_AUTHOR(DRIVER_AUTHOR);
MODULE_DESCRIPTION(DRIVER_DESC);
MODULE_LICENSE("GPL");
MODULE_FIRMWARE("vicam/firmware.fw");
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