lucasoskorep/insta360-link-controller
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Enable true 60fps capture and GUI repaint rate with automatic UVC high-framerate unlock

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Lucas Oskorep committed 2026-10-21 01:02:42 -04:00
1 parent 51b30cbd79
commit ef641ac31b
7 files changed
+191 -105
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crates/insta360-link-protocol/src/controller.rs
+13 -1
View File
@@ -941,6 +941,9 @@ impl<T: UvcControlTransport> Insta360CameraController<T> {
}
let mut bits = u16::from_le_bytes([cur[0], cur[1]]);
let mask = 1u16 << (func as u8);
if ((bits & mask) != 0) == enable {
return Ok(());
}
if enable {
bits |= mask;
} else {
@@ -949,11 +952,20 @@ impl<T: UvcControlTransport> Insta360CameraController<T> {
let bytes = bits.to_le_bytes();
cur[0] = bytes[0];
cur[1] = bytes[1];
return self.transport.set_cur(
let res = self.transport.set_cur(
self.unit_ids().extension_unit_id,
0x1b,
&cur,
);
// Toggling `VerticalMode` or `LowResolution` triggers an immediate USB re-enumeration
// inside the camera firmware to expose the updated UVC frame/FPS descriptors.
if matches!(
func,
ExtendFunction::VerticalMode | ExtendFunction::LowResolution
) {
return Ok(());
}
return res;
}
let cur = self
.transport
crates/insta360-link-protocol/src/transport.rs
+103 -80
View File
@@ -101,7 +101,7 @@ pub struct NusbTransport {
device: Option<nusb::Device>,
interface: Option<nusb::Interface>,
#[cfg(target_os = "linux")]
v4l_file: Option<std::fs::File>,
v4l_file: std::sync::Mutex<Option<std::fs::File>>,
timeout: Duration,
}
@@ -424,10 +424,35 @@ impl NusbTransport {
device,
interface,
#[cfg(target_os = "linux")]
v4l_file,
v4l_file: std::sync::Mutex::new(v4l_file),
timeout: Duration::from_millis(1500),
})
}
#[cfg(target_os = "linux")]
fn with_v4l_file<R, F>(&self, mut op: F) -> Option<R>
where
F: FnMut(&std::fs::File) -> Result<R, TransportError>,
{
let mut guard = self.v4l_file.lock().ok()?;
if let Some(ref f) = *guard {
if let Ok(res) = op(f) {
return Some(res);
}
}
// Re-open V4L2 node if the camera re-enumerated over USB (e.g., when switching
// VerticalMode / High Frame Rate UVC descriptors).
if let Some((new_f, _)) = open_linux_v4l2_node(
self.info.vendor_id,
self.info.product_id,
self.info.unit_ids.extension_unit_id,
) {
let res = op(&new_f).ok();
*guard = Some(new_f);
return res;
}
None
}
}
impl UvcControlTransport for NusbTransport {
@@ -462,55 +487,55 @@ impl UvcControlTransport for NusbTransport {
};
#[cfg(target_os = "linux")]
if let Some(v4l) = &self.v4l_file {
if is_xu {
let mut buf = payload.to_vec();
if linux_uvcioc_ctrl_query(
v4l,
unit_id,
selector,
UvcRequest::SetCur as u8,
&mut buf,
)
.is_ok()
if self
.with_v4l_file(|v4l| {
if is_xu {
let mut buf = payload.to_vec();
linux_uvcioc_ctrl_query(
v4l,
unit_id,
selector,
UvcRequest::SetCur as u8,
&mut buf,
)
} else if unit_id == self.info.unit_ids.input_terminal_id
&& selector == ct_selectors::PANTILT_ABSOLUTE
&& payload.len() >= 8
{
return Ok(());
}
} else if unit_id == self.info.unit_ids.input_terminal_id
&& selector == ct_selectors::PANTILT_ABSOLUTE
&& payload.len() >= 8
{
let pan = i32::from_le_bytes([payload[0], payload[1], payload[2], payload[3]]);
let tilt = i32::from_le_bytes([payload[4], payload[5], payload[6], payload[7]]);
let r1 = linux_v4l2_set_ctrl(v4l, V4L2_CID_PAN_ABSOLUTE, pan);
let r2 = linux_v4l2_set_ctrl(v4l, V4L2_CID_TILT_ABSOLUTE, tilt);
if r1.is_ok() || r2.is_ok() {
return Ok(());
}
} else if let Some(cid) =
linux_uvc_to_v4l2_cid(&self.info.unit_ids, unit_id, selector)
{
let val: i32 = match payload.len() {
1 => payload[0] as i32,
2 => {
if cid == V4L2_CID_BRIGHTNESS {
i16::from_le_bytes([payload[0], payload[1]]) as i32
} else {
u16::from_le_bytes([payload[0], payload[1]]) as i32
let pan = i32::from_le_bytes([payload[0], payload[1], payload[2], payload[3]]);
let tilt = i32::from_le_bytes([payload[4], payload[5], payload[6], payload[7]]);
let r1 = linux_v4l2_set_ctrl(v4l, V4L2_CID_PAN_ABSOLUTE, pan);
let r2 = linux_v4l2_set_ctrl(v4l, V4L2_CID_TILT_ABSOLUTE, tilt);
r1.or(r2)
} else if let Some(cid) =
linux_uvc_to_v4l2_cid(&self.info.unit_ids, unit_id, selector)
{
let val: i32 = match payload.len() {
1 => payload[0] as i32,
2 => {
if cid == V4L2_CID_BRIGHTNESS {
i16::from_le_bytes([payload[0], payload[1]]) as i32
} else {
u16::from_le_bytes([payload[0], payload[1]]) as i32
}
}
}
4 => i32::from_le_bytes([payload[0], payload[1], payload[2], payload[3]]),
_ => 0,
};
if linux_v4l2_set_ctrl(v4l, cid, val).is_ok() {
return Ok(());
}
if cid == V4L2_CID_POWER_LINE_FREQUENCY && val == 3 {
if linux_v4l2_set_ctrl(v4l, cid, 2).is_ok() {
4 => i32::from_le_bytes([payload[0], payload[1], payload[2], payload[3]]),
_ => 0,
};
if linux_v4l2_set_ctrl(v4l, cid, val).is_ok() {
return Ok(());
}
if cid == V4L2_CID_POWER_LINE_FREQUENCY && val == 3 {
return linux_v4l2_set_ctrl(v4l, cid, 2);
}
Err(TransportError::Usb("V4L2 set_ctrl failed".to_string()))
} else {
Err(TransportError::Usb("unmapped V4L2 control".to_string()))
}
}
})
.is_some()
{
return Ok(());
}
let hdr = UvcControlPacketHeader::new(
@@ -567,51 +592,49 @@ impl UvcControlTransport for NusbTransport {
};
#[cfg(target_os = "linux")]
if let Some(v4l) = &self.v4l_file {
if let Some(out) = self.with_v4l_file(|v4l| {
if is_xu {
let mut buf = vec![0u8; actual_len];
if linux_uvcioc_ctrl_query(v4l, unit_id, selector, req as u8, &mut buf).is_ok() {
return Ok(buf);
}
linux_uvcioc_ctrl_query(v4l, unit_id, selector, req as u8, &mut buf)?;
Ok(buf)
} else if unit_id == self.info.unit_ids.input_terminal_id
&& selector == ct_selectors::PANTILT_ABSOLUTE
&& req == UvcRequest::GetCur
{
if let (Ok(pan), Ok(tilt)) = (
linux_v4l2_get_ctrl(v4l, V4L2_CID_PAN_ABSOLUTE),
linux_v4l2_get_ctrl(v4l, V4L2_CID_TILT_ABSOLUTE),
) {
let mut out = vec![0u8; 8];
out[0..4].copy_from_slice(&pan.to_le_bytes());
out[4..8].copy_from_slice(&tilt.to_le_bytes());
return Ok(out);
}
let pan = linux_v4l2_get_ctrl(v4l, V4L2_CID_PAN_ABSOLUTE)?;
let tilt = linux_v4l2_get_ctrl(v4l, V4L2_CID_TILT_ABSOLUTE)?;
let mut out = vec![0u8; 8];
out[0..4].copy_from_slice(&pan.to_le_bytes());
out[4..8].copy_from_slice(&tilt.to_le_bytes());
Ok(out)
} else if let Some(cid) =
linux_uvc_to_v4l2_cid(&self.info.unit_ids, unit_id, selector)
{
let v4l_val: Result<i32, TransportError> = match req {
UvcRequest::GetCur => linux_v4l2_get_ctrl(v4l, cid),
UvcRequest::GetMin => linux_v4l2_query_ctrl(v4l, cid).map(|q| q.minimum),
UvcRequest::GetMax => linux_v4l2_query_ctrl(v4l, cid).map(|q| q.maximum),
UvcRequest::GetRes => linux_v4l2_query_ctrl(v4l, cid).map(|q| q.step),
UvcRequest::GetDef => linux_v4l2_query_ctrl(v4l, cid).map(|q| q.default_value),
_ => Err(TransportError::Usb("unsupported V4L2 request".to_string())),
let val: i32 = match req {
UvcRequest::GetCur => linux_v4l2_get_ctrl(v4l, cid)?,
UvcRequest::GetMin => linux_v4l2_query_ctrl(v4l, cid)?.minimum,
UvcRequest::GetMax => linux_v4l2_query_ctrl(v4l, cid)?.maximum,
UvcRequest::GetRes => linux_v4l2_query_ctrl(v4l, cid)?.step,
UvcRequest::GetDef => linux_v4l2_query_ctrl(v4l, cid)?.default_value,
_ => return Err(TransportError::Usb("unsupported V4L2 request".to_string())),
};
if let Ok(val) = v4l_val {
return Ok(match actual_len {
1 => vec![val as u8],
2 => (val as i16).to_le_bytes().to_vec(),
4 => val.to_le_bytes().to_vec(),
_ => {
let mut b = vec![0u8; actual_len];
let le = val.to_le_bytes();
let n = actual_len.min(4);
b[..n].copy_from_slice(&le[..n]);
b
}
});
}
Ok(match actual_len {
1 => vec![val as u8],
2 => (val as i16).to_le_bytes().to_vec(),
4 => val.to_le_bytes().to_vec(),
_ => {
let mut b = vec![0u8; actual_len];
let le = val.to_le_bytes();
let n = actual_len.min(4);
b[..n].copy_from_slice(&le[..n]);
b
}
})
} else {
Err(TransportError::Usb("unmapped V4L2 control".to_string()))
}
}) {
return Ok(out);
}
let hdr = UvcControlPacketHeader::new(