Enabling Y12I mode for IR calibration stream (realsenseai#313)

Co-authored-by: Yogev Modlin <117653169+ymodlin@users.noreply.github.com>

Author: Kontra2B

kernel/realsense/d4xx.c

@@ -659,12 +659,9 @@ static const u16 ds5_framerates[] = {5, 30};
 #define DS5_FRAMERATE_DEFAULT_IDX 1
 
 static const u16 ds5_framerate_30 = 30;
-
-static const u16 ds5_framerate_15_30[] = {15, 30};
-
 static const u16 ds5_framerate_25 = 25;
+static const u16 ds5_framerate_15_30[] = {15, 30};
 static const u16 ds5_framerate_15_25[] = {15, 25};
-
 static const u16 ds5_depth_framerate_to_30[] = {5, 15, 30};
 static const u16 ds5_framerate_to_30[] = {5, 10, 15, 30};
 static const u16 ds5_framerate_to_60[] = {5, 15, 30, 60};
@@ -1005,6 +1002,15 @@ static const struct ds5_resolution d43x_calibration_sizes[] = {
 	},
 };
 
+static const struct ds5_resolution d45x_calibration_sizes[] = {
+	{
+		.width =  1280,
+		.height = 800,
+		.framerates = ds5_framerate_15_25,
+		.n_framerates = ARRAY_SIZE(ds5_framerate_15_25),
+	},
+};
+
 static const struct ds5_resolution d46x_calibration_sizes[] = {
 	{
 		.width =  1600,
@@ -1129,13 +1135,33 @@ static const struct ds5_format ds5_y_formats_41x[] = {
 		.n_resolutions = ARRAY_SIZE(y8_41x_sizes),
 		.resolutions = y8_41x_sizes,
 	}, {
-		.data_type = GMSL_CSI_DT_RGB_888,	/* 24-bit Calibration */
-		.mbus_code = MEDIA_BUS_FMT_RGB888_1X24,	/* FIXME */
+		.data_type = GMSL_CSI_DT_RGB_888,	/* Y12I, 24-bit Calibration */
+		.mbus_code = MEDIA_BUS_FMT_RGB888_1X24,
 		.n_resolutions = ARRAY_SIZE(d41x_calibration_sizes),
 		.resolutions = d41x_calibration_sizes,
 	},
 };
 
+static const struct ds5_format ds5_y_formats_45x[] = {
+	{
+		/* First format: default */
+		.data_type = GMSL_CSI_DT_RAW_8,	/* Y8 */
+		.mbus_code = MEDIA_BUS_FMT_Y8_1X8,
+		.n_resolutions = ARRAY_SIZE(y8_sizes),
+		.resolutions = y8_sizes,
+	}, {
+		.data_type = GMSL_CSI_DT_YUV422_8,	/* Y8I */
+		.mbus_code = MEDIA_BUS_FMT_VYUY8_1X16,
+		.n_resolutions = ARRAY_SIZE(y8_sizes),
+		.resolutions = y8_sizes,
+	}, {
+		.data_type = GMSL_CSI_DT_RGB_888,	/* Y12I, 24-bit Calibration */
+		.mbus_code = MEDIA_BUS_FMT_RGB888_1X24,
+		.n_resolutions = ARRAY_SIZE(d45x_calibration_sizes),
+		.resolutions = d45x_calibration_sizes,
+	},
+};
+
 static const struct ds5_format ds5_41x_rgb_format = {
 	.data_type = GMSL_CSI_DT_YUV422_8,	/* UYVY */
 	.mbus_code = MEDIA_BUS_FMT_YUYV8_1X16,
@@ -1713,9 +1739,7 @@ static int ds5_configure(struct ds5 *state)
 #ifdef CONFIG_VIDEO_D4XX_SERDES
 	data_type1 = sensor->config.format->data_type;
 	data_type2 = state->is_imu ? 0x00 : md_fmt;
-	/* do not have metadata for y12i */
-	if (state->is_y8 && data_type1 == GMSL_CSI_DT_RGB_888)
-		data_type2 = 0;
+
 	vc_id = state->g_ctx.dst_vc;
 
 	ret = ds5_setup_pipeline(state, data_type1, data_type2, sensor->pipe_id,
@@ -4817,6 +4841,10 @@ static int ds5_fixed_configuration(struct i2c_client *client, struct ds5 *state)
 		sensor->formats = ds5_y_formats_41x;
 		sensor->n_formats = ARRAY_SIZE(ds5_y_formats_41x);
 		break;
+	case DS5_DEVICE_TYPE_D45X:
+		sensor->formats = ds5_y_formats_45x;
+		sensor->n_formats = ARRAY_SIZE(ds5_y_formats_45x);
+		break;
 	default:
 		sensor->formats = state->variant->formats;
 		sensor->n_formats = state->variant->n_formats;
@@ -5897,4 +5925,4 @@ MODULE_AUTHOR("Guennadi Liakhovetski <guennadi.liakhovetski@intel.com>,\n\
 				Shikun Ding <shikun.ding@intel.com>,\n\
 				Dmitry Perchanov <dmitry.perchanov@intel.com>");
 MODULE_LICENSE("GPL v2");
-MODULE_VERSION("1.0.1.31");
+MODULE_VERSION("1.0.1.32");

nvidia-oot/6.0/0003-Fix-y12i-calibration-stream.patch

@@ -0,0 +1,15 @@
+diff --git a/drivers/media/platform/tegra/camera/vi/vi5_fops.c b/drivers/media/platform/tegra/camera/vi/vi5_fops.c
+index 7d07ccd7..c64dcc38 100644
+--- a/drivers/media/platform/tegra/camera/vi/vi5_fops.c
++++ b/drivers/media/platform/tegra/camera/vi/vi5_fops.c
+@@ -612,7 +612,8 @@ static void vi5_capture_dequeue(struct tegra_channel *chan,
+ 	trace_tegra_channel_capture_frame("sof", &ts);
+ 	vb->vb2_buf.timestamp = descr->status.sof_timestamp;
+ 
+-	if (frame_err)
++	/* TODO: Remove the branch or process the error for Y12I only */
++	if (false && frame_err)
+ 		buf->vb2_state = VB2_BUF_STATE_ERROR;
+ 	else
+ 		buf->vb2_state = VB2_BUF_STATE_DONE;
+

nvidia-oot/6.1/0003-Fix-y12i-calibration-stream.patch

@@ -0,0 +1 @@
+../6.0/0003-Fix-y12i-calibration-stream.patch

nvidia-oot/6.2/0003-Fix-y12i-calibration-stream.patch

@@ -0,0 +1 @@
+../6.0/0003-Fix-y12i-calibration-stream.patch

test/test_metadata/build.sh

@@ -4,6 +4,4 @@ set -x
 
 rm -rf test_metadata test_metadata.o
 
-gcc test_metadata.c framesextract.c -o test_metadata
-
-./test_metadata "$1" "$2" "$3" "$4" "$5" "$6" "$7" "$8"
+gcc -g -O0 test_metadata.c framesextract.c -o test_metadata

test/test_metadata/test_metadata

@@ -218,7 +218,7 @@ void requestBuffers(int fd, uint32_t type, uint32_t memory, uint32_t count)
     }
 }
 
-void* queryMapQueueBuf(int fd, uint32_t type, uint32_t memory, uint8_t index, uint32_t size)
+void* queryMapQueueBuf(int fd, uint32_t type, uint32_t memory, uint8_t index)
 {
     struct v4l2_buffer v4l2Buffer;
     memset(&v4l2Buffer, 0, sizeof(v4l2Buffer));
@@ -229,7 +229,7 @@ void* queryMapQueueBuf(int fd, uint32_t type, uint32_t memory, uint8_t index, ui
     if (ret)
         return NULL;
     void* buffer = mmap(NULL,
-        size,
+        v4l2Buffer.length,
         PROT_READ | PROT_WRITE,
         MAP_SHARED,
         fd,
@@ -295,13 +295,11 @@ int main(int argc, char** argv) {
                 depthBuffers[i] = queryMapQueueBuf(video_fd,
                     V4L2_BUF_TYPE_VIDEO_CAPTURE,
                     V4L2_MEMORY_MMAP,
-                    i,
-                    2 * width * height);
+                    i);
                 metaDataBuffers[i] = queryMapQueueBuf(md_fd,
                     V4L2_BUF_TYPE_META_CAPTURE,
                     V4L2_MEMORY_MMAP,
-                    i,
-                    4096);
+                    i);
             }
 
             int ret = ioctl(md_fd, VIDIOC_STREAMON, &mdType);
@@ -356,13 +354,11 @@ int main(int argc, char** argv) {
                 depthBuffers[i] = queryMapQueueBuf(video_fd,
                     V4L2_BUF_TYPE_VIDEO_CAPTURE,
                     V4L2_MEMORY_MMAP,
-                    i,
-                    2 * width * height);
+                    i);
                 metaDataBuffers[i] = queryMapQueueBuf(md_fd,
                     V4L2_BUF_TYPE_META_CAPTURE,
                     V4L2_MEMORY_MMAP,
-                    i,
-                    4096);
+                    i);
             }
 
             int ret = ioctl(md_fd, VIDIOC_STREAMON, &mdType);
@@ -406,7 +402,9 @@ int main(int argc, char** argv) {
                 fprintf(stderr, "Error opening Ir video devices\n");
                 return 1;
             }
-            setFmt(video_fd, V4L2_PIX_FMT_GREY, width, height);
+            uint32_t format = V4L2_PIX_FMT_GREY;
+            if (stream_repeat % 2) format = V4L2_PIX_FMT_Y12I;
+            setFmt(video_fd, format, width, height);
             setFPS(video_fd, fps);
             requestBuffers(video_fd, V4L2_BUF_TYPE_VIDEO_CAPTURE, V4L2_MEMORY_MMAP, SIZE_METADATA_BUFFERS);
             requestBuffers(md_fd, V4L2_BUF_TYPE_META_CAPTURE, V4L2_MEMORY_MMAP, SIZE_METADATA_BUFFERS);      
@@ -416,13 +414,11 @@ int main(int argc, char** argv) {
                 depthBuffers[i] = queryMapQueueBuf(video_fd,
                     V4L2_BUF_TYPE_VIDEO_CAPTURE,
                     V4L2_MEMORY_MMAP,
-                    i,
-                    width * height);
+                    i);
                 metaDataBuffers[i] = queryMapQueueBuf(md_fd,
                     V4L2_BUF_TYPE_META_CAPTURE,
                     V4L2_MEMORY_MMAP,
-                    i,
-                    4096);
+                    i);
             }
 
             int ret = ioctl(md_fd, VIDIOC_STREAMON, &mdType);