adding d401_gmsl device is SDK and linux backend

Author: remibettan

src/ds/d400/d400-factory.cpp

@@ -78,6 +78,32 @@ namespace librealsense
         };
     };
 
+    class rs401_gmsl_device : public d400_nonmonochrome,
+                              public d400_mipi_device,
+                              public firmware_logger_device
+    {
+    public:
+        rs401_gmsl_device( std::shared_ptr< const d400_info > const & dev_info, bool register_device_notifications )
+            : device( dev_info, register_device_notifications )
+            , backend_device( dev_info, register_device_notifications )
+            , d400_device( dev_info )
+            , d400_nonmonochrome( dev_info )
+            , d400_mipi_device()
+            , firmware_logger_device( dev_info, d400_device::_hw_monitor, get_firmware_logs_command(), get_flash_logs_command() )
+        {
+        }
+
+        std::shared_ptr<matcher> create_matcher(const frame_holder& frame) const override;
+
+        std::vector<tagged_profile> get_profiles_tags() const override
+        {
+            std::vector<tagged_profile> tags;
+
+            tags.push_back({ RS2_STREAM_DEPTH, -1, 640, 480, RS2_FORMAT_Z16, 30, profile_tag::PROFILE_TAG_SUPERSET | profile_tag::PROFILE_TAG_DEFAULT });
+            return tags;
+        };
+    };
+
     // Not used, should be removed with EOL devices clean up
     class rs405u_device : public ds5u_device,
                           public ds_advanced_mode_base,
@@ -1096,6 +1122,8 @@ namespace librealsense
             return std::make_shared< rs430_gmsl_device >( dev_info, register_device_notifications );
         case RS415_GMSL_PID:
             return std::make_shared< rs415_gmsl_device >(dev_info, register_device_notifications);
+        case RS401_GMSL_PID:
+            return std::make_shared< rs401_gmsl_device >( dev_info, register_device_notifications );
         default:
             throw std::runtime_error( rsutils::string::from() << "Unsupported RS400 model! 0x" << std::hex
                                                               << std::setw( 4 ) << std::setfill( '0' ) << (int)pid );
@@ -1168,6 +1196,12 @@ namespace librealsense
         return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
     }
 
+    std::shared_ptr<matcher> rs401_gmsl_device::create_matcher(const frame_holder& frame) const
+    {
+        std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get() };
+        return matcher_factory::create(RS2_MATCHER_DEFAULT, streams);
+    }
+
     std::shared_ptr<matcher> rs405u_device::create_matcher(const frame_holder& frame) const
     {
         std::vector<stream_interface*> streams = { _depth_stream.get() , _left_ir_stream.get() , _right_ir_stream.get()};

src/ds/d400/d400-private.h

@@ -42,6 +42,7 @@ namespace librealsense
         const uint16_t RS400_MIPI_RECOVERY_PID = 0xbbcd; // D4XX MIPI DFU Recovery
         const uint16_t RS430_GMSL_PID = 0xabce; // D430 GMSL
         const uint16_t RS415_GMSL_PID = 0xabcf; // D415 GMSL
+        const uint16_t RS401_GMSL_PID = 0xabcc; // D401 GMSL
 
         // d400 Devices supported by the current version
         static const std::set<std::uint16_t> rs400_sku_pid = {

src/linux/backend-v4l2.cpp

@@ -944,6 +944,7 @@ namespace librealsense
             const uint8_t GVD_PID_OFFSET    = 4;
 
             const uint8_t GVD_PID_D457      = 0x12;
+            const uint8_t GVD_PID_D401_GMSL = 0x13;
             const uint8_t GVD_PID_D430_GMSL = 0x0F;
             const uint8_t GVD_PID_D415_GMSL = 0x06;
 
@@ -1001,6 +1002,10 @@ namespace librealsense
                             device_pid = D415_GMSL_PID;
                             break;
 
+                        case(GVD_PID_D401_GMSL):
+                            device_pid = D401_GMSL_PID;
+                            break;
+
                         default:
                             LOG_WARNING("Unidentified MIPI device product id: 0x" << std::hex << (int) product_pid << "remaining retries = " << retries);
                             device_pid = 0x0000;

src/linux/backend-v4l2.h

@@ -500,6 +500,7 @@ namespace librealsense
         const uint16_t D457_PID      = 0xABCD;
         const uint16_t D430_GMSL_PID = 0xABCE;
         const uint16_t D415_GMSL_PID = 0xABCF;
+        const uint16_t D401_GMSL_PID = 0xABCC;
 
         // D457 Development. To be merged into underlying class
         class v4l_mipi_device : public v4l_uvc_meta_device