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Merged
merged 5 commits into from
Nov 18, 2025
Merged

adding d401_gmsl device is SDK and linux backend #14445

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f26ae32
using vectors for mipi pids, instead of the whole list, both be and core
remibettan Nov 18, 2025
c6a49e8
adding d401_gmsl device is SDK and linux backend
remibettan Nov 13, 2025
269cd66
d401 gmsl works - color sensor not enabled yet
remibettan Nov 17, 2025
a29513d
comment added for min version
remibettan Nov 18, 2025
7ae658e
improving mipi devices pid code
remibettan Nov 18, 2025
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4 changes: 2 additions & 2 deletions src/ds/d400/d400-device.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -503,7 +503,7 @@ namespace librealsense

std::unique_ptr< frame_timestamp_reader > timestamp_reader_backup( new ds_timestamp_reader() );
frame_timestamp_reader* timestamp_reader_from_metadata;
if (!val_in_range(all_device_infos.front().pid, { RS457_PID, RS430_GMSL_PID, RS415_GMSL_PID }))
if (!(ds::d400_mipi_device_pid.count(all_device_infos.front().pid) > 0))
timestamp_reader_from_metadata = new ds_timestamp_reader_from_metadata(std::move(timestamp_reader_backup));
else
timestamp_reader_from_metadata = new ds_timestamp_reader_from_metadata_mipi(std::move(timestamp_reader_backup));
Expand Down Expand Up @@ -552,7 +552,7 @@ namespace librealsense
auto raw_sensor = get_raw_depth_sensor();
_pid = group.uvc_devices.front().pid;

_is_mipi_device = val_in_range(_pid, { RS457_PID, RS430_GMSL_PID, RS415_GMSL_PID });
_is_mipi_device = (ds::d400_mipi_device_pid.count(_pid) > 0);

_color_calib_table_raw = [this]()
{
Expand Down
36 changes: 36 additions & 0 deletions src/ds/d400/d400-factory.cpp
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Expand Up @@ -78,6 +78,34 @@ namespace librealsense
};
};

class rs401_gmsl_device : //public d400_color,
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_color( 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,
Expand Down Expand Up @@ -1096,6 +1124,8 @@ 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 );
Expand Down Expand Up @@ -1168,6 +1198,12 @@ 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()};
Expand Down
2 changes: 1 addition & 1 deletion src/ds/d400/d400-nonmonochrome.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -35,7 +35,7 @@ namespace librealsense

if ((_fw_version >= firmware_version("5.5.8.0")) && (!val_in_range(pid, { RS_USB2_PID })))
{
if (!val_in_range(pid, { RS405_PID, RS455_PID }))
if (!val_in_range(pid, { RS405_PID, RS455_PID, RS401_GMSL_PID }))
{
depth_ep.register_option(RS2_OPTION_ENABLE_AUTO_WHITE_BALANCE,
std::make_shared<uvc_xu_option<uint8_t>>(get_raw_depth_sensor(),
Expand Down
14 changes: 10 additions & 4 deletions src/ds/d400/d400-private.h
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Expand Up @@ -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 = {
Expand Down Expand Up @@ -70,7 +71,8 @@ namespace librealsense
ds::RS455_PID,
ds::RS457_PID,
ds::RS430_GMSL_PID,
ds::RS415_GMSL_PID
ds::RS415_GMSL_PID,
ds::RS401_GMSL_PID
};

static const std::set<std::uint16_t> d400_multi_sensors_pid = {
Expand All @@ -86,13 +88,15 @@ namespace librealsense
ds::RS455_PID,
ds::RS457_PID,
ds::RS430_GMSL_PID,
ds::RS415_GMSL_PID
ds::RS415_GMSL_PID,
ds::RS401_GMSL_PID
};

static const std::set<std::uint16_t> d400_mipi_device_pid = {
ds::RS457_PID,
ds::RS430_GMSL_PID,
ds::RS415_GMSL_PID
ds::RS415_GMSL_PID,
ds::RS401_GMSL_PID
};

static const std::set<std::uint16_t> d400_hid_sensors_pid = {
Expand Down Expand Up @@ -149,6 +153,7 @@ namespace librealsense
{ RS400_MIPI_RECOVERY_PID, "Intel RealSense D4XX MIPI Recovery"},
{ RS430_GMSL_PID, "Intel RealSense D430" },
{ RS415_GMSL_PID, "Intel RealSense D415" },
{ RS401_GMSL_PID, "Intel RealSense D401" },
};

static std::map<uint16_t, std::string> d400_device_to_fw_min_version = {
Expand Down Expand Up @@ -180,7 +185,8 @@ namespace librealsense
{RS457_PID, "5.16.8.0" },
{RS400_MIPI_RECOVERY_PID, "5.16.0.1" },
{RS430_GMSL_PID, "5.16.8.0" },
{RS415_GMSL_PID, "5.17.1.1" }
{RS415_GMSL_PID, "5.17.1.1" },
{RS401_GMSL_PID, "5.17.2.100" } // TO BE UPDATED!!!
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Copilot AI Nov 18, 2025

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The comment 'TO BE UPDATED!!!' indicates that the firmware version for RS401_GMSL_PID is a placeholder. This should be updated with the correct minimum firmware version before merging, or a tracking issue should be created.

Suggested change
{RS401_GMSL_PID, "5.17.2.100" } // TO BE UPDATED!!!
{RS401_GMSL_PID, "5.17.3.0" }

Copilot uses AI. Check for mistakes.
};

std::vector<platform::uvc_device_info> filter_d400_device_by_capability(
Expand Down
10 changes: 7 additions & 3 deletions src/linux/backend-v4l2.cpp
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Expand Up @@ -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;

Expand Down Expand Up @@ -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;
Expand Down Expand Up @@ -3114,9 +3119,8 @@ namespace librealsense

std::shared_ptr<uvc_device> v4l_backend::create_uvc_device(uvc_device_info info) const
{
bool mipi_device = (D457_PID == info.pid ||
D430_GMSL_PID == info.pid ||
D415_GMSL_PID == info.pid);
bool mipi_device = (mipi_devices_pid.count(info.pid) > 0);

auto v4l_uvc_dev = mipi_device ? std::make_shared<v4l_mipi_device>(info) :
((!info.has_metadata_node) ? std::make_shared<v4l_uvc_device>(info) :
std::make_shared<v4l_uvc_meta_device>(info));
Expand Down
8 changes: 8 additions & 0 deletions src/linux/backend-v4l2.h
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Expand Up @@ -500,6 +500,14 @@ 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;

static const std::set<std::uint16_t> mipi_devices_pid = {
D457_PID,
D430_GMSL_PID,
D415_GMSL_PID,
D401_GMSL_PID
};

// D457 Development. To be merged into underlying class
class v4l_mipi_device : public v4l_uvc_meta_device
Expand Down
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