d500 motion: align D555/D585 gyro path with HKR physical-unit IMU encoding

[remibettan]

Overview: Extend D555/D585 gyro sensitivity registration to all D585 variants and align the SDK gyro path with the FW's HKR physical-unit IMU encoding.

Tracked on [RSDEV-60196]

Why

D555 and D585 firmwares that ship the HKR physical-IMU work (IO 34cf87d6 + device-manager 1be508e0) emit gyro samples as 32-bit fixed physical units instead of 16-bit raw registers. The SDK today interprets those samples as legacy raw 16-bit output, and the D585 constructors do not register the sensitivity option at all.

Builds on top of PR #15436 (d555-usb-gyro-sensitivity).

Summary

• Introduce gyro_sensitivity_encoding (d400_hid_token / hkr_range_index) and route the D400 conversion table + defaults through encode_gyro_sensitivity() / default_gyro_sensitivity().
• Add PID-based HKR detection in d500_motion: supports_hkr_physical_imu(), is_imu_high_accuracy() override, and switch get_gyro_default_scale() to 0.0001 for HKR-eligible devices.
• Set the HID gyro scale factor to 10000. in create_hid_device for HKR-eligible devices and register the sensitivity option with the HKR encoding + default range index 4.f.
• Register RS2_OPTION_GYRO_SENSITIVITY on the four D585 constructors (rs5x5_device, rs5x5_dedicated_color_device, rs585_legacy_device, rs585s_device); D555 registration already lands via PR d500: register Gyro Sensitivity option on USB for D555 #15436, macOS guard preserved.
• Add a Catch2 unit test for the encoding table.

Behavior change (HKR-eligible D555/D585 only)

Aspect	Before	After
is_imu_high_accuracy()	false (base default)	true
Frame converter	16-bit	32-bit (converter_32_bit)
get_gyro_default_scale()	0.003814697265625	0.0001
HID set_gyro_scale_factor	not called	10000.
Sensitivity encoding	n/a (D555 was d400_hid_token)	hkr_range_index
Option default	n/a (D555 was 1.f)	4.f
D585 variants	option not registered	option registered on all 4
D400 devices	unchanged	unchanged (encoding stays d400_hid_token)

REVIEW BLOCKER

hkr_physical_imu_min_fw is a sentinel 65535.65535.65535.65535. It must be replaced with the first released FW that contains IO 34cf87d6 + device-manager 1be508e0 before this PR can merge — otherwise HKR mode activates against firmwares that still emit 16-bit samples and gyro/accel data will be misinterpreted.

Test plan

• Unit test test-gyro-sensitivity-encoding passes (Windows + Linux).
• D400 regression: existing gyro sensitivity behavior unchanged on D435i / D455 (encoding stays d400_hid_token).
• D555 live once real FW is available: option registers, gyro frames report physical units matching FW spec, pytest-gyro-sensitivity-levels.py still passes.
• D585 live once real FW is available: option registers on all four variants, motion frames not garbled (32-bit converter agrees with FW output).
• macOS build: no compile errors (motion paths remain #if !defined(__APPLE__) guarded).

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🤖 Generated by AI

[sysrsbuild-gh-agentic]

🤖 rs-agentic bot automated review — bugs and notes below.

[sysrsbuild-gh-agentic]

🤖 [rs-agentic bot] BUG – get_raw_motion_sensor() uses dynamic_pointer_cast and can return nullptr if the cast fails. Dereferencing without a null-check here will crash. Add: if (auto raw = get_raw_motion_sensor()) raw->set_gyro_scale_factor(10000.);

[sysrsbuild-gh-agentic]

🤖 [rs-agentic bot] BUG – get_raw_motion_sensor() is called twice without a null-check. If dynamic_pointer_cast fails both calls return nullptr and the first dereference crashes. Cache the result and guard: auto raw = get_raw_motion_sensor(); if (!raw) return;

[sysrsbuild-gh-agentic]

🤖 [rs-agentic bot] BUG – static_cast<int>(value) truncates without checking for fractional input (e.g. 0.9f silently falls to case 0). Consider std::lround + a range assertion, or document that only integer-valued floats are accepted.

[sysrsbuild-gh-agentic]

🤖 [rs-agentic bot] REVIEW BLOCKER – hkr_physical_imu_min_fw("65535.65535.65535.65535") is a sentinel that makes supports_hkr_physical_imu() always return false today. Per the PR description this must be replaced with the real first HKR FW version before merge, otherwise the HKR path never activates (or if the sentinel is ever lowered without proper testing, will activate against legacy FW emitting 16-bit samples — misinterpreting all gyro data).

[sysrsbuild-gh-agentic]

🤖 [rs-agentic bot] BUG – set_option is called on motion_sensor obtained before pipe.start(). After pipe.start() the sensor is re-fetched from profile.get_device(). If the option is not persisted across pipeline restarts the readback will reflect the default, not the value set, causing intermittent failures. Set the option after pipe.start() or verify the option survives a pipeline restart.