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Merged
ejgoldik merged 3 commits into from
Aug 27, 2025
Merged

Add D41x support #266

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cd8275f
Add D41x support
ejgoldik May 18, 2025
b62726a
Bump module version
ejgoldik May 18, 2025
fd1f665
Fix D41x resolutions
ejgoldik Aug 13, 2025
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227 changes: 223 additions & 4 deletions kernel/realsense/d4xx.c
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Original file line number Diff line number Diff line change
Expand Up @@ -65,6 +65,7 @@
#define DS5_FW_VERSION 0x030C
#define DS5_FW_BUILD 0x030E
#define DS5_DEVICE_TYPE 0x0310
#define DS5_DEVICE_TYPE_D41X 7
#define DS5_DEVICE_TYPE_D45X 6
#define DS5_DEVICE_TYPE_D43X 5
#define DS5_DEVICE_TYPE_D46X 4
Expand Down Expand Up @@ -662,15 +663,65 @@ 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_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};
static const u16 ds5_framerate_to_90[] = {5, 15, 30, 60, 90};
static const u16 ds5_41x_depth_framerate_to_30[] = {6, 15, 30};
static const u16 ds5_41x_framerate_to_30[] = {6, 15, 30};
static const u16 ds5_41x_framerate_to_60_no_15[] = {6, 30, 60};
static const u16 ds5_41x_framerate_to_60[] = {6, 15, 30, 60};
static const u16 ds5_41x_framerate_to_90[] = {6, 15, 30, 60, 90};
static const u16 ds5_framerate_100[] = {100};
static const u16 ds5_framerate_90[] = {90};
static const u16 ds5_imu_framerates[] = {50, 100, 200, 400};

static const struct ds5_resolution d41x_depth_sizes[] = {
{
.width = 1280,
.height = 720,
.framerates = ds5_41x_depth_framerate_to_30,
.n_framerates = ARRAY_SIZE(ds5_41x_depth_framerate_to_30),
}, {
.width = 848,
.height = 480,
.framerates = ds5_41x_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_90),
}, {
.width = 848,
.height = 100,
.framerates = ds5_framerate_100,
.n_framerates = ARRAY_SIZE(ds5_framerate_100),
}, {
.width = 640,
.height = 480,
.framerates = ds5_41x_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_90),
}, {
.width = 640,
.height = 360,
.framerates = ds5_41x_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_90),
}, {
.width = 480,
.height = 270,
.framerates = ds5_41x_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_90),
}, {
.width = 424,
.height = 240,
.framerates = ds5_41x_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_90),
}, {
.width = 256,
.height = 144,
.framerates = ds5_framerate_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_90),

Copilot AI Aug 11, 2025

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Inconsistent framerate array usage. All other entries in d41x_depth_sizes use ds5_framerate_to_90 but this entry uses ds5_framerate_90. This should likely be ds5_framerate_to_90 for consistency, unless there's a specific reason for this 256x144 resolution to only support 90fps.

Suggested change
.n_framerates = ARRAY_SIZE(ds5_framerate_90),
.framerates = ds5_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_to_90),

Copilot uses AI. Check for mistakes.
},
};

static const struct ds5_resolution d43x_depth_sizes[] = {
{
.width = 1280,
Expand Down Expand Up @@ -763,6 +814,104 @@ static const struct ds5_resolution y8_sizes[] = {
}
};

static const struct ds5_resolution y8_41x_sizes[] = {
{
.width = 1920,
.height = 1080,
.framerates = ds5_framerate_15_25,
.n_framerates = ARRAY_SIZE(ds5_framerate_15_25),
}, {
.width = 1280,
.height = 720,
.framerates = ds5_41x_depth_framerate_to_30,
.n_framerates = ARRAY_SIZE(ds5_41x_depth_framerate_to_30),
}, {
.width = 960,
.height = 540,
.framerates = ds5_framerate_15_25,
.n_framerates = ARRAY_SIZE(ds5_framerate_15_25),
}, {
.width = 848,
.height = 480,
.framerates = ds5_41x_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_90),
}, {
.width = 848,
.height = 100,
.framerates = ds5_framerate_100,
.n_framerates = ARRAY_SIZE(ds5_framerate_100),
}, {
.width = 640,
.height = 480,
.framerates = ds5_41x_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_90),
}, {
.width = 640,
.height = 360,
.framerates = ds5_41x_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_90),
}, {
.width = 480,
.height = 270,
.framerates = ds5_41x_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_90),
}, {
.width = 424,
.height = 240,
.framerates = ds5_41x_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_90),
}
};

static const struct ds5_resolution ds5_41x_rgb_sizes[] = {
{
.width = 1920,
.height = 1080,
.framerates = ds5_41x_framerate_to_30,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_30),
}, {
.width = 1280,
.height = 720,
.framerates = ds5_41x_framerate_to_30,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_30),
}, {
.width = 960,
.height = 540,
.framerates = ds5_41x_framerate_to_60,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_60),
}, {
.width = 848,
.height = 480,
.framerates = ds5_41x_framerate_to_60,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_60),
}, {
.width = 640,
.height = 480,
.framerates = ds5_41x_framerate_to_60,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_60),
}, {
.width = 640,
.height = 360,
.framerates = ds5_41x_framerate_to_60,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_60),
}, {
.width = 424,
.height = 240,
.framerates = ds5_41x_framerate_to_60,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_60),
}, {
.width = 320,
.height = 240,
.framerates = ds5_41x_framerate_to_60_no_15,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_60_no_15),
}, {
.width = 320,
.height = 180,
.framerates = ds5_41x_framerate_to_60_no_15,
.n_framerates = ARRAY_SIZE(ds5_41x_framerate_to_60_no_15),
},
};

static const struct ds5_resolution ds5_rlt_rgb_sizes[] = {
{
.width = 1280,
Expand Down Expand Up @@ -838,6 +987,15 @@ static const struct ds5_resolution ds5_size_w10 = {
.n_framerates = 1,
};

static const struct ds5_resolution d41x_calibration_sizes[] = {
{
.width = 1920,
.height = 1080,
.framerates = ds5_framerate_15_25,
.n_framerates = ARRAY_SIZE(ds5_framerate_15_25),
},
};

static const struct ds5_resolution d43x_calibration_sizes[] = {
{
.width = 1280,
Expand Down Expand Up @@ -875,6 +1033,26 @@ static const struct ds5_resolution ds5_size_imu_extended[] = {
},
};

static const struct ds5_format ds5_depth_formats_d41x[] = {
{
// TODO: 0x31 is replaced with 0x1e since it caused low FPS in Jetson.
.data_type = GMSL_CSI_DT_YUV422_8, /* Z16 */
.mbus_code = MEDIA_BUS_FMT_UYVY8_1X16,
.n_resolutions = ARRAY_SIZE(d41x_depth_sizes),
.resolutions = d41x_depth_sizes,
}, {
.data_type = GMSL_CSI_DT_RAW_8, /* Y8 */
.mbus_code = MEDIA_BUS_FMT_Y8_1X8,
.n_resolutions = ARRAY_SIZE(d41x_depth_sizes),
.resolutions = d41x_depth_sizes,
}, {
.data_type = GMSL_CSI_DT_RGB_888, /* 24-bit Calibration */
.mbus_code = MEDIA_BUS_FMT_RGB888_1X24, /* FIXME */
.n_resolutions = ARRAY_SIZE(d41x_calibration_sizes),
.resolutions = d41x_calibration_sizes,
},
};

static const struct ds5_format ds5_depth_formats_d43x[] = {
{
// TODO: 0x31 is replaced with 0x1e since it caused low FPS in Jetson.
Expand Down Expand Up @@ -938,6 +1116,33 @@ static const struct ds5_format ds5_y_formats_ds5u[] = {
},
};

static const struct ds5_format ds5_y_formats_41x[] = {
{
/* First format: default */
.data_type = GMSL_CSI_DT_RAW_8, /* Y8 */
.mbus_code = MEDIA_BUS_FMT_Y8_1X8,
.n_resolutions = ARRAY_SIZE(y8_41x_sizes),
.resolutions = y8_41x_sizes,
}, {
.data_type = GMSL_CSI_DT_YUV422_8, /* Y8I */
.mbus_code = MEDIA_BUS_FMT_VYUY8_1X16,
.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 */
.n_resolutions = ARRAY_SIZE(d41x_calibration_sizes),
.resolutions = d41x_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,
.n_resolutions = ARRAY_SIZE(ds5_41x_rgb_sizes),
.resolutions = ds5_41x_rgb_sizes,
};

static const struct ds5_format ds5_rlt_rgb_format = {
.data_type = GMSL_CSI_DT_YUV422_8, /* UYVY */
.mbus_code = MEDIA_BUS_FMT_YUYV8_1X16,
Expand Down Expand Up @@ -4590,6 +4795,9 @@ static int ds5_fixed_configuration(struct i2c_client *client, struct ds5 *state)

sensor = &state->depth.sensor;
switch (dev_type) {
case DS5_DEVICE_TYPE_D41X:
sensor->formats = ds5_depth_formats_d41x;
break;
case DS5_DEVICE_TYPE_D43X:
case DS5_DEVICE_TYPE_D45X:
sensor->formats = ds5_depth_formats_d43x;
Expand All @@ -4604,8 +4812,15 @@ static int ds5_fixed_configuration(struct i2c_client *client, struct ds5 *state)
sensor->mux_pad = DS5_MUX_PAD_DEPTH;

sensor = &state->ir.sensor;
sensor->formats = state->variant->formats;
sensor->n_formats = state->variant->n_formats;
switch (dev_type) {
case DS5_DEVICE_TYPE_D41X:
sensor->formats = ds5_y_formats_41x;
sensor->n_formats = ARRAY_SIZE(ds5_y_formats_41x);
break;
default:
sensor->formats = state->variant->formats;
sensor->n_formats = state->variant->n_formats;
}
sensor->mux_pad = DS5_MUX_PAD_IR;

sensor = &state->rgb.sensor;
Expand All @@ -4615,6 +4830,10 @@ static int ds5_fixed_configuration(struct i2c_client *client, struct ds5 *state)
sensor->formats = &ds5_onsemi_rgb_format;
sensor->n_formats = DS5_ONSEMI_RGB_N_FORMATS;
break;
case DS5_DEVICE_TYPE_D41X:
sensor->formats = &ds5_41x_rgb_format;
sensor->n_formats = DS5_RLT_RGB_N_FORMATS;
break;
case DS5_DEVICE_TYPE_D45X:
sensor->formats = &ds5_rlt_rgb_format;
sensor->n_formats = DS5_RLT_RGB_N_FORMATS;
Expand Down Expand Up @@ -5440,7 +5659,7 @@ static int ds5_probe(struct i2c_client *c, const struct i2c_device_id *id)
mutex_init(&state->lock);

state->client = c;
dev_warn(&c->dev, "Probing driver for D45x\n");
dev_warn(&c->dev, "Probing driver for D4xx\n");

state->variant = ds5_variants + id->driver_data;
#ifdef CONFIG_OF
Expand Down Expand Up @@ -5678,4 +5897,4 @@ MODULE_AUTHOR("Guennadi Liakhovetski <guennadi.liakhovetski@intel.com>,\n\
Shikun Ding <shikun.ding@intel.com>");
MODULE_AUTHOR("Dmitry Perchanov <dmitry.perchanov@intel.com>");
MODULE_LICENSE("GPL v2");
MODULE_VERSION("1.0.1.28");
MODULE_VERSION("1.0.1.29");