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Enable Y12I streaming for IR sensor #311

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3923172
fix Y12I calibration stream
Kontra2B Nov 24, 2025
86a90cd
add some i2c handling
Kontra2B Nov 25, 2025
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53 changes: 43 additions & 10 deletions kernel/realsense/d4xx.c
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Original file line number Diff line number Diff line change
Expand Up @@ -535,14 +535,20 @@ static int ds5_write(struct ds5 *state, u16 reg, u16 val)
__func__, reg, value[1], value[0]);

ret = regmap_raw_write(state->regmap, reg, value, sizeof(value));
if (ret < 0)
if (ret < 0) {
usleep_idle_range(100, 110);
ret = regmap_raw_write(state->regmap, reg, value, sizeof(value));
}

if( ret < 0)
dev_err(&state->client->dev,
"%s(): i2c write failed %d, 0x%04x = 0x%x\n",
__func__, ret, reg, val);
else
if (state->dfu_dev.dfu_state_flag == DS5_DFU_IDLE)
dev_dbg(&state->client->dev, "%s(): i2c write 0x%04x: 0x%x\n",
__func__, reg, val);
usleep_idle_range(100, 110);

return ret;
}
Expand All @@ -551,6 +557,11 @@ static int ds5_raw_write(struct ds5 *state, u16 reg,
const void *val, size_t val_len)
{
int ret = regmap_raw_write(state->regmap, reg, val, val_len);
if (ret < 0) {
usleep_idle_range(100, 110);
ret = regmap_raw_write(state->regmap, reg, val, val_len);
}

if (ret < 0)
dev_err(&state->client->dev,
"%s(): i2c raw write failed %d, %04x size(%d) bytes\n",
Expand All @@ -561,31 +572,46 @@ static int ds5_raw_write(struct ds5 *state, u16 reg,
"%s(): i2c raw write 0x%04x: %d bytes\n",
__func__, reg, (int)val_len);

usleep_idle_range(100, 110);

return ret;
}

static int ds5_read(struct ds5 *state, u16 reg, u16 *val)
{
int ret = regmap_raw_read(state->regmap, reg, val, 2);
if (ret < 0) {
usleep_idle_range(100, 110);
ret = regmap_raw_read(state->regmap, reg, val, 2);
}

if (ret < 0)
dev_err(&state->client->dev, "%s(): i2c read failed %d, 0x%04x\n",
__func__, ret, reg);
else {
else
if (state->dfu_dev.dfu_state_flag == DS5_DFU_IDLE)
dev_dbg(&state->client->dev, "%s(): i2c read 0x%04x: 0x%x\n",
__func__, reg, *val);
}

usleep_idle_range(100, 110);

return ret;
}

static int ds5_raw_read(struct ds5 *state, u16 reg, void *val, size_t val_len)
{
int ret = regmap_raw_read(state->regmap, reg, val, val_len);
if (ret < 0) {
usleep_idle_range(100, 110);
ret = regmap_raw_read(state->regmap, reg, val, val_len);
}

if (ret < 0)
dev_err(&state->client->dev, "%s(): i2c read failed %d, 0x%04x\n",
__func__, ret, reg);

usleep_idle_range(100, 110);

return ret;
}

Expand Down Expand Up @@ -1014,6 +1040,15 @@ static const struct ds5_resolution d46x_calibration_sizes[] = {
},
};

static const struct ds5_resolution ds5_calibration_sizes[] = {
{
.width = 1280,
.height = 800,
.framerates = ds5_framerate_15_25,
.n_framerates = ARRAY_SIZE(ds5_framerate_15_25),
},
};

static const struct ds5_resolution ds5_size_imu[] = {
{
.width = 32,
Expand Down Expand Up @@ -1111,8 +1146,8 @@ static const struct ds5_format ds5_y_formats_ds5u[] = {
}, {
.data_type = GMSL_CSI_DT_RGB_888, /* 24-bit Calibration */
.mbus_code = MEDIA_BUS_FMT_RGB888_1X24, /* FIXME */
.n_resolutions = ARRAY_SIZE(d43x_calibration_sizes),
.resolutions = d43x_calibration_sizes,
.n_resolutions = ARRAY_SIZE(ds5_calibration_sizes),
.resolutions = ds5_calibration_sizes,
},
};

Expand Down Expand Up @@ -1713,15 +1748,13 @@ 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,
vc_id);
// reset data path when switching to Y12I
if (state->is_y8 && data_type1 == GMSL_CSI_DT_RGB_888)
if (false && state->is_y8 && data_type1 == GMSL_CSI_DT_RGB_888)
max9296_reset_oneshot(state->dser_dev);
if (ret < 0)
return ret;
Expand Down Expand Up @@ -4446,7 +4479,7 @@ static int ds5_mux_s_stream(struct v4l2_subdev *sd, int on)

#ifdef CONFIG_VIDEO_D4XX_SERDES
// reset data path when Y12I streaming is done
if (state->is_y8 &&
if (false && state->is_y8 &&
state->ir.sensor.config.format->data_type ==
GMSL_CSI_DT_RGB_888) {
max9296_reset_oneshot(state->dser_dev);
Expand Down
14 changes: 14 additions & 0 deletions nvidia-oot/6.0/0003-Fix-y12i-calibration-stream.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1,14 @@
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 +612,7 @@ 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)
+ if (false && frame_err)
buf->vb2_state = VB2_BUF_STATE_ERROR;
else
buf->vb2_state = VB2_BUF_STATE_DONE;

1 change: 1 addition & 0 deletions nvidia-oot/6.1/0003-Fix-y12i-calibration-stream.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
../6.0/0003-Fix-y12i-calibration-stream.patch
1 change: 1 addition & 0 deletions nvidia-oot/6.2/0003-Fix-y12i-calibration-stream.patch
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Original file line number Diff line number Diff line change
@@ -0,0 +1 @@
../6.0/0003-Fix-y12i-calibration-stream.patch
4 changes: 1 addition & 3 deletions test/test_metadata/build.sh
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Original file line number Diff line number Diff line change
Expand Up @@ -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
Binary file modified test/test_metadata/test_metadata
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2 changes: 1 addition & 1 deletion test/test_metadata/test_metadata.c
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Original file line number Diff line number Diff line change
Expand Up @@ -406,7 +406,7 @@ 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);
setFmt(video_fd, V4L2_PIX_FMT_Y12I, 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);
Expand Down
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