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Merged
ymodlin merged 6 commits into from
Dec 4, 2025
Merged

Enabling Y12I mode for IR calibration stream #313

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3923172
fix Y12I calibration stream
Kontra2B Nov 24, 2025
3b4898e
toggling IR format from test_metadata
Kontra2B Nov 28, 2025
dcaef93
mmap reworked
Kontra2B Dec 1, 2025
7846575
Update version d4xx.c
ymodlin Dec 1, 2025
daf6ddf
code review comments applied
Kontra2B Dec 4, 2025
f4ee05b
code review comments applied
Kontra2B Dec 4, 2025
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48 changes: 38 additions & 10 deletions kernel/realsense/d4xx.c
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Original file line number Diff line number Diff line change
Expand Up @@ -659,12 +659,9 @@ static const u16 ds5_framerates[] = {5, 30};
#define DS5_FRAMERATE_DEFAULT_IDX 1

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_30[] = {15, 30};
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};
Expand Down Expand Up @@ -1005,6 +1002,15 @@ static const struct ds5_resolution d43x_calibration_sizes[] = {
},
};

static const struct ds5_resolution d45x_calibration_sizes[] = {
{
.width = 1280,
.height = 800,
.framerates = ds5_framerate_15_25,
.n_framerates = ARRAY_SIZE(ds5_framerate_15_25),
},
};

static const struct ds5_resolution d46x_calibration_sizes[] = {
{
.width = 1600,
Expand Down Expand Up @@ -1129,13 +1135,33 @@ static const struct ds5_format ds5_y_formats_41x[] = {
.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 */
.data_type = GMSL_CSI_DT_RGB_888, /* Y12I, 24-bit Calibration */
.mbus_code = MEDIA_BUS_FMT_RGB888_1X24,
Comment on lines +1138 to +1139

Copilot AI Dec 4, 2025

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[nitpick] The comment now clarifies this is 'Y12I, 24-bit Calibration' which is an improvement. However, consider adding a brief explanation of why Y12I uses RGB_888 data type and RGB888 media bus format, as this mapping may not be immediately obvious.

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.n_resolutions = ARRAY_SIZE(d41x_calibration_sizes),
.resolutions = d41x_calibration_sizes,
},
};

static const struct ds5_format ds5_y_formats_45x[] = {
{
/* First format: default */
.data_type = GMSL_CSI_DT_RAW_8, /* Y8 */
.mbus_code = MEDIA_BUS_FMT_Y8_1X8,
.n_resolutions = ARRAY_SIZE(y8_sizes),
.resolutions = y8_sizes,
}, {
.data_type = GMSL_CSI_DT_YUV422_8, /* Y8I */
.mbus_code = MEDIA_BUS_FMT_VYUY8_1X16,
.n_resolutions = ARRAY_SIZE(y8_sizes),
.resolutions = y8_sizes,
}, {
.data_type = GMSL_CSI_DT_RGB_888, /* Y12I, 24-bit Calibration */
.mbus_code = MEDIA_BUS_FMT_RGB888_1X24,
.n_resolutions = ARRAY_SIZE(d45x_calibration_sizes),
.resolutions = d45x_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,
Expand Down Expand Up @@ -1713,9 +1739,7 @@ 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,
Expand Down Expand Up @@ -4817,6 +4841,10 @@ static int ds5_fixed_configuration(struct i2c_client *client, struct ds5 *state)
sensor->formats = ds5_y_formats_41x;
sensor->n_formats = ARRAY_SIZE(ds5_y_formats_41x);
break;
case DS5_DEVICE_TYPE_D45X:
sensor->formats = ds5_y_formats_45x;
sensor->n_formats = ARRAY_SIZE(ds5_y_formats_45x);
break;
default:
sensor->formats = state->variant->formats;
sensor->n_formats = state->variant->n_formats;
Expand Down Expand Up @@ -5897,4 +5925,4 @@ MODULE_AUTHOR("Guennadi Liakhovetski <guennadi.liakhovetski@intel.com>,\n\
Shikun Ding <shikun.ding@intel.com>,\n\
Dmitry Perchanov <dmitry.perchanov@intel.com>");
MODULE_LICENSE("GPL v2");
MODULE_VERSION("1.0.1.31");
MODULE_VERSION("1.0.1.32");
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)

@ymodlin ymodlin Dec 4, 2025

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Add here a TODO comment for the future to remove this "false"

+ if (false && frame_err)
Comment on lines +10 to +11

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Using if (false && frame_err) to disable error checking is a temporary workaround that leaves dead code. Consider either processing Y12I errors specifically as suggested in the TODO, or documenting why error checking must be disabled for Y12I format.

Suggested change
+ /* TODO: Remove the branch or process the error for Y12I only */
+ if (false && frame_err)
+ /*
+ * Error checking is disabled for Y12I format due to known issues with
+ * error reporting for this format. For other formats, process errors normally.
+ * See issue tracker #<insert-issue-number-if-any> for details.
+ */
+ if (frame_err && chan->fmtinfo->fourcc != V4L2_PIX_FMT_Y12I)

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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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@@ -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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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 removed test/test_metadata/test_metadata
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26 changes: 11 additions & 15 deletions test/test_metadata/test_metadata.c
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Expand Up @@ -218,7 +218,7 @@ void requestBuffers(int fd, uint32_t type, uint32_t memory, uint32_t count)
}
}

void* queryMapQueueBuf(int fd, uint32_t type, uint32_t memory, uint8_t index, uint32_t size)
void* queryMapQueueBuf(int fd, uint32_t type, uint32_t memory, uint8_t index)
{
struct v4l2_buffer v4l2Buffer;
memset(&v4l2Buffer, 0, sizeof(v4l2Buffer));
Expand All @@ -229,7 +229,7 @@ void* queryMapQueueBuf(int fd, uint32_t type, uint32_t memory, uint8_t index, ui
if (ret)
return NULL;
void* buffer = mmap(NULL,
size,
v4l2Buffer.length,
PROT_READ | PROT_WRITE,
MAP_SHARED,
fd,
Expand Down Expand Up @@ -295,13 +295,11 @@ int main(int argc, char** argv) {
depthBuffers[i] = queryMapQueueBuf(video_fd,
V4L2_BUF_TYPE_VIDEO_CAPTURE,
V4L2_MEMORY_MMAP,
i,
2 * width * height);
i);
metaDataBuffers[i] = queryMapQueueBuf(md_fd,
V4L2_BUF_TYPE_META_CAPTURE,
V4L2_MEMORY_MMAP,
i,
4096);
i);
}

int ret = ioctl(md_fd, VIDIOC_STREAMON, &mdType);
Expand Down Expand Up @@ -356,13 +354,11 @@ int main(int argc, char** argv) {
depthBuffers[i] = queryMapQueueBuf(video_fd,
V4L2_BUF_TYPE_VIDEO_CAPTURE,
V4L2_MEMORY_MMAP,
i,
2 * width * height);
i);
metaDataBuffers[i] = queryMapQueueBuf(md_fd,
V4L2_BUF_TYPE_META_CAPTURE,
V4L2_MEMORY_MMAP,
i,
4096);
i);
}

int ret = ioctl(md_fd, VIDIOC_STREAMON, &mdType);
Expand Down Expand Up @@ -406,7 +402,9 @@ int main(int argc, char** argv) {
fprintf(stderr, "Error opening Ir video devices\n");
return 1;
}

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[nitpick] The variable stream_repeat is used here but not visible in the diff context. Consider adding a comment explaining that the format alternates with each iteration to make the intent clearer for future maintainers.

Suggested change
}
}
// Alternate the IR stream format with each iteration:
// If stream_repeat is odd, use V4L2_PIX_FMT_Y12I; if even, use V4L2_PIX_FMT_GREY.

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setFmt(video_fd, V4L2_PIX_FMT_GREY, width, height);
uint32_t format = V4L2_PIX_FMT_GREY;
if (stream_repeat % 2) format = V4L2_PIX_FMT_Y12I;
setFmt(video_fd, format, 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 All @@ -416,13 +414,11 @@ int main(int argc, char** argv) {
depthBuffers[i] = queryMapQueueBuf(video_fd,
V4L2_BUF_TYPE_VIDEO_CAPTURE,
V4L2_MEMORY_MMAP,
i,
width * height);
i);
metaDataBuffers[i] = queryMapQueueBuf(md_fd,
V4L2_BUF_TYPE_META_CAPTURE,
V4L2_MEMORY_MMAP,
i,
4096);
i);
}

int ret = ioctl(md_fd, VIDIOC_STREAMON, &mdType);
Expand Down