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Merged
ymodlin merged 12 commits into from
Feb 3, 2026
Merged

Add D401 GMSL support and align resolutions #342

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8dca745
Added initial D401 GMSL support
ejgoldik Jan 25, 2026
e0c75e8
Align D401 GMSL resolutions to D401 USB
ejgoldik Jan 25, 2026
7884867
Update module version to 1.0.2.0
ejgoldik Jan 25, 2026
29c5dc5
Align D401 GMSL Y + calib res
ejgoldik Jan 25, 2026
a244327
Update module version to 1.0.2.3
Nikolai-L Jan 25, 2026
e5f5094
Update kernel/realsense/d4xx.c
Nikolai-L Jan 25, 2026
f679d90
Reveret copilot erroneous commit
ejgoldik Jan 27, 2026
7cc6490
Add format YUYV to IR for D405 GMSL
ejgoldik Jan 30, 2026
bc40c00
[PATCH] Add D401 GPIO tunneling for the external sync support
Nikolai-L Feb 1, 2026
84a42ba
[INFRA] Fix apply_patches reset and scripts/install_to_kernel.sh for …
Nikolai-L Feb 2, 2026
37ba949
Populate the patch to all JPs
Nikolai-L Feb 3, 2026
9b542dc
Revert apply_patches
Nikolai-L Feb 3, 2026
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163 changes: 159 additions & 4 deletions kernel/realsense/d4xx.c
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Original file line number Diff line number Diff line change
Expand Up @@ -50,6 +50,9 @@
#define GMSL_CSI_DT_RAW_8 0x2A
#define GMSL_CSI_DT_EMBED 0x12
#endif
/* Custom formats (known only to the FW) */
#define GMSL_CSI_DT_CUSTOM_Y8I_16 0x32
#define GMSL_CSI_DT_CUSTOM_IR_RGB_16 0x2F

//#define DS5_DRIVER_NAME "DS5 RealSense camera driver"
#define DS5_DRIVER_NAME "d4xx"
Expand All @@ -65,6 +68,7 @@
#define DS5_FW_VERSION 0x030C
#define DS5_FW_BUILD 0x030E
#define DS5_DEVICE_TYPE 0x0310
#define DS5_DEVICE_TYPE_D40X 8
#define DS5_DEVICE_TYPE_D41X 7
#define DS5_DEVICE_TYPE_D45X 6
#define DS5_DEVICE_TYPE_D43X 5
Expand Down Expand Up @@ -675,6 +679,45 @@ 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 d40x_depth_sizes[] = {
{
.width = 1280,
.height = 720,
.framerates = ds5_depth_framerate_to_30,
.n_framerates = ARRAY_SIZE(ds5_depth_framerate_to_30),
}, {
.width = 848,
.height = 480,
.framerates = ds5_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_to_90),
}, {
.width = 640,
.height = 480,
.framerates = ds5_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_to_90),
}, {
.width = 640,
.height = 360,
.framerates = ds5_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_to_90),
}, {
.width = 480,
.height = 270,
.framerates = ds5_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_to_90),
}, {
.width = 424,
.height = 240,
.framerates = ds5_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_to_90),
}, {
.width = 256,
.height = 144,
.framerates = ds5_framerate_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_90),
},
};

static const struct ds5_resolution d41x_depth_sizes[] = {
{
.width = 1280,
Expand Down Expand Up @@ -811,6 +854,40 @@ static const struct ds5_resolution y8_sizes[] = {
}
};

static const struct ds5_resolution y8_40x_sizes[] = {
{
.width = 1280,
.height = 720,
.framerates = ds5_depth_framerate_to_30,
.n_framerates = ARRAY_SIZE(ds5_depth_framerate_to_30),
}, {
.width = 848,
.height = 480,
.framerates = ds5_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_to_90),
}, {
.width = 640,
.height = 480,
.framerates = ds5_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_to_90),
}, {
.width = 640,
.height = 360,
.framerates = ds5_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_to_90),
}, {
.width = 480,
.height = 270,
.framerates = ds5_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_to_90),
}, {
.width = 424,
.height = 240,
.framerates = ds5_framerate_to_90,
.n_framerates = ARRAY_SIZE(ds5_framerate_to_90),
},
};

static const struct ds5_resolution y8_41x_sizes[] = {
{
.width = 1920,
Expand Down Expand Up @@ -984,6 +1061,15 @@ static const struct ds5_resolution ds5_size_w10 = {
.n_framerates = 1,
};

static const struct ds5_resolution d40x_calibration_sizes[] = {
{
.width = 1288,
.height = 808,
.framerates = ds5_framerate_15_25,
.n_framerates = ARRAY_SIZE(ds5_framerate_15_25),
},
};

static const struct ds5_resolution d41x_calibration_sizes[] = {
{
.width = 1920,
Expand Down Expand Up @@ -1039,6 +1125,26 @@ static const struct ds5_resolution ds5_size_imu_extended[] = {
},
};

static const struct ds5_format ds5_depth_formats_d40x[] = {
{
// 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(d40x_depth_sizes),
.resolutions = d40x_depth_sizes,
}, {
.data_type = GMSL_CSI_DT_RAW_8, /* Y8 */
.mbus_code = MEDIA_BUS_FMT_Y8_1X8,
.n_resolutions = ARRAY_SIZE(d40x_depth_sizes),
.resolutions = d40x_depth_sizes,
}, {
.data_type = GMSL_CSI_DT_RGB_888, /* 24-bit Calibration */
.mbus_code = MEDIA_BUS_FMT_RGB888_1X24, /* FIXME */
.n_resolutions = ARRAY_SIZE(d40x_calibration_sizes),
.resolutions = d40x_calibration_sizes,
},
};

static const struct ds5_format ds5_depth_formats_d41x[] = {
{
// TODO: 0x31 is replaced with 0x1e since it caused low FPS in Jetson.
Expand Down Expand Up @@ -1122,6 +1228,31 @@ static const struct ds5_format ds5_y_formats_ds5u[] = {
},
};

static const struct ds5_format ds5_y_formats_40x[] = {
{
/* First format: default */
.data_type = GMSL_CSI_DT_RAW_8, /* Y8 */
.mbus_code = MEDIA_BUS_FMT_Y8_1X8,
.n_resolutions = ARRAY_SIZE(y8_40x_sizes),
.resolutions = y8_40x_sizes,
}, {
.data_type = GMSL_CSI_DT_YUV422_8, /* Y8I */
.mbus_code = MEDIA_BUS_FMT_VYUY8_1X16,
.n_resolutions = ARRAY_SIZE(y8_40x_sizes),
.resolutions = y8_40x_sizes,
}, {
.data_type = GMSL_CSI_DT_RGB_888, /* Y12I, 24-bit Calibration */
.mbus_code = MEDIA_BUS_FMT_RGB888_1X24,
.n_resolutions = ARRAY_SIZE(d40x_calibration_sizes),
.resolutions = d40x_calibration_sizes,
}, {
.data_type = GMSL_CSI_DT_YUV422_8, /* YUYV */
.mbus_code = MEDIA_BUS_FMT_YUYV8_1X16,
.n_resolutions = ARRAY_SIZE(y8_40x_sizes),
.resolutions = y8_40x_sizes,
}
};

static const struct ds5_format ds5_y_formats_41x[] = {
{
/* First format: default */
Expand Down Expand Up @@ -1760,10 +1891,26 @@ static int ds5_configure(struct ds5 *state)
if (state->is_depth && fmt != 0)
ret = ds5_write(state, dt_addr, 0x31);
else if (state->is_y8 && fmt != 0 &&
sensor->config.format->data_type == GMSL_CSI_DT_YUV422_8)
ret = ds5_write(state, dt_addr, 0x32);
else
sensor->config.format->data_type == GMSL_CSI_DT_YUV422_8) {
if (sensor->config.format->mbus_code == MEDIA_BUS_FMT_VYUY8_1X16)
{
/* This is the custom Y8I format -
* telling FW to enable "etMipiDataType_UserDefined3_R8L8"
*/
ret = ds5_write(state, dt_addr, GMSL_CSI_DT_CUSTOM_Y8I_16);
} else if (sensor->config.format->mbus_code == MEDIA_BUS_FMT_YUYV8_1X16) {
/* This is the custom RGB through IR format -
* telling FW to enable "etMipiDataType_UserDefined0_IR_RGB"
*/
ret = ds5_write(state, dt_addr, GMSL_CSI_DT_CUSTOM_IR_RGB_16);
} else {
dev_err(sensor->sd.dev, "%s(): Illegal mbus_code %u for IR sensor\n",
__func__, sensor->config.format->mbus_code);
return -EINVAL;
}
} else {
ret = ds5_write(state, dt_addr, fmt);
}
if (ret < 0)
return ret;

Expand Down Expand Up @@ -4822,6 +4969,9 @@ static int ds5_fixed_configuration(struct i2c_client *client, struct ds5 *state)
case DS5_DEVICE_TYPE_D41X:
sensor->formats = ds5_depth_formats_d41x;
break;
case DS5_DEVICE_TYPE_D40X:
sensor->formats = ds5_depth_formats_d40x;
break;
case DS5_DEVICE_TYPE_D43X:
case DS5_DEVICE_TYPE_D45X:
sensor->formats = ds5_depth_formats_d43x;
Expand All @@ -4837,6 +4987,10 @@ static int ds5_fixed_configuration(struct i2c_client *client, struct ds5 *state)

sensor = &state->ir.sensor;
switch (dev_type) {
case DS5_DEVICE_TYPE_D40X:
sensor->formats = ds5_y_formats_40x;
sensor->n_formats = ARRAY_SIZE(ds5_y_formats_40x);
break;
case DS5_DEVICE_TYPE_D41X:
sensor->formats = ds5_y_formats_41x;
sensor->n_formats = ARRAY_SIZE(ds5_y_formats_41x);
Expand All @@ -4862,6 +5016,7 @@ static int ds5_fixed_configuration(struct i2c_client *client, struct ds5 *state)
sensor->formats = &ds5_41x_rgb_format;
sensor->n_formats = DS5_RLT_RGB_N_FORMATS;
break;
case DS5_DEVICE_TYPE_D40X:
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case DS5_DEVICE_TYPE_D45X:
sensor->formats = &ds5_rlt_rgb_format;
sensor->n_formats = DS5_RLT_RGB_N_FORMATS;
Expand Down Expand Up @@ -5925,4 +6080,4 @@ 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("1.0.1.33");
MODULE_VERSION("1.0.2.4");