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Refactor framerate definitions and resolution entries for D40x removing 5 FPS #380

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Merged
ymodlin merged 2 commits into from
Feb 24, 2026
Merged

Refactor framerate definitions and resolution entries for D40x removing 5 FPS #380

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Refactor framerate definitions and resolution entries for D40x removi…
Feb 24, 2026
f4dc0c4
[D401] 90 FPS enabled for 480p resolutions
Feb 24, 2026
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134 changes: 47 additions & 87 deletions kernel/realsense/d4xx.c
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Original file line number Diff line number Diff line change
Expand Up @@ -676,8 +676,6 @@ static const u16 ds5_framerates[] = {5, 30};

static const u16 ds5_framerate_30 = 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 All @@ -687,47 +685,42 @@ 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_framerate_15_25[] = {15, 25};
static const u16 ds5_framerate_15_30[] = {15, 30};
static const u16 ds5_framerate_15_60[] = {15, 30, 60};
static const u16 ds5_framerate_15_90[] = {15, 30, 60, 90};
static const u16 ds5_imu_framerates[] = {50, 100, 200, 400};
static const u16 ds5_framerate_90[] = {90};
static const u16 ds5_framerate_100[] = {100};

/* Helper macro to define resolution entries concisely. */
#define DS5_RES(w, h, fr) \
{ .width = (w), .height = (h), .framerates = (fr), .n_framerates = ARRAY_SIZE(fr) },

#define D401_COMMON_RES \
DS5_RES(1280, 720, ds5_framerate_15_30)\
DS5_RES(848, 480, ds5_framerate_15_90)\
DS5_RES(640, 480, ds5_framerate_15_90)\
DS5_RES(640, 360, ds5_framerate_15_90)\
DS5_RES(480, 270, ds5_framerate_15_90)\
DS5_RES(424, 240, ds5_framerate_15_90)\

Copilot AI Feb 24, 2026

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The macro D401_COMMON_RES ends with a backslash continuation character on line 706 that continues to an empty line 707. While this is valid C, the trailing backslash is unnecessary and could be confusing. The macro should end without a trailing backslash after the last DS5_RES() invocation, as is standard practice for multi-line macro definitions.

Suggested change
DS5_RES(424, 240, ds5_framerate_15_90)\
DS5_RES(424, 240, ds5_framerate_15_90)

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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),
},
D401_COMMON_RES
DS5_RES(256, 144, ds5_framerate_15_90)

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The resolution 256x144 previously only supported 90 FPS (ds5_framerate_90), but now supports {15, 30, 60, 90} (ds5_framerate_15_90). This is actually an expansion of functionality rather than just the removal of 5 FPS as stated in the PR description. While this may be intentional and beneficial, it represents an undocumented feature addition.

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};

static const struct ds5_resolution d40x_y8_sizes[] = {
D401_COMMON_RES
};

static const struct ds5_resolution d40x_rgb_sizes[] = {
DS5_RES(1280, 800, ds5_framerate_15_30)
D401_COMMON_RES
};
Comment on lines +717 to +720

Copilot AI Feb 24, 2026

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The newly created d40x_rgb_sizes array defines resolutions and framerates for the D40X RGB sensor. Previously, the D40X device would have fallen through to the default case in the switch statement and used ds5_onsemi_rgb_sizes, which has completely different resolutions (640x480, 960x720, 1280x720, 1920x1080, 2048x1536). This new configuration uses {1280x800, 1280x720, 848x480, 640x480, 640x360, 480x270, 424x240} instead. This is a major functional change that affects the RGB sensor capabilities and should be verified against the actual D40X hardware specifications.

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static const struct ds5_resolution d40x_calibration_sizes[] = {
DS5_RES(1288, 808, ds5_framerate_15_25)
};

static const struct ds5_resolution d41x_depth_sizes[] = {
Expand Down Expand Up @@ -866,40 +859,6 @@ 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 @@ -1073,15 +1032,6 @@ 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 @@ -1245,13 +1195,13 @@ 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,
.n_resolutions = ARRAY_SIZE(d40x_y8_sizes),
.resolutions = d40x_y8_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,
.n_resolutions = ARRAY_SIZE(d40x_y8_sizes),
.resolutions = d40x_y8_sizes,
}, {
.data_type = GMSL_CSI_DT_RGB_888, /* Y12I, 24-bit Calibration */
.mbus_code = MEDIA_BUS_FMT_RGB888_1X24,
Expand Down Expand Up @@ -1307,6 +1257,13 @@ static const struct ds5_format ds5_41x_rgb_format = {
.resolutions = ds5_41x_rgb_sizes,
};

static const struct ds5_format ds5_40x_rgb_format = {
.data_type = GMSL_CSI_DT_YUV422_8, /* UYVY */
.mbus_code = MEDIA_BUS_FMT_YUYV8_1X16,
.n_resolutions = ARRAY_SIZE(d40x_rgb_sizes),
.resolutions = d40x_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 @@ -4986,6 +4943,9 @@ static int ds5_fixed_configuration(struct i2c_client *client, struct ds5 *state)
sensor->n_formats = DS5_RLT_RGB_N_FORMATS;
break;
case DS5_DEVICE_TYPE_D40X:
sensor->formats = &ds5_40x_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