No Motion data from D435i on Raspberry Pi 4

[AnupamYedida]

Required Info
Camera Model	D435i
Firmware Version	05.11.15.00
Operating System & Version	Debian Buster
Kernel Version (Linux Only)	4.19.75
Platform	Raspberry Pi4
SDK Version	2.28.0

The depth and RGB data is fine. But there is no IMU(Gyro and Accel) data being published. It returns Error type: No data to return (-21).
Bus error.
I have a desktop running Ubuntu 18.04 and the motion data is published over there perfectly.
I have tried installing libuvc-backend, no progress with that.

[MartyG-RealSense]

Another Pi 4 user has reported this error with the D435i recently, though the customer stopped responding before the case was resolved. The error would go away whenever they disabled accel and gyro. I provide the link below as a reference regarding the customer's log data and what was tried to fix it.

https://forums.intel.com/s/question/0D50P00004RoUHqSAN/d435i-motion-module-force-pause-when-turning-on-imu?language=en_US

[AnupamYedida]

I have already gone through this link and followed along. Sadly no progress with that :(

[MartyG-RealSense]

It could be part of other recent issues relating to Pi4 / Raspbian Buster. Links to other cases can be found in the discussion below

#4899

[AnupamYedida]

Tried that link as well, unfortunately no luck with that. I would appreciate any help with this.

[MartyG-RealSense]

Regarding the question of whether kernel 4.19 is supported by Librealsense, whilst it is not officially, a Pi 4 user reported it worked for them with Raspian Buster. Though importantly, they did not say if they were using a D435i.

#4818 (comment)

[AnupamYedida]

I suspect it 4.19 has issues with the HID interface. There are kernel patches for Ubuntu 16 and 18, but I couldn't get it to work on Debian Buster on the Pi4.

[ev-mp]

@AnupamYedida hello, we've recently received RPI4 units to start working on the reproduction.
One immediate observation is that running IMU sensors using the native Raspbian kernel is not possible as the core IIO kernel modules are not built into it. So for full support one will need to reconfigure and recompile the kernel, which is not, obviously, the first choice.

We'll look into the reasons for FORCE_LIBUVC=true not working properly as it should and update accordingly.
Sorry for the inconvenience

[AnupamYedida]

I see. Much appreciated :)

[rofreli]

Thank you, MartyG-Realsense, that's mean I will continue forcing with ubuntu in raspberry pi 4. It does not work well, but I can test somethings, including IMU.

[RealSenseCustomerSupport]

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@AnupamYedida is this issue still occurring with the latest SDK and f/w combinations?

[RealSenseCustomerSupport]

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@AnupamYedida it seems that this issue has been resolved so if we do not hear otherwise we will close this ticket next week.