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Adlp metadata #11822

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merged 4 commits into from
May 25, 2023
Merged

Adlp metadata #11822

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fd1f272
backend-v4l: ipu6 integration
dmipx May 18, 2023
7498df3
udev rules: update dfu filter for all d4xx dfu node names
dmipx May 21, 2023
154b658
backend-v4l2: use custom structure for metadata.
dmipx May 22, 2023
8786dc5
scripts: enable metadata bindings.
dmipx May 24, 2023
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2 changes: 1 addition & 1 deletion config/99-realsense-d4xx-mipi-dfu.rules
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Original file line number Diff line number Diff line change
@@ -1,2 +1,2 @@
SUBSYSTEM=="d4xx-class",KERNEL=="d4xx-dfu[0-9]*", GROUP="video", MODE="0660"
SUBSYSTEM=="d4xx-class",KERNEL=="d4xx-dfu*", GROUP="video", MODE="0660"

2 changes: 0 additions & 2 deletions scripts/rs-enum.sh
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Expand Up @@ -144,8 +144,6 @@ for camera in $mux_list; do
fi
create_dfu_dev=1 # will create DFU device link for camera
# metadata link
# skip all metadata nodes for now
continue
# skip IR metadata node for now.
[[ ${camera_names["${sens}"]} == 'ir' ]] && continue
# skip IMU metadata node.
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8 changes: 4 additions & 4 deletions scripts/rs_ipu6_d457_bind.sh
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Expand Up @@ -44,16 +44,16 @@ media-ctl -v -l "\"Intel IPU6 ${csi2}\":1 -> \"Intel IPU6 ${csi2_be_soc}\":0[1]"
media-ctl -v -l "\"DS5 mux ${mux}\":0 -> \"Intel IPU6 ${csi2}\":0[1]" 1>/dev/null

media-ctl -v -l "\"D4XX depth ${mux}\":0 -> \"DS5 mux ${mux}\":1[1]" 1>/dev/null
# video streaming node
# DEPTH video streaming node
media-ctl -v -l "\"Intel IPU6 ${csi2_be_soc}\":1 -> \"Intel IPU6 ${be_soc_cap} 0\":0[5]" 1>/dev/null
# metadata node
#media-ctl -v -l "\"Intel IPU6 ${csi2_be_soc}\":2 -> \"Intel IPU6 ${be_soc_cap} 1\":0[5]" 1>/dev/null
# DEPTH metadata node
media-ctl -v -l "\"Intel IPU6 ${csi2_be_soc}\":2 -> \"Intel IPU6 ${be_soc_cap} 1\":0[5]" 1>/dev/null

media-ctl -v -l "\"D4XX rgb ${mux}\":0 -> \"DS5 mux ${mux}\":2[1]" 1>/dev/null
# RGB link
media-ctl -v -l "\"Intel IPU6 ${csi2_be_soc}\":3 -> \"Intel IPU6 ${be_soc_cap} 2\":0[5]" 1>/dev/null
# RGB metadata node
#media-ctl -v -l "\"Intel IPU6 ${csi2_be_soc}\":4 -> \"Intel IPU6 ${be_soc_cap} 3\":0[5]" 1>/dev/null
media-ctl -v -l "\"Intel IPU6 ${csi2_be_soc}\":4 -> \"Intel IPU6 ${be_soc_cap} 3\":0[5]" 1>/dev/null

# IR link
media-ctl -v -l "\"D4XX motion detection ${mux}\":0 -> \"DS5 mux ${mux}\":3[1]" 1>/dev/null
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33 changes: 30 additions & 3 deletions src/linux/backend-v4l2.cpp
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Expand Up @@ -869,8 +869,8 @@ namespace librealsense

info.mi = vs.compare("imu") ? 0 : 4;
info.unique_id += "-" + std::to_string(i);
info.uvc_capabilities &= ~(V4L2_CAP_META_CAPTURE); // clean caps
mipi_rs_enum_nodes.emplace_back(info, video_path);

// Get metadata node
// Check if file on video_md_path is exists
vfd = open(video_md_path.c_str(), O_RDONLY | O_NONBLOCK);
Expand Down Expand Up @@ -2201,7 +2201,8 @@ namespace librealsense

void v4l_uvc_meta_device::streamon() const
{
if (_md_fd != -1)
bool jetson_platform = is_platform_jetson();
if ((_md_fd != -1) && jetson_platform)
{
// D457 development - added for mipi device, for IR because no metadata there
// Metadata stream shall be configured first to allow sync with video node
Expand All @@ -2211,6 +2212,12 @@ namespace librealsense
// Invoke UVC streaming request
v4l_uvc_device::streamon();

// Metadata stream configured last for IPU6 and it will be in sync with video node
if ((_md_fd != -1) && !jetson_platform)
{
stream_ctl_on(_md_fd, _md_type);
}

}

void v4l_uvc_meta_device::streamoff() const
Expand Down Expand Up @@ -2337,10 +2344,30 @@ namespace librealsense
throw linux_backend_exception("ioctl(VIDIOC_G_FMT): " + _md_name + " node is not metadata capture");

bool success = false;

for (const uint32_t& request : { V4L2_META_FMT_D4XX, V4L2_META_FMT_UVC})
{
// Configure metadata format - try d4xx, then fallback to currently retrieve UVC default header of 12 bytes
memcpy(fmt.fmt.raw_data,&request,sizeof(request));
memcpy(fmt.fmt.raw_data, &request, sizeof(request));
// use only for IPU6?
if ((_dev.cap.capabilities & V4L2_CAP_VIDEO_CAPTURE_MPLANE) && !is_platform_jetson())
{
/* Sakari patch for videodev2.h. This structure will be within kernel > 6.4 */
struct v4l2_meta_format {
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@dmipx dmipx May 22, 2023 •
edited
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done. @Nir-Az
this is union with 200 bytes so we don't care about some integers appended.

struct v4l2_format {
	__u32	 type;
	union {
		struct v4l2_pix_format		pix;     /* V4L2_BUF_TYPE_VIDEO_CAPTURE */
		struct v4l2_pix_format_mplane	pix_mp;  /* V4L2_BUF_TYPE_VIDEO_CAPTURE_MPLANE */
		struct v4l2_window		win;     /* V4L2_BUF_TYPE_VIDEO_OVERLAY */
		struct v4l2_vbi_format		vbi;     /* V4L2_BUF_TYPE_VBI_CAPTURE */
		struct v4l2_sliced_vbi_format	sliced;  /* V4L2_BUF_TYPE_SLICED_VBI_CAPTURE */
		struct v4l2_sdr_format		sdr;     /* V4L2_BUF_TYPE_SDR_CAPTURE */
		struct v4l2_meta_format		meta;    /* V4L2_BUF_TYPE_META_CAPTURE */
		__u8	raw_data[200];                   /* user-defined */
	} fmt;
};

uint32_t dataformat;
uint32_t buffersize;
uint32_t width;
uint32_t height;
uint32_t bytesperline;
} meta;
// copy fmt from g_fmt ioctl
memcpy(&meta, fmt.fmt.raw_data, sizeof(meta));
// set fmt width, d4xx metadata is only one line
meta.dataformat = request;
meta.width = profile.width;
meta.height = 1;
memcpy(fmt.fmt.raw_data, &meta, sizeof(meta));
}

if(xioctl(_md_fd, VIDIOC_S_FMT, &fmt) >= 0)
{
Expand Down