Alderalke branch to development.

common/fw-update-helper.cpp

@@ -146,12 +146,9 @@ namespace rs2
         device_debug.build_command(dfu_opcode, 1);
 
         _progress = 30;
-        // Grant permissions for writing
-        // skipped for now - must be done in sudo
-        //chmod("/dev/d4xx-dfu504", __S_IREAD|__S_IWRITE);
 
         // Write signed firmware to appropriate file descritptor
-        std::ofstream fw_path_in_device("/dev/d4xx-dfu504", std::ios::binary);
+        std::ofstream fw_path_in_device(_dev.get_info(RS2_CAMERA_INFO_DFU_DEVICE_PATH), std::ios::binary);
         if (fw_path_in_device)
         {
             fw_path_in_device.write(reinterpret_cast<const char*>(_fw.data()), _fw.size());

config/99-realsense-d4xx-mipi-dfu.rules

@@ -1,2 +1,6 @@
-SUBSYSTEM=="d4xx-class",KERNEL=="d4xx-dfu[0-9]*", GROUP="video", MODE="0660"
+# Device rules for Intel RealSense MIPI devices.
 
+# DFU rules
+SUBSYSTEM=="d4xx-class",KERNEL=="d4xx-dfu*", GROUP="video", MODE="0660"
+# video links for SDK, binding for ipu6
+SUBSYSTEM=="video4linux", ATTR{name}=="DS5 mux *", RUN+="/bin/bash -c 'rs_ipu6_d457_bind.sh > /dev/kmsg; rs-enum.sh -q > /dev/kmsg'"

include/librealsense2/h/rs_sensor.h

@@ -34,6 +34,7 @@ typedef enum rs2_camera_info {
     RS2_CAMERA_INFO_ASIC_SERIAL_NUMBER             , /**< ASIC serial number */
     RS2_CAMERA_INFO_FIRMWARE_UPDATE_ID             , /**< Firmware update ID */
     RS2_CAMERA_INFO_IP_ADDRESS                     , /**< IP address for remote camera. */
+    RS2_CAMERA_INFO_DFU_DEVICE_PATH                , /**< DFU Device node path */
     RS2_CAMERA_INFO_COUNT                            /**< Number of enumeration values. Not a valid input: intended to be used in for-loops. */
 } rs2_camera_info;
 const char* rs2_camera_info_to_string(rs2_camera_info info);

scripts/rs-enum.sh

@@ -16,14 +16,30 @@
 #
 # Alderlake:
 #$ ./rs-enum.sh 
-# Bus   Camera  Sensor  Node Type  Video Node    RS Link
-# ipu6  3       depth   Streaming  /dev/video52  /dev/video-rs-depth-3
-# ipu6  3       depth   Metadata   /dev/video53  /dev/video-rs-depth-md-3
-# ipu6  3       ir      Streaming  /dev/video56  /dev/video-rs-ir-3
-# ipu6  3       color   Streaming  /dev/video54  /dev/video-rs-color-3
-# ipu6  3       color   Metadata   /dev/video55  /dev/video-rs-color-md-3
-#
+#Bus	Camera	Sensor	Node Type	Video Node	RS Link
+# ipu6	0	depth	  Streaming	/dev/video4 	  /dev/video-rs-depth-0
+# ipu6	0	depth	  Metadata	/dev/video5	    /dev/video-rs-depth-md-0
+# ipu6	0	ir	    Streaming	/dev/video8	    /dev/video-rs-ir-0
+# ipu6	0	imu	    Streaming	/dev/video9	    /dev/video-rs-imu-0
+# ipu6	0	color	  Streaming	/dev/video6	    /dev/video-rs-color-0
+# ipu6	0	color	  Metadata	/dev/video7	    /dev/video-rs-color-md-0
+# i2c 	0	d4xx   	Firmware 	/dev/d4xx-dfu-a	/dev/d4xx-dfu-0
+# ipu6	2	depth	  Streaming	/dev/video36	  /dev/video-rs-depth-2
+# ipu6	2	depth	  Metadata	/dev/video37  	/dev/video-rs-depth-md-2
+# ipu6	2	ir	    Streaming	/dev/video40	  /dev/video-rs-ir-2
+# ipu6	2	imu	    Streaming	/dev/video41	  /dev/video-rs-imu-2
+# ipu6	2	color 	Streaming	/dev/video38	  /dev/video-rs-color-2
+# ipu6	2	color 	Metadata	/dev/video39	  /dev/video-rs-color-md-2
+# i2c 	2	d4xx   	Firmware 	/dev/d4xx-dfu-c	/dev/d4xx-dfu-2
+
 # Dependency: v4l-utils
+v4l2_util=$(which v4l2-ctl)
+media_util=$(which media-ctl)
+if [ -z ${v4l2_util} ]; then
+  echo "v4l2-ctl not found, install with: sudo apt install v4l-utils"
+  exit 1
+fi
+metadata_enabled=1
 #
 # parse command line parameters
 # for '-i' parameter, print links only
@@ -33,95 +49,184 @@ while [[ $# -gt 0 ]]; do
       info=1
       shift
     ;;
+    -q|--quiet)
+      quiet=1
+      shift
+    ;;
+    -m|--mux)
+      shift
+      mux_param=$1
+      shift
+    ;;
+    -n|--no-metadata)
+      metadata_enabled=0
+      shift
+    ;;
     *)
       info=0
+      quiet=0
       shift
     ;;
     esac
 done
 #set -x
+if [[ $info -eq 0 ]]; then
+  if [ "$(id -u)" -ne 0 ]; then
+          echo "Please run as root." >&2
+          exit 1
+  fi
+fi
 
-declare -A camera_idx=( [a]=0 [b]=1 [c]=2 [d]=3 )
-declare -A d4xx_vc=([1]=1 [2]=3 [4]=5)
-declare -A d4xx_vc_named=([depth]=1 [rgb]=3 ["motion detection"]=5 [imu]=7)
-declare -A camera_names=( [depth]=depth [rgb]=color ["motion detection"]=ir [imu]=imu )
+mux_list=${mux_param:-'a b c d e f g h'}
+
+declare -A camera_idx=( [a]=0 [b]=1 [c]=2 [d]=3 [e]=4 [f]=5 [g]=6 [h]=7)
+declare -A d4xx_vc_named=([depth]=1 [rgb]=3 [ir]=5 [imu]=6)
+declare -A camera_names=( [depth]=depth [rgb]=color [ir]=ir [imu]=imu )
 
 camera_vid=("depth" "depth-md" "color" "color-md" "ir" "imu")
 
-printf "Bus\tCamera\tSensor\tNode Type\tVideo Node\tRS Link\n"
 
-# For Jetson we have simple method
-if [ -n "$(v4l2-ctl --list-devices | grep tegra)" ]; then
-  for ((i = 0; i < 127; i++)); do
-    if [ ! -c /dev/video${i} ]; then
-      break;
-    fi
+mdev=$(${v4l2_util} --list-devices | grep -A1 tegra | grep media)
+
+# For Jetson we have `simple` method
+if [ -n "${mdev}" ]; then
+# cache media-ctl output
+dot=$(${media_util} -d ${mdev} --print-dot)
+
+vid_dev_idx=$(echo "${dot}" | grep "DS5 mux" | grep "vi-output" | tr '\\n' '\n' | grep video | awk -F'"' '{print $1}' | grep -Po "\\d+")
+[[ -z ${vid_dev_idx} ]] && exit 0
+[[ $quiet -eq 0 ]] && printf "Bus\tCamera\tSensor\tNode Type\tVideo Node\tRS Link\n"
+  for i in $vid_dev_idx; do
+    vid="/dev/video${i}"
+    [[ ! -c "${vid}" ]] && break
     cam_id=$((i/6))
     sens_id=$((i%6))
-    vid="/dev/video${i}"
-    dev_name=$(v4l2-ctl -d ${vid} -D | grep 'Driver name' | head -n1 | awk -F' : ' '{print $2}')
-    dev_ln="/dev/video-rs-${camera_vid[${sens_id}]}-${cam_id}"
-    bus="mipi"
-    if [ "$dev_name" = "uvcvideo" ]; then
-      dev_ln=$vid
-      bus="usb"
+    dev_name=$(${v4l2_util} -d ${vid} -D | grep 'Driver name' | head -n1 | awk -F' : ' '{print $2}')
+    bus="mipi"   
+    if [ "${dev_name}" = "tegra-video" ]; then
+    	dev_ln="/dev/video-rs-${camera_vid[${sens_id}]}-${cam_id}"
+    else
+        continue
+    fi
+    type="Streaming"
+    sensor_name=$(echo "${camera_vid[${sens_id}]}" | awk -F'-' '{print $1}')
+    [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\t%s\t%s\t%s\n' ${bus} ${cam_id} ${sensor_name} ${type} ${vid} ${dev_ln}
+
+    # create link only in case we choose not only to show it
+    if [[ $info -eq 0 ]]; then
+      [[ -e $dev_ln ]] && unlink $dev_ln
+      ln -s $vid $dev_ln
+      if [[ "${sensor_name}" == 'depth' ]]; then
+        # Create DFU device link for camera on jetson
+        i2cdev=$(echo "${dot}" | grep  "${vid}" | tr '\\n' ' ' | awk '{print $5}')
+        dev_dfu_name="/dev/d4xx-dfu-${i2cdev}"
+        dev_dfu_ln="/dev/d4xx-dfu-${cam_id}"
+        [[ -e $dev_dfu_ln ]] && unlink $dev_dfu_ln
+        ln -s $dev_dfu_name $dev_dfu_ln
+      fi
     fi
-    if [ -n "$(echo ${camera_vid[${sens_id}]} | awk /md/)" ]; then
-	    type="Metadata"
+    # find metadata
+    # skip IR and imu metadata node for now.
+    [[ ${sensor_name} == 'ir' ]] && continue
+    [[ ${sensor_name} == 'imu' ]] && continue
+
+    i=$((i+1))
+    sens_id=$((i%6))
+
+    type="Metadata"
+    vid="/dev/video${i}"
+    [[ ! -c "${vid}" ]] && break
+    dev_name=$(${v4l2_util} -d ${vid} -D | grep 'Driver name' | head -n1 | awk -F' : ' '{print $2}')
+    if [ "${dev_name}" = "tegra-embedded" ]; then
+      dev_md_ln="/dev/video-rs-${camera_vid[${sens_id}]}-${cam_id}"
     else
-	    type="Streaming"
+       continue
     fi
     sensor_name=$(echo "${camera_vid[${sens_id}]}" | awk -F'-' '{print $1}')
-    printf '%s\t%d\t%s\t%s\t%s\t%s\n' ${bus} ${cam_id} ${sensor_name} ${type} ${vid} ${dev_ln}
+    [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\t%s\t%s\t%s\n' ${bus} ${cam_id} ${sensor_name} ${type} ${vid} ${dev_md_ln}
+
     # create link only in case we choose not only to show it
-    if [[ $info -eq 0 ]] && [[ $bus != "usb" ]]; then
-      [[ -e $dev_ln ]] && sudo unlink $dev_ln
-      sudo ln -s $vid $dev_ln
+    if [[ $info -eq 0 ]]; then
+      [[ -e $dev_md_ln ]] && unlink $dev_md_ln
+      ln -s $vid $dev_md_ln
     fi
   done
-exit 0
+  exit 0
 fi
 
 #ADL-P IPU6
+mdev=$(${v4l2_util} --list-devices | grep -A1 ipu6 | grep media)
+if [ -n "${mdev}" ]; then
+[[ $quiet -eq 0 ]] && printf "Bus\tCamera\tSensor\tNode Type\tVideo Node\tRS Link\n"
 # cache media-ctl output
-dot=$(media-ctl --print-dot)
+dot=$(${media_util} -d ${mdev} --print-dot | grep -v dashed)
 # for all d457 muxes a, b, c and d
-for camera in a b c d; do
+for camera in $mux_list; do
+  create_dfu_dev=0
+  vpad=0
+  if [ "${camera}" \> "d" ]; then
+	  vpad=6
+  fi
   for sens in "${!d4xx_vc_named[@]}"; do
     # get sensor binding from media controller
     d4xx_sens=$(echo "${dot}" | grep "D4XX $sens $camera" | awk '{print $1}')
+
     [[ -z $d4xx_sens ]] && continue; # echo "SENS $sens NOT FOUND" && continue
+
     d4xx_sens_mux=$(echo "${dot}" | grep $d4xx_sens:port0 | awk '{print $3}' | awk -F':' '{print $1}')
     csi2=$(echo "${dot}" | grep $d4xx_sens_mux:port0 | awk '{print $3}' | awk -F':' '{print $1}')
-    be_soc=$(echo "${dot}" | grep $csi2:port1 | grep -v dashed | awk '{print $3}' | awk -F':' '{print $1}')
-    vid_nd=$(echo "${dot}" | grep "$be_soc:port${d4xx_vc_named[${sens}]}" | grep -v dashed | awk '{print $3}' | awk -F':' '{print $1}')
+    be_soc=$(echo "${dot}" | grep $csi2:port1 | awk '{print $3}' | awk -F':' '{print $1}')
+    vid_nd=$(echo "${dot}" | grep -w "$be_soc:port$((${d4xx_vc_named[${sens}]}+${vpad}))" | awk '{print $3}' | awk -F':' '{print $1}')
     [[ -z $vid_nd ]] && continue; # echo "SENS $sens NOT FOUND" && continue
+
     vid=$(echo "${dot}" | grep "${vid_nd}" | grep video | tr '\\n' '\n' | grep video | awk -F'"' '{print $1}')
+    [[ -z $vid ]] && continue;
     dev_ln="/dev/video-rs-${camera_names["${sens}"]}-${camera_idx[${camera}]}"
-    dev_name=$(v4l2-ctl -d $vid -D | grep Model | awk -F':' '{print $2}')
-    # echo Sensor: $sens,\t Device: $vid,\t Link $dev_ln
-    printf '%s\t%d\t%s\tStreaming\t%s\t%s\n' "$dev_name" ${camera_idx[${camera}]} ${camera_names["${sens}"]} $vid $dev_ln
+    dev_name=$(${v4l2_util} -d $vid -D | grep Model | awk -F':' '{print $2}')
+
+    [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\tStreaming\t%s\t%s\n' "$dev_name" ${camera_idx[${camera}]} ${camera_names["${sens}"]} $vid $dev_ln
+
     # create link only in case we choose not only to show it
     if [[ $info -eq 0 ]]; then
-      [[ -e $dev_ln ]] && sudo unlink $dev_ln
-      sudo ln -s $vid $dev_ln
+      [[ -e $dev_ln ]] && unlink $dev_ln
+      ln -s $vid $dev_ln
       # activate ipu6 link enumeration feature
-      v4l2-ctl -d $dev_ln -c enumerate_graph_link=1
+      ${v4l2_util} -d $dev_ln -c enumerate_graph_link=1
     fi
+    create_dfu_dev=1 # will create DFU device link for camera
     # metadata link
+    if [ "$metadata_enabled" -eq 0 ]; then
+        continue;
+    fi
     # skip IR metadata node for now.
     [[ ${camera_names["${sens}"]} == 'ir' ]] && continue
+    # skip IMU metadata node.
+    [[ ${camera_names["${sens}"]} == 'imu' ]] && continue
+
     vid_num=$(echo $vid | grep -o '[0-9]\+')
     dev_md_ln="/dev/video-rs-${camera_names["${sens}"]}-md-${camera_idx[${camera}]}"
-    dev_name=$(v4l2-ctl -d "/dev/video$(($vid_num+1))" -D | grep Model | awk -F':' '{print $2}')
-    # echo Metadata: $sens,\t Device: "/dev/video$(($vid_num+1))",\t Link: $dev_md_ln
-    printf '%s\t%d\t%s\tMetadata\t/dev/video%s\t%s\n' "$dev_name" ${camera_idx[${camera}]} ${camera_names["${sens}"]} $(($vid_num+1)) $dev_md_ln
+    dev_name=$(${v4l2_util} -d "/dev/video$(($vid_num+1))" -D | grep Model | awk -F':' '{print $2}')
+
+    [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\tMetadata\t/dev/video%s\t%s\n' "$dev_name" ${camera_idx[${camera}]} ${camera_names["${sens}"]} $(($vid_num+1)) $dev_md_ln
     # create link only in case we choose not only to show it
     if [[ $info -eq 0 ]]; then
-      [[ -e $dev_md_ln ]] && sudo unlink $dev_md_ln
-      sudo ln -s "/dev/video$(($vid_num+1))" $dev_md_ln
+      [[ -e $dev_md_ln ]] && unlink $dev_md_ln
+      ln -s "/dev/video$(($vid_num+1))" $dev_md_ln
+      ${v4l2_util} -d $dev_md_ln -c enumerate_graph_link=3
     fi
   done
+  # create DFU device link for camera
+  if [[ ${create_dfu_dev} -eq 1 ]]; then
+    dev_dfu_name="/dev/d4xx-dfu-${camera}"
+    dev_dfu_ln="/dev/d4xx-dfu-${camera_idx[${camera}]}"
+    if [[ $info -eq 0 ]]; then
+      [[ -e $dev_dfu_ln ]] && unlink $dev_dfu_ln
+      ln -s $dev_dfu_name $dev_dfu_ln
+    else
+      [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\tFirmware \t%s\t%s\n' " i2c " ${camera_idx[${camera}]} "d4xx   " $dev_dfu_name $dev_dfu_ln
+    fi
+  fi
 done
-
+fi
 # end of file
+