backend: dfu - add support for multiple cameras

common/fw-update-helper.cpp

@@ -174,12 +174,9 @@ 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());

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

@@ -77,6 +77,13 @@ if [ -n "$(v4l2-ctl --list-devices | grep tegra)" ]; then
     if [[ $info -eq 0 ]] && [[ $bus != "usb" ]]; then
       [[ -e $dev_ln ]] && sudo unlink $dev_ln
       sudo ln -s $vid $dev_ln
+      #TODO: create DFU device link for camera on jetson
+      subdev=$(media-ctl --print-dot | grep "D4XX depth ${camera} | awk -F'|' '{print $2}' | awk -F'/' '{print $3}' | tr -d ' '")
+      i2cdev=$(ls -l /sys/class/video4linux/${subdev}/device | awk -F'/' '{print $9}')
+      dev_dfu_name="/dev/d4xx-dfu-${i2cdev}"
+      dev_dfu_ln="/dev/d4xx-dfu-${cam_id}"
+      [[ -e $dev_dfu_ln ]] && sudo unlink $dev_dfu_ln
+      sudo ln -s $dev_dfu_name $dev_dfu_ln
     fi
   done
 exit 0
@@ -87,6 +94,7 @@ fi
 dot=$(media-ctl --print-dot)
 # for all d457 muxes a, b, c and d
 for camera in a b c d; do
+  create_dfu_dev=0
   for sens in "${!d4xx_vc_named[@]}"; do
     # get sensor binding from media controller
     d4xx_sens=$(echo "${dot}" | grep "D4XX $sens $camera" | awk '{print $1}')
@@ -97,6 +105,7 @@ for camera in a b c d; do
     vid_nd=$(echo "${dot}" | grep "$be_soc:port${d4xx_vc_named[${sens}]}" | grep -v dashed | 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
@@ -108,6 +117,7 @@ for camera in a b c d; do
       # activate ipu6 link enumeration feature
       v4l2-ctl -d $dev_ln -c enumerate_graph_link=1
     fi
+    create_dfu_dev=1 # will create DFU device link for camera
     # metadata link
     # skip IR metadata node for now.
     [[ ${camera_names["${sens}"]} == 'ir' ]] && continue
@@ -122,6 +132,19 @@ for camera in a b c d; do
       sudo ln -s "/dev/video$(($vid_num+1))" $dev_md_ln
     fi
   done
+  # create DFU device link for camera
+  if [[ ${create_dfu_dev} -eq 1 ]]; then
+    #subdev=$(echo ${dot} | grep "D4XX depth ${camera} | awk -F'|' '{print $2}' | awk -F'/' '{print $3}' | tr -d ' '")
+    #i2cdev=$(ls -l /sys/class/video4linux/${subdev}/device | awk -F'/' '{print $9}')
+    dev_dfu_name="/dev/d4xx-dfu-${camera}"
+    dev_dfu_ln="/dev/d4xx-dfu-${camera_idx[${camera}]}"
+    if [[ $info -eq 0 ]]; then
+      [[ -e $dev_dfu_ln ]] && sudo unlink $dev_dfu_ln
+      sudo ln -s $dev_dfu_name $dev_dfu_ln
+    else
+      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
 
 # end of file

src/backend.h

@@ -192,6 +192,7 @@ namespace librealsense
             uint16_t mi = 0;
             std::string unique_id = "";
             std::string device_path = "";
+            std::string dfu_device_path = ""; // for mipi multiple cameras
             std::string serial = "";
             usb_spec conn_spec = usb_undefined;
             uint32_t uvc_capabilities = 0;

src/ds/d400/d400-device.cpp

@@ -954,6 +954,7 @@ namespace librealsense
         register_info(RS2_CAMERA_INFO_PRODUCT_LINE, "D400");
         register_info(RS2_CAMERA_INFO_RECOMMENDED_FIRMWARE_VERSION, _recommended_fw_version);
         register_info(RS2_CAMERA_INFO_CAMERA_LOCKED, _is_locked ? "YES" : "NO");
+        register_info(RS2_CAMERA_INFO_DFU_DEVICE_PATH, group.uvc_devices.front().dfu_device_path);
 
         if (usb_modality)
             register_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR, usb_type_str);

src/linux/backend-v4l2.cpp

@@ -806,6 +806,7 @@ namespace librealsense
             // assign unique id for mipi by appending camera id to bus_info (bus_info is same for each mipi port)
             // Note - jetson can use only bus_info, as card is different for each sensor and metadata node.
             info.unique_id = bus_info + "-" + std::to_string(cam_id); // use bus_info as per camera unique id for mipi
+            info.dfu_device_path = "/dev/d4xx-dfu504"; // Use legacy DFU device node used in firmware_update_manager
             info.conn_spec = usb_specification;
             info.uvc_capabilities = get_dev_capabilities(dev_name).device_caps;
 
@@ -837,6 +838,7 @@ namespace librealsense
                     std::string device_md_path = "video-rs-" + vs + "-md-" + std::to_string(i);
                     std::string video_path = "/dev/" + device_path;
                     std::string video_md_path = "/dev/" + device_md_path;
+                    std::string dfu_device_path = "/dev/d4xx-dfu-" + std::to_string(i);
                     uvc_device_info info{};
 
                     // Get Video node
@@ -857,6 +859,14 @@ namespace librealsense
                         continue;
                     }
 
+                    // Get DFU node for MIPI camera
+                    vfd = open(dfu_device_path.c_str(), O_RDONLY | O_NONBLOCK);
+
+                    if (vfd > 0) {
+                        ::close(vfd); // file exists, close file and continue to assign it
+                        info.dfu_device_path = dfu_device_path;
+                    }
+
                     info.mi = vs.compare("imu") ? 0 : 4;
                     info.unique_id += "-" + std::to_string(i);
                     mipi_rs_enum_nodes.emplace_back(info, video_path);

src/to-string.cpp

@@ -491,6 +491,7 @@ const char * get_string( rs2_camera_info value )
     CASE( ASIC_SERIAL_NUMBER )
     CASE( FIRMWARE_UPDATE_ID )
     CASE( IP_ADDRESS )
+    CASE( DFU_DEVICE_PATH )
     default:
         assert( ! is_valid( value ) );
         return UNKNOWN_VALUE;