Alderalke branch to development.

config/99-realsense-d4xx-ipu6.rules

@@ -0,0 +1,7 @@
+##Version=1.0##
+# Device rules for Intel RealSense MIPI devices on IPU6
+#KERNEL=="d4xx", SUBSYSTEM=="module", RUN+="/bin/bash -c 'echo UDEV-D4XX > /dev/kmsg'"
+SUBSYSTEM=="video4linux", ATTR{name}=="DS5 mux a", RUN+="/bin/bash -c 'echo UDEV-%s{name} > /dev/kmsg; /usr/local/bin/rs_ipu6_d457_bind.sh -m a > /dev/kmsg; /usr/local/bin/rs-enum.sh -q -m a > /dev/kmsg'"
+SUBSYSTEM=="video4linux", ATTR{name}=="DS5 mux b", RUN+="/bin/bash -c 'echo UDEV-%s{name} > /dev/kmsg; /usr/local/bin/rs_ipu6_d457_bind.sh -m b > /dev/kmsg; /usr/local/bin/rs-enum.sh -q -m b > /dev/kmsg'"
+SUBSYSTEM=="video4linux", ATTR{name}=="DS5 mux c", RUN+="/bin/bash -c 'echo UDEV-%s{name} > /dev/kmsg; /usr/local/bin/rs_ipu6_d457_bind.sh -m c > /dev/kmsg; /usr/local/bin/rs-enum.sh -q -m c > /dev/kmsg'"
+SUBSYSTEM=="video4linux", ATTR{name}=="DS5 mux d", RUN+="/bin/bash -c 'echo UDEV-%s{name} > /dev/kmsg; /usr/local/bin/rs_ipu6_d457_bind.sh -m d > /dev/kmsg; /usr/local/bin/rs-enum.sh -q -m d > /dev/kmsg'"

scripts/rs-enum.sh

@@ -16,13 +16,22 @@
 #
 # 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
 #
 # parse command line parameters
@@ -33,22 +42,33 @@ while [[ $# -gt 0 ]]; do
       info=1
       shift
     ;;
+    -q|--quiet)
+      quiet=1
+      shift
+    ;;
+    -m|--mux)
+      shift
+      mux_param=$1
+      shift
+    ;;
     *)
       info=0
+      quiet=0
       shift
     ;;
     esac
 done
 #set -x
+mux_list=${mux_param:-'a b c d'}
 
 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 d4xx_vc_named=([depth]=1 [rgb]=3 ["motion detection"]=5 [imu]=6)
 declare -A camera_names=( [depth]=depth [rgb]=color ["motion detection"]=ir [imu]=imu )
 
 camera_vid=("depth" "depth-md" "color" "color-md" "ir" "imu")
 
-printf "Bus\tCamera\tSensor\tNode Type\tVideo Node\tRS Link\n"
+[[ $quiet -eq 0 ]] && printf "Bus\tCamera\tSensor\tNode Type\tVideo Node\tRS Link\n"
 
 # For Jetson we have simple method
 if [ -n "$(v4l2-ctl --list-devices | grep tegra)" ]; then
@@ -72,12 +92,12 @@ if [ -n "$(v4l2-ctl --list-devices | grep tegra)" ]; then
 	    type="Streaming"
     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_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 $dev_ln
-      #TODO: create DFU device link for camera on jetson
+      # Create DFU device link for camera on jetson
       subdev=$(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}"
@@ -93,23 +113,28 @@ fi
 # cache media-ctl output
 dot=$(media-ctl --print-dot)
 # for all d457 muxes a, b, c and d
-for camera in a b c d; do
+for camera in $mux_list; do
   create_dfu_dev=0
   for sens in "${!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}')
+
     [[ -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
+
+    [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\tStreaming\t%s\t%s\n' "$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
@@ -121,11 +146,14 @@ for camera in a b c d; do
     # metadata link
     # 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
+
+    [[ $quiet -eq 0 ]] && printf '%s\t%d\t%s\tMetadata\t/dev/video%s\t%s\n' "$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
@@ -140,7 +168,7 @@ for camera in a b c d; do
       [[ -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
+      [[ $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

scripts/rs_ipu6_d457_bind.sh

@@ -0,0 +1,66 @@
+#!/bin/bash
+# d457_bind.sh
+while [[ $# -gt 0 ]]; do
+  case $1 in
+    -q|--quiet)
+      quiet=1
+      shift
+    ;;
+    -m|--mux)
+      shift
+      mux_param=$1
+      shift
+    ;;
+    *)
+      quiet=0
+      shift
+    ;;
+    esac
+done
+
+declare -A media_mux_capture_link=( [a]='' [b]='1 ' [c]='2 ' [d]='3 ' )
+declare -A media_mux_csi2_link=( [a]=0 [b]=1 [c]=2 [d]=3 )
+
+declare -A serdes_mux_i2c_bus=( [a]=2 [b]=2 [c]=4 [d]=4 )
+mux_list=${mux_param:-'a b c d'}
+
+#media-ctl -r
+# cache media-ctl output
+dot=$(media-ctl --print-dot)
+
+# DS5 MUX. Can be {a, b, c, d}.
+for mux in $mux_list; do
+is_mux=$(echo "${dot}" | grep "DS5 mux ${mux}")
+[[ -z $is_mux ]] && continue;
+
+[[ $quiet -eq 0 ]] && echo -n "Bind DS5 mux ${mux} .. "
+csi2_be_soc="CSI2 BE SOC ${media_mux_csi2_link[${mux}]}"
+
+csi2="CSI-2 ${media_mux_csi2_link[${mux}]}"
+
+be_soc_cap="BE SOC ${media_mux_capture_link[${mux}]}capture"
+
+media-ctl -v -l "\"Intel IPU6 ${csi2}\":1 -> \"Intel IPU6 ${csi2_be_soc}\":0[1]" 1>/dev/null
+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
+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
+
+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
+
+# IR link
+media-ctl -v -l "\"D4XX motion detection ${mux}\":0 -> \"DS5 mux ${mux}\":3[1]" 1>/dev/null
+media-ctl -v -l "\"Intel IPU6 ${csi2_be_soc}\":5 -> \"Intel IPU6 ${be_soc_cap} 4\":0[5]" 1>/dev/null
+
+# IMU link
+media-ctl -v -l "\"D4XX imu ${mux}\":0 -> \"DS5 mux ${mux}\":4[1]" 1>/dev/null
+media-ctl -v -l "\"Intel IPU6 ${csi2_be_soc}\":6 -> \"Intel IPU6 ${be_soc_cap} 5\":0[5]" 1>/dev/null
+[[ $quiet -eq 0 ]] && echo done
+done

scripts/setup_ipu6_udev_rules.sh

@@ -0,0 +1,39 @@
+#!/bin/bash -e
+
+# USAGE:
+# Normal usecase - without any parameters.
+#
+# [optional parameters]:
+# --uninstall : remove permissions for realsense devices.
+
+install=true
+
+for var in "$@"
+do
+    if [ "$var" = "--uninstall" ]; then
+        install=false
+    fi
+done
+
+if [ "$install" = true ]; then
+    echo "Setting-up binding IPU6 and D4XX for RealSense devices"
+else
+    echo "Remove binding for RealSense devices"
+fi
+
+if [ "$install" = true ]; then
+    sudo cp scripts/rs-enum.sh /usr/local/bin/rs-enum.sh
+    sudo cp scripts/rs_ipu6_d457_bind.sh /usr/local/bin/rs_ipu6_d457_bind.sh
+    sudo cp config/99-realsense-d4xx-ipu6.rules /etc/udev/rules.d/
+else
+    sudo rm /etc/udev/rules.d/99-realsense-d4xx-ipu6.rules
+    sudo rm /usr/local/bin/rs_ipu6_d457_bind.sh
+    sudo rm /usr/local/bin/rs-enum.sh
+fi
+
+sudo udevadm control --reload-rules && sudo udevadm trigger
+if [ "$install" = true ]; then
+    echo "udev-rules successfully installed"
+else
+    echo "udev-rules successfully uninstalled"
+fi