Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Workaround to support FLASH WRITE for MIPI camera D457 #13642

Open
wants to merge 2 commits into
base: development
Choose a base branch
from
Open

Workaround to support FLASH WRITE for MIPI camera D457 #13642

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
2 commits
Select commit Hold shift + click to select a range
73674cc
Workaround to support FLASH WRITE for MIPI camera D457
Arun-Prasad-V Dec 30, 2024
2e8b9ad
apply WA only for D457
Arun-Prasad-V Dec 31, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion src/ds/d400/d400-device.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -569,7 +569,7 @@ namespace librealsense
}
set_hw_monitor_for_auto_calib(_hw_monitor);

_ds_device_common = std::make_shared<ds_device_common>(this, _hw_monitor);
_ds_device_common = std::make_shared<ds_device_common>(this, _hw_monitor, (_pid == ds::RS457_PID)? true : false);
Copy link
Collaborator

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

I see on this common class we have another place where we distinguish between D400 and d500
if( auto dev = dynamic_cast< d400_device * >( _owner ) ) return dev->get_raw_depth_sensor();

So we can see if it's D457 by reading the camera name instead of passing this bool.

What do you think? which way is nicer?

Copy link
Contributor Author

Choose a reason for hiding this comment

The reason will be displayed to describe this comment to others. Learn more.

will check it.


// Define Left-to-Right extrinsics calculation (lazy)
// Reference CS - Right-handed; positive [X,Y,Z] point to [Left,Up,Forward] accordingly.
Expand Down
28 changes: 18 additions & 10 deletions src/ds/ds-device-common.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -181,7 +181,7 @@ namespace librealsense
return flash;
}

void update_flash_section(std::shared_ptr<hw_monitor> hwm, const std::vector<uint8_t>& image, uint32_t offset, uint32_t size, rs2_update_progress_callback_sptr callback, float continue_from, float ratio)
void update_flash_section(std::shared_ptr<hw_monitor> hwm, const std::vector<uint8_t>& image, uint32_t offset, uint32_t size, rs2_update_progress_callback_sptr callback, float continue_from, float ratio, bool is_d457)
{
size_t sector_count = size / ds::FLASH_SECTOR_SIZE;
size_t first_sector = offset / ds::FLASH_SECTOR_SIZE;
Expand All @@ -202,12 +202,20 @@ namespace librealsense
cmdFES.param2 = 1;
auto res = hwm->send(cmdFES);

int max_transfer_size_per_packet = (int)HW_MONITOR_COMMAND_SIZE;

// This is a WORKAROUND to support MIPI camera D457.
// If the packet size is more than 128 bytes, FLASH_WRITE is not working as expected.
// Remove this line after fixing the issue.
if (is_d457) max_transfer_size_per_packet = 128;

for (int i = 0; i < ds::FLASH_SECTOR_SIZE; )
{
auto index = sector_index * ds::FLASH_SECTOR_SIZE + i;
if (index >= offset + size)
break;
int packet_size = std::min((int)(HW_MONITOR_COMMAND_SIZE - (i % HW_MONITOR_COMMAND_SIZE)), (int)(ds::FLASH_SECTOR_SIZE - i));
int packet_size = std::min((int)(max_transfer_size_per_packet - (i % max_transfer_size_per_packet)), (int)(ds::FLASH_SECTOR_SIZE - i));

command cmdFWB(ds::FWB);
cmdFWB.require_response = true;
cmdFWB.param1 = (int)index;
Expand All @@ -223,19 +231,19 @@ namespace librealsense
}

void update_section(std::shared_ptr<hw_monitor> hwm, const std::vector<uint8_t>& merged_image, flash_section fs, uint32_t tables_size,
rs2_update_progress_callback_sptr callback, float continue_from, float ratio)
rs2_update_progress_callback_sptr callback, float continue_from, float ratio, bool is_d457)
{
auto first_table_offset = fs.tables.front().offset;
float total_size = float(fs.app_size + tables_size);

float app_ratio = fs.app_size / total_size * ratio;
float tables_ratio = tables_size / total_size * ratio;

update_flash_section(hwm, merged_image, fs.offset, fs.app_size, callback, continue_from, app_ratio);
update_flash_section(hwm, merged_image, first_table_offset, tables_size, callback, app_ratio, tables_ratio);
update_flash_section(hwm, merged_image, fs.offset, fs.app_size, callback, continue_from, app_ratio, is_d457);
update_flash_section(hwm, merged_image, first_table_offset, tables_size, callback, app_ratio, tables_ratio, is_d457);
}

void update_flash_internal(std::shared_ptr<hw_monitor> hwm, const std::vector<uint8_t>& image, std::vector<uint8_t>& flash_backup, rs2_update_progress_callback_sptr callback, int update_mode)
void update_flash_internal(std::shared_ptr<hw_monitor> hwm, const std::vector<uint8_t>& image, std::vector<uint8_t>& flash_backup, rs2_update_progress_callback_sptr callback, int update_mode, bool is_d457)
{
auto flash_image_info = ds::get_flash_info(image);
auto flash_backup_info = ds::get_flash_info(flash_backup);
Expand All @@ -244,14 +252,14 @@ namespace librealsense
// update read-write section
auto first_table_offset = flash_image_info.read_write_section.tables.front().offset;
auto tables_size = flash_image_info.header.read_write_start_address + flash_image_info.header.read_write_size - first_table_offset;
update_section(hwm, merged_image, flash_image_info.read_write_section, tables_size, callback, 0, update_mode == RS2_UNSIGNED_UPDATE_MODE_READ_ONLY ? 0.5f : 1.0f);
update_section(hwm, merged_image, flash_image_info.read_write_section, tables_size, callback, 0, update_mode == RS2_UNSIGNED_UPDATE_MODE_READ_ONLY ? 0.5f : 1.0f, is_d457);

if (update_mode == RS2_UNSIGNED_UPDATE_MODE_READ_ONLY)
{
// update read-only section
auto first_table_offset = flash_image_info.read_only_section.tables.front().offset;
auto tables_size = flash_image_info.header.read_only_start_address + flash_image_info.header.read_only_size - first_table_offset;
update_section(hwm, merged_image, flash_image_info.read_only_section, tables_size, callback, 0.5, 0.5);
update_section(hwm, merged_image, flash_image_info.read_only_section, tables_size, callback, 0.5, 0.5, is_d457);
}
}

Expand Down Expand Up @@ -279,13 +287,13 @@ namespace librealsense
switch (update_mode)
{
case RS2_UNSIGNED_UPDATE_MODE_FULL:
update_flash_section(_hw_monitor, image, 0, ds::FLASH_SIZE, callback, 0, 1.0);
update_flash_section(_hw_monitor, image, 0, ds::FLASH_SIZE, callback, 0, 1.0, _is_d457);
break;
case RS2_UNSIGNED_UPDATE_MODE_UPDATE:
case RS2_UNSIGNED_UPDATE_MODE_READ_ONLY:
{
auto flash_backup = backup_flash(nullptr);
update_flash_internal(_hw_monitor, image, flash_backup, callback, update_mode);
update_flash_internal(_hw_monitor, image, flash_backup, callback, update_mode, _is_d457);
break;
}
default:
Expand Down
4 changes: 3 additions & 1 deletion src/ds/ds-device-common.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -27,9 +27,10 @@ namespace librealsense
class ds_device_common
{
public:
ds_device_common(device* ds_device, std::shared_ptr<hw_monitor> hwm) :
ds_device_common(device* ds_device, std::shared_ptr<hw_monitor> hwm, bool is_d457 = false) :
_owner(ds_device),
_hw_monitor(hwm),
_is_d457(is_d457),
_is_locked(true)
{}

Expand All @@ -47,6 +48,7 @@ namespace librealsense
device* _owner;
std::shared_ptr<hw_monitor> _hw_monitor;
bool _is_locked;
bool _is_d457;
};


Expand Down
Loading