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hight-level-robotics-congni.../librealsense/scripts/realsense-metadata-xenial-U...

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From 6a837242353bf4f8d3ee19e6ff06983f345a7412 Mon Sep 17 00:00:00 2001
From: Elad Zucker <eladx.zucker@intel.com>
From: icarpis <itay.carpis@intel.com>
From: aangerma <Avishag.Angerman@intel.com>
Date: Thu, 30 Aug 2018 16:07:01 +0300
Subject: [PATCH] added support for uvc metadata
Signed-off-by: Evgeni Raikhel <evgeni.raikhel@intel.com>
---
drivers/media/usb/uvc/uvc_driver.c | 268 ++++++++++++++++++++++++++++++++
drivers/media/usb/uvc/uvc_video.c | 20 ++-
drivers/media/usb/uvc/uvcvideo.h | 55 ++++++-
3 files changed, 142 insertions(+), 7 deletions(-)
diff --git a/drivers/media/usb/uvc/uvc_driver.c b/drivers/media/usb/uvc/uvc_driver.c
index 04bf350..5fd10f0 100644
--- a/drivers/media/usb/uvc/uvc_driver.c
+++ b/drivers/media/usb/uvc/uvc_driver.c
@@ -2699,6 +2699,276 @@ static struct usb_device_id uvc_ids[] = {
.bInterfaceSubClass = 1,
.bInterfaceProtocol = 0,
.driver_info = UVC_QUIRK_FORCE_Y8 },
+ /* Intel SR306 depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0aa3,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel SR300 depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0aa5,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D400/PSR depth camera*/
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0ad1,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D410/ASR depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0ad2,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D415/ASRC depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0ad3,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D430/AWG depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0ad4,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D450/AWGT depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0ad5,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D400 IMU Module */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0af2,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D420/PWG depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0af6,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D420_MM/PWGT depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0afe,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D410_MM/ASRT depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0aff,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D400_MM/PSRT depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b00,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D430_MM/AWGCT depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b01,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D460/DS5U depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b03,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D435/AWGC depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b07,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D405 S depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b0c,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel L500 depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b0d,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D410/USB2 Depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b15,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D415/USB2 Depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b16,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D435/USB2 Depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b17,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D435i depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b3a,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel L515 Pre-PRQ*/
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b3d,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel SR305 Depth Camera*/
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b48,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D416 Depth Camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b49,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D430i depth camera */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b4b,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D465 */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b4d,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D405 */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b5b,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel D455 */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b5c,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel L515 */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b64,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
+ /* Intel L535 */
+ { .match_flags = USB_DEVICE_ID_MATCH_DEVICE
+ | USB_DEVICE_ID_MATCH_INT_INFO,
+ .idVendor = 0x8086,
+ .idProduct = 0x0b68,
+ .bInterfaceClass = USB_CLASS_VIDEO,
+ .bInterfaceSubClass = 1,
+ .bInterfaceProtocol = 0,
+ .driver_info = UVC_QUIRK_APPEND_UVC_HEADER },
/* Generic USB Video Class */
{ USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_UNDEFINED) },
{ USB_INTERFACE_INFO(USB_CLASS_VIDEO, 1, UVC_PC_PROTOCOL_15) },
diff --git a/drivers/media/usb/uvc/uvc_video.c b/drivers/media/usb/uvc/uvc_video.c
index f3c1c85..f69d749 100644
--- a/drivers/media/usb/uvc/uvc_video.c
+++ b/drivers/media/usb/uvc/uvc_video.c
@@ -1228,8 +1229,13 @@ static void uvc_video_decode_bulk(struct urb *urb, struct uvc_streaming *stream,
do {
ret = uvc_video_decode_start(stream, buf, mem, len);
if (ret == -EAGAIN)
- buf = uvc_queue_next_buffer(&stream->queue,
- buf);
+ {
+ if (stream->dev->quirks & UVC_QUIRK_APPEND_UVC_HEADER)
+ {
+ uvc_video_decode_data(stream, buf, stream->bulk.header,256);
+ }
+ buf = uvc_queue_next_buffer(&stream->queue,buf);
+ }
} while (ret == -EAGAIN);
/* If an error occurred skip the rest of the payload. */
@@ -1261,9 +1267,13 @@ static void uvc_video_decode_bulk(struct urb *urb, struct uvc_streaming *stream,
if (!stream->bulk.skip_payload && buf != NULL) {
uvc_video_decode_end(stream, buf, stream->bulk.header,
stream->bulk.payload_size);
- if (buf->state == UVC_BUF_STATE_READY)
- buf = uvc_queue_next_buffer(&stream->queue,
- buf);
+ if (buf->state == UVC_BUF_STATE_READY) {
+ if (stream->dev->quirks & UVC_QUIRK_APPEND_UVC_HEADER) {
+ uvc_video_decode_data(stream, buf, stream->bulk.header,
+ stream->bulk.header_size);
+ }
+ buf = uvc_queue_next_buffer(&stream->queue, buf);
+ }
}
stream->bulk.header_size = 0;
diff --git a/drivers/media/usb/uvc/uvcvideo.h b/drivers/media/usb/uvc/uvcvideo.h
index 3d6cc62..e24b763 100644
--- a/drivers/media/usb/uvc/uvcvideo.h
+++ b/drivers/media/usb/uvc/uvcvideo.h
@@ -143,8 +194,7 @@
/* Maximum number of packets per URB. */
#define UVC_MAX_PACKETS 32
/* Maximum status buffer size in bytes of interrupt URB. */
-#define UVC_MAX_STATUS_SIZE 16
-
+#define UVC_MAX_STATUS_SIZE 32
#define UVC_CTRL_CONTROL_TIMEOUT 300
#define UVC_CTRL_STREAMING_TIMEOUT 5000
@@ -164,6 +214,7 @@
#define UVC_QUIRK_RESTRICT_FRAME_RATE 0x00000200
#define UVC_QUIRK_RESTORE_CTRLS_ON_INIT 0x00000400
#define UVC_QUIRK_FORCE_Y8 0x00000800
+#define UVC_QUIRK_APPEND_UVC_HEADER 0x00001000
/* Format flags */
#define UVC_FMT_FLAG_COMPRESSED 0x00000001
--
2.7.4
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