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Do not register intercam sync for b5b device #9132

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merged 3 commits into from
Jun 6, 2021
Merged

Do not register intercam sync for b5b device #9132

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f7f7aac
not registering to intercam sync for b5b device
remibettan May 31, 2021
9a66b04
new capability added for inter camera hw sync
remibettan Jun 1, 2021
b666adf
comment added
remibettan Jun 3, 2021
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34 changes: 19 additions & 15 deletions src/ds5/ds5-device.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -638,6 +638,8 @@ namespace librealsense
val |= d400_caps::CAP_ROLLING_SHUTTER; // e.g. ASRC
if (0x2 == gvd_buf[depth_sensor_type])
val |= d400_caps::CAP_GLOBAL_SHUTTER; // e.g. AWGC
if (_pid != ds::RS405_PID)
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val |= d400_caps::CAP_INTERCAM_HW_SYNC;

return val;
}
Expand Down Expand Up @@ -973,24 +975,26 @@ namespace librealsense
{
depth_sensor.register_option(RS2_OPTION_EMITTER_ON_OFF, std::make_shared<emitter_on_and_off_option>(*_hw_monitor, &raw_depth_sensor));
}

if (_fw_version >= firmware_version("5.12.12.100") && (_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER)
{
depth_sensor.register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,
std::make_shared<external_sync_mode>(*_hw_monitor, &raw_depth_sensor, 3));
}
else if (_fw_version >= firmware_version("5.12.4.0") && (_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER)
{
depth_sensor.register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,
std::make_shared<external_sync_mode>(*_hw_monitor, &raw_depth_sensor, 2));
}
else if (_fw_version >= firmware_version("5.9.15.1"))

if ((_device_capabilities & d400_caps::CAP_INTERCAM_HW_SYNC) == d400_caps::CAP_INTERCAM_HW_SYNC)
{
depth_sensor.register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,
std::make_shared<external_sync_mode>(*_hw_monitor, &raw_depth_sensor, 1));
if (_fw_version >= firmware_version("5.12.12.100") && (_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER)
{
depth_sensor.register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,
std::make_shared<external_sync_mode>(*_hw_monitor, &raw_depth_sensor, 3));
}
else if (_fw_version >= firmware_version("5.12.4.0") && (_device_capabilities & d400_caps::CAP_GLOBAL_SHUTTER) == d400_caps::CAP_GLOBAL_SHUTTER)
{
depth_sensor.register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,
std::make_shared<external_sync_mode>(*_hw_monitor, &raw_depth_sensor, 2));
}
else if (_fw_version >= firmware_version("5.9.15.1"))
{
depth_sensor.register_option(RS2_OPTION_INTER_CAM_SYNC_MODE,
std::make_shared<external_sync_mode>(*_hw_monitor, &raw_depth_sensor, 1));
}
}


roi_sensor_interface* roi_sensor = dynamic_cast<roi_sensor_interface*>(&depth_sensor);
if (roi_sensor)
roi_sensor->set_roi_method(std::make_shared<ds5_auto_exposure_roi_method>(*_hw_monitor));
Expand Down
1 change: 1 addition & 0 deletions src/ds5/ds5-private.h
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Original file line number Diff line number Diff line change
Expand Up @@ -280,6 +280,7 @@ namespace librealsense
CAP_ROLLING_SHUTTER = (1u << 5),
CAP_BMI_055 = (1u << 6),
CAP_BMI_085 = (1u << 7),
CAP_INTERCAM_HW_SYNC = (1u << 8),
CAP_MAX
};

Expand Down