From 9ce7fded26d9ce8a51887dc9d5c30f06f4e713a5 Mon Sep 17 00:00:00 2001
From: Eran <librealsense.eran@gmail.com>
Date: Thu, 27 Jul 2023 10:16:54 +0300
Subject: [PATCH 01/16] bump to 2.54.2

---
 include/librealsense2/rs.h | 2 +-
 package.xml                | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/include/librealsense2/rs.h b/include/librealsense2/rs.h
index 1066bd566c..3336f3a3d8 100644
--- a/include/librealsense2/rs.h
+++ b/include/librealsense2/rs.h
@@ -25,7 +25,7 @@ extern "C" {
 
 #define RS2_API_MAJOR_VERSION    2
 #define RS2_API_MINOR_VERSION    54
-#define RS2_API_PATCH_VERSION    1
+#define RS2_API_PATCH_VERSION    2
 #define RS2_API_BUILD_VERSION    0
 
 #ifndef STRINGIFY
diff --git a/package.xml b/package.xml
index d3791f90d8..026e0aa5ab 100644
--- a/package.xml
+++ b/package.xml
@@ -7,7 +7,7 @@
 <package format="2">
   <name>librealsense2</name>
   <!-- The version tag needs to be updated with each new release of librealsense -->
-  <version>2.54.1</version>
+  <version>2.54.2</version>
   <description>
   Library for controlling and capturing data from the Intel(R) RealSense(TM) D400 devices.
   </description>

From 76819b876e76567fc44cfce40dc42be49242c869 Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Sun, 6 Aug 2023 15:27:54 +0300
Subject: [PATCH 02/16] Close laser emitter on Focal Length calibration

---
 common/on-chip-calib.cpp | 205 +++++++++++++++++----------------------
 common/on-chip-calib.h   |  16 ++-
 2 files changed, 99 insertions(+), 122 deletions(-)

diff --git a/common/on-chip-calib.cpp b/common/on-chip-calib.cpp
index 6e852e1eae..d51c0c0539 100644
--- a/common/on-chip-calib.cpp
+++ b/common/on-chip-calib.cpp
@@ -16,16 +16,20 @@
 #include "../src/algo.h"
 #include "../tools/depth-quality/depth-metrics.h"
 
+
+static constexpr float off_value = 0.0f;
+static constexpr float on_value = 1.0f;
+
 namespace rs2
 {
     on_chip_calib_manager::on_chip_calib_manager(viewer_model& viewer, std::shared_ptr<subdevice_model> sub, device_model& model, device dev, std::shared_ptr<subdevice_model> sub_color, bool uvmapping_calib_full)
         : process_manager("On-Chip Calibration"), _model(model), _dev(dev), _sub(sub), _viewer(viewer), _sub_color(sub_color), py_px_only(!uvmapping_calib_full)
     {
-        device_id_string = "Unknown";
+        device_name_string = "Unknown";
         if (dev.supports(RS2_CAMERA_INFO_PRODUCT_ID))
         {
-            device_id_string = _dev.get_info(RS2_CAMERA_INFO_PRODUCT_ID);
-            if (val_in_range(device_id_string, { std::string("0AD3") }))
+            device_name_string = _dev.get_info( RS2_CAMERA_INFO_NAME );
+            if( val_in_range( device_name_string, { std::string( "Intel RealSense D415" ) } ) )
                 speed = 4;
         }
         if (dev.supports(RS2_CAMERA_INFO_FIRMWARE_VERSION))
@@ -69,6 +73,56 @@ namespace rs2
             _sub_color->algo_roi = { 0, 0, 0, 0 };
         }
     }
+    
+    void on_chip_calib_manager::save_laser_emitter_state()
+    {
+        auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED );
+        if ( it != _sub->options_metadata.end() ) //Option supported
+        {
+            laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED );
+        }
+    }
+
+    void on_chip_calib_manager::save_thermal_loop_state()
+    {
+        auto it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION );
+        if( it != _sub->options_metadata.end() )  // Option supported
+        {
+            thermal_loop_prev = _sub->s->get_option( RS2_OPTION_THERMAL_COMPENSATION );
+        }
+    }
+
+    void on_chip_calib_manager::restore_laser_emitter_state()
+    {
+        set_laser_emitter_state( laser_status_prev );
+    }
+
+    void on_chip_calib_manager::restore_thermal_loop_state()
+    {
+        set_thermal_loop_state( thermal_loop_prev );
+    }
+
+    void on_chip_calib_manager::set_laser_emitter_state( float value )
+    {
+        // Use options_model::set_option to update GUI after change
+        std::string ignored_error_message{ "" };
+        auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED );
+        if( it != _sub->options_metadata.end() )  // Option supported
+        {
+            it->second.set_option( RS2_OPTION_EMITTER_ENABLED, value, ignored_error_message );
+        }
+    }
+
+    void on_chip_calib_manager::set_thermal_loop_state( float value )
+    {
+        // Use options_model::set_option to update GUI after change
+        std::string ignored_error_message{ "" };
+        auto it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION );
+        if( it != _sub->options_metadata.end() )  // Option supported
+        {
+            it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, value, ignored_error_message );
+        }
+    }
 
     void on_chip_calib_manager::stop_viewer(invoker invoke)
     {
@@ -406,12 +460,6 @@ namespace rs2
         bool frame_arrived = false;
         try
         {
-            if (_sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
-            {
-                thermal_loop_prev = _sub->s->get_option(RS2_OPTION_THERMAL_COMPENSATION);
-                _sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, 0.f);
-            }
-
             bool run_fl_calib = ( (action == RS2_CALIB_ACTION_FL_CALIB) && (w == 1280) && (h == 720));
             if (action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH)
             {
@@ -468,10 +516,9 @@ namespace rs2
                         break;
                 }
 
-                if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
-                    _sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f);
-                if (_sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
-                    _sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, 0.f);
+                // TODO - When implementing UV mapping calibration - should remove from here and handle in process_flow()
+                set_laser_emitter_state( off_value );
+                set_thermal_loop_state( off_value );
             }
             else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB)
             {
@@ -516,8 +563,8 @@ namespace rs2
                         break;
                 }
 
-                if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
-                    _sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f);
+                // TODO - When implementing UV mapping calibration - should remove from here and handle in process_flow()
+                set_laser_emitter_state( off_value );
             }
             else if (action == RS2_CALIB_ACTION_FL_PLUS_CALIB)
             {
@@ -553,8 +600,8 @@ namespace rs2
                         break;
                 }
 
-                if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
-                    _sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f);
+                // TODO - When implementing FL plus calibration - should remove from here and handle in process_flow()
+                set_laser_emitter_state( off_value );
             }
             else if (run_fl_calib)
             {
@@ -577,11 +624,6 @@ namespace rs2
                         }
                     }
                 }
-
-                if (_sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
-                    _sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, 0.0f);
-                if (_sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
-                    _sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, 0.f);
             }
             else
             {
@@ -1423,43 +1465,30 @@ namespace rs2
 
         if ( action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH )
         {
-            //Laser should be turned off during ground truth calculation
-            //Use options_model::set_option to update GUI after change
-            std::string ignored_error_message { "" };
-            auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED );
-            if ( it != _sub->options_metadata.end() ) //Option supported
-            {
-                laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED );
-                it->second.set_option( RS2_OPTION_EMITTER_ENABLED, 0.0f, ignored_error_message );
-            }
+            // Laser should be turned off during ground truth calculation
+            save_laser_emitter_state();
+            set_laser_emitter_state( off_value );
 
             get_ground_truth();
             
-            //Restore laser
-            if ( it != _sub->options_metadata.end() ) //Option supported
-            {
-                it->second.set_option( RS2_OPTION_EMITTER_ENABLED, laser_status_prev, ignored_error_message );
-            }
+            restore_laser_emitter_state();
         }
         else
         {
             try
             {
-                //Save options that are going to change during the calibration
-                //Use options_model::set_option to update GUI after change
-                std::string ignored_error_message { "" };
-                auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED );
-                if ( it != _sub->options_metadata.end() ) //Option supported
-                {
-                    laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED );
-                    it->second.set_option( RS2_OPTION_EMITTER_ENABLED, 1.0f, ignored_error_message );
-                }
-                it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION );
-                if ( it != _sub->options_metadata.end() ) //Option supported
-                {
-                    thermal_loop_prev = _sub->s->get_option( RS2_OPTION_THERMAL_COMPENSATION );
-                    it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, 0.0f, ignored_error_message );
-                }
+                // Save options that are going to change during the calibration
+                save_laser_emitter_state();
+                save_thermal_loop_state();
+
+                // Emitter on by default, off for FL calib and for D415 model
+                float emitter_value = on_value;
+                if( action == RS2_CALIB_ACTION_FL_CALIB || device_name_string == std::string( "Intel RealSense D415" ) )
+                    emitter_value = off_value;
+                set_laser_emitter_state( emitter_value );
+
+                // Thermal loop should be off during calibration as to not change calibration tables during calibration
+                set_thermal_loop_state( off_value );
 
                 if (action == RS2_CALIB_ACTION_FL_CALIB)
                     calibrate_fl();
@@ -1467,6 +1496,9 @@ namespace rs2
                     calibrate_uv_mapping();
                 else
                     calibrate();
+
+                restore_laser_emitter_state();
+                restore_thermal_loop_state();
             }
             catch (...)
             {
@@ -1485,18 +1517,8 @@ namespace rs2
 
                 //Restore options that were changed during the calibration.
                 //When calibration is successful options are restored in autocalib_notification_model::draw_content()
-                //Use options_model::set_option to update GUI after change
-                std::string ignored_error_message { "" };
-                auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED );
-                if ( it != _sub->options_metadata.end() ) //Option supported
-                {
-                    it->second.set_option( RS2_OPTION_EMITTER_ENABLED, laser_status_prev, ignored_error_message );
-                }
-                it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION );
-                if ( it != _sub->options_metadata.end() ) //Option supported
-                {
-                    it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, thermal_loop_prev, ignored_error_message );
-                }
+                restore_laser_emitter_state();
+                restore_thermal_loop_state();
 
                 if (_was_streaming)
                     start_viewer(0, 0, 0, invoke);
@@ -1851,10 +1873,6 @@ namespace rs2
                 {
                     get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB;
                     update_state = update_state_prev;
-                    if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
-                        get_manager()._sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev);
-                    if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
-                        get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev);
                     get_manager().stop_viewer();
                 }
 
@@ -1891,10 +1909,6 @@ namespace rs2
             {
                 get_manager().action = on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB;
                 update_state = update_state_prev;
-                if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
-                    get_manager()._sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev);
-                if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
-                    get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev);
             }
             else if (update_state == RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH_FAILED)
             {
@@ -2061,11 +2075,6 @@ namespace rs2
 
                 if (ImGui::Button(get_button_name.c_str(), { 42.0f, 20.f }))
                 {
-                    if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
-                        get_manager().laser_status_prev = get_manager()._sub->s->get_option(RS2_OPTION_EMITTER_ENABLED);
-                    if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
-                        get_manager().thermal_loop_prev = get_manager()._sub->s->get_option(RS2_OPTION_THERMAL_COMPENSATION);
-
                     update_state_prev = update_state;
                     update_state = RS2_CALIB_STATE_GET_TARE_GROUND_TRUTH;
                     get_manager().start_gt_viewer();
@@ -2074,7 +2083,7 @@ namespace rs2
                     ImGui::SetTooltip("%s", "Calculate ground truth for the specific target");
 
                 ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - ImGui::GetTextLineHeightWithSpacing() - 30) });
-                get_manager().host_assistance = (get_manager().device_id_string ==  std::string("ABCD") ); // To be used for MIPI SKU only
+                get_manager().host_assistance = (get_manager().device_name_string ==  std::string("Intel RealSense D457") ); // To be used for MIPI SKU only
                 bool assistance = (get_manager().host_assistance != 0);
                 if (ImGui::Checkbox("Host Assistance", &assistance))
                     get_manager().host_assistance = (assistance ? 1 : 0);
@@ -2170,7 +2179,7 @@ namespace rs2
                 //    ImGui::SetTooltip("%s", "On-Chip Calibration Extended");
 
                 ImGui::SetCursorScreenPos({ float(x + 9), float(y + height - ImGui::GetTextLineHeightWithSpacing() - 31) });
-                get_manager().host_assistance = (get_manager().device_id_string ==  std::string("ABCD") ); // To be used for MIPI SKU only
+                get_manager().host_assistance = (get_manager().device_name_string ==  std::string("Intel RealSense D457") ); // To be used for MIPI SKU only
                 bool assistance = (get_manager().host_assistance != 0);
                 ImGui::Checkbox("Host Assistance", &assistance);
                 if (ImGui::IsItemHovered())
@@ -2269,11 +2278,6 @@ namespace rs2
                 ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) });
                 if (ImGui::Button(button_name.c_str(), { float(bar_width), 20.f }))
                 {
-                    if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
-                        get_manager().laser_status_prev = get_manager()._sub->s->get_option(RS2_OPTION_EMITTER_ENABLED);
-                    if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
-                        get_manager().thermal_loop_prev = get_manager()._sub->s->get_option(RS2_OPTION_THERMAL_COMPENSATION);
-
                     get_manager().restore_workspace([this](std::function<void()> a) { a(); });
                     get_manager().reset();
                     get_manager().retry_times = 0;
@@ -2345,30 +2349,8 @@ namespace rs2
             }
             else if (update_state == RS2_CALIB_STATE_CALIB_COMPLETE)
             {
-                if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_ON_CHIP_CALIB ||
-                    get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_TARE_CALIB )
-                {
-                    //Restore options that were changed during the calibration.
-                    //Use options_model::set_option to update GUI after change
-                    std::string ignored_error_message { "" };
-                    auto it = get_manager()._sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED );
-                    if ( it != get_manager()._sub->options_metadata.end() ) //Option supported
-                    {
-                        it->second.set_option( RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev, ignored_error_message );
-                    }
-                    it = get_manager()._sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION );
-                    if ( it != get_manager()._sub->options_metadata.end() ) //Option supported
-                    {
-                        it->second.set_option( RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev, ignored_error_message );
-                    }
-                }
                 if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_UVMAPPING_CALIB)
                 {
-                    if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
-                        get_manager()._sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev);
-                    if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
-                        get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev);
-
                     ImGui::SetCursorScreenPos({ float(x + 20), float(y + 33) });
                     ImGui::Text("%s", "Health-Check Number for PX: ");
 
@@ -2453,14 +2435,6 @@ namespace rs2
                 }
                 else
                 {
-                    if (get_manager().action == on_chip_calib_manager::RS2_CALIB_ACTION_FL_CALIB)
-                    {
-                        if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
-                            get_manager()._sub->s->set_option(RS2_OPTION_EMITTER_ENABLED, get_manager().laser_status_prev);
-                        if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
-                            get_manager()._sub->s->set_option(RS2_OPTION_THERMAL_COMPENSATION, get_manager().thermal_loop_prev);
-                    }
-
                     auto health = get_manager().get_health();
 
                     auto recommend_keep = fabs(health) < 0.25f;
@@ -2851,11 +2825,6 @@ namespace rs2
                         ImGui::SetCursorScreenPos({ float(x + 5), float(y + height - 25) });
                         if (ImGui::Button(button_name.c_str(), { scale * 3, 20.f }))
                         {
-                            if (get_manager()._sub->s->supports(RS2_OPTION_EMITTER_ENABLED))
-                                get_manager().laser_status_prev = get_manager()._sub->s->get_option(RS2_OPTION_EMITTER_ENABLED);
-                            if (get_manager()._sub->s->supports(RS2_OPTION_THERMAL_COMPENSATION))
-                                get_manager().thermal_loop_prev = get_manager()._sub->s->get_option(RS2_OPTION_THERMAL_COMPENSATION);
-
                             get_manager().restore_workspace([this](std::function<void()> a) { a(); });
                             get_manager().reset();
                             get_manager().retry_times = 0;
diff --git a/common/on-chip-calib.h b/common/on-chip-calib.h
index 5f31f95ceb..efbda26c88 100644
--- a/common/on-chip-calib.h
+++ b/common/on-chip-calib.h
@@ -72,8 +72,6 @@ namespace rs2
         auto_calib_action action = RS2_CALIB_ACTION_ON_CHIP_CALIB;
         int host_assistance = 0;
         int step_count_v3 = 256;
-        float laser_status_prev = 0.0f;
-        float thermal_loop_prev = 0.f;
 
         int fl_step_count = 51;
         int fy_scan_range = 40;
@@ -103,8 +101,7 @@ namespace rs2
         const std::string Y8_FORMAT = "Y8";
         const std::string Z16_FORMAT = "Z16";
         const std::string RGB8_FORMAT = "RGB8";
-        std::string device_id_string;
-
+        std::string device_name_string;
 
         void calibrate();
         void calibrate_fl();
@@ -115,6 +112,13 @@ namespace rs2
         void turn_roi_on();
         void turn_roi_off();
 
+        void save_laser_emitter_state();
+        void save_thermal_loop_state();
+        void restore_laser_emitter_state();
+        void restore_thermal_loop_state();
+        void set_laser_emitter_state( float value );
+        void set_thermal_loop_state( float value );
+
         void start_gt_viewer();
         void start_fl_viewer();
         void start_uvmapping_viewer(bool b3D = false);
@@ -137,6 +141,10 @@ namespace rs2
 
         device _dev;
 
+        
+        float laser_status_prev = 0.0f;
+        float thermal_loop_prev = 0.0f;
+
         bool _was_streaming = false;
         bool _synchronized = false;
         bool _post_processing = false;

From 6088b0858b7c79a9ad5d61f56905181442e4b171 Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Sun, 6 Aug 2023 15:19:33 +0300
Subject: [PATCH 03/16] cherry pick PR #12034 & #12038

---
 src/ds/d400/d400-private.h                          | 2 +-
 unit-tests/live/dfu/test-device-fw-compatibility.py | 6 +++++-
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/ds/d400/d400-private.h b/src/ds/d400/d400-private.h
index b295a0b725..fd77dc6aec 100644
--- a/src/ds/d400/d400-private.h
+++ b/src/ds/d400/d400-private.h
@@ -153,7 +153,7 @@ namespace librealsense
             {RS465_PID, "5.12.7.100" },
             {RS416_RGB_PID, "5.8.15.0" },
             {RS405_PID, "5.12.11.8" },
-            {RS455_PID, "5.12.7.100" },
+            {RS455_PID, "5.13.0.50" },
             {RS457_PID, "5.13.1.1" }
         };
 
diff --git a/unit-tests/live/dfu/test-device-fw-compatibility.py b/unit-tests/live/dfu/test-device-fw-compatibility.py
index e620eaab96..faea312fc4 100644
--- a/unit-tests/live/dfu/test-device-fw-compatibility.py
+++ b/unit-tests/live/dfu/test-device-fw-compatibility.py
@@ -5,6 +5,8 @@
 # test:device D400*
 # test:device SR300*
 
+# Note, this test depends on files deployed on LibCI machines (Windows + Linux)!
+
 import pyrealsense2 as rs
 from rspy import test, libci
 import os
@@ -13,9 +15,11 @@
 d400_fw_min_version_1 = 'Signed_Image_UVC_5_8_15_0.bin'
 d400_fw_min_version_2 = 'Signed_Image_UVC_5_12_7_100.bin'
 d400_fw_min_version_3 = 'Signed_Image_UVC_5_12_12_100.bin'
+d400_fw_min_version_4 = 'Signed_Image_UVC_5_13_0_50.bin'
 d400_fw_min_version_1_prev = 'Signed_Image_UVC_5_8_14_0.bin'
 d400_fw_min_version_2_prev = 'Signed_Image_UVC_5_12_6_0.bin'
 d400_fw_min_version_3_prev = 'Signed_Image_UVC_5_12_11_0.bin'
+d400_fw_min_version_4_prev = 'Signed_Image_UVC_5_12_15_150.bin'
 
 l500_fw_min_version_valid = 'Signed_Image_UVC_1_5_1_3.bin'
 l500_fw_min_version_invalid = 'Signed_Image_UVC_1_4_1_0.bin'
@@ -49,7 +53,7 @@
     '0B4D': d400_fw_min_version_2,  # D465
     '0B52': d400_fw_min_version_1,  # D416_RGB
     '0B5B': d400_fw_min_version_3,  # D405
-    '0B5C': d400_fw_min_version_2,  # D455
+    '0B5C': d400_fw_min_version_4,  # D455
     # L500 product line:
     '0B55': l500_fw_min_version_valid,  # L500_RECOVERY
     '0ADC': l500_fw_min_version_valid,  # L500_USB2_RECOVERY_OLD

From 4d5988be5d0c1c93c9ba5daa8182940ab8b1712f Mon Sep 17 00:00:00 2001
From: Eran <librealsense.eran@gmail.com>
Date: Sun, 18 Jun 2023 09:38:30 +0300
Subject: [PATCH 04/16] PR #11915 from Eran: Linux collaterals in single build
 dir

(cherry picked from commit 8a0f72d500efe85ac6da43eb0fa277945e18a2ea)
---
 .github/workflows/buildsCI.yaml   | 42 ++++++++++++++-----------------
 CMake/unix_config.cmake           | 11 +++++---
 common/processing-block-model.cpp |  2 --
 src/gl/align-gl.cpp               |  3 +--
 src/gl/colorizer-gl.cpp           |  3 +--
 src/gl/upload.cpp                 |  1 -
 src/gl/yuy2rgb-gl.cpp             |  1 -
 unit-tests/run-unit-tests.py      |  5 +---
 8 files changed, 29 insertions(+), 39 deletions(-)

diff --git a/.github/workflows/buildsCI.yaml b/.github/workflows/buildsCI.yaml
index 77c31d8095..e4dae2a54e 100644
--- a/.github/workflows/buildsCI.yaml
+++ b/.github/workflows/buildsCI.yaml
@@ -141,8 +141,6 @@ jobs:
        mkdir ${{env.WIN_BUILD_DIR}}
 
     - name: Configure CMake
-      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
-      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
       shell: bash
       run: |        
         LRS_SRC_DIR=$(pwd)   
@@ -193,8 +191,6 @@ jobs:
        mkdir ${{env.WIN_BUILD_DIR}}
 
     - name: Configure CMake
-      # Configure CMake in a 'build' subdirectory. `CMAKE_BUILD_TYPE` is only required if you are using a single-configuration generator such as make.
-      # See https://cmake.org/cmake/help/latest/variable/CMAKE_BUILD_TYPE.html?highlight=cmake_build_type
       shell: bash
       run: |   
         LRS_SRC_DIR=$(pwd)
@@ -234,10 +230,10 @@ jobs:
     
     - name: Build
       shell: bash
-      run: | 
+      run: |
         cd build
-        cmake .. -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=true -DBUILD_TOOLS=true -DCHECK_FOR_UPDATES=true -DBUILD_LEGACY_LIVE_TEST=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
-        cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -j4
+        cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_RUN_CONFIG}} -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=true -DBUILD_TOOLS=true -DCHECK_FOR_UPDATES=true -DBUILD_LEGACY_LIVE_TEST=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
+        cmake --build . -- -j4
         
     - name: Test
       shell: bash
@@ -245,10 +241,10 @@ jobs:
       # We set continue-on-error: true as a workaround for not skipping the upload log step on failure,
       # The final step will check the return value from the test step and decide if to fail/pass the job
       continue-on-error: true 
-      run: | 
+      run: |
         export LRS_LOG_LEVEL="DEBUG";
-        cd build   
-        ./unit-tests/live-test -d yes -i [software-device]        
+        cd build/${{env.LRS_RUN_CONFIG}}/
+        ./live-test -d yes -i [software-device]        
 
     - name: Upload RS log artifact
       uses: actions/upload-artifact@v3
@@ -300,8 +296,8 @@ jobs:
       shell: bash
       run: |
         cd build
-        cmake .. -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=true -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=false -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
-        cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -j4  
+        cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_RUN_CONFIG}} -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=true -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=false -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
+        cmake --build . -- -j4  
 
     - name: LibCI
       # Note: requires BUILD_UNIT_TESTS or the executable C++ unit-tests won't run (and it won't complain)
@@ -343,8 +339,8 @@ jobs:
       shell: bash
       run: |
         cd build
-        cmake .. -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=false -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
-        cmake --build . --config ${{env.LRS_RUN_CONFIG}} -- -j4  
+        cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_RUN_CONFIG}} -DBUILD_SHARED_LIBS=false -DBUILD_EXAMPLES=false -DBUILD_TOOLS=true -DBUILD_UNIT_TESTS=false -DCHECK_FOR_UPDATES=false -DBUILD_WITH_DDS=true -DBUILD_PYTHON_BINDINGS=true -DPYTHON_EXECUTABLE=$(which python3)
+        cmake --build . -- -j4  
 
     - name: LibCI
       # Note: we specifically disable BUILD_UNIT_TESTS so the executable C++ unit-tests won't run
@@ -390,8 +386,8 @@ jobs:
       shell: bash
       run: | 
         cd build
-        cmake .. -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DCHECK_FOR_UPDATES=false -DFORCE_RSUSB_BACKEND=true -DBUILD_LEGACY_LIVE_TEST=true
-        cmake --build . --config $LRS_BUILD_CONFIG -- -j4
+        cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_BUILD_CONFIG}} -DBUILD_SHARED_LIBS=true -DBUILD_EXAMPLES=false -DBUILD_TOOLS=false -DCHECK_FOR_UPDATES=false -DFORCE_RSUSB_BACKEND=true -DBUILD_LEGACY_LIVE_TEST=true
+        cmake --build . -- -j4
 
     - name: Test
       shell: bash
@@ -401,12 +397,12 @@ jobs:
       continue-on-error: true 
       run: | 
         export LRS_LOG_LEVEL="DEBUG";
-        cd build   
-        ./unit-tests/live-test -d yes -i [software-device]        
+        cd build/${{env.LRS_BUILD_CONFIG}}/
+        ./live-test -d yes -i [software-device]
 
     - name: Upload RS log artifact
       uses: actions/upload-artifact@v3
-      with: 
+      with:
         name: Log file - U20_SH_RSUSB_LiveTest
         path: build/*.log
 
@@ -451,8 +447,8 @@ jobs:
         # We use "greadlink -f" which is mac-os parallel command to "readlink -f" from Linux (-f to convert relative link to absolute link)
         export OPENSSL_ROOT_DIR=`greadlink -f /usr/local/opt/openssl@1.1`        
         echo "OPENSSL_ROOT_DIR = ${OPENSSL_ROOT_DIR}"
-        cmake .. -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DCHECK_FOR_UPDATES=true
-        cmake --build . --config ${{env.LRS_BUILD_CONFIG}} -- -j4
+        cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_BUILD_CONFIG}} -DBUILD_EXAMPLES=true -DBUILD_WITH_OPENMP=false -DHWM_OVER_XU=false -DCHECK_FOR_UPDATES=true
+        cmake --build . -- -j4
         ls
 
 
@@ -489,7 +485,7 @@ jobs:
     - name: Build
       run: |
        cd build
-       cmake .. -DCMAKE_TOOLCHAIN_FILE=../android-ndk-r20b/build/cmake/android.toolchain.cmake -DFORCE_RSUSB_BACKEND=true
-       cmake --build . --config ${{env.LRS_BUILD_CONFIG}} -- -j4
+       cmake .. -DCMAKE_BUILD_TYPE=${{env.LRS_BUILD_CONFIG}} -DCMAKE_TOOLCHAIN_FILE=../android-ndk-r20b/build/cmake/android.toolchain.cmake -DFORCE_RSUSB_BACKEND=true
+       cmake --build . -- -j4
        ls
   
diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake
index e5a3f21add..b5b39a9cd7 100644
--- a/CMake/unix_config.cmake
+++ b/CMake/unix_config.cmake
@@ -4,10 +4,13 @@ macro(os_set_flags)
 
     # Put all the collaterals together, so we can find when trying to run examples/tests
     # Note: this puts the outputs under <binary>/<build-type>
-    # NOTE: do not uncomment -- this ruins our CI procedures -- otherwise it mirrors Windows, simplifies
-    # scripts, makes things easier to find... c'est la vie!
-    #set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE})
-    #set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE})
+    if( "${CMAKE_BUILD_TYPE}" STREQUAL "" )
+        # This can happen according to the docs -- and in GHA...
+        message( STATUS "No output directory set; using ${CMAKE_BINARY_DIR}/Release/" )
+        set( CMAKE_BUILD_TYPE "Release" )
+    endif()
+    set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE})
+    set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE})
 
     set(CMAKE_POSITION_INDEPENDENT_CODE ON)
     set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -pedantic -g -D_DEFAULT_SOURCE")
diff --git a/common/processing-block-model.cpp b/common/processing-block-model.cpp
index ac519ab602..91b25d4721 100644
--- a/common/processing-block-model.cpp
+++ b/common/processing-block-model.cpp
@@ -1,8 +1,6 @@
 // License: Apache 2.0. See LICENSE file in root directory.
 // Copyright(c) 2023 Intel Corporation. All Rights Reserved.
 
-#pragma once
-
 #include <librealsense2/rs.hpp>
 #include <string>
 #include "subdevice-model.h"
diff --git a/src/gl/align-gl.cpp b/src/gl/align-gl.cpp
index 4fcf032ba1..1ce9bcc9ee 100644
--- a/src/gl/align-gl.cpp
+++ b/src/gl/align-gl.cpp
@@ -20,7 +20,6 @@
 #include <iostream>
 
 #include <chrono>
-#include <strstream>
 
 #include "synthetic-stream-gl.h"
 
@@ -269,4 +268,4 @@ align_gl::~align_gl()
     {
         cleanup_gpu_resources();
     }, []{});
-}
\ No newline at end of file
+}
diff --git a/src/gl/colorizer-gl.cpp b/src/gl/colorizer-gl.cpp
index d35010d556..fa60a46067 100644
--- a/src/gl/colorizer-gl.cpp
+++ b/src/gl/colorizer-gl.cpp
@@ -19,7 +19,6 @@
 
 #include <iostream>
 #include <chrono>
-#include <strstream>
 
 static const char* fragment_shader_text =
 "#version 110\n"
@@ -357,4 +356,4 @@ namespace librealsense
             return res;
         }
     }
-}
\ No newline at end of file
+}
diff --git a/src/gl/upload.cpp b/src/gl/upload.cpp
index c4fa30bf85..3f27caf53f 100644
--- a/src/gl/upload.cpp
+++ b/src/gl/upload.cpp
@@ -21,7 +21,6 @@
 #include <iostream>
 
 #include <chrono>
-#include <strstream>
 
 #include "synthetic-stream-gl.h"
 
diff --git a/src/gl/yuy2rgb-gl.cpp b/src/gl/yuy2rgb-gl.cpp
index 4f761c864f..0aebb884a0 100644
--- a/src/gl/yuy2rgb-gl.cpp
+++ b/src/gl/yuy2rgb-gl.cpp
@@ -18,7 +18,6 @@
 #include <iostream>
 
 #include <chrono>
-#include <strstream>
 
 #include "synthetic-stream-gl.h"
 
diff --git a/unit-tests/run-unit-tests.py b/unit-tests/run-unit-tests.py
index 1d7df2abfe..d542f48f88 100644
--- a/unit-tests/run-unit-tests.py
+++ b/unit-tests/run-unit-tests.py
@@ -196,10 +196,7 @@ def find_build_dir( dir ):
     log.d( 'found python libraries in:', pyd_dirs )
     if not exe_dir:
         build_dir = find_build_dir( pyrs_path )
-        if linux:
-            exe_dir = build_dir
-        else:
-            exe_dir = pyrs_path
+        exe_dir = pyrs_path
 
 # Try to assume exe directory from inside build directory. Only works if there is only one location with tests
 if not exe_dir and build_dir:

From 0e34b2eb9e7c8f00943d2dd60ff3e495787e0252 Mon Sep 17 00:00:00 2001
From: Eran <librealsense.eran@gmail.com>
Date: Sun, 30 Jul 2023 11:02:36 +0300
Subject: [PATCH 05/16] PR #12051 from Eran: remove debug enforcement (-g) from
 unix compile options

(cherry picked from commit 77a975f58d8657dd3690396974e3c739feba33c2)
---
 CMake/unix_config.cmake | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/CMake/unix_config.cmake b/CMake/unix_config.cmake
index b5b39a9cd7..1a8bd74dbc 100644
--- a/CMake/unix_config.cmake
+++ b/CMake/unix_config.cmake
@@ -13,8 +13,8 @@ macro(os_set_flags)
     set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/${CMAKE_BUILD_TYPE})
 
     set(CMAKE_POSITION_INDEPENDENT_CODE ON)
-    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -pedantic -g -D_DEFAULT_SOURCE")
-    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pedantic -g -Wno-missing-field-initializers")
+    set(CMAKE_C_FLAGS   "${CMAKE_C_FLAGS}   -pedantic -D_DEFAULT_SOURCE")
+    set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -pedantic -Wno-missing-field-initializers")
     set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-switch -Wno-multichar -Wsequence-point -Wformat -Wformat-security")
 
     execute_process(COMMAND ${CMAKE_C_COMPILER} -dumpmachine OUTPUT_VARIABLE MACHINE)

From f0c3b6a636ffd28d1d6feca7263f01740a49ae3e Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Mon, 7 Aug 2023 20:06:01 +0300
Subject: [PATCH 06/16] enable hdr for d457

---
 src/ds/d400/d400-device.cpp | 36 +++++++++++++++++++++++++++++++++---
 src/ds/d400/d400-device.h   |  2 +-
 2 files changed, 34 insertions(+), 4 deletions(-)

diff --git a/src/ds/d400/d400-device.cpp b/src/ds/d400/d400-device.cpp
index 6fbfeae585..dcf2650898 100644
--- a/src/ds/d400/d400-device.cpp
+++ b/src/ds/d400/d400-device.cpp
@@ -748,7 +748,7 @@ namespace librealsense
             depth_sensor.register_option(RS2_OPTION_ENABLE_AUTO_EXPOSURE, enable_auto_exposure);
 
             // register HDR options
-            if (!mipi_sensor && (_fw_version >= hdr_firmware_version))
+            if (_fw_version >= hdr_firmware_version)
             {
                 auto d400_depth = As<d400_depth_sensor, synthetic_sensor>(&get_depth_sensor());
                 d400_depth->init_hdr_config(exposure_range, gain_range);
@@ -934,7 +934,7 @@ namespace librealsense
         else
         {
             // used for mipi device
-            register_metadata_mipi(depth_sensor);
+            register_metadata_mipi(depth_sensor, hdr_firmware_version);
         }
         //mipi
 
@@ -1047,7 +1047,7 @@ namespace librealsense
         }
     }
 
-    void d400_device::register_metadata_mipi(const synthetic_sensor &depth_sensor) const
+    void d400_device::register_metadata_mipi(const synthetic_sensor &depth_sensor, const firmware_version& hdr_firmware_version) const
     {
         depth_sensor.register_metadata(RS2_FRAME_METADATA_FRAME_TIMESTAMP, make_uvc_header_parser(&platform::uvc_header::timestamp));
 
@@ -1120,6 +1120,36 @@ namespace librealsense
                                        make_attribute_parser(&md_mipi_depth_mode::crc,
                                                              md_mipi_depth_control_attributes::crc_attribute,
                                                              md_prop_offset));
+
+        if (_fw_version >= hdr_firmware_version)
+        {
+            depth_sensor.register_metadata(RS2_FRAME_METADATA_SEQUENCE_SIZE,
+                make_attribute_parser(&md_mipi_depth_mode::sub_preset_info,
+                    md_configuration_attributes::sub_preset_info_attribute, md_prop_offset,
+                    [](const rs2_metadata_type& param) {
+                        // bit mask and offset used to get data from bitfield
+                        return (param & md_configuration::SUB_PRESET_BIT_MASK_SEQUENCE_SIZE)
+                            >> md_configuration::SUB_PRESET_BIT_OFFSET_SEQUENCE_SIZE;
+                    }));
+
+            depth_sensor.register_metadata(RS2_FRAME_METADATA_SEQUENCE_ID,
+                make_attribute_parser(&md_mipi_depth_mode::sub_preset_info,
+                    md_configuration_attributes::sub_preset_info_attribute, md_prop_offset,
+                    [](const rs2_metadata_type& param) {
+                        // bit mask and offset used to get data from bitfield
+                        return (param & md_configuration::SUB_PRESET_BIT_MASK_SEQUENCE_ID)
+                            >> md_configuration::SUB_PRESET_BIT_OFFSET_SEQUENCE_ID;
+                    }));
+
+            depth_sensor.register_metadata(RS2_FRAME_METADATA_SEQUENCE_NAME,
+                make_attribute_parser(&md_mipi_depth_mode::sub_preset_info,
+                    md_configuration_attributes::sub_preset_info_attribute, md_prop_offset,
+                    [](const rs2_metadata_type& param) {
+                        // bit mask and offset used to get data from bitfield
+                        return (param & md_configuration::SUB_PRESET_BIT_MASK_ID)
+                            >> md_configuration::SUB_PRESET_BIT_OFFSET_ID;
+                    }));
+        }
     }
 
     void d400_device::create_snapshot(std::shared_ptr<debug_interface>& snapshot) const
diff --git a/src/ds/d400/d400-device.h b/src/ds/d400/d400-device.h
index b855ae3c19..b14c21b288 100644
--- a/src/ds/d400/d400-device.h
+++ b/src/ds/d400/d400-device.h
@@ -80,7 +80,7 @@ namespace librealsense
         command get_flash_logs_command() const;
 
         void register_metadata(const synthetic_sensor& depth_sensor, const firmware_version& hdr_firmware_version) const;
-        void register_metadata_mipi(const synthetic_sensor& depth_sensor) const;
+        void register_metadata_mipi(const synthetic_sensor& depth_sensor, const firmware_version& hdr_firmware_version) const;
 
         void init(std::shared_ptr<context> ctx,
             const platform::backend_device_group& group);

From fa5fe4f3d65282bec25cab1bf1bd086bd0e1fc49 Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Tue, 8 Aug 2023 16:40:57 +0300
Subject: [PATCH 07/16] D457 Segfault when calling get_motion_intrinsics

---
 src/ds/d400/d400-motion.cpp               | 15 ++++-----
 src/ds/d400/d400-motion.h                 |  2 --
 src/ds/ds-motion-common.cpp               |  4 +--
 src/ds/ds-motion-common.h                 |  2 +-
 unit-tests/live/intrinsics/test-motion.py | 40 +++++++++++++++++++++++
 5 files changed, 49 insertions(+), 14 deletions(-)
 create mode 100644 unit-tests/live/intrinsics/test-motion.py

diff --git a/src/ds/d400/d400-motion.cpp b/src/ds/d400/d400-motion.cpp
index 7399641217..b10f9094d6 100644
--- a/src/ds/d400/d400-motion.cpp
+++ b/src/ds/d400/d400-motion.cpp
@@ -93,11 +93,6 @@ namespace librealsense
         return _ds_motion_common->create_hid_device(ctx, all_hid_infos, camera_fw_version, _tf_keeper);
     }
 
-    rs2_motion_device_intrinsic d400_motion::get_motion_intrinsics(rs2_stream stream) const
-    {
-        return d400_motion_base::get_motion_intrinsics(stream);
-    }
-
     d400_motion_base::d400_motion_base(std::shared_ptr<context> ctx,
         const platform::backend_device_group& group)
         : device(ctx, group),
@@ -119,7 +114,7 @@ namespace librealsense
 
         std::vector<platform::hid_device_info> hid_infos = group.hid_devices;
 
-        _ds_motion_common->init_hid(hid_infos, *_depth_stream);
+        _ds_motion_common->init_motion(hid_infos.empty(), *_depth_stream);
         
         initialize_fisheye_sensor(ctx,group);
 
@@ -136,14 +131,16 @@ namespace librealsense
 
     d400_motion_uvc::d400_motion_uvc(std::shared_ptr<context> ctx,
         const platform::backend_device_group& group)
-        : d400_motion_base(ctx, group),
-        device(ctx, group),
-        d400_device(ctx, group)
+        : device(ctx, group),
+          d400_device(ctx, group),
+          d400_motion_base(ctx, group)
     {
         using namespace ds;
 
         std::vector<platform::uvc_device_info> uvc_infos = group.uvc_devices;
 
+        _ds_motion_common->init_motion(uvc_infos.empty(), *_depth_stream);
+
         if (!uvc_infos.empty())
         {
             // product id - D457 dev - check - must not be the front of uvc_infos vector
diff --git a/src/ds/d400/d400-motion.h b/src/ds/d400/d400-motion.h
index 45207c955a..b9ce37b061 100644
--- a/src/ds/d400/d400-motion.h
+++ b/src/ds/d400/d400-motion.h
@@ -49,8 +49,6 @@ namespace librealsense
             const std::vector<platform::hid_device_info>& all_hid_infos,
             const firmware_version& camera_fw_version);
 
-        rs2_motion_device_intrinsic get_motion_intrinsics(rs2_stream) const;
-
     protected:
         friend class ds_motion_common;
         friend class ds_fisheye_sensor;
diff --git a/src/ds/ds-motion-common.cpp b/src/ds/ds-motion-common.cpp
index b6d79d92ba..2655343a0b 100644
--- a/src/ds/ds-motion-common.cpp
+++ b/src/ds/ds-motion-common.cpp
@@ -490,9 +490,9 @@ namespace librealsense
         return hid_ep;
     }
 
-    void ds_motion_common::init_hid(const std::vector<platform::hid_device_info>& hid_infos, const stream_interface& depth_stream)
+    void ds_motion_common::init_motion(bool is_infos_empty, const stream_interface& depth_stream)
     {
-        if (!hid_infos.empty())
+        if (!is_infos_empty)
         {
             // motion correction
             _mm_calib = std::make_shared<mm_calib_handler>(_hw_monitor, _owner->_pid);
diff --git a/src/ds/ds-motion-common.h b/src/ds/ds-motion-common.h
index fb4b50121d..bf5c5db29d 100644
--- a/src/ds/ds-motion-common.h
+++ b/src/ds/ds-motion-common.h
@@ -126,7 +126,7 @@ namespace librealsense
             const firmware_version& camera_fw_version,
             std::shared_ptr<time_diff_keeper> tf_keeper);
 
-        void init_hid(const std::vector<platform::hid_device_info>& hid_infos, const stream_interface& depth_stream);
+        void init_motion(bool is_infos_empty, const stream_interface& depth_stream);
 
         const std::vector<uint8_t>& get_fisheye_calibration_table() const;
 
diff --git a/unit-tests/live/intrinsics/test-motion.py b/unit-tests/live/intrinsics/test-motion.py
new file mode 100644
index 0000000000..9a12f01c85
--- /dev/null
+++ b/unit-tests/live/intrinsics/test-motion.py
@@ -0,0 +1,40 @@
+# License: Apache 2.0. See LICENSE file in root directory.
+# Copyright(c) 2023 Intel Corporation. All Rights Reserved.
+
+# test:device:jetson D457
+# test:device:!jetson D455
+# This test check existence motion intrinsic data in accel and gyro profiles.
+
+import pyrealsense2 as rs
+from rspy import test, log
+
+device = test.find_first_device_or_exit()
+motion_sensor = device.first_motion_sensor()
+
+test.start('Check intrinsics in motion sensor:')
+
+test.check(motion_sensor)
+
+if motion_sensor:
+
+    motion_profile_accel = next(p for p in motion_sensor.profiles if p.stream_type() == rs.stream.accel)
+    motion_profile_gyro = next(p for p in motion_sensor.profiles if p.stream_type() == rs.stream.gyro)
+
+    test.check(motion_profile_accel and motion_profile_gyro)
+
+    if motion_profile_accel:
+        motion_profile_accel = motion_profile_accel.as_motion_stream_profile()
+        intrinsics_accel = motion_profile_accel.get_motion_intrinsics()
+
+        log.d(str(intrinsics_accel))
+        test.check(len(str(intrinsics_accel)) > 0)  # Checking if intrinsics has data
+
+    if motion_profile_gyro:
+        motion_profile_gyro = motion_profile_gyro.as_motion_stream_profile()
+        intrinsics_gyro = motion_profile_gyro.get_motion_intrinsics()
+
+        log.d(intrinsics_gyro)
+        test.check(len(str(intrinsics_gyro)) > 0)  # Checking if intrinsics has data
+
+    test.finish()
+    test.print_results_and_exit()

From d6b4c87722a5d907ce423536282bc3e97dfb9694 Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Mon, 14 Aug 2023 15:08:55 +0300
Subject: [PATCH 08/16] cherry pick rs-fw-update tool - handle D457 MIPI device

---
 tools/fw-update/rs-fw-update.cpp | 124 +++++++++++++++++++++++++++++--
 1 file changed, 118 insertions(+), 6 deletions(-)

diff --git a/tools/fw-update/rs-fw-update.cpp b/tools/fw-update/rs-fw-update.cpp
index 15c1ecc50f..45cff625d1 100644
--- a/tools/fw-update/rs-fw-update.cpp
+++ b/tools/fw-update/rs-fw-update.cpp
@@ -35,13 +35,31 @@ std::vector<uint8_t> read_fw_file(std::string file_path)
     std::vector<uint8_t> rv;
 
     std::ifstream file(file_path, std::ios::in | std::ios::binary | std::ios::ate);
+    auto file_deleter = std::unique_ptr< std::ifstream, void ( * )( std::ifstream * ) >( &file,
+                                                                                         []( std::ifstream * file )
+                                                                                         {
+                                                                                             if( file )
+                                                                                                 file->close();
+                                                                                         } );
     if (file.is_open())
     {
         rv.resize(file.tellg());
 
-        file.seekg(0, std::ios::beg);
-        file.read((char*)rv.data(), rv.size());
-        file.close();
+        try
+        {
+            file.seekg( 0, std::ios::beg );
+            file.read( (char *)rv.data(), rv.size() );
+        }
+        catch( ... )
+        {
+            // Nothing to do, file goodbit is false
+        }
+        if( ! file.good() )
+        {
+            std::cout << std::endl << "Error reading firmware file";
+            rv.resize( 0 ); // Signal error, don't use partial read data
+        }
+        
     }
 
     return rv;
@@ -119,7 +137,72 @@ void list_devices(rs2::context ctx)
     }
 }
 
-int main(int argc, char** argv) try
+int write_fw_to_mipi_device( const std::vector< uint8_t > & fw_image)
+{
+    // Write firmware to appropriate file descritptor
+    std::cout << std::endl << "Update can take up to 2 minutes" << std::endl;
+    std::ofstream fw_path_in_device( "/dev/d4xx-dfu504", std::ios::binary );
+    auto file_deleter = std::unique_ptr< std::ofstream, void ( * )( std::ofstream * ) >( &fw_path_in_device,
+                                                                                         []( std::ofstream * file )
+                                                                                         {
+                                                                                             if( file )
+                                                                                                 file->close();
+                                                                                         } );
+    if( fw_path_in_device )
+    {
+        bool done = false;
+        std::thread show_progress_thread(
+            [&done]()
+            {
+                for( int i = 0; i < 101 && ! done; ++i ) // Show percentage [0-100]
+                {
+                    printf( "%d%%\r", i );
+                    std::cout.flush();
+                    std::this_thread::sleep_for( std::chrono::seconds( 1 ) );
+                }
+            } );
+        try
+        {
+            fw_path_in_device.write( reinterpret_cast< const char * >( fw_image.data() ), fw_image.size() );
+        }
+        catch( ... )
+        {
+            // Nothing to do, file goodbit is false
+        }
+        done = true;
+        show_progress_thread.join();
+        printf( "    \r" ); // Delete progress, as it is not accurate, don't leave 85% when writing done
+        if( ! fw_path_in_device.good() )
+        {
+            std::cout << std::endl << "Firmware Update failed - write to device error";
+            return EXIT_FAILURE;
+        }
+    }
+    else
+    {
+        std::cout << std::endl << "Firmware Update failed - wrong path or permissions missing";
+        return EXIT_FAILURE;
+    }
+    std::cout << std::endl << "Firmware update done" << std::endl;
+
+    return EXIT_SUCCESS;
+}
+
+bool is_mipi_device( const rs2::device & dev )
+{
+    std::string usb_type = "unknown";
+
+    if( dev.supports( RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR ) )
+        usb_type = dev.get_info( RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR );
+
+    bool d457_device = strcmp( dev.get_info( RS2_CAMERA_INFO_PRODUCT_ID ), "ABCD" ) == 0;
+
+    // Currently only D457 model has MIPI connection
+    return d457_device && usb_type.compare( "unknown" ) == 0;
+}
+
+int main( int argc, char ** argv )
+try
 {
 #ifdef BUILD_EASYLOGGINGPP
     rs2::log_to_console(RS2_LOG_SEVERITY_WARN);
@@ -301,7 +384,7 @@ int main(int argc, char** argv) try
 
         if (d.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR))
         {
-            std::string usb_type = d.get_info(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR);
+            std::string usb_type = d.get_info( RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR );
             if (usb_type.find("2.") != std::string::npos) {
                 std::cout << std::endl << "Warning! the camera is connected via USB 2 port, in case the process fails, connect the camera to a USB 3 port and try again" << std::endl;
             }
@@ -331,7 +414,24 @@ int main(int argc, char** argv) try
 
             auto temp = backup_arg.getValue();
             std::ofstream file(temp.c_str(), std::ios::binary);
-            file.write((const char*)flash.data(), flash.size());
+            auto file_deleter = std::unique_ptr< std::ofstream, void ( * )( std::ofstream * ) >( &file,
+                                                                                                 []( std::ofstream * file )
+                                                                                                 {
+                                                                                                     if( file )
+                                                                                                         file->close();
+                                                                                                 } );
+            try
+            {
+                file.write( (const char *)flash.data(), flash.size() );
+            }
+            catch( ... )
+            {
+                // Nothing to do, file goodbit is false
+            }
+            if( ! file.good() )
+            {
+                std::cout << std::endl << "Creating backup file failed";
+            }
         }
 
         if (!file_arg.isSet())
@@ -342,6 +442,18 @@ int main(int argc, char** argv) try
         std::cout << std::endl << "Updating device: " << std::endl;
         print_device_info(d);
 
+        // If device is D457 connected by MIPI connector
+        if( is_mipi_device( d ) )
+        {
+            if( unsigned_arg.isSet() )
+            {
+                std::cout << std::endl << "Only signed FW is currently supported for MIPI devices" << std::endl;
+                return EXIT_FAILURE;
+            }
+
+            return write_fw_to_mipi_device( fw_image );
+        }
+
         if (unsigned_arg.isSet())
         {
             std::cout << std::endl << "Firmware update started" << std::endl << std::endl;

From bc24c894ef56930ed6bb2b1ab2b16f8a72f95b9a Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Tue, 15 Aug 2023 00:20:04 +0300
Subject: [PATCH 09/16] add missing include

---
 tools/fw-update/rs-fw-update.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/tools/fw-update/rs-fw-update.cpp b/tools/fw-update/rs-fw-update.cpp
index 45cff625d1..5839cceca7 100644
--- a/tools/fw-update/rs-fw-update.cpp
+++ b/tools/fw-update/rs-fw-update.cpp
@@ -6,6 +6,7 @@
 #include <vector>
 #include <map>
 #include <string>
+#include <cstring>
 #include <iostream>
 #include <fstream>
 #include <thread>

From fba97975b119c292d6e15a418191a74296485a3e Mon Sep 17 00:00:00 2001
From: Eran <librealsense.eran@gmail.com>
Date: Wed, 23 Aug 2023 14:33:02 +0300
Subject: [PATCH 10/16] PR #12128 from Ohad: Restore calibration changed
 options only after apply or dismiss

---
 common/on-chip-calib.cpp | 74 +++++++++++++++++++++++-----------------
 common/on-chip-calib.h   | 21 +++++++-----
 2 files changed, 54 insertions(+), 41 deletions(-)

diff --git a/common/on-chip-calib.cpp b/common/on-chip-calib.cpp
index d51c0c0539..69d69faf7b 100644
--- a/common/on-chip-calib.cpp
+++ b/common/on-chip-calib.cpp
@@ -74,12 +74,34 @@ namespace rs2
         }
     }
     
+    void on_chip_calib_manager::save_options_controlled_by_calib()
+    {
+        // Calibration might fail and be restarted, save only once, or we will keep chaged options.
+        if( ! _options_saved )
+        {
+            save_laser_emitter_state();
+            save_thermal_loop_state();
+            _options_saved = true;
+        }
+    }
+
+    void on_chip_calib_manager::restore_options_controlled_by_calib()
+    {
+        // Restore might be called several times, restore only if options where actually saved.
+        if( _options_saved )
+        {
+            restore_laser_emitter_state();
+            restore_thermal_loop_state();
+            _options_saved = false;
+        }
+    }
+
     void on_chip_calib_manager::save_laser_emitter_state()
     {
         auto it = _sub->options_metadata.find( RS2_OPTION_EMITTER_ENABLED );
         if ( it != _sub->options_metadata.end() ) //Option supported
         {
-            laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED );
+            _laser_status_prev = _sub->s->get_option( RS2_OPTION_EMITTER_ENABLED );
         }
     }
 
@@ -88,18 +110,18 @@ namespace rs2
         auto it = _sub->options_metadata.find( RS2_OPTION_THERMAL_COMPENSATION );
         if( it != _sub->options_metadata.end() )  // Option supported
         {
-            thermal_loop_prev = _sub->s->get_option( RS2_OPTION_THERMAL_COMPENSATION );
+            _thermal_loop_prev = _sub->s->get_option( RS2_OPTION_THERMAL_COMPENSATION );
         }
     }
 
     void on_chip_calib_manager::restore_laser_emitter_state()
     {
-        set_laser_emitter_state( laser_status_prev );
+        set_laser_emitter_state( _laser_status_prev );
     }
 
     void on_chip_calib_manager::restore_thermal_loop_state()
     {
-        set_thermal_loop_state( thermal_loop_prev );
+        set_thermal_loop_state( _thermal_loop_prev );
     }
 
     void on_chip_calib_manager::set_laser_emitter_state( float value )
@@ -1417,6 +1439,19 @@ namespace rs2
 
         _restored = false;
 
+        save_options_controlled_by_calib(); // Restored by GUI thread on dismiss or apply.
+
+        // Emitter on by default, off for GT/FL calib and for D415 model
+        float emitter_value = on_value;
+        if( action == RS2_CALIB_ACTION_FL_CALIB          ||
+            action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH ||
+            device_name_string == std::string( "Intel RealSense D415" ) )
+            emitter_value = off_value;
+        set_laser_emitter_state( emitter_value );
+
+        // Thermal loop should be off during calibration as to not change calibration tables during calibration
+        set_thermal_loop_state( off_value );
+
         auto fps = 30;
         if (_sub->dev.supports(RS2_CAMERA_INFO_USB_TYPE_DESCRIPTOR))
         {
@@ -1465,40 +1500,18 @@ namespace rs2
 
         if ( action == RS2_CALIB_ACTION_TARE_GROUND_TRUTH )
         {
-            // Laser should be turned off during ground truth calculation
-            save_laser_emitter_state();
-            set_laser_emitter_state( off_value );
-
             get_ground_truth();
-            
-            restore_laser_emitter_state();
         }
         else
         {
             try
             {
-                // Save options that are going to change during the calibration
-                save_laser_emitter_state();
-                save_thermal_loop_state();
-
-                // Emitter on by default, off for FL calib and for D415 model
-                float emitter_value = on_value;
-                if( action == RS2_CALIB_ACTION_FL_CALIB || device_name_string == std::string( "Intel RealSense D415" ) )
-                    emitter_value = off_value;
-                set_laser_emitter_state( emitter_value );
-
-                // Thermal loop should be off during calibration as to not change calibration tables during calibration
-                set_thermal_loop_state( off_value );
-
                 if (action == RS2_CALIB_ACTION_FL_CALIB)
                     calibrate_fl();
                 else if (action == RS2_CALIB_ACTION_UVMAPPING_CALIB)
                     calibrate_uv_mapping();
                 else
                     calibrate();
-
-                restore_laser_emitter_state();
-                restore_thermal_loop_state();
             }
             catch (...)
             {
@@ -1515,11 +1528,6 @@ namespace rs2
                     _ui_color.reset();
                 }
 
-                //Restore options that were changed during the calibration.
-                //When calibration is successful options are restored in autocalib_notification_model::draw_content()
-                restore_laser_emitter_state();
-                restore_thermal_loop_state();
-
                 if (_was_streaming)
                     start_viewer(0, 0, 0, invoke);
 
@@ -2861,6 +2869,7 @@ namespace rs2
                             dismiss(false);
                         }
 
+                        get_manager().restore_options_controlled_by_calib();
                         get_manager().restore_workspace([](std::function<void()> a) { a(); });
                     }
 
@@ -2979,7 +2988,8 @@ namespace rs2
         if (!use_new_calib && get_manager().done())
             get_manager().apply_calib(false);
 
-        get_manager().restore_workspace([](std::function<void()> a){ a(); });
+        get_manager().restore_options_controlled_by_calib();
+        get_manager().restore_workspace( []( std::function< void() > a ) { a(); } );
 
         if (update_state != RS2_CALIB_STATE_TARE_INPUT)
             update_state = RS2_CALIB_STATE_INITIAL_PROMPT;
diff --git a/common/on-chip-calib.h b/common/on-chip-calib.h
index efbda26c88..1bddb10a47 100644
--- a/common/on-chip-calib.h
+++ b/common/on-chip-calib.h
@@ -112,12 +112,8 @@ namespace rs2
         void turn_roi_on();
         void turn_roi_off();
 
-        void save_laser_emitter_state();
-        void save_thermal_loop_state();
-        void restore_laser_emitter_state();
-        void restore_thermal_loop_state();
-        void set_laser_emitter_state( float value );
-        void set_thermal_loop_state( float value );
+        void save_options_controlled_by_calib();
+        void restore_options_controlled_by_calib();
 
         void start_gt_viewer();
         void start_fl_viewer();
@@ -127,6 +123,13 @@ namespace rs2
         void reset_device() { _dev.hardware_reset(); }
 
     private:
+        void save_laser_emitter_state();
+        void save_thermal_loop_state();
+        void restore_laser_emitter_state();
+        void restore_thermal_loop_state();
+        void set_laser_emitter_state( float value );
+        void set_thermal_loop_state( float value );
+
         std::vector<uint8_t> safe_send_command(const std::vector<uint8_t>& cmd, const std::string& name);
         rs2::depth_frame fetch_depth_frame(invoker invoke, int timeout_ms = 5000); // Wait for next depth frame and return it
         std::pair<float, float> get_depth_metrics(invoker invoke);
@@ -141,9 +144,9 @@ namespace rs2
 
         device _dev;
 
-        
-        float laser_status_prev = 0.0f;
-        float thermal_loop_prev = 0.0f;
+        bool _options_saved = false;
+        float _laser_status_prev = 0.0f;
+        float _thermal_loop_prev = 0.0f;
 
         bool _was_streaming = false;
         bool _synchronized = false;

From 59dcf996f68c5235f1cd78e703689945f953b071 Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Mon, 4 Sep 2023 15:59:02 +0300
Subject: [PATCH 11/16] cherry pick PR#12162-rs-hdr fix for d457

---
 src/proc/hdr-merge.cpp | 7 +++++++
 1 file changed, 7 insertions(+)

diff --git a/src/proc/hdr-merge.cpp b/src/proc/hdr-merge.cpp
index 00974f5607..bcbb804b83 100644
--- a/src/proc/hdr-merge.cpp
+++ b/src/proc/hdr-merge.cpp
@@ -258,6 +258,13 @@ namespace librealsense
         // checking frame counter of first depth and ir are the same
         if (use_ir)
         {
+            // on devices that does not support meta data on IR frames, do not use IR for hdr merging
+            if (!first_ir.supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER)  ||
+                !second_ir.supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER) ||
+                !first_ir.supports_frame_metadata(RS2_FRAME_METADATA_SEQUENCE_ID)    ||
+                !second_ir.supports_frame_metadata(RS2_FRAME_METADATA_SEQUENCE_ID))
+            return false;
+
             int depth_frame_counter = static_cast<int>(first_depth.get_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER));
             int ir_frame_counter = static_cast<int>(first_ir.get_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER));
             use_ir = (depth_frame_counter == ir_frame_counter);

From f011c9be50451fd40e6892cf2657564570572bac Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Mon, 4 Sep 2023 17:04:57 +0300
Subject: [PATCH 12/16] cherry pick #11892 - depth ae mode added to options to
 ignore in test

---
 unit-tests/live/options/test-drops-on-set.py | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/unit-tests/live/options/test-drops-on-set.py b/unit-tests/live/options/test-drops-on-set.py
index 9b99741f74..18bc0c61ae 100644
--- a/unit-tests/live/options/test-drops-on-set.py
+++ b/unit-tests/live/options/test-drops-on-set.py
@@ -108,7 +108,7 @@ def check_color_frame_drops(frame):
 # inter_cam_sync_mode --> frame drops are expected during inter_cam_sync_mode change
 # emitter_frequency   --> Not allowed to be set during streaming
 if product_line == "D400":
-    options_to_ignore = [rs.option.visual_preset, rs.option.inter_cam_sync_mode, rs.option.emitter_frequency]
+    options_to_ignore = [rs.option.visual_preset, rs.option.inter_cam_sync_mode, rs.option.emitter_frequency, rs.option.auto_exposure_mode]
 
 def test_option_changes(sensor):
     global options_to_ignore

From 845f4768bf078469aec118b86556e8b95ae05dbe Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Tue, 5 Sep 2023 13:35:09 +0300
Subject: [PATCH 13/16] add comment

---
 unit-tests/live/options/test-drops-on-set.py | 1 +
 1 file changed, 1 insertion(+)

diff --git a/unit-tests/live/options/test-drops-on-set.py b/unit-tests/live/options/test-drops-on-set.py
index 18bc0c61ae..0396647044 100644
--- a/unit-tests/live/options/test-drops-on-set.py
+++ b/unit-tests/live/options/test-drops-on-set.py
@@ -107,6 +107,7 @@ def check_color_frame_drops(frame):
 # visual_preset       --> frame drops are expected during visual_preset change
 # inter_cam_sync_mode --> frame drops are expected during inter_cam_sync_mode change
 # emitter_frequency   --> Not allowed to be set during streaming
+# auto_exposure_mode  --> Not allowed to be set during streaming
 if product_line == "D400":
     options_to_ignore = [rs.option.visual_preset, rs.option.inter_cam_sync_mode, rs.option.emitter_frequency, rs.option.auto_exposure_mode]
 

From c9d494455a3100a1ed311cdcb81ba4578cef89eb Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Tue, 5 Sep 2023 13:38:04 +0300
Subject: [PATCH 14/16] update comment

---
 src/proc/hdr-merge.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/proc/hdr-merge.cpp b/src/proc/hdr-merge.cpp
index bcbb804b83..966c6e7547 100644
--- a/src/proc/hdr-merge.cpp
+++ b/src/proc/hdr-merge.cpp
@@ -258,7 +258,7 @@ namespace librealsense
         // checking frame counter of first depth and ir are the same
         if (use_ir)
         {
-            // on devices that does not support meta data on IR frames, do not use IR for hdr merging
+            // on devices that do not support meta data on IR frames (like D457), do not use IR for hdr merging
             if (!first_ir.supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER)  ||
                 !second_ir.supports_frame_metadata(RS2_FRAME_METADATA_FRAME_COUNTER) ||
                 !first_ir.supports_frame_metadata(RS2_FRAME_METADATA_SEQUENCE_ID)    ||

From 282b6dc0f8bd502cb9513fb57800124517664227 Mon Sep 17 00:00:00 2001
From: Nir Azkiel <nir.azkiel@intel.com>
Date: Tue, 15 Aug 2023 00:11:01 +0300
Subject: [PATCH 15/16] PR #12105 from OhadMeir: Draw cross in calibration ROI

---
 common/stream-model.cpp | 18 ++++++++++++++++--
 common/stream-model.h   |  2 +-
 2 files changed, 17 insertions(+), 3 deletions(-)

diff --git a/common/stream-model.cpp b/common/stream-model.cpp
index fedc734a58..acbcb8c6d3 100644
--- a/common/stream-model.cpp
+++ b/common/stream-model.cpp
@@ -78,7 +78,7 @@ namespace rs2
         glPopAttrib();
     }
 
-    void draw_rect(const rect& r, int line_width)
+    void draw_rect( const rect & r, int line_width, bool draw_cross )
     {
         glPushAttrib(GL_ENABLE_BIT);
 
@@ -96,6 +96,20 @@ namespace rs2
         glVertex2f(r.x, r.y);
         glEnd();
 
+        if( draw_cross )
+        {
+            glLineStipple( 1, 0x0808 );
+            glEnable( GL_LINE_STIPPLE );
+            glBegin( GL_LINES );
+            glVertex2f( r.x, r.y + r.h / 2 );
+            glVertex2f( r.x + r.w, r.y + r.h / 2 );
+            glEnd();
+            glBegin( GL_LINES );
+            glVertex2f( r.x + r.w / 2, r.y );
+            glVertex2f( r.x + r.w / 2, r.y + r.h );
+            glEnd();
+        }
+
         glPopAttrib();
     }
 
@@ -1541,7 +1555,7 @@ namespace rs2
 
             r = r.normalize(_normalized_zoom.unnormalize(get_original_stream_bounds())).unnormalize(stream_rect).cut_by(stream_rect);
             glColor3f(yellow.x, yellow.y, yellow.z);
-            draw_rect(r, 2);
+            draw_rect(r, 2, true);
 
             std::string message = "Metrics Region of Interest";
             auto msg_width = stb_easy_font_width((char*)message.c_str());
diff --git a/common/stream-model.h b/common/stream-model.h
index e80acd8766..987084952f 100644
--- a/common/stream-model.h
+++ b/common/stream-model.h
@@ -14,7 +14,7 @@ namespace rs2
     class subdevice_model;
     class viewer_model;
 
-    void draw_rect(const rect& r, int line_width = 1);
+    void draw_rect(const rect& r, int line_width = 1, bool draw_cross = false);
 
     struct frame_metadata
     {

From 81d735c6b0dc7360e7b981a01ac07df631353c68 Mon Sep 17 00:00:00 2001
From: Eran <librealsense.eran@gmail.com>
Date: Thu, 7 Sep 2023 14:32:17 +0300
Subject: [PATCH 16/16] bump FW to 5.15.1.0

---
 common/fw/CMakeLists.txt     | 2 +-
 common/fw/firmware-version.h | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/common/fw/CMakeLists.txt b/common/fw/CMakeLists.txt
index ed52c6cf83..9cfdd9b5ff 100644
--- a/common/fw/CMakeLists.txt
+++ b/common/fw/CMakeLists.txt
@@ -14,7 +14,7 @@ set(REALSENSE_FIRMWARE_URL "https://librealsense.intel.com" CACHE STRING
 string(REGEX MATCH "D4XX_RECOMMENDED_FIRMWARE_VERSION \"([0-9]+.[0-9]+.[0-9]+.[0-9]+)\"" _ ${ver})
 set(D4XX_FW_VERSION ${CMAKE_MATCH_1})
 #message(STATUS "D4XX_FW_VERSION: ${D4XX_FW_VERSION}")
-set(D4XX_FW_SHA1 b4dfa2ceb46e9b79c2d64480b149f188f7538e65)
+set(D4XX_FW_SHA1 20d1cf628957941689a948f2e17ecc6a11e8ab01)
 set(D4XX_FW_URL "${REALSENSE_FIRMWARE_URL}/Releases/RS4xx/FW")
 
 string(REGEX MATCH "SR3XX_RECOMMENDED_FIRMWARE_VERSION \"([0-9]+.[0-9]+.[0-9]+.[0-9]+)\"" _ ${ver})
diff --git a/common/fw/firmware-version.h b/common/fw/firmware-version.h
index f017897362..61e186f165 100644
--- a/common/fw/firmware-version.h
+++ b/common/fw/firmware-version.h
@@ -3,7 +3,7 @@
 
 #pragma once
 
-#define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.15.0.2"
+#define D4XX_RECOMMENDED_FIRMWARE_VERSION "5.15.1.0"
 #define SR3XX_RECOMMENDED_FIRMWARE_VERSION "3.26.1.0"
 #define T26X_FIRMWARE_VERSION "0.2.0.951"
 #define L51X_RECOMMENDED_FIRMWARE_VERSION "1.5.8.1"