register new option

src/ds5/ds5-active.cpp

@@ -25,7 +25,7 @@ namespace librealsense
     {
         using namespace ds;
 
-        //Projector's capacity is established based on actual HW capabilities
+        // Projector's capacity is established based on actual HW capabilities
         auto pid = group.uvc_devices.front().pid;
         if ((pid != RS_USB2_PID) && ((_device_capabilities & d400_caps::CAP_ACTIVE_PROJECTOR) == d400_caps::CAP_ACTIVE_PROJECTOR))
         {
@@ -82,6 +82,15 @@ namespace librealsense
                         RS2_OPTION_PROJECTOR_TEMPERATURE));
             }
 
+            // EMITTER FREQUENCY OPTION
+            // TODO:: add FW minimal version check
+            auto emitter_frequency = std::make_shared<uvc_xu_option<uint16_t>>(raw_depth_ep,
+                                                                         depth_xu,
+                                                                         DS5_EMITTER_FREQUENCY,
+                                                                         "Controls the emitter frequency, 57 [KHZ] / 91 [KHZ]");
+
+            depth_ep.register_option(RS2_OPTION_EMITTER_FREQUENCY, emitter_frequency);
+
         }
         else
         {

src/ds5/ds5-active.h

@@ -7,6 +7,7 @@
 
 namespace librealsense
 {
+    // Active means the HW includes an active projector
     class ds5_active : public virtual ds5_device
     {
     public:

src/ds5/ds5-factory.cpp

@@ -67,7 +67,7 @@ namespace librealsense
         };
     };
 
-    // DS5U_S
+    // Not used, should be removed with EOL devices clean up
     class rs405u_device : public ds5u_device,
         public ds5_advanced_mode_base,
         public firmware_logger_device

src/ds5/ds5-options.cpp

@@ -37,6 +37,20 @@ namespace librealsense
                         "Emitter select, 0-disable all emitters, 1-enable laser, 2-enable laser auto (opt), 3-enable LED (opt)")
     {}
 
+    emitter_frequency::emitter_frequency(uvc_sensor& ep)
+    : uvc_xu_option(ep, ds::depth_xu, ds::DS5_EMITTER_FREQUENCY,
+                    "Controls the emitter frequency, 57 [KHZ] / 91 [KHZ]")
+    {}
+
+    void emitter_frequency::set( float value )
+    {
+        if( _ep.is_streaming() )
+            throw wrong_api_call_sequence_exception( "Setting the emitter frequency during streaming is not allowed" );
+
+        uvc_xu_option::set( value );
+    }
+
+
     float asic_and_projector_temperature_options::query() const
     {
         if (!is_enabled())

src/ds5/ds5-options.h

@@ -18,6 +18,13 @@ namespace librealsense
         explicit emitter_option(uvc_sensor& ep);
     };
 
+    class emitter_frequency : public uvc_xu_option<uint8_t>
+    {
+    public:
+        explicit emitter_frequency(uvc_sensor& ep);
+        void set( float value ) override;
+    };
+
     class asic_and_projector_temperature_options : public readonly_option
     {
     public:

src/ds5/ds5-private.h

@@ -28,7 +28,7 @@ namespace librealsense
         const uint16_t RS415_PID            = 0x0ad3; // ASRC
         const uint16_t RS430_PID            = 0x0ad4; // AWG
         const uint16_t RS430_MM_PID         = 0x0ad5; // AWGT
-        const uint16_t RS_USB2_PID          = 0x0ad6; // USB2
+        const uint16_t RS_USB2_PID          = 0x0ad6; // USB2 - fallback for SKU unable to boot properly
         const uint16_t RS_RECOVERY_PID      = 0x0adb;
         const uint16_t RS_USB2_RECOVERY_PID = 0x0adc;
         const uint16_t RS400_IMU_PID        = 0x0af2; // IMU
@@ -39,7 +39,7 @@ namespace librealsense
         const uint16_t RS430_MM_RGB_PID     = 0x0b01; // AWGCT
         const uint16_t RS460_PID            = 0x0b03; // DS5U
         const uint16_t RS435_RGB_PID        = 0x0b07; // AWGC
-        const uint16_t RS405U_PID           = 0x0b0c; // DS5U
+        const uint16_t RS405U_PID           = 0x0b0c; // DS5U - Not used, should be removed with EOL devices clean up
         const uint16_t RS435I_PID           = 0x0b3a; // D435i
         const uint16_t RS416_PID            = 0x0b49; // F416
         const uint16_t RS430I_PID           = 0x0b4b; // D430i
@@ -61,6 +61,7 @@ namespace librealsense
         const uint8_t DS5_ENABLE_AUTO_EXPOSURE            = 0xB;
         const uint8_t DS5_LED_PWR                         = 0xE;
         const uint8_t DS5_THERMAL_COMPENSATION            = 0xF;
+        const uint8_t DS5_EMITTER_FREQUENCY               = 0x10; // TBD until we get the ID from FW
 
         // Devices supported by the current version
         static const std::set<std::uint16_t> rs400_sku_pid = {

src/hw-monitor.h

@@ -208,7 +208,7 @@ namespace librealsense
             {
                 if (ptr) _heap.deallocate(ptr);
             });
-            if (!token.get()) throw;
+            if( !token.get() ) throw io_exception( "heap allocation failed" );
 
             std::lock_guard<std::recursive_mutex> lock(_local_mtx);
             return _uvc_sensor_base.invoke_powered([&]