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Commit 01956c03 authored by Andrey Filippov's avatar Andrey Filippov
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working on logger driver

parent d5584335
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Showing with 478 additions and 268 deletions
src/drivers/elphel/elphel393-mem.c
View file @ 01956c03
...@@ -69,7 +69,7 @@ static struct elphel_buf_t _elphel_buf = { ...@@ -69,7 +69,7 @@ static struct elphel_buf_t _elphel_buf = {
// Device to host stream DMA buffer for the logger // Device to host stream DMA buffer for the logger
.logger_vaddr = NULL, .logger_vaddr = NULL,
.logger_paddr = 0, .logger_paddr = 0,
.logger_size = 1024 .logger_size = 1024 // should be 2**n !
}; };
...@@ -523,23 +523,23 @@ static int elphel393_mem_probe(struct platform_device *pdev) ...@@ -523,23 +523,23 @@ static int elphel393_mem_probe(struct platform_device *pdev)
printk("H2D stream buffer vaddr: 0x%08X\n",(u32) pElphel_buf -> h2d_vaddr); printk("H2D stream buffer vaddr: 0x%08X\n",(u32) pElphel_buf -> h2d_vaddr);
printk("H2D stream buffer paddr: 0x%08X\n",(u32) pElphel_buf -> h2d_paddr); printk("H2D stream buffer paddr: 0x%08X\n",(u32) pElphel_buf -> h2d_paddr);
printk("H2D stream buffer length: 0x%08X\n",(u32) pElphel_buf -> h2d_size * PAGE_SIZE); printk("H2D stream buffer length: 0x%08lX\n",(u32) pElphel_buf -> h2d_size * PAGE_SIZE);
printk("D2H stream buffer vaddr: 0x%08X\n",(u32) pElphel_buf -> d2h_vaddr); printk("D2H stream buffer vaddr: 0x%08X\n",(u32) pElphel_buf -> d2h_vaddr);
printk("D2H stream buffer paddr: 0x%08X\n",(u32) pElphel_buf -> d2h_paddr); printk("D2H stream buffer paddr: 0x%08X\n",(u32) pElphel_buf -> d2h_paddr);
printk("D2H stream buffer length: 0x%08X\n",(u32) pElphel_buf -> d2h_size * PAGE_SIZE); printk("D2H stream buffer length: 0x%08lX\n",(u32) pElphel_buf -> d2h_size * PAGE_SIZE);
printk("Bidirectional stream buffer vaddr: 0x%08X\n",(u32) pElphel_buf -> bidir_vaddr); printk("Bidirectional stream buffer vaddr: 0x%08X\n",(u32) pElphel_buf -> bidir_vaddr);
printk("Bidirectional stream buffer paddr: 0x%08X\n",(u32) pElphel_buf -> bidir_paddr); printk("Bidirectional stream buffer paddr: 0x%08X\n",(u32) pElphel_buf -> bidir_paddr);
printk("Bidirectional stream buffer length: 0x%08X\n",(u32) pElphel_buf -> bidir_size * PAGE_SIZE); printk("Bidirectional stream buffer length: 0x%08lX\n",(u32) pElphel_buf -> bidir_size * PAGE_SIZE);
printk("HISTOGRAMS stream buffer vaddr: 0x%08X\n",(u32) pElphel_buf -> histograms_vaddr); printk("HISTOGRAMS stream buffer vaddr: 0x%08X\n",(u32) pElphel_buf -> histograms_vaddr);
printk("HISTOGRAMS stream buffer paddr: 0x%08X\n",(u32) pElphel_buf -> histograms_paddr); printk("HISTOGRAMS stream buffer paddr: 0x%08X\n",(u32) pElphel_buf -> histograms_paddr);
printk("HISTOGRAMS stream buffer length: 0x%08X\n",(u32) pElphel_buf -> histograms_size * PAGE_SIZE); printk("HISTOGRAMS stream buffer length: 0x%08lX\n",(u32) pElphel_buf -> histograms_size * PAGE_SIZE);
printk("LOGGER stream buffer vaddr: 0x%08X\n",(u32) pElphel_buf -> logger_vaddr); printk("LOGGER stream buffer vaddr: 0x%08X\n",(u32) pElphel_buf -> logger_vaddr);
printk("LOGGER stream buffer paddr: 0x%08X\n",(u32) pElphel_buf -> logger_paddr); printk("LOGGER stream buffer paddr: 0x%08X\n",(u32) pElphel_buf -> logger_paddr);
printk("LOGGER stream buffer length: 0x%08X\n",(u32) pElphel_buf -> logger_size * PAGE_SIZE); printk("LOGGER stream buffer length: 0x%08lX\n",(u32) pElphel_buf -> logger_size * PAGE_SIZE);
return 0; return 0;
} }
......
src/drivers/elphel/imu_log393.c
View file @ 01956c03
...@@ -34,45 +34,45 @@ ...@@ -34,45 +34,45 @@
*/ */
/****************** INCLUDE FILES SECTION ***********************************/ /****************** INCLUDE FILES SECTION ***********************************/
#include <linux/module.h>
#include <linux/sched.h> #include <linux/sched.h>
#include <linux/kernel.h>
#include <linux/init.h>
#include <linux/interrupt.h>
//#include <linux/time.h> //?
#include <linux/platform_device.h>
//#include <linux/of.h>
#include <linux/of_device.h>
#include <asm/outercache.h>
#include <asm/cacheflush.h>
#include <linux/module.h>
#include <linux/slab.h> #include <linux/slab.h>
#include <linux/errno.h> #include <linux/errno.h>
#include <linux/kernel.h>
#include <linux/fs.h> #include <linux/fs.h>
#include <linux/string.h> #include <linux/string.h>
#include <linux/init.h> //#include <asm/io.h>
//#include <linux/autoconf.h>
//#include <asm/system.h> //#include <asm/irq.h>
//#include <asm/arch/memmap.h> //#include <asm/atomic.h>
//#include <asm/svinto.h>
#include <asm/io.h>
//#include <asm/arch/dma.h>
//#include <asm/arch/hwregs/dma_defs.h>
//#include <asm/arch/hwregs/dma.h>
//#include <asm/arch/hwregs/reg_map.h>
//#include <asm/arch/hwregs/bif_dma_defs.h>
#include <asm/irq.h>
//#include <asm/fasttimer.h>
#include <asm/atomic.h>
#include <asm/delay.h> #include <asm/delay.h>
#include <asm/uaccess.h> #include <asm/uaccess.h> // copy_*_user
//#include <asm/arch/cache.h>
#include <elphel/driver_numbers.h> #include <elphel/driver_numbers.h>
#include <elphel/c313a.h> #include <elphel/c313a.h>
//#include <asm/elphel/fpgaconfa.h> #include <elphel/elphel393-mem.h>
//#include "fpgactrl.h"
//#include "fpga_sdram.h"
#include "imu_log393.h" #include "imu_log393.h"
#include "x393.h" #include "x393.h"
#include "legacy_defines.h" // temporarily #include "legacy_defines.h" // temporarily
//#include "x393_macro.h"
//#include "x393_helpers.h"
//#include "x3x3.h" //#include "x3x3.h"
//#include "cci2c.h" // i2c to enable CS for the IMU //#include "cci2c.h" // i2c to enable CS for the IMU
...@@ -95,6 +95,15 @@ ...@@ -95,6 +95,15 @@
#define IS_103695_REV_A 1 #define IS_103695_REV_A 1
#define MULT_SAXI_CHN 0 ///< using channel 0 of a 4-channel DMA engine
#define LOGGER_DMA_RESET 0
#define LOGGER_DMA_STOP 1
#define LOGGER_DMA_RUN 2
#define LOGGER_STATUS_MODE 3 // autoupdate
#define MULT_SAXI_STATUS_MODE 3 // autoupdate
#define LOGGER_IRQ_DW_BIT 4 // Number of DWORD address bit to change to cause interrupt
#define LOGGER_USE_IRQ 1
#ifdef NC353 #ifdef NC353
#define EXT_DMA_1_START \ #define EXT_DMA_1_START \
do { reg_bif_dma_rw_ch1_start c = {.run=1};\ do { reg_bif_dma_rw_ch1_start c = {.run=1};\
...@@ -102,11 +111,11 @@ ...@@ -102,11 +111,11 @@
#define EXT_DMA_1_STOP \ #define EXT_DMA_1_STOP \
do { reg_bif_dma_rw_ch1_start c = {.run=0};\ do { reg_bif_dma_rw_ch1_start c = {.run=0};\
REG_WR(bif_dma, regi_bif_dma, rw_ch1_start, (reg_bif_dma_rw_ch1_start) c); } while( 0 ) REG_WR(bif_dma, regi_bif_dma, rw_ch1_start, (reg_bif_dma_rw_ch1_start) c); } while( 0 )
#define bytePtrMask ((CCAM_DMA1_SIZE << 2)-1) // and byte pointer in the dma buffer to get index in the array
#else #else
#define EXT_DMA_1_START //#define EXT_DMA_1_START
#define EXT_DMA_1_STOP //#define EXT_DMA_1_STOP
#endif #endif
#define bytePtrMask ((CCAM_DMA1_SIZE << 2)-1) // and byte pointer in the dma buffer to get index in the array
#ifdef NC353 #ifdef NC353
#define XCLK_RATE 80000000 ///< 80MHz clock in NC353 #define XCLK_RATE 80000000 ///< 80MHz clock in NC353
...@@ -115,7 +124,7 @@ ...@@ -115,7 +124,7 @@
#endif #endif
#define RS232_RATE 19200 ///< RS232 bps #define RS232_RATE 19200 ///< RS232 bps
#define IMU_MODULE_DESCRIPTION "IMU logger for 10365 ext. board" #define IMU_MODULE_DESCRIPTION "IMU logger for 10365 ext. board"
#define IMU_DRIVER_NAME "imu_logger" #define LOGGER_DRIVER_NAME "imu_logger"
#define IMU_MAXMINOR 10 #define IMU_MAXMINOR 10
#ifdef NC353 #ifdef NC353
...@@ -188,7 +197,7 @@ ...@@ -188,7 +197,7 @@
#define DFLT_STALL_USEC 2 ///< stall time in usec #define DFLT_STALL_USEC 2 ///< stall time in usec
#define DFLT_STALL (( DFLT_STALL_USEC * ( XCLK_RATE / DFLT_DIVISOR )) / 1000000 ) ///< stall time in usec #define DFLT_STALL (( DFLT_STALL_USEC * ( XCLK_RATE / DFLT_DIVISOR )) / 1000000 ) ///< stall time in usec
#define DFLT_SLEEP 30000 ///< usec, sleep if not ready #define DFLT_SLEEP 30000 ///< usec, sleep if not ready (30ms)
//#define DFLT_FEQ 300 //#define DFLT_FEQ 300
//#define DFLT_PERIOD ( XCLK_RATE / DFLT_DIVISOR / DFLT_FEQ ) // fixed scan period //#define DFLT_PERIOD ( XCLK_RATE / DFLT_DIVISOR / DFLT_FEQ ) // fixed scan period
#define DFLT_PERIOD 0xFFFFFFFF ///< read IMU when it is ready #define DFLT_PERIOD 0xFFFFFFFF ///< read IMU when it is ready
...@@ -278,7 +287,7 @@ static unsigned char dflt_wbuf[]= ...@@ -278,7 +287,7 @@ static unsigned char dflt_wbuf[]=
}; };
static unsigned char wbuf[sizeof(dflt_wbuf)]; static unsigned char wbuf[sizeof(dflt_wbuf)];
static const char fpga_name[] = "imu_control"; //static const char fpga_name[] = "imu_control";
static int imu_open (struct inode *inode, struct file *filp); static int imu_open (struct inode *inode, struct file *filp);
static int imu_release(struct inode *inode, struct file *filp); static int imu_release(struct inode *inode, struct file *filp);
static ssize_t imu_write (struct file * file, const char * buf, size_t count, loff_t *off); static ssize_t imu_write (struct file * file, const char * buf, size_t count, loff_t *off);
...@@ -287,23 +296,42 @@ static ssize_t imu_read (struct file * file, char * buf, size_t count, loff_t ...@@ -287,23 +296,42 @@ static ssize_t imu_read (struct file * file, char * buf, size_t count, loff_t
#define IMU_MAXMINOR 10 #define IMU_MAXMINOR 10
static loff_t numBytesRead=0; ///< totalnumber of bytes read from the imu - global pointer (modified when open in write mode) static loff_t numBytesRead=0; ///< total number of bytes read from the imu - global pointer (modified when open in write mode)
static loff_t numBytesWritten=0; ///< totalnumber of bytes writtent to the IMU buffer since it was started/restarted static loff_t numBytesWritten=0; ///< total number of bytes written to the IMU buffer since it was started/restarted
static int lastFPGABytes=0; ///< last read FPGA counter (24 bits) << 6 static loff_t numBytesWrittenBase=0; ///< number of byte written in full buffers since it was started/restarted
//TODO 393: Use allocated 4MB //TODO 393: Use allocated 4MB
static int dma_is_on=0;
#ifdef NC353
static int lastFPGABytes=0; ///< last read FPGA counter (24 bits) << 6
static unsigned long ccam_dma1_buf[CCAM_DMA1_SIZE + (PAGE_SIZE>>2)] __attribute__ ((aligned (PAGE_SIZE))); static unsigned long ccam_dma1_buf[CCAM_DMA1_SIZE + (PAGE_SIZE>>2)] __attribute__ ((aligned (PAGE_SIZE)));
//!Without "static" system hangs after "Uncompressing Linux... //!Without "static" system hangs after "Uncompressing Linux...
unsigned long * ccam_dma1_buf_ptr = NULL; unsigned long * logger_buffer = NULL;
//unsigned long * ccam_dma1 = NULL; //! still used in autoexposure or something - why is in needed there? //unsigned long * ccam_dma1 = NULL; //! still used in autoexposure or something - why is in needed there?
void init_ccam_dma1_buf_ptr(void) { void init_ccam_dma1_buf_ptr(void) {
ccam_dma1_buf_ptr = ccam_dma1_buf; logger_buffer = ccam_dma1_buf;
// ccam_dma1 = ccam_dma1_buf; //&ccam_dma_buf[0]; Use in autoexposure // ccam_dma1 = ccam_dma1_buf; //&ccam_dma_buf[0]; Use in autoexposure
} }
#else
u32 * logger_buffer = NULL; ///< use instead of ccam_dma1_buf, logger_buffer. Initialize from the elphel393-mem
static u32 logger_size = 0; // size in bytes, should be 2^n
static u32 logger_offs32 = 0; // write offset in the buffer
static u32 bytePtrMask = 0;
static dma_addr_t logger_phys; ///< physical address of the DMA memory start
static int logger_fpga_configured = 0;
static const struct of_device_id elphel393_logger_of_match[];
/** @brief Global pointer to basic device structure. This pointer is used in debugfs output functions */
static struct device *g_dev_ptr;
wait_queue_head_t logger_wait_queue;
#endif
int logger_dma_ctrl(int cmd);
#ifdef NC353 // will update from mult_saxi pointer
void updateNumBytesWritten(void){ void updateNumBytesWritten(void){
x393_logger_status_t logger_status = x393_logger_status(); x393_logger_status_t logger_status = x393_logger_status();
#ifdef NC353 #ifdef NC353
...@@ -316,6 +344,7 @@ void updateNumBytesWritten(void){ ...@@ -316,6 +344,7 @@ void updateNumBytesWritten(void){
if (delta<0) delta+=(IMU_COUNT_OVERFLOW<<6); if (delta<0) delta+=(IMU_COUNT_OVERFLOW<<6);
numBytesWritten+=delta; // long long numBytesWritten+=delta; // long long
} }
#endif
static struct file_operations imu_fops = { static struct file_operations imu_fops = {
owner: THIS_MODULE, owner: THIS_MODULE,
...@@ -348,9 +377,9 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -348,9 +377,9 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
D(for (i=0; i< sizeof (wbuf); i++ ) { if ((i & 0x1f)==0) printk("\n %03x",i); printk(" %02x",(int) wbuf[i]); }); D(for (i=0; i< sizeof (wbuf); i++ ) { if ((i & 0x1f)==0) printk("\n %03x",i); printk(" %02x",(int) wbuf[i]); });
if (which & WHICH_RESET) { if (which & WHICH_RESET) {
if (x313_is_dma1_on()!=0) { if (logger_is_dma_on()!=0) {
D(printk("Stopping DMA\n")); D(printk("Stopping DMA\n"));
x313_dma1_stop(); logger_dma_stop();
} }
D(printk("Resetting logger\n")); D(printk("Resetting logger\n"));
...@@ -567,12 +596,12 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -567,12 +596,12 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
TODO: (re)start DMA1 here ! TODO: (re)start DMA1 here !
*/ */
/// for now - init everything again? /// for now - init everything again?
if (x313_is_dma1_on()!=0) { if (logger_is_dma_on()!=0) {
D(printk("Stopping DMA\n")); D(printk("Stopping DMA\n"));
x313_dma1_stop(); logger_dma_stop();
} }
x313_dma1_init(); x313_dma1_init();
x313_dma1_start(); logger_dma_start();
} }
if (which & WHICH_EN_LOGGER) { if (which & WHICH_EN_LOGGER) {
...@@ -601,18 +630,18 @@ static int imu_open(struct inode *inode, struct file *filp) { ...@@ -601,18 +630,18 @@ static int imu_open(struct inode *inode, struct file *filp) {
D(printk("filp=%lx\r\n",(unsigned long)filp) ); D(printk("filp=%lx\r\n",(unsigned long)filp) );
switch ( p ) { switch ( p ) {
case IMU_CTL_MINOR: case LOGGER_CTL_MINOR:
D1(printk(KERN_NOTICE "IMU_ctl_open\n")); D1(printk(KERN_NOTICE "IMU_ctl_open\n"));
inode->i_size=sizeof(wbuf); inode->i_size=sizeof(wbuf);
// nothing more here, after writeing parameters should start imu (and dma), otherwise will use defaults on next open of /dev/imu // nothing more here, after writing parameters should start imu (and dma), otherwise will use defaults on next open of /dev/imu
break; break;
case IMU_MINOR : case LOGGER_MINOR :
{ {
D1(printk(KERN_NOTICE "IMU_open\n")); D1(printk(KERN_NOTICE "IMU_open\n"));
inode->i_size=sizeof(wbuf); // only in write mode inode->i_size=sizeof(wbuf); // only in write mode
/// See if initialization is needed /// See if initialization is needed
if (x313_is_dma1_on()==0) { if (logger_is_dma_on()==0) {
/// copy defaults /// copy defaults
D1(printk(KERN_NOTICE "Initializing IMU\n")); D1(printk(KERN_NOTICE "Initializing IMU\n"));
for (i=0;i<sizeof(wbuf);i++) wbuf[i]=dflt_wbuf[i]; for (i=0;i<sizeof(wbuf);i++) wbuf[i]=dflt_wbuf[i];
...@@ -631,11 +660,16 @@ static int imu_open(struct inode *inode, struct file *filp) { ...@@ -631,11 +660,16 @@ static int imu_open(struct inode *inode, struct file *filp) {
numBytesRead=0; numBytesRead=0;
} else { } else {
D1(printk(KERN_NOTICE "Skipping IMU initialization\n")); D1(printk(KERN_NOTICE "Skipping IMU initialization\n"));
#ifdef NC353
updateNumBytesWritten(); updateNumBytesWritten();
// numBytesWritten= (int) port_csp0_addr[X313_RA_IMU_COUNT]<<6; #endif
if (filp->f_mode & FMODE_WRITE) { // write mode, use global read pointer if (filp->f_mode & FMODE_WRITE) { // write mode, use global read pointer
// if ((numBytesWritten < numBytesRead) || (numBytesWritten - numBytesRead)>=(CCAM_DMA1_SIZE<<2)) { #ifdef NC353
if ((numBytesWritten - numBytesRead)>=(CCAM_DMA1_SIZE<<2)) { // there is still a chance to read as much as possible using lseek if ((numBytesWritten - numBytesRead)>=(CCAM_DMA1_SIZE<<2)) // there is still a chance to read as much as possible using lseek
#else
if ((numBytesWritten - numBytesRead) >= logger_size) // there is still a chance to read as much as possible using lseek
#endif
{
// alternatively - open at lower pointer? // alternatively - open at lower pointer?
D1(printk(KERN_ERR "DMA1 buffer overrun (numBytesWritten=0x%llx, numBytesRead=0x%llx, resetting numBytesRead\n", numBytesWritten, numBytesRead)); D1(printk(KERN_ERR "DMA1 buffer overrun (numBytesWritten=0x%llx, numBytesRead=0x%llx, resetting numBytesRead\n", numBytesWritten, numBytesRead));
numBytesRead=numBytesWritten; numBytesRead=numBytesWritten;
...@@ -658,8 +692,8 @@ static int imu_release(struct inode *inode, struct file *filp) { ...@@ -658,8 +692,8 @@ static int imu_release(struct inode *inode, struct file *filp) {
// int res=0; // int res=0;
int p = MINOR(inode->i_rdev); int p = MINOR(inode->i_rdev);
switch ( p ) { switch ( p ) {
case IMU_MINOR : case LOGGER_MINOR :
case IMU_CTL_MINOR: case LOGGER_CTL_MINOR:
printk(KERN_NOTICE "Closing IMU device, numBytesWritten=0x%llx, numBytesRead=0x%llx (only global pointer, does not include files opened in read mode)\n", numBytesWritten, numBytesRead); printk(KERN_NOTICE "Closing IMU device, numBytesWritten=0x%llx, numBytesRead=0x%llx (only global pointer, does not include files opened in read mode)\n", numBytesWritten, numBytesRead);
break; break;
default: return -EINVAL; default: return -EINVAL;
...@@ -677,8 +711,8 @@ static ssize_t imu_write(struct file * file, const char * buf, size_t count, lof ...@@ -677,8 +711,8 @@ static ssize_t imu_write(struct file * file, const char * buf, size_t count, lof
D(printk("imu_write: (int)file->private_data)= %x\r\n",((int)file->private_data))); D(printk("imu_write: (int)file->private_data)= %x\r\n",((int)file->private_data)));
// switch (((int *)file->private_data)[0]) { // switch (((int *)file->private_data)[0]) {
switch ((int) file->private_data) { switch ((int) file->private_data) {
case IMU_MINOR : case LOGGER_MINOR :
case IMU_CTL_MINOR: case LOGGER_CTL_MINOR:
if (!file->f_mode & FMODE_WRITE) { if (!file->f_mode & FMODE_WRITE) {
return -EINVAL; // readonly return -EINVAL; // readonly
} }
...@@ -712,8 +746,8 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) { ...@@ -712,8 +746,8 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) {
D(printk (" file=%x, offset=%llx (%d), orig=%x\r\n", (int) file, offset,(int) offset, (int) orig)); D(printk (" file=%x, offset=%llx (%d), orig=%x\r\n", (int) file, offset,(int) offset, (int) orig));
int p=(int)file->private_data; int p=(int)file->private_data;
switch (p) { switch (p) {
case IMU_MINOR: case LOGGER_MINOR:
case IMU_CTL_MINOR: case LOGGER_CTL_MINOR:
switch (orig) { switch (orig) {
case SEEK_SET: case SEEK_SET:
file->f_pos = offset; file->f_pos = offset;
...@@ -728,7 +762,9 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) { ...@@ -728,7 +762,9 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) {
} else { } else {
switch (offset) { switch (offset) {
case LSEEK_IMU_NEW: // sets file pointer to the last written data TODO: add lseeking to the earliest data? case LSEEK_IMU_NEW: // sets file pointer to the last written data TODO: add lseeking to the earliest data?
#ifdef NC353
updateNumBytesWritten(); updateNumBytesWritten();
#endif
// numBytesRead=(int) port_csp0_addr[X313_RA_IMU_COUNT]<<6; //numBytesWritten // numBytesRead=(int) port_csp0_addr[X313_RA_IMU_COUNT]<<6; //numBytesWritten
return file->f_pos; return file->f_pos;
case LSEEK_IMU_STOP: case LSEEK_IMU_STOP:
...@@ -771,7 +807,7 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) { ...@@ -771,7 +807,7 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) {
return (-EOVERFLOW); return (-EOVERFLOW);
} }
/** enable seeking beyond buffer - it now is absolute position in the data stream*/ /** enable seeking beyond buffer - it now is absolute position in the data stream*/
if ((p==IMU_CTL_MINOR) && (file->f_pos > sizeof(wbuf))) { if ((p==LOGGER_CTL_MINOR) && (file->f_pos > sizeof(wbuf))) {
printk(KERN_ERR "beyond end: minor=%d, file->f_pos=0x%llx\n", p, file->f_pos); printk(KERN_ERR "beyond end: minor=%d, file->f_pos=0x%llx\n", p, file->f_pos);
file->f_pos = sizeof(wbuf); file->f_pos = sizeof(wbuf);
return (-EOVERFLOW); return (-EOVERFLOW);
...@@ -780,22 +816,26 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) { ...@@ -780,22 +816,26 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) {
return (file->f_pos); return (file->f_pos);
} }
static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *off) { static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *off) {
int err; int err;
unsigned long * sleep; unsigned long * sleep;
char *charDMABuf; char *charDMABuf;
int idbg; int idbg;
int byteIndexRead;
int byteIndexValid;
int leftToRead;
int pe;
// loff_t numBytesWritten; - it is global now, made absolute from the IMU start // loff_t numBytesWritten; - it is global now, made absolute from the IMU start
loff_t thisNumBytesRead; loff_t thisNumBytesRead;
#ifdef NC353 #ifdef NC353
reg_dma_rw_stat stat; reg_dma_rw_stat stat;
reg_bif_dma_r_ch1_stat ch1_stat; reg_bif_dma_r_ch1_stat ch1_stat;
#endif #endif
// REG_WR(bif_dma, regi_bif_dma, rw_ch1_addr, exdma_addr);
// switch (((int *)file->private_data)[0]) {
switch ((int)file->private_data) { switch ((int)file->private_data) {
case IMU_CTL_MINOR: case LOGGER_CTL_MINOR:
// if (*off >= sizeof(wbuf)) return -EINVAL; // bigger than all // if (*off >= sizeof(wbuf)) return -EINVAL; // bigger than all
if (*off >= sizeof(wbuf)) return 0; // bigger than all if (*off >= sizeof(wbuf)) return 0; // bigger than all
if( (*off + count) > sizeof(wbuf)) { // truncate count if( (*off + count) > sizeof(wbuf)) { // truncate count
...@@ -810,38 +850,48 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of ...@@ -810,38 +850,48 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
*off+=count; *off+=count;
return count; return count;
break; break;
case IMU_MINOR : case LOGGER_MINOR :
#ifdef NC353
updateNumBytesWritten(); updateNumBytesWritten();
#endif
thisNumBytesRead=(file->f_mode & FMODE_WRITE)?numBytesRead:*off; // is that needed ("write mode") ? thisNumBytesRead=(file->f_mode & FMODE_WRITE)?numBytesRead:*off; // is that needed ("write mode") ?
charDMABuf = (char *) ccam_dma1_buf_ptr; charDMABuf = (char *) logger_buffer;
sleep= (unsigned long *) &wbuf[X313_IMU_SLEEP_OFFS]; sleep= (unsigned long *) &wbuf[X313_IMU_SLEEP_OFFS];
// numBytesWritten= (int) port_csp0_addr[X313_RA_IMU_COUNT]<<6;
// if ( thisNumBytesRead > numBytesWritten) thisNumBytesRead-= (IMU_COUNT_OVERFLOW<<6); // may become negative here
/// should we wait for data? /// should we wait for data?
idbg=0; idbg=0;
while ((sleep[0]!=0) && ((numBytesWritten-thisNumBytesRead)<= 64)) { /// last 32 bytes can get stuck in ETRAX dma channel
#ifdef NC353 #ifdef NC353
while ((sleep[0]!=0) && ((numBytesWritten-thisNumBytesRead)<= 64)) { // last 32 bytes can get stuck in ETRAX dma channel
schedule_usleep(*sleep); // ETRAX-specific wait, replace! schedule_usleep(*sleep); // ETRAX-specific wait, replace!
#else
BUG();
#endif
updateNumBytesWritten(); updateNumBytesWritten();
// numBytesWritten= (int) port_csp0_addr[X313_RA_IMU_COUNT]<<6;
// if ( thisNumBytesRead > numBytesWritten) thisNumBytesRead-= (IMU_COUNT_OVERFLOW<<6); // may become negative here
idbg++; idbg++;
} }
#else
wait_event_interruptible(logger_wait_queue, (sleep[0]==0) || ((numBytesWritten-thisNumBytesRead) > 64)); // AF2016 Why sleep[0] here?
#endif
if (idbg>0) { if (idbg>0) {
D(printk ("slept %d times (%d usec)\n", idbg, (int) (*sleep * idbg))); D(printk ("slept %d times (%d usec)\n", idbg, (int) (*sleep * idbg)));
} }
//! now read what is available (and required), roll over the buffer (if needed), copy data and advance numReadBytes // now read what is available (and required), roll over the buffer (if needed), copy data and advance numReadBytes
int byteIndexRead=thisNumBytesRead & bytePtrMask; //TODO:Flush cache !!!!!!!!!!!!!!!!!!!!!!*********************************
int byteIndexValid=(numBytesWritten-64) & bytePtrMask; // one record less to mitigate data hidden in ETRAX dma buffer
byteIndexRead=thisNumBytesRead & bytePtrMask; // requires buffer size to be 2**N
byteIndexValid=(numBytesWritten-64) & bytePtrMask; // one record less to mitigate data hidden in ETRAX dma buffer
#ifdef NC353
if (byteIndexValid<byteIndexRead) byteIndexValid += (CCAM_DMA1_SIZE<<2); if (byteIndexValid<byteIndexRead) byteIndexValid += (CCAM_DMA1_SIZE<<2);
#else
if (byteIndexValid<byteIndexRead) byteIndexValid += logger_size;
#endif
if (count>(byteIndexValid-byteIndexRead)) count = (byteIndexValid-byteIndexRead); if (count>(byteIndexValid-byteIndexRead)) count = (byteIndexValid-byteIndexRead);
int leftToRead=count; leftToRead=count;
int pe=byteIndexRead+leftToRead; pe=byteIndexRead+leftToRead;
#ifdef NC353
if (pe>(CCAM_DMA1_SIZE<<2)) pe=(CCAM_DMA1_SIZE<<2); if (pe>(CCAM_DMA1_SIZE<<2)) pe=(CCAM_DMA1_SIZE<<2);
#else
if (pe>(logger_size << PAGE_SHIFT)) pe= logger_size;
#endif
/// copy all (or first part) /// copy all (or first part)
err=copy_to_user(buf, &charDMABuf[byteIndexRead], (pe-byteIndexRead)); err=copy_to_user(buf, &charDMABuf[byteIndexRead], (pe-byteIndexRead));
if (err) { if (err) {
...@@ -885,62 +935,188 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of ...@@ -885,62 +935,188 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
} }
} }
/**
* @brief Handle interrupts from sensor channels. This handler is installed without SA_INTERRUPT
* flag meaning that interrupts are enabled during processing. Such behavior is recommended in LDD3.
* @param[in] irq interrupt number
* @param[in] dev_id pointer to driver's private data structure #jpeg_ptr_t corresponding to
* the channel which raise interrupt
* @return \e IRQ_HANDLED if interrupt was processed and \e IRQ_NONE otherwise
*/
static irqreturn_t logger_irq_handler(int irq, void *dev_id)
{
x393_mult_saxi_al_t mult_saxi_dwp = x393_mult_saxi_pointers(MULT_SAXI_CHN);
if (mult_saxi_dwp.addr32 < logger_offs32){
numBytesWrittenBase += logger_size;
}
logger_offs32 = mult_saxi_dwp.addr32;
numBytesWritten = numBytesWrittenBase + logger_offs32;
logger_irq_cmd(X393_IRQ_RESET);
wake_up_interruptible(&logger_wait_queue);
//thisFPGABytes
return IRQ_HANDLED;
}
static int __init
imu_init(void)
static int logger_init(struct platform_device *pdev)
{ {
// int i; unsigned int irq;
int res; int res;
res = register_chrdev(IMU_MAJOR, IMU_DRIVER_NAME, &imu_fops); struct device *dev = &pdev->dev;
const struct of_device_id *match;
const char *logger_irq_names[4] = {"mult_saxi_0", "mult_saxi_1", "mult_saxi_2", "mult_saxi_3"};
/* sanity check */
match = of_match_device(elphel393_logger_of_match, dev);
if (!match)
return -EINVAL;
dev_dbg(dev, "Registering character device with name "LOGGER_DRIVER_NAME);
res = register_chrdev(LOGGER_MAJOR, LOGGER_DRIVER_NAME, &imu_fops);
if(res < 0) { if(res < 0) {
printk(KERN_ERR "\nimu_init: couldn't get a major number %d.\n ",IMU_MAJOR); dev_err(dev, "\nlogger_init: couldn't get a major number %d.\n ",LOGGER_MAJOR);
return res; return res;
} }
printk(IMU_DRIVER_NAME"- %d\n",IMU_MAJOR); dev_info(dev,LOGGER_DRIVER_NAME"- %d\n",LOGGER_MAJOR);
// for (i=0;i<=IMU_MAXMINOR;i++) minors[i]=0; // Setup memory buffer from CMA
logger_buffer = (u32 *) pElphel_buf->logger_vaddr; // must be page-aligned!
logger_size = pElphel_buf->logger_size << PAGE_SHIFT;
bytePtrMask = logger_size;
logger_phys = pElphel_buf->logger_paddr;
dma_is_on = 0;
// Setup interrupt
irq = platform_get_irq_byname(pdev, logger_irq_names[MULT_SAXI_CHN]);
if (request_irq(irq,
logger_irq_handler,
0, // no flags
logger_irq_names[MULT_SAXI_CHN],
NULL)) {
dev_err(dev, "can not allocate interrupts for %s\n",logger_irq_names[MULT_SAXI_CHN]);
return -EBUSY;
}
//MULT_SAXI_CHN
init_waitqueue_head(&logger_wait_queue); // wait queue for logger
// init_ccam_dma1_buf_ptr();
g_dev_ptr = dev; // for debugfs
return 0;
}
init_ccam_dma1_buf_ptr(); /** Initialize FPGA DMA engine for the logger. Obviously requires bitstream to be loaded. */
int logger_init_fpga(int force) ///< if 0, only do if not already initialized
{
if (logger_fpga_configured && !force) return 0; // Already initialized
x393_status_ctrl_t logger_status_ctrl= {.d32 = 0};
x393_status_ctrl_t mult_saxi_status_ctrl= {.d32 = 0};
x393_mult_saxi_al_t mult_saxi_a= {.d32=0};
x393_mult_saxi_al_t mult_saxi_l= {.d32=0};
x393_mult_saxi_irqlen_t mult_saxi_irqlen= {.d32=0};
mult_saxi_a.addr32 = logger_phys >> 2; // in DWORDs
x393_mult_saxi_buf_address(mult_saxi_a, MULT_SAXI_CHN);
mult_saxi_l.addr32 = logger_size >> 2;
x393_mult_saxi_buf_len (mult_saxi_l, MULT_SAXI_CHN);
mult_saxi_irqlen.irqlen = LOGGER_IRQ_DW_BIT;
x393_mult_saxi_irqlen (mult_saxi_irqlen, MULT_SAXI_CHN);
logger_status_ctrl.mode = LOGGER_STATUS_MODE;
set_x393_logger_status_ctrl(logger_status_ctrl);
if (MULT_SAXI_STATUS_MODE) { // do not set (overwrite other channels if 0)
mult_saxi_status_ctrl.mode = MULT_SAXI_STATUS_MODE;
set_x393_mult_saxi_status_ctrl(mult_saxi_status_ctrl);
}
// resets (do once?)
logger_dma_ctrl(0); ///reset DMA
#if LOGGER_USE_IRQ
logger_irq_cmd(X393_IRQ_RESET);
logger_irq_cmd(X393_IRQ_ENABLE);
#endif /* LOGGER_USE_IRQ */
logger_fpga_configured = 1;
return 0; return 0;
} }
/** DMA control for the logger (mult_saxi channel 0) */
int logger_dma_ctrl(int cmd) ///< commands: 0 - reset, 1 - stop, 2 - run
///<@return 0/-EINVAL
{
x393_mult_saxi_mode_t mult_saxi_mode= {.d32=0};
int en,run;
BUG_ON (!logger_buffer);
mult_saxi_mode = get_x393_mult_saxi_mode(); // Now not needed, later to take care about other channels
switch (cmd){
case LOGGER_DMA_RESET: en=0; run=0; break;
case LOGGER_DMA_STOP: en=1; run=0; break;
case LOGGER_DMA_RUN: en=1; run=1; break;
default: return -EINVAL;
}
if (!en) {
logger_offs32 = 0; // byte offset in the buffer
numBytesWritten=0; ///< total number of bytes written to the IMU buffer since it was started/restarted
numBytesWrittenBase=0; ///< number of byte written in full buffers since it was started/restarted
}
#if MULT_SAXI_CHN == 0
mult_saxi_mode.en0=en; mult_saxi_mode.run0=run;
#elif MULT_SAXI_CHN == 1
mult_saxi_mode.en1=en; mult_saxi_mode.run1=run;
#elif MULT_SAXI_CHN == 2
mult_saxi_mode.en2=en; mult_saxi_mode.run2=run;
#elif MULT_SAXI_CHN == 3
mult_saxi_mode.en3=en; mult_saxi_mode.run3=run;
#endif
set_x393_mult_saxi_mode(mult_saxi_mode);
return 0;
}
void logger_irq_cmd(int cmd) ///< interrupt command: 0 - nop, 1 - reset, 2 - disable, 3 - enable
{
x393_mult_saxi_interrupts_t mult_saxi_interrupts= {.d32=0};
#if MULT_SAXI_CHN == 0
mult_saxi_interrupts.interrupt_cmd0 = cmd;
#elif MULT_SAXI_CHN == 1
mult_saxi_interrupts.interrupt_cmd1 = cmd;
#elif MULT_SAXI_CHN == 2
mult_saxi_interrupts.interrupt_cmd2 = cmd;
#elif MULT_SAXI_CHN == 3
mult_saxi_interrupts.interrupt_cmd3 = cmd;
#endif
x393_mult_saxi_interrupts(mult_saxi_interrupts);
}
#ifdef NC353
///TODO: it seems we could use a single data descriptor (in LX data segment was limited to 16KB), but let's have minimal changes ///TODO: it seems we could use a single data descriptor (in LX data segment was limited to 16KB), but let's have minimal changes
//#define DMA_CHUNK 0x4000 // 32-bit words - may increase?? //#define DMA_CHUNK 0x4000 // 32-bit words - may increase??
//#define CCAM_DESCR_DATA_NUM (( CCAM_DMA_SIZE / DMA_CHUNK) +1 ) // number of data descriptors //#define CCAM_DESCR_DATA_NUM (( CCAM_DMA_SIZE / DMA_CHUNK) +1 ) // number of data descriptors
#define CCAM_DESCR1_DATA_NUM (( CCAM_DMA1_SIZE / DMA_CHUNK) +1 ) // number of data descriptors #define CCAM_DESCR1_DATA_NUM (( CCAM_DMA1_SIZE / DMA_CHUNK) +1 ) // number of data descriptors
#ifdef NC353
static dma_descr_data ccam_dma1_descr_data [CCAM_DESCR1_DATA_NUM] __attribute__ ((__aligned__(16))); static dma_descr_data ccam_dma1_descr_data [CCAM_DESCR1_DATA_NUM] __attribute__ ((__aligned__(16)));
static dma_descr_context ccam_dma1_descr_context __attribute__ ((__aligned__(32))); static dma_descr_context ccam_dma1_descr_context __attribute__ ((__aligned__(32)));
#endif
static int dma1_on=0;
int x313_setDMA1Buffer(void); int x313_setDMA1Buffer(void);
unsigned long x313_DMA1_size (void); unsigned long x313_DMA1_size (void);
#endif
/** /**
* @brief tests if ETRAX DMA1 is running * @brief tests if ETRAX DMA1 is running
* @return 1 - DMA is on, 0 - DMA is off * @return 1 - DMA is on, 0 - DMA is off
*/ */
int x313_is_dma1_on(void) { int logger_is_dma_on(void) {
return dma1_on; return dma_is_on;
} }
/** /**
* @brief Stop ETRAX DMA1 * @brief Stop ETRAX DMA1
* @return 0 * @return 0
*/ */
int x313_dma1_stop(void) { int logger_dma_stop(void) {
dma1_on=0; dma_is_on=0;
MD12(printk("==========x313_dma1_stop\n")); MD12(printk("==========logger_dma_stop\n"));
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_DMACR] = 0x20; // disable DMA1, dot't modify DMA0 port_csp0_addr[X313_WA_DMACR] = 0x20; // disable DMA1, dot't modify DMA0
EXT_DMA_1_STOP ; /// for testing - no reset DMA after acquisition EXT_DMA_1_STOP ; /// for testing - no reset DMA after acquisition
udelay(10) ; //? udelay(10) ; //?
DMA_RESET( regi_dma7 ); DMA_RESET( regi_dma7 );
#endif
// put here restoring of the .after pointer ? // put here restoring of the .after pointer ?
#else
logger_dma_ctrl(LOGGER_DMA_STOP);
// TODO: stop logger first
#endif
return 0; return 0;
} }
...@@ -949,18 +1125,18 @@ int x313_dma1_stop(void) { ...@@ -949,18 +1125,18 @@ int x313_dma1_stop(void) {
* @brief Start ETRAX DMA for the IMU * @brief Start ETRAX DMA for the IMU
*/ */
void x313_dma1_start(void) { void logger_dma_start(void) {
#ifdef NC353
unsigned long dai; unsigned long dai;
int i = 0; int i = 0;
MD12(printk("----------x313_dma1_start\n")); MD12(printk("----------logger_dma_start\n"));
#ifdef NC353
DMA_RESET(regi_dma7); DMA_RESET(regi_dma7);
/// need to restore pointers after previous stop DMA - maybe later move there? /// need to restore pointers after previous stop DMA - maybe later move there?
for(dai = 0; dai < CCAM_DMA1_SIZE; dai += DMA_CHUNK) { /// DMA_CHUNK==0x4000 for(dai = 0; dai < CCAM_DMA1_SIZE; dai += DMA_CHUNK) { /// DMA_CHUNK==0x4000
if(dai + DMA_CHUNK >= CCAM_DMA1_SIZE) /// last descriptor if(dai + DMA_CHUNK >= CCAM_DMA1_SIZE) /// last descriptor
ccam_dma1_descr_data[i].after = (char *)virt_to_phys(&ccam_dma1_buf_ptr[CCAM_DMA1_SIZE]); ccam_dma1_descr_data[i].after = (char *)virt_to_phys(&logger_buffer[CCAM_DMA1_SIZE]);
else /// not the last one else /// not the last one
ccam_dma1_descr_data[i].after = (char *)virt_to_phys(&ccam_dma1_buf_ptr[dai + DMA_CHUNK]); ccam_dma1_descr_data[i].after = (char *)virt_to_phys(&logger_buffer[dai + DMA_CHUNK]);
//!TODO: does flush here IS IT STILL NEEDED HERE? //!TODO: does flush here IS IT STILL NEEDED HERE?
flush_dma_descr( & ccam_dma1_descr_data[i], 0); flush_dma_descr( & ccam_dma1_descr_data[i], 0);
i++; i++;
...@@ -977,8 +1153,10 @@ void x313_dma1_start(void) { ...@@ -977,8 +1153,10 @@ void x313_dma1_start(void) {
DMA_START_CONTEXT(regi_dma7, virt_to_phys(&ccam_dma1_descr_context)); DMA_START_CONTEXT(regi_dma7, virt_to_phys(&ccam_dma1_descr_context));
EXT_DMA_1_START ; EXT_DMA_1_START ;
port_csp0_addr[X313_WA_DMACR] = 0x28; // enable DMA1, don't modify DMA0 port_csp0_addr[X313_WA_DMACR] = 0x28; // enable DMA1, don't modify DMA0
#else
logger_dma_ctrl(LOGGER_DMA_RUN);
#endif #endif
dma1_on=1; dma_is_on=1;
} }
...@@ -986,7 +1164,7 @@ void x313_dma1_start(void) { ...@@ -986,7 +1164,7 @@ void x313_dma1_start(void) {
///dma0 is using external dma 3 (input) with dma channel 9 ///dma0 is using external dma 3 (input) with dma channel 9
///dma1 (this) is using external dma 1 (input) with dma channel 7 (shared with async. serial 0, so do not use DMA there!) ///dma1 (this) is using external dma 1 (input) with dma channel 7 (shared with async. serial 0, so do not use DMA there!)
unsigned long x313_dma1_init(void) { unsigned long x313_dma1_init(void) {
dma1_on=0; dma_is_on=0;
int rslt; int rslt;
#ifdef NC353 #ifdef NC353
reg_dma_rw_cfg cfg = {.en = regk_dma_yes}; // if disabled - will be busy and hang on attemt of DMA_WR_CMD reg_dma_rw_cfg cfg = {.en = regk_dma_yes}; // if disabled - will be busy and hang on attemt of DMA_WR_CMD
...@@ -1045,26 +1223,26 @@ unsigned long x313_dma1_init(void) { ...@@ -1045,26 +1223,26 @@ unsigned long x313_dma1_init(void) {
} }
/// DMABufferLength = 0; /// DMABufferLength = 0;
x313_setDMA1Buffer(); x313_setDMA1Buffer();
return ((unsigned long)virt_to_phys(ccam_dma1_buf_ptr)) | 0x80000000; return ((unsigned long)virt_to_phys(logger_buffer)) | 0x80000000;
#endif #endif
return 0; return 0;
} }
#ifdef NC353
int x313_setDMA1Buffer(void) { int x313_setDMA1Buffer(void) {
unsigned long dai; unsigned long dai;
int i = 0; int i = 0;
#ifdef NC353
EXT_DMA_1_STOP; /// Stop DMA1 (just in case) EXT_DMA_1_STOP; /// Stop DMA1 (just in case)
for(dai = 0; dai < CCAM_DMA1_SIZE; dai += DMA_CHUNK) { /// DMA_CHUNK==0x4000 for(dai = 0; dai < CCAM_DMA1_SIZE; dai += DMA_CHUNK) { /// DMA_CHUNK==0x4000
ccam_dma1_descr_data[i].buf = (char *)virt_to_phys(&ccam_dma1_buf_ptr[dai]); ccam_dma1_descr_data[i].buf = (char *)virt_to_phys(&logger_buffer[dai]);
ccam_dma1_descr_data[i].intr = 0; ccam_dma1_descr_data[i].intr = 0;
ccam_dma1_descr_data[i].wait = 0; ccam_dma1_descr_data[i].wait = 0;
ccam_dma1_descr_data[i].eol = 0; /// we probably do not need to use eol as the descriptors are linked in a loop anyway ccam_dma1_descr_data[i].eol = 0; /// we probably do not need to use eol as the descriptors are linked in a loop anyway
if(dai + DMA_CHUNK >= CCAM_DMA1_SIZE) { ///last descriptor if(dai + DMA_CHUNK >= CCAM_DMA1_SIZE) { ///last descriptor
ccam_dma1_descr_data[i].after = (char *)virt_to_phys(&ccam_dma1_buf_ptr[CCAM_DMA1_SIZE]); ccam_dma1_descr_data[i].after = (char *)virt_to_phys(&logger_buffer[CCAM_DMA1_SIZE]);
ccam_dma1_descr_data[i].next = (dma_descr_data*)virt_to_phys(&ccam_dma1_descr_data[0]); ccam_dma1_descr_data[i].next = (dma_descr_data*)virt_to_phys(&ccam_dma1_descr_data[0]);
} else { /// not the last one } else { /// not the last one
ccam_dma1_descr_data[i].after = (char *)virt_to_phys(&ccam_dma1_buf_ptr[dai + DMA_CHUNK]); ccam_dma1_descr_data[i].after = (char *)virt_to_phys(&logger_buffer[dai + DMA_CHUNK]);
ccam_dma1_descr_data[i].next = (dma_descr_data*)virt_to_phys(&ccam_dma1_descr_data[i + 1]); ccam_dma1_descr_data[i].next = (dma_descr_data*)virt_to_phys(&ccam_dma1_descr_data[i + 1]);
} }
flush_dma_descr( & ccam_dma1_descr_data[i], 0); flush_dma_descr( & ccam_dma1_descr_data[i], 0);
...@@ -1074,17 +1252,58 @@ int x313_setDMA1Buffer(void) { ...@@ -1074,17 +1252,58 @@ int x313_setDMA1Buffer(void) {
// set_globalParam (G_CIRCBUFSIZE,CCAM_DMA_SIZE<<2); /// make it adjustable? TODO: initialize with others? // set_globalParam (G_CIRCBUFSIZE,CCAM_DMA_SIZE<<2); /// make it adjustable? TODO: initialize with others?
//*********************** TEMPORARY ******************************** //*********************** TEMPORARY ********************************
MD8(printk ("filling DMA1 buffer with natural numbers - just test \n")); MD8(printk ("filling DMA1 buffer with natural numbers - just test \n"));
for(dai = 0; dai < CCAM_DMA1_SIZE; dai++) ccam_dma1_buf_ptr[dai] = dai; for(dai = 0; dai < CCAM_DMA1_SIZE; dai++) logger_buffer[dai] = dai;
#endif
return 0; return 0;
} }
#endif
/** IMU/GPS logger driver remove function */
static int logger_remove(struct platform_device *pdev) ///< [in] pointer to @e platform_device structure
///< @return always 0
{
unregister_chrdev(LOGGER_MAJOR, LOGGER_DRIVER_NAME);
return 0;
}
module_init(imu_init); static const struct of_device_id elphel393_logger_of_match[] = {
MODULE_LICENSE("GPLv3"); { .compatible = "elphel,elphel393-logger-1.00" },
{ /* end of list */ }
};
MODULE_DEVICE_TABLE(of, elphel393_logger_of_match);
static struct platform_driver elphel393_logger = {
.probe = logger_init,
.remove = logger_remove,
.driver = {
.name = LOGGER_DRIVER_NAME,
.of_match_table = elphel393_logger_of_match,
},
};
//module_init(logger_init);
MODULE_LICENSE("GPL");
MODULE_AUTHOR("Andrey Filippov <andrey@elphel.com>."); MODULE_AUTHOR("Andrey Filippov <andrey@elphel.com>.");
MODULE_DESCRIPTION(IMU_MODULE_DESCRIPTION); MODULE_DESCRIPTION(IMU_MODULE_DESCRIPTION);
/*
DECLARE_TASKLET(tasklet_fpga, tasklet_fpga_function, 0); /// 0 - no arguments for now
in irq:
wake_up_interruptible(&framepars_wait_queue); /// all interrupts, not just frames acquired
tasklet_schedule(&tasklet_fpga); /// trigger software interrupt
void tasklet_fpga_function(unsigned long arg);
void tasklet_fpga_function(unsigned long arg){
...
wake_up_interruptible(&hist_c_wait_queue); /// wait queue for all the other (R,G2,B) histograms (color)
---
wait_queue_head_t hist_y_wait_queue; /// wait queue for the G1 histogram (used as Y)
wait_event_interruptible (hist_c_wait_queue,GLOBALPARS(G_HIST_C_FRAME)>=offset);
init_waitqueue_head(&hist_c_wait_queue); /// wait queue for all the other (R,G2,B) histograms (color)
wake_up_interruptible(&hist_c_wait_queue); /// wait queue for all the other (R,G2,B) histograms (color)
}
*/
src/drivers/elphel/imu_log393.h
View file @ 01956c03
...@@ -17,7 +17,8 @@ ...@@ -17,7 +17,8 @@
* along with this program. If not, see <http://www.gnu.org/licenses/>. * along with this program. If not, see <http://www.gnu.org/licenses/>.
*/ */
void x313_dma1_start(void); void logger_dma_start(void);
int x313_dma1_stop(void); int logger_dma_stop(void);
int x313_is_dma1_on(void); int logger_is_dma_on(void);
unsigned long x313_dma1_init(void); unsigned long x313_dma1_init(void);
void logger_irq_cmd(int cmd);
src/drivers/elphel/sensor_common.c
View file @ 01956c03
...@@ -609,7 +609,8 @@ For displaying histograms - try use latest available - not waiting fro a particu ...@@ -609,7 +609,8 @@ For displaying histograms - try use latest available - not waiting fro a particu
// HISTOGRAMS_WAKEUP_ALWAYS if 0 will only wakeup processes waiting for histograms when they become available, maybe never if they are disabled // HISTOGRAMS_WAKEUP_ALWAYS if 0 will only wakeup processes waiting for histograms when they become available, maybe never if they are disabled
// if defined 1 - will wakeup each frame, regardless of the availability of the histograms // if defined 1 - will wakeup each frame, regardless of the availability of the histograms
//#define HISTOGRAMS_WAKEUP_ALWAYS 0 //#define HISTOGRAMS_WAKEUP_ALWAYS 0
void tasklet_fpga_function(unsigned long arg) { void tasklet_fpga_function(unsigned long arg)
{
int is_compressor_irq = 1; // TODO: add interrupts from frame sync if compressor is off int is_compressor_irq = 1; // TODO: add interrupts from frame sync if compressor is off
int hist_en; int hist_en;
int sensor_port = image_acq_priv.jpeg_ptr[arg].chn_num; int sensor_port = image_acq_priv.jpeg_ptr[arg].chn_num;
...@@ -669,7 +670,7 @@ void tasklet_fpga_function(unsigned long arg) { ...@@ -669,7 +670,7 @@ void tasklet_fpga_function(unsigned long arg) {
default: // calculate always (safer) default: // calculate always (safer)
hist_en=1; hist_en=1;
} }
//#ifdef TEST_DISABLE_CODE //#ifdef TEST_DISABLE_CODE
if (hist_en) { if (hist_en) {
// after updateFramePars gammaHash are from framepars[this-1] // after updateFramePars gammaHash are from framepars[this-1]
for (subchn=0;subchn<MAX_SENSORS;subchn++) if (((hist_indx=get_hist_index(sensor_port,subchn)))>=0){ for (subchn=0;subchn<MAX_SENSORS;subchn++) if (((hist_indx=get_hist_index(sensor_port,subchn)))>=0){
...@@ -687,52 +688,44 @@ void tasklet_fpga_function(unsigned long arg) { ...@@ -687,52 +688,44 @@ void tasklet_fpga_function(unsigned long arg) {
} }
PROFILE_NOW(3); PROFILE_NOW(3);
// Time is out? // Time is out?
// Old 353 if ((getThisFrameNumber(sensor_port) ^ X3X3_I2C_FRAME) & PARS_FRAMES_MASK) return; // already next frame // Old 353 if ((getThisFrameNumber(sensor_port) ^ X3X3_I2C_FRAME) & PARS_FRAMES_MASK) return; // already next frame
if ((getThisFrameNumber(sensor_port) ^ getHardFrameNumber(sensor_port,is_compressor_irq)) & PARS_FRAMES_MASK) return; // already next frame if ((getThisFrameNumber(sensor_port) ^ getHardFrameNumber(sensor_port,is_compressor_irq)) & PARS_FRAMES_MASK) return; // already next frame
#if HISTOGRAMS_WAKEUP_ALWAYS #if HISTOGRAMS_WAKEUP_ALWAYS
} }
wake_up_interruptible(&hist_y_wait_queue); // wait queue for the G1 histogram (used as Y) wake_up_interruptible(&hist_y_wait_queue); // wait queue for the G1 histogram (used as Y)
#else #else
wake_up_interruptible(&hist_y_wait_queue); // wait queue for the G1 histogram (used as Y) wake_up_interruptible(&hist_y_wait_queue); // wait queue for the G1 histogram (used as Y)
} }
#endif #endif
//#endif /* TEST_DISABLE_CODE */ // Process parameters
// Process parameters if ((tasklet_disable & (1 << TASKLET_CTL_PGM)) == 0) {
if ((tasklet_disable & (1 << TASKLET_CTL_PGM)) == 0) {
processPars (sensor_port, sensorproc, getThisFrameNumber(sensor_port), get_globalParam(sensor_port, G_MAXAHEAD)); // program parameters processPars (sensor_port, sensorproc, getThisFrameNumber(sensor_port), get_globalParam(sensor_port, G_MAXAHEAD)); // program parameters
PROFILE_NOW(4); PROFILE_NOW(4);
} }
// Time is out? // Time is out?
if ((getThisFrameNumber(sensor_port) ^ getHardFrameNumber(sensor_port,is_compressor_irq)) & PARS_FRAMES_MASK) return; // already next frame if ((getThisFrameNumber(sensor_port) ^ getHardFrameNumber(sensor_port,is_compressor_irq)) & PARS_FRAMES_MASK) return; // already next frame
// Are C histograms needed? // Are C histograms needed?
switch ((tasklet_disable >> TASKLET_CTL_HISTC_BIT) & 7) { switch ((tasklet_disable >> TASKLET_CTL_HISTC_BIT) & 7) {
case TASKLET_HIST_NEVER: // never calculate case TASKLET_HIST_NEVER: // never calculate
hist_en=0; hist_en=0;
break; break;
case TASKLET_HIST_HALF: // calculate each even (0,2,4,6 frme of 8) case TASKLET_HIST_HALF: // calculate each even (0,2,4,6 frme of 8)
hist_en= ((thisFrameNumber & 1) ==0) || (get_imageParamsPrev(sensor_port, P_HISTRQ) & (1<<HISTRQ_BIT_C)); hist_en= ((thisFrameNumber & 1) ==0) || (get_imageParamsPrev(sensor_port, P_HISTRQ) & (1<<HISTRQ_BIT_C));
break; break;
case TASKLET_HIST_QUATER: // calculate twice per 8 (0, 4) case TASKLET_HIST_QUATER: // calculate twice per 8 (0, 4)
hist_en= ((thisFrameNumber & 3) ==0) || (get_imageParamsPrev(sensor_port, P_HISTRQ) & (1<<HISTRQ_BIT_C)); hist_en= ((thisFrameNumber & 3) ==0) || (get_imageParamsPrev(sensor_port, P_HISTRQ) & (1<<HISTRQ_BIT_C));
break; break;
case TASKLET_HIST_ONCE: // calculate once per 8 (0) case TASKLET_HIST_ONCE: // calculate once per 8 (0)
hist_en= ((thisFrameNumber & 7) ==0) || (get_imageParamsPrev(sensor_port, P_HISTRQ) & (1<<HISTRQ_BIT_C)); hist_en= ((thisFrameNumber & 7) ==0) || (get_imageParamsPrev(sensor_port, P_HISTRQ) & (1<<HISTRQ_BIT_C));
break; break;
case TASKLET_HIST_RQONLY: // calculate only when specifically requested case TASKLET_HIST_RQONLY: // calculate only when specifically requested
hist_en= (get_imageParamsPrev(sensor_port, P_HISTRQ) & (1<<HISTRQ_BIT_C)); hist_en= (get_imageParamsPrev(sensor_port, P_HISTRQ) & (1<<HISTRQ_BIT_C));
break; break;
case TASKLET_HIST_ALL: // calculate each frame case TASKLET_HIST_ALL: // calculate each frame
default: // calculate always (safer) default: // calculate always (safer)
hist_en=1; hist_en=1;
} }
/* if (hist_en) {
GLOBALPARS(0x1040)=((thisFrameNumber & 1) ==0);
GLOBALPARS(0x1041)=((thisFrameNumber & 3) ==0);
GLOBALPARS(0x1042)=((thisFrameNumber & 7) ==0);
GLOBALPARS(0x1043)=hist_en;
GLOBALPARS(0x1044)=thisFrameNumber;
*/
if (hist_en) {
// after updateFramePars gammaHash are from framepars[this-1] // after updateFramePars gammaHash are from framepars[this-1]
// after updateFramePars gammaHash are from framepars[this-1] // after updateFramePars gammaHash are from framepars[this-1]
for (subchn=0;subchn<MAX_SENSORS;subchn++) if (((hist_indx=get_hist_index(sensor_port,subchn)))>=0){ for (subchn=0;subchn<MAX_SENSORS;subchn++) if (((hist_indx=get_hist_index(sensor_port,subchn)))>=0){
...@@ -751,15 +744,12 @@ if (hist_en) { ...@@ -751,15 +744,12 @@ if (hist_en) {
PROFILE_NOW(5); PROFILE_NOW(5);
// Time is out? // Time is out?
if ((getThisFrameNumber(sensor_port) ^ getHardFrameNumber(sensor_port,is_compressor_irq)) & PARS_FRAMES_MASK) return; // already next frame if ((getThisFrameNumber(sensor_port) ^ getHardFrameNumber(sensor_port,is_compressor_irq)) & PARS_FRAMES_MASK) return; // already next frame
#if HISTOGRAMS_WAKEUP_ALWAYS #if HISTOGRAMS_WAKEUP_ALWAYS
} }
wake_up_interruptible(&hist_c_wait_queue); // wait queue for all the other (R,G2,B) histograms (color) wake_up_interruptible(&hist_c_wait_queue); // wait queue for all the other (R,G2,B) histograms (color)
#else #else
wake_up_interruptible(&hist_c_wait_queue); // wait queue for all the other (R,G2,B) histograms (color) wake_up_interruptible(&hist_c_wait_queue); // wait queue for all the other (R,G2,B) histograms (color)
} }
#endif #endif
} }
...@@ -855,7 +845,7 @@ int image_acq_init(struct platform_device *pdev) ...@@ -855,7 +845,7 @@ int image_acq_init(struct platform_device *pdev)
dev_err(dev, "can not allocate Elphel FPGA interrupts\n"); dev_err(dev, "can not allocate Elphel FPGA interrupts\n");
return -EBUSY; return -EBUSY;
} }
image_acq_priv.jpeg_ptr[i].irq_num_sens = irq;
irq = platform_get_irq_byname(pdev, compressor_irq_names[i]); irq = platform_get_irq_byname(pdev, compressor_irq_names[i]);
if (request_irq(irq, if (request_irq(irq,
compressor_irq_handler, compressor_irq_handler,
...@@ -865,7 +855,6 @@ int image_acq_init(struct platform_device *pdev) ...@@ -865,7 +855,6 @@ int image_acq_init(struct platform_device *pdev)
dev_err(dev, "can not allocate Elphel FPGA interrupts\n"); dev_err(dev, "can not allocate Elphel FPGA interrupts\n");
return -EBUSY; return -EBUSY;
} }
image_acq_priv.jpeg_ptr[i].irq_num_sens = irq;
image_acq_priv.jpeg_ptr[i].irq_num_comp = irq; image_acq_priv.jpeg_ptr[i].irq_num_comp = irq;
image_acq_priv.jpeg_ptr[i].chn_num = i; image_acq_priv.jpeg_ptr[i].chn_num = i;
} }
......
src/include/elphel/c313a.h
View file @ 01956c03
...@@ -1552,11 +1552,12 @@ struct p_names_t { ...@@ -1552,11 +1552,12 @@ struct p_names_t {
* CCAM_MMAP_SIZE -- no. of bytes to mmap. * CCAM_MMAP_SIZE -- no. of bytes to mmap.
*/ */
// CCAM_DMA1_SIZE should be 2^N // CCAM_DMA1_SIZE should be 2^N
#ifdef NC353
#define CCAM_CHUNK_PER_DMA1BUF 16 /* no. of 64Kbyte chunks per buffer */ #define CCAM_CHUNK_PER_DMA1BUF 16 /* no. of 64Kbyte chunks per buffer */
#define CCAM_WORDS_PER_DMA1BUF (CCAM_CHUNK_PER_DMA1BUF<<14) /*32bit words...*/ #define CCAM_WORDS_PER_DMA1BUF (CCAM_CHUNK_PER_DMA1BUF<<14) /*32bit words...*/
#define CCAM_BYTES_PER_DMA1BUF (CCAM_CHUNK_PER_DMA1BUF<<16) #define CCAM_BYTES_PER_DMA1BUF (CCAM_CHUNK_PER_DMA1BUF<<16)
#define CCAM_DMA1_SIZE CCAM_WORDS_PER_DMA1BUF #define CCAM_DMA1_SIZE CCAM_WORDS_PER_DMA1BUF
#endif
#define CCAM_MMAP_OFFSET_MMAP_HEADER 0 #define CCAM_MMAP_OFFSET_MMAP_HEADER 0
......
src/include/elphel/driver_numbers.h
View file @ 01956c03
...@@ -17,12 +17,12 @@ ...@@ -17,12 +17,12 @@
//#define IMAGERAW_MAJOR 139 //#define IMAGERAW_MAJOR 139
#define IMAGERAW_MAJOR 131 #define IMAGERAW_MAJOR 131
#define IMAGEACQ_MAJOR 140 #define IMAGEACQ_MAJOR 140
#define IMU_MAJOR 141 #define LOGGER_MAJOR 141
/// MINORS /// MINORS
#define IMU_MINOR 1 #define LOGGER_MINOR 1
#define IMU_CTL_MINOR 2 #define LOGGER_CTL_MINOR 2
#define IMAGERAW_MINOR_FRAME 1 #define IMAGERAW_MINOR_FRAME 1
#define IMAGERAW_MINOR_FPN 2 #define IMAGERAW_MINOR_FPN 2
#define IMAGERAW_MINOR_UNLOCK 3 #define IMAGERAW_MINOR_UNLOCK 3
......
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