working on lepton driver

src/arch/arm/boot/dts/elphel393-bootargs-mmc.dtsi

 /**/
 / {
 	chosen {
-		bootargs = "earlycon cma=336M root=/dev/mmcblk0p2 rw rootwait rootfstype=ext4";
+		bootargs = "earlycon cma=336M root=/dev/mmcblk0p2 rw rootwait rootfstype=ext4 debug";
 		stdout-path = "serial0:115200n8";
 	};
 };

src/arch/arm/boot/dts/elphel393_4_mt9p006.dts

@@ -308,6 +308,10 @@
         compatible = "elphel,elphel393-mt9f002-1.00";
     };
 
+    elphel393_lepton: elphel393-lepton@0 {
+        compatible = "elphel,elphel393-lepton-1.00";
+    };
+
     elphel393_clock10359:elphel393-clock10359@0{
         compatible = "elphel,elphel393_clock10359-1.00";
     };

src/drivers/elphel/Makefile

@@ -27,6 +27,7 @@ obj-$(CONFIG_ELPHEL393)           += histograms.o
 obj-$(CONFIG_ELPHEL393)           += pgm_functions.o
 obj-$(CONFIG_ELPHEL393)           += mt9x001.o
 obj-$(CONFIG_ELPHEL393)           += mt9f002.o
+obj-$(CONFIG_ELPHEL393)           += lepton.o
 obj-$(CONFIG_ELPHEL393)           += multi10359.o
 obj-$(CONFIG_ELPHEL393)           += imu_log393.o
 

src/drivers/elphel/detect_sensors.c

@@ -37,6 +37,7 @@
 #include "mt9x001.h"
 #include "mt9f002.h"
 #include "multi10359.h"
+#include "lepton.h"
 #include "detect_sensors.h"
 
 #define DETECT_SENSORS_MODULE_DESCRIPTION "Detect sensor type(s) attached to each of the ports"
@@ -78,7 +79,7 @@ const struct sensor_name_t sensor_names[] ={
         {.name="mt9f002",    .type=1, .iface=HISPI4,     .code = SENSOR_MT9F002},   // MT9F002
         {.name="ibis51300",  .type=1, .iface=PARALLEL12, .code = SENSOR_IBIS51300}, // FillFactory IBIS51300
         {.name="kai11002",   .type=1, .iface=PARALLEL12, .code = SENSOR_KAI11000},  // Kodak KAI11002
-        {.name="lepton3.5",  .type=1, .iface=VOSPI,      .code = SENSOR_LEPTON35},  // Kodak KAI11002
+        {.name="lepton35",   .type=1, .iface=VOSPI,      .code = SENSOR_LEPTON35},  // Kodak KAI11002
         {.name=NULL,         .type=0, .iface=NONE,       .code = 0} // end of list
 };
 static sens_iface_t port_iface[SENSOR_PORTS];
@@ -370,6 +371,7 @@ static int elphel393_detect_sensors_sysfs_register(struct platform_device *pdev)
      char names[4][80];
      struct device_node *node = pdev->dev.of_node;
      int num_ports, port, num_sub, sub_chn;
+     int scode;
      if (node) {
          config_string = of_get_property(node,  OF_PREFIX_NAME",port-mux", NULL); // &len);
          pr_info ("Mux config_string = %s (was looking for '%s')\n",config_string, OF_PREFIX_NAME",port-mux");
@@ -397,6 +399,10 @@ static int elphel393_detect_sensors_sysfs_register(struct platform_device *pdev)
                  num_sub = sscanf(config_string,"%79s %79s %79s %79s", names[0],  names[1],  names[2],  names[3]);
                  pr_info ("port %d : %d subchannels\n",port, num_sub);
                  for (sub_chn = 0; sub_chn < num_sub; sub_chn++){
+                	 scode = get_code_by_name(names[sub_chn], DETECT_SENSOR);
+                	 if (scode < 0){
+                		 pr_err("Invalid sensor/mux name found in device tree: %s\n",names[sub_chn]);
+                	 }
                      pr_info ("Setting sensor %d:%d '%s' (0x%x)\n",port, sub_chn, names[sub_chn], get_code_by_name(names[sub_chn], DETECT_SENSOR));
                      set_detected_sensor_code(port, sub_chn,  get_code_by_name(names[sub_chn], DETECT_SENSOR));
                      init_port_ahead_table(port,sub_chn);
@@ -459,7 +465,7 @@ int detect_sensors_par2addr_init(int port,int sub_chn){
 	    u16  haddr2rec[MAX_SENSORS][MAX_FPGA_RECS];  ///< Big LUT (but almost empty). Sensor's page address (haddr of reg addr) to fpga i2c record number (fpga line#)
 	};
 	*/
-
+	dev_info(g_dev_ptr,"detect_sensors_par2addr_init(): sensorPortConfig[%d].sensor[%d] = 0x%x\n",port, sub_chn, sensorPortConfig[port].sensor[sub_chn]);
 	switch (sensorPortConfig[port].sensor[sub_chn]) {
 		case SENSOR_MT9P006:
 			// get sensor table
@@ -473,6 +479,11 @@ int detect_sensors_par2addr_init(int port,int sub_chn){
 			pages     = mt9f002_pages;
 			atab      = mt9f002_ahead_tab;
 			break;
+		case SENSOR_LEPTON35:
+			par2addr  = lepton_par2addr;
+			pages     = lepton_pages;
+			atab      = lepton_ahead_tab;
+			break;
 	}
 	if (par2addr){
 		// convert to key-value
@@ -484,44 +495,6 @@ int detect_sensors_par2addr_init(int port,int sub_chn){
 		sensorPortConfig[port].ahead_tab[sub_chn] = atab;
 	}
 
-	/*
-	// all .mux and .sensor are already filled out
-	for (portx = 0; portx < SENSOR_PORTS; portx++){
-
-		// that's from device tree, fpga is not programmed yet
-		dev_dbg(g_dev_ptr,"port: %d mux: %d sensors: %d %d %d %d\n",
-				portx,
-				sensorPortConfig[portx].mux,
-				sensorPortConfig[portx].sensor[0],
-				sensorPortConfig[portx].sensor[1],
-				sensorPortConfig[portx].sensor[2],
-				sensorPortConfig[portx].sensor[3]
-				);
-
-		// sub_chn = 3 is never used
-		for (sub_chn = 0; sub_chn < 4; sub_chn++){
-			//sensorPortConfig[port].sensor[sub_chn];
-			switch (sensorPortConfig[portx].sensor[sub_chn]) {
-				case SENSOR_MT9P006:
-					// get sensor table
-					par2addr = mt9x001_par2addr;
-					pages    = mt9x001_pages;
-					break;
-				case SENSOR_MT9F002:
-					// get sensor table
-					par2addr = mt9f002_par2addr;
-					pages    = mt9f002_pages;
-					break;
-			}
-			if (par2addr){
-				// convert to key-value
-				par2addr_fill(par2addr,sensorPortConfig[portx].par2addr[sub_chn]);
-				// save pointer to static LUT
-				sensorPortConfig[portx].pages_ptr[sub_chn] = pages;
-			}
-		}
-	}
-	*/
 
 	return 0;
 }

src/drivers/elphel/lepton.h

+/***************************************************************************//**
+* @file      mt9x001.h
+* @brief     Handles Micron/Aptina/On Semiconductor MT9M*, MT9D*,MT9T*, andMT9P*
+* image sensors
+* @copyright Copyright 2004-2016 (C) Elphel, Inc.
+* @par <b>License</b>
+*  This program is free software: you can redistribute it and/or modify
+*  it under the terms of the GNU General Public License as published by
+*  the Free Software Foundation, either version 2 of the License, or
+*  (at your option) any later version.
+*  This program is distributed in the hope that it will be useful,
+*  but WITHOUT ANY WARRANTY; without even the implied warranty of
+*  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+*  GNU General Public License for more details.
+*  You should have received a copy of the GNU General Public License
+*  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+*******************************************************************************/
+
+#ifndef _LEPTON_H
+#define _LEPTON_H
+
+#define LEPTON35_I2C_ADDR    0x2a ///< Lepton I2C slave address (7 bit)
+
+/* i2c Lepton 3.5 registers will be defined here. Only even addresses are used by Lepton */
+#define P_LEPTON_POWER       0x00  ///< Power On/Off register
+#define P_LEPTON_STATUS      0x02  ///< Status register
+#define P_LEPTON_COMMAND_ID  0x04  ///< Command ID register
+#define P_LEPTON_DATA_LENGTH 0x06  ///< Data length register
+#define P_LEPTON_DATA00      0x08  ///< Data0
+#define P_LEPTON_DATA01      0x0a  ///< Data1
+#define P_LEPTON_DATA02      0x0c  ///< Data2
+#define P_LEPTON_DATA03      0x0e  ///< Data3
+#define P_LEPTON_DATA04      0x10  ///< Data4
+#define P_LEPTON_DATA05      0x12  ///< Data5
+#define P_LEPTON_DATA06      0x14  ///< Data6
+#define P_LEPTON_DATA07      0x16  ///< Data7
+#define P_LEPTON_DATA08      0x18  ///< Data8
+#define P_LEPTON_DATA09      0x1a  ///< Data9
+#define P_LEPTON_DATA10      0x1c  ///< Data10
+#define P_LEPTON_DATA11      0x1e  ///< Data11
+#define P_LEPTON_DATA12      0x20  ///< Data12
+#define P_LEPTON_DATA13      0x22  ///< Data13
+#define P_LEPTON_DATA14      0x24  ///< Data14
+#define P_LEPTON_DATA15      0x26  ///< Data15
+
+// Data model for Lepton does not match 393 convention (1 page for "important" registers,
+// so just 1 register of each of the 256-words is registered
+#define P_LEPTON_DATAF8  0xf8  ///< 0xf800 to 0xf8ff
+#define P_LEPTON_DATAF9  0xf9  ///< 0xf900 to 0xf9ff
+#define P_LEPTON_DATAFA  0xfa  ///< 0xfa00 to 0xfaff
+#define P_LEPTON_DATAFB  0xfb  ///< 0xfb00 to 0xfbff
+#define P_LEPTON_DATAFC  0xfc  ///< 0xfc00 to 0xfcff
+#define P_LEPTON_DATAFD  0xfd  ///< 0xfd00 to 0xfdff
+#define P_LEPTON_DATAFE  0xfe  ///< 0xfe00 to 0xfeff
+#define P_LEPTON_DATAFF  0xff  ///< 0xff00 to 0xffff
+
+// Actual register address ranges (probably, only even are used too?)
+#define P_REG_LEPTON_DATAF8  0xf800  ///< 0xf800 to 0xf8ff
+#define P_REG_LEPTON_DATAF9  0xf900  ///< 0xf900 to 0xf9ff
+#define P_REG_LEPTON_DATAFA  0xfa00  ///< 0xfa00 to 0xfaff
+#define P_REG_LEPTON_DATAFB  0xfb00  ///< 0xfb00 to 0xfbff
+#define P_REG_LEPTON_DATAFC  0xfc00  ///< 0xfc00 to 0xfcff
+#define P_REG_LEPTON_DATAFD  0xfd00  ///< 0xfd00 to 0xfdff
+#define P_REG_LEPTON_DATAFE  0xfe00  ///< 0xfe00 to 0xfeff
+#define P_REG_LEPTON_DATAFF  0xff00  ///< 0xff00 to 0xffff
+
+typedef union {
+    struct {
+          u32            busy: 1; // [    0] BUSY bit (should be zero before issuing commands)
+          u32       boot_mode: 1; // [    1] Boot Mode (should be 1 - booted from internal ROM)
+          u32     boot_status: 1; // [    2] 1 - booted, 0 - in progress
+          u32            rsv5: 5; // [ 7: 3] Reserved, should read zero
+          u32           error: 8; // [15  8] Error code
+    };
+    struct {
+          u32             d32:16; // [15: 0] (0) cast to u32
+    };
+} lepton_status_t;
+
+typedef union {
+    struct {
+          u32            type: 2; // [ 1: 0] 0 - get, 1 - set, 2 - run, 3 - invalid
+          u32              id: 6; // [ 7: 2] command ID
+          u32          module: 4; // [11: 8] module: 1-AGC, 2-SYS, 3-VID, 8-OEM, 0xe - RAD
+          u32                : 2; // [13:12] Reserved
+          u32      protection: 1; // [   14] OEM bit, set for modules: RAD and OEM
+          u32                : 1; // [   15] Reserved
+    };
+    struct {
+          u32             d32:16; // [15: 0] (0) cast to u32
+    };
+} lepton_command_t;
+
+typedef enum LEPTON_MODULES {
+	LEPTON_AGC = 1,
+	LEPTON_SYS = 2,
+	LEPTON_VID = 3,
+	LEPTON_OEM = 8,
+	LEPTON_RAD = 14
+} lepton_modules_t;
+
+typedef enum LEPTON_TYPES {
+	LEPTON_GET = 0,
+	LEPTON_SET = 1,
+	LEPTON_RUN = 2
+} lepton_types_t;
+
+// large segments - 0xf800-0xfbff, 0xfc00 -0xffff not yet supported
+
+/**
+LUT to map SENSOR_REGSxxx to internal sensor register addresses
+  * needed for any sensor
+  * For better manual mapping:
+      - even elements are SENSOR_REGSxxx,
+      - odd elements are sensor's register addresses.
+  * has to be at least 16-bit/entry for 16 bit addresses
+  * (for MT9X001 it's a 1-to-1 mapping)
+*/
+extern const unsigned short lepton_par2addr[];
+extern const unsigned short lepton_pages[];
+extern const unsigned short lepton_ahead_tab[];
+
+int lepton_pgm_detectsensor    (int sensor_port,               ///< sensor port number (0..3)
+                                struct sensor_t * sensor,      ///< sensor static parameters (capabilities)
+                                struct framepars_t * thispars, ///< sensor current parameters
+                                struct framepars_t * prevpars, ///< sensor previous parameters (not used here)
+                                int frame16)                   ///< 4-bit (hardware) frame number parameters should
+                                                               ///< be applied to,  negative - ASAP
+                                                               ///< @return 0 - OK, negative - error
+;
+void lepton_set_device(struct device *dev);
+
+int lepton_wait_ready    (int sensor_port,       ///< sensor port number (0..3)
+                          int sa7,               ///< I2C slave address
+                          int    num_retries );  ///< number of retries, 0 - forever
+                                             ///< @return > 0 number of retries0 - OK, negative - error
+
+void lepton_set_reg_nowait(int               sensor_port,    ///< sensor port number (0..3)
+                           int               frame,          ///< frame number to apply, <0 - ASAP
+						   lepton_modules_t  cmd_module,     ///< Lepton command module
+                           int               cmd_id,         ///< Lepton command id
+                           int               data         ); ///< data to write
+
+
+
+#endif

src/drivers/elphel/mt9x001.c

@@ -1004,6 +1004,9 @@ int mt9x001_pgm_initsensor     (int sensor_port,               ///< sensor port
     if (frame16 >= 0) return -1; // should be ASAP
     // reset sensor by applying MRST (low):
 //    CCAM_MRST_ON;
+
+//FIXME:  No master reset here? Should it be here regardless of debug? ****
+
     if (debug_delays & 0xff) {
         dev_dbg(g_dev_ptr,"Resetting MT9X001 sensor, port=%d\n",sensor_port);
         sensio_ctl.mrst = 0;

src/drivers/elphel/pgm_functions.c

@@ -208,6 +208,7 @@
 #include "multi10359.h"
 #include "mt9x001.h"
 #include "mt9f002.h"
+#include "lepton.h"
 #include "gamma_tables.h"
 #include "quantization_tables.h"
 //#include "latency.h"
@@ -378,6 +379,7 @@ int pgm_detectsensor   (int sensor_port,               ///< sensor port number (
     int qperiod;
     int i2cbytes;
     int mux,sens;
+    int fpga_interface = x393_sensor_interface();
 
     dev_dbg(g_dev_ptr,"{%d}  frame16=%d\n",sensor_port,frame16);
     MDP(DBGB_PSFN, sensor_port,"frame16=%d\n",frame16)
@@ -413,14 +415,15 @@ int pgm_detectsensor   (int sensor_port,               ///< sensor port number (
     if ((mux == SENSOR_NONE) && (sens == SENSOR_NONE))
         return 0; // no sensor/mux enabled on this port
 
-    //TODO NC393: turn on both sequencers why MRST is active, then i2c frame will definitely match ? Or is it already done in FPGA?
+    //TODO NC393: turn on both sequencers while MRST is active, then i2c frame will definitely match ? Or is it already done in FPGA?
     dev_dbg(g_dev_ptr,"Restarting both command and i2c sequencers for port %d\n",sensor_port);
 
     sequencer_stop_run_reset(sensor_port, SEQ_CMD_RESET);
     sequencer_stop_run_reset(sensor_port, SEQ_CMD_RUN);  // also programs status update
     i2c_stop_run_reset      (sensor_port, I2C_CMD_RESET);
 
-    dev_dbg(g_dev_ptr,"Setting i2c drive mode for port %d\n",sensor_port);
+//    dev_dbg(g_dev_ptr,"Setting i2c drive mode for port %d\n",sensor_port);
+    dev_info(g_dev_ptr,"Setting i2c drive mode for port %d\n",sensor_port);
 
     i2c_drive_mode          (sensor_port, SDA_DRIVE_HIGH, SDA_RELEASE);
     i2c_stop_run_reset      (sensor_port, I2C_CMD_RUN); // also programs status update
@@ -453,6 +456,7 @@ int pgm_detectsensor   (int sensor_port,               ///< sensor port number (
     //mt9x001_pgm_detectsensor(sensor_port, sensor,  thispars, prevpars, frame16);  // try Micron 5.0 Mpixel - should return sensor type
 
     if (mux != SENSOR_NONE) {
+    	if (fpga_interface == FPGA_PAR12) {
         dev_dbg(g_dev_ptr,"Mux mode for port %d is %d, tryng 10359\n",sensor_port, mux);
         MDP(DBGB_PADD, sensor_port,"Mux mode for port %d is %d, tryng 10359\n",sensor_port, mux)
         // try multisensor here (before removing MRST)
@@ -465,6 +469,9 @@ int pgm_detectsensor   (int sensor_port,               ///< sensor port number (
         // ************************************************************************************************
         // ************************************************************************************************
         // ************************************************************************************************
+    	} else {
+            dev_dbg(g_dev_ptr,"Incompatible FPGA interface for 10359 on port %d\n",sensor_port);
+    	}
 
     } else {
         dev_dbg(g_dev_ptr,"Mux mode for port %d SENSOR_NONE, skipping 10359 detection\n",sensor_port);
@@ -473,7 +480,8 @@ int pgm_detectsensor   (int sensor_port,               ///< sensor port number (
 
     //if ((thispars->pars[P_SENSOR]==0) ||  // multisensor not detected
     //   ((thispars->pars[P_SENSOR] & SENSOR_MASK) == SENSOR_MT9X001)) { // or is (from DT) SENSOR_MT9X001
-    if ((thispars->pars[P_SENSOR]==0) &&                // multisensor not detected
+    if ((fpga_interface == FPGA_PAR12) &&
+    	(thispars->pars[P_SENSOR]==0) &&                // multisensor not detected
         (((sens & SENSOR_MASK) == SENSOR_MT9X001) ||    // and from DT it is some SENSOR_MT9*001
          ((sens & SENSOR_MASK) == SENSOR_MT9P006) )) {  // or SENSOR_MT9P006 or friends
 
@@ -491,21 +499,26 @@ int pgm_detectsensor   (int sensor_port,               ///< sensor port number (
 
     }
 
-    if ((thispars->pars[P_SENSOR]==0) &&
+    if (    (fpga_interface == FPGA_HISPI) &&
+    		(thispars->pars[P_SENSOR]==0) &&
             ((sens & SENSOR_MASK) == SENSOR_MT9F002)){
 
     	dev_dbg(g_dev_ptr,"trying MT9F002, port=%d\n",sensor_port);
     	MDP(DBGB_PADD, sensor_port,"trying MT9F002, port=%d\n",sensor_port)
-        // TODO: move to sensor driver
-        // ************************************************************************************************
-        // ********************************* MT9x00x SENSOR (5MP) *****************************************
-        // ************************************************************************************************
         mt9f002_pgm_detectsensor(sensor_port, sensor,  thispars, prevpars, frame16);
-        // ************************************************************************************************
-        // ************************************************************************************************
-        // ************************************************************************************************
     }
 
+    if (    (fpga_interface == FPGA_VOSPI) &&
+    		(thispars->pars[P_SENSOR]==0) &&
+            ((sens & SENSOR_MASK) == SENSOR_LEPTON35)){
+
+    	dev_dbg(g_dev_ptr,"trying Lepton 3.5, port=%d\n",sensor_port);
+    	dev_info(g_dev_ptr,"trying Lepton 3.5, port=%d\n",sensor_port);
+    	MDP(DBGB_PADD, sensor_port,"trying Lepton 3.5, port=%d\n",sensor_port)
+        lepton_pgm_detectsensor(sensor_port, sensor,  thispars, prevpars, frame16);
+    }
+
+
     //setFramePar(sensor_port, thispars, P_CLK_FPGA,  200000000); //  FIXME: NC393
     setFramePar(sensor_port, thispars, P_CLK_FPGA,  240000000);
 
@@ -1025,6 +1038,7 @@ int pgm_window_common  (int sensor_port,               ///< sensor port number (
     struct frameparspair_t pars_to_update[18]; // 15 needed, increase if more entries will be added
     int nupdate=0;
     int clearHeight;
+    int tile_vert = X393_TILEVERT;
     dev_dbg(g_dev_ptr,"{%d}  frame16=%d\n",            sensor_port,frame16);
     dev_dbg(g_dev_ptr,"{%d} thispars->pars[P_WOI_HEIGHT]=%lx thispars->pars[P_WOI_WIDTH]=%lx\n", sensor_port,thispars->pars[P_WOI_HEIGHT], thispars->pars[P_WOI_WIDTH]);
     //  if (GLOBALPARS(G_SENS_AVAIL) ) multisensor_pgm_window_common0 (sensor, thispars, prevpars, frame16);
@@ -1043,6 +1057,9 @@ int pgm_window_common  (int sensor_port,               ///< sensor port number (
     case COLORMODE_COLOR:
     case COLORMODE_COLOR20:
         margins = COLOR_MARGINS;
+        break;
+    case COLORMODE_RAW:
+    	tile_vert = 1;
     }
     // flips changed?
     if (FRAMEPAR_MODIFIED(P_FLIPH)) {
@@ -1125,9 +1142,9 @@ int pgm_window_common  (int sensor_port,               ///< sensor port number (
         }
     } else {
         if ((!oversize ) && (height > sensor_height)) height=sensor_height;
-        height= ((height/dv)/X393_TILEVERT) * X393_TILEVERT; // divided by dv (before multisensor options)
+        height= ((height/dv)/tile_vert) * tile_vert; // divided by dv (before multisensor options)
         // suppose minimal height refers to decimated output
-        while (height < sensor->minHeight) height+=X393_TILEVERT;
+        while (height < sensor->minHeight) height+=tile_vert;
         if (unlikely(thispars->pars[P_SENSOR_PIXV] != height+(2 * margins)))
             SETFRAMEPARS_SET(P_SENSOR_PIXV,  height+(2 * margins)); ///full height for the sensor (after decimation), including margins
         height*=dv;

src/drivers/elphel/sensor_common.h

@@ -92,10 +92,12 @@ long long get_frame_pos(unsigned int chn, unsigned int pos);
 
 #define LEGACY_READ_PAGE2 0xff
 #define LEGACY_READ_PAGE4 0xfe
+// never used?
 #define  name_10359    "el10359"  // Get name from DT (together with port mask)
 #define  name_sensor   "mt9p006"  // Get name from DT (together with port mask)
 #define  name_mt9p006  "mt9p006"  // Get name from DT (together with port mask)
 #define  name_mt9f002  "mt9f002"  // Get name from DT (together with port mask)
+#define  name_lepton35 "lepton35" // Get name from DT (together with port mask)
 
 #define I2C359_INC                    2   ///< slave address increment between sensors in 10359A board (broadcast, 1,2,3) (7 bits SA)