histograms debugging, project setup files updated

385eb407 · Andrey Filippov · 4ddade87 · 385eb407 · 4ddade87 · 385eb407
Commit 385eb407 authored Sep 11, 2016 by Andrey Filippov
17 changed files
--- a/eclipse_project_setup/.cproject
+++ b/eclipse_project_setup/.cproject
--- a/eclipse_project_setup/.externalToolBuilders/org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder.launch
+++ b/eclipse_project_setup/.externalToolBuilders/org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder.launch
-<?xml version="1.0" encoding="UTF-8" standalone="no"?>
-<launchConfiguration type="org.eclipse.ant.AntBuilderLaunchConfigurationType">
-<stringAttribute key="org.eclipse.jdt.launching.CLASSPATH_PROVIDER" value="org.eclipse.ant.ui.AntClasspathProvider"/>
-<booleanAttribute key="org.eclipse.jdt.launching.DEFAULT_CLASSPATH" value="true"/>
-<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_BUILDER_ENABLED" value="false"/>
-<stringAttribute key="org.eclipse.ui.externaltools.ATTR_DISABLED_BUILDER" value="org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder"/>
-<mapAttribute key="org.eclipse.ui.externaltools.ATTR_TOOL_ARGUMENTS"/>
-<booleanAttribute key="org.eclipse.ui.externaltools.ATTR_TRIGGERS_CONFIGURED" value="true"/>
-</launchConfiguration>
--- a/eclipse_project_setup/.project
+++ b/eclipse_project_setup/.project
@@ -11,16 +11,6 @@
 			<arguments>
 			</arguments>
 		</buildCommand>
-		<buildCommand>
-			<name>org.eclipse.ui.externaltools.ExternalToolBuilder</name>
-			<triggers>full,incremental,</triggers>
-			<arguments>
-				<dictionary>
-					<key>LaunchConfigHandle</key>
-					<value>&lt;project&gt;/.externalToolBuilders/org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder.launch</value>
-				</dictionary>
-			</arguments>
-		</buildCommand>
 		<buildCommand>
 			<name>org.eclipse.ui.externaltools.ExternalToolBuilder</name>
 			<triggers>clean,</triggers>

--- a/src/drivers/elphel/circbuf.c
+++ b/src/drivers/elphel/circbuf.c
@@ -495,7 +495,7 @@ inline int get_image_start_chn(int last_chunk_offset, unsigned int len32, int ch
    return X393_BUFFSUB_CHN(last_chunk_offset + CHUNK_SIZE - INSERTED_BYTES(len32) - CCAM_MMAP_META, len32, chn);
 }
+#ifdef PRE_FRAMEPARS
 /* debug code follows */
 void stop_compressor(unsigned int chn)
 {
@@ -503,8 +503,9 @@ void stop_compressor(unsigned int chn)
 	mode.run = 1;
 	mode.run_set = 1;
-	x393_cmprs_control_reg(mode, chn);
+	set_x393_cmprs_control_reg(mode, chn);
 }
+#endif
 void dump_state(unsigned int chn)
 {
 	int img_start, last_image_chunk;

--- a/src/drivers/elphel/framepars.c
+++ b/src/drivers/elphel/framepars.c
@@ -261,7 +261,7 @@ int initSequencers(int sensor_port)
 //    x393_rtc_sec_t  rtc_sec =  {.d32=0};
    sec_usec_t sec_usec;
    FLAGS_IBH
-    if (!is_fpga_programmed){
+    if (!is_fpga_programmed()){
        dev_err(g_devfp_ptr,"*** Attempted to access hardware without bitsteram ***\n");
        return - ENODEV;
    }
@@ -425,6 +425,23 @@ inline unsigned long get_imageParamsFrame(int sensor_port, ///< sensor port (0..
    return aframepars[sensor_port][frame & PARS_FRAMES_MASK].pars[n];
 }
+inline unsigned long * get_imageParamsFramePtr(int sensor_port, ///< sensor port (0..3)
+                                               int n,           ///< parameter index (should be 128..143)
+                                               int frame)       ///< absolute frame number
+{
+    return &(aframepars[sensor_port][frame & PARS_FRAMES_MASK].pars[n]);
+}
+inline unsigned long * get_imageParamsPastPtr(int sensor_port, ///< sensor port (0..3)
+                                              int n,           ///< parameter index (should be 128..143)
+                                              int frame)       ///< absolute frame number
+{
+    return &(apastpars[sensor_port][frame & PASTPARS_SAVE_ENTRIES_MASK].past_pars[n-PARS_SAVE_FROM]);
+}
 /**
 * @brief reads parameters from the current frame (matching hardware index)
 * @param sensor_port sensor port number (0..3)
@@ -565,6 +582,21 @@ void updateFramePars(int sensor_port, ///< sensor port number (0..3)
 	unsigned long bmask, bmask32;
 	int pastParsIndex;
 	struct framepars_t *framepars = aframepars[sensor_port];
+#define DEBUG_BYRSH
+#ifdef DEBUG_BYRSH
+	int comp_frame16 = getHardFrameNumber(sensor_port, 1);    // Use compressor frame number
+	u32 comp_aframe = thisCompressorFrameNumber(sensor_port);
+	x393_cmprs_mode_t cmprs_mode = get_x393_cmprs_control_reg(sensor_port);
+#if 0
+//	Add to x393.h
+x393_cmprs_mode_t            get_x393_cmprs_control_reg          (int cmprs_chn);
+//  Add to x393.c
+	x393_cmprs_mode_t            get_x393_cmprs_control_reg          (int cmprs_chn)
+	    { x393_cmprs_mode_t d; d.d32 = readl(mmio_ptr + (0x1800 + 0x40 * cmprs_chn)); return d; }
+#endif
+#endif
 #ifdef NC353
 	// Old comments from NC353
 	// If interrupt was from compression done (circbuf advanced, interframe_pars!=null), the frame16 (hardware) maybe not yet advanced
@@ -579,7 +611,7 @@ void updateFramePars(int sensor_port, ///< sensor port number (0..3)
 #endif
    dev_dbg(g_devfp_ptr,"%s : port= %d, frame16=%d\n",__func__, sensor_port, frame16);
 	while ((frame16 ^ thisFrameNumber(sensor_port)) & PARS_FRAMES_MASK) { // While hardware pointer is still ahead of the software maintained one
-	    dev_dbg(g_devfp_ptr,"%s : port= %d, frame16=%d, thisFrameNumber(sensor_port)\n",__func__, sensor_port, frame16, (int)thisFrameNumber(sensor_port));
+	    dev_dbg(g_devfp_ptr,"%s : port= %d, frame16=%d, thisFrameNumber(%d)=%d\n",__func__, sensor_port, frame16, sensor_port, (int)thisFrameNumber(sensor_port));
 // before update:
 //   framepars[findex_prev]  holds previous frame data (oldest availble - latest?)
 //   framepars[findex_future] holds farthest in the future one
@@ -598,8 +630,19 @@ void updateFramePars(int sensor_port, ///< sensor port number (0..3)
 //		memcpy(apastpars[sensor_port][pastParsIndex].past_pars, &framepars[findex_prev].pars[PARS_SAVE_FROM], PARS_SAVE_COPY * sizeof(int));
        memcpy(apastpars[sensor_port][pastParsIndex].past_pars, &framepars[findex_prev].pars[PARS_SAVE_FROM], PARS_SAVE_COPY << 2);
+#ifdef DEBUG_BYRSH
+        apastpars[sensor_port][pastParsIndex].past_pars[PARS_SAVE_COPY + 0] = comp_frame16;
+        apastpars[sensor_port][pastParsIndex].past_pars[PARS_SAVE_COPY + 1] = comp_aframe;
+        apastpars[sensor_port][pastParsIndex].past_pars[PARS_SAVE_COPY + 2] = cmprs_mode.d32;
+        apastpars[sensor_port][pastParsIndex].past_pars[PARS_SAVE_COPY + 3] = pastParsIndex;
+#endif
 		// Now update interframe_pars (interframe area) used to create JPEG headers. Interframe area survives exactly as long as the frames themselves (not like pastpars)
+//      debug code - save compressor states in the past parameters
 #if 0
 		struct framepars_past_t {
 		    unsigned long past_pars[PARS_SAVE_NUM]; ///< Array of frame parameters preserved for the future
@@ -677,7 +720,7 @@ inline void _processParsASAP(int sensor_port,                   ///< sensor port
 	int i;
 	int rslt;
-#if ELPHEL_DEBUG_0
+#ifdef ELPHEL_DEBUG_0
 	unsigned long allfunctions = framepars[0].functions  | framepars[1].functions | framepars[2].functions | framepars[3].functions |
 				     framepars[4].functions | framepars[5].functions | framepars[6].functions | framepars[7].functions;
 	if (allfunctions) MDF6(printk("frame16=%d, functions: %08lx %08lx %08lx %08lx %08lx %08lx %08lx %08lx\n", frame16, framepars[0].functions,
@@ -708,16 +751,16 @@ inline void _processParsASAP(int sensor_port,                   ///< sensor port
 	        todo = (pars_ahead) ?
 	                           (p_nasap[pars_ahead] & (procpars->functions) & remain) :
 	                           (procpars->functions & remain);
-	        dev_dbg(g_devfp_ptr,"port=%d frame16=%d todo=0x%08lx,p_nasap[%d]=0x%08x procpars->functions=0x%08lx\n",
+	        dev_dbg(g_devfp_ptr,"port=%d frame16=%d todo=0x%08lx,p_nasap[%d]=0x%08lx procpars->functions=0x%08lx\n",
 	                sensor_port,  frame16, todo, pars_ahead, p_nasap[pars_ahead], procpars->functions);
-            MDP(DBGB_FASAP,sensor_port,"frame16=%d todo=0x%08lx,p_nasap[%d]=0x%08x procpars->functions=0x%08lx\n",
+            MDP(DBGB_FASAP,sensor_port,"frame16=%d todo=0x%08lx,p_nasap[%d]=0x%08lx procpars->functions=0x%08lx\n",
                    frame16, todo, pars_ahead, p_nasap[pars_ahead], procpars->functions)
 	    } else {
            todo = (pars_ahead) ?
                               (p_nasap[pars_ahead] & (procpars->functions) & remain) :
                               (procpars->functions & remain);
-            dev_dbg(g_devfp_ptr,"port=%d frame16=%d todo=0x%08lx,p_nasap[%d]=0x%08x procpars->functions=0x%08lx\n",
+            dev_dbg(g_devfp_ptr,"port=%d frame16=%d todo=0x%08lx,p_nasap[%d]=0x%08lx procpars->functions=0x%08lx\n",
                    sensor_port,  frame16, todo, pars_ahead, p_nasap[pars_ahead], procpars->functions);
 	    }
 		while ((todo = (pars_ahead) ?
@@ -755,13 +798,13 @@ inline void _processParsASAP(int sensor_port,                   ///< sensor port
 	                    framepars[4].functions, framepars[5].functions, framepars[6].functions, framepars[7].functions);
 	        }
 			if (sensorproc->pgm_func[i]) {
-	            dev_dbg(g_devfp_ptr,"port= %d, Calling GENERIC pgm_func[%d] ASAP\n",sensor_port,i);
+	            dev_dbg(g_devfp_ptr,"port= %d, Calling GENERIC pgm_func[%d] ASAP, now frame = 0x%lx\n",sensor_port,i,thisFrameNumber(sensor_port));
-	            MDP(DBGB_FASAP,sensor_port,"Calling GENERIC pgm_func[%d] ASAP\n",i)
+	            MDP(DBGB_FASAP,sensor_port,"Calling GENERIC pgm_func[%d] ASAP, now frame = 0x%x\n",i,thisFrameNumber(sensor_port))
 				rslt = sensorproc->pgm_func[i]    (sensor_port, &(sensorproc->sensor), procpars, prevpars, -1);
 			} else rslt = 0;                                        // only sensor-specific function, nothing to do common to all sensors
 			if ((rslt >= 0) && (sensorproc->pgm_func[i + 32])) {    // sensor - specific functions, called after the main ones
-                dev_dbg(g_devfp_ptr,"port= %d, Calling SENSOR-SPECIFIC  pgm_func[%d] ASAP\n",sensor_port,i);
+                dev_dbg(g_devfp_ptr,"port= %d, Calling SENSOR-SPECIFIC  pgm_func[%d] ASAP, now frame = 0x%lx\n",sensor_port,i,thisFrameNumber(sensor_port));
-                MDP(DBGB_FASAP,sensor_port,"Calling SENSOR-SPECIFIC  pgm_func[%d] ASAP\n",i)
+                MDP(DBGB_FASAP,sensor_port,"Calling SENSOR-SPECIFIC  pgm_func[%d] ASAP, now frame = 0x%x\n",i,thisFrameNumber(sensor_port))
 				rslt = sensorproc->pgm_func[i + 32] (sensor_port, &(sensorproc->sensor), procpars, prevpars, -1);
 			}
 			if (rslt < 0) dev_warn(g_devfp_ptr,"%s:%d:%s - error=%d", __FILE__, __LINE__, __FUNCTION__, rslt);// Nothing to do with errors here - just report?
@@ -775,6 +818,7 @@ inline void _processParsASAP(int sensor_port,                   ///< sensor port
    dev_dbg(g_devfp_ptr,"%s port=%d DONE\n",  __func__, sensor_port);
 }
 // Next 5 should go in that sequence
 //#define G_CALLNASAP    119 // bitmask - what functions can be used not only in the current frame (ASAP) mode
 //#define G_CALLNEXT1      120 // bitmask of actions to be one   or more frames ahead of the programmed one (OR-ed with G_CALLNEXT2..G_CALLNEXT4)
@@ -846,13 +890,13 @@ inline void _processParsSeq(int sensor_port,                   ///< sensor port
 					if (sensorproc->pgm_func[i]) {
 						// NOTE: Was (frame16+job_ahead +1) & PARS_FRAMES_MASK
-                        dev_dbg(g_devfp_ptr,"port= %d, Calling GENERIC pgm_func[%d], seq_frame = %d\n",sensor_port,i,seq_frame);
+                        dev_dbg(g_devfp_ptr,"port= %d, Calling GENERIC pgm_func[%d], seq_frame = 0x%x, now frame = 0x%lx\n",sensor_port,i,seq_frame,thisFrameNumber(sensor_port));
-                        MDP(DBGB_FSEQ,sensor_port,"Calling GENERIC pgm_func[%d], seq_frame = %d\n",i,seq_frame)
+                        MDP(DBGB_FSEQ,sensor_port,"Calling GENERIC pgm_func[%d],  seq_frame = 0x%x, now frame = 0x%x\n",i,seq_frame,thisFrameNumber(sensor_port))
 						rslt = sensorproc->pgm_func[i]    (sensor_port, &(sensorproc->sensor), procpars, prevpars, seq_frame);
 					} else rslt = 0;                                        // only sensor-specific function, nothing to do common to all sensors
 					if ((rslt >= 0) && (sensorproc->pgm_func[i + 32])) {    // sensor - specific functions, called after the main ones
-                        dev_dbg(g_devfp_ptr,"port= %d, Calling SENSOR-SPECIFIC pgm_func[%d], seq_frame = %d\n",sensor_port,i,seq_frame);
+                        dev_dbg(g_devfp_ptr,"port= %d, Calling SENSOR-SPECIFIC pgm_func[%d], seq_frame = 0x%x, now frame = 0x%lx\n",sensor_port,i,seq_frame,thisFrameNumber(sensor_port));
-                        MDP(DBGB_FSEQ,sensor_port,"Calling SENSOR-SPECIFIC pgm_func[%d], seq_frame = %d\n",i,seq_frame)
+                        MDP(DBGB_FSEQ,sensor_port,"Calling SENSOR-SPECIFIC pgm_func[%d],  seq_frame = 0x%x, now frame = 0x%x\n",i,seq_frame,thisFrameNumber(sensor_port))
 					    rslt = sensorproc->pgm_func[i + 32] (sensor_port, &(sensorproc->sensor), procpars, prevpars, seq_frame);
 					}
 					if (rslt >= 0) {
@@ -979,6 +1023,7 @@ int processPars(int sensor_port, struct sensorproc_t * sensorproc, int frame16,
                frame16, maxahead)
        dev_dbg(g_devfp_ptr,"== Done from tasklet: port= %d,  frame16=%d, maxahead=%d\n", sensor_port, frame16, maxahead);
    }
+    return 0;
 }
 #endif
@@ -992,9 +1037,9 @@ int processPars(int sensor_port, struct sensorproc_t * sensorproc, int frame16,
 void schedule_pgm_func(int sensor_port, int frame16, int func_num)
 {
 	aframepars[sensor_port][frame16 & PARS_FRAMES_MASK].functions |= 1 << func_num;
-    dev_dbg(g_devfp_ptr,"func_num=%d, aframepars[%d][%d].functions=0x08lx\n",
+    dev_dbg(g_devfp_ptr,"func_num=%d, aframepars[%d][%d].functions=0x%08lx\n",
            func_num, sensor_port, frame16, aframepars[sensor_port][frame16 & PARS_FRAMES_MASK].functions);
-    MDP(DBGB_FSCF,sensor_port,"func_num=%d, aframepars[%d][%d].functions=0x08lx\n",
+    MDP(DBGB_FSCF,sensor_port,"func_num=%d, aframepars[%d][%d].functions=0x%08lx\n",
            func_num, sensor_port, frame16,aframepars[sensor_port][frame16 & PARS_FRAMES_MASK].functions)
 }
@@ -1009,9 +1054,9 @@ void schedule_this_pgm_func(int sensor_port, struct framepars_t * this_framepars
 {
 	int frame16 = this_framepars->pars[P_FRAME] & PARS_FRAMES_MASK;
 	aframepars[sensor_port][frame16].functions |= 1 << func_num;
-    dev_dbg(g_devfp_ptr,"func_num=%d, aframepars[%d][%d].functions=0x08lx\n",
+    dev_dbg(g_devfp_ptr,"func_num=%d, aframepars[%d][%d].functions=0x08%lx\n",
            func_num, sensor_port, frame16, aframepars[sensor_port][frame16 & PARS_FRAMES_MASK].functions);
-    MDP(DBGB_FSCF,sensor_port,"func_num=%d, aframepars[%d][%d].functions=0x08lx\n",
+    MDP(DBGB_FSCF,sensor_port,"func_num=%d, aframepars[%d][%d].functions=0x08%lx\n",
            func_num, sensor_port, frame16,aframepars[sensor_port][frame16 & PARS_FRAMES_MASK].functions)
 }
@@ -1154,8 +1199,8 @@ int setFrameParsAtomic(int sensor_port,               ///< sensor port number (0
 					for (nframe = (frame16 + 1) & PARS_FRAMES_MASK; (nframe != findex_prev) && (!(framepars[nframe].mod[bindex] & bmask)); nframe = (nframe + 1) & PARS_FRAMES_MASK) {
 						framepars[nframe].pars[index] = val;
-						dev_dbg(g_devfp_ptr,"framepars[%d].pars[%d] <- 0x%08x  ", nframe, index, val);
+						dev_dbg(g_devfp_ptr,"framepars[%d].pars[%d] <- 0x%08lx  ", nframe, index, val);
-	                    MDP(DBGB_FSFA,sensor_port,"framepars[%d].pars[%d] <- 0x%08x  ", nframe, index, val)
+	                    MDP(DBGB_FSFA,sensor_port,"framepars[%d].pars[%d] <- 0x%08lx  ", nframe, index, val)
 					}
 					frame16 = (frame16 - 1) & PARS_FRAMES_MASK; // for " regular parameters "modified since" do not include the target frame itself, for "JUST_THIS" - does
                    dev_dbg(g_devfp_ptr,"\n");
@@ -1452,7 +1497,7 @@ int framepars_open(struct inode *inode, struct file *filp)
 	if (!privData) return -ENOMEM;
 	filp->private_data = privData;
 	privData->minor = MINOR(inode->i_rdev);
-	dev_dbg(g_devfp_ptr,"minor=0x%x\n",__func__, privData->minor);
+	dev_dbg(g_devfp_ptr,"minor=0x%x\n", privData->minor);
 	switch (privData->minor) {
 	case  DEV393_MINOR(DEV393_FRAMEPARS0):
 	case  DEV393_MINOR(DEV393_FRAMEPARS1):
@@ -1789,7 +1834,7 @@ static ssize_t store_fpga_time(struct device *dev, struct device_attribute *attr
 {
    sec_usec_t sec_usec={.sec=0, .usec=0};
    // avoiding floating point calcualtions in the kernel
-    char *cp = buf;
+    const char *cp = buf;
    int i;
    if (sscanf(buf, "%lu.%s", &sec_usec.sec, cp)>0){
        sscanf(cp,"%lu",&sec_usec.usec);
@@ -1842,7 +1887,6 @@ static ssize_t show_all_frames(struct device *dev, struct device_attribute *attr
    return buf-buf0;
 }
 static DEVICE_ATTR(this_frame0,               SYSFS_PERMISSIONS,     show_this_frame,                store_this_frame);
 static DEVICE_ATTR(this_frame1,               SYSFS_PERMISSIONS,     show_this_frame,                store_this_frame);
 static DEVICE_ATTR(this_frame2,               SYSFS_PERMISSIONS,     show_this_frame,                store_this_frame);
@@ -1886,7 +1930,7 @@ int framepars_init(struct platform_device *pdev)
 {
 	int res;
 	struct device *dev = &pdev->dev;
-	const struct of_device_id *match;
+//	const struct of_device_id *match;
 	int sensor_port;
 	for (sensor_port = 0; sensor_port < SENSOR_PORTS; sensor_port++) {

--- a/src/drivers/elphel/framepars.h
+++ b/src/drivers/elphel/framepars.h
@@ -24,6 +24,8 @@ unsigned long get_imageParamsThis (int sensor_port, int n);
 unsigned long get_imageParamsPrev (int sensor_port, int n);
 unsigned long get_imageParamsPast(int sensor_port,  int n,  int frame);
+unsigned long * get_imageParamsFramePtr(int sensor_port, int n, int frame);
+unsigned long * get_imageParamsPastPtr (int sensor_port, int n, int frame);
 void          set_imageParamsThis (int sensor_port, int n, unsigned long d);
 unsigned long get_globalParam     (int sensor_port, int n);
@@ -69,9 +71,5 @@ void schedule_this_pgm_func       (int sensor_port, struct framepars_t * this_fr
 //inline void _processParsSeq       (int sensor_port, struct sensorproc_t * sensorproc, int frame8, int maxahead);
 int         processPars          (int sensor_port, struct sensorproc_t * sensorproc, int frame8, int maxahead);
-///*** TODO: Add option (flag?) to write "single" (like single compress, single sensor) so it will not make all the next frames "single"
+// *** TODO: Add option (flag?) to write "single" (like single compress, single sensor) so it will not make all the next frames "single"
-int         framepars_init       (struct platform_device *pdev);
-int         framepars_remove     (struct platform_device *pdev);
 #endif
--- a/src/drivers/elphel/histograms.c
+++ b/src/drivers/elphel/histograms.c
@@ -135,8 +135,14 @@
 #endif
 //u32         (*fpga_hist_data)[SENSOR_PORTS][MAX_SENSORS][PARS_FRAMES][4][256]; ///< Array of histogram data, mapped to the memory wheer FPGA sends data
-//u32        *fpga_hist_data[SENSOR_PORTS][MAX_SENSORS][PARS_FRAMES][4][256]; ///< Array of histogram data, mapped to the memory wheer FPGA sends data
+//u32        *fpga_hist_data[SENSOR_PORTS][MAX_SENSORS][PARS_FRAMES][4][256]; ///< Array of histogram data, mapped to the memory where FPGA sends data
-u32        (*fpga_hist_data)[SENSOR_PORTS][MAX_SENSORS][PARS_FRAMES][4][256]; ///< Array of histogram data, mapped to the memory wheer FPGA sends data
+//u32        (*fpga_hist_data)[SENSOR_PORTS][MAX_SENSORS][PARS_FRAMES][4][256]; ///< Array of histogram data, mapped to the memory where FPGA sends data
+//typedef u32 fpga_hist_t [SENSOR_PORTS][MAX_SENSORS][PARS_FRAMES][4][256];
+//typedef u32 fpga_hist_t [][MAX_SENSORS][PARS_FRAMES][4][256];
+typedef u32 (*fpga_hist_t)[MAX_SENSORS][PARS_FRAMES][4][256];
+fpga_hist_t fpga_hist_data;
 dma_addr_t   fpga_hist_phys; // physical address of the start of the received histogram data
 #define  X3X3_HISTOGRAMS_DRIVER_DESCRIPTION "Elphel (R) Model 353 Histograms device driver"
@@ -151,7 +157,7 @@ static int numHistChn = 0;
 /** Variable-length array (length is the total number of active sensors <=16), each being the same as in 353:
 * consisting of SENSOR_PORTS histogram_stuct_t structures */
-struct  histogram_stuct_t (*histograms)[HISTOGRAM_CACHE_NUMBER];
+struct  histogram_stuct_t (*histograms)[HISTOGRAM_CACHE_NUMBER] = NULL;
 //struct  histogram_stuct_t *histograms;
 dma_addr_t histograms_phys; ///< likely not needed, saved during allocation
@@ -231,14 +237,15 @@ inline void  histogram_calc_percentiles ( unsigned long * cumul_hist,  unsigned
 * Histograms will be initialized for all possible ports/channels, only some will be enabled */
 int histograms_init_hardware(void)
 {
-    int port, chn;
+    int port, chn, hist_chn;
-    x393_hist_saxi_addr_t saxi_addr;
+    x393_hist_saxi_addr_t saxi_addr = {.d32=0};
-//    fpga_hist_data = (u32 [SENSOR_PORTS][MAX_SENSORS][PARS_FRAMES][4][256]) pElphel_buf->d2h_vaddr; // must be page-aligned!
+//    fpga_hist_data = (u32 *) pElphel_buf->histograms_vaddr; // d2h_vaddr; // must be page-aligned!
-    fpga_hist_data = (u32 *) pElphel_buf->histograms_vaddr; // d2h_vaddr; // must be page-aligned!
+    fpga_hist_data = (fpga_hist_t) pElphel_buf->histograms_vaddr; // d2h_vaddr; // must be page-aligned!
    fpga_hist_phys = pElphel_buf->histograms_paddr; //d2h_paddr;
    for (port=0; port<SENSOR_PORTS; port++) for (chn=0; chn < MAX_SENSORS; chn++) {
-        saxi_addr.page=(fpga_hist_phys >> PAGE_SHIFT)+ PARS_FRAMES * (chn + MAX_SENSORS *port);// table for 4 colors is exactly 1 page;
+        hist_chn = chn + MAX_SENSORS *port;
-        set_x393_hist_saxi_addr (saxi_addr, chn);       // Histogram DMA addresses (in 4096 byte pages)
+        saxi_addr.page=(fpga_hist_phys >> PAGE_SHIFT)+ PARS_FRAMES * hist_chn;// table for 4 colors is exactly 1 page;
+        set_x393_hist_saxi_addr (saxi_addr, hist_chn);       // Histogram DMA addresses (in 4096 byte pages)
    }
    // Hand all data to device
    dma_sync_single_for_device(NULL, fpga_hist_phys, SENSOR_PORTS*MAX_SENSORS*PARS_FRAMES*4*256*4, DMA_FROM_DEVICE);
@@ -300,7 +307,7 @@ void init_histograms(int chn_mask) ///< combined subchannels and ports Save mask
 //    dev_warn(g_dev_ptr, "dma_alloc_coherent(NULL, 0x%x, 0x%x,GFP_NOWAIT)",pages * PAGE_SIZE, (int) histograms_phys);
 //    histograms = dma_alloc_coherent(NULL,(pages * PAGE_SIZE),&histograms_phys,GFP_ATOMIC); // OK
-    dev_warn(g_dev_ptr, "dma_alloc_coherent should be done before (@probe), needed are 0x%x bytes)",pages * PAGE_SIZE);
+    dev_warn(g_dev_ptr, "dma_alloc_coherent should be done before (@probe), needed are 0x%lx bytes)",pages * PAGE_SIZE);
    BUG_ON(!histograms);
    histograms_p= (struct histogram_stuct_t *) histograms;
 //    MDF21(printk("\n"));
@@ -329,7 +336,7 @@ int get_hist_index (int sensor_port,     ///< sensor port number (0..3)
 }
 /**
- * @brief Get histograms from the FPGA (called as tasklet?)
+ * @brief Get histograms from the FPGA (called as tasklet - not anymore?)
 * TODO: should it be one frame behind current?
 * each group of 4 bits cover 4 colors of the same type */
 int set_histograms  (int sensor_port,           ///< sensor port number (0..3)
@@ -346,18 +353,41 @@ int set_histograms  (int sensor_port,           ///< sensor port number (0..3)
                     unsigned long * framep)   ///< array of 8 values to copy  (frame, gains,expos,vexpos, focus), NULL OK
                                               ///< @return 0 OK, -EINVAL unused port/channel
 {
-    int i, color_start, hist_indx, hist_frame;
+    const int hist_frames_available = PARS_FRAMES - 3; // ?
-    hist_indx=get_hist_index(sensor_port,sensor_chn);
+    int i, color_start, hist_indx, hist_frame, hist_frame_index;
+    unsigned long thisFrameNumber=getThisFrameNumber(sensor_port);
+    dev_dbg(g_dev_ptr, "Setting histograms for frame=%ld(0x%lx), thisFrameNumber=%ld (0x%lx), needed=0x%x\n",
+            frame,frame,thisFrameNumber,thisFrameNumber, needed);
+    hist_indx=get_hist_index(sensor_port,sensor_chn); // channel/subchannel combination, removed unused
    if (hist_indx <0 ) return -EINVAL;
-    if (histograms[hist_indx][GLOBALPARS(sensor_port,G_HIST_LAST_INDEX+sensor_chn)].frame!=frame) {
+    if (frame >= thisFrameNumber) {
-        GLOBALPARS(sensor_port, G_HIST_LAST_INDEX+sensor_chn)=(GLOBALPARS(sensor_port, G_HIST_LAST_INDEX+sensor_chn)+1) & (HISTOGRAM_CACHE_NUMBER-1);
+        dev_dbg(g_dev_ptr, "frame=%ld(0x%lx) >= thisFrameNumber=%ld (0x%lx) (not yet available)\n",frame,frame,thisFrameNumber,thisFrameNumber);
-        histograms[hist_indx][GLOBALPARS(sensor_port, G_HIST_LAST_INDEX+sensor_chn)].valid=0;     // overwrite all
+        return -EINVAL; // not yet available
-        histograms[hist_indx][GLOBALPARS(sensor_port, G_HIST_LAST_INDEX+sensor_chn)].frame=frame; // add to existent
+    }
-        if (framep)    memcpy (&(histograms[hist_indx][GLOBALPARS(sensor_port,G_HIST_LAST_INDEX)].frame),  framep,    32); // copy provided frame, gains,expos,vexpos, focus
+    // verify frame still not overwritten
-        if (gammaHash) memcpy (&(histograms[hist_indx][GLOBALPARS(sensor_port,G_HIST_LAST_INDEX)].gtab_r), gammaHash, 16); // copy provided 4 hash32 values
+    if (frame < (thisFrameNumber - hist_frames_available)) {
+        dev_dbg(g_dev_ptr, "frame=%ld(0x%lx) < thisFrameNumber=%ld (0x%lx) - %d (already gone)\n",frame,frame,thisFrameNumber,thisFrameNumber,hist_frames_available);
+        return -EINVAL; // not yet available
+    }
+    dev_dbg(g_dev_ptr, "Setting histograms for frame=%ld(0x%lx), thisFrameNumber=%ld (0x%lx), needed=0x%x, hist_indx=0x%x \n",
+            frame,frame,thisFrameNumber,thisFrameNumber, needed, hist_indx);
+    hist_frame_index = (int) GLOBALPARS(sensor_port,G_HIST_LAST_INDEX+sensor_chn);
+    dev_dbg(g_dev_ptr, "histograms[%d][%d].frame = 0x%lx\n",
+            hist_indx, hist_frame_index, histograms[hist_indx][hist_frame_index].frame);
+    if (histograms[hist_indx][hist_frame_index].frame!=frame) {
+        hist_frame_index = (hist_frame_index+1) & (HISTOGRAM_CACHE_NUMBER-1);
+        GLOBALPARS(sensor_port, G_HIST_LAST_INDEX+sensor_chn)=hist_frame_index;
+        histograms[hist_indx][hist_frame_index].valid=0;     // overwrite all
+        histograms[hist_indx][hist_frame_index].frame=frame; // add to existent
+        if (framep)    memcpy (&(histograms[hist_indx][hist_frame_index].frame),  framep,    32); // copy provided frame, gains,expos,vexpos, focus
+        if (gammaHash) memcpy (&(histograms[hist_indx][hist_frame_index].gtab_r), gammaHash, 16); // copy provided 4 hash32 values
+        dev_dbg(g_dev_ptr, "histograms[%d][%d].frame = 0x%lx\n",
+                hist_indx, hist_frame_index, histograms[hist_indx][hist_frame_index].frame);
    } else {
-        needed &= ~histograms[hist_indx][GLOBALPARS(sensor_port,G_HIST_LAST_INDEX)].valid; // remove those that are already available from the request
+        needed &= ~histograms[hist_indx][hist_frame_index].valid; // remove those that are already available from the request
    }
+    dev_dbg(g_dev_ptr, "needed=0x%x\n", needed);
    // TODO: handle valid and needed for multichannel?
    if (!(needed & 0xf)) // nothing to do with FPGA
        return 0;
@@ -371,12 +401,22 @@ int set_histograms  (int sensor_port,           ///< sensor port number (0..3)
        outer_inv_range(phys_addr, phys_addr + (256*sizeof(u32) - 1));
        __cpuc_flush_dcache_area(dma_data, 256*sizeof(u32));
        color_start= i<<8 ;
-        memcpy(&histograms[hist_indx][GLOBALPARS(sensor_port, G_HIST_LAST_INDEX+sensor_chn)],
+        memcpy(&histograms[hist_indx][hist_frame_index].hist[256*i],
                dma_data, 256*sizeof(u32));
        // old in 353:  fpga_hist_read_nice (color_start, 256, (unsigned long *) &histograms[GLOBALPARS(G_HIST_LAST_INDEX)].hist[color_start]);
-        histograms[hist_indx][ GLOBALPARS(sensor_port,G_HIST_LAST_INDEX+sensor_chn)].valid |= 1 << i;
+        histograms[hist_indx][hist_frame_index].valid |= 1 << i;
+        dev_dbg(g_dev_ptr, "histograms[%d][%d].valid=0x%lx\n",
+                hist_indx, hist_frame_index,histograms[hist_indx][hist_frame_index].valid );
    }
    return 0;
+/*
+   for (i=0; i<4; i++) if (needed & ( 1 << i )) {
+    color_start= i<<8 ;
+    fpga_hist_read_nice (color_start, 256, (unsigned long *) &histograms[GLOBALPARS(G_HIST_LAST_INDEX)].hist[color_start]);
+    histograms[GLOBALPARS(G_HIST_LAST_INDEX)].valid |= 1 << i;
+  }
+ */
 }
@@ -403,9 +443,29 @@ int  get_histograms(int sensor_port,     ///< sensor port number (0..3)
    int i, color_start, index;
    int hist_indx=get_hist_index(sensor_port,sensor_chn);
    int raw_needed;
+    unsigned long thisFrameNumber=getThisFrameNumber(sensor_port);
+    unsigned long * gammaHash;
+    unsigned long * framep;
    if (hist_indx <0 ) return -EINVAL;
-    index=GLOBALPARS(sensor_port, G_HIST_LAST_INDEX+sensor_chn);
    raw_needed=(needed | (needed>>4) | needed>>8) & 0xf;
+    dev_dbg(g_dev_ptr, "sensor_port=%d, sensor_chn=%d, frame = %ld (0x%lx), thisFrameNumber=%ld(0x%lx), needed = 0x%x, raw_needed=0x%x\n",
+            sensor_port, sensor_chn, frame, frame, thisFrameNumber, thisFrameNumber, needed, raw_needed);
+    if (raw_needed){
+        // get parameters - decide from current or mpastpars
+        if (frame == (thisFrameNumber-1)) { // use pars
+            gammaHash = get_imageParamsFramePtr(sensor_port, P_GTAB_R, frame);
+            framep =    get_imageParamsFramePtr(sensor_port, P_FRAME, frame);
+        } else {
+            gammaHash = get_imageParamsPastPtr (sensor_port, P_GTAB_R, frame);
+            framep =    get_imageParamsPastPtr (sensor_port, P_FRAME, frame);
+        }
+        if ((i= set_histograms (sensor_port, sensor_chn, frame, raw_needed, gammaHash, framep))){
+            dev_dbg(g_dev_ptr, "Failed to set up histograms for frame= %ld(0x%lx), thisFrameNumber=%ld(0x%lx), returned %d\n",
+                    frame,frame, thisFrameNumber,thisFrameNumber,i);
+            return i;
+        }
+    }
+    index=GLOBALPARS(sensor_port, G_HIST_LAST_INDEX+sensor_chn); // set_histograms may increment G_HIST_LAST_INDEX+sensor_chn
    for (i=0;i<HISTOGRAM_CACHE_NUMBER;i++) {
        dev_dbg(g_dev_ptr, "index=%d, needed=0x%x\n",index,needed);
        if ((histograms[hist_indx][index].frame <= frame) && ((histograms[hist_indx][index].valid & raw_needed)==raw_needed)) break;
@@ -413,9 +473,13 @@ int  get_histograms(int sensor_port,     ///< sensor port number (0..3)
    }
    if (i>=HISTOGRAM_CACHE_NUMBER) {
        dev_err(g_dev_ptr, "no histograms exist for requested colors (0x%x), requested 0x%x\n",raw_needed,needed);
+        // here we need to try to locate and copy raw histogram
        return -EFAULT; // if Y - never calculated, if C - maybe all the cache is used by Y
    }
-    needed &= ~0x0f; // mask out FPGA read requests -= they are not handled here anymore (use set_histograms())
+///    needed &= ~0x0f; // mask out FPGA read requests -= they are not handled here anymore (use set_histograms())
    dev_dbg(g_dev_ptr, "needed=0x%x\n",needed);
    needed |= ((needed >>4) & 0xf0); // cumulative histograms are needed for percentile calculations
    needed &= ~histograms[hist_indx][index].valid;
@@ -590,20 +654,27 @@ loff_t histograms_lseek (struct file * file,
                         loff_t offset,
                         int orig)
 {
-    int p,s;
+    int p,s,index;
    struct histograms_pd * privData = (struct histograms_pd *) file->private_data;
    unsigned long reqAddr,reqFrame;
-    dev_dbg(g_dev_ptr, "histograms_lseek: offset=0x%x, orig=0x%x\n",(int) offset, (int) orig);
+    dev_dbg(g_dev_ptr, "histograms_lseek: offset=%d(0x%x), orig=0x%x, getThisFrameNumber(%d)=0x%x\n", (int) offset, (int) offset, (int) orig, privData->port, (int)getThisFrameNumber(privData->port));
    switch (privData->minor) {
    case DEV393_MINOR(DEV393_HISTOGRAM) :
        switch(orig) {
-        case SEEK_CUR: // ignore offset
+        case SEEK_CUR: // ignore offset - in NC353 it was get latest?
+            offset = -1; // for now - just make "latest"
+#if 0
            offset+=(privData-> wait_mode)?
                    GLOBALPARS(privData->port,G_HIST_C_FRAME+privData->subchannel):
                    GLOBALPARS(privData->port,G_HIST_Y_FRAME+privData->subchannel);
+#endif
            //no break (CDT understands this)
-        case SEEK_SET:
+        case SEEK_SET: // negative - make latest?
+            if (offset <0){
+                dev_dbg(g_dev_ptr, "offset= %lld (0x%llx) changing to previous frame \n",offset,offset);
+                offset = getThisFrameNumber(privData->port) -1;
+            }
            privData->frame=offset;
            // Try to make some precautions to avoid waiting forever - if the past frame is requested - request histogram for the current frame,
            // if the "immediate" future (fits into the array of frames) one  - request that frame's  histogram
@@ -613,34 +684,56 @@ loff_t histograms_lseek (struct file * file,
            if (privData->request_en) {
                reqAddr=(privData-> wait_mode)?P_HISTRQ_C:P_HISTRQ_Y;
                reqFrame=getThisFrameNumber(privData->port);
+                dev_dbg(g_dev_ptr, "offset= %d (0x%x), reqFrame=%d (0x%x) \n",(int) offset,(int) offset,(int) reqFrame,(int) reqFrame);
                if (offset > reqFrame) {
                    if (offset > (reqFrame+5)) reqFrame+=5; // What is this 5?
                    else                       reqFrame=offset;
+                    dev_dbg(g_dev_ptr, "offset= %d (0x%x), modified reqFrame for future request =%d (0x%x) \n",(int) offset,(int) offset,(int) reqFrame,(int) reqFrame);
+                }
+                if (offset < reqFrame) { // just debugging
+                    dev_dbg(g_dev_ptr, "offset < reqFrame, will run get_histograms (%d, %d, 0x%x, 0x%x) \n",
+                            privData->port, privData->subchannel, (int) offset, (int) privData->needed);
                }
                if ((offset < reqFrame) && // if the requested frame is in the past - try to get it first before requesting a new
                        (((privData->frame_index = get_histograms (privData->port, privData->subchannel, offset, privData->needed))) >=0)) {
 //                    file->f_pos=privData->frame_index;
+                    if (((index = get_hist_index(privData->port, privData->subchannel))) <0)
+                        return -ENODEV; // requested combination of port and subchannel does not exist
                    file->f_pos=privData->frame_index + HISTOGRAM_CACHE_NUMBER * get_hist_index(privData->port, privData->subchannel);
+                    dev_dbg(g_dev_ptr, "Returning %d (0x%x)\n", (int) file->f_pos, (int) file->f_pos);
                    return file->f_pos;
                }
                // request histogram(s)
                //             setFramePar(&framepars[reqFrame & PARS_FRAMES_MASK], reqAddr, 1);
+                dev_dbg(g_dev_ptr, "setFrameParLocked(%d, &aframepars[%d][0x%x], 0x%lx, 1)\n",
+                        privData->port, privData->port, (int) (reqFrame & PARS_FRAMES_MASK), reqAddr);
                setFrameParLocked(privData->port, &aframepars[privData->port][reqFrame & PARS_FRAMES_MASK], reqAddr, 1);
                // make sure (harmful) interrupt did not happen since getThisFrameNumber()
                if (reqFrame < getThisFrameNumber(privData->port)) {
-                    //               setFramePar(&framepars[getThisFrameNumber() & PARS_FRAMES_MASK], reqAddr, 1);
+                    dev_dbg(g_dev_ptr, "setFrameParLocked(%d, &aframepars[%d][0x%lx], 0x%lx, 1)\n",
+                            privData->port, privData->port, getThisFrameNumber(privData->port) & PARS_FRAMES_MASK, reqAddr);
                    setFrameParLocked(privData->port, &aframepars[privData->port][getThisFrameNumber(privData->port) & PARS_FRAMES_MASK], reqAddr, 1);
                }
+            } else { // debug
+                dev_dbg(g_dev_ptr, "privData->request_en=0\n");
            }
+#if 0
            if (privData-> wait_mode)  wait_event_interruptible (hist_c_wait_queue,GLOBALPARS(privData->port,G_HIST_C_FRAME + privData->subchannel)>=offset);
            else                       wait_event_interruptible (hist_y_wait_queue,GLOBALPARS(privData->port,G_HIST_Y_FRAME + privData->subchannel)>=offset);
+#endif
+            dev_dbg(g_dev_ptr, "Before waiting: frame = 0x%x, offset=0x%x privData-> wait_mode=%d\n",
+                    (int) getThisFrameNumber(privData->port), (int) offset, privData-> wait_mode);
+            // neded next frame after requested (modify php too?)
+            if (privData-> wait_mode)  wait_event_interruptible (hist_c_wait_queue,getThisFrameNumber(privData->port)>offset);
+            else                       wait_event_interruptible (hist_y_wait_queue,getThisFrameNumber(privData->port)>offset);
+            dev_dbg(g_dev_ptr, "After waiting: frame = 0x%x\n", (int) getThisFrameNumber(privData->port));
            privData->frame_index = get_histograms (privData->port, privData->subchannel, offset, privData->needed);
            if (privData->frame_index <0) {
                return -EFAULT;
            } else {
 //                file->f_pos=privData->frame_index;
                file->f_pos=privData->frame_index + HISTOGRAM_CACHE_NUMBER * get_hist_index(privData->port, privData->subchannel);
+                dev_dbg(g_dev_ptr, "file->f_pos (full histogram number - cache and port/channel combined) = 0x%x\n", (int) file->f_pos);
                return file->f_pos;
            }
            break; // just in case
@@ -737,7 +830,7 @@ int histograms_init(struct platform_device *pdev) {
    int res;
    int sz, pages;
    struct device *dev = &pdev->dev;
-    const struct of_device_id *match; // not yet used
+//    const struct of_device_id *match; // not yet used
 //    init_histograms(); // Not now??? Need to have list of channels
    // Do it later, from the user space
    res = register_chrdev(DEV393_MAJOR(DEV393_HISTOGRAM), DEV393_NAME(DEV393_HISTOGRAM), &histograms_fops);
@@ -759,7 +852,7 @@ int histograms_init(struct platform_device *pdev) {
    sz = SENSOR_PORTS * MAX_SENSORS * HISTOGRAM_CACHE_NUMBER * sizeof(struct histogram_stuct_t);
    pages = ((sz -1 ) >> PAGE_SHIFT) + 1;
    histograms = dma_alloc_coherent(NULL,(pages * PAGE_SIZE),&histograms_phys,GFP_KERNEL);
-    dev_info(dev, "dma_alloc_coherent(NULL, 0x%x, 0x%x,GFP_KERNEL)",pages * PAGE_SIZE, (int) histograms_phys);
+    dev_info(dev, "dma_alloc_coherent(NULL, 0x%lx, 0x%x,GFP_KERNEL)", pages * PAGE_SIZE, (int) histograms_phys);
    g_dev_ptr = dev; // to use for debug print
    return 0;
 }

--- a/src/drivers/elphel/histograms.h
+++ b/src/drivers/elphel/histograms.h
@@ -14,6 +14,10 @@
 *  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 HISTOGRAMS_H
+#define HISTOGRAMS_H
+#undef ISR_HISTOGRAMS // to histograms-related disable code in ISR - not needed in NC393
 // These wait queues will be advanced each frame after the histogram data is transferred to the FPGA.
 // It will happen even if the corresponding task is disabled, with the only exception:
 // hist_c_wait_queue will not be awaken in the current frame if it is too late (frame counter incremented while serving tasklet)
@@ -28,3 +32,4 @@ int get_histograms (int sensor_port, int sensor_chn, unsigned long frame, int ne
 //int histograms_init_hardware(void);
 void histograms_dma_ctrl(int mode); // 0 - reset, 1 - disable, 2 - enable
+#endif
--- a/src/drivers/elphel/imu_log393.c
+++ b/src/drivers/elphel/imu_log393.c
@@ -690,7 +690,7 @@ static ssize_t imu_write(struct file * file, const char * buf, size_t count, lof
    switch ((int) file->private_data) {
    case DEV393_MINOR(DEV393_LOGGER) :
    case DEV393_MINOR(DEV393_LOGGER_CTRL):
-        if (!file->f_mode & FMODE_WRITE) {
+        if (!(file->f_mode & FMODE_WRITE)) {
            return -EINVAL; // readonly
        }
        if (p >= sizeof(wbuf))  return -EINVAL; // bigger than all

--- a/src/drivers/elphel/klogger_393.c
+++ b/src/drivers/elphel/klogger_393.c
@@ -408,7 +408,7 @@ int klogger_393_probe(struct platform_device *pdev)
                __func__,buffer_size,buffer_size, (int) klog393_buf);
        res = register_chrdev(DEV393_MAJOR(DEV393_KLOGGER), DEV393_NAME(DEV393_KLOGGER), &framepars_fops);
        if (res < 0) {
-            dev_err(dev, "framepars_init: couldn't get a major number %d (DEV393_MAJOR(DEV393_KLOGGER)).\n",
+            dev_err(dev, "klogger_393_probe: couldn't get a major number %d (DEV393_MAJOR(DEV393_KLOGGER)).\n",
                    DEV393_MAJOR(DEV393_KLOGGER));
            return res;
        }

--- a/src/drivers/elphel/param_depend.h
+++ b/src/drivers/elphel/param_depend.h
@@ -159,7 +159,7 @@ const unsigned long param_depend_tab[]=
     P_SENSOR,                ONCHANGE_DETECTSENSOR | ONCHANGE_RECALCSEQ | ONCHANGE_INITSENSOR | ONCHANGE_AFTERINIT | ONCHANGE_MULTISENS | \
                              ONCHANGE_WINDOW | ONCHANGE_EXPOSURE | ONCHANGE_HIST | ONCHANGE_AEXP | ONCHANGE_FOCUSMODE | ONCHANGE_LIMITFPS | ONCHANGE_HIST | \
                              ONCHANGE_MEMSENSOR | ONCHANGE_MEMCOMPRESSOR | ONCHANGE_COMPMODE | ONCHANGE_COMPSTOP | ONCHANGE_COMPRESTART ,
-     P_BAYER ,                ONCHANGE_SENSORIN , 
+     P_BAYER ,                ONCHANGE_SENSORIN, // | ONCHANGE_COMPMODE , // ONCHANGE_COMPMODE added for NC393
     P_CLK_FPGA,              ONCHANGE_I2C |  ONCHANGE_LIMITFPS | ONCHANGE_HIST | \
                              ONCHANGE_MEMSENSOR | ONCHANGE_MEMCOMPRESSOR | ONCHANGE_COMPMODE | ONCHANGE_COMPSTOP | ONCHANGE_COMPRESTART ,
 /// not need ONCHANGE_INITSENSOR | ONCHANGE_AFTERINIT  - they will be scheduled by pgm_sensorphase if needed for the sensor
@@ -207,6 +207,8 @@ const unsigned long param_depend_tab[]=
     P_FPNS,                  ONCHANGE_SENSORIN ,
     P_FPNM,                  ONCHANGE_SENSORIN ,
     P_VIRTTRIG,              ONCHANGE_SENSORIN ,
+     P_COMP_BAYER,            ONCHANGE_COMPMODE , // NC393 - derivative from P_BAYER, flips, ...
+     P_MEMSENSOR_DLY,         ONCHANGE_SENSORIN ,
     P_COMPMOD_BYRSH,         ONCHANGE_COMPMODE,
     P_COMPMOD_TILSH,         ONCHANGE_COMPMODE,
     P_COMPMOD_DCSUB,         ONCHANGE_COMPMODE,

--- a/src/drivers/elphel/pgm_functions.c
+++ b/src/drivers/elphel/pgm_functions.c
@@ -641,16 +641,16 @@ int pgm_initsensor     (int sensor_port,               ///< sensor port number (
  vign_hight1.height_m1 = 0;
  vign_hight2.height_m1 = 0;
-  X393_SEQ_SEND1 (sensor_port, frame16, x393_sens_gamma_ctrl, gamma_ctl);
-  dev_dbg(g_dev_ptr,"{%d}  X393_SEQ_SEND1(0x%x,  0x%x, x393_sens_gamma_ctrl,  0x%x)\n",sensor_port, sensor_port, frame16, gamma_ctl.d32);
-  MDP(DBGB_PADD, sensor_port,"X393_SEQ_SEND1(0x%x,  0x%x, x393_sens_gamma_ctrl,  0x%x)\n",sensor_port, frame16, gamma_ctl.d32)
  // Enable gamma module to pass through
  gamma_ctl.en =        1;
  gamma_ctl.en_set =    1;
  gamma_ctl.repet =     1;
  gamma_ctl.repet_set = 1;
+  X393_SEQ_SEND1 (sensor_port, frame16, x393_sens_gamma_ctrl, gamma_ctl);
+  dev_dbg(g_dev_ptr,"{%d}  X393_SEQ_SEND1(0x%x,  0x%x, x393_sens_gamma_ctrl,  0x%x)\n",sensor_port, sensor_port, frame16, gamma_ctl.d32);
+  MDP(DBGB_PADD, sensor_port,"X393_SEQ_SEND1(0x%x,  0x%x, x393_sens_gamma_ctrl,  0x%x)\n",sensor_port, frame16, gamma_ctl.d32)
  X393_SEQ_SEND1 (sensor_port, frame16, x393_sens_gamma_height01m1, gamma_height01m1);
  dev_dbg(g_dev_ptr,"{%d}  X393_SEQ_SEND1(0x%x,  0x%x, x393_gamma_height01m1,  0x%x)\n",sensor_port, sensor_port, frame16, gamma_height01m1.d32);
  MDP(DBGB_PADD, sensor_port,"X393_SEQ_SEND1(0x%x,  0x%x, x393_gamma_height01m1,  0x%x)\n",sensor_port, frame16, gamma_height01m1.d32)
@@ -670,6 +670,7 @@ int pgm_initsensor     (int sensor_port,               ///< sensor port number (
  dev_dbg(g_dev_ptr,"{%d}  X393_SEQ_SEND1(0x%x,  0x%x, x393_lens_height2_m1,  0x%x)\n",sensor_port, sensor_port, frame16, vign_hight2.d32);
  MDP(DBGB_PADD, sensor_port,"X393_SEQ_SEND1(0x%x,  0x%x, x393_lens_height2_m1,  0x%x)\n",sensor_port, frame16, vign_hight2.d32)
+  // TODO NC393: Setup for all used sub-channels (or is it in multisensor?)
  sens_mode.hist_en =    1; // just first subchannel
  sens_mode.hist_nrst =  1; // just first subchannel
  sens_mode.hist_set =   1;
@@ -1433,10 +1434,12 @@ int pgm_sensorin   (int sensor_port,               ///< sensor port number (0..3
    x393_sensio_width_t   sensio_width = {.d32=0};
    x393_sens_sync_mult_t sync_mult =    {.d32=0};
    x393_gamma_ctl_t      gamma_ctl =    {.d32=0};
+    int bayer;
    int n_scan_lines, n_ph_lines;
    int flips;
    int bayer_modified;
+    x393_mcntrl_frame_start_dly_t start_dly ={.d32=0};
    dev_dbg(g_dev_ptr,"{%d}  frame16=%d\n",sensor_port,frame16);
    MDP(DBGB_PSFN, sensor_port,"frame16=%d\n",frame16)
@@ -1506,7 +1509,9 @@ int pgm_sensorin   (int sensor_port,               ///< sensor port number (0..3
    // Change Bayer for gamma/histograms?
    if (bayer_modified) {
-        gamma_ctl.bayer = thispars->pars[P_BAYER] ^ flips ^ sensor->bayer ^ 3; // 3 added for NC393
+        bayer = thispars->pars[P_BAYER] ^ flips ^ sensor->bayer  ^ 3; // 3 added for NC393;
+        setFramePar(sensor_port, thispars, P_COMP_BAYER | FRAMEPAIR_FORCE_PROC,   bayer);
+        gamma_ctl.bayer = bayer; // 3 added for NC393
        gamma_ctl.bayer_set = 1;
    }
    //NC393: Other needed bits are set in pgm_initsensor (they must be set just once)
@@ -1517,6 +1522,13 @@ int pgm_sensorin   (int sensor_port,               ///< sensor port number (0..3
        MDP(DBGB_PADD, sensor_port,"X393_SEQ_SEND1(0x%x,  0x%x, x393_sens_gamma_ctrl,  0x%x)\n",sensor_port, frame16, gamma_ctl.d32)
    }
+    if (FRAMEPAR_MODIFIED(P_MEMSENSOR_DLY) && ((start_dly.start_dly = thispars->pars[P_MEMSENSOR_DLY]))){
+        X393_SEQ_SEND1 (sensor_port, frame16, x393_sens_mcntrl_scanline_start_delay, start_dly);
+        dev_dbg(g_dev_ptr,"{%d}  Setting sensor-to-memory frame sync delay  to %ld (0x%lx)\n",sensor_port, start_dly.start_dly,start_dly.start_dly);
+        MDP(DBGB_PADD, sensor_port,"Setting sensor-to-memory frame sync delay  to %ld (0x%lx)\n", start_dly.start_dly,start_dly.start_dly)
+    }
 #if 0
    typedef union {
@@ -1645,13 +1657,16 @@ int pgm_sensorrun  (int sensor_port,               ///< sensor port number (0..3
 												   ///< @return OK - 0, <0 - error
 {
+    int reset_frame;
 #ifndef NC353
    dev_dbg(g_dev_ptr,"{%d}  frame16=%d\n",sensor_port,frame16);
    MDP(DBGB_PSFN, sensor_port,"frame16=%d\n",frame16)
    if (frame16 >= PARS_FRAMES) return -EINVAL; // wrong frame
+    reset_frame = ((prevpars->pars[P_SENSOR_RUN]==0) && (thispars->pars[P_SENSOR_RUN]!=0))? 1:0;
    if (thispars->pars[P_SENSOR_RUN] & 3) { // do nothing if stopped, set run/single accordingly
        control_sensor_memory (sensor_port,
                               thispars->pars[P_SENSOR_RUN] & 3,
+                               reset_frame,
                               (frame16<0)? ASAP: ABSOLUTE,  // how to apply commands - directly or through channel sequencer
                                        frame16);
    }
@@ -1703,6 +1718,7 @@ int pgm_sensorstop (int sensor_port,               ///< sensor port number (0..3
    if ((thispars->pars[P_SENSOR_RUN] & 3)==0){ // do nothing if not stop
        control_sensor_memory (sensor_port,
                thispars->pars[P_SENSOR_RUN] & 3,
+                0,
                (frame16<0)? ASAP: ABSOLUTE,  // how to apply commands - directly or through channel sequencer
                        frame16);
    }
@@ -2215,8 +2231,8 @@ int pgm_compmode   (int sensor_port,               ///< sensor port number (0..3
        // TODO: Modify left margin by 1 for COLORMODE_COLOR !
    }
    // Bayer shift changed? (additional bayer shift, separate from the gamma-tables one)
-    if (FRAMEPAR_MODIFIED(P_COMPMOD_BYRSH)) {
+    if (FRAMEPAR_MODIFIED(P_COMPMOD_BYRSH) || FRAMEPAR_MODIFIED(P_COMP_BAYER)) {
-        cmprs_mode.bayer =     thispars->pars[P_COMPMOD_BYRSH];
+        cmprs_mode.bayer =     thispars->pars[P_COMPMOD_BYRSH] ^ thispars->pars[P_COMP_BAYER];
        cmprs_mode.bayer_set = 1;
    }
 #if 0
@@ -2727,6 +2743,7 @@ int pgm_comprestart(int sensor_port,               ///< sensor port number (0..3
 #ifndef NC353
    int extra_pages;
    int disable_need =  1; // TODO: Use some G_* parameter
+    int reset_frame;
    x393_cmprs_mode_t        cmprs_mode =        {.d32=0};
    dev_dbg(g_dev_ptr,"{%d}  frame16=%d\n",sensor_port,frame16);
    MDP(DBGB_PSFN, sensor_port,"frame16=%d\n",frame16)
@@ -2737,6 +2754,7 @@ int pgm_comprestart(int sensor_port,               ///< sensor port number (0..3
                (int)thispars->pars[P_COMPRESSOR_RUN])
        return 0; // does not need compressor to be started
    }
+    reset_frame = ((prevpars->pars[P_COMPRESSOR_RUN]==0) && (thispars->pars[P_COMPRESSOR_RUN]!=0))? 1:0;
    // NC393: memory controller already set by pgm_memcompressor, but we'll need to setup dependent/from memory here
    switch(thispars->pars[P_COLOR]){
    case COLORMODE_COLOR:
@@ -2759,15 +2777,20 @@ int pgm_comprestart(int sensor_port,               ///< sensor port number (0..3
        break;
    }
    cmprs_mode.run_set = 1;
+    if (thispars->pars[P_COMPRESSOR_RUN] == COMPRESSOR_RUN_STOP) { // turn comressor off first
        X393_SEQ_SEND1 (sensor_port, frame16, x393_cmprs_control_reg, cmprs_mode);
+    }
    // enable memory after the compressor, same latency
    control_compressor_memory (sensor_port,
                               thispars->pars[P_COMPRESSOR_RUN] & 3, // stop/single/run(/reset)
+                               reset_frame,
                               extra_pages,
                               disable_need,
                               (frame16<0)? ASAP: ABSOLUTE,  // how to apply commands - directly or through channel sequencer
                               frame16);
+    if (thispars->pars[P_COMPRESSOR_RUN] != COMPRESSOR_RUN_STOP) { // turn comressor on after memory
+        X393_SEQ_SEND1 (sensor_port, frame16, x393_cmprs_control_reg, cmprs_mode);
+    }
    dev_dbg(g_dev_ptr,"{%d}   X393_SEQ_SEND1(0x%x, 0x%x, x393_cmprs_control_reg, 0x%x)\n",sensor_port, sensor_port, frame16, cmprs_mode.d32);
    MDP(DBGB_PADD, sensor_port,"X393_SEQ_SEND1(0x%x, 0x%x, x393_cmprs_control_reg, 0x%x)\n",sensor_port, frame16, cmprs_mode.d32)
@@ -2828,12 +2851,13 @@ int pgm_compstop   (int sensor_port,               ///< sensor port number (0..3
    // Stop compressor (do not propagate frame sync late, finish current frame)
    cmprs_mode.run = X393_CMPRS_CBIT_RUN_DISABLE;
    cmprs_mode.run_set = 1;
-    X393_SEQ_SEND1 (sensor_port, frame16, x393_cmprs_control_reg, cmprs_mode);
+    X393_SEQ_SEND1 (sensor_port, frame16, x393_cmprs_control_reg, cmprs_mode); // compressor off
    // Stop memory -> compressor. Will continue current frame until finished
    //TODO NC393: Handle safe/unsafe reprogramming memory at frame syncs - compression can be finished later
-    control_compressor_memory (sensor_port,
+    control_compressor_memory (sensor_port, // compressor memory off
                               COMPRESSOR_RUN_STOP,
+                               0, // reset_frame
                               extra_pages,
                               disable_need,
                               (frame16<0)? ASAP: ABSOLUTE,  // how to apply commands - directly or through channel sequencer
@@ -2866,22 +2890,15 @@ int pgm_compctl    (int sensor_port,               ///< sensor port number (0..3
    int extra_pages;
    int disable_need =  1; // TODO: Use some G_* parameter
    x393_cmprs_mode_t        cmprs_mode =        {.d32=0};
+    int reset_frame = 0;
+    int just_started = 0;
    dev_dbg(g_dev_ptr,"{%d}  frame16=%d, prevpars->pars[P_COMPRESSOR_RUN]=%d, thispars->pars[P_COMPRESSOR_RUN]=%d \n",
            sensor_port,frame16, (int) prevpars->pars[P_COMPRESSOR_RUN], (int) thispars->pars[P_COMPRESSOR_RUN]);
    MDP(DBGB_PSFN, sensor_port,"frame16=%d, prevpars->pars[P_COMPRESSOR_RUN]=%d, thispars->pars[P_COMPRESSOR_RUN]=%d \n",
            frame16, (int) prevpars->pars[P_COMPRESSOR_RUN], (int) thispars->pars[P_COMPRESSOR_RUN])
    if (frame16 >= PARS_FRAMES) return -1; // wrong frame
-    if ((prevpars->pars[P_COMPRESSOR_RUN]==0) && (thispars->pars[P_COMPRESSOR_RUN]!=0)) { // just started
+    reset_frame = ((prevpars->pars[P_COMPRESSOR_RUN]==0) && (thispars->pars[P_COMPRESSOR_RUN]!=0))? 1:0;
-        // Was for NC353
-        // reset memory controller for the channel2 to the start of the frame
-        // enable memory channel2 (NOTE: when is it disabled? does it need to be disabled?)
-        // set number of tiles to compressor
-        // NC393: memory controller already set by pgm_memcompressor, but we'll need to setup dependent/from memory here
-        //Seems nothing here?
-        // Or is there?
-    }
    switch(thispars->pars[P_COLOR]){
    case COLORMODE_COLOR:
    case COLORMODE_COLOR20:
@@ -2904,16 +2921,20 @@ int pgm_compctl    (int sensor_port,               ///< sensor port number (0..3
        break;
    }
    cmprs_mode.run_set = 1;
+    if (thispars->pars[P_COMPRESSOR_RUN] == COMPRESSOR_RUN_STOP) { // turn comressor off first
        X393_SEQ_SEND1 (sensor_port, frame16, x393_cmprs_control_reg, cmprs_mode);
-    // enable memory after the compressor, same latency
+    }
+//    // enable memory after the compressor, same latency
    control_compressor_memory (sensor_port,
                               thispars->pars[P_COMPRESSOR_RUN] & 3, // stop/single/run(/reset)
+                               reset_frame,
                               extra_pages,
                               disable_need,
                               (frame16<0)? ASAP: ABSOLUTE,  // how to apply commands - directly or through channel sequencer
                                        frame16);
+    if (thispars->pars[P_COMPRESSOR_RUN] != COMPRESSOR_RUN_STOP) { // turn comressor on after memory
+        X393_SEQ_SEND1 (sensor_port, frame16, x393_cmprs_control_reg, cmprs_mode);
+    }
    dev_dbg(g_dev_ptr,"{%d}   X393_SEQ_SEND1(0x%x, 0x%x, x393_cmprs_control_reg, 0x%x)\n",sensor_port, sensor_port, frame16, cmprs_mode.d32);
    MDP(DBGB_PADD, sensor_port,"X393_SEQ_SEND1(0x%x, 0x%x, x393_cmprs_control_reg, 0x%x)\n", sensor_port, frame16, cmprs_mode.d32)

--- a/src/drivers/elphel/sensor_common.c
+++ b/src/drivers/elphel/sensor_common.c
@@ -535,7 +535,7 @@ inline void updateIRQ_Exif(struct jpeg_ptr_t *jptr,                ///< pointer
    unsigned char orientation_short[2];
    int maker_offset;
    u32 frame =  jptr->frame;
-    int frame_index = frame & PASTPARS_SAVE_ENTRIES_MASK;
+//    int frame_index = frame & PASTPARS_SAVE_ENTRIES_MASK;
    // NC393: current parameters are valid at compressor done interrupt (after frame sync interrupts latest valid is new frame number - 2
    if (index_time<0) index_time+=get_globalParam (sensor_port, G_CIRCBUFSIZE)>>2;
 	//   struct exif_datetime_t
@@ -655,11 +655,12 @@ static irqreturn_t frame_sync_irq_handler(int irq, void *dev_id)
 {
 	struct jpeg_ptr_t *jptr = dev_id;
    x393_cmdframeseq_mode_t cmdframeseq_mode = {.d32 = 0};
-    cmdframeseq_mode.interrupt_cmd = IRQ_CLEAR;
    unsigned long flags;
    int frame16;
+    u32 aframe;
+    cmdframeseq_mode.interrupt_cmd = IRQ_CLEAR;
    local_irq_save(flags);
-    u32 aframe = GLOBALPARS(jptr->chn_num, G_THIS_FRAME); // thisFrameNumber(jptr->chn_num); // current absolute frame number
+    aframe = GLOBALPARS(jptr->chn_num, G_THIS_FRAME); // thisFrameNumber(jptr->chn_num); // current absolute frame number
    frame16 = getHardFrameNumber(jptr->chn_num, 0); // Use sensor frame number
    updateFramePars     (jptr->chn_num,
                         frame16);
@@ -728,7 +729,7 @@ void tasklet_compressor_function(unsigned long arg)
 {
    dma_addr_t phys_addr_start, phys_addr_end;
    void *virt_addr_start;
-    int sensor_port = image_acq_priv.jpeg_ptr[arg].chn_num; // == arg & 3
+//    int sensor_port = image_acq_priv.jpeg_ptr[arg].chn_num; // == arg & 3
    const struct jpeg_ptr_t *jptr = &image_acq_priv.jpeg_ptr[arg];
    unsigned int sz;
    u32 ccam_dma_size = circbuf_priv_ptr[jptr->chn_num].buf_size;
@@ -760,10 +761,10 @@ implement 2 modes of controlling when to calculate histograms:
 1 - add mask to 3 frame number LSB (i.e. - 0/10000000/10001000/10101010/11111111) - 3 contol bits - en/dis and mode
 2 - requested in advance (i.e. by autoexposure when writing new exposure or white balance - when writing balance
-mode 1 will provide easy way to display histograms (no need to repetively request them),
+mode 1 will provide easy way to display histograms (no need to repeatedly request them),
 mode 2 - useful for autoexposure
-Modify waiting (LSEEK_*) for histogrames so they will only unfreeze if the histogram is available (skipping multiple frames))
+Modify waiting (LSEEK_*) for histograms so they will only unfreeze if the histogram is available (skipping multiple frames))
 For displaying histograms - try use latest available - not waiting fro a particular frame.
@@ -774,19 +775,16 @@ For displaying histograms - try use latest available - not waiting fro a particu
 //#define HISTOGRAMS_WAKEUP_ALWAYS 0
 void tasklet_cmdseq_function(unsigned long arg)
 {
-//    int is_compressor_irq = 1; // TODO: add interrupts from frame sync if compressor is off
    int hist_en;
    int sensor_port = image_acq_priv.jpeg_ptr[arg].chn_num; // == arg & 3
    int tasklet_disable=get_globalParam(sensor_port, G_TASKLET_CTL);
    unsigned long thisFrameNumber=getThisFrameNumber(sensor_port);
+#ifdef ISR_HISTOGRAMS
    unsigned long prevFrameNumber=thisFrameNumber-1;
    unsigned long * hash32p=&(aframepars[sensor_port][(thisFrameNumber-1) & PARS_FRAMES_MASK].pars[P_GTAB_R]); // same gamma for all sub-channels
    unsigned long * framep= &(aframepars[sensor_port][(thisFrameNumber-1) & PARS_FRAMES_MASK].pars[P_FRAME]);
-//    const struct jpeg_ptr_t *jptr = &image_acq_priv.jpeg_ptr[arg];
-//    dma_addr_t phys_addr_start, phys_addr_end;
-//    void *virt_addr_start;
-//    unsigned int sz;
    int subchn,hist_indx;
+#endif
    // Time is out?
@@ -817,8 +815,11 @@ void tasklet_cmdseq_function(unsigned long arg)
    default:                   // calculate always (safer)
        hist_en=1;
    }
+    // Actually in NC393 nothing has to be done with histograms at interrupts - do all the processing when histograms are requested
    //#ifdef TEST_DISABLE_CODE
    if (hist_en) {
+#ifdef ISR_HISTOGRAMS
        histograms_check_init(); // check if histograms are initialized and initialize if not (structures and hardware)
        // 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){
@@ -842,7 +843,7 @@ void tasklet_cmdseq_function(unsigned long arg)
            dev_dbg(g_dev_ptr, "%s : port= %d, === already next frame (1)\n", __func__, sensor_port);
            return; // already next frame
        }
+#endif // ifdef ISR_HISTOGRAMS
 #if HISTOGRAMS_WAKEUP_ALWAYS
    }
    wake_up_interruptible(&hist_y_wait_queue);    // wait queue for the G1 histogram (used as Y)
@@ -882,6 +883,7 @@ void tasklet_cmdseq_function(unsigned long arg)
        hist_en=1;
    }
    if (hist_en) {
+#ifdef ISR_HISTOGRAMS
        histograms_check_init(); // check if histograms are initialized and initialize if not (structures and hardware)
        // after updateFramePars gammaHash are from framepars[this-1]
        // after updateFramePars gammaHash are from framepars[this-1]
@@ -904,6 +906,7 @@ void tasklet_cmdseq_function(unsigned long arg)
            dev_dbg(g_dev_ptr, "%s : port= %d, === already next frame (1)\n", __func__, sensor_port);
            return; // already next frame
        }
+#endif // ifdef ISR_HISTOGRAMS
 #if HISTOGRAMS_WAKEUP_ALWAYS
    }
    wake_up_interruptible(&hist_c_wait_queue);     // wait queue for all the other (R,G2,B) histograms (color)
@@ -1141,7 +1144,6 @@ int image_acq_init(struct platform_device *pdev)
 	dev_info(dev, "reset_qtables(0) (policy = COMMON_CACHE)\n");
 	set_cache_policy(COMMON_CACHE);
    reset_qtables(0); // force initialization at next access (with COMMON_CACHE chyannel is ignored, with PER_CHN_CACHE - do for each chennel)
-//	framepars_init(pdev);
 	pgm_functions_set_device(dev);
 	g_dev_ptr = dev;
 	return 0;

--- a/src/drivers/elphel/x393_fpga_functions.c
+++ b/src/drivers/elphel/x393_fpga_functions.c
@@ -190,7 +190,7 @@ int is_fpga_programmed(void) ///< @return 0 - bitstream is NOT loaded, 1 - bitst
    if (!zynq_devcfg_ptr){
        zynq_devcfg_ptr = ioremap(0xf8007000, 0x00010000);
        if (!zynq_devcfg_ptr)
-            return -ENOMEM;
+            return 0; // -ENOMEM;
    }
    return (readl(zynq_devcfg_ptr + 0x000c) & 4)? 1: 0;
 }
--- a/src/drivers/elphel/x393_videomem.c
+++ b/src/drivers/elphel/x393_videomem.c
@@ -125,6 +125,8 @@ int  setup_sensor_memory (int num_sensor,       ///< sensor port number (0..3)
 /** Control (stop/single/run/reset) memory controller for a sensor channel */
 int  control_sensor_memory (int num_sensor,       ///< sensor port number (0..3)
                            int cmd,              ///< command: 0 stop, 1 - single, 2 - repetitive, 3 - reset
+                            int reset_frame,      ///< reset addresses to the start of frame, reset buffer (1 of 4) pointer.
+                                                  ///< Should only be used if the channel controller was stopped before
                            x393cmd_t x393cmd,    ///< how to apply commands - directly or through channel sequencer
                            int frame16)          ///< Frame number the command should be applied to (if not immediate mode)
                                                  ///< @return 0 -OK
@@ -140,7 +142,9 @@ int  control_sensor_memory (int num_sensor,       ///< sensor port number (0..3)
                                          .single =        0, // [    9] (0) run single frame
                                          .repetitive =    1, // [   10] (1) run repetitive frames
                                          .disable_need =  0, // [   11] (0) disable 'need' generation, only 'want' (compressor channels)
-                                          .skip_too_late = 1}; // [   12] (0) Skip over missed blocks to preserve frame structure (increment pointers)
+                                          .skip_too_late = 1, // [   12] (0) Skip over missed blocks to preserve frame structure (increment pointers)
+                                          .abort_late =    1};// [   14] (0) abort frame if not finished by the new frame sync (wait pending memory transfers)
+   mcntrl_mode.reset_frame =  reset_frame;
   switch (cmd){
   case SENSOR_RUN_STOP:
       mcntrl_mode.enable = 0;
@@ -192,7 +196,6 @@ int  control_sensor_memory (int num_sensor,       ///< sensor port number (0..3)
   return 0;
 }
 /** Setup memory controller for a compressor channel */
 int setup_compressor_memory (int num_sensor,       ///< sensor port number (0..3)
                            int window_width,     ///< 13-bit - in 8*16=128 bit bursts
@@ -285,26 +288,30 @@ int setup_compressor_memory (int num_sensor,       ///< sensor port number (0..3
 /** Control memory controller (stop/single/run/reset) for a compressor channel */
 int control_compressor_memory (int num_sensor,       ///< sensor port number (0..3)
                               int cmd,              ///< command: 0 stop, 1 - single, 2 - repetitive, 3 - reset
+                               int reset_frame,      ///< reset addresses to the start of frame, reset buffer (1 of 4) pointer.
+                                                     ///< Should only be used if the channel controller was stopped before
                               int extra_pages,      ///< extra pages needed (1) - number of previous pages to keep in a 4-page buffer
                               int disable_need,     ///< disable "need" (yield to sensor channels - they can not wait)
                               x393cmd_t x393cmd,    ///< how to apply commands - directly or through channel sequencer
                               int frame16)          ///< Frame number the command should be applied to (if not immediate mode)
                                                     ///< @return 0 - OK
 {
-   x393_mcntrl_mode_scan_t mcntrl_mode = {.enable =        1, // [    0] (1) enable requests from this channel ( 0 will let current to finish, but not raise want/need)
+   x393_mcntrl_mode_scan_t mcntrl_mode = {.chn_nreset =    1, // [    0] (1) 0: immediately reset all the internal circuitry
-                                          .chn_nreset =    1, // [    1] (1) 0: immediately reset all the internal circuitry
+                                          .enable =        1, // [    1] (1)  enable requests from this channel ( 0 will let current to finish, but not raise want/need)
                                          .write_mem =     0, // [    2] (0) 0 - read from memory, 1 - write to memory
                                          .extra_pages =   1, // [ 4: 3] (0) 2-bit number of extra pages that need to stay (not to be overwritten) in the buffer
                                          .keep_open =     0, // [    5] (0) (NA in linescan) for 8 or less rows - do not close page between accesses (not used in scanline mode)
                                          .byte32 =        1, // [    6] (1) (NA in linescan) 32-byte columns (0 - 16-byte), not used in scanline mode
-                                          .reset_frame =   0, // [    8] (0) reset frame number
+                                          .reset_frame =   1, // [    8] (0) reset frame number
                                          .single =        0, // [    9] (0) run single frame
                                          .repetitive =    1, // [   10] (1) run repetitive frames
                                          .disable_need =  1, // [   11] (0) disable 'need' generation, only 'want' (compressor channels)
-                                          .skip_too_late = 1};// [   12] (0) Skip over missed blocks to preserve frame structure (increment pointers)
+                                          .skip_too_late = 1, // [   12] (0) Skip over missed blocks to preserve frame structure (increment pointers)
+                                          .copy_frame =    1, // [   13] (0) Copy frame number from the master (sensor) channel. Combine with reset_frame to reset bjuffer
-   mcntrl_mode.disable_need = disable_need; // non-constant parameter
+                                          .abort_late =    1};// [   14] (0) abort frame if not finished by the new frame sync (wait pending memory transfers)
-   mcntrl_mode.extra_pages =  extra_pages;  // non-constant parameter
+   mcntrl_mode.disable_need = disable_need;
+   mcntrl_mode.extra_pages =  extra_pages;
+   mcntrl_mode.reset_frame =  reset_frame;
   switch (cmd){
   case COMPRESSOR_RUN_STOP:
       mcntrl_mode.enable = 0;

--- a/src/drivers/elphel/x393_videomem.h
+++ b/src/drivers/elphel/x393_videomem.h
@@ -27,12 +27,12 @@ struct elphel_video_buf_t
 };
 int  setup_sensor_memory   (int num_sensor, int window_width,  int window_height, int window_left,
                           int window_top,  x393cmd_t x393cmd, int frame16);
-int  control_sensor_memory (int num_sensor, int cmd, x393cmd_t x393cmd, int frame16);
+int  control_sensor_memory (int num_sensor, int cmd, int reset_frame, x393cmd_t x393cmd, int frame16);
 int setup_compressor_memory (int num_sensor, int window_width,   int window_height, int window_left,
                            int window_top,  int tile_width,     int tile_height,   int tile_vstep,
                            x393cmd_t x393cmd, int frame16);
-int control_compressor_memory  (int num_sensor, int cmd, int extra_pages, int disable_need, x393cmd_t x393cmd, int frame16);
+int control_compressor_memory  (int num_sensor, int cmd, int reset_frame, int extra_pages, int disable_need, x393cmd_t x393cmd, int frame16);
 int frames_in_buffer_minus_one (int num_sensor);
 void memchan_enable            (int chn, int enable);

--- a/src/include/uapi/elphel/c313a.h
+++ b/src/include/uapi/elphel/c313a.h
@@ -306,7 +306,7 @@
 <li>                     bit 3 - no overlap,  single frames: program - acquire/compress same frame</ul>*/
 #define P_BGFRAME       16 ///< Background measurement mode - will use 16-bit mode and no FPN correction
 //#define P_IMGSZMEM      17 ///< image size in video memory (calculated when channel 0 is programmed) NC393: Not used ???
-#define P_COMP_BAYER    17 ///< derivative, readonly - calculated from P_BAYER and COMPMOD_BYRSH to separate sensor and compressor channels
+//#define P_COMP_BAYER    17 ///< -> 119 derivative, readonly - calculated from P_BAYER and COMPMOD_BYRSH to separate sensor and compressor channels
 // image page numbers depend on image size/pixel depth, so changing any of them will invalidate all pages
 #define P_PAGE_ACQ      18 ///< Number of image page buffer to acquire to (0.1?)  NC393: Not used ???
 #define P_PAGE_READ     19 ///< Number of image page buffer to read from to (0.1?)  NC393: Not used ???
@@ -458,6 +458,8 @@
 #define P_RFOCUS_TOP     117 ///< relative (0x10000 - 1.0)focus WOI top margin, inclusive (3 LSB will be zeroed as it should be multiple of 8x8 block height)
 #define P_RFOCUS_HEIGHT  118 ///< relative (0x10000 - 1.0)focus WOI height (3 LSB will be zeroed as it should be multiple of 8x8 block height)
+#define P_COMP_BAYER     119 ///< compressor bayer (before  applying P_COMPMOD_BYRSH)
+#define P_MEMSENSOR_DLY  120 ///< sensor-to-memory channel frame sync delay in mclk cycles (5ns @200MHz)
 // Obsolete in x393, may need something different
 #ifdef NC353
 #define P_SDRAM_CHN20    125 ///< data to be written to the SDRAM CH2 REG 0  (last moment) TODO: Obsolete in x393, may need something different
@@ -501,7 +503,7 @@
 // the following 8 values should go in the same sequence as fields in the histogram page
 // 393: per sub-channel
 //// Will need to have them per-subchannel (4x)
+//Next 8 copied to histograms data
 #define P_FRAME          136 ///< Frame number (reset with JPEG pointers) -(read only)
 #define P_GAINR          137 ///< R channel gain  8.16 (0x10000 - 1.0). Combines both analog gain and digital scaling
 #define P_GAING          138 ///< G channel gain ("red line")
@@ -510,6 +512,7 @@
 #define P_EXPOS          141 ///< P_RW_EXPOS  1   exposure time      - now in microseconds?
 #define P_VEXPOS         142 ///< video exposure (if 0 - use P_RW_EXPOS in ms)
 #define P_FOCUS_VALUE    143 ///< (readonly) - sum of all blocks focus values inside focus WOI
 #define P_COMPMOD_BYRSH  144 ///< Bayer shift in compressor
 #define P_PORTRAIT       145 ///< Quantization coefficients optimized for vertical scan lines
@@ -679,6 +682,7 @@
 #define GLOBALS_PRESERVE   0x20     /// number of parameters that are not erased during initGlobalPars
 #define GLOBALPARS(p, x)   (aglobalPars[p][(x)-FRAMEPAR_GLOBALS]) ///< should work in drivers and applications, First 32 parameter values are not erased with initGlobalPars
+#define GLOBALPARS_SNGL(x) (globalPars[(x)-FRAMEPAR_GLOBALS]) ///< for applications that use just one port
 #define G_DEBUG         (FRAMEPAR_GLOBALS + 2) ///< Each bit turns on/off some debug outputs
 #define G_TEST_CTL_BITS (FRAMEPAR_GLOBALS + 3) ///< turn some features on/off in the drivers for debugging purposes
@@ -879,7 +883,8 @@
 /// if defined 1 - will wakeup each frame, regardless of the availability of the histograms
-#define HISTOGRAMS_WAKEUP_ALWAYS 0
+//#define HISTOGRAMS_WAKEUP_ALWAYS 0
+#define HISTOGRAMS_WAKEUP_ALWAYS 1
 /// Number of frames handled in the buffer (increased to 16 for NC393).
 ///
@@ -1074,7 +1079,6 @@ struct p_names_t {
          P_NAME_ENTRY(TRIG), \
          P_NAME_ENTRY(EXPOS), \
          P_NAME_ENTRY(BGFRAME), \
-          P_NAME_ENTRY(COMP_BAYER), \
          P_NAME_ENTRY(PAGE_ACQ), \
          P_NAME_ENTRY(PAGE_READ), \
          P_NAME_ENTRY(OVERLAP), \
@@ -1190,6 +1194,8 @@ struct p_names_t {
          P_NAME_ENTRY(RFOCUS_WIDTH), \
          P_NAME_ENTRY(RFOCUS_TOP), \
          P_NAME_ENTRY(RFOCUS_HEIGHT), \
+          P_NAME_ENTRY(COMP_BAYER), \
+          P_NAME_ENTRY(MEMSENSOR_DLY), \
          P_NAME_ENTRY(SENSOR_IFACE_TIM0), \
          P_NAME_ENTRY(SENSOR_IFACE_TIM1), \
          P_NAME_ENTRY(SENSOR_IFACE_TIM2), \