converting sensor-related code

src/drivers/elphel/histograms.h

-//histograms.h
-
-/// 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)
+/***************************************************************************//**
+* @file      histograms.h
+* @brief     Handles histograms storage, access and percentile calculation
+* @copyright Copyright 2008-2016 (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/>.
+*******************************************************************************/
+// 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)
 extern wait_queue_head_t hist_y_wait_queue; /// wait queue for the G1 histogram (used as Y)
 extern wait_queue_head_t hist_c_wait_queue; /// wait queue for all the other (R,G2,B) histograms (color)
 
@@ -12,22 +26,6 @@ int get_hist_index (int sensor_port, int sensor_chn);
 
 int set_histograms (int sensor_port, int sensor_chn, unsigned long frame, int needed, unsigned long * gammaHash, unsigned long * framep);
 
-/**
- * @brief Get histograms from the FPGA (called as tasklet?) and/or calculate derivatives (if needed)
- * @param frame absolute frame number (Caller should match it to the hardware frame) frame==0xffffffff - find the latest available frame, don't wait
- * TODO: should it be one frame behind current?
- * @param needed bits specify what histograms (color, type) are requested
- * TODO: Add P_* parameter - what to read from tasklet,  turn colors it off for high FPS/small window
- * each group of 4 bits covers 4 colors of the same type:
- * - bits 0..3 - read raw histograms from the FPGA - normally called from IRQ/tasklet (use just 1 color for autoexposure to speed up?)
- * - bits 4..7 - calculate cumulative histograms (sum of raw ones) - normally called from applications
- * - bits 8..11 - calculate percentiles (reverse cumulative histograms) - normally called from applications
- * "needed" for raw histograms should be specified explicitly (can not be read from FPGA later),
- * "needed" for cumul_hist will be added automatically if percentiles are requested
- * @return index of the histogram (>=0) if OK, otherwise:
- * - -1 not reading FPGA and frame number stored is different from the requested (too late - histogram buffer overrun?)
- * - -2 - not reading from FPGA, but some needed raw histograms are missing (should be requested/loaded earlier)
- */
 int get_histograms (unsigned long frame, int needed);
 
 int histograms_init_hardware(void);

src/drivers/elphel/legacy_defines.h

@@ -17,8 +17,10 @@
 #define     CCAM_TRIG_INT
 #define     CCAM_MRST_OFF
 #define     CCAM_ARST_OFF
+#define     CCAM_ARST_ON
 #define     CCAM_RESET_MCONTR_ON  // Set mode that resets memory controller pointers after each frame sync. TODO: Later - make it work without?
 #define     CCAM_ENDFRAMES_EN     // Enable ending frame being compressed if no more data will be available (frame ended before specified number of blocks compressed)
+#define     CCAM_ARO_ON //set
 
 
 #define     CCAM_DCLK_ON
@@ -37,6 +39,7 @@
 #define     X3X3_SENSDCM_INC90
 #define     X3X3_SENSDCM_DEC90
 
+#define     X3X3_SEQ_RUN
 
  #define COMPCMD_DEMOS(x) ((1<<13) | (((x) & 0x0f) << 9))
  //  6 blocks output per macroblock:
@@ -70,9 +73,11 @@
 
 #define CONFIG_ETRAX_ELPHEL_MT9X001 1
 
- void x313_dma_stop(){}
- void x313_dma_init(){}
- void reset_compressor(){}
+ void x313_dma_stop()    {}
+ void x313_dma_init()    {}
+ void reset_compressor() {}
+ void i2c_run(void)      {}
+ void i2c_stop_wait(void){}
 
 // if ((gtable= get_gamma_fpga(color))) fpga_table_write_nice (CX313_FPGA_TABLES_GAMMA + (color * 256), 256, gtable);
 
@@ -81,6 +86,13 @@
 // X3X3_SEQ_SEND1(frame16,  X313_WA_DCR0, X353_DCR0(SENSTRIGEN,async));
 
 #ifdef NC353
+ void i2c_reset_wait(void) {X3X3_I2C_RESET_WAIT;i2c_hardware_on=0;}
+ void i2c_stop_wait(void) {X3X3_I2C_STOP_WAIT;  i2c_hardware_on=0;}
+ void i2c_run(void)       {X3X3_I2C_RUN;        i2c_hardware_on=1;}
+ int  i2s_running(void)   {return i2c_hardware_on;}
+
+
+
  /// IRQ-safe "nice" FPGA table write and histogram read functions - they split the data in chunks of fixed size,
  /// disable IRQ, transfer a chunk, then reenable interrupt before proceedg to the next chunk
  #define FPGA_TABLE_CHUNK 64 // up to 64 words to send to the table/from histogram on a single IRQ-off transfer

src/drivers/elphel/multi10359.c

@@ -151,34 +151,9 @@
 
 // porting 10353, 10359 r/w does not use sequencer, so pages allocation is handled by sensor_i2c module
 
-const char * name_10359  = "el10359"; // Get name from DT (together with port mask)
-const char * name_sensor = "mt9p006"; // Get name from DT (together with port mask)
+//const char * name_10359  = "el10359"; // Get name from DT (together with port mask)
+//const char * name_sensor = "mt9p006"; // Get name from DT (together with port mask)
 //const char * name_clock =  "cy22393"; // Get name from DT (together with port mask)
-//#define I2C359_INC                    2   ///< slave address increment between sensors in 10359A board (broadcast, 1,2,3)
-/** Register i2c pages equal to slave address */
-int legacy_i2c(int ports) ///< bitmask of the sensor ports to use
-                          ///< @return 0 (may add errors)
-{
-	int sensor_port, subchn;
-	x393_i2c_device_t *class_10359, *class_sensor, dev_sensor;
-	class_10359 = xi2c_dev_get(name_10359);
-	BUG_ON(!class_10359);
-	class_sensor= xi2c_dev_get(name_sensor);
-	BUG_ON(!class_sensor);
-	memcpy(&dev_sensor, class_sensor, sizeof(class_sensor));
-	for (sensor_port=1; sensor_port< SENSOR_PORTS; sensor_port++) if (ports & (1 << sensor_port)) {
-		i2c_page_register(sensor_port, class_10359->slave7);
-		set_xi2c_wrc(class_10359, sensor_port, class_10359->slave7, 0);
-		for (subchn = 0; subchn <4; subchn++){ // subchn == 0 - broadcast
-			dev_sensor.slave7 = class_sensor->slave7 + I2C359_INC * subchn;
-			i2c_page_register(sensor_port, dev_sensor.slave7);
-			set_xi2c_wrc(&dev_sensor, sensor_port, dev_sensor.slave7, 0);
-		}
-		// Now register one page for reading 10359 and the sensor using sensor speed data
-		set_xi2c_rdc(class_sensor, sensor_port, LEGACY_READ_PAGE, 0);
-	}
-	return 0;
-}
 
 
 
@@ -246,6 +221,7 @@ int setup_i2c_pages(int ports) ///< bitmask of the sensor ports to use
      MDF1(printk(" multisensor_write_i2c(0x%x, 0x%x, 0x%x, %d) -> %d\n",(int)(I2C359_SLAVEADDR),(int)(ra),(int)(v)&0xffff,2,rslt)); \
 }
 #else
+// using new access in immediate mode by class name
 #define MULTISENSOR_WRITE_I2C(port,name,offs,ra,v) \
     {rslt |= multisensor_write_i2c((port),(name),(offs),(ra),(v)) ; \
      MDF1(printk(" multisensor_write_i2c(%d, %s, 0x%x, 0x%x, 0x%x) -> %d\n",(int)(port),name,int(offs),(int)(ra),(int)(v),rslt));}
@@ -971,7 +947,11 @@ int multisensor_pgm_detectsensor   (int sensor_port,               ///< sensor p
   if (frame16 >= 0) return -1; // can only work in ASAP mode
   if (thispars->pars[P_SENSOR]) return 0; // Sensor is already detected - do not bother (to re-detect it P_SENSOR should be set to 0)
   MDF24(printk("Probing 10359 board, i2c bitdelays=0x%08x, hardware_i2c_running=%d\n",i2c_delays(0),i2s_running()));
+#ifdef NC353
   if (multisensor_read_i2c(I2C359_SLAVEADDR, I2C359_VERSION, &bitstream_version, 4)<0) return -1;
+#else
+  if (X3X3_I2C_RCV4(sensor_port, I2C359_SLAVEADDR, I2C359_VERSION, &bitstream_version)<0) return -1;
+#endif
 // Here we see that 10359A responds somehow. If next fails, no sense to try other sensor types.
   multi_phases_initialized=0;
   sensor->sensorType=SENSOR_NONE;
@@ -1026,7 +1006,18 @@ int multisensor_pgm_detectsensor   (int sensor_port,               ///< sensor p
   GLOBALPARS(sensor_port,G_SENS_AVAIL) |= 1<< (GLOBALPARS(sensor_port,G_SENS_AVAIL)); // temporary to indicate sensor detection functions that they need to initialize multisensor registers
   for (i=0;i<MAX_SENSORS;i++) {
     MDF24(printk("Probing sensor port %d, i2c bitdelays=0x%08x\n",i,i2c_delays(0)));
-    rslt=  multisensor_read_i2c(MT9P001_I2C_ADDR + ((i+1) * I2C359_INC), P_MT9X001_CHIPVER, &sensor_id[i], 2);
+#ifdef NC353
+    rslt=  multisensor_read_i2c(sensor_port,
+                                MT9P001_I2C_ADDR + ((i+1) * I2C359_INC),
+                                P_MT9X001_CHIPVER,
+                                &sensor_id[i],
+                                2);
+#else
+    rslt=  X3X3_I2C_RCV2 (sensor_port,
+                          MT9P001_I2C_ADDR + ((i+1) * I2C359_INC),
+                          P_MT9X001_CHIPVER,
+                          &sensor_id[i]);
+#endif
     MDF24(printk("Probing sensor port %d, i2c bitdelays=0x%08x, rslt=0x%x\n",i,i2c_delays(0),rslt));
     if (rslt==0) {
        if (((sensor_id[i] ^ MT9P001_PARTID) & MT9X001_PARTIDMASK)==0) {
@@ -1562,7 +1553,11 @@ int multisensor_set_phase_verify (int           sensor_port, ///< sensor port nu
     case I2C359_DCM_SENSOR3:channel=3;break;
     }
     if (channel<0)                    rslt= -I2C359_DCM_ERR_UNKNOWN;  // unknown DCM
+#ifdef NC353
     multisensor_read_i2c(I2C359_SLAVEADDR, I2C359_DCM_STATUS, &status, 2);
+#else
+    X3X3_I2C_RCV2(sensor_port,I2C359_SLAVEADDR, I2C359_DCM_STATUS, &status);
+#endif
     if ( I2C359_DCM_OFL(0,status))    rslt= -I2C359_DCM_ERR_OVFL;     // overflow
     if (!I2C359_DCM_DONE(0,status))   rslt= -I2C359_DCM_ERR_NODONE;   // not DONE - seems to bee too far - reset and put maximum (by abs value)
     if (!I2C359_DCM_LOCKED(0,status)) rslt= -I2C359_DCM_ERR_NOLOCKED; // not LOCKED
@@ -1593,7 +1588,12 @@ int multisensor_set_phase_recover(int           sensor_port, ///< sensor port nu
     case I2C359_DCM_SENSOR3:channel=3;break;
     }
     if (channel<0)                    rslt= -I2C359_DCM_ERR_UNKNOWN;  // unknown DCM
-  multisensor_read_i2c(I2C359_SLAVEADDR, I2C359_DCM_STATUS, &status, 2);
+#ifdef NC353
+    multisensor_read_i2c     (I2C359_SLAVEADDR, I2C359_DCM_STATUS, &status, 2);
+#else
+    X3X3_I2C_RCV2(sensor_port,I2C359_SLAVEADDR, I2C359_DCM_STATUS, &status);
+#endif
+
     if ( I2C359_DCM_OFL(0,status))    rslt= -I2C359_DCM_ERR_OVFL;     // overflow
     if (!I2C359_DCM_DONE(0,status))   rslt= -I2C359_DCM_ERR_NODONE;   // not DONE - seems to bee too far - reset and put maximum (by abs value)
     if (!I2C359_DCM_LOCKED(0,status)) rslt= -I2C359_DCM_ERR_NOLOCKED; // not LOCKED
@@ -1608,8 +1608,12 @@ int multisensor_set_phase_recover(int           sensor_port, ///< sensor port nu
             newPhaseShort[0]=(badPhaseShort[0]+goodPhaseShort[0])/2;
             rslt=multisensor_set_phase (sensor_port, reg_addr, (rslt<0), newPhase, goodPhase);
             if (rslt<0) return rslt;
-// check DCM status
+            // check DCM status
+#ifdef NC353
             multisensor_read_i2c(sensor_port, I2C359_SLAVEADDR, I2C359_DCM_STATUS, &status, 2);
+#else
+            X3X3_I2C_RCV2       (sensor_port, I2C359_SLAVEADDR, I2C359_DCM_STATUS, &status);
+#endif
             if ( I2C359_DCM_OFL(0,status))    rslt= -I2C359_DCM_ERR_OVFL;     // overflow
             if (!I2C359_DCM_DONE(0,status))   rslt= -I2C359_DCM_ERR_NODONE;   // not DONE - seems to bee too far - reset and put maximum (by abs value)
             if (!I2C359_DCM_LOCKED(0,status)) rslt= -I2C359_DCM_ERR_NOLOCKED; // not LOCKED
@@ -1911,7 +1915,12 @@ int multisensor_memphase (int sensor_port,          ///< Sensor port
     MULTISENSOR_WRITE_I2C16(sensor_port, I2C359_SDRAM_PAGE_WR, 0);                  // start page write
     MULTISENSOR_WRITE_I2C16(sensor_port, I2C359_SDRAM_PAGE_RD, 0);                  // start page read (expecting i2c to be much slower than page wr/rd
     for (i=0; i<64;i++) {
-      multisensor_read_i2c(I2C359_SLAVEADDR, I2C359_SDRAM_DATA, &data[i], 2);
+#ifdef NC353
+        multisensor_read_i2c     (I2C359_SLAVEADDR, I2C359_SDRAM_DATA, &data[i], 2);
+#else
+        X3X3_I2C_RCV2(sensor_port,I2C359_SLAVEADDR, I2C359_SDRAM_DATA, &data[i]);
+#endif
+
     }
     for (i=0;i<8;i++) setbits[i]=0;
     for (n=0;n<64;n++) {
@@ -1926,7 +1935,7 @@ int multisensor_memphase (int sensor_port,          ///< Sensor port
         }
     }
     int OK=(setbits[0]==0) && (setbits[1]==0) && (setbits[2]==0) && (setbits[3]==0x80) && (setbits[4]==0x80) && (setbits[5]==0x80) && (setbits[6]==0) && (setbits[7]==0);
-//    for (i=0; i<8;i++)    printk (" %03x ",setbits[i]); printk("\n");
+    //    for (i=0; i<8;i++)    printk (" %03x ",setbits[i]); printk("\n");
     n=(0x10000*sx)/s;
     if (centroid0x10000) centroid0x10000[0]=n;
     MDF24 (printk("centroid=0x%x, OK=%d\n",n,OK));
@@ -1956,7 +1965,12 @@ int multisensor_memphase_debug (int sensor_port, ///< Sesnor port number (0..3)
     }
     MULTISENSOR_WRITE_I2C16(sensor_port, I2C359_SDRAM_PAGE_RD, 0);                  // start page read (expecting i2c to be much slower than page wr/rd
     for (i=0; i<64;i++) {
-      multisensor_read_i2c(I2C359_SLAVEADDR, I2C359_SDRAM_DATA, &data[i], 2);
+#ifdef NC353
+        multisensor_read_i2c     (I2C359_SLAVEADDR, I2C359_SDRAM_DATA, &data[i], 2);
+#else
+        X3X3_I2C_RCV2(sensor_port,I2C359_SLAVEADDR, I2C359_SDRAM_DATA, &data[i]);
+#endif
+
     }
     for (i=0; i<8;i++)    printk (" %02x  ",i); printk("\n");
     for (n=0;n<64;n+=8) {

src/drivers/elphel/multi10359.h

@@ -26,7 +26,7 @@
 
 
 //multisensor.h
-#define I2C359_INC                    2   ///< slave address increment between sensors in 10359A board (broadcast, 1,2,3) (7 bits SA)
+//#define I2C359_INC                    2   //< slave address increment between sensors in 10359A board (broadcast, 1,2,3) (7 bits SA) moved to sensor_common
 #define I2C359_SLAVEADDR           0x08   ///< slave address of the 10359A board (move?) - 393 - use el10359 device class (7 bits SA)
 #define I2C359_VERSION             0x00   ///< register address: 32-bit FPGA bitstream version
 #define I2C359_MINVERSION             0x0359104b ///< Minimal FPGA version compatible with this software
@@ -130,6 +130,7 @@ each dibit:
 //#define I2C359_CLK_NUMBER         4 // system clock number for the 10359A on-board clock generator
 
 int multisensor_pgm_detectsensor   (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
+//int legacy_i2c  (int ports);
 /*
   struct frameparspair_t  pars_to_update[8];
   int nupdate=0;

src/drivers/elphel/pgm_functions.h

@@ -2,24 +2,11 @@
 ///extern struct sensorproc_t * sensorproc;
 
 #include "sensor_i2c.h"
-#define LEGACY_READ_PAGE 0xff
 
 int init_pgm_proc(void);
 int add_sensor_proc(int index, int (*sens_func)(int sensor_port, struct sensor_t * ,  struct framepars_t * , struct framepars_t *, int ));
 
 
-/** Perform I2C write (8  bits address, a6 bits data in "legacy" mode,
- * pages matching slave address should be registered.
- *
- * TODO: Add registering single sensors as in multi10359. Registering twice is OK.
- * Slave address is now 7-bit,old was 8-bit, change (10359 already done)
- * @param port - sensor port
- * @param frame Frame number to apply, <0 - ASAP
- * @param sa7 I2C slave address, 7 bit
- * @param reg sensor register address (8-bit)
- * @param data value to set (16 bits) */
-#define X3X3_I2C_SEND2(port,frame,sa7,reg,data) write_xi2c_reg16_abs_asap(port,sa7,frame,reg,data)
-
 
 /** Tells if parameter is modifies
  * @param x parameter index to test

src/drivers/elphel/sensor_common.c

@@ -202,7 +202,7 @@ struct sensorproc_t * copy_sensorproc (int sensor_port, struct sensorproc_t * co
 //#ifdef TEST_DISABLE_CODE
 
 
-///
+//
 // initializes structures for the image acquisition parameter
 // initializes hardware i2c controller and the command sequencer (leaves them stopped to ignore any frame syncs)
 // sets some default acquisition parameters
@@ -210,9 +210,9 @@ struct sensorproc_t * copy_sensorproc (int sensor_port, struct sensorproc_t * co
 // TODO: Take care while turning off reset on i2c and cmd_sequencer so there will be no sensor vsync lost
 // (easier to do in FPGA)
 // Done:
-///#define CCAM_VSYNC_ON  port_csp0_addr[X313_WA_DCR1]=X353_DCR1(BLOCKVSYNC,0)
-///#define CCAM_VSYNC_OFF port_csp0_addr[X313_WA_DCR1]=X353_DCR1(BLOCKVSYNC,1)
-///
+// #define CCAM_VSYNC_ON  port_csp0_addr[X313_WA_DCR1]=X353_DCR1(BLOCKVSYNC,0)
+// #define CCAM_VSYNC_OFF port_csp0_addr[X313_WA_DCR1]=X353_DCR1(BLOCKVSYNC,1)
+//
 int init_acq_sensor(void); // Never used?
 
 //DECLARE_TASKLET(tasklet_fpga, tasklet_fpga_function, 0); // 0 - no arguments for now
@@ -893,6 +893,38 @@ int image_acq_stop(struct platform_device *pdev)
 	return 0;
 }
 
+//#define I2C359_INC                    2   ///< slave address increment between sensors in 10359A board (broadcast, 1,2,3)
+/** Register i2c pages equal to slave address,
+ * Use to convert 353 code  */
+int legacy_i2c(int ports) ///< bitmask of the sensor ports to use
+                          ///< @return 0 (may add errors)
+{
+    int sensor_port, subchn;
+    x393_i2c_device_t *class_10359, *class_sensor, dev_sensor;
+    class_10359 = xi2c_dev_get(name_10359);
+    BUG_ON(!class_10359);
+    class_sensor= xi2c_dev_get(name_sensor);
+    BUG_ON(!class_sensor);
+    memcpy(&dev_sensor, class_sensor, sizeof(class_sensor));
+    for (sensor_port=1; sensor_port< SENSOR_PORTS; sensor_port++) if (ports & (1 << sensor_port)) {
+        i2c_page_register(sensor_port, class_10359->slave7);
+        set_xi2c_wrc(class_10359, sensor_port, class_10359->slave7, 0);
+        for (subchn = 0; subchn <4; subchn++){ // subchn == 0 - broadcast
+            dev_sensor.slave7 = class_sensor->slave7 + I2C359_INC * subchn;
+            i2c_page_register(sensor_port, dev_sensor.slave7);
+            set_xi2c_wrc(&dev_sensor, sensor_port, dev_sensor.slave7, 0);
+        }
+        // Now register one page for reading 10359 and the sensor using sensor speed data
+        memcpy(&dev_sensor, class_sensor, sizeof(class_sensor));
+        set_xi2c_rdc(&dev_sensor, sensor_port, LEGACY_READ_PAGE2, 0);
+        dev_sensor->data_bytes=4; // for reading 10359 in 32-bit mode
+        set_xi2c_rdc(&dev_sensor, sensor_port, LEGACY_READ_PAGE4, 0);
+    }
+    return 0;
+}
+
+
+
 //static const struct of_device_id elphel393_sensor_of_match[] = {
 //		{ .compatible = "elphel,elphel393-sensor-1.00" },
 //		{ /* end of list */ }

src/drivers/elphel/sensor_common.h

@@ -67,4 +67,60 @@ long long get_frame_counter(unsigned int chn);
 long long get_frame_pos(unsigned int chn, unsigned int pos);
 /* end of debug code */
 
+
+
+
+#define LEGACY_READ_PAGE2 0xff
+#define LEGACY_READ_PAGE4 0xfe
+#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 I2C359_INC                    2   ///< slave address increment between sensors in 10359A board (broadcast, 1,2,3) (7 bits SA)
+
+/** Perform I2C write (8  bits address, 16 bits data in "legacy" mode,
+ * pages matching slave address should be registered.
+ *
+ * TODO: Add registering single sensors as in multi10359. Registering twice is OK.
+ * Slave address is now 7-bit,old was 8-bit, change (10359 already done)
+ * @param port - sensor port
+ * @param frame Frame number to apply, <0 - ASAP
+ * @param sa7 I2C slave address, 7 bit
+ * @param reg sensor register address (8-bit)
+ * @param data value to set (16 bits) */
+#define X3X3_I2C_SEND2(port,frame,sa7,reg,data) write_xi2c_reg16_abs_asap((port),(sa7),(frame),(reg),(data))
+
+/** Perform I2C write in immediate mode (8  bits address, 16 bits data in "legacy" mode,
+ * pages matching slave address should be registered.
+ *
+ * Slave address is now 7-bit,old was 8-bit, change (10359 already done)
+ * @param port - sensor port
+ * @param sa7 I2C slave address, 7 bit
+ * @param reg sensor register address (8-bit)
+ * @param data value to set (16 bits) */
+#define X3X3_I2C_SEND2_ASAP(port,sa7,reg,data) write_xi2c_reg16((port),(sa7),(reg),(data))
+
+/** Perform I2C read (8  bits address, 16 bits data in "legacy" mode (sensors and 10359),
+ * page LEGACY_READ_PAGE2 (==0xff) should be registered - legacy_i2c.
+ *
+ * Slave address is now 7-bit,old was 8-bit, change (10359 already done)
+ * @param port - sensor port
+ * @param sa7 I2C slave address, 7 bit
+ * @param reg sensor register address (8-bit)
+ * @param datap pointer to receive data
+ * @return  0 on success, < 0 - error (ETIMEDOUT) */
+#define X3X3_I2C_RCV2(port,sa7,reg,datap) legacy_read_i2c_reg((port),(LEGACY_READ_PAGE2),(sa7),(reg),2,(datap))
+
+/** Perform I2C read (8  bits address, 32 bits data in "legacy" mode (10359 in 32-bit mode),
+ * page LEGACY_READ_PAGE2 (==0xff) should be registered - legacy_i2c.
+ *
+ * Slave address is now 7-bit,old was 8-bit, change (10359 already done)
+ * @param port - sensor port
+ * @param sa7 I2C slave address, 7 bit
+ * @param reg sensor register address (8-bit)
+ * @param datap pointer to receive data
+ * @return  0 on success, < 0 - error (ETIMEDOUT) */
+#define X3X3_I2C_RCV4(port,sa7,reg,datap) legacy_read_i2c_reg((port),(LEGACY_READ_PAGE4),(sa7),(reg),4,(datap))
+
+int legacy_i2c  (int ports);
+
+
 #endif

src/drivers/elphel/sensor_i2c.c

@@ -416,10 +416,10 @@ void  write_xi2c_reg16_abs_asap (int chn,  ///< sensor port
 	      				         u32 data) ///< 16 or 8-bit data (LSB aligned)
 {
     u32 dw = ((page & 0xff) << 24) | ((addr & 0xff) << 16) | (data & 0xffff);
-    if (frame<0) x393_sensi2c_abs (dw, chn, 0);
+    if (frame<0) x393_sensi2c_rel (dw, chn, 0);
     else x393_sensi2c_abs (dw, chn, frame & PARS_FRAMES_MASK);
 }
-EXPORT_SYMBOL_GPL(write_xi2c_reg16_abs);
+EXPORT_SYMBOL_GPL(write_xi2c_reg16_abs_asap);
 
 
 /** Initiate sensor i2c read in immediate mode (data itself has to be read from FIFO with read_xi2c_fifo)
@@ -603,6 +603,51 @@ int x393_xi2c_read_reg( const char * cname,    ///< device class name
 }
 EXPORT_SYMBOL_GPL(x393_xi2c_read_reg);
 
+/** Single-command i2c read register compatible with legacy code. Device class(es) should already be registered, len parameter should
+ * match pre-programmed length */
+int legacy_read_i2c_reg( int          chn,      ///< sensor port number
+                         int          page,     ///< i2c table page registerd for read operation
+                         int          sa7,      ///< slave address (7-bit) of the device
+                                                ///< Offset is non-zero when multiple devices of the same class are present.
+                         int          reg_addr, ///< register address (width is defined by class)
+                         int          len,      ///< number of bytes to read.
+                         int *        datap)    ///< pointer to a data receiver (read data width is defined by class)
+                                                ///< @return 0 on success, < 0 - error (ETIMEDOUT)
+{
+    int               i, db=-1;
+    unsigned long       timeout_end;
+    *datap = 0;
+    /* Initiate i2c read */
+    read_xi2c_sa7 (chn,
+                   page & 0xff,          // page (8 bits)
+                   sa7 & 0x7f,           // 7-bit i2c slave address
+                   reg_addr & 0xffff);   // 8/16 bit address
+
+    /* Now read required number of bytes with timeout     */
+    dev_dbg(sdev, "Trying to get FIFO data for channel %d\n",chn);
+    for (i = 0; i< len; i++) {
+        timeout_end = jiffies + tenth_sec;
+        while (jiffies < timeout_end){
+            db = read_xi2c_fifo(chn);
+            if (db >=0)
+                break;
+        }
+        if (db < 0) {
+            dev_dbg(sdev, "Timeout waiting for i2c fifo read data for channel %d, freeing page %d\n",chn,page);
+            return -ETIMEDOUT;
+        }
+        *datap = (*datap <<8) | (db & 0xff);
+    }
+    return 0;
+}
+EXPORT_SYMBOL_GPL(legacy_read_i2c_reg);
+
+
+
+
+
+
+
 /* Handling classes of i2c devices */
 /** Find device list entry by device class name */
 struct x393_i2c_device_list * i2c_dev_get(const char * name) ///< Device class name as string
@@ -720,6 +765,7 @@ static ssize_t i2c_class_store(struct device *dev,              ///< Linux kerne
 	int ni, sa7, num_addr, num_data, khz;
 	struct device_attribute *new_attr;
 	int rslt;
+	char * dname;
 	ni = sscanf(buf,"%31s %i %i %i %i", name, &sa7, &num_addr, &num_data, &khz);
     if (ni < 5) {
     	dev_err(dev, "Requires 5 parameters: name, slave addr (7 bit), address width (bytes), data  width (bytes), max SCL frequency (kHz)\n");
@@ -733,8 +779,12 @@ static ssize_t i2c_class_store(struct device *dev,              ///< Linux kerne
 		new_attr =  devm_kzalloc(dev, sizeof(new_attr[0]), GFP_KERNEL);
 		if (!new_attr)
 			return -ENOMEM;
-		new_attr->attr.name =  devm_kzalloc(dev, strlen(name)+1, GFP_KERNEL);
-		strcpy(new_attr->attr.name, (const char *) name);
+//		new_attr->attr.name =  devm_kzalloc(dev, strlen(name)+1, GFP_KERNEL);
+//		strcpy(new_attr->attr.name, (const char *) name);  // warning that it disqualifies const
+		dname = devm_kzalloc(dev, strlen(name)+1, GFP_KERNEL);
+        strcpy(dname, name);
+        new_attr->attr.name= (const char *) dname;
+
 		new_attr->attr.mode = SYSFS_PERMISSIONS;
 		new_attr->show =      i2c_member_show;
 		new_attr->store =     i2c_member_store;

src/drivers/elphel/sensor_i2c.h

@@ -14,8 +14,9 @@
 *  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 SENSOR_I2C.H
-#define SENSOR_I2C.H
+
+#ifndef SENSOR_I2C_H
+#define SENSOR_I2C_H
 /** I2C device description to be used with i2c sequencer*/
 typedef struct{
 	      char                         name[32];      ///< Device class name (up to 31 characters)
@@ -149,4 +150,13 @@ int x393_xi2c_read_reg( const char * cname,    // device class name
 				        int          sa7_offs, // slave address (7-bit) offset from the class defined slave address
 				        int          reg_addr, // register address (width is defined by class)
 				        int *        datap);   // pointer to a data receiver (read data width is defined by class)
+int legacy_read_i2c_reg(int          chn,      // sensor port number
+                        int          page,     // i2c table page registerd for read operation
+                        int          sa7,      // slave address (7-bit) of the device
+                                               // Offset is non-zero when multiple devices of the same class are present.
+                        int          reg_addr, // register address (width is defined by class)
+                        int          len,      // number of bytes to read.
+                        int *        datap);   // pointer to a data receiver (read data width is defined by class)
+                                               // @return 0 on success, < 0 - error (ETIMEDOUT)
+
 #endif