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Commit 809ae1e8 authored by Andrey Filippov's avatar Andrey Filippov
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debugging exif, added packed attribute to structures

parent cbe1a44b
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Showing with 138 additions and 91 deletions
src/drivers/elphel/exif393.c
View file @ 809ae1e8
...@@ -501,7 +501,7 @@ loff_t exif_lseek (struct file * file, loff_t offset, int orig) { ...@@ -501,7 +501,7 @@ loff_t exif_lseek (struct file * file, loff_t offset, int orig) {
int p=(int)file->private_data; int p=(int)file->private_data;
int thissize=minor_file_size(p); int thissize=minor_file_size(p);
int maxsize=minor_max_size(p); int maxsize=minor_max_size(p);
// int fp; int fp;
dev_dbg(g_devfp_ptr,"exif_lseek, minor=%d, offset = 0x%llx, orig=%d\n",p,offset,orig); dev_dbg(g_devfp_ptr,"exif_lseek, minor=%d, offset = 0x%llx, orig=%d\n",p,offset,orig);
// int sensor_port; // int sensor_port;
switch (orig) { switch (orig) {
...@@ -548,7 +548,9 @@ loff_t exif_lseek (struct file * file, loff_t offset, int orig) { ...@@ -548,7 +548,9 @@ loff_t exif_lseek (struct file * file, loff_t offset, int orig) {
case DEV393_MINOR(DEV393_EXIF_META1): case DEV393_MINOR(DEV393_EXIF_META1):
case DEV393_MINOR(DEV393_EXIF_META2): case DEV393_MINOR(DEV393_EXIF_META2):
case DEV393_MINOR(DEV393_EXIF_META3): case DEV393_MINOR(DEV393_EXIF_META3):
file->f_pos=offset*sizeof(struct exif_dir_table_t); fp= dir_find_tag (offset);
if (fp < 0) return -EOVERFLOW; // tag is not in the directory
file->f_pos=fp;
break; break;
case DEV393_MINOR(DEV393_EXIF_METADIR): case DEV393_MINOR(DEV393_EXIF_METADIR):
file->f_pos=offset*sizeof(struct exif_dir_table_t); file->f_pos=offset*sizeof(struct exif_dir_table_t);
...@@ -602,8 +604,11 @@ ssize_t exif_write (struct file * file, const char * buf, size_t count, loff ...@@ -602,8 +604,11 @@ ssize_t exif_write (struct file * file, const char * buf, size_t count, loff
char tmp[MAX_EXIF_SIZE]; //! Or is it possible to disable IRQ while copy_from_user()? char tmp[MAX_EXIF_SIZE]; //! Or is it possible to disable IRQ while copy_from_user()?
unsigned long flags; unsigned long flags;
int disabled_err=0; int disabled_err=0;
dev_dbg(g_devfp_ptr,"minor=0x%x\n", p);
if ((*off+count)>maxsize) { if ((*off+count)>maxsize) {
dev_warn(g_devfp_ptr,"%s:%d: Data (0x%x) does not fit into 0x%x bytes\n",__FILE__,__LINE__, (int) (*off+count), maxsize); // dev_warn(g_devfp_ptr,"%s:%d: Data (0x%x) does not fit into 0x%x bytes\n",__FILE__,__LINE__, (int) (*off+count), maxsize);
dev_dbg(g_devfp_ptr,"Data (0x%x) does not fit into 0x%x bytes, minor = 0x%x\n",(int) (*off+count), maxsize, p);
return -EOVERFLOW; return -EOVERFLOW;
} }
switch (p) { switch (p) {
......
src/drivers/elphel/imu_log393.c
View file @ 809ae1e8
...@@ -57,21 +57,21 @@ ...@@ -57,21 +57,21 @@
#include <uapi/elphel/x393_devices.h> #include <uapi/elphel/x393_devices.h>
#if 0 #if 1
#define D(x) x #define D(x) x
#define D0(x) x //#define D0(x) x
#define MD7(x) printk("%s:%d:",__FILE__,__LINE__);x //#define MD7(x) printk("%s:%d:",__FILE__,__LINE__);x
#define MD8(x) printk("%s:%d:",__FILE__,__LINE__);x //#define MD8(x) printk("%s:%d:",__FILE__,__LINE__);x
#define MD12(x) printk("%s:%d:",__FILE__,__LINE__);x //#define MD12(x) printk("%s:%d:",__FILE__,__LINE__);x
#else #else
#define D(x) #define D(x)
#define D0(x) //#define D0(x)
#define MD7(x) //#define MD7(x)
#define MD8(x) //#define MD8(x)
#define MD12(x) //#define MD12(x)
#endif #endif
#define D1(x) x //#define D1(x) x
#define IS_103695_REV_A 1 #define IS_103695_REV_A 1
...@@ -215,6 +215,11 @@ ...@@ -215,6 +215,11 @@
#define LSEEK_IMU_NEW 1 ///< start from the new data, discard buffer #define LSEEK_IMU_NEW 1 ///< start from the new data, discard buffer
#define LSEEK_IMU_STOP 2 ///< stop DMA1 and IMU #define LSEEK_IMU_STOP 2 ///< stop DMA1 and IMU
#define LSEEK_IMU_START 3 ///< start IMU and DMA1 (do not modify parameters) #define LSEEK_IMU_START 3 ///< start IMU and DMA1 (do not modify parameters)
static struct device *g_dev_ptr=NULL; ///< Global pointer to basic device structure. This pointer is used in debugfs output functions
const int i2cbus = 1;
static unsigned char dflt_wbuf[]= static unsigned char dflt_wbuf[]=
{ DFLT_PERIOD & 0xff, ( DFLT_PERIOD >> 8 ) & 0xff, ( DFLT_PERIOD >> 16) & 0xff, ( DFLT_PERIOD >> 24 ) & 0xff, { DFLT_PERIOD & 0xff, ( DFLT_PERIOD >> 8 ) & 0xff, ( DFLT_PERIOD >> 16) & 0xff, ( DFLT_PERIOD >> 24 ) & 0xff,
// {0,0,0,0, // period - off // {0,0,0,0, // period - off
...@@ -353,16 +358,17 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -353,16 +358,17 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
x393_logger_data_t logger_data; x393_logger_data_t logger_data;
x393_gpio_set_pins_t gpio_set_pins; x393_gpio_set_pins_t gpio_set_pins;
D(int i2c_err=0;) // D(int i2c_err=0;)
int i2c_err=0;
D(for (i=0; i< sizeof (wbuf); i++ ) { if ((i & 0x1f)==0) printk("\n %03x",i); printk(" %02x",(int) wbuf[i]); }); D(for (i=0; i< sizeof (wbuf); i++ ) { if ((i & 0x1f)==0) printk("\n %03x",i); printk(" %02x",(int) wbuf[i]); });
if (which & WHICH_RESET) { if (which & WHICH_RESET) {
if (logger_is_dma_on()!=0) { if (logger_is_dma_on()!=0) {
D(printk("Stopping DMA\n")); dev_dbg(g_dev_ptr,"Stopping DMA\n");
logger_dma_stop(); logger_dma_stop();
} }
D(printk("Resetting logger\n")); dev_dbg(g_dev_ptr,"Resetting logger\n");
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_CONFIGURE_ADDR; port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_CONFIGURE_ADDR;
port_csp0_addr[X313_WA_IMU_DATA] = IMU_CONF(RST_CONF,1); port_csp0_addr[X313_WA_IMU_DATA] = IMU_CONF(RST_CONF,1);
...@@ -374,10 +380,13 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -374,10 +380,13 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
#endif #endif
} }
if (which & WHICH_INIT) { if (which & WHICH_INIT) {
D(printk("Enabling I/O pins for IMU, written 0x%x to 0x%x\n", (int) X313_WA_IOPINS_EN_IMU, (int) X313_WA_IOPINS)); unsigned char i2c_sa= PCA9500_PP_ADDR+((config[0]>>23) & 0xe);
unsigned char enable_IMU=0xfe; // maybe we need to reset it here? bit [1]
#ifdef NC353 #ifdef NC353
dev_dbg(g_dev_ptr,"Enabling I/O pins for IMU, written 0x%x to 0x%x\n", (int) X313_WA_IOPINS_EN_IMU, (int) X313_WA_IOPINS);
port_csp0_addr[X313_WA_IOPINS] = X313_WA_IOPINS_EN_IMU; port_csp0_addr[X313_WA_IOPINS] = X313_WA_IOPINS_EN_IMU;
#else #else
dev_dbg(g_dev_ptr,"Enabling I/O pins for IMU\n");
gpio_set_pins.d32 = 0; gpio_set_pins.d32 = 0;
gpio_set_pins.chn_c = 3; // enable gpio_set_pins.chn_c = 3; // enable
x393_gpio_set_pins(gpio_set_pins); x393_gpio_set_pins(gpio_set_pins);
...@@ -385,23 +394,21 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -385,23 +394,21 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
#endif #endif
///TODO: add enabling via i2c (bus=1&raw=0x2300&data=0xfe) ///TODO: add enabling via i2c (bus=1&raw=0x2300&data=0xfe)
//PCA9500_PP_ADDR //PCA9500_PP_ADDR
unsigned char i2c_sa= PCA9500_PP_ADDR+((config[0]>>23) & 0xe);
unsigned char enable_IMU=0xfe; // maybe we need to reset it here? bit [1]
#if IS_103695_REV_A #if IS_103695_REV_A
enable_IMU=(((config[0]>>23) & 1)?0xfd:0xff); // bit[0] - reset IMU enable_IMU=(((config[0]>>23) & 1)?0xfd:0xff); // bit[0] - reset IMU
#else #else
enable_IMU=0xfe; // maybe we need to reset it here? bit [1] enable_IMU=0xfe; // maybe we need to reset it here? bit [1]
#endif #endif
i2c_writeData(1, // int n - bus (0 - to the sensor) i2c_writeData(i2cbus, // int n - bus (0 - to the sensor)
i2c_sa, // unsigned char theSlave, i2c_sa, // unsigned char theSlave,
&enable_IMU, //unsigned char *theData, &enable_IMU, //unsigned char *theData,
1, // int size, 1, // int size,
1); // int stop (send stop in the end) 1); // int stop (send stop in the end)
D(printk("Sent i2c command in raw mode - address=0x%x, data=0x%x, result=0x%x\n",(int)i2c_sa, (int) enable_IMU, i2c_err)); dev_dbg(g_dev_ptr,"Sent i2c command in raw mode - address=0x%x, data=0x%x, result=0x%x\n",(int)i2c_sa, (int) enable_IMU, i2c_err);
} }
if (which & WHICH_RESET_SPI) { if (which & WHICH_RESET_SPI) {
D(printk("stopped IMU logger (set period=0)\n")); dev_dbg(g_dev_ptr,"stopped IMU logger (set period=0)\n");
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_PERIOD_ADDR; port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_PERIOD_ADDR;
port_csp0_addr[X313_WA_IMU_DATA] = 0; // reset IMU port_csp0_addr[X313_WA_IMU_DATA] = 0; // reset IMU
...@@ -414,7 +421,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -414,7 +421,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
} }
if (which & WHICH_DIVISOR) { if (which & WHICH_DIVISOR) {
D(printk("IMU clock divisor= %ld\n", divisor[0])); dev_dbg(g_dev_ptr,"IMU clock divisor= %ld\n", divisor[0]);
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_DIVISOR_ADDR; port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_DIVISOR_ADDR;
port_csp0_addr[X313_WA_IMU_DATA] = divisor[0]-1; port_csp0_addr[X313_WA_IMU_DATA] = divisor[0]-1;
...@@ -426,7 +433,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -426,7 +433,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
#endif #endif
} }
if (which & WHICH_RS232DIV) { if (which & WHICH_RS232DIV) {
D(printk("RS232 clock divisor= %ld\n", rs232_div[0])); dev_dbg(g_dev_ptr,"RS232 clock divisor= %ld\n", rs232_div[0]);
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_RS232DIV_ADDR; port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_RS232DIV_ADDR;
port_csp0_addr[X313_WA_IMU_DATA] = rs232_div[0]-1; port_csp0_addr[X313_WA_IMU_DATA] = rs232_div[0]-1;
...@@ -446,19 +453,19 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -446,19 +453,19 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
} }
for (n=0;n<4;n++) { for (n=0;n<4;n++) {
nmea_format[32*n+27]=0; // just in case nmea_format[32*n+27]=0; // just in case
D(printk("Setting NMEA sentence format for $GP%s\n", &nmea_format[32*n])); dev_dbg(g_dev_ptr,"Setting NMEA sentence format for $GP%s\n", &nmea_format[32*n]);
D(printk("(0x%x, 0x%x, 0x%x\n",(int) nmea_format[32*n],(int) nmea_format[32*n+1],(int) nmea_format[32*n+2])); dev_dbg(g_dev_ptr,"(0x%x, 0x%x, 0x%x\n",(int) nmea_format[32*n],(int) nmea_format[32*n+1],(int) nmea_format[32*n+2]);
f=0; f=0;
for (i=2;i>=0;i--) { for (i=2;i>=0;i--) {
b=nmea_format[32*n+i]; /// first 3 letters in each sentence b=nmea_format[32*n+i]; /// first 3 letters in each sentence
D(printk("n=%d, i=%d, b=0x%x\n", n,i,b)); dev_dbg(g_dev_ptr,"n=%d, i=%d, b=0x%x\n", n,i,b);
for (j=4; j>=0; j--) { for (j=4; j>=0; j--) {
f<<=1; f<<=1;
if ((b & (1<<j))!=0) f++; if ((b & (1<<j))!=0) f++;
} }
} }
D(printk("n=%d, f=0x%x\n", n,f)); dev_dbg(g_dev_ptr,"n=%d, f=0x%x\n", n,f);
for (i=0;i<15;i++) if ((f & (1<<i))!=0) nmea_sel[i] |= (1<<n); for (i=0;i<15;i++) if ((f & (1<<i))!=0) nmea_sel[i] |= (1<<n);
f=0; f=0;
nmea_fpga_frmt[n*4]=0; nmea_fpga_frmt[n*4]=0;
...@@ -471,13 +478,13 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -471,13 +478,13 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
nmea_fpga_frmt[n*4+2]=(f>> 8)&0xff; nmea_fpga_frmt[n*4+2]=(f>> 8)&0xff;
nmea_fpga_frmt[n*4+3]=(f>>16)&0xff; nmea_fpga_frmt[n*4+3]=(f>>16)&0xff;
} }
D(printk("Selection data is %x%x%x%x%x%x%x%x%x%x%x%x%x%x%x\n", nmea_sel[0],nmea_sel[1],nmea_sel[2], dev_dbg(g_dev_ptr,"Selection data is %x%x%x%x%x%x%x%x%x%x%x%x%x%x%x\n", nmea_sel[0],nmea_sel[1],nmea_sel[2],
nmea_sel[3],nmea_sel[4],nmea_sel[5],nmea_sel[6],nmea_sel[7],nmea_sel[8],nmea_sel[9], nmea_sel[3],nmea_sel[4],nmea_sel[5],nmea_sel[6],nmea_sel[7],nmea_sel[8],nmea_sel[9],
nmea_sel[10],nmea_sel[11],nmea_sel[12],nmea_sel[13],nmea_sel[14])); nmea_sel[10],nmea_sel[11],nmea_sel[12],nmea_sel[13],nmea_sel[14]);
D(printk("Format data for sentence 1 is %02x %02x %02x %02x\n", nmea_fpga_frmt[ 0],nmea_fpga_frmt[ 1],nmea_fpga_frmt[ 2],nmea_fpga_frmt[ 3])); dev_dbg(g_dev_ptr,"Format data for sentence 1 is %02x %02x %02x %02x\n", nmea_fpga_frmt[ 0],nmea_fpga_frmt[ 1],nmea_fpga_frmt[ 2],nmea_fpga_frmt[ 3]);
D(printk("Format data for sentence 2 is %02x %02x %02x %02x\n", nmea_fpga_frmt[ 4],nmea_fpga_frmt[ 5],nmea_fpga_frmt[ 6],nmea_fpga_frmt[ 7])); dev_dbg(g_dev_ptr,"Format data for sentence 2 is %02x %02x %02x %02x\n", nmea_fpga_frmt[ 4],nmea_fpga_frmt[ 5],nmea_fpga_frmt[ 6],nmea_fpga_frmt[ 7]);
D(printk("Format data for sentence 3 is %02x %02x %02x %02x\n", nmea_fpga_frmt[ 8],nmea_fpga_frmt[ 9],nmea_fpga_frmt[10],nmea_fpga_frmt[11])); dev_dbg(g_dev_ptr,"Format data for sentence 3 is %02x %02x %02x %02x\n", nmea_fpga_frmt[ 8],nmea_fpga_frmt[ 9],nmea_fpga_frmt[10],nmea_fpga_frmt[11]);
D(printk("Format data for sentence 4 is %02x %02x %02x %02x\n", nmea_fpga_frmt[12],nmea_fpga_frmt[13],nmea_fpga_frmt[14],nmea_fpga_frmt[15])); dev_dbg(g_dev_ptr,"Format data for sentence 4 is %02x %02x %02x %02x\n", nmea_fpga_frmt[12],nmea_fpga_frmt[13],nmea_fpga_frmt[14],nmea_fpga_frmt[15]);
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_NMEA_FORMAT_ADDR; port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_NMEA_FORMAT_ADDR;
#else #else
...@@ -491,7 +498,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -491,7 +498,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
logger_data.d32= nmea_sel[i]; logger_data.d32= nmea_sel[i];
x393_logger_data(logger_data); x393_logger_data(logger_data);
#endif #endif
D(printk("Loading imu fpga register 0x%x with 0x%x\n", X313_IMU_NMEA_FORMAT_ADDR+i, nmea_sel[i] )); dev_dbg(g_dev_ptr,"Loading imu fpga register 0x%x with 0x%x\n", X313_IMU_NMEA_FORMAT_ADDR+i, nmea_sel[i] );
} }
for (i=0;i<16;i++) { for (i=0;i<16;i++) {
#ifdef NC353 #ifdef NC353
...@@ -500,12 +507,12 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -500,12 +507,12 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
logger_data.d32= nmea_fpga_frmt[i]; logger_data.d32= nmea_fpga_frmt[i];
x393_logger_data(logger_data); x393_logger_data(logger_data);
#endif #endif
D(printk("Loading imu fpga register 0x%x with 0x%x\n", X313_IMU_NMEA_FORMAT_ADDR+i+16, nmea_fpga_frmt[i] )); dev_dbg(g_dev_ptr,"Loading imu fpga register 0x%x with 0x%x\n", X313_IMU_NMEA_FORMAT_ADDR+i+16, nmea_fpga_frmt[i] );
} }
} }
if (which & WHICH_CONFIG) { if (which & WHICH_CONFIG) {
D(printk("Setting configuration= 0x%lx\n", config[0])); dev_dbg(g_dev_ptr,"Setting configuration= 0x%lx\n", config[0]);
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_CONFIGURE_ADDR; port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_CONFIGURE_ADDR;
port_csp0_addr[X313_WA_IMU_DATA] =(config[0] & 0xffffff); // MSB used for the i2c slave addr of the 10365 port_csp0_addr[X313_WA_IMU_DATA] =(config[0] & 0xffffff); // MSB used for the i2c slave addr of the 10365
...@@ -526,7 +533,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -526,7 +533,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
#endif #endif
for (i=X313_IMU_REGISTERS_OFFS; i< X313_IMU_NMEA_FORMAT_OFFS ;i++) { for (i=X313_IMU_REGISTERS_OFFS; i< X313_IMU_NMEA_FORMAT_OFFS ;i++) {
d=wbuf[i]; d=wbuf[i];
D(printk("%d: logging IMU register with 0x%lx\n", (i-X313_IMU_REGISTERS_OFFS+1),d)); dev_dbg(g_dev_ptr,"%d: logging IMU register with 0x%lx\n", (i-X313_IMU_REGISTERS_OFFS+1),d);
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_IMU_DATA] = d; port_csp0_addr[X313_WA_IMU_DATA] = d;
#else #else
...@@ -536,7 +543,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -536,7 +543,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
} }
} }
if (which & WHICH_MESSAGE) { if (which & WHICH_MESSAGE) {
D(printk("Setting odometer message %56s\n", (char *) message)); dev_dbg(g_dev_ptr,"Setting odometer message %56s\n", (char *) message);
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_MESSAGE_ADDR; port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_MESSAGE_ADDR;
#else #else
...@@ -544,7 +551,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -544,7 +551,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
x393_logger_address(logger_address); x393_logger_address(logger_address);
#endif #endif
for (i=0; i<(((sizeof(wbuf)-X313_IMU_MESSAGE_OFFS))>>2);i++) { for (i=0; i<(((sizeof(wbuf)-X313_IMU_MESSAGE_OFFS))>>2);i++) {
D(printk("%d: message 4 bytes= 0x%x\n", i+1,(int) message[i])); dev_dbg(g_dev_ptr,"%d: message 4 bytes= 0x%x\n", i+1,(int) message[i]);
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_IMU_DATA] = message[i]; port_csp0_addr[X313_WA_IMU_DATA] = message[i];
#else #else
...@@ -556,7 +563,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -556,7 +563,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
// setting IMU SPI period, turning it on // setting IMU SPI period, turning it on
if (which & WHICH_PERIOD) { if (which & WHICH_PERIOD) {
D(printk("IMU cycle period= %ld\n", period[0])); dev_dbg(g_dev_ptr,"IMU cycle period= %ld\n", period[0]);
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_PERIOD_ADDR; port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_PERIOD_ADDR;
port_csp0_addr[X313_WA_IMU_DATA] = period[0]; port_csp0_addr[X313_WA_IMU_DATA] = period[0];
...@@ -568,13 +575,13 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first ...@@ -568,13 +575,13 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
#endif #endif
} }
if (which & WHICH_EN_DMA) { if (which & WHICH_EN_DMA) {
D(printk("Enabling DMA\n")); dev_dbg(g_dev_ptr,"Enabling DMA\n");
/*! /*!
TODO: (re)start DMA1 here ! TODO: (re)start DMA1 here !
*/ */
/// for now - init everything again? /// for now - init everything again?
if (logger_is_dma_on()!=0) { if (logger_is_dma_on()!=0) {
D(printk("Stopping DMA\n")); dev_dbg(g_dev_ptr,"Stopping DMA\n");
logger_dma_stop(); logger_dma_stop();
} }
x313_dma1_init(); x313_dma1_init();
...@@ -582,7 +589,7 @@ TODO: (re)start DMA1 here ! ...@@ -582,7 +589,7 @@ TODO: (re)start DMA1 here !
} }
if (which & WHICH_EN_LOGGER) { if (which & WHICH_EN_LOGGER) {
D(printk("Enabling logger\n")); dev_dbg(g_dev_ptr,"Enabling logger\n");
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_CONFIGURE_ADDR; port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_CONFIGURE_ADDR;
port_csp0_addr[X313_WA_IMU_DATA] = IMU_CONF(RST_CONF,0); port_csp0_addr[X313_WA_IMU_DATA] = IMU_CONF(RST_CONF,0);
...@@ -603,24 +610,24 @@ static int imu_open(struct inode *inode, struct file *filp) { ...@@ -603,24 +610,24 @@ static int imu_open(struct inode *inode, struct file *filp) {
int i; int i;
// loff_t numBytesWritten; // loff_t numBytesWritten;
D(printk("imu_open: minor=%x\r\n",p) ); dev_dbg(g_dev_ptr,"imu_open: minor=%x\n",p);
D(printk("filp=%lx\r\n",(unsigned long)filp) ); dev_dbg(g_dev_ptr,"filp=%lx\n",(unsigned long)filp);
switch ( p ) { switch ( p ) {
case DEV393_MINOR(DEV393_LOGGER_CTRL): case DEV393_MINOR(DEV393_LOGGER_CTRL):
D1(printk(KERN_NOTICE "IMU_ctl_open\n")); dev_dbg(g_dev_ptr,"IMU_ctl_open\n");
inode->i_size=sizeof(wbuf); inode->i_size=sizeof(wbuf);
// nothing more here, after writing parameters should start imu (and dma), otherwise will use defaults on next open of /dev/imu // nothing more here, after writing parameters should start imu (and dma), otherwise will use defaults on next open of /dev/imu
break; break;
case DEV393_MINOR(DEV393_LOGGER) : case DEV393_MINOR(DEV393_LOGGER) :
{ {
D1(printk(KERN_NOTICE "IMU_open\n")); dev_dbg(g_dev_ptr,"IMU_open\n");
inode->i_size=sizeof(wbuf); // only in write mode inode->i_size=sizeof(wbuf); // only in write mode
/// See if initialization is needed /// See if initialization is needed
if (logger_is_dma_on()==0) { if (logger_is_dma_on()==0) {
/// copy defaults /// copy defaults
D1(printk(KERN_NOTICE "Initializing IMU\n")); dev_dbg(g_dev_ptr,"Initializing IMU\n");
for (i=0;i<sizeof(wbuf);i++) wbuf[i]=dflt_wbuf[i]; for (i=0;i<sizeof(wbuf);i++) wbuf[i]=dflt_wbuf[i];
set_logger_params(WHICH_INIT | set_logger_params(WHICH_INIT |
WHICH_RESET | WHICH_RESET |
...@@ -636,7 +643,7 @@ static int imu_open(struct inode *inode, struct file *filp) { ...@@ -636,7 +643,7 @@ static int imu_open(struct inode *inode, struct file *filp) {
WHICH_EN_LOGGER ); WHICH_EN_LOGGER );
numBytesRead=0; numBytesRead=0;
} else { } else {
D1(printk(KERN_NOTICE "Skipping IMU initialization\n")); dev_dbg(g_dev_ptr, "Skipping IMU initialization\n");
#ifdef NC353 #ifdef NC353
updateNumBytesWritten(); updateNumBytesWritten();
#endif #endif
...@@ -648,7 +655,7 @@ static int imu_open(struct inode *inode, struct file *filp) { ...@@ -648,7 +655,7 @@ static int imu_open(struct inode *inode, struct file *filp) {
#endif #endif
{ {
// alternatively - open at lower pointer? // alternatively - open at lower pointer?
D1(printk(KERN_ERR "DMA1 buffer overrun (numBytesWritten=0x%llx, numBytesRead=0x%llx, resetting numBytesRead\n", numBytesWritten, numBytesRead)); dev_err(g_dev_ptr,"DMA1 buffer overrun (numBytesWritten=0x%llx, numBytesRead=0x%llx, resetting numBytesRead\n", numBytesWritten, numBytesRead);
numBytesRead=numBytesWritten; numBytesRead=numBytesWritten;
} }
//printk("imu opened in R/W mode, (numBytesWritten=0x%x, numBytesRead=0x%x\n", numBytesWritten, numBytesRead); //printk("imu opened in R/W mode, (numBytesWritten=0x%x, numBytesRead=0x%x\n", numBytesWritten, numBytesRead);
...@@ -671,11 +678,11 @@ static int imu_release(struct inode *inode, struct file *filp) { ...@@ -671,11 +678,11 @@ static int imu_release(struct inode *inode, struct file *filp) {
switch ( p ) { switch ( p ) {
case DEV393_MINOR(DEV393_LOGGER) : case DEV393_MINOR(DEV393_LOGGER) :
case DEV393_MINOR(DEV393_LOGGER_CTRL): case DEV393_MINOR(DEV393_LOGGER_CTRL):
printk(KERN_NOTICE "Closing IMU device, numBytesWritten=0x%llx, numBytesRead=0x%llx (only global pointer, does not include files opened in read mode)\n", numBytesWritten, numBytesRead); dev_dbg(g_dev_ptr,"Closing IMU device, numBytesWritten=0x%llx, numBytesRead=0x%llx (only global pointer, does not include files opened in read mode)\n", numBytesWritten, numBytesRead);
break; break;
default: return -EINVAL; default: return -EINVAL;
} }
D(printk("imu_release: done\r\n")); dev_dbg(g_dev_ptr,"imu_release: done\n");
return 0; return 0;
} }
...@@ -684,8 +691,8 @@ static ssize_t imu_write(struct file * file, const char * buf, size_t count, lof ...@@ -684,8 +691,8 @@ static ssize_t imu_write(struct file * file, const char * buf, size_t count, lof
unsigned long p=*off; unsigned long p=*off;
unsigned long left; unsigned long left;
int which=0; int which=0;
// D(printk("imu_write: ((int *)file->private_data)[0]= %x\r\n",((int *)file->private_data)[0])); // dev_dbg(g_dev_ptr,"imu_write: ((int *)file->private_data)[0]= %x\n",((int *)file->private_data)[0]);
D(printk("imu_write: (int)file->private_data)= %x\r\n",((int)file->private_data))); dev_dbg(g_dev_ptr,"imu_write: (int)file->private_data)= %x\n",((int)file->private_data));
// switch (((int *)file->private_data)[0]) { // switch (((int *)file->private_data)[0]) {
switch ((int) file->private_data) { switch ((int) file->private_data) {
case DEV393_MINOR(DEV393_LOGGER) : case DEV393_MINOR(DEV393_LOGGER) :
...@@ -720,8 +727,8 @@ static ssize_t imu_write(struct file * file, const char * buf, size_t count, lof ...@@ -720,8 +727,8 @@ static ssize_t imu_write(struct file * file, const char * buf, size_t count, lof
} }
static loff_t imu_lseek(struct file * file, loff_t offset, int orig) { static loff_t imu_lseek(struct file * file, loff_t offset, int orig) {
D(printk (" file=%x, offset=%llx (%d), orig=%x\r\n", (int) file, offset,(int) offset, (int) orig));
int p=(int)file->private_data; int p=(int)file->private_data;
dev_dbg(g_dev_ptr," file=%x, offset=%llx (%d), orig=%x\n", (int) file, offset,(int) offset, (int) orig);
switch (p) { switch (p) {
case DEV393_MINOR(DEV393_LOGGER): case DEV393_MINOR(DEV393_LOGGER):
case DEV393_MINOR(DEV393_LOGGER_CTRL): case DEV393_MINOR(DEV393_LOGGER_CTRL):
...@@ -745,14 +752,14 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) { ...@@ -745,14 +752,14 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) {
// numBytesRead=(int) port_csp0_addr[X313_RA_IMU_COUNT]<<6; //numBytesWritten // numBytesRead=(int) port_csp0_addr[X313_RA_IMU_COUNT]<<6; //numBytesWritten
return file->f_pos; return file->f_pos;
case LSEEK_IMU_STOP: case LSEEK_IMU_STOP:
D(printk("got LSEEK_IMU_STOP\n")); dev_dbg(g_dev_ptr,"got LSEEK_IMU_STOP\n");
set_logger_params(WHICH_RESET | set_logger_params(WHICH_RESET |
WHICH_RESET_SPI); WHICH_RESET_SPI);
numBytesRead=0; numBytesRead=0;
return file->f_pos; return file->f_pos;
case LSEEK_IMU_START: case LSEEK_IMU_START:
D(printk("got LSEEK_IMU_START\n")); dev_dbg(g_dev_ptr,"got LSEEK_IMU_START\n");
set_logger_params(WHICH_RESET | set_logger_params(WHICH_RESET |
WHICH_RESET_SPI | WHICH_RESET_SPI |
WHICH_PERIOD | WHICH_PERIOD |
...@@ -764,12 +771,12 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) { ...@@ -764,12 +771,12 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) {
} }
break; break;
default: default:
printk(KERN_ERR "lseek: invalid orig=%d\n", orig); dev_err(g_dev_ptr,"lseek: invalid orig=%d\n", orig);
return -EINVAL; return -EINVAL;
} }
break; break;
default: default:
printk(KERN_ERR "lseek: invalid minor=%d\n", p); dev_err(g_dev_ptr,"lseek: invalid minor=%d\n", p);
return -EINVAL; return -EINVAL;
/* /*
#define LSEEK_IMU_STOP 1 // stop DMA1 and IMU #define LSEEK_IMU_STOP 1 // stop DMA1 and IMU
...@@ -779,13 +786,13 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) { ...@@ -779,13 +786,13 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) {
} }
/** truncate position */ /** truncate position */
if (file->f_pos < 0) { if (file->f_pos < 0) {
printk(KERN_ERR "negative position: minor=%d, file->f_pos=0x%llx\n", p, file->f_pos); dev_err(g_dev_ptr,"negative position: minor=%d, file->f_pos=0x%llx\n", p, file->f_pos);
file->f_pos = 0; file->f_pos = 0;
return (-EOVERFLOW); return (-EOVERFLOW);
} }
/** enable seeking beyond buffer - it now is absolute position in the data stream*/ /** enable seeking beyond buffer - it now is absolute position in the data stream*/
if ((p==DEV393_MINOR(DEV393_LOGGER_CTRL)) && (file->f_pos > sizeof(wbuf))) { if ((p==DEV393_MINOR(DEV393_LOGGER_CTRL)) && (file->f_pos > sizeof(wbuf))) {
printk(KERN_ERR "beyond end: minor=%d, file->f_pos=0x%llx\n", p, file->f_pos); dev_err(g_dev_ptr,"beyond end: minor=%d, file->f_pos=0x%llx\n", p, file->f_pos);
file->f_pos = sizeof(wbuf); file->f_pos = sizeof(wbuf);
return (-EOVERFLOW); return (-EOVERFLOW);
} }
...@@ -821,7 +828,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of ...@@ -821,7 +828,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
if (count==0) return 0; if (count==0) return 0;
err=copy_to_user(buf, &wbuf[*off], count); err=copy_to_user(buf, &wbuf[*off], count);
if (err) { if (err) {
printk(KERN_ERR "0. tried to copy 0x%x bytes to offset 0x%llx, result=0x%x\n", count, *off,err); dev_err(g_dev_ptr,"0. tried to copy 0x%x bytes to offset 0x%llx, result=0x%x\n", count, *off,err);
return -EFAULT; return -EFAULT;
} }
*off+=count; *off+=count;
...@@ -848,7 +855,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of ...@@ -848,7 +855,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
if (idbg>0) { if (idbg>0) {
D(printk ("slept %d times (%d usec)\n", idbg, (int) (*sleep * idbg))); dev_dbg(g_dev_ptr,"slept %d times (%d usec)\n", idbg, (int) (*sleep * idbg));
} }
// now read what is available (and required), roll over the buffer (if needed), copy data and advance numReadBytes // now read what is available (and required), roll over the buffer (if needed), copy data and advance numReadBytes
//TODO:Flush cache !!!!!!!!!!!!!!!!!!!!!!********************************* //TODO:Flush cache !!!!!!!!!!!!!!!!!!!!!!*********************************
...@@ -872,7 +879,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of ...@@ -872,7 +879,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
/// copy all (or first part) /// copy all (or first part)
err=copy_to_user(buf, &charDMABuf[byteIndexRead], (pe-byteIndexRead)); err=copy_to_user(buf, &charDMABuf[byteIndexRead], (pe-byteIndexRead));
if (err) { if (err) {
printk(KERN_ERR "1. tried to copy 0x%x bytes to offset 0x%llx, result=0x%x\n", count, *off,err); dev_err(g_dev_ptr,"1. tried to copy 0x%x bytes to offset 0x%llx, result=0x%x\n", count, *off,err);
return -EFAULT; return -EFAULT;
} }
...@@ -886,7 +893,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of ...@@ -886,7 +893,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
byteIndexRead=0; byteIndexRead=0;
} }
if (err) { if (err) {
printk(KERN_ERR "2. tried to copy 0x%x bytes to offset 0x%llx, result=0x%x\n", count, *off,err); dev_err(g_dev_ptr,"2. tried to copy 0x%x bytes to offset 0x%llx, result=0x%x\n", count, *off,err);
return -EFAULT; return -EFAULT;
} }
thisNumBytesRead+=leftToRead; thisNumBytesRead+=leftToRead;
...@@ -895,19 +902,19 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of ...@@ -895,19 +902,19 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
//Is it just for debug //Is it just for debug
stat = REG_RD(dma, regi_dma7, rw_stat); stat = REG_RD(dma, regi_dma7, rw_stat);
ch1_stat= REG_RD(bif_dma, regi_bif_dma, r_ch1_stat); ch1_stat= REG_RD(bif_dma, regi_bif_dma, r_ch1_stat);
D(printk ("count=0x%x, thisNumBytesRead=0x%llx, numBytesWritten=0x%llx, stat.buf=0x%x, stat.mode=%x, ch1.run=%x ch1.cnt=0x%x\n", (int) count, thisNumBytesRead, numBytesWritten, (int) stat.buf,(int) stat.mode, (int) ch1_stat.run, (int) ch1_stat.cnt )); dev_dbg(g_dev_ptr,"count=0x%x, thisNumBytesRead=0x%llx, numBytesWritten=0x%llx, stat.buf=0x%x, stat.mode=%x, ch1.run=%x ch1.cnt=0x%x\n", (int) count, thisNumBytesRead, numBytesWritten, (int) stat.buf,(int) stat.mode, (int) ch1_stat.run, (int) ch1_stat.cnt );
#endif #endif
//printk(" file->f_mode & FMODE_WRITE=0x%d\n",file->f_mode & FMODE_WRITE); //printk(" file->f_mode & FMODE_WRITE=0x%d\n",file->f_mode & FMODE_WRITE);
if (file->f_mode & FMODE_WRITE) numBytesRead=thisNumBytesRead; if (file->f_mode & FMODE_WRITE) numBytesRead=thisNumBytesRead;
// else *off=thisNumBytesRead; // else *off=thisNumBytesRead;
*off=thisNumBytesRead; // always update *off=thisNumBytesRead; // always update
if (count<0) { if (count<0) {
printk(KERN_ERR "Count is negative ( 0x%x)\n", count); dev_err(g_dev_ptr,"Count is negative ( 0x%x)\n", count);
} }
return count; return count;
default: default:
//printk(" Wrong minor=0x%x\n",((int *)file->private_data)[0]); //printk(" Wrong minor=0x%x\n",((int *)file->private_data)[0]);
printk(KERN_ERR " Wrong minor=0x%x\n",(int)file->private_data); dev_dbg(g_dev_ptr," Wrong minor=0x%x\n",(int)file->private_data);
return -EINVAL; return -EINVAL;
} }
} }
...@@ -937,6 +944,8 @@ static int logger_init(struct platform_device *pdev) ...@@ -937,6 +944,8 @@ static int logger_init(struct platform_device *pdev)
unsigned int irq; unsigned int irq;
int res; int res;
struct device *dev = &pdev->dev; struct device *dev = &pdev->dev;
g_dev_ptr = dev;
const struct of_device_id *match; const struct of_device_id *match;
const char *logger_irq_names[4] = {"mult_saxi_0", "mult_saxi_1", "mult_saxi_2", "mult_saxi_3"}; const char *logger_irq_names[4] = {"mult_saxi_0", "mult_saxi_1", "mult_saxi_2", "mult_saxi_3"};
...@@ -978,12 +987,12 @@ static int logger_init(struct platform_device *pdev) ...@@ -978,12 +987,12 @@ static int logger_init(struct platform_device *pdev)
/** Initialize FPGA DMA engine for the logger. Obviously requires bitstream to be loaded. */ /** Initialize FPGA DMA engine for the logger. Obviously requires bitstream to be loaded. */
int logger_init_fpga(int force) ///< if 0, only do if not already initialized int logger_init_fpga(int force) ///< if 0, only do if not already initialized
{ {
if (logger_fpga_configured && !force) return 0; // Already initialized
x393_status_ctrl_t logger_status_ctrl= {.d32 = 0}; x393_status_ctrl_t logger_status_ctrl= {.d32 = 0};
x393_status_ctrl_t mult_saxi_status_ctrl= {.d32 = 0}; x393_status_ctrl_t mult_saxi_status_ctrl= {.d32 = 0};
x393_mult_saxi_al_t mult_saxi_a= {.d32=0}; x393_mult_saxi_al_t mult_saxi_a= {.d32=0};
x393_mult_saxi_al_t mult_saxi_l= {.d32=0}; x393_mult_saxi_al_t mult_saxi_l= {.d32=0};
x393_mult_saxi_irqlen_t mult_saxi_irqlen= {.d32=0}; x393_mult_saxi_irqlen_t mult_saxi_irqlen= {.d32=0};
if (logger_fpga_configured && !force) return 0; // Already initialized
mult_saxi_a.addr32 = logger_phys >> 2; // in DWORDs mult_saxi_a.addr32 = logger_phys >> 2; // in DWORDs
x393_mult_saxi_buf_address(mult_saxi_a, MULT_SAXI_CHN); x393_mult_saxi_buf_address(mult_saxi_a, MULT_SAXI_CHN);
mult_saxi_l.addr32 = logger_size >> 2; mult_saxi_l.addr32 = logger_size >> 2;
...@@ -1079,7 +1088,7 @@ int logger_is_dma_on(void) { ...@@ -1079,7 +1088,7 @@ int logger_is_dma_on(void) {
*/ */
int logger_dma_stop(void) { int logger_dma_stop(void) {
dma_is_on=0; dma_is_on=0;
MD12(printk("==========logger_dma_stop\n")); dev_dbg(g_dev_ptr,"==========logger_dma_stop\n");
#ifdef NC353 #ifdef NC353
port_csp0_addr[X313_WA_DMACR] = 0x20; // disable DMA1, dot't modify DMA0 port_csp0_addr[X313_WA_DMACR] = 0x20; // disable DMA1, dot't modify DMA0
EXT_DMA_1_STOP ; /// for testing - no reset DMA after acquisition EXT_DMA_1_STOP ; /// for testing - no reset DMA after acquisition
...@@ -1102,7 +1111,7 @@ void logger_dma_start(void) { ...@@ -1102,7 +1111,7 @@ void logger_dma_start(void) {
#ifdef NC353 #ifdef NC353
unsigned long dai; unsigned long dai;
int i = 0; int i = 0;
MD12(printk("----------logger_dma_start\n")); dev_dbg(g_dev_ptr,"----------logger_dma_start\n");
DMA_RESET(regi_dma7); DMA_RESET(regi_dma7);
/// need to restore pointers after previous stop DMA - maybe later move there? /// need to restore pointers after previous stop DMA - maybe later move there?
for(dai = 0; dai < CCAM_DMA1_SIZE; dai += DMA_CHUNK) { /// DMA_CHUNK==0x4000 for(dai = 0; dai < CCAM_DMA1_SIZE; dai += DMA_CHUNK) { /// DMA_CHUNK==0x4000
...@@ -1137,8 +1146,8 @@ void logger_dma_start(void) { ...@@ -1137,8 +1146,8 @@ void logger_dma_start(void) {
///dma0 is using external dma 3 (input) with dma channel 9 ///dma0 is using external dma 3 (input) with dma channel 9
///dma1 (this) is using external dma 1 (input) with dma channel 7 (shared with async. serial 0, so do not use DMA there!) ///dma1 (this) is using external dma 1 (input) with dma channel 7 (shared with async. serial 0, so do not use DMA there!)
unsigned long x313_dma1_init(void) { unsigned long x313_dma1_init(void) {
dma_is_on=0;
int rslt; int rslt;
dma_is_on=0;
#ifdef NC353 #ifdef NC353
reg_dma_rw_cfg cfg = {.en = regk_dma_yes}; // if disabled - will be busy and hang on attemt of DMA_WR_CMD reg_dma_rw_cfg cfg = {.en = regk_dma_yes}; // if disabled - will be busy and hang on attemt of DMA_WR_CMD
reg_bif_dma_rw_ch1_ctrl exdma_ctrl = { reg_bif_dma_rw_ch1_ctrl exdma_ctrl = {
...@@ -1169,22 +1178,22 @@ unsigned long x313_dma1_init(void) { ...@@ -1169,22 +1178,22 @@ unsigned long x313_dma1_init(void) {
}; };
// just in case - free DMA channel (we are only using it here) // just in case - free DMA channel (we are only using it here)
crisv32_free_dma(EXTDMA1_RX_DMA_NBR); crisv32_free_dma(EXTDMA1_RX_DMA_NBR);
printk("Initializing DMA registers for EXTDMA1\n"); dev_dbg(g_dev_ptr,"Initializing DMA registers for EXTDMA1\n");
MD7(printk("x313_dma1_init(void)")); dev_dbg(g_dev_ptr,"x313_dma1_init(void)");
D0(printk ("before crisv32_request_dma\n"); udelay (500000)); dev_dbg(g_dev_ptr,"before crisv32_request_dma\n"); udelay (500000);
rslt = crisv32_request_dma(EXTDMA1_RX_DMA_NBR, rslt = crisv32_request_dma(EXTDMA1_RX_DMA_NBR,
"imu data in from fpga", "imu data in from fpga",
DMA_VERBOSE_ON_ERROR, DMA_VERBOSE_ON_ERROR,
0, 0,
dma_ext1); dma_ext1);
D0(printk ("after crisv32_request_dma - result=%d\n",rslt); udelay(500000)); dev_dbg(g_dev_ptr,"after crisv32_request_dma - result=%d\n",rslt); udelay(500000);
if(rslt) { if(rslt) {
printk("failed\n"); dev_dbg(g_dev_ptr,"failed\n");
crisv32_free_dma(EXTDMA1_RX_DMA_NBR); crisv32_free_dma(EXTDMA1_RX_DMA_NBR);
printk(KERN_CRIT "Can't allocate external dma port for compressed data in from fpga"); dev_dbg(g_dev_ptr,"Can't allocate external dma port for compressed data in from fpga");
} else { /// dma channel 7 allocated for ext dma 1 } else { /// dma channel 7 allocated for ext dma 1
/// setup source of hsh2, hsh3 /// setup source of hsh2, hsh3
REG_WR(bif_dma, regi_bif_dma, rw_pin2_cfg, exdma_pin2); /// just in case - turn hsh2 off REG_WR(bif_dma, regi_bif_dma, rw_pin2_cfg, exdma_pin2); /// just in case - turn hsh2 off
...@@ -1224,7 +1233,7 @@ int x313_setDMA1Buffer(void) { ...@@ -1224,7 +1233,7 @@ int x313_setDMA1Buffer(void) {
// TODO: make new global parameter? // TODO: make new global parameter?
// set_globalParam (G_CIRCBUFSIZE,CCAM__DMA_SIZE<<2); /// make it adjustable? TODO: initialize with others? // set_globalParam (G_CIRCBUFSIZE,CCAM__DMA_SIZE<<2); /// make it adjustable? TODO: initialize with others?
//*********************** TEMPORARY ******************************** //*********************** TEMPORARY ********************************
MD8(printk ("filling DMA1 buffer with natural numbers - just test \n")); dev_dbg(g_dev_ptr,"filling DMA1 buffer with natural numbers - just test \n");
for(dai = 0; dai < CCAM_DMA1_SIZE; dai++) logger_buffer[dai] = dai; for(dai = 0; dai < CCAM_DMA1_SIZE; dai++) logger_buffer[dai] = dai;
return 0; return 0;
} }
......
src/include/uapi/elphel/c313a.h
View file @ 809ae1e8
...@@ -1652,7 +1652,7 @@ struct p_names_t { ...@@ -1652,7 +1652,7 @@ struct p_names_t {
// make this structure common for sensors, add fields as needed // make this structure common for sensors, add fields as needed
struct sensor_t { struct __attribute__((__packed__)) sensor_t {
// sensor constants // sensor constants
unsigned long imageWidth; ///< nominal image width for final images unsigned long imageWidth; ///< nominal image width for final images
unsigned long imageHeight; ///< nominal image height for final images unsigned long imageHeight; ///< nominal image height for final images
...@@ -1789,7 +1789,7 @@ struct i2c_timing_t { ...@@ -1789,7 +1789,7 @@ struct i2c_timing_t {
#define GAMMA_SCALE_SHIFT 10 // when scaling - shift right by GAMMA_SCALE_SHIFT (treat scale as 6.10) #define GAMMA_SCALE_SHIFT 10 // when scaling - shift right by GAMMA_SCALE_SHIFT (treat scale as 6.10)
#define GAMMA_SCLALE_1 ( 1 << GAMMA_SCALE_SHIFT ) // gamma scale 1.0 - 0x400 #define GAMMA_SCLALE_1 ( 1 << GAMMA_SCALE_SHIFT ) // gamma scale 1.0 - 0x400
struct gamma_stuct_t { struct __attribute__((__packed__)) gamma_stuct_t {
union { union {
unsigned long hash32; /// fully identifies current table unsigned long hash32; /// fully identifies current table
struct { struct {
......
src/include/uapi/elphel/exifa.h
View file @ 809ae1e8
...@@ -43,7 +43,7 @@ or Rational or else. The generated Exif header copies that variable fileds on to ...@@ -43,7 +43,7 @@ or Rational or else. The generated Exif header copies that variable fileds on to
The compressed data buffer is stored in "meta pages", one per frame The compressed data buffer is stored in "meta pages", one per frame
*/ */
struct exif_dir_table_t { struct __attribute__((__packed__)) exif_dir_table_t {
union { union {
unsigned long ltag;// tag group and tag combined unsigned long ltag;// tag group and tag combined
struct { struct {
...@@ -112,13 +112,13 @@ struct exif_dir_table_t { ...@@ -112,13 +112,13 @@ struct exif_dir_table_t {
// array(0x9003,2,"2001:06:21 12:00:00","len"=> 20), //date/time original time created, always use 20 bytes (19 ."\0") // array(0x9003,2,"2001:06:21 12:00:00","len"=> 20), //date/time original time created, always use 20 bytes (19 ."\0")
// array(0x9291,2,"0 ") //original time sub-second length=10 9 ."\0" // array(0x9291,2,"0 ") //original time sub-second length=10 9 ."\0"
///move back to interframe_params_t? ///move back to interframe_params_t?
struct frame_exif_t { struct __attribute__((__packed__)) frame_exif_t {
unsigned short meta_index; //! index of the linked meta page unsigned short meta_index; //! index of the linked meta page
unsigned short signffff; //! should be 0xffff - it will be a signature that JPEG data was not overwritten unsigned short signffff; //! should be 0xffff - it will be a signature that JPEG data was not overwritten
unsigned long frame_length; //! frame length unsigned long frame_length; //! frame length
}; };
struct meta_GPSInfo_t { struct __attribute__((__packed__)) meta_GPSInfo_t {
unsigned char GPSLatitudeRef; //"N"/"S" unsigned char GPSLatitudeRef; //"N"/"S"
unsigned long GPSLatitude_deg_nom; unsigned long GPSLatitude_deg_nom;
unsigned long GPSLatitude_deg_denom; unsigned long GPSLatitude_deg_denom;
...@@ -142,7 +142,7 @@ struct meta_GPSInfo_t { ...@@ -142,7 +142,7 @@ struct meta_GPSInfo_t {
unsigned char GPSMeasureMode; unsigned char GPSMeasureMode;
}; };
//hack - use //hack - use
struct meta_CompassInfo_t { struct __attribute__((__packed__)) meta_CompassInfo_t {
// unsigned char GPSImgDirectionRef; //"M"/"T" //0x10 // unsigned char GPSImgDirectionRef; //"M"/"T" //0x10
unsigned long CompassDirection_nom; //0x11 unsigned long CompassDirection_nom; //0x11
unsigned long CompassDirection_denom; unsigned long CompassDirection_denom;
......
src/patches/README
View file @ 809ae1e8
Patches from this directory are applied by 'meta-elphel393/recipes-kernel/linux/linux-xlnx' bitbake recipe. To add a new patch, append SRC_URI variable in the recipe. Patches from this directory are applied by 'meta-elphel393/recipes-kernel/linux/linux-xlnx' bitbake recipe. To add a new patch, append SRC_URI variable in the recipe.
Short description of the paches:
libata-eh.c.patch
This patch is a workaround for the situation when ESATA disk connection leads to kernel panic. Consider the following execution path in driver: libata-core.c:ata_exec_internal_sg -> error during command execution leading to command timeout -> libata-core.c:ata_qc_complete (or ata_port_freeze and finally to the same function) -> libata-core.c:ata_qc_schedule_eh where qc->scsicmd is a NULL pointer by the moment. This patch may not be needed when all hardware/software issues are rectified.
src/patches/libata-eh.c.patch 0 → 100644
View file @ 809ae1e8
diff --git a/drivers/ata/libata-eh.c b/drivers/ata/libata-eh.c
index d2029a4..3fdf705 100644
--- a/drivers/ata/libata-eh.c
+++ b/drivers/ata/libata-eh.c
@@ -968,7 +968,7 @@ static void ata_eh_set_pending(struct ata_port *ap, int fastdrain)
void ata_qc_schedule_eh(struct ata_queued_cmd *qc)
{
struct ata_port *ap = qc->ap;
- struct request_queue *q = qc->scsicmd->device->request_queue;
+ struct request_queue *q;
unsigned long flags;
WARN_ON(!ap->ops->error_handler);
@@ -981,9 +981,12 @@ void ata_qc_schedule_eh(struct ata_queued_cmd *qc)
* Note that ATA_QCFLAG_FAILED is unconditionally set after
* this function completes.
*/
- spin_lock_irqsave(q->queue_lock, flags);
- blk_abort_request(qc->scsicmd->request);
- spin_unlock_irqrestore(q->queue_lock, flags);
+ if (qc->scsicmd != NULL) {
+ q = qc->scsicmd->device->request_queue;
+ spin_lock_irqsave(q->queue_lock, flags);
+ blk_abort_request(qc->scsicmd->request);
+ spin_unlock_irqrestore(q->queue_lock, flags);
+ }
}
/**
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