Commit 87b9b1b0 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

Merge branch 'rocko' of git@git.elphel.com:Elphel/linux-elphel.git into rocko

parents a9ba974c f7668d15

src/drivers/elphel/mt9f002.c

+216 −55
Original line number Diff line number Diff line
@@ -27,6 +27,7 @@ 
#include <linux/errno.h>

#include <linux/kernel.h>

#include <linux/fs.h>

#include <linux/delay.h>

#include <linux/string.h>

#include <linux/init.h>

//#include <linux/platform_device.h>
@@ -139,7 +140,7 @@ const unsigned short mt9f002_ahead_tab[] = 
	onchange_i2c,           0,    0,    0,    0,    0,   0, /// program i2c

	onchange_initsensor,    1,    0,    0,    0,    0,   0, /// resets sensor, reads sensor registers, schedules "secret" manufacturer's corrections to the registers (stops/re-enables hardware i2c)

	onchange_afterinit,     0,    0,    0,    0,    0,   0, /// restore image size, decimation,... after sensor reset or set them according to sensor capabilities if none were specified

	onchange_multisens,     0,    2,    1,    1,    1,   0, /// chnages related to multiplexed sensors

	onchange_multisens,     0,    2,    1,    1,    1,   0, /// changes related to multiplexed sensors

	onchange_window,        0,    2,    1,    2,    1,   0, /// program sensor WOI and mirroring (flipping) - NOTE: 1 bad frame to skip

	onchange_window_safe,   0,    1,    1,    1,    1,   0, /// program sensor WOI and mirroring (flipping) - NOTE: no bad frames

	onchange_exposure,      0,    2,    1,    2,    1,   0, /// program exposure
@@ -280,6 +281,8 @@ int mt9f002_pgm_gains (int sensor_port, struct sensor_t * sensor, struct 
int mt9f002_pgm_triggermode  (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);

int mt9f002_pgm_sensorregs   (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);



int mt9f002_phases_adjust_port(int sensor_port);



/**

 * Detect and initialize sensor and related data structures

 */
@@ -292,6 +295,13 @@ int mt9f002_pgm_detectsensor (int sensor_port, ///< sensor port 
                                                               ///< @return 0 - OK, negative - error



{

	int i,n;

	int regaddr,regval,regnum;

	int nupdate=0;

	int colamp_gain, a2_gain, gain, a2_inc;

	u32 i2c_read_data_dw[256];

	int color;

	struct frameparspair_t pars_to_update[262+(MAX_SENSORS * P_MULTI_NUMREGS )]; // for all the sensor registers. Other P_* values will reuse the same ones



    u32  i2c_read_dataw;
@@ -331,8 +341,11 @@ int mt9f002_pgm_detectsensor (int sensor_port, ///< sensor port 
    	psensor->i2c_addr = dc->slave7;

    }



    // don't need to disable and enable SOF since phase adjustment has been moved here

    /*

    dis_sof.dis_sof = 1;

    x393_sens_sync_mult(dis_sof,sensor_port);

    */



    // set control lines

    sensio_ctl.mrst = 1;
@@ -352,6 +365,31 @@ int mt9f002_pgm_detectsensor (int sensor_port, ///< sensor port 


    // delay until sensor gets responsive to i2c commands

    // 100us - was not enough



    /* See MT9F002_DS_B.pdf p.35: Power-On Reset Sequence (and Soft Reset Sequence?):

     *

     *   When power is applied - the sensor enters a low-power standby. Exit from which is

     *   controlled by the later of 2 events:

     *     - negation of the RESET_BAR

     *     - a timeout of the internal power-on reset circuit

     *

     *   There's no need to assert/deassert RESET_BAR but we hold it asserted then deassert.

     *

     *   The sensor is supposed to leave the hardware standby state and perform some initialization

     *   sequence that takes T_is = 2700 EXTCLK (MT9F002_EXT_CLK):

     *     - for 1.6MHz    T_is = 1.6 ms

     *     - for 24.444MHz T_is = 110 us

     *

     *	 While doing initialization sensor is unresponsive to i2c.

     *

     *	 After init it enters a low-power software standby and enables Voltage-Controlled Oscillator (VCO).

     *	 And internal delay will keep PLL disconneced for up to 1ms so that PLL can lock.

     *	 VCO lock time is 200 us (typical) - 1000 us (max)

     *

     *	 Soft Reset via R0x0103 is pretty much the same as Power-on reset.

     *

     *   So:

    */

    udelay(200);



    X3X3_I2C_RCV2(sensor_port, psensor->i2c_addr, P_REG_MT9F002_MODEL_ID, &i2c_read_dataw);
@@ -381,8 +419,6 @@ int mt9f002_pgm_detectsensor (int sensor_port, ///< sensor port 
    add_sensor_proc(sensor_port,onchange_triggermode, &mt9f002_pgm_triggermode);  // program sensor trigger mode

    add_sensor_proc(sensor_port,onchange_sensorregs,  &mt9f002_pgm_sensorregs);   // write sensor registers (only changed from outside the driver as they may have different latencies)?



    setFramePar(sensor_port, thispars, P_SENSOR,  sensor->sensorType); // should cause other actions



    common_pars->sensors[sensor_port] =  sensor->sensorType;

    //  setFramePar(thispars, P_SENSOR  | FRAMEPAIR_FORCE_NEWPROC,  sensor->sensorType); // force actions

    //  MDD1(dev_dbg(g_dev_ptr,"\n"));
@@ -399,6 +435,103 @@ int mt9f002_pgm_detectsensor (int sensor_port, ///< sensor port 
    sensio_ctl.gp1 = 0x3; // inverted iaro - 'active high'

    x393_sensio_ctrl(sensio_ctl,sensor_port);



    // The code below was moved from mt9f002_pgm_detectsensor

    // BEGIN:



	// Init values including PLL multiplier and other default

	n = sizeof(mt9f002_inits)/4; // 4 bytes per pair

	for(i=0;i<n;i++){

		// sa7 is not used

		// use broadcast address - which should be 0 for a single sensor?

		X3X3_I2C_SEND2_LUT_ASAP(sensor_port,0,mt9f002_inits[2*i],mt9f002_inits[2*i+1]);

	}



	// soft reset

	// sa7 is not used

	X3X3_I2C_SEND2_LUT_ASAP(sensor_port,0,P_REG_MT9F002_RESET_REGISTER,MT9F002_RESET_REGISTER_VALUE);

	// delay is not needed, however if bit[0]=1 then it is needed

	//udelay(100);



	// sensor is supposed to be streaming by now

	mt9f002_phases_adjust_port(sensor_port);



	// used for debugging

	//mdelay(30);



	// init register shadows here

	// regaddr will be 0xffffffff for not used par

    for (i=0; i<256; i++) { // read all registers, one at a time (slower than in 353)

    	regaddr = pSensorPortConfig[sensor_port].par2addr[0][i];

    	if (!(regaddr&0xffff0000)){

    		// TODO: get rid of i2c_addr

    		X3X3_I2C_RCV2(sensor_port, sensor->i2c_addr, regaddr, &i2c_read_data_dw[i]);

    	}else{

    		i2c_read_data_dw[i] = 0;

    	}

    }



    dev_dbg(g_dev_ptr,"Read 256 registers (port=%d) ID=0x%x:\n",sensor_port,i2c_read_data_dw[0]);



    for (i=0; i<256; i++) { // possible to modify register range to save (that is why nupdate is separate from i)

    	regval=i2c_read_data_dw[i];

        regnum=P_SENSOR_REGS+i;

        SETFRAMEPARS_SET(regnum,regval);

    }



    for (i=0;i<256;i++) {

        sensor_reg_copy[sensor_port][i] = i2c_read_data_dw[i];

    }



    // in mt9x00x there's setFrameParsStatic-call ?!!! Parameters that never change?

    if (nupdate)  setFrameParsStatic(sensor_port,nupdate,pars_to_update);  // save changes to sensor register shadows for all frames

    //if (nupdate) setFramePars(sensor_port,thispars,nupdate,pars_to_update);  // save changes to sensor register shadows



    // next are global pars?



    // set gains ranges

    SETFRAMEPARS_SET(P_GAIN_MIN, (sensor->minGain256)<<8); // less than that may not saturate sensor and confuse autoexposure/white balancing

    SETFRAMEPARS_SET(P_GAIN_MAX, (sensor->maxGain256)<<8);

    if (nupdate)  setFramePars(sensor_port,thispars, nupdate, pars_to_update);  // save changes to sensor register shadows



    // G_* parameters - can write directly

    // fill out the gain tables

    for (color=0;color<4;color++){

    	// 175 =

    	// 48 (for colamp=1) +

    	// 48 (for colamp=2) +

    	// 79 (for colamp=3)



    	colamp_gain = 2;

    	a2_gain = 0x30;

    	a2_inc = 0;



        for (i=0;i<176;i++) {

        	// for mt9x00x

            //GLOBALPARS(sensor_port, G_SENSOR_CALIB+(color<<8)+i)= (i>32)? ((i-16)<<14) : (i<<13); // one extra

        	// for mt9f002

        	if ((i==48)||(i==96)){

        		colamp_gain *= 2;

        		a2_inc = 0;

        	}

        	// actual formula

        	//gain = ((colamp_gain*(a2_gain+a2_inc))<<16)/64;

        	gain = (colamp_gain*(a2_gain+a2_inc))<<10;

        	GLOBALPARS(sensor_port, G_SENSOR_CALIB+(color<<8)+i)= gain; // one extra

        	a2_inc += 1;

        }

    }



    // don't need to disable and enable SOF since phase adjustment has been moved here

	// restore SOF (disabled in mt9f002_pgm_detectsensor)

    /*

	dis_sof.dis_sof = 0;

	x393_sens_sync_mult(dis_sof,sensor_port);

	*/



	// END



    setFramePar(sensor_port, thispars, P_SENSOR,  sensor->sensorType); // should cause other actions



    return sensor->sensorType;

    //NOTE 353:  hardware i2c is turned off (not needed in 393)

}
@@ -407,7 +540,7 @@ int mt9f002_pgm_detectsensor (int sensor_port, ///< sensor port 
// write to sensor's i2c register, test read

int mt9f002_phases_program_phase(int sensor_port, int phase){



	int read_phase = 0;

	int read_phase = 0xdead;

	struct sensor_port_config_t *pcfg;

	const char *name;
@@ -582,6 +715,8 @@ int mt9f002_phases_adjust_port(int sensor_port){ 


	// 4 data lanes - prior knowledge

	for(i=0;i<4;i++){

		// this was for debugging

		//mdelay(10);

		phase = mt9f002_phases_adjust_lane(sensor_port,phase,i);

	}
@@ -624,16 +759,25 @@ int mt9f002_pgm_initsensor (int sensor_port, ///< sensor port 
	u32 i2c_read_data_dw[256];



	//dev_dbg(g_dev_ptr,"{%d}  frame16=%d\n",sensor_port,frame16);



	// sensor is silent before init - this check is redundant

	//if (frame16 >= 0) return -1; // should be ASAP



	if (!init_done[sensor_port]){

		init_done[sensor_port] = true;

	}else{

		dev_dbg(g_dev_ptr,"{%d} Was going to try to init sensor twice. Exiting\n",sensor_port);

		dev_dbg(g_dev_ptr,"{%d} Already initialized. Exit.",sensor_port);

		return 0;

	}



	/* Moved to mt9f002_pgm_detectsensor

	 *   The procedure was supposedly interfered by other functions

	 *   executed on P_SENSOR change

	 */



	/*



	// Init values including PLL multiplier and other default

	n = sizeof(mt9f002_inits)/4; // 4 bytes per pair

	for(i=0;i<n;i++){

		// sa7 is not used
@@ -650,9 +794,7 @@ int mt9f002_pgm_initsensor (int sensor_port, ///< sensor port 
	// sensor is supposed to be streaming by now

	mt9f002_phases_adjust_port(sensor_port);



	// restore SOF (disabled in mt9f002_pgm_detectsensor)

	dis_sof.dis_sof = 0;

	x393_sens_sync_mult(dis_sof,sensor_port);

	mdelay(30);



	// init register shadows here

	// regaddr will be 0xffffffff for not used par
@@ -665,6 +807,7 @@ int mt9f002_pgm_initsensor (int sensor_port, ///< sensor port 
    		i2c_read_data_dw[i] = 0;

    	}

    }



    dev_dbg(g_dev_ptr,"Read 256 registers (port=%d) ID=0x%x:\n",sensor_port,i2c_read_data_dw[0]);



    for (i=0; i<256; i++) { // possible to modify register range to save (that is why nupdate is separate from i)
@@ -716,6 +859,11 @@ int mt9f002_pgm_initsensor (int sensor_port, ///< sensor port 
        }

    }



	// restore SOF (disabled in mt9f002_pgm_detectsensor)

	dis_sof.dis_sof = 0;

	x393_sens_sync_mult(dis_sof,sensor_port);

	*/



    return 0;

}
@@ -857,10 +1005,19 @@ int mt9f002_pgm_window_common (int sensor_port, ///< sensor port 


    //pr_info("mt9f002_pgm_window_common: %d\n",thispars->pars[P_EXPOS]);



    /*

    dh=  thispars->pars[P_DCM_HOR];

    dv=  thispars->pars[P_DCM_VERT];

    bh=  thispars->pars[P_BIN_HOR];

    bv=  thispars->pars[P_BIN_VERT];

    */



    /* avoid division by 0 */

    dh = thispars->pars[P_DCM_HOR]?thispars->pars[P_DCM_HOR]:1;

    dv = thispars->pars[P_DCM_VERT]?thispars->pars[P_DCM_VERT]:1;

    bh = thispars->pars[P_BIN_HOR]?thispars->pars[P_BIN_HOR]:1;

    bv = thispars->pars[P_BIN_VERT]?thispars->pars[P_BIN_VERT]:1;



    //wws = sensor->clearLeft;

    ww  = thispars->pars[P_SENSOR_PIXH] * dh;

    //wwe = ww + wws - 1;
@@ -868,6 +1025,8 @@ int mt9f002_pgm_window_common (int sensor_port, ///< sensor port 
    wh  = thispars->pars[P_SENSOR_PIXV] * dv;

    //whe = whs + wh + MT9F002_VACT_DELAY * dv - 1;



    dev_dbg(g_dev_ptr,"{%d} CHECK1 P_SENSOR_PIXH = 0x%04x    P_SENSOR_PIXV = 0x%04x\n",sensor_port,ww,wh);



    // assuming same for horizontal(H) and vertical(V), margins are from both sides

    compressor_margin = (thispars->pars[P_SENSOR_PIXH] - thispars->pars[P_WOI_WIDTH]) >> 1;

    //pr_info("Compressor margin = %d\n",compressor_margin);
@@ -896,6 +1055,8 @@ int mt9f002_pgm_window_common (int sensor_port, ///< sensor port 
        //whe = whs + wh + MT9F002_VACT_DELAY * dv - 1;

    }



    dev_dbg(g_dev_ptr,"{%d} CHECK2 P_SENSOR_PIXH = 0x%04x    P_SENSOR_PIXV = 0x%04x\n",sensor_port,ww,wh);



    // Margins

    wl = thispars->pars[P_WOI_LEFT] - compressor_margin;

    wt = thispars->pars[P_WOI_TOP]  - compressor_margin;

src/drivers/elphel/mt9f002.h

+1 −1
Original line number Diff line number Diff line
@@ -23,7 +23,7 @@ 
// bit 9 should have set masking for broken frames

// cleared bit 3 allows writing to some RO registers

//#define MT9F002_RESET_REGISTER_VALUE 0x001c

#define MT9F002_RESET_REGISTER_VALUE 0x0011c

#define MT9F002_RESET_REGISTER_VALUE 0x011c

//#define MT9F002_RESET_REGISTER_VALUE 0x0014

// number of lines to sacrifice before generating Frame Valid

#define MT9F002_VACT_DELAY 2

src/drivers/elphel/pgm_functions.c

+0 −2
Original line number Diff line number Diff line
@@ -518,8 +518,6 @@ int pgm_detectsensor (int sensor_port, ///< sensor port number ( 
    	setFramePar(sensor_port, thispars, P_CLK_SENSOR,  48000000);

    }







    if (thispars->pars[P_SENSOR] == SENSOR_DETECT) {

        sensor->sensorType=SENSOR_NONE;                 // to prevent from initializing again

        dev_dbg(g_dev_ptr,"No image sensor found\n");

src/drivers/elphel/x393_videomem.c

+20 −18
Original line number Diff line number Diff line
@@ -88,7 +88,7 @@ static struct class *videomem_dev_class; 
// About frame full width:

// https://blog.elphel.com/2015/05/nc393-development-progress-multichannel-memory-controller-for-the-multi-sensor-camera/#Memory_mapping_and_access_types

static struct elphel_video_buf_t buffer_settings = { ///< some default settings, same as in DT

        .frame_start =      {0x00000000, 0x08000000, 0x10000000, 0x08000000}, /* Frame starts (in bytes) */

        .frame_start =      {0x00000000, 0x08000000, 0x10000000, 0x18000000}, /* Frame starts (in bytes) */

        .frame_full_width = {      8192,       8192,       8192,       8192}, /* Frame full widths (in bytes). 1 memory page is 2048 bytes (128 bursts) */

        .frame_height =     {      8192,       8192,       8192,       8192}, /* Channel 3 maximal frame height in pixel lines */

        .frames_in_buffer = {         2,          2,          2,          2}  /* Number of frames in channel 3 buffer */
@@ -446,15 +446,15 @@ int control_sensor_memory (int num_sensor, ///< sensor port number (0..3) 
   }



   dev_dbg(g_dev_ptr,"{%d}  frame16=%d, cmd=%d, x393cms=%d\n",num_sensor,frame16, cmd, (int) x393cmd);

   dev_dbg(g_dev_ptr,"mode=0x%x (enable=%d, chn_nreset=%d, write_mem=%d, extra_pages=%d, keep_open=%d, byte32=%d, reset_frame=%d, single=%d,repetitive=%d, disable_need=%d,skip_too_late=%d )\n",

           mcntrl_mode.d32, mcntrl_mode.enable, mcntrl_mode.chn_nreset, mcntrl_mode.write_mem, mcntrl_mode.extra_pages,

           mcntrl_mode.keep_open, mcntrl_mode.byte32, mcntrl_mode.reset_frame, mcntrl_mode.single, mcntrl_mode.repetitive,

           mcntrl_mode.disable_need, mcntrl_mode.skip_too_late);

   dev_dbg(g_dev_ptr,"control_sensor_memory mode=0x%x (enable=%d, chn_nreset=%d, write_mem=%d, extra_pages=%d, keep_open=%d, byte32=%d, reset_frame=%d, single=%d,repetitive=%d, disable_need=%d,skip_too_late=%d )\n",

           mcntrl_mode.d32,         mcntrl_mode.enable,     mcntrl_mode.chn_nreset,   mcntrl_mode.write_mem,

		   mcntrl_mode.extra_pages, mcntrl_mode.keep_open,  mcntrl_mode.byte32,       mcntrl_mode.reset_frame,

		   mcntrl_mode.single,      mcntrl_mode.repetitive, mcntrl_mode.disable_need, mcntrl_mode.skip_too_late);

   MDP(DBGB_VM,num_sensor,"frame16=%d, cmd=%d, x393cms=%d\n",frame16, cmd, (int) x393cmd)

   MDP(DBGB_VM,num_sensor,"mode=0x%x (enable=%d, chn_nreset=%d, write_mem=%d, extra_pages=%d, keep_open=%d, byte32=%d, reset_frame=%d, single=%d,repetitive=%d, disable_need=%d,skip_too_late=%d )\n",

           mcntrl_mode.d32, mcntrl_mode.enable, mcntrl_mode.chn_nreset, mcntrl_mode.write_mem, mcntrl_mode.extra_pages,

           mcntrl_mode.keep_open, mcntrl_mode.byte32, mcntrl_mode.reset_frame, mcntrl_mode.single, mcntrl_mode.repetitive,

           mcntrl_mode.disable_need, mcntrl_mode.skip_too_late)

   MDP(DBGB_VM,num_sensor,"control_sensor_memory mode=0x%x (enable=%d, chn_nreset=%d, write_mem=%d, extra_pages=%d, keep_open=%d, byte32=%d, reset_frame=%d, single=%d,repetitive=%d, disable_need=%d,skip_too_late=%d )\n",

           mcntrl_mode.d32,         mcntrl_mode.enable,    mcntrl_mode.chn_nreset,   mcntrl_mode.write_mem,

		   mcntrl_mode.extra_pages, mcntrl_mode.keep_open, mcntrl_mode.byte32,       mcntrl_mode.reset_frame,

		   mcntrl_mode.single,      mcntrl_mode.repetitive,mcntrl_mode.disable_need, mcntrl_mode.skip_too_late)





   switch (x393cmd){
@@ -614,15 +614,17 @@ int control_compressor_memory (int num_sensor, ///< sensor port number (0. 
       return -EINVAL;

   }

   dev_dbg(g_dev_ptr,"{%d}  frame16=%d, cmd=%d, x393cms=%d\n",num_sensor,frame16, cmd, (int) x393cmd);

   dev_dbg(g_dev_ptr,"mode=0x%x (enable=%d, chn_nreset=%d, write_mem=%d, extra_pages=%d, keep_open=%d, byte32=%d, reset_frame=%d, single=%d,repetitive=%d, disable_need=%d,skip_too_late=%d )\n",

           mcntrl_mode.d32, mcntrl_mode.enable, mcntrl_mode.chn_nreset, mcntrl_mode.write_mem, mcntrl_mode.extra_pages,

           mcntrl_mode.keep_open, mcntrl_mode.byte32, mcntrl_mode.reset_frame, mcntrl_mode.single, mcntrl_mode.repetitive,

           mcntrl_mode.disable_need, mcntrl_mode.skip_too_late);

   dev_dbg(g_dev_ptr,"control_compressor_memory mode=0x%x (enable=%d, chn_nreset=%d, write_mem=%d, extra_pages=%d, keep_open=%d, byte32=%d, linear=%d, reset_frame=%d, single=%d, repetitive=%d, disable_need=%d, skip_too_late=%d, copy_frame=%d, abort_late=%d)\n",

           mcntrl_mode.d32,           mcntrl_mode.enable,     mcntrl_mode.chn_nreset, mcntrl_mode.write_mem,

		   mcntrl_mode.extra_pages,   mcntrl_mode.keep_open,  mcntrl_mode.byte32,     mcntrl_mode.linear,

		   mcntrl_mode.reset_frame,   mcntrl_mode.single,     mcntrl_mode.repetitive, mcntrl_mode.disable_need,

		   mcntrl_mode.skip_too_late, mcntrl_mode.copy_frame, mcntrl_mode.abort_late);

   MDP(DBGB_VM,num_sensor,"frame16=%d, cmd=%d, x393cms=%d\n",frame16, cmd, (int) x393cmd)

   MDP(DBGB_VM,num_sensor,"mode=0x%x (enable=%d, chn_nreset=%d, write_mem=%d, extra_pages=%d, keep_open=%d, byte32=%d, reset_frame=%d, single=%d,repetitive=%d, disable_need=%d,skip_too_late=%d )\n",

           mcntrl_mode.d32, mcntrl_mode.enable, mcntrl_mode.chn_nreset, mcntrl_mode.write_mem, mcntrl_mode.extra_pages,

           mcntrl_mode.keep_open, mcntrl_mode.byte32, mcntrl_mode.reset_frame, mcntrl_mode.single, mcntrl_mode.repetitive,

           mcntrl_mode.disable_need, mcntrl_mode.skip_too_late)

   MDP(DBGB_VM,num_sensor,"control_compressor_memory mode=0x%x (enable=%d, chn_nreset=%d, write_mem=%d, extra_pages=%d, keep_open=%d, byte32=%d, linear=%d, reset_frame=%d, single=%d, repetitive=%d, disable_need=%d, skip_too_late=%d, copy_frame=%d, abort_late=%d)\n",

           mcntrl_mode.d32,           mcntrl_mode.enable,     mcntrl_mode.chn_nreset, mcntrl_mode.write_mem,

		   mcntrl_mode.extra_pages,   mcntrl_mode.keep_open,  mcntrl_mode.byte32,     mcntrl_mode.linear,

		   mcntrl_mode.reset_frame,   mcntrl_mode.single,     mcntrl_mode.repetitive, mcntrl_mode.disable_need,

		   mcntrl_mode.skip_too_late, mcntrl_mode.copy_frame, mcntrl_mode.abort_late)



   switch (x393cmd){

   case ASAP: