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linux-elphel
Commit b83755b7 authored by Andrey Filippov's avatar Andrey Filippov
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merged with framepars

parents f8137eab 17de2ffe
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Showing with 40 additions and 21 deletions
src/drivers/elphel/imu_log393.c
View file @ b83755b7
......@@ -144,14 +144,19 @@
// bit 4 - invert polarity: 0 - timestamp leading edge, log at trailing edge, 1 - opposite
// software may set (up to 56 bytes) log message before trailing end of the pulse
#define IMUCR__SYN_CONF__BITNM 14 ///< logging frame time stamps (may be synchronized by another camera and have timestamp of that camera)
#define IMUCR__SYN_CONF__WIDTH 1 ///< 0 - disable, 1 - enable
#define IMUCR__SYN_CONF__WIDTH 4 ///< 0 - disable, 1 - enable, per channel (was width==1 in NC353)
#define IMUCR__RST_CONF__BITNM 16 ///< reset module
#define IMUCR__RST_CONF__BITNM 19 ///< reset module // was 16 in NC353
#define IMUCR__RST_CONF__WIDTH 1 ///< 0 - enable, 1 -reset (needs resettimng DMA address in ETRAX also)
#define IMUCR__DBG_CONF__BITNM 18 ///< several axtra IMU configuration bits
#define IMUCR__DBG_CONF__BITNM 21 ///< several axtra IMU configuration bits (was 18 for NC353)
#define IMUCR__DBG_CONF__WIDTH 4 ///< 0 - config_long_sda_en, 1 -config_late_clk, 2 - config_single_wire, should be set for 103695 rev "A"
#define IMUCR__SLOW_SPI__BITNM 26 ///< just for the driver, not written to FPGA (was 23 for NC353)
#define IMUCR__SLOW_SPI__WIDTH 1 ///< 0 - normal, 1 - slow SPI (programmed over i2c)
#define IMUCR__I2C_SA3__BITNM 28 ///< Low 3 bits of the SA7 of the PCA9500 slave address
#define IMUCR__I2C_SA3__WIDTH 3 ///< Should match jumpers
#define X313_IMU_REGISTERS_ADDR 0x4
#define X313_IMU_NMEA_FORMAT_ADDR 0x20
......@@ -303,7 +308,7 @@ void init_ccam_dma1_buf_ptr(void) {
#else
u32 * logger_buffer = NULL; ///< use instead of ccam_dma1_buf, logger_buffer. Initialize from the elphel393-mem
static u32 logger_size = 0; // size in bytes, should be 2^n
static u32 logger_offs32 = 0; // write offset in the buffer
static u32 logger_offs32 = 0; // write offset in the buffer, DWORDS
static u32 bytePtrMask = 0;
static dma_addr_t logger_phys; ///< physical address of the DMA memory start
static int logger_fpga_configured = 0;
......@@ -315,6 +320,7 @@ wait_queue_head_t logger_wait_queue;
int logger_dma_ctrl(int cmd);
int logger_init_fpga(int force);
#ifdef NC353 // will update from mult_saxi pointer
void updateNumBytesWritten(void){
......@@ -360,7 +366,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
// D(int i2c_err=0;)
int i2c_err=0;
dev_info(g_dev_ptr,"============ which = 0x%x =============== \n",which);
// dev_info(g_dev_ptr,"============ which = 0x%x =============== \n",which);
dev_dbg(g_dev_ptr,"============ which = 0x%x =============== \n",which);
D(for (i=0; i< sizeof (wbuf); i++ ) { if ((i & 0x1f)==0) printk("\n %03x",i); printk(" %02x",(int) wbuf[i]); });
......@@ -381,8 +387,11 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
x393_logger_data(logger_data);
#endif
}
dev_dbg(g_dev_ptr,"============ which = 0x%x WHICH_INIT = 0x%x=============== \n",which, (int) WHICH_INIT);
if (which & WHICH_INIT) {
unsigned char i2c_sa= PCA9500_PP_ADDR+((config[0]>>23) & 0xe);
// unsigned char i2c_sa= PCA9500_PP_ADDR+((config[0]>>23) & 0xe);
unsigned char i2c_sa8= PCA9500_PP_ADDR+(((config[0] >> IMUCR__I2C_SA3__BITNM) & 0x7)<<1); // Here 8-bit is needed, not SA7
//
unsigned char enable_IMU=0xfe; // maybe we need to reset it here? bit [1]
#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);
......@@ -398,17 +407,20 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
///TODO: add enabling via i2c (bus=1&raw=0x2300&data=0xfe)
//PCA9500_PP_ADDR
#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
enable_IMU = ((config[0] & IMU_CONF(SLOW_SPI, 1))?0xfd:0xff); // bit[0] - reset IMU
#else
enable_IMU=0xfe; // maybe we need to reset it here? bit [1]
#endif
i2c_writeData(i2cbus, // int n - bus (0 - to the sensor)
i2c_sa, // unsigned char theSlave,
i2c_sa8, // unsigned char theSlave,
&enable_IMU, //unsigned char *theData,
1, // int size,
1); // int stop (send stop in the end)
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);
dev_dbg(g_dev_ptr,"Sent i2c command in raw mode - address=0x%x, data=0x%x, result=0x%x\n",(int)i2c_sa8, (int) enable_IMU, i2c_err);
logger_init_fpga(0); // do not re-init if it already is
}
if (which & WHICH_RESET_SPI) {
dev_dbg(g_dev_ptr,"stopped IMU logger (set period=0)\n");
......@@ -422,7 +434,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
x393_logger_data(logger_data);
#endif
}
dev_dbg(g_dev_ptr,"============ which = 0x%x WHICH_INIT = 0x%x=============== \n",which, (int) WHICH_INIT);
if (which & WHICH_DIVISOR) {
dev_dbg(g_dev_ptr,"IMU clock divisor= %ld\n", divisor[0]);
#ifdef NC353
......@@ -501,7 +513,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
logger_data.d32= nmea_sel[i];
x393_logger_data(logger_data);
#endif
dev_dbg(g_dev_ptr,"Loading imu fpga register 0x%x with 0x%x\n", X313_IMU_NMEA_FORMAT_ADDR+i, nmea_sel[i] );
dev_dbg(g_dev_ptr,"Loaded imu fpga register 0x%x with 0x%x\n", X313_IMU_NMEA_FORMAT_ADDR+i, nmea_sel[i] );
}
for (i=0;i<16;i++) {
#ifdef NC353
......@@ -522,7 +534,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first
#else
logger_address.d32= X313_IMU_CONFIGURE_ADDR;
x393_logger_address(logger_address);
logger_data.d32= (config[0] & 0xffffff); // MSB used for the i2c slave addr of the 10365
logger_data.d32= (config[0] & 0x3ffffff); // some bits in MSB are used for the i2c slave addr of the 10365
x393_logger_data(logger_data);
#endif
}
......@@ -612,7 +624,6 @@ static int imu_open(struct inode *inode, struct file *filp) {
// int res;
int i;
// loff_t numBytesWritten;
dev_dbg(g_dev_ptr,"imu_open: minor=%x\n",p);
dev_dbg(g_dev_ptr,"filp=%lx\n",(unsigned long)filp);
......@@ -665,7 +676,7 @@ static int imu_open(struct inode *inode, struct file *filp) {
//printk("imu opened in R/W mode, (numBytesWritten=0x%x, numBytesRead=0x%x\n", numBytesWritten, numBytesRead);
} else { // read mode, use file pointer as read pointer, start from the latest data
filp->f_pos=numBytesWritten; // there is still a chance to lseek to an earlier position - reopening at the position of the total number of bytes written to the buffer
//printk("imu opened in RDONLY mode, (numBytesWritten=0x%x, numBytesRead=0x%x\n", numBytesWritten, numBytesRead);
dev_dbg(g_dev_ptr, "imu opened in RDONLY mode, (numBytesWritten=0x%llx, numBytesRead=0x%llx\n", numBytesWritten, numBytesRead);
}
}
break;
......@@ -809,8 +820,8 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) {
return (file->f_pos);
}
/** /dev/imu and /dev/imu read. If file is opened in R/W mode, reading updates global reade pointer, if readonly - each file
* has own pointer */
static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *off) {
int err;
unsigned long * sleep;
......@@ -827,6 +838,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
reg_dma_rw_stat stat;
reg_bif_dma_r_ch1_stat ch1_stat;
#endif
dev_dbg(g_dev_ptr," file=%x, count=0x%x (%d), off=%x\n", (int) file, (int) count, (int) count, (int)(*off));
switch ((int)file->private_data) {
case DEV393_MINOR(DEV393_LOGGER_CTRL):
// if (*off >= sizeof(wbuf)) return -EINVAL; // bigger than all
......@@ -850,6 +862,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
thisNumBytesRead=(file->f_mode & FMODE_WRITE)?numBytesRead:*off; // is that needed ("write mode") ?
charDMABuf = (char *) logger_buffer;
sleep= (unsigned long *) &wbuf[X313_IMU_SLEEP_OFFS];
dev_dbg(g_dev_ptr,"numBytesWritten=0x%08x thisNumBytesRead=0x%08x, sleep=0x%x\n", (int) numBytesWritten, (int) thisNumBytesRead, (int) sleep[0]);
/// should we wait for data?
idbg=0;
#ifdef NC353
......@@ -861,7 +874,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
#else
wait_event_interruptible(logger_wait_queue, (sleep[0]==0) || ((numBytesWritten-thisNumBytesRead) > 64)); // AF2016 Why sleep[0] here?
#endif
dev_dbg(g_dev_ptr,"After wait_event_interruptible: numBytesWritten=0x%08x thisNumBytesRead=0x%08x\n", (int) numBytesWritten, (int) thisNumBytesRead);
if (idbg>0) {
dev_dbg(g_dev_ptr,"slept %d times (%d usec)\n", idbg, (int) (*sleep * idbg));
......@@ -872,6 +885,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
byteIndexRead=thisNumBytesRead & bytePtrMask; // requires buffer size to be 2**N
byteIndexValid=(numBytesWritten-64) & bytePtrMask; // one record less to mitigate data hidden in ETRAX dma buffer
dev_dbg(g_dev_ptr,"byteIndexRead=0x%08x byteIndexValid=0x%08x bytePtrMask=0x%08x\n", byteIndexRead, byteIndexValid, (int)bytePtrMask);
#ifdef NC353
if (byteIndexValid<byteIndexRead) byteIndexValid += (CCAM_DMA1_SIZE<<2);
#else
......@@ -880,21 +894,24 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
if (count>(byteIndexValid-byteIndexRead)) count = (byteIndexValid-byteIndexRead);
leftToRead=count;
pe=byteIndexRead+leftToRead;
dev_dbg(g_dev_ptr,"byteIndexValid=0x%08x count=0x%08x pe=0x%08x\n", byteIndexValid, (int) count, pe);
#ifdef NC353
if (pe>(CCAM_DMA1_SIZE<<2)) pe=(CCAM_DMA1_SIZE<<2);
#else
if (pe>(logger_size << PAGE_SHIFT)) pe= logger_size;
// if (pe>(logger_size << PAGE_SHIFT)) pe= logger_size;
if (pe > logger_size) pe= logger_size;
#endif
/// copy all (or first part)
err=copy_to_user(buf, &charDMABuf[byteIndexRead], (pe-byteIndexRead));
if (err) {
dev_err(g_dev_ptr,"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 from offset 0x%llx, result=0x%x\n", (pe-byteIndexRead), *off,err);
//[ 811.889488] imu_logger elphel393-logger@0: 1. tried to copy 0x1000 bytes to offset 0x0, result=0x400000
return -EFAULT;
}
// advance pointers
leftToRead -= (pe-byteIndexRead);
thisNumBytesRead+= (pe-byteIndexRead);
dev_dbg(g_dev_ptr,"leftToRead=0x%08x thisNumBytesRead=0x%08x\n", leftToRead, (int) thisNumBytesRead);
///Do we need to copy from the beginning of the buffer?
if (leftToRead>0) {
// err=copy_to_user(buf, &charDMABuf[0], leftToRead);
......@@ -906,6 +923,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
return -EFAULT;
}
thisNumBytesRead+=leftToRead;
dev_dbg(g_dev_ptr,"thisNumBytesRead=0x%08x\n", (int) thisNumBytesRead);
#ifdef NC353
//Is it just for debug
......@@ -920,6 +938,7 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of
if (count<0) {
dev_err(g_dev_ptr,"Count is negative ( 0x%x)\n", count);
}
dev_dbg(g_dev_ptr,"count=0x%08x\n", (int) count);
return count;
default:
//printk(" Wrong minor=0x%x\n",((int *)file->private_data)[0]);
......@@ -939,7 +958,7 @@ static irqreturn_t logger_irq_handler(int irq, ///< [in] interrupt number
numBytesWrittenBase += logger_size;
}
logger_offs32 = mult_saxi_dwp.addr32;
numBytesWritten = numBytesWrittenBase + logger_offs32;
numBytesWritten = numBytesWrittenBase + (logger_offs32 <<2);
logger_irq_cmd(X393_IRQ_RESET);
wake_up_interruptible(&logger_wait_queue);
//thisFPGABytes
......@@ -973,7 +992,7 @@ static int logger_init(struct platform_device *pdev)
// Setup memory buffer from CMA
logger_buffer = (u32 *) pElphel_buf->logger_vaddr; // must be page-aligned!
logger_size = pElphel_buf->logger_size << PAGE_SHIFT;
bytePtrMask = logger_size;
bytePtrMask = logger_size - 1;
logger_phys = pElphel_buf->logger_paddr;
dma_is_on = 0;
// Setup interrupt
......
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