debugging driver for lepton 3.5, works with fpga 0x03930133 (bd61276e) · Commits · Elphel / linux-elphel

src/drivers/elphel/framepars.c

+5 −0

Original line number	Diff line number	Diff line
		@@ -1499,6 +1499,8 @@ int setFramePars(int sensor_port, ///< sensor port number (0
		unsigned long *funcs2call =afuncs2call[sensor_port];

		dev_dbg(g_devfp_ptr, "port= %d, this_framepars=0x%x numPars=%d\n", sensor_port, (int)this_framepars, numPars);
		// dev_info(g_devfp_ptr, "port= %d, this_framepars=0x%x numPars=%d\n", sensor_port, (int)this_framepars, numPars);

		MDP(DBGB_FSFP,sensor_port,"this_framepars=0x%x numPars=%d\n", (int)this_framepars, numPars)

		for (npar = 0; npar < numPars; npar++) {
		@@ -1506,6 +1508,9 @@ int setFramePars(int sensor_port, ///< sensor port number (0
		val = pars[npar].val;
		index = pars[npar].num & 0xffff;
		dev_dbg(g_devfp_ptr, ": --- frame16=%d index=%d (0x%x) val=0x%x, findex_future = 0x%x\n", frame16, index, (int)pars[npar].num, (int)val, findex_future);

		// dev_info(g_devfp_ptr, ": --- frame16=%d index=%d (0x%x) val=0x%x, findex_future = 0x%x\n", frame16, index, (int)pars[npar].num, (int)val, findex_future);

		MDP(DBGB_FSFV,sensor_port," --- frame16=%d index=%d (0x%x) val=0x%x\n", frame16, index, (int)pars[npar].num, (int)val)
		// remark: code below looks similar to setFramePar function, call it instead
		if (index > ((index >= FRAMEPAR_GLOBALS) ? (P_MAX_GPAR + FRAMEPAR_GLOBALS) : P_MAX_PAR)) {

src/drivers/elphel/lepton.c

+140 −33

Original line number	Diff line number	Diff line
		@@ -122,9 +122,17 @@ const unsigned short lepton_par2addr[] = {
		P_LEPTON_DATAFD, P_REG_LEPTON_DATAFD,
		P_LEPTON_DATAFE, P_REG_LEPTON_DATAFE,
		P_LEPTON_DATAFF, P_REG_LEPTON_DATAFF,
		// Registers that are not i2c (see if it will register pages)

		P_LEPTON_GP3VSYNC, P_REG_LEPTON_GP3VSYNC, // 0x0854
		P_LEPTON_TELEN, P_REG_LEPTON_TELEN, // 0x0218
		P_LEPTON_TELLOC, P_REG_LEPTON_TELLOC, // 0x021c

		0xffff // END indicator
		};



		/**
		* get at least one parameter for a page
		*/
		@@ -138,7 +146,6 @@ const unsigned short lepton_pages[] = {
		P_REG_LEPTON_DATAFD,
		P_REG_LEPTON_DATAFE,
		P_REG_LEPTON_DATAFF,

		0xffff // END indicator
		};

		@@ -253,9 +260,10 @@ static unsigned short sensor_reg_copy[SENSOR_PORTS][256]; ///< Read all 256 sens
		// a place to add some general purpose register writes to sensors during init

		/** Register initial writes for MT9M001 */
		//static unsigned short lepton35_inits[]=
		//{
		//};
		static unsigned short lepton35_inits[]=
		{
		P_LEPTON_GP3VSYNC, P_REG_LEPTON_GP3VSYNC_VAL // Enable VSYNC to GPIO3
		};



		@@ -281,48 +289,100 @@ int lepton_wait_ready(int sensor_port, ///< sensor port number (0..3)
		int ntry;
		u32 i2c_read_dataw;
		lepton_status_t * status = (lepton_status_t *) &i2c_read_dataw;
		dev_info(g_dev_ptr,"lepton_wait_ready(%d), sa7 =0x%x, P_LEPTON_STATUS= 0x%x\n",sensor_port, sa7, P_LEPTON_STATUS);
		dev_dbg(g_dev_ptr,"lepton_wait_ready(%d), sa7 =0x%x, P_LEPTON_STATUS= 0x%x\n",sensor_port, sa7, P_LEPTON_STATUS);
		// If Lepton is not booted, reading status each ~600ms or sooner delays boot status indefinitely, so if not booted - shut up for 2 seconds
		// See if that influences frame times, if yes - delay silently.
		X3X3_I2C_RCV2(sensor_port, sa7, P_LEPTON_STATUS, &i2c_read_dataw);
		if ((status->boot_mode == 0) \|\| (status->boot_status == 0)) {
		dev_info(g_dev_ptr,"Lepton on port %d is not booted, wait 1.5 s silently\n",sensor_port);
		dev_dbg(g_dev_ptr,"Lepton on port %d is not booted, wait 1.5 s silently\n",sensor_port);
		udelay1000(1500);
		} else if (status->rsv5 != 0){
		dev_info(g_dev_ptr,"Lepton on port %d returned invalid status 0x%x, probably it does not exist - giving up\n",sensor_port, i2c_read_dataw);
		dev_dbg(g_dev_ptr,"Lepton on port %d returned invalid status 0x%x, probably it does not exist - giving up\n",sensor_port, i2c_read_dataw);
		return -ENODEV;
		}

		for (ntry = num_retries; (ntry > 0) \|\| (num_retries == 0); ntry--){
		X3X3_I2C_RCV2(sensor_port, sa7, P_LEPTON_STATUS, &i2c_read_dataw);
		if ((status->busy == 0) && (status->boot_mode == 1) && (status->boot_status == 1)){
		dev_info(g_dev_ptr,"lepton_wait_ready(%d) = 0x%x, ntry = %d (of %d)\n",sensor_port, i2c_read_dataw, (num_retries - ntry), num_retries);
		return ntry & 0x7ffffff;
		dev_dbg(g_dev_ptr,"lepton_wait_ready(%d) = 0x%x, ntry = %d (of %d)\n",sensor_port, i2c_read_dataw, (num_retries - ntry), num_retries);
		return (num_retries - ntry) & 0x7ffffff;
		}
		udelay1000(1); // wait 1 ms
		}
		dev_info(g_dev_ptr,"lepton_wait_ready(%d) = 0x%x, timeout (%d tries)\n",sensor_port, i2c_read_dataw, num_retries);
		dev_dbg(g_dev_ptr,"lepton_wait_ready(%d) = 0x%x, timeout (%d tries)\n",sensor_port, i2c_read_dataw, num_retries);
		return -ETIMEDOUT;
		}

		/**
		* Get single internal Lepton register (data length = 1), wait no longer than specified (in ms)
		*/

		int lepton_get_reg (int sensor_port, ///< sensor port number (0..3)
		int sa7, ///< I2C slave address
		int cmd, ///< Lepton command id
		int wait_ms){ ///< milliseconds to wait for ready (if >0)
		int i2c_read_dataw;
		int ierr = 0;
		dev_dbg(g_dev_ptr,"lepton_get_reg(%d, 0x%x, 0x%x, %d)\n", sensor_port, sa7, (int) cmd, wait_ms);
		cmd \|= ((LEPTON_MODULE(cmd) == LEPTON_OEM) \|\| (LEPTON_MODULE(cmd) == LEPTON_RAD)) ? 0x4000: 0;
		cmd &= 0xfffc; // remove possible stray bits
		cmd \|= LEPTON_GET;
		dev_dbg(g_dev_ptr,"X3X3_I2C_SEND2_LUT(%d, -1, 0, 0x%x, 0x%x)\n", sensor_port, P_LEPTON_DATA_LENGTH, 1);
		X3X3_I2C_SEND2_LUT(sensor_port, -1, 0, P_LEPTON_DATA_LENGTH, 1);
		dev_dbg(g_dev_ptr,"X3X3_I2C_SEND2_LUT(%d, -1, 0, 0x%x, 0x%x)\n", sensor_port, P_LEPTON_COMMAND_ID, (int) cmd);
		X3X3_I2C_SEND2_LUT(sensor_port, -1, 0, P_LEPTON_COMMAND_ID, cmd);
		if (wait_ms > 0){
		ierr = lepton_wait_ready(sensor_port, sa7, wait_ms );
		if (ierr <0) return ierr;
		}
		X3X3_I2C_RCV2(sensor_port, sa7, P_LEPTON_DATA00, &i2c_read_dataw);
		dev_dbg(g_dev_ptr,"X3X3_I2C_RCV2(%d, 0x%x, 0x%x, &i2c_read_data) -> 0x%x\n", sensor_port, sa7, P_LEPTON_DATA00, i2c_read_dataw);
		return i2c_read_dataw;
		}

		/**
		* Set single internal Lepton register (data length = 1) in immediate mode, wait no longer than specified (in ms)
		*/

		int lepton_set_reg (int sensor_port, ///< sensor port number (0..3)
		int sa7, ///< I2C slave address
		int cmd, ///< Lepton command id
		int wait_ms, ///< milliseconds to wait for ready (if >0)
		int data) { ///< data to write (16 bit)
		int ierr = 0;
		dev_dbg(g_dev_ptr,"lepton_set_reg(%d, 0x%x, 0x%x, %d)\n", sensor_port, sa7, cmd, wait_ms);

		if (wait_ms > 0){
		ierr = lepton_wait_ready(sensor_port, sa7, wait_ms );
		if (ierr <0) return ierr;
		}
		lepton_set_reg_nowait(sensor_port, -1, cmd, data); ///< data to write
		return 0;
		}

		/**
		* Set single internal Lepton register (data length = 1). No wait for not busy,or boot
		*/

		void lepton_set_reg_nowait(int sensor_port, ///< sensor port number (0..3)
		int frame, ///< frame number to apply, <0 - ASAP
		lepton_modules_t cmd_module, ///< Lepton command module
		int cmd_id, ///< Lepton command id
		int cmd, ///< Lepton command id
		int data ){ ///< data to write
		lepton_command_t cmd = {.d32 = 0};
		cmd.type = LEPTON_SET; // set
		cmd.module = cmd_module;
		cmd.id = cmd_id;
		cmd.protection = (cmd_module == LEPTON_OEM) \|\| (cmd_module == LEPTON_RAD);
		cmd \|= ((LEPTON_MODULE(cmd) == LEPTON_OEM) \|\| (LEPTON_MODULE(cmd) == LEPTON_RAD)) ? 0x4000: 0;
		cmd &= 0xfffc; // remove possible stray bits
		cmd \|= LEPTON_SET;
		dev_dbg(g_dev_ptr,"lepton_set_reg_nowait(%d, 0x%x, 0x%x, 0x%x)\n", sensor_port, frame, cmd, data);
		dev_dbg(g_dev_ptr,"X3X3_I2C_SEND2_LUT(%d, 0x%x, 0x%x, 0x%x\n", sensor_port, frame, P_LEPTON_DATA00, (int) data);

		X3X3_I2C_SEND2_LUT(sensor_port,frame, 0, P_LEPTON_DATA00, data);

		dev_dbg(g_dev_ptr,"X3X3_I2C_SEND2_LUT(%d, 0x%x, 0x%x, 0x%x\n", sensor_port, frame, P_LEPTON_DATA_LENGTH, 1);

		X3X3_I2C_SEND2_LUT(sensor_port,frame, 0, P_LEPTON_DATA_LENGTH, 1);
		X3X3_I2C_SEND2_LUT(sensor_port,frame, 0, P_LEPTON_COMMAND_ID, cmd.d32);

		dev_dbg(g_dev_ptr,"X3X3_I2C_SEND2_LUT(%d, 0x%x, 0x%x, 0x%x\n", sensor_port, frame, P_LEPTON_COMMAND_ID, (int) cmd);

		X3X3_I2C_SEND2_LUT(sensor_port,frame, 0, P_LEPTON_COMMAND_ID, cmd);
		}


		@@ -468,9 +528,11 @@ int lepton_pgm_initsensor (int sensor_port, ///< sensor port n
		///< be applied to, negative - ASAP
		///< @return 0 - OK, negative - error
		{
		// 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
		struct frameparspair_t pars_to_update[10]; // for all the sensor registers. Other P_* values will reuse the same ones
		int nupdate=0;
		// int first_sensor_i2c;
		// unsigned short * sensor_register_overwrites;
		int wait_ms= 1;
		x393_sensio_ctl_t sensio_ctl = {.d32=0};
		// u32 i2c_read_data_dw[256];
		// struct frameparspair_t pars_to_update[8];
		@@ -480,7 +542,7 @@ int lepton_pgm_initsensor (int sensor_port, ///< sensor port n
		// int sensor_register_overwrites_number;
		// int sensor_subtype;

		dev_dbg(g_dev_ptr,"{%d} frame16=%d\n",sensor_port,frame16);
		dev_dbg(g_dev_ptr,"lepton_pgm_initsensor(): {%d} frame16=%d\n",sensor_port,frame16);
		if (frame16 >= 0) return -1; // should be ASAP

		// turn off power down, set clock, activate reset
		@@ -518,9 +580,23 @@ int lepton_pgm_initsensor (int sensor_port, ///< sensor port n
		dev_dbg(g_dev_ptr,"Lepton sensor is lost!on port = %d\n",sensor_port);
		return 0; // no sensor found
		}
		// set vsync output, optionally telemetry
		lepton_set_reg_nowait(sensor_port, -1, LEPTON_OEM, 0x15, 5); // enable VSYNC generation
		// lepton_set_reg_nowait(sensor_port, -1, LEPTON_SYS, 0x06, 1); // enable telemetry output

		dev_dbg(g_dev_ptr,"Reading Lepton (port=%d) essential registers to the shadows\n",sensor_port);

		for (i = 0; lepton_par2addr[2*i] < 256; i+=1){
		if (lepton_par2addr[2*i] > P_LEPTON_DATAFF) { // first registers are i2c registers, skip them
		sensor_reg_copy[sensor_port][lepton_par2addr[2i]] = lepton_get_reg (sensor_port, sensor->i2c_addr, lepton_par2addr[2i + 1], wait_ms);
		SET_LEPTON_PAR_DRY(sensor_port, lepton_par2addr[2i],sensor_reg_copy[sensor_port][lepton_par2addr[2i]]);
		}
		}

		for (i=0; i< sizeof(lepton35_inits)/ 4;i++ ) { // unconditionally set those registers NOTE: Should be < 63 of them!
		// set in immediate mode (with waits), update shadows
		SET_LEPTON_PAR_IMMED(sensor_port, sensor->i2c_addr, lepton35_inits[2i], lepton35_inits[2i + 1],wait_ms);
		dev_dbg(g_dev_ptr,"{%d} SET_LEPTON_PAR_IMMED(0x%x,0x%x)\n",sensor_port,P_SENSOR_REGS+lepton35_inits[2i],lepton35_inits[2i+1]);
		sensor_reg_copy[sensor_port][lepton35_inits[2i]] = lepton35_inits[2i + 1];
		}



		// Setup VOSPI to generate frame sync for teh sequencers
		@@ -538,15 +614,40 @@ int lepton_pgm_initsensor (int sensor_port, ///< sensor port n
		sensio_ctl.gpio2 = 3; // input
		// Hardware debug source:0-running,1-will_sync,2-vsync_rdy[1],3-discard_segment,4-in_busy,5-out_busy,6-hact,7-sof
		sensio_ctl.dbg_src = 0; sensio_ctl.dbg_src_set = 1;

		if (sensor_reg_copy[sensor_port][P_LEPTON_GP3VSYNC] == P_REG_LEPTON_GP3VSYNC_VAL) {
		sensio_ctl.vsync_use = 0;
		dev_dbg(g_dev_ptr,"Using VSYNC on port=%d\n",sensor_port);
		} else {
		sensio_ctl.vsync_use = 0;
		dev_dbg(g_dev_ptr,"Not using VSYNC on port=%d\n",sensor_port);
		}

		pars_to_update[nupdate ].num= P_OVERSIZE; // does not work? - comes form autocampars
		pars_to_update[nupdate++].val= 1;
		pars_to_update[nupdate ].num= P_WOI_HEIGHT;

		if (sensor_reg_copy[sensor_port][P_LEPTON_TELEN]) {
		sensio_ctl.vsync_use = 0;
		dev_dbg(g_dev_ptr,"Using %ld rows frame to include telemetry data on port=%d\n",lepton35.arrayHeight, sensor_port);
		pars_to_update[nupdate++].val= lepton35.arrayHeight;
		sensio_ctl.telemetry = 1;
		} else {
		dev_dbg(g_dev_ptr,"Using just %ld rows frame, do not include telemetry data on port=%d\n",lepton35.clearHeight, sensor_port);
		pars_to_update[nupdate++].val= lepton35.clearHeight;
		sensio_ctl.telemetry = 0;
		}
		x393_sensio_ctrl(sensio_ctl,sensor_port);

		// set color = 15, bits=16
		// SETFRAMEPARS_SET(P_COLOR, COLORMODE_RAW);
		// SETFRAMEPARS_SET(P_BITS, 16);



		/*
		* lepton35.arrayHeight
		lepton35.clearHeight
		*
		pars_to_update[nupdate ].num= P_SENSOR_REGS+(reg);\
		pars_to_update[nupdate++].val=(data);\
		// NC393: both sequencers started in pgm_detectsensor
		if (debug_delays & 0xff00) {
		udelay ((debug_delays >> 8) & 0xff); // 100);
		@@ -610,7 +711,7 @@ int lepton_pgm_initsensor (int sensor_port, ///< sensor port n
		MDF4(for (i=0; i<1023; i++) {if ((i & 0x1f)==0) dev_dbg(g_dev_ptr,"\n"); dev_dbg(g_dev_ptr," 0x%06lx",GLOBALPARS (sensor_port, G_SENSOR_CALIB+i));});
		*/

		// if (nupdate) setFramePars(sensor_port,thispars, nupdate, pars_to_update); // save changes to gains and sensor register shadows
		if (nupdate) setFramePars(sensor_port,thispars, nupdate, pars_to_update); // save changes to gains and sensor register shadows
		return 0;
		}

		@@ -684,6 +785,7 @@ int lepton_pgm_window_common (int sensor_port, ///< sensor port n
		{
		// int i,dv,dh,bv,bh,ww,wh,wl,wt,flip,flipX,flipY,d, v;
		int ww,wh; // ,wl,wt;
		int need_telemetry;
		x393_sensio_ctl_t sensio_ctl = {.d32=0};

		// int compressor_margin; // 0 for JP4, 2 for JPEG
		@@ -696,21 +798,26 @@ int lepton_pgm_window_common (int sensor_port, ///< sensor port n
		wh = thispars->pars[P_SENSOR_PIXV];
		if (wh > sensor-> imageHeight){
		wh = sensor -> arrayHeight; // with telemetry
		need_telemetry = 1;
		} else {
		wh = sensor -> imageHeight; // without telemetry
		need_telemetry = 0;
		}
		if (unlikely(thispars->pars[P_SENSOR_PIXH] != ww)) { // correct window width if needed
		SETFRAMEPARS_SET(P_SENSOR_PIXH, ww);
		SETFRAMEPARS_SET(P_WOI_WIDTH, ww);
		}
		dev_dbg(g_dev_ptr,"{%d} wh=0x%x thispars->pars[P_SENSOR_PIXV]=0x%lx\n",sensor_port, wh, thispars->pars[P_SENSOR_PIXV]);
		if (unlikely(thispars->pars[P_SENSOR_REGS + P_LEPTON_TELEN] != need_telemetry)) {
		// if (unlikely(thispars->pars[P_SENSOR_PIXV] != wh)) {
		SETFRAMEPARS_SET(P_SENSOR_PIXV, wh); // probably already set by pgm_window_common
		SETFRAMEPARS_SET(P_WOI_HEIGHT, wh); // probably already set by pgm_window_common

		if (unlikely(thispars->pars[P_SENSOR_PIXV] != wh)) {
		SETFRAMEPARS_SET(P_SENSOR_PIXV, wh);
		SETFRAMEPARS_SET(P_WOI_HEIGHT, ww);
		lepton_set_reg_nowait(sensor_port, frame16, LEPTON_SYS, 0x06, (wh > sensor -> imageHeight)); // enable telemetry output
		SET_LEPTON_PAR_NOWAIT(sensor_port, frame16, P_LEPTON_TELEN, need_telemetry);
		sensio_ctl.telemetry = (wh > sensor -> imageHeight);
		sensio_ctl.telemetry_set = 1; // change it later by WINDOEW_HEIGHT?
		X393_SEQ_SEND1 (sensor_port, frame16, x393_sensio_ctrl, sensio_ctl);
		dev_dbg(g_dev_ptr," X393_SEQ_SEND1 (%d, 0x%x, x393_sensio_ctrl, 0x%x)\n",sensor_port, frame16, (int) sensio_ctl.d32);
		}

		// Margins - set 0

src/drivers/elphel/lepton.h

+74 −18

Original line number	Diff line number	Diff line
		@@ -45,14 +45,25 @@

		// Data model for Lepton does not match 393 convention (1 page for "important" registers,
		// so just 1 register of each of the 256-words is registered
		#define P_LEPTON_DATAF8 0xf8 ///< 0xf800 to 0xf8ff
		#define P_LEPTON_DATAF9 0xf9 ///< 0xf900 to 0xf9ff
		#define P_LEPTON_DATAFA 0xfa ///< 0xfa00 to 0xfaff
		#define P_LEPTON_DATAFB 0xfb ///< 0xfb00 to 0xfbff
		#define P_LEPTON_DATAFC 0xfc ///< 0xfc00 to 0xfcff
		#define P_LEPTON_DATAFD 0xfd ///< 0xfd00 to 0xfdff
		#define P_LEPTON_DATAFE 0xfe ///< 0xfe00 to 0xfeff
		#define P_LEPTON_DATAFF 0xff ///< 0xff00 to 0xffff
		#define P_LEPTON_DATAF8 0x28 ///< 0xf800 to 0xf8ff
		#define P_LEPTON_DATAF9 0x29 ///< 0xf900 to 0xf9ff
		#define P_LEPTON_DATAFA 0x2a ///< 0xfa00 to 0xfaff
		#define P_LEPTON_DATAFB 0x2b ///< 0xfb00 to 0xfbff
		#define P_LEPTON_DATAFC 0x2c ///< 0xfc00 to 0xfcff
		#define P_LEPTON_DATAFD 0x2d ///< 0xfd00 to 0xfdff
		#define P_LEPTON_DATAFE 0x2e ///< 0xfe00 to 0xfeff
		#define P_LEPTON_DATAFF 0x2f ///< 0xff00 to 0xffff

		// Registers 0x40.. 0xff will be used for non-i2c Lepton internal registers, such as VSYNC, telemetry
		#define P_LEPTON_GP3VSYNC 0x40
		#define P_LEPTON_TELEN 0x41
		#define P_LEPTON_TELLOC 0x42

		// actual values for registers (when reading)
		#define P_REG_LEPTON_GP3VSYNC 0x0854
		#define P_REG_LEPTON_GP3VSYNC_VAL 0x0005
		#define P_REG_LEPTON_TELEN 0x0218
		#define P_REG_LEPTON_TELLOC 0x021c

		// Actual register address ranges (probably, only even are used too?)
		#define P_REG_LEPTON_DATAF8 0xf800 ///< 0xf800 to 0xf8ff
		@@ -64,6 +75,54 @@
		#define P_REG_LEPTON_DATAFE 0xfe00 ///< 0xfe00 to 0xfeff
		#define P_REG_LEPTON_DATAFF 0xff00 ///< 0xff00 to 0xffff


		/**
		* Just set parameter for the Lepton related register, do not write to sensor
		* @param port sensor port number
		* @param reg relative register to fit 256 values page
		* @param data value to set (16 bits)
		*/
		#define SET_LEPTON_PAR_DRY(port,reg,data) {\
		pars_to_update[nupdate ].num= P_SENSOR_REGS+(reg);\
		pars_to_update[nupdate++].val=(data);\
		}


		/**
		* Set parameter for the Lepton related register and send related commands to hardware i2c sequencer in immediate mode
		* Only immediate mode allows waiting
		* @param port sensor port number
		* @param sa7 7-bit i2c slave address
		* @param reg relative register to fit 256 values page
		* @param data value to set (16 bits)
		* @param wait_ms - maximal numer of milliseconds to wait Lepton ready
		*/
		#define SET_LEPTON_PAR_IMMED(port,sa7,reg,data,wait_ms) {\
		int _LEPTONREG = pSensorPortConfig[(port)].par2addr[0][(reg)];\
		pars_to_update[nupdate ].num= P_SENSOR_REGS+(reg);\
		pars_to_update[nupdate++].val=(data);\
		if (!(_LEPTONREG&0xffff0000)) {\
		lepton_set_reg((port), (sa7), _LEPTONREG, (wait_ms), (data));\
		}\
		}
		// .pare2addr[0] - 256 of32-bit register addresses, or 0xffffffff for missing ones
		/**
		* Set parameter for the sensor register and send to hardware i2c sequencer
		* @param port sensor port number
		* @param frame frame number to apply, <0 - ASAP
		* @param reg relative register to fit 256 values page
		* @param data value to set (16 bits)
		*/
		#define SET_LEPTON_PAR_NOWAIT(port, frame, reg, data) {\
		int _LEPTONREG = pSensorPortConfig[(port)].par2addr[0][(reg)];\
		pars_to_update[nupdate ].num= P_SENSOR_REGS+(reg);\
		pars_to_update[nupdate++].val=(data);\
		if (!(_LEPTONREG&0xffff0000)) {\
		lepton_set_reg_nowait ((port), (frame), _LEPTONREG, (data));\
		}\
		}


		typedef union {
		struct {
		u32 busy: 1; // [ 0] BUSY bit (should be zero before issuing commands)
		@@ -91,6 +150,9 @@ typedef union {
		};
		} lepton_command_t;

		#define LEPTON_MODULE(x) (((x) >> 8) & 0x3f)


		typedef enum LEPTON_MODULES {
		LEPTON_AGC = 1,
		LEPTON_SYS = 2,
		@@ -130,16 +192,10 @@ int lepton_pgm_detectsensor (int sensor_port, ///< sensor port
		;
		void lepton_set_device(struct device *dev);

		int lepton_wait_ready (int sensor_port, ///< sensor port number (0..3)
		int sa7, ///< I2C slave address
		int num_retries ); ///< number of retries, 0 - forever
		///< @return > 0 number of retries0 - OK, negative - error

		void lepton_set_reg_nowait(int sensor_port, ///< sensor port number (0..3)
		int frame, ///< frame number to apply, <0 - ASAP
		lepton_modules_t cmd_module, ///< Lepton command module
		int cmd_id, ///< Lepton command id
		int data ); ///< data to write
		int lepton_wait_ready (int sensor_port, int sa7, int num_retries);
		int lepton_get_reg (int sensor_port, int sa7, int cmd, int wait_ms);
		int lepton_set_reg (int sensor_port, int sa7, int cmd, int wait_ms, int data);
		void lepton_set_reg_nowait (int sensor_port, int frame, int cmd, int data);

src/drivers/elphel/sensor_i2c.c

+4 −2

Original line number	Diff line number	Diff line
		@@ -698,8 +698,10 @@ void write_xi2c_reg16_abs_asap (int chn, ///< sensor port
		int addr, ///< low byte of the register address (high is in the table), 8 bits
		u32 data) ///< 16 or 8-bit data (LSB aligned), 16 address only for 16 bit data
		{
		// u32 dw = ((page & 0xff) << 24) \| ((addr & 0xff) << 16) \| (data & 0xffff);
		u32 dw = i2c_combine_page_addr_data8_16(chn, page, addr, data);
		// TODO: change to dev_dbg
		dev_dbg(sdev, "write_xi2c_reg16_abs_asap(chn=%d, page=0x%x, frame=0x%x addr=0x%x data=0x%x)\n",chn,page,frame,addr,data);

		if (frame<0) x393_sensi2c_rel (dw, chn, 0);
		else x393_sensi2c_abs (dw, chn, frame & PARS_FRAMES_MASK);
		}

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