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cf4af6f5 · Andrey Filippov · 804b8db1 · cf4af6f5 · cf4af6f5 · cf4af6f5
Commit cf4af6f5 authored Aug 09, 2016 by Andrey Filippov
19 changed files
--- a/src/drivers/elphel/circbuf-jtag.c
+++ b/src/drivers/elphel/circbuf-jtag.c
@@ -76,7 +76,7 @@
 /** Wait queue for the processes waiting for a new frame to appear in the circular buffer */
 wait_queue_head_t circbuf_wait_queue;
-struct circbuf_priv_t circbuf_priv[IMAGE_CHN_NUM];
+struct circbuf_priv_t circbuf_priv[SENSOR_PORTS];
 struct circbuf_priv_t *circbuf_priv_ptr = circbuf_priv;
 static struct device *g_dev_ptr;
@@ -109,7 +109,7 @@ int init_ccam_dma_buf_ptr(struct platform_device *pdev)
 	// set circular buffer size in bytes
 	set_globalParam(G_CIRCBUFSIZE, CCAM_DMA_SIZE);
-	for (i = 0; i < IMAGE_CHN_NUM; i++) {
+	for (i = 0; i < SENSOR_PORTS; i++) {
 		circbuf_priv[i].buf_ptr = ccam_dma_buf_ptr + BYTE2DW(CIRCBUF_START_OFFSET + i * CCAM_DMA_SIZE);
 		circbuf_priv[i].phys_addr = dma_handle + CIRCBUF_START_OFFSET + i * CCAM_DMA_SIZE;
 	}
@@ -572,10 +572,10 @@ ssize_t circbuf_write(struct file *file, const char *buf, size_t count, loff_t *
 	/* debug code follows*/
 	switch (buf[0] - 0x30) {
 	case 0:
-		camera_interrupts(0);
+		compressor_interrupts(0,chn);
 		break;
 	case 1:
-		camera_interrupts(1);
+		compressor_interrupts(1,chn);
 		break;
 	}
 	/* debug code end */

--- a/src/drivers/elphel/circbuf.c
+++ b/src/drivers/elphel/circbuf.c
@@ -753,10 +753,10 @@ ssize_t circbuf_write(struct file *file, const char *buf, size_t count, loff_t *
 	/* debug code follows*/
 	switch (buf[0] - 0x30) {
 	case 0:
-		camera_interrupts(0);
+		compressor_interrupts(0,chn);
 		break;
 	case 1:
-		camera_interrupts(1);
+		compressor_interrupts(1,chn);
 		break;
 	case 3:
 		/* update image quality */

--- a/src/drivers/elphel/detect_sensors.c
+++ b/src/drivers/elphel/detect_sensors.c
@@ -60,25 +60,29 @@ struct sensor_name_t {
    const char * name;
    u32          code;
    int          type; ///< +1 - applicable to sensors, +2 - applicable to multiplexers
+    sens_iface_t iface;
 };
+//typedef enum {NONE,PARALLEL12,HISPI} sens_iface_t; ///< Sensor port interface type
 const struct sensor_name_t sensor_names[] ={
-        {.name="detect",     .type=3, .code = 0},                // to be automatically detected
+        {.name="detect",     .type=3, .iface=NONE,       .code = 0},                // to be automatically detected
-        {.name="none",       .type=3, .code = SENSOR_NONE},      // no device attached
+        {.name="none",       .type=3, .iface=NONE,       .code = SENSOR_NONE},      // no device attached
-        {.name="mux10359",   .type=2, .code = SENSOR_MUX_10359}, // no device attached
+        {.name="mux10359",   .type=2, .iface=PARALLEL12, .code = SENSOR_MUX_10359}, // no device attached
-        {.name="zr32112",    .type=1, .code = SENSOR_ZR32112},   // Zoran ZR32112
+        {.name="zr32112",    .type=1, .iface=PARALLEL12, .code = SENSOR_ZR32112},   // Zoran ZR32112
-        {.name="zr32212",    .type=1, .code = SENSOR_ZR32212},   // Zoran ZR32212
+        {.name="zr32212",    .type=1, .iface=PARALLEL12, .code = SENSOR_ZR32212},   // Zoran ZR32212
-        {.name="kac1310",    .type=1, .code = SENSOR_KAC1310},   // Kodak KAC1310
+        {.name="kac1310",    .type=1, .iface=PARALLEL12, .code = SENSOR_KAC1310},   // Kodak KAC1310
-        {.name="kac5000",    .type=1, .code = SENSOR_KAC5000},   // Kodak KAC5000
+        {.name="kac5000",    .type=1, .iface=PARALLEL12, .code = SENSOR_KAC5000},   // Kodak KAC5000
-        {.name="mi1300",     .type=1, .code = SENSOR_MI1300},    // Micron MI1300
+        {.name="mi1300",     .type=1, .iface=PARALLEL12, .code = SENSOR_MI1300},    // Micron MI1300
-        {.name="mt9m001",    .type=1, .code = SENSOR_MT9M001},   // MT9M001
+        {.name="mt9m001",    .type=1, .iface=PARALLEL12, .code = SENSOR_MT9M001},   // MT9M001
-        {.name="mt9d001",    .type=1, .code = SENSOR_MT9D001},   // MT9D001
+        {.name="mt9d001",    .type=1, .iface=PARALLEL12, .code = SENSOR_MT9D001},   // MT9D001
-        {.name="mt9t001",    .type=1, .code = SENSOR_MT9T001},   // MT9T001
+        {.name="mt9t001",    .type=1, .iface=PARALLEL12, .code = SENSOR_MT9T001},   // MT9T001
-        {.name="mt9p006",    .type=1, .code = SENSOR_MT9P006},   // MT9P006
+        {.name="mt9p006",    .type=1, .iface=PARALLEL12, .code = SENSOR_MT9P006},   // MT9P006
-        {.name="mt9f002",    .type=1, .code = SENSOR_MT9F002},   // MT9F002
+        {.name="mt9f002",    .type=1, .iface=HISPI4,     .code = SENSOR_MT9F002},   // MT9F002
-        {.name="ibis51300",  .type=1, .code = SENSOR_IBIS51300}, // FillFactory IBIS51300
+        {.name="ibis51300",  .type=1, .iface=PARALLEL12, .code = SENSOR_IBIS51300}, // FillFactory IBIS51300
-        {.name="kai11002",   .type=1, .code = SENSOR_KAI11000},  // Kodak KAI11002
+        {.name="kai11002",   .type=1, .iface=PARALLEL12, .code = SENSOR_KAI11000},  // Kodak KAI11002
-        {.name=NULL,         .type=0, .code = 0} // end of list
+        {.name=NULL,         .type=0, .iface=NONE,       .code = 0} // end of list
 };
+static sens_iface_t port_iface[SENSOR_PORTS];
 //#define DETECT_SENSOR 1 ///< Include sensors, May be OR-ed when looking for sensor/multiplexer code/name
 //#define DETECT_MUX 2    ///< Include multiplexers, May be OR-ed when looking for sensor/multiplexer code/name
@@ -111,6 +115,20 @@ const char * get_name_by_code(int code, ///< sensor code
    return NULL;
 }
+/** Get sensor/multiplexer interface type by code */
+sens_iface_t get_iface_by_code(int code, ///< sensor code
+                               int type) ///< valid type [DETECT_SENSOR]|[DETECT_MUX]
+                                         ///< @return sensor name or NULL for invalid code
+{
+    int i;
+    for (i = 0; sensor_names[i].name; i++){
+        if ((sensor_names[i].type & type) && (sensor_names[i].code == code)){
+            return sensor_names[i].iface;
+        }
+    }
+    return NONE;
+}
 /** Get sensor port multiplexer type */
 int get_detected_mux_code(int port) ///< Sensor port number (0..3)
@@ -120,12 +138,59 @@ int get_detected_mux_code(int port) ///< Sensor port number (0..3)
 }
 /** Get sensor type */
 int get_detected_sensor_code(int port,    ///< Sensor port number (0..3)
-                             int sub_chn) ///< Sensor subchannel (0..3)
+                             int sub_chn) ///< Sensor subchannel (0..3), -1 - use first defined sub channel
                                          ///< @return sensor code (SENSOR_DETECT, SENSOR_NONE, or SENSOR_*)
 {
-    return sensorPortConfig[port&3].sensor[sub_chn & 3];
+    int nchn,code;
+    port &= 3;
+    if (sub_chn >= 0)
+        return sensorPortConfig[port].sensor[sub_chn & 3];
+    // Negative sensor - find first defined
+    nchn = (get_detected_mux_code(port) == SENSOR_NONE)? 1: MAX_SENSORS;
+    for (sub_chn = 0; sub_chn < nchn; sub_chn++){
+        code = sensorPortConfig[port].sensor[sub_chn];
+        if ((code != SENSOR_DETECT) && (code != SENSOR_NONE))
+            return code;
+    }
+    return SENSOR_NONE;
+}
+/** Gert configured  sensorport subchannels */
+int get_subchannels(int port) ///< Sensor port
+                              ///< @return bitmask of available channels
+{
+    int sub_chn, chn_mask = 0;
+    int nchn = (get_detected_mux_code(port) == SENSOR_NONE)? 1: MAX_SENSORS;
+    for (sub_chn = 0; sub_chn < nchn; sub_chn++){
+        if ((sensorPortConfig[port].sensor[sub_chn]!= SENSOR_DETECT) && (sensorPortConfig[port].sensor[sub_chn] != SENSOR_NONE)) {
+            chn_mask |= 1 << sub_chn;
+        }
+    }
+    return chn_mask;
+}
+/** Update per-port interface type after changing sensor/multiplexer */
+void update_port_iface(int port)  ///< Sensor port number (0..3)
+{
+    sens_iface_t iface = get_iface_by_code(get_detected_mux_code(port), DETECT_MUX);
+    if (iface != NONE) {
+        port_iface[port] = iface;
+        return;
+    }
+    port_iface[port] = get_iface_by_code(get_detected_sensor_code(port,-1), DETECT_MUX); // '-1' - any subchannel
 }
+/** Get per-port interface type */
+sens_iface_t get_port_interface(int port)  ///< Sensor port number (0..3)
+                                           ///< @ return interface type (none, parallel12, hispi4
+{
+    return port_iface[port];
+}
 /** Set sensor port multiplexer type */
 int set_detected_mux_code(int port,      ///< Sensor port number (0..3)
                          int mux_type)  ///< Sensor multiplexer type (SENSOR_DETECT, SENSOR_MUX_10359 or SENSOR_NONE)
@@ -138,6 +203,7 @@ int set_detected_mux_code(int port,      ///< Sensor port number (0..3)
        return -EINVAL;
    }
    sensorPortConfig[port & 3].mux = mux_type;
+    update_port_iface(port);
    return 0;
 }
@@ -154,6 +220,7 @@ int set_detected_sensor_code(int port,      ///< Sensor port number (0..3)
        return -EINVAL;
    }
    sensorPortConfig[port & 3].sensor[sub_chn] = sens_type;
+    update_port_iface(port);
    return 0;
 }
@@ -182,7 +249,7 @@ static int get_channel_sub_from_name(struct device_attribute *attr) ///< Linux k
 static ssize_t show_port_mux(struct device *dev, struct device_attribute *attr, char *buf)
 {
    int i;
-    const char * name = get_name_by_code(sensorPortConfig[get_channel_from_name(attr)].mux, DETECT_MUX);
+    const char * name = get_name_by_code(get_detected_mux_code(get_channel_from_name(attr)), DETECT_MUX);
    if (name) return sprintf(buf,"%s\n", name);
    // Should never get here
    return sprintf(buf,"0x%x\n", sensorPortConfig[get_channel_from_name(attr)].mux);
@@ -193,7 +260,7 @@ static ssize_t show_sensor(struct device *dev, struct device_attribute *attr, ch
    int psch = get_channel_sub_from_name(attr);
    int port = (psch>>4) &3;
    int sub_chn = psch &3;
-    const char * name = get_name_by_code(sensorPortConfig[port].sensor[sub_chn], DETECT_SENSOR);
+    const char * name = get_name_by_code(get_detected_sensor_code(port,sub_chn), DETECT_SENSOR);
    if (name) return sprintf(buf,"%s\n", name);
    // Should never get here
    return sprintf(buf,"0x%x\n", sensorPortConfig[(psch>>4) & 3].sensor[psch & 3]);

--- a/src/drivers/elphel/detect_sensors.h
+++ b/src/drivers/elphel/detect_sensors.h
@@ -20,9 +20,15 @@
 #define DETECT_SENSOR 1 ///< Include sensors, May be OR-ed when looking for sensor/multiplexer code/name
 #define DETECT_MUX 2    ///< Include multiplexers, May be OR-ed when looking for sensor/multiplexer code/name
+typedef enum {NONE,PARALLEL12,HISPI4} sens_iface_t; ///< Sensor port interface type
 int          get_code_by_name(const char * name, int type);
 const char * get_name_by_code(int code, int type);
+sens_iface_t get_iface_by_code(int code, int type);
 int get_detected_mux_code(int port);
 int get_detected_sensor_code(int port, int sub_chn);
+int get_subchannels(int port);
 int set_detected_mux_code(int port, int mux_type);
 int set_detected_sensor_code(int port, int sub_chn,  int mux_type);
+sens_iface_t get_port_interface(int port);
--- a/src/drivers/elphel/framepars.c
+++ b/src/drivers/elphel/framepars.c
@@ -146,7 +146,7 @@ wait_queue_head_t       aframepars_wait_queue[SENSOR_PORTS];// used to wait for
 /* Remove after compilation OK */
 struct sensorproc_t * sensorproc = NULL;
-//void camera_interrupts (int on) {}
+//void compressor_interrupts (int on) {}
 #if 0
 #define wait_event_interruptible(wq, condition)				\
 ({									\
@@ -353,6 +353,16 @@ inline unsigned long get_imageParamsPrev(int sensor_port, int n)
 	return aframepars[sensor_port][(thisFrameNumber(sensor_port) - 1) & PARS_FRAMES_MASK].pars[n];
 }
+/** Reads past parameters (small subset of all) fro absolute frame number */
+inline unsigned long get_imageParamsPast(int sensor_port, ///< sensor port (0..3)
+                                         int n,           ///< parameter index (should be 128..143)
+                                         int frame)       ///< absolute frame number
+{
+    return apastpars[sensor_port][frame & PASTPARS_SAVE_ENTRIES_MASK].past_pars[n-PARS_SAVE_FROM];
+}
 /**
 * @brief writes read-only parameter to the current frame (does not propagate to next frames as setFramePar() does)
 * In most cases you really need to use setFramePar() instead;
@@ -1181,11 +1191,12 @@ loff_t framepars_lseek(struct file * file, loff_t offset, int orig)
 					break;
 				case LSEEK_INTERRUPT_OFF: // disable camera interrupts
 					MDF2(printk("LSEEK_INTERRUPT_OFF\n"));
-					camera_interrupts(0);
+//					compressor_interrupts(0,sensor_port);
+                    sensor_interrupts(0,sensor_port);
 					break;
 				case LSEEK_INTERRUPT_ON: // enable camera interrupts
-					MDF2(printk("LSEEK_INTERRUPT_ON\n"));
+//					MDF2(printk("LSEEK_INTERRUPT_ON\n"));
-					camera_interrupts(1);
+					sensor_interrupts(1,sensor_port);
 					break;
 				}
 			}

--- a/src/drivers/elphel/framepars.h
+++ b/src/drivers/elphel/framepars.h
@@ -21,6 +21,8 @@ void resetFrameNumber  (int sensor_port); /// reset this frame number (called fr
 unsigned long get_imageParamsThis (int sensor_port, int n);
 unsigned long get_imageParamsPrev (int sensor_port, int n);
+unsigned long get_imageParamsPast(int sensor_port,  int n,  int frame);
 void          set_imageParamsThis (int sensor_port, int n, unsigned long d);
 unsigned long get_globalParam     (int sensor_port, int n);

--- a/src/drivers/elphel/histograms.c
+++ b/src/drivers/elphel/histograms.c
@@ -113,8 +113,6 @@
 //#include "fpga_io.h"//fpga_table_write_nice
 #include "framepars.h"        // for debug mask
 #include <elphel/elphel393-mem.h>
-#include "legacy_defines.h" // temporarily
-//#include "cc3x3.h"
 #include "x393.h"
 #include "histograms.h"

--- a/src/drivers/elphel/imu_log393.c
+++ b/src/drivers/elphel/imu_log393.c
@@ -55,8 +55,6 @@
 #include "imu_log393.h"
 #include "x393.h"
 #include "cci2c.h"
-//#include "legacy_defines.h" // temporarily
 #if 0
 #define D(x) x

--- a/src/drivers/elphel/mt9x001.c
+++ b/src/drivers/elphel/mt9x001.c
@@ -350,8 +350,7 @@
 #include "framepars.h"      // parameters manipulation
 #include "sensor_common.h"
 #include "pgm_functions.h"
-//#include "x3x3.h"           // hardware definitions
+#include "x393.h"
-#include "legacy_defines.h" // temporarily
 #include "sensor_i2c.h"
@@ -647,16 +646,16 @@ static  unsigned short mt9p001_multiregs[]=
 };
-int mt9x001_pgm_detectsensor (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame8);
+int mt9x001_pgm_detectsensor (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
-int mt9x001_pgm_initsensor   (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame8);
+int mt9x001_pgm_initsensor   (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
-int mt9x001_pgm_window       (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame8);
+int mt9x001_pgm_window       (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
-int mt9x001_pgm_window_safe  (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame8);
+int mt9x001_pgm_window_safe  (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
-int mt9x001_pgm_window_common(int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame8);
+int mt9x001_pgm_window_common(int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
-int mt9x001_pgm_limitfps     (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame8);
+int mt9x001_pgm_limitfps     (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
-int mt9x001_pgm_exposure     (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame8);
+int mt9x001_pgm_exposure     (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
-int mt9x001_pgm_gains        (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame8);
+int mt9x001_pgm_gains        (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
-int mt9x001_pgm_triggermode  (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame8);
+int mt9x001_pgm_triggermode  (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
-int mt9x001_pgm_sensorregs   (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame8);
+int mt9x001_pgm_sensorregs   (int sensor_port, struct sensor_t * sensor,  struct framepars_t * thispars, struct framepars_t * prevpars, int frame16);
 // @brief read 2 bytes from i2c
 #ifdef NC353
 #define I2C_READ_DATA16(x) ((i2c_read_data[(x)<<1]<<8)+i2c_read_data[((x)<<1)+1])
@@ -691,23 +690,24 @@ int mt9x001_pgm_detectsensor   (int sensor_port,               ///< sensor port
    int sensor_subtype=0;
    int i;
    struct sensor_t * psensor; // current sensor
-    MDF4(printk(" frame8=%d\n",frame8));
+    x393_sensio_ctl_t sensio_ctl = {.d32=0};
+    MDF4(printk(" frame16=%d\n",frame16));
    //  MDD1(printk("sensor=0x%x\n", (int)sensor));
    if (thispars->pars[P_SENSOR]!=0) { ///already initialized - called second time after common pgm_detectsensor(), first time is inside pgm_detectsensor()
        MDF1(printk(" sensor 0x%x already detected, exiting\n",(int) thispars->pars[P_SENSOR]));
        return sensor->sensorType;
    }
+    // try MT9P001 first
+    psensor= &mt9p001;
+#ifdef NC353
    // set control lines
    CCAM_NEGRST;  ///set negative MRST polarity
    CCAM_TRIG_INT;
    CCAM_MRST_OFF;
    CCAM_ARST_OFF;
    udelay (100);
-    // try MT9P001 first
-    psensor= &mt9p001;
-#ifdef NC353
    local_irq_save(flags); // IRQ Off
    i2c_stop_wait();
    i2c_writeData(0, (psensor->i2c_addr) & 0xfe,  &chipver_reg, 1, 0); // no stop before read  (cxi2c.c)
@@ -718,6 +718,22 @@ int mt9x001_pgm_detectsensor   (int sensor_port,               ///< sensor port
        sensor_subtype=MT9P_TYP; //1;
    }
 #else
+    // set control lines
+    sensio_ctl.mrst = 1;
+    sensio_ctl.mrst_set = 1;
+    sensio_ctl.arst = 1;
+    sensio_ctl.arst_set = 1;
+    sensio_ctl.aro = 1;
+    sensio_ctl.aro_set = 1;
+    x393_sensio_ctrl(sensio_ctl,sensor_port);
+    sensio_ctl.d32=0;
+    // reset mmcm
+    sensio_ctl.mmcm_rst = 1;
+    sensio_ctl.mmcm_rst_set = 1;
+    x393_sensio_ctrl(sensio_ctl,sensor_port);
+    sensio_ctl.mmcm_rst = 0;
+    x393_sensio_ctrl(sensio_ctl,sensor_port);
+    udelay(50); // is it needed?
    X3X3_I2C_RCV2(sensor_port, psensor->i2c_addr, P_MT9X001_CHIPVER, &i2c_read_dataw);
    if (((i2c_read_dataw ^ MT9P001_PARTID) & MT9X001_PARTIDMASK)==0) {
        printk("Found MT9P001 2592x1944 sensor, chip ID=%x\n",i2c_read_dataw);
@@ -727,7 +743,7 @@ int mt9x001_pgm_detectsensor   (int sensor_port,               ///< sensor port
    //  printk("sensor id= 0x%x\r\n",i2c_read_data[0]);
    //  MDD1(printk("sensor=0x%x\n", (int)sensor));
    if (sensor_subtype ==0)  { // not a 5MPix chip
-        CCAM_ARST_ON;
+//        CCAM_ARST_ON; // Why was it here
        psensor= &mt9m001; //address the same for all others
 #ifdef NC353
        local_irq_save(flags); // IRQ Off
@@ -823,8 +839,12 @@ int mt9x001_pgm_detectsensor   (int sensor_port,               ///< sensor port
    for (i=0;i<8;i++) {
        //    MDF(printk("i=%d, m=0x%lx\n",i,GLOBALPARS(G_MULTI_REGSM+i)));
    }
+//    CCAM_ARO_ON ; //set Does it need to be set here? Not earlier (as it is now set for NC393
    MDF4(printk(" set ARO (TRIGGER) line HIGH\n"));
-    CCAM_ARO_ON ; //set
+    sensio_ctl.d32=0;
+    sensio_ctl.aro = 1;
+    sensio_ctl.aro_set = 1;
+    x393_sensio_ctrl(sensio_ctl,sensor_port);
    return sensor->sensorType;
    //NOTE 353:  hardware i2c is turned off (not needed in 393)
 }
@@ -844,9 +864,11 @@ int mt9x001_pgm_initsensor     (int sensor_port,               ///< sensor port
    struct frameparspair_t pars_to_update[258+(MAX_SENSORS * P_MULTI_NUMREGS )]; // for all the sensor registers. Other P_* values will reuse the same ones
    int first_sensor_i2c;
    unsigned short * sensor_register_overwrites;
-    MDF4(printk(" frame8=%d\n",frame8));
+    x393_sensio_ctl_t sensio_ctl = {.d32=0};
+    MDF4(printk(" frame16=%d\n",frame16));
    if (frame16 >= 0) return -1; // should be ASAP
-//    int fpga_addr=(frame8 <0) ? X313_I2C_ASAP : (X313_I2C_FRAME0+frame8);
+//    int fpga_addr=(frame16 <0) ? X313_I2C_ASAP : (X313_I2C_FRAME0+frame16);
 //    unsigned char    i2c_read_data[512]; // each two bytes - one short word, big endian
    u32 i2c_read_data_dw[256];
    int nupdate=0;
@@ -854,6 +876,7 @@ int mt9x001_pgm_initsensor     (int sensor_port,               ///< sensor port
    int regval, regnum, mreg, j;
    printk("Resetting MT9X001 sensor\r\n");
    // reset sensor by applying MRST (low):
+#ifdef NC353
    CCAM_MRST_ON;
    udelay (100);
    CCAM_MRST_OFF;
@@ -863,7 +886,6 @@ int mt9x001_pgm_initsensor     (int sensor_port,               ///< sensor port
    if (GLOBALPARS(sensor_port, G_SENS_AVAIL)) {
        first_sensor_i2c+= I2C359_INC * ((GLOBALPARS(sensor_port, G_SENS_AVAIL) & 1)?1:((GLOBALPARS(sensor_port, G_SENS_AVAIL) & 2)?2:3));
    }
-#ifdef NC353
    i2c_read_data[0]=0;
    local_irq_save(flags); // IRQ Off (rather long - all 256 registers through i2c, but there is no hurry - sensor is off)
    i2c_stop_wait();
@@ -884,7 +906,23 @@ int mt9x001_pgm_initsensor     (int sensor_port,               ///< sensor port
        }
    }
 #else
-    for (i=0; i<256; i++) { // rdead all registers, one at a time (slower than in 353)
+//    CCAM_MRST_ON;
+    sensio_ctl.mrst = 0;
+    sensio_ctl.mrst_set = 1;
+    x393_sensio_ctrl(sensio_ctl,sensor_port);
+    udelay (100);
+//    CCAM_MRST_OFF;
+    sensio_ctl.mrst = 1;
+    x393_sensio_ctrl(sensio_ctl,sensor_port);
+    sensio_ctl.d32=0;
+    // NC393: both sequencers started in pgm_detectsensor
+    udelay (100);
+    printk("Reading sensor registers to the shadows:\r\n");
+    first_sensor_i2c=sensor->i2c_addr;
+    if (GLOBALPARS(sensor_port, G_SENS_AVAIL)) {
+        first_sensor_i2c+= I2C359_INC * ((GLOBALPARS(sensor_port, G_SENS_AVAIL) & 1)?1:((GLOBALPARS(sensor_port, G_SENS_AVAIL) & 2)?2:3));
+    }
+    for (i=0; i<256; i++) { // read all registers, one at a time (slower than in 353)
        X3X3_I2C_RCV2(sensor_port, first_sensor_i2c, i, &(i2c_read_data_dw[i]));
    }
    for (i=0; i<256; i++) { // possible to modify register range to save (that is why nupdate is separate from i)
@@ -927,8 +965,6 @@ int mt9x001_pgm_initsensor     (int sensor_port,               ///< sensor port
    X3X3_SEQ_RUN;
    local_irq_restore(flags); // IRQ restore
 #else
-    X3X3_SEQ_RUN;
-    i2c_run();
 #endif
    nupdate=0;  // Second pass over the registers to set
 //#define SET_SENSOR_MBPAR(p,f,s,r,v)
@@ -1038,11 +1074,11 @@ int mt9x001_pgm_window_common  (int sensor_port,               ///< sensor port
    // flip margins for mirrored images (except oversized, not to rely on sensor->clearWidth/sensor->clearHeight
    if (!thispars->pars[P_OVERSIZE]) {
        if(flipX) {
-            wl = sensor->clearWidth - ww - wl - X313_MARGINS * dh;
+            wl = sensor->clearWidth - ww - wl - (2 * COLOR_MARGINS) * dh;
            if(wl < 0) wl = 0;
        }
        if(flipY) {
-            wt = sensor->clearHeight - wh - wt - X313_MARGINS * dv;
+            wt = sensor->clearHeight - wh - wt - (2 * COLOR_MARGINS) * dv;
            if(wt < 0) wt = 0;
        }
        // apply clearTop/clearLeft
@@ -1160,7 +1196,7 @@ int mt9x001_pgm_limitfps   (int sensor_port,               ///< sensor port numb
    uint64_t ull_fp1000s;
 #endif
    int target_virt_width=(thispars->pars[P_VIRT_KEEP])?(thispars->pars[P_VIRT_WIDTH]):0;
-    MDF4(printk(" frame8=%d\n",frame8));
+    MDF4(printk(" frame16=%d\n",frame16));
    if (frame16 >= PARS_FRAMES) return -1; // wrong frame
    switch(styp)  {
    case MT9P_TYP: //page 16
@@ -1925,7 +1961,7 @@ int mt9x001_pgm_sensorregs     (int sensor_port,               ///< sensor port
                                                               ///< @return 0 - OK, negative - error
 {
-    MDF4(printk(" frame8=%d\n",frame8));
+    MDF4(printk(" frame16=%d\n",frame16));
    if (frame16 >= PARS_FRAMES) return -1; // wrong frame
    //  send all parameters marked as "needed to be processed" to the sensor, clear those flags
    // mask out all non sensor pars

--- a/src/drivers/elphel/multi10359.c
+++ b/src/drivers/elphel/multi10359.c
@@ -114,17 +114,15 @@
 #include "framepars.h"      // parameters manipulation
 #include "sensor_common.h"
 #include "pgm_functions.h"
-//#include "x3x3.h"           // hardware definitions
-#include "legacy_defines.h" // temporarily
 #include "sensor_i2c.h"
 #include "clock10359.h"
+#include "x393.h"
 /**
 * \def D(x) optional debug output 
 */
-#define X313_MARGINS 4
 #if ELPHEL_DEBUG
 #define MDF(x) {printk("%s:%d:%s ",__FILE__,__LINE__,__FUNCTION__);x ;}
@@ -384,7 +382,7 @@ inline int sensor_wl(int wl,                   ///< Specified window left margin
    int i,d;
    if (!oversize) {
      if(flipX) {
-         wl = sensor->clearWidth - ww - wl - X313_MARGINS * dh;
+         wl = sensor->clearWidth - ww - wl - (2 * COLOR_MARGINS) * dh;
         if(wl < 0) wl = 0;
      }
 // apply clearTop/clearLeft
@@ -427,7 +425,7 @@ inline int sensor_wt(int wt,                   ///< Specified window top margin
 {
  if (!oversize) {
      if(flipY) {
-         wt = sensor->clearHeight - wh - wt - X313_MARGINS * dv;
+         wt = sensor->clearHeight - wh - wt - (2 * COLOR_MARGINS) * dv;
         if(wt < 0) wt = 0;
      }
 // apply clearTop/clearLeft
@@ -500,7 +498,7 @@ int multisensor_pgm_window_common  (int sensor_port,               ///< sensor p
  bh=  thispars->pars[P_BIN_HOR];
  bv=  thispars->pars[P_BIN_VERT];
  ww=  thispars->pars[P_SENSOR_PIXH] * dh;
-//  SETFRAMEPARS_SET(P_SENSOR_PIXV,  height+X313_MARGINS); // full height for the sensor (after decimation), including margins
+//  SETFRAMEPARS_SET(P_SENSOR_PIXV,  height+(2 * COLOR_MARGINS)); // full height for the sensor (after decimation), including margins
  wh=  thispars->pars[P_SENSOR_PIXV] * dv; // number of scan lines read from the sensor multipled by decimation
  d = 2 * bh * (ww / (2 * bh));
  if (unlikely(d != ww)) { // correct window width if needed
@@ -526,12 +524,12 @@ int multisensor_pgm_window_common  (int sensor_port,               ///< sensor p
         sequence = (sequence<<2) | (i & 3);
  }
 // Now sequence may be opposite to that of the P_MULTI_SEQUENCE
-//  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+0] += X313_MARGINS*dv; // include margins into individual sensor WOI-sizes
+//  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+0] += (2 * COLOR_MARGINS)*dv; // include margins into individual sensor WOI-sizes
-//  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+1] += X313_MARGINS*dv;
+//  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+1] += (2 * COLOR_MARGINS)*dv;
-//  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+2] += X313_MARGINS*dv;
+//  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+2] += (2 * COLOR_MARGINS)*dv;
-  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+0] = (((wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+0]/dv) & ~1)+ X313_MARGINS)*dv; // include margins into individual sensor WOI-sizes, make even number of output lines
+  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+0] = (((wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+0]/dv) & ~1)+ (2 * COLOR_MARGINS))*dv; // include margins into individual sensor WOI-sizes, make even number of output lines
-  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+1] = (((wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+1]/dv) & ~1)+ X313_MARGINS)*dv;
+  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+1] = (((wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+1]/dv) & ~1)+ (2 * COLOR_MARGINS))*dv;
-  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+2] = (((wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+2]/dv) & ~1)+ X313_MARGINS)*dv;
+  wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+2] = (((wois[(P_MULTI_HEIGHT1-P_MULTI_WOI)+2]/dv) & ~1)+ (2 * COLOR_MARGINS))*dv;
@@ -545,11 +543,11 @@ int multisensor_pgm_window_common  (int sensor_port,               ///< sensor p
 // Modify sequence if one or 2 frames is skipped from top because of P_WOI_TOP
 // Margins
    if (flipX) {
-      wl= (thispars->pars[P_SENSOR_WIDTH]+dh*X313_MARGINS)-ww-wl; // simplified (ww includes margins*dh)
+      wl= (thispars->pars[P_SENSOR_WIDTH]+dh*(2 * COLOR_MARGINS))-ww-wl; // simplified (ww includes margins*dh)
      if(wl < 0) wl = 0;
    }
    if (flipY) {
-      wt= (thispars->pars[P_SENSOR_HEIGHT]+dv*X313_MARGINS)-wh-wt; // simplified (wh includes margins*dv)
+      wt= (thispars->pars[P_SENSOR_HEIGHT]+dv*(2 * COLOR_MARGINS))-wh-wt; // simplified (wh includes margins*dv)
      if(wt < 0) wt = 0;
    }
    if ((wt>height1) && (sequence >>2)) { // only skip if anything is left
@@ -690,13 +688,13 @@ int multisensor_pgm_window_common  (int sensor_port,               ///< sensor p
    if (flipY)  multi_mode_flips ^= 0x2a;
    MDF25(printk("sequence=0x%x flipX=%x flipY=%x multi_mode_flips=0x%x \n",sequence,flipX,flipY,multi_mode_flips ));
    SETFRAMEPARS_COND(P_MULTI_MODE_FLIPS,    multi_mode_flips);
-//    subtract X313_MARGINS from the first and last frame
+//    subtract (2 * COLOR_MARGINS) from the first and last frame
-//    SETFRAMEPARS_COND(P_MULTI_HEIGHT_BLANK1, ((height1 - (X313_MARGINS>>1)*(((height2==0) && (height3==0))?2:1)) & 0xffff) | (vblank2<<16));
+//    SETFRAMEPARS_COND(P_MULTI_HEIGHT_BLANK1, ((height1 - ((2 * COLOR_MARGINS)>>1)*(((height2==0) && (height3==0))?2:1)) & 0xffff) | (vblank2<<16));
-//    SETFRAMEPARS_COND(P_MULTI_HEIGHT_BLANK2, ((height2 - (X313_MARGINS>>1)*(((height2 >0) && (height3==0))?1:0)) & 0xffff) | (vblank3<<16));
+//    SETFRAMEPARS_COND(P_MULTI_HEIGHT_BLANK2, ((height2 - ((2 * COLOR_MARGINS)>>1)*(((height2 >0) && (height3==0))?1:0)) & 0xffff) | (vblank3<<16));
-// Currently X313_MARGINS (4 pixels) are subtracted from the very last sub-frame only
+// Currently (2 * COLOR_MARGINS) (4 pixels) are subtracted from the very last sub-frame only
-    SETFRAMEPARS_COND(P_MULTI_HEIGHT_BLANK1, ((height1 - X313_MARGINS*(((height2==0) && (height3==0))?1:0)) & 0xffff) | (vblank2<<16));
+    SETFRAMEPARS_COND(P_MULTI_HEIGHT_BLANK1, ((height1 - (2 * COLOR_MARGINS)*(((height2==0) && (height3==0))?1:0)) & 0xffff) | (vblank2<<16));
-    SETFRAMEPARS_COND(P_MULTI_HEIGHT_BLANK2, ((height2 - X313_MARGINS*(((height2 >0) && (height3==0))?1:0)) & 0xffff) | (vblank3<<16));
+    SETFRAMEPARS_COND(P_MULTI_HEIGHT_BLANK2, ((height2 - (2 * COLOR_MARGINS)*(((height2 >0) && (height3==0))?1:0)) & 0xffff) | (vblank3<<16));
 if (GLOBALPARS(sensor_port, G_MULTI_CFG) & (1 <<G_MULTI_CFG_BEFORE)) {
 //TODO: Program 10359 registers here
@@ -935,6 +933,8 @@ int multisensor_pgm_detectsensor   (int sensor_port,               ///< sensor p
 {
  struct frameparspair_t pars_to_update[64]; // so far 39 actually needed
  int nupdate=0;
+  x393_sensio_ctl_t sensio_ctl = {.d32=0};
+  x393_camsync_mode_t camsync_mode = {.d32=0};
  unsigned long    bitstream_version;
  unsigned long    sensor_id[MAX_SENSORS];
@@ -943,7 +943,7 @@ int multisensor_pgm_detectsensor   (int sensor_port,               ///< sensor p
  int this_sensor_type;
 //   .hact_delay  = -2500,    // -2.5ns delay in ps
 //   .sensorDelay = 2460,     // Delay from sensor clock at FPGA output to pixel data transition (FPGA input), short cable (ps)
-  multi_unitialized=0; // reset this static variable - it will prevent copying individual flips to multiple until copmosite mode is used
+  multi_unitialized=0; // reset this static variable - it will prevent copying individual flips to multiple until composite mode is used
  MDF3(printk(" frame16=%d\n",frame16));
  GLOBALPARS(sensor_port,G_SENS_AVAIL)=0; // no 10359A board present
  if (frame16 >= 0) return -1; // can only work in ASAP mode
@@ -975,8 +975,13 @@ int multisensor_pgm_detectsensor   (int sensor_port,               ///< sensor p
  printk("10353 sensor clock set to %d\n",(int) thispars->pars[P_CLK_SENSOR]);
  udelay (100);// 0.0001 sec to stabilize clocks
-  X3X3_RSTSENSDCM;  // FPGA DCM can fail after clock change, needs to be reset
+//  X3X3_RSTSENSDCM;  // FPGA DCM can fail after clock change, needs to be reset
-  X3X3_SENSDCM_CLK2X_RESET; // reset pclk2x DCM also
+//  X3X3_SENSDCM_CLK2X_RESET; // reset pclk2x DCM also
+  // NC393 reset mmcm - is it needed? Clock was not changed yet
+  sensio_ctl.mmcm_rst = 1;
+  sensio_ctl.mmcm_rst_set = 1;
+  x393_sensio_ctrl(sensio_ctl,sensor_port);
 // reset system and SDRAM DCMs on 10359
  MULTISENSOR_WRITE_I2C16(sensor_port,I2C359_DCM_SYSTEM,  I2C359_DCM_RESET | I2C359_DCM_RESET90);
  MULTISENSOR_WRITE_I2C16(sensor_port,I2C359_DCM_SDRAM,   I2C359_DCM_RESET | I2C359_DCM_RESET90);
@@ -1005,10 +1010,15 @@ int multisensor_pgm_detectsensor   (int sensor_port,               ///< sensor p
 // Try to read chip version from each of the 3 possible sensors
  printk("removing MRST from the sensor\n");
 //
-  CCAM_NEGRST;  // set negative MRST polarity
+  sensio_ctl.d32 = 0;
-  CCAM_TRIG_INT;
+  sensio_ctl.mrst =     1;
-  CCAM_MRST_OFF;
+  sensio_ctl.mrst_set = 1;
-  CCAM_ARST_OFF;
+  sensio_ctl.arst =     1;
+  sensio_ctl.arst_set = 1;
+  x393_sensio_ctrl(sensio_ctl,sensor_port);
+  camsync_mode.trig =     0;
+  camsync_mode.trig_set = 1;
+  x393_camsync_mode (camsync_mode);
  udelay (100);
  GLOBALPARS(sensor_port,G_SENS_AVAIL) |= 1<< (GLOBALPARS(sensor_port,G_SENS_AVAIL)); // temporary to indicate sensor detection functions that they need to initialize multisensor registers
@@ -1142,9 +1152,10 @@ Now overwrite sensor functions with it's own (originals (physical sensor ones) a
  SETFRAMEPARS_SET(P_MULTI_HEIGHT2,  1940);
  SETFRAMEPARS_SET(P_MULTI_HEIGHT3,  1940);
+#ifdef NC353
  CCAM_RESET_MCONTR_ON ; // Set mode that resets memory controller pointers after each frame sync. TODO: Later - make it work without?
  CCAM_ENDFRAMES_EN ;    // Enable ending frame being compressed if no more data will be available (frame ended before specified number of blocks compressed)
+#endif
  if (nupdate)  setFramePars(sensor_port,thispars, nupdate, pars_to_update);  // save changes to sensor register shadows
  return this_sensor_type;
 }
@@ -1295,7 +1306,7 @@ int multisensor_pgm_multisens (int sensor_port,               ///< sensor port n
  int multi_frame=0;
  if (composite && SENSOR_IN_SEQ_EN(1,sequence,sensor_mask)) {  // specified in sequence is enabled
    multi_frame=1;
-    total_height+=(vblank+X313_MARGINS)*dv;
+    total_height+=(vblank+(2 * COLOR_MARGINS))*dv;
  MDF25(printk(" total_height=0x%x\n",total_height));
    if      (!height2)                      height2=sensor->imageHeight;
    if      (height2 < sensor->minHeight)   height2=sensor->minHeight;
@@ -1305,7 +1316,7 @@ int multisensor_pgm_multisens (int sensor_port,               ///< sensor port n
    total_height+=height2;
  MDF25(printk(" total_height=0x%x\n",total_height));
    if (SENSOR_IN_SEQ_EN(2,sequence,sensor_mask)) {
-      total_height+=(vblank+X313_MARGINS)*dv;
+      total_height+=(vblank+(2 * COLOR_MARGINS))*dv;
  MDF25(printk(" total_height=0x%x\n",total_height));
      if      (!height3)                      height3=sensor->imageHeight;
      if      (height3 < sensor->minHeight)   height3=sensor->minHeight;

--- a/src/drivers/elphel/multi10359.h
+++ b/src/drivers/elphel/multi10359.h
@@ -24,6 +24,7 @@
 */
+#define I2C359_CLK_NUMBER 4 ///< OK with NC393, clock is ANDed with 3
 //multisensor.h
 //#define I2C359_INC                    2   //< slave address increment between sensors in 10359A board (broadcast, 1,2,3) (7 bits SA) moved to sensor_common

--- a/src/drivers/elphel/pgm_functions.c
+++ b/src/drivers/elphel/pgm_functions.c
@@ -210,17 +210,9 @@
 #include "pgm_functions.h"
 #include "jpeghead.h"      // to program FPGA Huffman tables
 #include "x393.h"
-//  #include "legacy_defines.h" // temporarily
 #include "sensor_i2c.h"
 #include "x393_videomem.h"
-#define COLOR_MARGINS 2 // add this many pixels each side
+#include "detect_sensors.h"
-#define X313_TIMESTAMPLEN 28 // pixels used for timestamp (in linescan mode added after the line)
-#define X393_TILEHOR 16
-#define X393_TILEVERT 16
-#define X393_MAXWIDTH       65536 // 4096 // multiple of 128
-#define X393_MAXHEIGHT      65536 // 16384 // multiple of 16 - unsafe - not enough room for black level subtraction
-#define X393_MAXHEIGHT_SAFE 65536 // 4096 // multiple of 16  OK for black level subtraction TODO: disable black level if unsafe
 /**
 * @brief optional debug output macros
@@ -349,42 +341,108 @@ int pgm_detectsensor   (int sensor_port,               ///< sensor port number (
        struct framepars_t * thispars, ///< sensor current parameters
        struct framepars_t * prevpars, ///< sensor previous parameters (not used here)
        int frame16)                   ///< 4-bit (hardware) frame number parameters should
-													   ///< be applied to,  negative - ASAP
+///< be applied to,  negative - ASAP
-													   ///< @return OK - 0, <0 - error
+///< @return OK - 0, <0 - error
 {
+    x393_camsync_mode_t camsync_mode = {.d32=0};
    int was_sensor_freq;
    int qperiod;
    int i2cbytes;
    int phase;
+    int mux;
    MDF3(printk(" frame16=%d\n",frame16));
    if (frame16 >= 0) return -1; // can only work in ASAP mode
    if (thispars->pars[P_SENSOR]) return 0; // Sensor is already detected - do not bother (to re-detect it P_SENSOR should be set to 0)
-// no other initializations, just the sensor-related stuff (starting with lowest sensor clock)
+    // no other initializations, just the sensor-related stuff (starting with lowest sensor clock)
-// stop hardware i2c controller, so it will not get stuck when waiting for !busy
+    // stop hardware i2c controller, so it will not get stuck when waiting for !busy
 #ifndef NC353
    // NC393 - nothing to do here - use a separate module for sensor setup: DT, sysfs, something else (add pin pullup/down)
+    // currently assign same sensor to all subchannles (first present)
+    thispars->pars[P_SENSOR] = get_detected_sensor_code(sensor_port, -1); // "-1" - first detected sensor
+    GLOBALPARS(sensor_port, G_SUBCHANNELS) = get_subchannels(sensor_port);
+    mux = get_detected_mux_code(sensor_port); // none/detect/10359
+    if ((mux == SENSOR_NONE) && (thispars->pars[P_SENSOR] == SENSOR_NONE))
+        return 0; // no sensor/mux enabled on this port
+    //TODO NC393: turn on both sequencers why MRST is active, then i2c frame will definitely match ? Or is it already done in FPGA?
+    sequencer_stop_run_reset(sensor_port, SEQ_CMD_RESET);
+    sequencer_stop_run_reset(sensor_port, SEQ_CMD_RUN);  // also programs status update
+    i2c_stop_run_reset      (sensor_port, I2C_CMD_RESET);
+    i2c_drive_mode          (sensor_port, SDA_DRIVE_HIGH, SDA_RELEASE);
+    i2c_stop_run_reset      (sensor_port, I2C_CMD_RUN); // also programs status update
+    camsync_mode.trig =     0;
+    camsync_mode.trig_set = 1;
+    camsync_mode.ext =      1; // use external timestamp (default)
+    camsync_mode.ext_set =  1;
+    x393_camsync_mode (camsync_mode);
+    //     printk("trying MT9P001\n");
+    //      mt9x001_pgm_detectsensor(sensor_port, sensor,  thispars, prevpars, frame16);  // try Micron 5.0 Mpixel - should return sensor type
+    if (mux != SENSOR_NONE) {
+        // try multisensor here (before removing MRST)
+        multisensor_pgm_detectsensor (sensor_port, sensor,  thispars, prevpars, frame16);  // multisensor
+    }
+    if (thispars->pars[P_SENSOR]==0) { // multisensor not detected
+        printk("removing MRST from the sensor\n");
+        //             CCAM_MRST_OFF;
+        printk("trying MT9P001\n");
+        mt9x001_pgm_detectsensor(sensor_port, sensor,  thispars, prevpars, frame16);  // try Micron 5.0 Mpixel - should return sensor type
+    }
+    if (thispars->pars[P_SENSOR] == SENSOR_DETECT) {
+        sensor->sensorType=SENSOR_NONE;                 // to prevent from initializing again
+        printk("No image sensor found\r\n");
+    }
+    setFramePar(sensor_port, thispars, P_SENSOR_WIDTH,   sensor->imageWidth);  // Maybe get rid of duplicates?
+    setFramePar(sensor_port, thispars, P_SENSOR_HEIGHT,  sensor->imageHeight); // Maybe get rid of duplicates?
+    if (sensor->i2c_period==0) sensor->i2c_period=2500;           // SCL period in ns, (standard i2c - 2500)
+    qperiod=thispars->pars[P_I2C_QPERIOD];
+    if (qperiod==0) qperiod=(sensor->i2c_period * (thispars->pars[P_CLK_FPGA]/1000))/4000000;
+    setFramePar(sensor_port, thispars, P_I2C_QPERIOD | FRAMEPAIR_FORCE_NEWPROC,  qperiod); // force i2c
+    i2cbytes=thispars->pars[P_I2C_BYTES];
+    if (i2cbytes==0) i2cbytes=sensor->i2c_bytes;
+    setFramePar(sensor_port, thispars, P_I2C_BYTES | FRAMEPAIR_FORCE_NEWPROC,  i2cbytes); // force i2c
+    // restore/set sensor clock
+    if ((was_sensor_freq < sensor->minClockFreq) || (was_sensor_freq > sensor->maxClockFreq)) was_sensor_freq=sensor->nomClockFreq;
+    setFramePar(sensor_port, thispars, P_CLK_SENSOR | FRAMEPAIR_FORCE_NEWPROC,  was_sensor_freq); // will schedule clock/phase adjustment
+    phase=thispars->pars[P_SENSOR_PHASE];
+    // TODO: remove phase adjustment from here
+    if (phase==0) {
+        phase= 0x40000;
+        setFramePar(sensor_port, thispars, P_SENSOR_PHASE | FRAMEPAIR_FORCE_NEWPROC,  phase); // will schedule clock/phase adjustment
+    }
+    setFramePar(sensor_port, thispars, P_IRQ_SMART | FRAMEPAIR_FORCE_NEWPROC,  3);        // smart IRQ mode programming (and enable interrupts)
+    // NOTE: sensor detected - enabling camera interrupts here (actual interrupts will start later)
+    // Here interrupts are disabled - with compressor_interrupts (0) earlier in this function)
+    compressor_interrupts (1,sensor_port);
+    sensor_interrupts     (1,sensor_port);
    return 0;
 #else
-// NOTE: disabling interrupts here !!!
+    // NOTE: disabling interrupts here !!!
-  camera_interrupts (0);
+    compressor_interrupts (0);
    MDF1(printk("Disabled camera interrupts\n"));
-// This 3 initialization commands were not here, trying to temporarily fix problem when WP was 8/16 words higher than actual data in DMA buffer
+    // This 3 initialization commands were not here, trying to temporarily fix problem when WP was 8/16 words higher than actual data in DMA buffer
    if (GLOBALPARS(sensor_port, G_TEST_CTL_BITS) & (1<< G_TEST_CTL_BITS_RESET_DMA_COMPRESSOR )) {
        MDF1(printk("x313_dma_stop()\n"));
-///    x313_dma_stop();
+        ///    x313_dma_stop();
        MDF1(printk("x313_dma_init()\n"));
-///    x313_dma_init();
+        ///    x313_dma_init();
        MDF1(printk("reset_compressor()\n"));
        reset_compressor(sensor_port);
    }
-// TODO: Add 10347 detection here //   if (IS_KAI11000) return init_KAI11000();
+    // TODO: Add 10347 detection here //   if (IS_KAI11000) return init_KAI11000();
-// Need to set slow clock
+    // Need to set slow clock
-//  f1=imageParamsR[P_CLK_SENSOR]=20000000; setClockFreq(1, imageParamsR[P_CLK_SENSOR]); X3X3_RSTSENSDCM;
+    //  f1=imageParamsR[P_CLK_SENSOR]=20000000; setClockFreq(1, imageParamsR[P_CLK_SENSOR]); X3X3_RSTSENSDCM;
    was_sensor_freq=getClockFreq(1); // using clock driver data, not thispars
    setFramePar(sensor_port, thispars, P_CLK_FPGA,  getClockFreq(0)); // just in case - read the actual fpga clock frequency and store it (no actions)
@@ -395,7 +453,7 @@ int pgm_detectsensor   (int sensor_port,               ///< sensor port number (
    X3X3_RSTSENSDCM; // FPGA DCM can fail after clock change, needs to be reset
    X3X3_SENSDCM_CLK2X_RESET; // reset pclk2x DCM also
    mdelay (50);// 0.05 sec to stabilize clocks
-// setting reasonable state of the control signals
+    // setting reasonable state of the control signals
    CCAM_DCLK_ON;
    CCAM_CNVEN_OFF;
    CCAM_NEGRST;  ///set negative MRST polarity
@@ -403,8 +461,8 @@ int pgm_detectsensor   (int sensor_port,               ///< sensor port number (
    CCAM_TRIG_INT;
    CCAM_EXTERNALTS_EN; // Maybe use default as enabled - yes, it will not be active if not available
    udelay (100); // apply clock before removing MRS
-// first trying MT9P001 that does not need converter
+    // first trying MT9P001 that does not need converter
-// try multisensor here (before removing MRST)
+    // try multisensor here (before removing MRST)
    if (thispars->pars[P_SENSOR]==0) multisensor_pgm_detectsensor (sensor_port, sensor,  thispars, prevpars, frame16);  // multisensor
    if (thispars->pars[P_SENSOR]==0) {
        printk("removing MRST from the sensor\n");
@@ -415,17 +473,17 @@ int pgm_detectsensor   (int sensor_port,               ///< sensor port number (
        printk("trying MT9P001\n");
    }
-// temporary - disabling old sensors
+    // temporary - disabling old sensors
 #define ENABLE_OLD_SENSORS 1
 #ifdef ENABLE_OLD_SENSORS
    if (thispars->pars[P_SENSOR]==0)  { // no - it is not MT9P001)
        printk("trying other MT9X001\n");
        CCAM_CNVEN_ON;
-//     CCAM_ARST_ON; ///MT9P001 expects ARST==0 (STANDBY) - done inside mt9x001.c
+        //     CCAM_ARST_ON; ///MT9P001 expects ARST==0 (STANDBY) - done inside mt9x001.c
-// enable output for power converter signals
+        // enable output for power converter signals
-// This should be done first!!!
+        // This should be done first!!!
-// printk ("Will Turn DC power for the sensor after 1 sec delay...\n");  udelay (1000000);
+        // printk ("Will Turn DC power for the sensor after 1 sec delay...\n");  udelay (1000000);
-// turning on DC-DC converter may cause system to reboot because of a power spike, so start slow
+        // turning on DC-DC converter may cause system to reboot because of a power spike, so start slow
 #ifdef NC353
        port_csp0_addr[X313_WA_DCDC] = 0x44; // 48 - enough, 41 - ok - was 0x61; //
        printk ("sensor power set low\r\n ");
@@ -461,10 +519,10 @@ int pgm_detectsensor   (int sensor_port,               ///< sensor port number (
 #ifdef CONFIG_ETRAX_ELPHEL_IBIS51300
    if (thispars->pars[P_SENSOR]==0) ibis1300_pgm_detectsensor(sensor,  thispars, prevpars, frame16); // try IBIS5-1300 (software dead)
 #endif
-// invert MRST for other sensors
+    // invert MRST for other sensors
    if (thispars->pars[P_SENSOR]==0) {
        CCAM_NEGRST;  //set negative MRST polarity
-printk ("Inverted MRST\n");
+        printk ("Inverted MRST\n");
        udelay (100);
    }
 #ifdef CONFIG_ETRAX_ELPHEL_MT9X001
@@ -495,11 +553,11 @@ printk ("Inverted MRST\n");
    i2cbytes=thispars->pars[P_I2C_BYTES];
    if (i2cbytes==0) i2cbytes=sensor->i2c_bytes;
    setFramePar(sensor_port, thispars, P_I2C_BYTES | FRAMEPAIR_FORCE_NEWPROC,  i2cbytes); // force i2c
-// restore/set sensor clock
+    // restore/set sensor clock
    if ((was_sensor_freq < sensor->minClockFreq) || (was_sensor_freq > sensor->maxClockFreq)) was_sensor_freq=sensor->nomClockFreq;
    setFramePar(sensor_port, thispars, P_CLK_SENSOR | FRAMEPAIR_FORCE_NEWPROC,  was_sensor_freq); // will schedule clock/phase adjustment
    phase=thispars->pars[P_SENSOR_PHASE];
-// TODO: remove phase adjustment from here
+    // TODO: remove phase adjustment from here
    if (phase==0) {
        phase= 0x40000;
        setFramePar(sensor_port, thispars, P_SENSOR_PHASE | FRAMEPAIR_FORCE_NEWPROC,  phase); // will schedule clock/phase adjustment
@@ -507,9 +565,9 @@ printk ("Inverted MRST\n");
    setFramePar(sensor_port, thispars, P_IRQ_SMART | FRAMEPAIR_FORCE_NEWPROC,  3);        // smart IRQ mode programming (and enable interrupts)
    // NOTE: sensor detected - enabling camera interrupts here (actual interrupts will start later)
-// Here interrupts are disabled - with camera_interrupts (0) earlier in this function)
+    // Here interrupts are disabled - with compressor_interrupts (0) earlier in this function)
-   camera_interrupts (1);
+    compressor_interrupts (1);
    return 0;
 #endif
 }
@@ -616,6 +674,7 @@ int pgm_sensorphase    (int sensor_port,               ///< sensor port number (
 {
 #ifndef NC353
+    x393_sensio_ctl_t  sensio_ctl = {.d32=0};
    x393_sensio_tim0_t sensio_tim0 = {.d32=0};
    x393_sensio_tim1_t sensio_tim1 = {.d32=0};
    x393_sensio_tim2_t sensio_tim2 = {.d32=0};
@@ -626,6 +685,7 @@ int pgm_sensorphase    (int sensor_port,               ///< sensor port number (
        sensio_tim0.d32 = thispars->pars[P_SENSOR_IFACE_TIM0];
 //        X393_SEQ_SEND1 (sensor_port, frame16, x393_sensio_tim0, sensio_tim0);
        set_x393_sensio_tim0  (sensio_tim0, sensor_port); // write directly, sequencer may be not operational
+        sensio_ctl.set_dly = 1;
        MDF3(printk(" X393_SEQ_SEND1(0x%x,  0x%x, x393_sensio_tim0,  0x%x)\n", sensor_port, frame16, sensio_tim0.d32));
    }
@@ -633,21 +693,35 @@ int pgm_sensorphase    (int sensor_port,               ///< sensor port number (
        sensio_tim1.d32 = thispars->pars[P_SENSOR_IFACE_TIM1];
 //        X393_SEQ_SEND1 (sensor_port, frame16, x393_sensio_tim1, sensio_tim1);
        set_x393_sensio_tim1  (sensio_tim1, sensor_port); // write directly, sequencer may be not operational
+        sensio_ctl.set_dly = 1;
        MDF3(printk(" X393_SEQ_SEND1(0x%x,  0x%x, x393_sensio_tim1,  0x%x)\n", sensor_port, frame16, sensio_tim1 .d32));
    }
    if (FRAMEPAR_MODIFIED(P_SENSOR_IFACE_TIM2)) {
        sensio_tim2.d32 = thispars->pars[P_SENSOR_IFACE_TIM2];
 //        X393_SEQ_SEND1 (sensor_port, frame16, x393_sensio_tim2, sensio_tim2);
        set_x393_sensio_tim2  (sensio_tim2, sensor_port); // write directly, sequencer may be not operational
+        sensio_ctl.set_dly = 1;
        MDF3(printk(" X393_SEQ_SEND1(0x%x,  0x%x, x393_sensio_tim2,  0x%x)\n", sensor_port, frame16, sensio_tim2.d32));
    }
    if (FRAMEPAR_MODIFIED(P_SENSOR_IFACE_TIM3)) {
        sensio_tim3.d32 = thispars->pars[P_SENSOR_IFACE_TIM3];
 //        X393_SEQ_SEND1 (sensor_port, frame16, x393_sensio_tim3, sensio_tim3);
        set_x393_sensio_tim3  (sensio_tim3, sensor_port); // write directly, sequencer may be not operational
+        sensio_ctl.set_dly = 1;
        MDF3(printk(" X393_SEQ_SEND1(0x%x,  0x%x, x393_sensio_tim3,  0x%x)\n", sensor_port, frame16, sensio_tim3.d32));
    }
+    if (get_port_interface == PARALLEL12){
+        if (FRAMEPAR_MODIFIED(P_SENSOR_PHASE)) { // for parallel sensor it means quadrants:  90-degree shifts for data [1:0], hact [3:2] and vact [5:4]
+            sensio_ctl.quadrants = thispars->pars[P_SENSOR_PHASE] & 0x3f;
+            sensio_ctl.quadrants_set = 1;
+        }
+        if (sensio_ctl.d32)
+            x393_sensio_ctrl(sensio_ctl, sensor_port);
+    } else {
+        /* TODO 393: Add HISPI code */
+    }
    return 0;
 #else

--- a/src/drivers/elphel/pgm_functions.h
+++ b/src/drivers/elphel/pgm_functions.h
@@ -17,6 +17,13 @@
 *******************************************************************************/
 #include "sensor_i2c.h"
+#define COLOR_MARGINS 2 // add this many pixels each side
+#define X313_TIMESTAMPLEN 28 // pixels used for timestamp (in linescan mode added after the line)
+#define X393_TILEHOR 16
+#define X393_TILEVERT 16
+#define X393_MAXWIDTH       65536 // 4096 // multiple of 128
+#define X393_MAXHEIGHT      65536 // 16384 // multiple of 16 - unsafe - not enough room for black level subtraction
+#define X393_MAXHEIGHT_SAFE 65536 // 4096 // multiple of 16  OK for black level subtraction TODO: disable black level if unsafe
 int init_pgm_proc(void);
 int add_sensor_proc(int index, int (*sens_func)(int sensor_port, struct sensor_t * ,  struct framepars_t * , struct framepars_t *, int ));

--- a/src/drivers/elphel/sensor_common.c
+++ b/src/drivers/elphel/sensor_common.c
@@ -60,6 +60,7 @@
 /** @brief Contains read and write pointers along with IRQ number for a single channel*/
 struct jpeg_ptr_t {
+    volatile u32 frame;          ///< Absolute frame number
 	volatile int jpeg_wp;        ///< JPEG write pointer in 32 bit words
 	volatile int jpeg_rp;        ///< JPEG read pointer in 32 bit words
 	volatile int fpga_cntr_prev; ///< This field contains previous value of the FPGA transfer counter which is used to find out if it has changed. This pointer is in 32 bit words.
@@ -252,7 +253,10 @@ static inline int updateIRQJPEG_wp(struct jpeg_ptr_t *jptr)
 	void *virt_addr;
 	//	int prev_dword;
 	int xferred;                                           // number of 32-byte chunks transferred since compressor was reset
+	x393_cmdseqmux_status_t cmdseqmux_status;
 	x393_afimux_status_t stat = x393_afimux0_status(jptr->chn_num);
+	int frame16;
+	u32 aframe = GLOBALPARS(jptr->chn_num,G_THIS_FRAME); // thisFrameNumber(jptr->chn_num); // current absolute frame number
 	xferred = stat.offset256 - (jptr->fpga_cntr_prev >> 3);
 	if (xferred == 0)
@@ -262,6 +266,18 @@ static inline int updateIRQJPEG_wp(struct jpeg_ptr_t *jptr)
 	jptr->fpga_cntr_prev = jptr->jpeg_wp;
 	jptr->jpeg_wp = (stat.offset256 << 3);
+// Find absolute frame number just compressed
+	cmdseqmux_status = x393_cmdseqmux_status(); // CMDSEQMUX status data (frame numbers and interrupts
+	switch (jptr->chn_num){
+	case 0:  frame16 =cmdseqmux_status.frame_num0; break;
+    case 1:  frame16 =cmdseqmux_status.frame_num1; break;
+    case 2:  frame16 =cmdseqmux_status.frame_num2; break;
+    default: frame16 =cmdseqmux_status.frame_num3;
+	}
+	if (frame16 > (aframe & PARS_FRAMES_MASK))
+	    aframe += 16;
+	jptr->frame = (aframe & ~PARS_FRAMES_MASK) | frame16; // This is absolute compressed frame number, may lag behind current one
 	/* debug code follows */
 	frame_counter[jptr->chn_num] += 1;
 	if (jptr->jpeg_wp == 0) {
@@ -416,12 +432,15 @@ inline struct interframe_params_t* updateIRQ_interframe(struct jpeg_ptr_t *jptr)
 	return interframe;
 }
-/**
+/** Fill exif data with the current frame data, save pointer to Exif page in the interframe area
- * @brief Fill exif data with the current frame data, save pointer to Exif page in the interframe area
+ *
- * @param jptr pointer to jpeg_ptr_t structure with read/write image pointers
+ * TODO NC393: Allow lag between current frame and compressor frame, use only previous parameters (among those copied)
- * @param interframe pointer to interframe parameters structure
+ *
+ *
 */
-inline void updateIRQ_Exif(struct jpeg_ptr_t *jptr, struct interframe_params_t* interframe) {
+inline void updateIRQ_Exif(struct jpeg_ptr_t *jptr,                ///< pointer to jpeg_ptr_t structure with read/write image pointers
+                           struct interframe_params_t* interframe) ///< pointer to interframe parameters structure
+{
 	unsigned char short_buff[2];
 	unsigned int sensor_port = jptr->chn_num;
 	int  index_time = jptr->jpeg_wp - 11;
@@ -431,6 +450,12 @@ inline void updateIRQ_Exif(struct jpeg_ptr_t *jptr, struct interframe_params_t*
    unsigned char orientations[]="1638274545273816";
    unsigned char orientation_short[2];
    int maker_offset;
+    u32 frame =  jptr->frame;
+    int frame_index = frame & PASTPARS_SAVE_ENTRIES_MASK;
+    // [P_FRAME-PARS_SAVE_FROM
+    // Now find if parameters are still available or need pastpars (that may switch at any time or should we use pastpars already as they were copied
+    // at the start of the frame ?
+//get_imageParamsThis
    if (index_time<0) index_time+=get_globalParam (sensor_port, G_CIRCBUFSIZE)>>2;
 	//   struct exif_datetime_t
@@ -439,18 +464,18 @@ inline void updateIRQ_Exif(struct jpeg_ptr_t *jptr, struct interframe_params_t*
 	// may be split in datetime/subsec - now it will not notice missing subseq field in template
 	write_meta_irq(sensor_port, exif_meta_time_string, &meta_offsets.Photo_DateTimeOriginal,  Exif_Photo_DateTimeOriginal, 27);
 	write_meta_irq(sensor_port, exif_meta_time_string, &meta_offsets.Image_DateTime,  Exif_Image_DateTime, 20); // may use 27 if room is provided
-	putlong_meta_irq(sensor_port, get_imageParamsThis(sensor_port, P_EXPOS), &meta_offsets.Photo_ExposureTime,  Exif_Photo_ExposureTime);
+	putlong_meta_irq(sensor_port, get_imageParamsPast(sensor_port, P_EXPOS, frame), &meta_offsets.Photo_ExposureTime,  Exif_Photo_ExposureTime);
-	putlong_meta_irq(sensor_port, get_imageParamsThis(sensor_port, P_FRAME), &meta_offsets.Image_ImageNumber,   Exif_Image_ImageNumber);
+	putlong_meta_irq(sensor_port, frame, &meta_offsets.Image_ImageNumber,   Exif_Image_ImageNumber);
 	//Exif_Photo_MakerNote
-	global_flips=(get_imageParamsThis(sensor_port, P_FLIPH) & 1) | ((get_imageParamsThis(sensor_port, P_FLIPV)<<1)  & 2);
+	global_flips=(get_imageParamsPast(sensor_port, P_FLIPH, frame) & 1) | ((get_imageParamsPast(sensor_port, P_FLIPV, frame)<<1)  & 2);
 	extra_flips=0;
-	if (get_imageParamsThis(sensor_port, P_MULTI_MODE)!=0) {
+	if (get_imageParamsThis(sensor_port, P_MULTI_MODE)!=0) {              // No past!
-		extra_flips=get_imageParamsThis(sensor_port, P_MULTI_MODE_FLIPS);
+		extra_flips=get_imageParamsThis(sensor_port, P_MULTI_MODE_FLIPS); // No past!
 		global_flips=extra_flips & 3;
 	}
 	orientation_short[0]=0;
-	orientation_short[1]=0xf & orientations[(get_imageParamsThis(sensor_port, P_PORTRAIT)&3) | (global_flips<<2)];
+	orientation_short[1]=0xf & orientations[(get_imageParamsThis(sensor_port, P_PORTRAIT)&3) | (global_flips<<2)]; // No past!
 	write_meta_irq(sensor_port, orientation_short, &meta_offsets.Image_Orientation,   Exif_Image_Orientation, 2);
 	// write sensor number
@@ -460,36 +485,37 @@ inline void updateIRQ_Exif(struct jpeg_ptr_t *jptr, struct interframe_params_t*
 	write_meta_irq(sensor_port, short_buff, &meta_offsets.PageNumber, Exif_Image_PageNumber, 2);
 	//TODO - use memcpy
-	maker_offset=putlong_meta_irq(sensor_port, get_imageParamsThis(sensor_port, P_GAINR),   &meta_offsets.Photo_MakerNote, Exif_Photo_MakerNote);
+	maker_offset=putlong_meta_irq(sensor_port, get_imageParamsPast(sensor_port, P_GAINR,frame),   &meta_offsets.Photo_MakerNote, Exif_Photo_MakerNote);
 	if (maker_offset>0) {
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_GAING),   maker_offset+4);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsPast(sensor_port, P_GAING,frame),   maker_offset+4);
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_GAINGB),  maker_offset+8);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsPast(sensor_port, P_GAINGB,frame),  maker_offset+8);
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_GAINB),   maker_offset+12);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsPast(sensor_port, P_GAINB,frame),   maker_offset+12);
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_GTAB_R),  maker_offset+16);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsPast(sensor_port, P_GTAB_R,frame),  maker_offset+16);
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_GTAB_G),  maker_offset+20);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsPast(sensor_port, P_GTAB_G,frame),  maker_offset+20);
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_GTAB_GB), maker_offset+24);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsPast(sensor_port, P_GTAB_GB,frame), maker_offset+24);
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_GTAB_B),  maker_offset+28);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsPast(sensor_port, P_GTAB_B,frame),  maker_offset+28);
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_WOI_LEFT) | (get_imageParamsThis(sensor_port, P_WOI_WIDTH)<<16),  maker_offset+32);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_WOI_LEFT) | (get_imageParamsThis(sensor_port, P_WOI_WIDTH)<<16),  maker_offset+32); //No Past
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_WOI_TOP) | (get_imageParamsThis(sensor_port, P_WOI_HEIGHT)<<16),  maker_offset+36);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_WOI_TOP) | (get_imageParamsThis(sensor_port, P_WOI_HEIGHT)<<16),  maker_offset+36); //No Past
 		putlong_meta_raw_irq(sensor_port,   global_flips |
-				((get_imageParamsThis(sensor_port, P_BAYER)<<2)     & 0xc) |
+				((get_imageParamsThis(sensor_port, P_BAYER)<<2)     & 0xc) | // No past!
-				((get_imageParamsThis(sensor_port, P_COLOR)<<4)     & 0xF0) |
+				((get_imageParamsPast(sensor_port, P_COLOR, frame)<<4)     & 0xF0) |
-				((get_imageParamsThis(sensor_port, P_DCM_HOR)<<8)   & 0xF00) |
+				((get_imageParamsThis(sensor_port, P_DCM_HOR)<<8)   & 0xF00) | // No past!
-				((get_imageParamsThis(sensor_port, P_DCM_VERT)<<12) & 0xF000) |
+				((get_imageParamsThis(sensor_port, P_DCM_VERT)<<12) & 0xF000) | // No past!
-				((get_imageParamsThis(sensor_port, P_BIN_HOR)<<16)  & 0xF0000) |
+				((get_imageParamsThis(sensor_port, P_BIN_HOR)<<16)  & 0xF0000) | // No past!
-				((get_imageParamsThis(sensor_port, P_BIN_VERT)<<20) & 0xF00000) |
+				((get_imageParamsThis(sensor_port, P_BIN_VERT)<<20) & 0xF00000) | // No past!
 				(extra_flips <<24) ,  maker_offset+40);
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_MULTI_HEIGHT_BLANK1),   maker_offset+44);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_MULTI_HEIGHT_BLANK1),   maker_offset+44); // No past!
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_MULTI_HEIGHT_BLANK2),   maker_offset+48);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_MULTI_HEIGHT_BLANK2),   maker_offset+48); // No past!
 		//     putlong_meta_raw_irq(0x1234567,  maker_offset+52); // just testing
-		putlong_meta_raw_irq(sensor_port, get_imageParamsThis(sensor_port, P_QUALITY) | ((get_imageParamsThis(sensor_port, P_PORTRAIT)&1)<<7) | (get_imageParamsThis(sensor_port, P_CORING_INDEX)<<16),  maker_offset+52);
+		putlong_meta_raw_irq(sensor_port, get_imageParamsPast(sensor_port, P_QUALITY, frame) |
-		putlong_meta_raw_irq(sensor_port, get_globalParam(sensor_port, G_TEMPERATURE01),  maker_offset+56); // data should be provided by a running daemon
+		        ((get_imageParamsThis(sensor_port, P_PORTRAIT)&1)<<7) |                      // No past!
-		putlong_meta_raw_irq(sensor_port, get_globalParam(sensor_port, G_TEMPERATURE23),  maker_offset+60);
+		        (get_imageParamsThis(sensor_port, P_CORING_INDEX)<<16),  maker_offset+52);   // No past!
+		putlong_meta_raw_irq(sensor_port, get_globalParam(sensor_port, G_TEMPERATURE01),  maker_offset+56); // data should be provided by a running daemon // No past!
+		putlong_meta_raw_irq(sensor_port, get_globalParam(sensor_port, G_TEMPERATURE23),  maker_offset+60); // No past!
 		//get_globalParam(G_TASKLET_CTL)
 		// left 1 long spare (+44)
 	}
 	interframe->meta_index=store_meta(sensor_port);
 }
@@ -580,7 +606,6 @@ static irqreturn_t compressor_irq_handler(int irq, void *dev_id)
 	irq_ctrl.interrupt_cmd = IRQ_CLEAR;
 	x393_cmprs_interrupts(irq_ctrl, jptr->chn_num);
 	local_irq_restore(flag);
 	return IRQ_HANDLED;
 }
@@ -777,15 +802,14 @@ void reset_compressor(unsigned int chn)
 	local_irq_restore(flags);
 }
-/**
+/** Camera compressor interrupts on/off */
- * @brief Camera interrupts on/off  (currently both in the FPGA and in the CPU)
+void compressor_interrupts (int on,   ///< 0 -interrupt disable, 1 - interrupt enable
- * @param on 1 - enable, 0 - disable interrupts
+                            int chn)  ///< compressor channel (0..3)
- */
+{
-void camera_interrupts (int on) {
 	int i;
-	x393_cmprs_interrupts_t irq_ctrl;
+	x393_cmprs_interrupts_t irq_ctrl =         {.d32=0};
-	//MDF2(printk ("camera_interrupts(%d)\n",on));
+	//MDF2(printk ("compressor_interrupts(%d)\n",on));
 	dev_dbg(NULL, "set camera interrupts status: %d\n", on);
 #ifdef TEST_DISABLE_CODE
 	if (on) {
@@ -802,10 +826,65 @@ void camera_interrupts (int on) {
 	REG_WR(intr_vect, regi_irq, rw_mask, intr_mask);
 #endif /* TEST_DISABLE_CODE */
+	//
 	irq_ctrl.interrupt_cmd =         on ? IRQ_ENABLE : IRQ_DISABLE;
-	for (i = 0; i < SENSOR_PORTS; i++) {
+	x393_cmprs_interrupts(irq_ctrl, chn);
-		x393_cmprs_interrupts(irq_ctrl, i);
+}
+/** Camera sensor (frame sequencer) compressor interrupts on/off */
+void sensor_interrupts (int on,   ///< 0 -interrupt disable, 1 - interrupt enable
+                        int chn)  ///< compressor channel (0..3)
+{
+    int i;
+    x393_cmdframeseq_mode_t cmdframeseq_mode = {.d32=0};
+    //MDF2(printk ("compressor_interrupts(%d)\n",on));
+    dev_dbg(NULL, "set sensor interrupts status: %d\n", on);
+#ifdef TEST_DISABLE_CODE
+    if (on) {
+        EN_INTERRUPT(SMART);
+    }  else {
+        DIS_INTERRUPTS;
    }
+    // clear smart interrupt circuitry in any case
+    port_csp0_addr[X313_WA_SMART_IRQ]=0x8000;
+    reg_intr_vect_rw_mask intr_mask;
+    intr_mask = REG_RD(intr_vect, regi_irq, rw_mask);
+    intr_mask.ext = on ? 1 : 0;
+    REG_WR(intr_vect, regi_irq, rw_mask, intr_mask);
+#endif /* TEST_DISABLE_CODE */
+    //
+    cmdframeseq_mode.interrupt_cmd = on ? IRQ_ENABLE : IRQ_DISABLE;
+    x393_cmdframeseq_ctrl(cmdframeseq_mode, chn);
+}
+int sequencer_stop_run_reset(int chn,  ///< Sensor port
+                             int cmd)  ///< Command: SEQ_CMD_STOP=0 - stop, SEQ_CMD_RUN=1 - run, SEQ_CMD_RESET=2 - reset
+                                       ///< @return always 0
+{
+    x393_cmdframeseq_mode_t cmdframeseq_mode = {.d32 = 0};
+    x393_status_ctrl_t status_ctrl = {.d32=0};
+    switch (cmd){
+    case SEQ_CMD_STOP:
+        cmdframeseq_mode.run_cmd = 2;
+        break;
+    case SEQ_CMD_RUN:
+        cmdframeseq_mode.run_cmd = 3;
+        status_ctrl.mode = 3; // autoupdate, is anyway set to it when reading i2c
+        break;
+    case SEQ_CMD_RESET:
+        cmdframeseq_mode.reset =   1;
+    }
+    if (cmdframeseq_mode.d32)
+        x393_cmdframeseq_ctrl (cmdframeseq_mode, chn);
+    if (cmd == SEQ_CMD_RESET)
+        udelay(1);
+    if (status_ctrl.mode)
+        set_x393_cmdseqmux_status_ctrl(status_ctrl);
+    return 0;
 }
 /**

--- a/src/drivers/elphel/sensor_common.h
+++ b/src/drivers/elphel/sensor_common.h
@@ -15,6 +15,11 @@ extern struct sensorproc_t * sensorproc;
 #ifdef CONFIG_ETRAX_ELPHEL_MT9X001
  #include "mt9x001.h"
 #endif
+#define SEQ_CMD_STOP  0 ///< Sequencer command stop
+#define SEQ_CMD_RUN   1 ///< Sequencer command run
+#define SEQ_CMD_RESET 2 ///< Sequencer command reset
 //#include "multisensor.h"
 //int  camSeqGetJPEG_wp(void);
 //int  camSeqGetJPEG_rp(void);
@@ -36,7 +41,9 @@ extern unsigned long  * ccam_dma_buf_ptr[SENSOR_PORTS];
 //int init_FPGA(void); /// can be initialized only after FPGA is configured, not at module init (NOTE was static??)
 ///can be verified with if (!X313_IS_SDRAM_ON)
 void reset_compressor(unsigned int chn);
-void camera_interrupts (int on);
+void compressor_interrupts (int on, int chn);
+void sensor_interrupts     (int on, int chn);
+int sequencer_stop_run_reset(int chn, int cmd);
 struct sensorproc_t * copy_sensorproc (int sensor_port, struct sensorproc_t * copy);
 ///NOTE: If profiling is enabled (TASKLET_CTL_ENPROF is set in G_TASKLET_CTL) - save current time in 2 of the 32-bit locations that can be read as pastpars (i.e. from PHP)

--- a/src/drivers/elphel/sensor_i2c.c
+++ b/src/drivers/elphel/sensor_i2c.c
@@ -76,6 +76,50 @@ static int sysfs_page[4];            ///< when positive - page locked for exclus
 static struct device *sdev = NULL;   ///< store this device here
 static u32    i2c_read_data[4];      ///< last data read from i2c device
+/** I2C sequencer stop/run/reset (also programs status if run)*/
+int i2c_stop_run_reset(int chn,  ///< Sensor port
+                       int cmd)  ///< Command: I2C_CMD_STOP=0 - stop, I2C_CMD_RUN=1 - run, I2C_CMD_RESET=2 - reset
+                                 ///< @return always 0
+{
+    x393_i2c_ctltbl_t i2c_ctl = {.d32=0};
+    x393_status_ctrl_t status_ctrl = {.d32=0};
+    switch (cmd){
+    case I2C_CMD_STOP:
+        i2c_ctl.cmd_run = 2;
+        break;
+    case I2C_CMD_RUN:
+        i2c_ctl.cmd_run = 3;
+        status_ctrl.mode = 3; // autoupdate, is anyway set to it when reading i2c
+        break;
+    case I2C_CMD_RESET:
+        i2c_ctl.reset =   1;
+    }
+    if (i2c_ctl.d32)
+        x393_sensi2c_ctrl (i2c_ctl, chn);
+    if (cmd == I2C_CMD_RESET)
+        udelay(1);
+    if (status_ctrl.mode)
+        set_x393_sensi2c_status_ctrl(status_ctrl, chn);
+    return 0;
+}
+EXPORT_SYMBOL_GPL(i2c_stop_run_reset);
+/** I2C sequencer drive mode */
+int i2c_drive_mode(int chn,             ///< Sensor port
+                   int sda_drive_high,  ///< Actively drive SDA=1 during second half of SCL=1
+                   int sda_release)     ///< Release SDA early if next bit is SDA=1
+                                        ///< @return always 0
+{
+    x393_i2c_ctltbl_t i2c_ctl = {.d32=0};
+    i2c_ctl.sda_drive_high =    sda_drive_high;
+    i2c_ctl.sda_release =       sda_release;
+    i2c_ctl.drive_ctl =         1;
+    x393_sensi2c_ctrl (i2c_ctl, chn);
+    return 0;
+}
+EXPORT_SYMBOL_GPL(i2c_drive_mode);
 /** Mark all i2c pages for each channel as free */
 void i2c_page_alloc_init(void)
 {

--- a/src/drivers/elphel/sensor_i2c.h
+++ b/src/drivers/elphel/sensor_i2c.h
@@ -17,6 +17,14 @@
 #ifndef SENSOR_I2C_H
 #define SENSOR_I2C_H
+#define I2C_CMD_STOP  0
+#define I2C_CMD_RUN   1
+#define I2C_CMD_RESET 2
+#define SDA_DRIVE_HIGH 1
+#define SDA_RELEASE    1
 /** I2C device description to be used with i2c sequencer*/
 typedef struct{
 	      char                         name[32];      ///< Device class name (up to 31 characters)
@@ -27,136 +35,29 @@ typedef struct{
 	      int                          scl_khz;       ///< maximal SCL frequency in KHz (currently limited by 200KHz slowest)
 } x393_i2c_device_t;
-/** Reserve i2c page (1 of 256) for a sensor port
+int i2c_stop_run_reset(int chn, int cmd);
- * @param chn sensor port number (0..3) */
+int i2c_drive_mode    (int chn, int sda_drive_high, int sda_release);
-int i2c_page_alloc(int chn);
-/* Register specific page, can be used with legacy software to register page equal to slave address,
- * and use 0xff for reading. Works with 1byhte addresses and 16-bit data */
-int i2c_page_register(int chn,   // Sensor port
-		              int page);  // page to register (for legacy software, use 7-bit slave address
-		                         // @return 0 on success, -ENOMEM if page is already registered
-/* Free i2c page */
-void i2c_page_free(int chn, int page);
-/* Find device list entry by device class name */
-x393_i2c_device_t * xi2c_dev_get(const char * name); // Device class name as string
-/* Set i2c table entry to raw data (will just overwrite tbl_mode = 2)*/
-void set_xi2c_raw(int chn,
-	             int page,   // index in lookup table
-				 u32 data);  // Bit delay - number of mclk periods in 1/4 of the SCL period
-/* Set i2c table entry for write operation */
-void set_xi2c_wr(int chn,         // sensor port
-		         int page,        // index in lookup table
-				 int sa7,         // slave address (7 bit)
-				 int rah,         // High byte of the i2c register address
-				 int num_bytes,   // Number of bytes to write (1..10)
-				 int bit_delay);  // Bit delay - number of mclk periods in 1/4 of the SCL period
-/*
- *  Set i2c table entry for write operation using known devices
- * Get device with xi2c_dev_get(), copy and modify, if needed to
- * offset slave address or change number of bytes to write, SCL frequency
- */
-void set_xi2c_wrc( x393_i2c_device_t * dc,   // device class
-		          int                  chn,  // sensor port
-		          int                  page, // index in lookup table
-				  int                  rah); // High byte of the i2c register address
-/*
- * Set i2c table entry for read operation using known devices
- * Get device with xi2c_dev_get(), copy and modify, if needed to
- * offset slave address or change number of bytes to write, SCL frequency
- */
-void set_xi2c_rdc(x393_i2c_device_t * dc,    // device class
-        		 int                 chn,    // sensor port
-				 int                 page);  // index in lookup table
-/* Set i2c table entry for read operation */
-void set_xi2c_rd(int chn,
-		         int page,          // index in lookup table
-				 int two_byte_addr, // Number of address bytes (0 - one byte, 1 - two bytes)
-				 int num_bytes,     // Number of bytes to read (1..8, 0 means 8)
-				 int bit_delay);    // Bit delay - number of mclk periods in 1/4 of the SCL period
-/* Write one or multiple DWORDs to i2c relative (modulo16) address. Use offs = 0 for immediate (ASAP) command */
-/* Length of data is determined by the page data already preset */
-int write_xi2c_rel (int chn,
-                    int offs,    // 4 bits
-                    u32 * data);
-int write_xi2c_abs (int chn,
+int i2c_page_alloc   (int chn);
-                    int offs, // 4 bits
+int i2c_page_register(int chn,  int page);
-                    u32 * data);
+void i2c_page_free   (int chn, int page);
-/* Write sensor 16 bit (or 8 bit as programmed in the table) data in immediate mode */
-void  write_xi2c_reg16  (int chn,
-	 	                 int page,  // page (8 bits)
-                         int addr,  // low 8 bits
-	      				 u32 data); // 16 or 8-bit data (LSB aligned)
-/* Write sensor 16 bit (or 8 bit as programmed in the table) data in immediate mode */
-void  write_xi2c_reg16_rel (int chn,  // sensor port
-	 	                    int page, // index in the table (8 bits)
-	 	                    int frame, // relative frame number modulo PARS_FRAMES
-                            int addr, // low byte of the register address (high is in the table), 8 bits
-	      				    u32 data); ///< 16 or 8-bit data (LSB aligned)
-/* Write sensor 16 bit (or 8 bit as programmed in the table) data in immediate mode */
-void  write_xi2c_reg16_abs (int chn,  // sensor port
-	 	                    int page, // index in the table (8 bits)
-	 	                    int frame, // absolute frame number modulo PARS_FRAMES
-                            int addr, // low byte of the register address (high is in the table), 8 bits
-	      				    u32 data); //16 or 8-bit data (LSB aligned)
-/* Compatibility with the legacy code: frame <0 - ASAP, >=0 - absolute
- * Write sensor 16 bit (or 8 bit as programmed in the table) data in immediate mode */
-void  write_xi2c_reg16_abs_asap (int chn,   // sensor port
-	 	                         int page,  // index in the table (8 bits)
-	 	                         int frame, // absolute frame number modulo PARS_FRAMES
-                                 int addr,  // low byte of the register address (high is in the table), 8 bits
-	      				         u32 data);  // 16 or 8-bit data (LSB aligned)
-/* Initiate sensor i2c read in immediate mode (data itself has to be read from FIFO with read_xi2c_fifo)
- * Use slave address from provided class structure. */
-void  read_xi2c (x393_i2c_device_t * dc,     // device class
-		         int chn,
-		         int page,  // page (8 bits)
-                 int addr); // 8/16 bit address
-/* Initiate sensor i2c read in immediate mode (data itself has to be read from FIFO with read_xi2c_fifo)*/
-void  read_xi2c_sa7 (int chn,
-		             int page,  // page (8 bits)
-					 int sa7,   // 7-bit i2c slave address
-                     int addr); // 8/16 bit address
-/* Read next byte from the channel i2c FIFO. Return byte or -1 if no data available */
-/* Sensor channel status should be in auto update mode (3) */
-int read_xi2c_fifo(int chn);
-/* Handling classes of i2c devices */
 x393_i2c_device_t * xi2c_dev_get(const char * name);
+void set_xi2c_raw    (int chn, int page, u32 data);
-/* Single-command i2c write/read register using pre-defined device classes */
+void set_xi2c_wr     (int chn,int page, int sa7, int rah, int num_bytes, int bit_delay);
-int x393_xi2c_write_reg(const char * cname,    // device class name
+void set_xi2c_wrc    (x393_i2c_device_t * dc, int chn, int page, int rah);
-						int          chn,      // sensor port number
+void set_xi2c_rdc    (x393_i2c_device_t * dc, int chn, int page);
-				        int          sa7_offs, // slave address (7-bit) offset from the class defined slave address
+void set_xi2c_rd     (int chn, int page, int two_byte_addr, int num_bytes, int bit_delay);
-				        int          reg_addr, // register address (width is defined by class)
+int write_xi2c_rel   (int chn, int offs, u32 * data);
-				        int          data);    // data to write (width is defined by class)
+int write_xi2c_abs   (int chn, int offs, u32 * data);
+void  write_xi2c_reg16  (int chn, int page, int addr, u32 data);
-int x393_xi2c_read_reg( const char * cname,    // device class name
+void  write_xi2c_reg16_rel (int chn, int page, int frame, int addr, u32 data);
-						int          chn,      // sensor port number
+void  write_xi2c_reg16_abs (int chn, int page, int frame, int addr, u32 data);
-				        int          sa7_offs, // slave address (7-bit) offset from the class defined slave address
+void  write_xi2c_reg16_abs_asap (int chn, int page, int frame, int addr, u32 data);
-				        int          reg_addr, // register address (width is defined by class)
+void  read_xi2c      (x393_i2c_device_t * dc, int chn, int page, int addr);
-				        int *        datap);   // pointer to a data receiver (read data width is defined by class)
+void  read_xi2c_sa7  (int chn, int page, int sa7, int addr);
-int legacy_read_i2c_reg(int          chn,      // sensor port number
+int   read_xi2c_fifo (int chn);
-                        int          page,     // i2c table page registerd for read operation
+x393_i2c_device_t * xi2c_dev_get(const char * name);
-                        int          sa7,      // slave address (7-bit) of the device
+int x393_xi2c_write_reg(const char * cname, int chn, int sa7_offs, int reg_addr, int   data);
-                                               // Offset is non-zero when multiple devices of the same class are present.
+int x393_xi2c_read_reg (const char * cname, int chn, int sa7_offs, int reg_addr, int * datap);
-                        int          reg_addr, // register address (width is defined by class)
+int legacy_read_i2c_reg(int chn, int page,           int sa7,      int reg_addr, int len, int * datap);
-                        int          len,      // number of bytes to read.
-                        int *        datap);   // pointer to a data receiver (read data width is defined by class)
-                                               // @return 0 on success, < 0 - error (ETIMEDOUT)
 #endif
--- a/src/drivers/elphel/x393_fpga_functions.c
+++ b/src/drivers/elphel/x393_fpga_functions.c
@@ -18,3 +18,7 @@
 #include "x393_fpga_functions.h"
+int init_command_sequencer(int sensor_port)
+{
+    return 0;
+}
--- a/src/include/elphel/c313a.h
+++ b/src/include/elphel/c313a.h
@@ -387,6 +387,7 @@
 #define P_HISTRQ        72       ///< per-frame enabling of histogram calculation - bit 0 - Y (G), bit 2 - C (R,G2,B)
 #define P_TILES         73       ///< Number of 16x16 (20x20) tiles in a compressed frame // 393: Still needed?
 #define P_SENSOR_PHASE  74       ///< packed, low 16 bit - signed fine phase, bits [18:17] - 90-degrees shift
+                                 ///< NC393 parallel12:  6 LSBs mean quadrants:  90-degree shifts for data [1:0], hact [3:2] and vact [5:4]
 #define P_TEMPERATURE_PERIOD  75 ///< period of temperature measurements, ms (normally - multiple seconds)
 #define P_AUTOEXP_ON    76       ///< Autoexposure control (unsigned long on)
 // relative histogram (autoexposure) window (changed from % to 1/0x10000)