Commit dfe11ab2 authored by Andrey Filippov's avatar Andrey Filippov
Browse files

updated imu_log393.c for InertialSense IMX-5

parent 4712e4e6

src/drivers/elphel/imu_log393.c

+160 −25
Original line number Diff line number Diff line
@@ -71,7 +71,7 @@ 
//#define MD8(x)

//#define MD12(x)

#endif



//#define DEBUG2023 1

//#define D1(x) x
@@ -86,6 +86,8 @@ 
#define LOGGER_IRQ_DW_BIT 4     // Number of DWORD address bit to change to cause interrupt

#define LOGGER_USE_IRQ 1



//#define LOGGER_MIN_BYTES_AHEAD 128 // actual 64, but got some zeros, let's wait extra 64-byte record

#define LOGGER_MIN_BYTES_AHEAD 256 // actual 64, but got some zeros, let's wait extra 64-byte record // with 128 was still getting 32x0?

#ifdef NC353

#define EXT_DMA_1_START \

        do { reg_bif_dma_rw_ch1_start c = {.run=1};\
@@ -131,8 +133,8 @@ 


#define IMU_CONF(x,y)  (((((y) & ((1 << IMUCR__##x##__WIDTH)-1))) | (1 << IMUCR__##x##__WIDTH) ) << IMUCR__##x##__BITNM)

#define  IMUCR__IMU_SLOT__BITNM 0    ///< slot, where 103695 (imu) board is connected: 0 - none, 1 - J9, 2 - J10, 3 - J11)

#define  IMUCR__IMU_SLOT__WIDTH 2



#define  IMUCR__IMU_SLOT__WIDTH 2    // Should be 3 for IMX-5

// for IMX-5 slot should be == 1

#define  IMUCR__GPS_CONF__BITNM 3    ///< slot, where 103695 (imu) board is connected: 0 - none, 1 - J9, 2 - J10, 3 - J11)

#define  IMUCR__GPS_CONF__WIDTH 4    ///< bits 0,1 - slot #, same as for IMU_SLOT, bits 2,3:

// 0 - ext pulse, leading edge,
@@ -145,18 +147,19 @@ 
// bit 4 - invert polarity: 0 - timestamp leading edge, log at trailing edge, 1 - opposite

// software may set (up to 56 bytes) log message before trailing end of the pulse

#define  IMUCR__SYN_CONF__BITNM 14   ///< logging frame time stamps (may be synchronized by another camera and have timestamp of that camera)

#define  IMUCR__SYN_CONF__WIDTH 4    ///< 0 - disable, 1 - enable, per channel (was width==1 in NC353)

#define  IMUCR__SYN_CONF__WIDTH 5    ///< 0 - disable, 1 - enable, per channel (was width==1 in NC353)

                                     ///< Was 4 bits, 2023 added 5-th (bit 18) to log incoming sync pulses



#define  IMUCR__RST_CONF__BITNM 19   ///< reset module // was 16 in NC353

#define  IMUCR__RST_CONF__BITNM 20   ///< reset module // was 16 in NC353 // was 19 before IMX-5

#define  IMUCR__RST_CONF__WIDTH 1    ///< 0 - enable, 1 -reset (needs resettimng DMA address in ETRAX also)



#define  IMUCR__DBG_CONF__BITNM 21   ///< several axtra IMU configuration bits (was 18 for NC353)

#define  IMUCR__DBG_CONF__BITNM 22   ///< several extra IMU configuration bits (was 18 for NC353) // was 21 before IMX-5

#define  IMUCR__DBG_CONF__WIDTH 4    ///< 0 - config_long_sda_en, 1 -config_late_clk, 2 - config_single_wire, should be set for 103695 rev "A"



#define  IMUCR__SLOW_SPI__BITNM 26   ///< just for the driver, not written to FPGA (was 23 for NC353)

#define  IMUCR__SLOW_SPI__BITNM 27   ///< just for the driver, not written to FPGA (was 23 for NC353) // was 26 before IMX-5

#define  IMUCR__SLOW_SPI__WIDTH 1    ///< 0 - normal, 1 - slow SPI (programmed over i2c)



#define  IMUCR__I2C_SA3__BITNM 28    ///< Low 3 bits of the SA7 of the PCA9500 slave address

#define  IMUCR__I2C_SA3__BITNM 29    ///< Low 3 bits of the SA7 of the PCA9500 slave address // was 28 before IMX-5

#define  IMUCR__I2C_SA3__WIDTH 3     ///< Should match jumpers



#define   X313_IMU_REGISTERS_ADDR    0x4
@@ -175,6 +178,8 @@ 


#define   X313_IMU_NMEA_FORMAT_OFFS  0x30

#define   X313_IMU_MESSAGE_OFFS      0xB0 // 0xB0..0xE7

#define   X313_IMU_EXTTRIG_OFFS      0xE8 // Program camsync - trigger condition and period if it is not zero

//may ue 0x55555 for trigger conditiona as NOP



#define   PCA9500_PP_ADDR            0x40 ///< PCA9500 i2c slave addr for the parallel port (read will be 0x41)
@@ -197,14 +202,28 @@ 
#endif

#define SLOW_SPI 0 ///< set to 1 for slower SPI (not ADIS-16375), it will increase SCLK period that does not end CS active



#define DFLT_IMX5 1

#ifdef DFLT_IMX5

  #define DFLT_CONFIG ( IMU_CONF(IMU_SLOT,3) | \

        IMU_CONF(GPS_CONF, ( 1 | 8) ) | \

        IMU_CONF(MSG_CONF,10)  | \

        IMU_CONF(SYN_CONF, 0x30) | \

        IMU_CONF(DBG_CONF, EXTRA_CONF) | \

        ((SLOW_SPI & 1)<<27) | \

        (DFLT_SLAVE_ADDR << 29))



#else

  #define DFLT_CONFIG ( IMU_CONF(IMU_SLOT,1) | \

        IMU_CONF(GPS_CONF, ( 2 | 8) ) | \

        IMU_CONF(MSG_CONF,10)  | \

        IMU_CONF(SYN_CONF, 1) | \

        IMU_CONF(DBG_CONF, EXTRA_CONF) | \

        ((SLOW_SPI & 1)<<23) | \

        (DFLT_SLAVE_ADDR << 24))



        ((SLOW_SPI & 1)<<27) | \

        (DFLT_SLAVE_ADDR << 29))

// before IMX5 was

//        ((SLOW_SPI & 1)<<23) |

//        (DFLT_SLAVE_ADDR << 24))

#endif

#define  WHICH_INIT         1

#define  WHICH_RESET        2

#define  WHICH_RESET_SPI    4
@@ -217,6 +236,7 @@ 
#define  WHICH_PERIOD     512

#define  WHICH_EN_DMA    1024

#define  WHICH_EN_LOGGER 2048

#define  WHICH_CAMSYNC   4096



#define LSEEK_IMU_NEW       1 ///< start from the new data, discard buffer

#define LSEEK_IMU_STOP      2 ///< stop DMA1 and IMU
@@ -275,7 +295,9 @@ static unsigned char dflt_wbuf[]= 


        // Message - up to 56 bytes

        'O', 'd', 'o', 'm', 'e', 't', 'e', 'r', ' ', 'm', 'e', 's', 's', 'a', 'g', 'e',

        0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0

        0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,  0,0,0,0,

		0x55, 0x55, 0x05, 0x00, // camsync trigger source

		0x00, 0x00, 0x00, 0x00  // camsync trigger period

};

static unsigned char wbuf[sizeof(dflt_wbuf)];
@@ -372,25 +394,30 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
    unsigned long * rs232_div=  (unsigned long *) &wbuf[X313_IMU_RS232DIV_OFFS];

    unsigned long * config=     (unsigned long *) &wbuf[X313_IMU_CONFIGURE_OFFS];

    unsigned long * message=    (unsigned long *) &wbuf[X313_IMU_MESSAGE_OFFS];

    unsigned long * camsync=    (unsigned long *) &wbuf[X313_IMU_EXTTRIG_OFFS];

    char * nmea_format=         (char *) &wbuf[X313_IMU_NMEA_FORMAT_OFFS];



    x393_logger_address_t logger_address;

    x393_logger_data_t    logger_data;

    x393_gpio_set_pins_t  gpio_set_pins;

    x393_camsync_io_t     camsync_src;

    x393_camsync_mode_t   camsync_mode;

//    x393_camsync_mode_t   camsync_mode; //  = {.d32=0};



//    D(int i2c_err=0;)

    int i2c_err=0;



//    dev_info(g_dev_ptr,"============ which = 0x%x =============== \n",which);

    dev_info(g_dev_ptr,"============ which = 0x%x =============== \n",which);

    dev_dbg(g_dev_ptr,"============ which = 0x%x =============== \n",which);



    D(for (i=0; i< sizeof (wbuf); i++ ) {  if ((i & 0x1f)==0) printk("\n %03x",i);  printk(" %02x",(int) wbuf[i]); });

//    D(for (i=0; i< sizeof (wbuf); i++ ) {  if ((i & 0x1f)==0) printk("\n %03x",i);  printk(" %02x",(int) wbuf[i]); });

    if (which & WHICH_RESET) {

        if (logger_is_dma_on()!=0) {

            dev_info(g_dev_ptr,"Stopping DMA\n");

            dev_dbg(g_dev_ptr,"Stopping DMA\n");

            logger_dma_stop();

        }



        dev_dbg(g_dev_ptr,"Resetting logger\n");

#ifdef NC353

        port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_CONFIGURE_ADDR;

        port_csp0_addr[X313_WA_IMU_DATA] = IMU_CONF(RST_CONF,1);
@@ -399,8 +426,11 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
        x393_logger_address(logger_address);

        logger_data.d32=IMU_CONF(RST_CONF,1);

        x393_logger_data(logger_data);

        dev_info(g_dev_ptr,"Resetting logger (0x%x)\n",logger_data.d32);

        dev_dbg(g_dev_ptr,"Resetting logger (0x%x)\n",logger_data.d32);

#endif

    }

    dev_info(g_dev_ptr,"============ which = 0x%x WHICH_INIT = 0x%x=============== \n",which, (int) WHICH_INIT);

    dev_dbg(g_dev_ptr,"============ which = 0x%x WHICH_INIT = 0x%x=============== \n",which, (int) WHICH_INIT);

    if (which & WHICH_INIT) {

//        unsigned char i2c_sa= PCA9500_PP_ADDR+((config[0]>>23) & 0xe);
@@ -432,11 +462,13 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
                &enable_IMU,   //unsigned char *theData,

                1,             // int size,

                1);            // int stop (send stop in the end)

        dev_info(g_dev_ptr,"Sent i2c command in raw mode - address=0x%x, data=0x%x, result=0x%x\n",(int)i2c_sa8, (int) enable_IMU, i2c_err);

        dev_dbg(g_dev_ptr,"Sent i2c command in raw mode - address=0x%x, data=0x%x, result=0x%x\n",(int)i2c_sa8, (int) enable_IMU, i2c_err);



        logger_init_fpga(0); // do not re-init if it already is

    }

    if (which & WHICH_RESET_SPI) {

        dev_info(g_dev_ptr,"stopped IMU logger (set period=0)\n");

        dev_dbg(g_dev_ptr,"stopped IMU logger (set period=0)\n");

#ifdef NC353

        port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_PERIOD_ADDR;
@@ -448,8 +480,10 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
        x393_logger_data(logger_data);

#endif

    }

    dev_info(g_dev_ptr,"============ which = 0x%x WHICH_INIT = 0x%x=============== \n",which, (int) WHICH_INIT);

    dev_dbg(g_dev_ptr,"============ which = 0x%x WHICH_INIT = 0x%x=============== \n",which, (int) WHICH_INIT);

    if (which & WHICH_DIVISOR) {

        dev_info(g_dev_ptr,"IMU clock divisor= %ld\n", divisor[0]);

        dev_dbg(g_dev_ptr,"IMU clock divisor= %ld\n", divisor[0]);

#ifdef NC353

        port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_DIVISOR_ADDR;
@@ -462,6 +496,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
#endif

    }

    if (which & WHICH_RS232DIV) {

        dev_info(g_dev_ptr,"RS232 clock divisor= %ld\n", rs232_div[0]);

        dev_dbg(g_dev_ptr,"RS232 clock divisor= %ld\n", rs232_div[0]);

#ifdef NC353

        port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_RS232DIV_ADDR;
@@ -482,18 +517,22 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
        }

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

            nmea_format[32*n+27]=0; // just in case

            dev_info(g_dev_ptr,"Setting NMEA sentence format for $GP%s\n", &nmea_format[32*n]);

            dev_dbg(g_dev_ptr,"Setting NMEA sentence format for $GP%s\n", &nmea_format[32*n]);

            dev_info(g_dev_ptr,"(0x%x, 0x%x, 0x%x\n",(int) nmea_format[32*n],(int) nmea_format[32*n+1],(int) nmea_format[32*n+2]);

            dev_dbg(g_dev_ptr,"(0x%x, 0x%x, 0x%x\n",(int) nmea_format[32*n],(int) nmea_format[32*n+1],(int) nmea_format[32*n+2]);



            f=0;

            for (i=2;i>=0;i--) {

                b=nmea_format[32*n+i]; /// first 3 letters in each sentence

                dev_info(g_dev_ptr,"n=%d, i=%d, b=0x%x\n", n,i,b);

                dev_dbg(g_dev_ptr,"n=%d, i=%d, b=0x%x\n", n,i,b);

                for (j=4; j>=0; j--) {

                    f<<=1;

                    if ((b & (1<<j))!=0) f++;

                }

            }

            dev_info(g_dev_ptr,"n=%d, f=0x%x\n", n,f);

            dev_dbg(g_dev_ptr,"n=%d, f=0x%x\n", n,f);

            for (i=0;i<15;i++)  if ((f & (1<<i))!=0) nmea_sel[i] |= (1<<n);

            f=0;
@@ -507,6 +546,14 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
            nmea_fpga_frmt[n*4+2]=(f>> 8)&0xff;

            nmea_fpga_frmt[n*4+3]=(f>>16)&0xff;

        }

        dev_info(g_dev_ptr,"Selection data is %x%x%x%x%x%x%x%x%x%x%x%x%x%x%x\n", nmea_sel[0],nmea_sel[1],nmea_sel[2],

                nmea_sel[3],nmea_sel[4],nmea_sel[5],nmea_sel[6],nmea_sel[7],nmea_sel[8],nmea_sel[9],

                nmea_sel[10],nmea_sel[11],nmea_sel[12],nmea_sel[13],nmea_sel[14]);

        dev_info(g_dev_ptr,"Format data for sentence 1 is %02x %02x %02x %02x\n", nmea_fpga_frmt[ 0],nmea_fpga_frmt[ 1],nmea_fpga_frmt[ 2],nmea_fpga_frmt[ 3]);

        dev_info(g_dev_ptr,"Format data for sentence 2 is %02x %02x %02x %02x\n", nmea_fpga_frmt[ 4],nmea_fpga_frmt[ 5],nmea_fpga_frmt[ 6],nmea_fpga_frmt[ 7]);

        dev_info(g_dev_ptr,"Format data for sentence 3 is %02x %02x %02x %02x\n", nmea_fpga_frmt[ 8],nmea_fpga_frmt[ 9],nmea_fpga_frmt[10],nmea_fpga_frmt[11]);

        dev_info(g_dev_ptr,"Format data for sentence 4 is %02x %02x %02x %02x\n", nmea_fpga_frmt[12],nmea_fpga_frmt[13],nmea_fpga_frmt[14],nmea_fpga_frmt[15]);



        dev_dbg(g_dev_ptr,"Selection data is %x%x%x%x%x%x%x%x%x%x%x%x%x%x%x\n", nmea_sel[0],nmea_sel[1],nmea_sel[2],

                nmea_sel[3],nmea_sel[4],nmea_sel[5],nmea_sel[6],nmea_sel[7],nmea_sel[8],nmea_sel[9],

                nmea_sel[10],nmea_sel[11],nmea_sel[12],nmea_sel[13],nmea_sel[14]);
@@ -527,6 +574,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
            logger_data.d32=                   nmea_sel[i];

            x393_logger_data(logger_data);

#endif

            dev_info(g_dev_ptr,"Loaded imu fpga register 0x%x with 0x%x\n", X313_IMU_NMEA_FORMAT_ADDR+i, nmea_sel[i] );

            dev_dbg(g_dev_ptr,"Loaded imu fpga register 0x%x with 0x%x\n", X313_IMU_NMEA_FORMAT_ADDR+i, nmea_sel[i] );

        }

        for (i=0;i<16;i++) {
@@ -536,11 +584,13 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
            logger_data.d32=                   nmea_fpga_frmt[i];

            x393_logger_data(logger_data);

#endif

            dev_info(g_dev_ptr,"Loading imu fpga register 0x%x with 0x%x\n", X313_IMU_NMEA_FORMAT_ADDR+i+16, nmea_fpga_frmt[i] );

            dev_dbg(g_dev_ptr,"Loading imu fpga register 0x%x with 0x%x\n", X313_IMU_NMEA_FORMAT_ADDR+i+16, nmea_fpga_frmt[i] );

        }

    }



    if (which & WHICH_CONFIG) {

        dev_info(g_dev_ptr,"Setting configuration= 0x%lx\n", config[0]);

        dev_dbg(g_dev_ptr,"Setting configuration= 0x%lx\n", config[0]);

#ifdef NC353

        port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_CONFIGURE_ADDR;
@@ -562,6 +612,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
#endif

        for (i=X313_IMU_REGISTERS_OFFS; i< X313_IMU_NMEA_FORMAT_OFFS ;i++) {

            d=wbuf[i];

            dev_info(g_dev_ptr,"%d: logging IMU register with 0x%lx\n", (i-X313_IMU_REGISTERS_OFFS+1),d);

            dev_dbg(g_dev_ptr,"%d: logging IMU register  with 0x%lx\n", (i-X313_IMU_REGISTERS_OFFS+1),d);

#ifdef NC353

            port_csp0_addr[X313_WA_IMU_DATA] = d;
@@ -572,6 +623,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
        }

    }

    if (which & WHICH_MESSAGE) {

        dev_info(g_dev_ptr,"Setting odometer message %56s\n", (char *) message);

        dev_dbg(g_dev_ptr,"Setting odometer message %56s\n", (char *) message);

#ifdef NC353

        port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_MESSAGE_ADDR;
@@ -579,7 +631,9 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
        logger_address.d32=                X313_IMU_MESSAGE_ADDR;

        x393_logger_address(logger_address);

#endif

        for (i=0; i<(((sizeof(wbuf)-X313_IMU_MESSAGE_OFFS))>>2);i++) {

//        for (i=0; i<(((sizeof(wbuf)-X313_IMU_MESSAGE_OFFS))>>2);i++) {

        for (i=0; i<(((X313_IMU_EXTTRIG_OFFS-X313_IMU_MESSAGE_OFFS))>>2);i++) {

            dev_info(g_dev_ptr,"%d: message 4 bytes= 0x%x\n", i+1,(int) message[i]);

            dev_dbg(g_dev_ptr,"%d: message 4 bytes= 0x%x\n", i+1,(int) message[i]);

#ifdef NC353

            port_csp0_addr[X313_WA_IMU_DATA] = message[i];
@@ -592,6 +646,7 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 


    // setting IMU SPI period, turning it on

    if (which & WHICH_PERIOD) {

        dev_info(g_dev_ptr,"IMU cycle period= %ld\n", period[0]);

        dev_dbg(g_dev_ptr,"IMU cycle period= %ld\n", period[0]);

#ifdef NC353

        port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_PERIOD_ADDR;
@@ -604,12 +659,14 @@ static void set_logger_params(int which){ // 1 - program IOPINS, 2 - reset first 
#endif

    }

    if (which & WHICH_EN_DMA) {

        dev_info(g_dev_ptr,"Enabling DMA\n");

        dev_dbg(g_dev_ptr,"Enabling DMA\n");

        /*!

TODO: (re)start DMA1 here !

         */

        /// for now - init everything again?

        if (logger_is_dma_on()!=0) {

            dev_info(g_dev_ptr,"Stopping DMA\n");

            dev_dbg(g_dev_ptr,"Stopping DMA\n");

            logger_dma_stop();

        }
@@ -618,7 +675,6 @@ TODO: (re)start DMA1 here ! 
    }



    if (which & WHICH_EN_LOGGER) {

        dev_dbg(g_dev_ptr,"Enabling logger\n");

#ifdef NC353

        port_csp0_addr[X313_WA_IMU_CTRL] = X313_IMU_CONFIGURE_ADDR;

        port_csp0_addr[X313_WA_IMU_DATA] = IMU_CONF(RST_CONF,0);
@@ -627,9 +683,65 @@ TODO: (re)start DMA1 here ! 
        x393_logger_address(logger_address);

        logger_data.d32=                   IMU_CONF(RST_CONF,0);

        x393_logger_data(logger_data);

        dev_info(g_dev_ptr,"Enabling logger (0x%x)\n",logger_data.d32);

        dev_dbg(g_dev_ptr,"Enabling logger (0x%x)\n",logger_data.d32);

#endif

    }



    // Setting camsync to trigger (needed if no sensor exists)

#ifndef NC353

    if (which & WHICH_CAMSYNC) {

    	if (camsync[1]) {

    		// period needs to be != 0 to enable receiving timestamps. Maybe something else?

            dev_info(g_dev_ptr,"Setting camsync bit duration= %d\n", 31);

            dev_dbg(g_dev_ptr,"Setting camsync bit duration= %d\n", 31);

            set_x393_camsync_trig_period(31);    // here in immediate mode, no sequencer



            dev_info(g_dev_ptr,"Setting camsync period= %ld\n", camsync[1]);

            dev_dbg(g_dev_ptr,"Setting camsync period= %ld\n", camsync[1]);

            set_x393_camsync_trig_period(camsync[1]);    // here in immediate mode, no sequencer



            camsync_mode.en =       1;

            camsync_mode.en_set =   1;

            camsync_mode.ext =      1;

            camsync_mode.ext_set =  1;

            camsync_mode.trig =     1;

            camsync_mode.trig_set = 1;

            /*

typedef union {

    struct {

          u32              en: 1; // [    0] (1) Enable CAMSYNC module

          u32          en_set: 1; // [    1] (1) Set 'en' bit

          u32          en_snd: 1; // [    2] (1) Enable sending timestamps (valid with 'en_snd_set')

          u32      en_snd_set: 1; // [    3] (0) Set 'en_snd'

          u32             ext: 1; // [    4] (1) Use external (received) timestamps, if available. O - use local timestamps

          u32         ext_set: 1; // [    5] (0) Set 'ext'

          u32            trig: 1; // [    6] (1) Sensor triggered mode (0 - free running sensor)

          u32        trig_set: 1; // [    7] (0) Set 'trig'

          u32      master_chn: 2; // [ 9: 8] (0) master sensor channel (zero delay in internal trigger mode, delay used for flash output)

          u32  master_chn_set: 1; // [   10] (0) Set 'master_chn'

          u32         ts_chns: 4; // [14:11] (1) Channels to generate timestmp messages (bit mask)

          u32     ts_chns_set: 4; // [18:15] (0) Sets for 'ts_chns' (each bit controls corresponding 'ts_chns' bit)

          u32                :13;

    };

    struct {

          u32             d32:32; // [31: 0] (0) cast to u32

    };

} x393_camsync_mode_t;

             */

            dev_info(g_dev_ptr,"Setting camsync mode= %08x\n", (int) camsync_mode.d32);

            dev_dbg(g_dev_ptr, "Setting camsync mode= %08x\n", (int) camsync_mode.d32);

            x393_camsync_mode(camsync_mode);    // here in immediate mode, no sequencer

    	} else {

            dev_info(g_dev_ptr,"Skipping camsync period setting as it is= %ld\n", camsync[1]);

            dev_dbg(g_dev_ptr,"Skipping camsync period setting as it is= %ld\n", camsync[1]);

    	}

        dev_info(g_dev_ptr,"Setting camsync trigger source = 0x%lx\n", camsync[0]);

        dev_dbg(g_dev_ptr,"Setting camsync trigger source = 0x%lx\n", camsync[0]);

    	camsync_src.d32 =                  camsync[0];

    	x393_camsync_trig_src(camsync_src); // here in immediate mode, no sequencer

    }

#endif

}



//filp->f_mode & FMODE_WRITE
@@ -669,9 +781,11 @@ static int imu_open(struct inode *inode, struct file *filp) { 
                    WHICH_MESSAGE |

                    WHICH_PERIOD |

                    WHICH_EN_DMA |

					WHICH_CAMSYNC |

                    WHICH_EN_LOGGER );

            numBytesRead=0;

        } else {

            dev_info(g_dev_ptr, "Skipping IMU initialization\n");

            dev_dbg(g_dev_ptr, "Skipping IMU initialization\n");

#ifdef NC353

            updateNumBytesWritten();
@@ -690,6 +804,7 @@ static int imu_open(struct inode *inode, struct file *filp) { 
                //printk("imu opened in R/W mode, (numBytesWritten=0x%x, numBytesRead=0x%x\n", numBytesWritten, numBytesRead);

            } else { // read mode, use file pointer as read pointer, start from the latest data

                filp->f_pos=numBytesWritten; // there is still a chance to lseek to an earlier position - reopening at the position of the total number of bytes written to the buffer

                dev_info(g_dev_ptr, "imu opened in RDONLY mode, (numBytesWritten=0x%llx, numBytesRead=0x%llx\n", numBytesWritten, numBytesRead);

                dev_dbg(g_dev_ptr, "imu opened in RDONLY mode, (numBytesWritten=0x%llx, numBytesRead=0x%llx\n", numBytesWritten, numBytesRead);

            }

        }
@@ -707,10 +822,12 @@ static int imu_release(struct inode *inode, struct file *filp) { 
    switch ( p ) {

    case DEV393_MINOR(DEV393_LOGGER) :

    case DEV393_MINOR(DEV393_LOGGER_CTRL):

        dev_info(g_dev_ptr,"Closing IMU device, numBytesWritten=0x%llx,  numBytesRead=0x%llx (only global pointer, does not include files opened in read mode)\n", numBytesWritten, numBytesRead);

        dev_dbg(g_dev_ptr,"Closing IMU device, numBytesWritten=0x%llx,  numBytesRead=0x%llx (only global pointer, does not include files opened in read mode)\n", numBytesWritten, numBytesRead);

        break;

    default: return -EINVAL;

    }

    dev_info(g_dev_ptr,"imu_release:  done\n");

    dev_dbg(g_dev_ptr,"imu_release:  done\n");

    return 0;

}
@@ -749,7 +866,7 @@ static ssize_t imu_write(struct file * file, const char * buf, size_t count, lof 
        dev_dbg(g_dev_ptr,"which= 0x%x\n",which);

        if ((p<(X313_IMU_MESSAGE_OFFS)) && ((p+count)>X313_IMU_NMEA_FORMAT_OFFS)) which |= WHICH_NMEA;

        dev_dbg(g_dev_ptr,"which= 0x%x\n",which);

        if ((p+count)>X313_IMU_MESSAGE_OFFS) which |= WHICH_MESSAGE;

        if ((p+count)>X313_IMU_EXTTRIG_OFFS) which |= WHICH_CAMSYNC;

        dev_dbg(g_dev_ptr,"which= 0x%x\n",which);

        // will not add automatic restarts here

        set_logger_params(which);
@@ -834,7 +951,7 @@ static loff_t imu_lseek(struct file * file, loff_t offset, int orig) { 
    return (file->f_pos);

}



/** /dev/imu and /dev/imu read. If file is opened in R/W mode, reading updates global reade pointer, if readonly - each file

/** /dev/imu and /dev/imu read. If file is opened in R/W mode, reading updates global read pointer, if readonly - each file

 * has own pointer */

static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *off) {

    int err;
@@ -845,6 +962,10 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of 
    int byteIndexValid;

    int leftToRead;

    int pe;

#ifdef DEBUG2023

    x393_logger_status_t logger_status;

    x393_mult_saxi_status_t mult_saxi_status;

#endif



    //    loff_t numBytesWritten; - it is global now, made absolute from the IMU start

    loff_t thisNumBytesRead;
@@ -853,6 +974,14 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of 
    reg_bif_dma_r_ch1_stat ch1_stat;

#endif

    dev_dbg(g_dev_ptr," file=%x, count=0x%x (%d), off=%x\n", (int) file, (int) count, (int) count, (int)(*off));

#ifdef DEBUG2023

    dev_info(g_dev_ptr," file=%x, count=0x%x (%d), off=%x\n", (int) file, (int) count, (int) count, (int)(*off));

    // debugging logger

    logger_status =  x393_logger_status();

    mult_saxi_status = x393_mult_saxi_status();

    dev_info(g_dev_ptr,"imu_read() : x393_logger_status=0x%08x, x393_mult_saxi_status=0x%08x\n", (int) logger_status.d32, (int) mult_saxi_status.d32);

#endif



    switch ((int)file->private_data) {

    case DEV393_MINOR(DEV393_LOGGER_CTRL):

        //       if (*off >= sizeof(wbuf))  return -EINVAL; // bigger than all
@@ -886,7 +1015,8 @@ static ssize_t imu_read(struct file * file, char * buf, size_t count, loff_t *of 
            idbg++;

        }

#else

        wait_event_interruptible(logger_wait_queue, (sleep[0]==0) || ((numBytesWritten-thisNumBytesRead) > 64)); // AF2016 Why sleep[0] here?

        // sleep[0] == 0 (now it is 30000) - do not wait for bytes written.

        wait_event_interruptible(logger_wait_queue, (sleep[0]==0) || ((numBytesWritten-thisNumBytesRead) > LOGGER_MIN_BYTES_AHEAD)); // 64)); // AF2016 Why sleep[0] here?

#endif

        dev_dbg(g_dev_ptr,"After wait_event_interruptible: numBytesWritten=0x%08x thisNumBytesRead=0x%08x\n", (int) numBytesWritten, (int) thisNumBytesRead);
@@ -1057,7 +1187,11 @@ int logger_init_fpga(int force) ///< if 0, only do if not already initialized 
    x393_mult_saxi_al_t    mult_saxi_a=   {.d32=0};

    x393_mult_saxi_al_t    mult_saxi_l=   {.d32=0};

    x393_mult_saxi_irqlen_t mult_saxi_irqlen=   {.d32=0};

    if (logger_fpga_configured && !force) return 0; // Already initialized

    dev_info(g_dev_ptr,"logger_init_fpga(%d)\n",force);

    if (logger_fpga_configured && !force) {

        dev_info(g_dev_ptr,"logger_init_fpga(%d) -> already initialized\n",force);

    	return 0; // Already initialized

    }

    mult_saxi_a.addr32 = logger_phys >> 2; // in DWORDs

    x393_mult_saxi_buf_address(mult_saxi_a,      MULT_SAXI_CHN);

    mult_saxi_l.addr32 = logger_size >> 2;
@@ -1077,6 +1211,7 @@ int logger_init_fpga(int force) ///< if 0, only do if not already initialized 
    logger_irq_cmd(X393_IRQ_ENABLE);

#endif /* LOGGER_USE_IRQ */

    logger_fpga_configured = 1;

    dev_info(g_dev_ptr,"logger_init_fpga(%d) - done\n",force);

    return 0;

}