x393_sens_cmprs.py 100 KB
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from __future__ import division
from __future__ import print_function

'''
# Copyright (C) 2015, Elphel.inc.
# Class to control image acquisition and compression functionality  
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU General Public License as published by
# the Free Software Foundation, either version 3 of the License, or
# (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
# GNU General Public License for more details.
#
# You should have received a copy of the GNU General Public License
# along with this program.  If not, see <http:#www.gnu.org/licenses/>.

@author:     Andrey Filippov
@copyright:  2015 Elphel, Inc.
@license:    GPLv3.0+
@contact:    andrey@elphel.coml
@deffield    updated: Updated
'''
__author__ = "Andrey Filippov"
__copyright__ = "Copyright 2015, Elphel, Inc."
__license__ = "GPL"
__version__ = "3.0+"
__maintainer__ = "Andrey Filippov"
__email__ = "andrey@elphel.com"
__status__ = "Development"
#import sys
#import pickle
from x393_mem                import X393Mem
import x393_axi_control_status
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import x393_camsync
import x393_gpio
import x393_cmprs_afi
import x393_cmprs
import x393_frame_sequencer
import x393_sensor
import x393_rtc
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import x393_mcntrl_membridge
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import x393_utils

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import time
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import vrlg
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import x393_mcntrl

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from verilog_utils import hx
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PAGE_SIZE =           4096
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#SI5338_PATH =         '/sys/devices/amba.0/e0004000.ps7-i2c/i2c-0/0-0070'
#POWER393_PATH =       '/sys/devices/elphel393-pwr.1'
#MEM_PATH =            '/sys/devices/elphel393-mem.2/'

SI5338_PATH =         '/sys/devices/soc0/amba@0/e0004000.ps7-i2c/i2c-0/0-0070'
POWER393_PATH =       '/sys/devices/soc0/elphel393-pwr@0'
MEM_PATH =            '/sys/devices/soc0/elphel393-mem@0/'

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BUFFER_ADDRESS_NAME = 'buffer_address'
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BUFFER_PAGES_NAME =   'buffer_pages'
BUFFER_ADDRESS =      None # in bytes
BUFFER_LEN =          None # in bytes

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GLBL_CIRCBUF_CHN_SIZE = None
GLBL_CIRCBUF_STARTS =   None
GLBL_CIRCBUF_END =      None
GLBL_MEMBRIDGE_START =  None
GLBL_MEMBRIDGE_END =    None
GLBL_BUFFER_END =       None
GLBL_WINDOW =           None

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#SENSOR_INTERFACE_PARALLEL = "PAR12"
#SENSOR_INTERFACE_HISPI =    "HISPI"
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# for now - single sensor type per interface
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SENSOR_INTERFACES={x393_sensor.SENSOR_INTERFACE_PARALLEL: {"mv":2800, "freq":24.0,   "iface":"2V5_LVDS"},
                   x393_sensor.SENSOR_INTERFACE_HISPI:    {"mv":1820, "freq":24.444, "iface":"1V8_LVDS"}}
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SENSOR_DEFAULTS= {x393_sensor.SENSOR_INTERFACE_PARALLEL: {"width":2592, "height":1944, "top":0, "left":0, "slave":0x48, "i2c_delay":100, "bayer":3},
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#                   SENSOR_INTERFACE_HISPI:   {"width":4608, "height":3288, "top":0, "left":0, "slave":0x10, "i2c_delay":100}}
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                   x393_sensor.SENSOR_INTERFACE_HISPI:   {"width":4384, "height":3288, "top":0, "left":0, "slave":0x10, "i2c_delay":100, "bayer":2}}
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class X393SensCmprs(object):
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    DRY_MODE =           True # True
    DEBUG_MODE =         1
    x393_mem =           None
    x393_axi_tasks =     None #x393X393AxiControlStatus
    x393_utils =         None
    verbose =            1

    x393Camsync =        None
    x393GPIO =           None
    x393CmprsAfi =       None
    x393Cmprs =          None
    x393FrameSequencer = None
    x393Sensor =         None
    x393Rtc =            None
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    x393Membridge =      None
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    def __init__(self, debug_mode=1,dry_mode=True, saveFileName=None):
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        global BUFFER_ADDRESS, BUFFER_LEN
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        self.DEBUG_MODE=  debug_mode
        self.DRY_MODE=    dry_mode
        self.x393_mem=            X393Mem(debug_mode,dry_mode)
        self.x393_axi_tasks=      x393_axi_control_status.X393AxiControlStatus(debug_mode,dry_mode)
        self.x393_utils=          x393_utils.X393Utils(debug_mode,dry_mode, saveFileName) # should not overwrite save file path
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        self.x393Camsync =        x393_camsync.X393Camsync(debug_mode,dry_mode, saveFileName)
        self.x393GPIO =           x393_gpio.X393GPIO(debug_mode,dry_mode, saveFileName)
        self.x393CmprsAfi =       x393_cmprs_afi.X393CmprsAfi(debug_mode,dry_mode, saveFileName)
        self.x393Cmprs =          x393_cmprs.X393Cmprs(debug_mode,dry_mode, saveFileName)
        self.x393FrameSequencer = x393_frame_sequencer.X393FrameSequencer(debug_mode,dry_mode, saveFileName)
        self.x393Sensor =         x393_sensor.X393Sensor(debug_mode,dry_mode, saveFileName)
        self.x393Rtc =            x393_rtc.X393Rtc(debug_mode,dry_mode, saveFileName)
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        self.x393Membridge =      x393_mcntrl_membridge.X393McntrlMembridge(debug_mode,dry_mode)
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        try:
            self.verbose=vrlg.VERBOSE
        except:
            pass
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        if dry_mode:
            BUFFER_ADDRESS=0x27900000
            BUFFER_LEN=    0x6400000
            print ("Running in simulated mode, using hard-coded addresses:")
        else:
            try:
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                with open(MEM_PATH + BUFFER_ADDRESS_NAME) as sysfile:
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                    BUFFER_ADDRESS = int(sysfile.read(),0)
                with open(MEM_PATH + BUFFER_PAGES_NAME) as sysfile:
                    BUFFER_LEN = PAGE_SIZE * int(sysfile.read(),0)
            except:
                print("Failed to get reserved physical memory range")
                print('BUFFER_ADDRESS=', BUFFER_ADDRESS)    
                print('BUFFER_LEN=', BUFFER_LEN)    
                return
        print('X393SensCmprs: BUFFER_ADDRESS=0x%x'%(BUFFER_ADDRESS))    
        print('X393SensCmprs: BUFFER_LEN=0x%x'%(BUFFER_LEN))
    def get_histogram_byte_start(self): # should be 4KB page aligned
        global BUFFER_ADDRESS
        return BUFFER_ADDRESS
    def get_circbuf_byte_start(self): # should be 4KB page aligned
        global BUFFER_ADDRESS
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        return BUFFER_ADDRESS + 4096* (1 << vrlg.NUM_FRAME_BITS)* 16 # 16 subchannels 
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    def get_circbuf_byte_end(self): # should be 4KB page aligned
        global BUFFER_ADDRESS, BUFFER_LEN
        return BUFFER_ADDRESS + BUFFER_LEN
        
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    def setSensorClock(self, freq_MHz = 24.0, iface = "2V5_LVDS", quiet = 0):
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        """
        Set up external clock for sensor-synchronous circuitry (and sensor(s) themselves. 
        Currently required clock frequency is 1/4 of the sensor clock, so it is 24MHz for 96MHz sensor
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        @param freq_MHz - input clock frequency (MHz). Currently for 96MHZ sensor clock it should be 24.0
        @param iface - one of the supported interfaces
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               (see ls /sys/devices/soc0/amba@0/e0004000.ps7-i2c/i2c-0/0-0070/output_drivers)
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        @param quiet - reduce output        
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        """
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        if self.DRY_MODE:
            print ("Not defined for simulation mode")
            return
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        with open ( SI5338_PATH + "/output_drivers/" + iface,      "w") as f:
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            print("2", file = f)
        with open ( SI5338_PATH + "/output_clocks/out2_freq_fract","w") as f:
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            print("%d"%(round(1000000*freq_MHz)), file = f )
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        if quiet == 0:
            print ("Set sensor clock to %f MHz, driver type \"%s\""%(freq_MHz,iface))    
    def setSensorPower(self, sub_pair=0, power_on=0, quiet=0):
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        """
        @param sub_pair - pair of the sensors: 0 - sensors 1 and 2, 1 - sensors 3 and 4 
        @param power_on - 1 - power on, 0 - power off (both sensor power and interface/FPGA bank voltage) 
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        @param quiet - reduce output        
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        """
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        if quiet == 0:
            print (("vcc_sens01 vp33sens01", "vcc_sens23 vp33sens23")[sub_pair]+" -> "+POWER393_PATH + "/channels_"+ ("dis","en")[power_on])    
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        with open (POWER393_PATH + "/channels_"+ ("dis","en")[power_on],"w") as f:
            print(("vcc_sens01 vp33sens01", "vcc_sens23 vp33sens23")[sub_pair], file = f)
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    def setSensorIfaceVoltage(self, sub_pair, voltage_mv, quiet = 0):
        """
        Set interface voltage (should be done before power is on) 
        @param sub_pair - pair of the sensors: 0 - sensors 1 and 2, 1 - sensors 3 and 4 
        @param voltage_mv - desired interface voltage (1800..2800 mv) 
        @param quiet - reduce output        
        """
        with open (POWER393_PATH + "/voltages_mv/"+ ("vcc_sens01", "vcc_sens23")[sub_pair],"w") as f:
            print(voltage_mv, file = f)
        if quiet == 0:
            print ("Set sensors %s interface voltage to %d mV"%(("0, 1","2, 3")[sub_pair],voltage_mv))    
#        time.sleep(0.1)
    def setSensorIfaceVoltagePower(self, sub_pair, voltage_mv, quiet=0):
        """
        Set interface voltage and turn on power for interface and the sensors 
        @param sub_pair - pair of the sensors: 0 - sensors 1 and 2, 1 - sensors 3 and 4 
        @param voltage_mv - desired interface voltage (1800..2800 mv) 
        @param quiet - reduce output        
        """
        self.setSensorPower(sub_pair = sub_pair, power_on = 0)
        time.sleep(0.2)
        self.setSensorIfaceVoltage(sub_pair=sub_pair, voltage_mv = voltage_mv)
        time.sleep(0.2)
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        if self.DRY_MODE:
            print ("Not defined for simulation mode")
            return
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        with open (POWER393_PATH + "/channels_en","w") as f:
            print(("vcc_sens01", "vcc_sens23")[sub_pair], file = f)
        if quiet == 0:
            print ("Turned on interface power %f V for sensors %s"%(voltage_mv*0.001,("0, 1","2, 3")[sub_pair]))    
#        time.sleep(0.1)
        with open (POWER393_PATH + "/channels_en","w") as f:
            print(("vp33sens01", "vp33sens23")[sub_pair], file = f)
        if quiet == 0:
            print ("Turned on +3.3V power for sensors %s"%(("0, 1","2, 3")[sub_pair]))    
#        time.sleep(0.1)
            
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#    def getSensorInterfaceType(self):
#        """
#        Get sensor interface type by reading status register 0xfe that is set to 0 for parallel and 1 for HiSPi
#        @return "PAR12" or "HISPI"
#        """
#        return (SENSOR_INTERFACE_PARALLEL, SENSOR_INTERFACE_HISPI)[self.x393_axi_tasks.read_status(address=0xfe)] # "PAR12" , "HISPI"
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    def setupSensorsPowerClock(self,quiet=0):
        """
        Set interface voltage for all sensors, clock for frequency and sensor power
        for the interface matching bitstream file
        """
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        ifaceType = self.x393Sensor.getSensorInterfaceType();
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        if quiet == 0:
            print ("Configuring sensor ports for interface type: \"%s\""%(ifaceType))    
        for sub_pair in (0,1):
            self.setSensorIfaceVoltagePower(sub_pair, SENSOR_INTERFACES[ifaceType]["mv"])
        self.setSensorClock(freq_MHz = SENSOR_INTERFACES[ifaceType]["freq"], iface = SENSOR_INTERFACES[ifaceType]["iface"])    
        
#    def setSensorClock(self, freq_MHz = 24.0, iface = "2V5_LVDS"):

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    def setup_sensor_channel (self,
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                              exit_step =                 None,
                              num_sensor =                0,
#                              histogram_start_phys_page, # Calculate from?
#                              frame_full_width, # 13-bit Padded line length (8-row increment), in 8-bursts (16 bytes)
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                              window_width =              None, # 2592,   # 2592
                              window_height =             None, # 1944,   # 1944
                              window_left =               None, # 0,     # 0
                              window_top =                None, # 0, # 0? 1?
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#                              compressor_left_margin =    0, #0?`1? 
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#                              frame_start_address, # calculate through num_sensor, num frames, frame size and start addr?
#                              frame_start_address_inc,
                              last_buf_frame =            1,  #  - just 2-frame buffer
                              colorsat_blue =             0x180,     # 0x90 fo 1x
                              colorsat_red =              0x16c,     # 0xb6 for x1
                              clk_sel =                   1,         # 1
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                              histogram_left =            None, # 0,
                              histogram_top =             None, # 0,
                              histogram_width_m1 =        None, # 2559, #0,
                              histogram_height_m1 =       None, # 1935, #0,
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                              verbose =                   1):
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        """
        Setup one sensor+compressor channel (for one sub-channel only)
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        @param exit_step -         exit after executing specified step:
                                 10 - just after printing calculated values
                                 11 - after programming status
                                 12 - after setup_sensor_memory
                                 13 - after enabling memory controller for the sensor channel
                                 14 - after setup_compressor_channel
                                 15 - after setup_compressor_memory
                                 16 - after compressor run
                                 17 - removing MRST from the sensor
                                 18 - after vignetting, gamma and histograms setup
                                 19 - enabling sensor memory controller (histograms in not yet)
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        @param num_sensor - sensor port number (0..3)
        @param window_width -      (here - in pixels)
        @param window_height -     16-bit window height in scan lines
        @param window_left -       left margin of the window (here - in pixels)
        @param window_top -        top margin of the window (16 bit)
        @param last_buf_frame) -   16-bit number of the last frame in a buffer
        @param colorsat_blue - color saturation for blue (10 bits), 0x90 for 100%
        @param colorsat_red -  color saturation for red (10 bits), 0xb6 for 100%
        @param clk_sel - True - use pixel clock from the sensor, False - use internal clock (provided to the sensor), None - no chnage
        @param histogram_left -      histogram window left margin
        @param histogram_top -       histogram window top margin
        @param histogram_width_m1 -  one less than window width. If 0 - use frame right margin (end of HACT)
        @param histogram_height_m1 - one less than window height. If 0 - use frame bottom margin (end of VACT)
        
        ???
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        @param verbose - verbose level
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        @return True if all done, False if exited prematurely through exit_step
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        """
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#        @param compressor_left_margin - 0..31 - left margin for compressor (to the nearest 32-byte column)
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        sensorType = self.x393Sensor.getSensorInterfaceType()
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        if verbose > 0 :
            print ("Sensor port %d interface type: %s"%(num_sensor, sensorType))
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        window = self.specify_window (window_width =  window_width,
                                      window_height = window_height,
                                      window_left =   window_left,
                                      window_top =    window_top,
                                      cmode =         None, # will use 0
                                      verbose =       0)
        window_width =   window["width"]
        window_height =  window["height"]
        window_left =    window["left"]
        window_top =     window["top"]
        """
        cmode =          window["cmode"]
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        if window_width is None:
            window_width = SENSOR_DEFAULTS[sensorType]["width"]
        if window_height is None:
            window_height = SENSOR_DEFAULTS[sensorType]["height"]
        if window_left is None:
            window_left = SENSOR_DEFAULTS[sensorType]["left"]
        if window_top is None:
            window_top = SENSOR_DEFAULTS[sensorType]["top"]
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        """
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        #setting up histogram window, same for parallel, similar for serial
                    
        if histogram_left is None:
            histogram_left = 0
        if histogram_top is None:
            histogram_top = 0
        if histogram_width_m1 is None:
            histogram_width_m1 = window_width - 33
        if histogram_height_m1 is None:
            histogram_height_m1 = window_height - 9

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        align_to_bursts = 64 # align full width to multiple of align_to_bursts. 64 is the size of memory access
        width_in_bursts = window_width >> 4
        if (window_width & 0xf):
            width_in_bursts += 1
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        compressor_left_margin = window_left % 32
    
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        num_burst_in_line = (window_left >> 4) + width_in_bursts
        num_pages_in_line = num_burst_in_line // align_to_bursts;
        if num_burst_in_line % align_to_bursts:
            num_pages_in_line += 1
#        frame_full_width -  13-bit Padded line length (8-row increment), in 8-bursts (16 bytes)
#        frame_start_address_inc - 22-bit frame start address increment  ((3 CA LSBs==0. BA==0)
        frame_full_width =  num_pages_in_line * align_to_bursts
        num8rows=   (window_top + window_height) // 8
        if (window_top + window_height) % 8:
            num8rows += 1
        frame_start_address_inc = num8rows * frame_full_width
        """ TODO: Calculate tiles and mov e to initial print """
        num_macro_cols_m1 = (window_width >> 4) - 1
        num_macro_rows_m1 = (window_height >> 4) - 1

#       frame_start_address, # calculate through num_sensor, num frames, frame size and start addr?
#        rame_start_address - 22-bit frame start address ((3 CA LSBs==0. BA==0)
        frame_start_address = (last_buf_frame + 1) * frame_start_address_inc * num_sensor
#       histogram_start_phys_page - system memory 4K page number to start histogram

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        histogram_start_phys_page = self.get_histogram_byte_start() // 4096
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        if verbose >0 :
            print ("setup_sensor_channel:")
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            print ("num_sensor =                ", num_sensor)
            print ("frame_full_width =          ", frame_full_width)
            print ("window_width =              ", window_width)
            print ("window_height =             ", window_height)
            print ("window_left =               ", window_left)
            print ("window_top =                ", window_top)
            print ("frame_start_address =       0x%x"%(frame_start_address))
            print ("frame_start_address_inc =   0x%x"%(frame_start_address_inc))
            print ("histogram_start_phys_page = 0x%x"%(histogram_start_phys_page))
            print ("histogram start address =   0x%x"%(histogram_start_phys_page * 4096))
            
            print ("last_buf_frame =            ", last_buf_frame)
            print ("num_macro_cols_m1 =         ", num_macro_cols_m1)
            print ("num_macro_rows_m1 =         ", num_macro_rows_m1)
            print ("verbose =                   ", verbose)
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        if exit_step == 10: return False
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        self.x393Sensor.program_status_sensor_i2c(
            num_sensor = num_sensor,  # input [1:0] num_sensor;
            mode =       3,           # input [1:0] mode;
            seq_num =    0);          # input [5:0] seq_num;
        self.x393Sensor.program_status_sensor_io(
            num_sensor = num_sensor,  # input [1:0] num_sensor;
            mode =       3,           # input [1:0] mode;
            seq_num =    0);          # input [5:0] seq_num;

        self.x393Cmprs.program_status_compressor(
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            cmprs_chn =  num_sensor,  # input [1:0] num_sensor;
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            mode =       3,           # input [1:0] mode;
            seq_num =    0);          # input [5:0] seq_num;
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        if exit_step == 11: return False
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    # moved before camsync to have a valid timestamo w/o special waiting            
        if verbose >0 :
            print ("===================== MEMORY_SENSOR =========================")
            
        self.x393Sensor.setup_sensor_memory (
            num_sensor =       num_sensor,              # input  [1:0] num_sensor;
            frame_sa =         frame_start_address,     # input [31:0] frame_sa;         # 22-bit frame start address ((3 CA LSBs==0. BA==0)
            frame_sa_inc =     frame_start_address_inc, # input [31:0] frame_sa_inc;     # 22-bit frame start address increment  ((3 CA LSBs==0. BA==0)
            last_frame_num =   last_buf_frame,          # input [31:0] last_frame_num;   # 16-bit number of the last frame in a buffer
            frame_full_width = frame_full_width,        # input [31:0] frame_full_width; # 13-bit Padded line length (8-row increment), in 8-bursts (16 bytes)
            window_width =     window_width >> 4,        # input [31:0] window_width;     # 13 bit - in 8*16=128 bit bursts
            window_height =    window_height,           # input [31:0] window_height;    # 16 bit
            window_left =      window_left >> 4,        # input [31:0] window_left;
            window_top =       window_top);             # input [31:0] window_top;
    # Enable arbitration of sensor-to-memory controller
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        if exit_step == 12: return False

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        self.x393_axi_tasks.enable_memcntrl_en_dis(8 + num_sensor, True);
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        if exit_step == 13: return False

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        self.x393Cmprs.compressor_control(chn =  num_sensor,
                                          run_mode = 0) # reset compressor
        #TODO: Calculate from the image size?
        self.x393Cmprs.setup_compressor_channel (
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                                  chn =               num_sensor,
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                                  qbank =             0,
                                  dc_sub =            True,
                                  cmode =             vrlg.CMPRS_CBIT_CMODE_JPEG18,
                                  multi_frame =       True,
                                  bayer       =       0,
                                  focus_mode  =       0,
                                  num_macro_cols_m1 = num_macro_cols_m1,
                                  num_macro_rows_m1 = num_macro_rows_m1,
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                                  left_margin =       compressor_left_margin,
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                                  colorsat_blue =     colorsat_blue,
                                  colorsat_red =      colorsat_red,
                                  coring =            0,
                                  verbose =           verbose)
    # TODO: calculate widths correctly!
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        if exit_step == 14: return False
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        tile_margin = 2 # 18x18 instead of 16x16
        left_tiles32 = window_left // 32
#        last_tile32 = (window_left + (window_width & ~0xf) + tile_margin - 1) // 32
        last_tile32 = (window_left + ((num_macro_cols_m1 + 1) * 16) + tile_margin - 1) // 32
        width32 = last_tile32 - left_tiles32 + 1 # number of 32-wide tiles needed in each row
        
        if (verbose > 0) :
            print ("setup_compressor_memory:")
            print ("num_sensor =       ", num_sensor)
            print ("frame_sa =         0x%x"%(frame_start_address))
            print ("frame_sa_inc =     0x%x"%(frame_start_address_inc))
            print ("last_frame_num =   0x%x"%(last_buf_frame))
            print ("frame_full_width = 0x%x"%(frame_full_width))
            print ("window_width =     0x%x"%(width32 * 2 )) # window_width >> 4)) # width in 16 - bursts, made evem
            print ("window_height =    0x%x"%(window_height & 0xfffffff0))
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            print ("window_left =      0x%x"%(left_tiles32 * 2)) # window_left >> 4)) # left in 16-byte bursts, made even
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            print ("window_top =       0x%x"%(window_top))
            print ("byte32 =           1")
            print ("tile_width =       2")
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            print ("tile_vstep =      16")
            print ("tile_height =     18")
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            print ("extra_pages =      1")
            print ("disable_need =     1")
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        self.x393Cmprs.setup_compressor_memory (
            num_sensor =       num_sensor,
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            frame_sa =         frame_start_address,         # input [31:0] frame_sa;         # 22-bit frame start address ((3 CA LSBs==0. BA==0)
            frame_sa_inc =     frame_start_address_inc,     # input [31:0] frame_sa_inc;     # 22-bit frame start address increment  ((3 CA LSBs==0. BA==0)
            last_frame_num =   last_buf_frame,              # input [31:0] last_frame_num;   # 16-bit number of the last frame in a buffer
            frame_full_width = frame_full_width,            # input [31:0] frame_full_width; # 13-bit Padded line length (8-row increment), in 8-bursts (16 bytes)
            window_width =     (width32 * 2 ),              # input [31:0] window_width;     # 13 bit - in 8*16=128 bit bursts
            window_height =    window_height & 0xfffffff0,  # input [31:0] window_height;    # 16 bit
            window_left =      left_tiles32 * 2,            # input [31:0] window_left;
            window_top =       window_top,                  # input [31:0] window_top;
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            byte32 =           1,
            tile_width =       2,
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            tile_vstep =      16,
            tile_height =     18,
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            extra_pages =      1,
            disable_need =     1)
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        if exit_step == 15: return False
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        self.x393Cmprs.compressor_control(
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                       chn = num_sensor,
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                       run_mode =  0) #  3)  # run repetitive mode
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        if exit_step == 16: return False
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        #Set up delays separately, outside of this method
        """   
        if verbose >0 :
            print ("===================== DELAYS_SETUP =========================")
            
        self.x393Sensor.set_sensor_io_dly (
                           num_sensor = num_sensor,
                           mmcm_phase = 0,
                           iclk_dly =   0,
                           vact_dly =   0,
                           hact_dly =   0,
                           pxd_dly =    0)
        self.x393Sensor.set_sensor_io_ctl (
                           quadrants =  vrlg.QUADRANTS_PXD_HACT_VACT)
                           
        """    
        if verbose >0 :
            print ("===================== IO_SETUP =========================")
        self.x393Sensor.set_sensor_io_width(
            num_sensor = num_sensor, # input    [1:0] num_sensor;
            width =      0) # Or use 0 for sensor-generated HACT input   [15:0] width; # 0 - use HACT, >0 - generate HACT from start to specified width
        self.x393Sensor.set_sensor_io_ctl (
                           num_sensor = num_sensor,
                           mrst =       False,
                           arst =       False,
                           aro  =       False,
                           mmcm_rst =   True,   #reset mmcm 
                           clk_sel =    clk_sel,
                           set_delays = False,
                           quadrants =  None)

        self.x393Sensor.set_sensor_io_ctl (
                           num_sensor = num_sensor,
                           mmcm_rst =   False, # release MMCM reset (maybe wait longer?
                           clk_sel =    clk_sel,
                           set_delays = False,
                           quadrants =  None)
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        if exit_step == 17: return False

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        """
        if verbose >0 :
            print ("===================== I2C_TEST =========================")
        self.x393Sensor.test_i2c_353() # test soft/sequencer i2c
        """
        if verbose >0 :
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            print ("===================== LENS_FLAT_SETUP ========================= num_sensor=",num_sensor)
        self.x393Sensor.set_sensor_lens_flat_heights (
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                                      num_sensor = num_sensor,
                                      height0_m1 = 0xffff,
                                      height1_m1 = None,
                                      height2_m1 = None)
        self.x393Sensor.set_sensor_lens_flat_parameters (
                                         num_sensor = num_sensor,
                                         num_sub_sensor = 0,
                                         AX = 0, # 0x20000,
                                         AY = 0, # 0x20000
                                         BX = 0, # 0x180000
                                         BY = 0, # 0x180000
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                                         C =  0x8000,
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                                         scales0 =        0x8000,
                                         scales1 =        0x8000,
                                         scales2 =        0x8000,
                                         scales3 =        0x8000,
                                         fatzero_in =     0,
                                         fatzero_out =    0,
                                         post_scale =     1)
        if verbose >0 :
            print ("===================== GAMMA_SETUP =========================")

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        self.x393Sensor.set_sensor_gamma_heights ( 
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                                  num_sensor = num_sensor,
                                  height0_m1 = 0xffff,
                                  height1_m1 = 0,
                                  height2_m1 = 0)
           
        # Configure histograms
        if verbose >0 :
            print ("===================== HISTOGRAMS_SETUP =========================")
        self.x393Sensor.set_sensor_histogram_window ( # 353 did it using command sequencer)
                                    num_sensor =     num_sensor,
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                                    subchannel =     0,
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                                    left =           histogram_left,
                                    top =            histogram_top,
                                    width_m1 =       histogram_width_m1,
                                    height_m1 =      histogram_height_m1)

        self.x393Sensor.set_sensor_histogram_saxi_addr (
                                    num_sensor = num_sensor,
                                    subchannel = 0,
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                                    page = histogram_start_phys_page) # for the channel/subchannel = 0/0
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        self.x393Sensor.set_sensor_histogram_saxi (
                                   en = True,
                                   nrst = True,
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                                   confirm_write = False, # True,
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                                   cache_mode = 3)

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        if exit_step == 18: return False

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        # Run after histogram channel is set up?
        if verbose >0 :
            print ("===================== SENSOR_SETUP =========================")
            
        self.x393Sensor.set_sensor_mode (
            num_sensor = num_sensor,
            hist_en =    1, # bitmask, only first subchannel
            hist_nrst =  1, # bitmask, only first subchannel 
            chn_en =     True, 
            bits16 =     False)

        if verbose >0 :
            print ("===================== CMPRS_EN_ARBIT =========================")
    # just temporarily - enable channel immediately
        self.x393_axi_tasks.enable_memcntrl_en_dis(12 + num_sensor, True);

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        if exit_step == 19: return False

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        if verbose >0 :
            print ("===================== GAMMA_CTL =========================")
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        self.x393Sensor.set_sensor_gamma_ctl (# doing last to enable sensor data when everything else is set up
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            num_sensor = num_sensor, # input   [1:0] num_sensor; # sensor channel number (0..3)
            bayer =      0,
            table_page = 0,
            en_input =   True,
            repet_mode = True, #  Normal mode, single trigger - just for debugging  TODO: re-assign?
            trig = False)
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        return True
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    def specify_window (self,
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                        window_width =              None, # 2592
                        window_height =             None, # 1944
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                        window_left =               None,     # 0
                        window_top =                None, # 0? 1?
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                        cmode =                     None,
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                        bayer =                     None,
                        y_quality =                 None,
                        c_quality =                 None, # use "same" to save None
                        portrait =                  None,
                        gamma =                     None,
                        black =                     None, # 0.04 
                        colorsat_blue =             None, # colorsat_blue, #0x180     # 0x90 for 1x
                        colorsat_red =              None, # colorsat_red, #0x16c,     # 0xb6 for x1
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                        verbose =                   1
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                        ):
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        global GLBL_WINDOW
        if GLBL_WINDOW is None:
            GLBL_WINDOW = {}
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        sensorType = self.x393Sensor.getSensorInterfaceType()
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        if verbose > 0 :
            print ("Sensor interface type: %s"%(sensorType))
        if window_width is None:
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            try:
                window_width = GLBL_WINDOW["width"]
            except:
                window_width = SENSOR_DEFAULTS[sensorType]["width"]
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        if window_height is None:
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            try:
                window_height = GLBL_WINDOW["height"]
            except:
                window_height = SENSOR_DEFAULTS[sensorType]["height"]
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        if window_left is None:
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            try:
                window_left = GLBL_WINDOW["left"]
            except:
                window_left = SENSOR_DEFAULTS[sensorType]["left"]
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        if window_top is None:
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            try:
                window_top = GLBL_WINDOW["top"]
            except:
                window_top = SENSOR_DEFAULTS[sensorType]["top"]
        if cmode is None:
            try:
                cmode = GLBL_WINDOW["cmode"]
            except:
                cmode = 0
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        if bayer is None:
            try:
                bayer = GLBL_WINDOW["bayer"]
            except:
                bayer = SENSOR_DEFAULTS[sensorType]["bayer"]

        if y_quality is None:
            try:
                y_quality = GLBL_WINDOW["y_quality"]
            except:
                y_quality = 100

        if c_quality is None:
            try:
                c_quality = GLBL_WINDOW["c_quality"]
            except:
                c_quality = "same"
        if c_quality == "same": # to save as None, not to not save
                c_quality = None 
                
        if portrait is None:
            try:
                portrait = GLBL_WINDOW["portrait"]
            except:
                portrait = False
                
        if gamma is None:
            try:
                gamma = GLBL_WINDOW["gamma"]
            except:
                gamma = 0.57

        if black is None:
            try:
                black = GLBL_WINDOW["black"]
            except:
                black = 0.04

        if colorsat_blue is None:
            try:
                colorsat_blue = GLBL_WINDOW["colorsat_blue"]
            except:
                colorsat_blue = 2.0 # *0x90

        if colorsat_red is None:
            try:
                colorsat_red = GLBL_WINDOW["colorsat_red"]
            except:
                colorsat_red = 2.0 #  *0xb6
                
        GLBL_WINDOW = {"width":         window_width,
                       "height":        window_height,
                       "left":          window_left,
                       "top":           window_top,
                       "cmode":         cmode,
                       "bayer":         bayer,
                       "y_quality":     y_quality,
                       "c_quality":     c_quality,
                       "portrait":      portrait,
                       "gamma":         gamma,
                       "black":         black,
                       "colorsat_blue": colorsat_blue,
                       "colorsat_red":  colorsat_red,
                       }
        if verbose > 1:
            print("GLBL_WINDOW:")
            for k in GLBL_WINDOW.keys():
                print ("%15s:%s"%(k,str(GLBL_WINDOW[k])))
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        return GLBL_WINDOW
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    def specify_phys_memory(self,
                            circbuf_chn_size= 0x1000000,
                            verbose =         1):
        """
        @param circbuf_chn_size - circular buffer size for each channel, in bytes
        """
        global GLBL_CIRCBUF_CHN_SIZE, GLBL_CIRCBUF_STARTS, GLBL_CIRCBUF_END, GLBL_MEMBRIDGE_START, GLBL_MEMBRIDGE_END, GLBL_BUFFER_END
        
        circbuf_start =   self.get_circbuf_byte_start()
        GLBL_BUFFER_END=  self.get_circbuf_byte_end()
        GLBL_CIRCBUF_CHN_SIZE = circbuf_chn_size
        GLBL_CIRCBUF_STARTS=[]
        for i in range(16):
            GLBL_CIRCBUF_STARTS.append(circbuf_start + i*circbuf_chn_size)
        GLBL_CIRCBUF_END =     circbuf_start + 4*GLBL_CIRCBUF_CHN_SIZE
        GLBL_MEMBRIDGE_START = GLBL_CIRCBUF_END
        GLBL_MEMBRIDGE_END =   GLBL_BUFFER_END
        if verbose >0 :
            print ("compressor system memory buffers:")
            print ("circbuf start 0 =           0x%x"%(GLBL_CIRCBUF_STARTS[0]))
            print ("circbuf start 1 =           0x%x"%(GLBL_CIRCBUF_STARTS[1]))
            print ("circbuf start 2 =           0x%x"%(GLBL_CIRCBUF_STARTS[2]))
            print ("circbuf start 3 =           0x%x"%(GLBL_CIRCBUF_STARTS[3]))
            print ("circbuf end =               0x%x"%(GLBL_BUFFER_END))
            print ("membridge start =           0x%x"%(GLBL_MEMBRIDGE_START))
            print ("membridge end =             0x%x"%(GLBL_MEMBRIDGE_END))
            print ("membridge size =            %d bytes"%(GLBL_MEMBRIDGE_END - GLBL_MEMBRIDGE_START))
            print ("memory buffer end =         0x%x"%(GLBL_BUFFER_END))
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    def setup_cmdmux (self):
        #Will report frame number for each channel
        """
        Configure status report for command sequencer to report 4 LSB of each channel frame number
        with get_frame_numbers()
        """    
        self.x393_axi_tasks.program_status( # also takes snapshot
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                                           base_addr =    vrlg.CMDSEQMUX_ADDR,
                                           reg_addr =     0,
                                           mode =         3,     # input [1:0] mode;
                                           seq_number =   0)     #input [5:0] seq_num;
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    def get_frame_numbers(self):
        """
        @return list of 4-bit frame numbers, per channel
        """
        status =   self.x393_axi_tasks.read_status(address = vrlg.CMDSEQMUX_STATUS)
        frames = []
        for i in range(4):
            frames.append (int((status >> (4*i)) & 0xf))
        return frames
    
    def get_frame_number_i2c(self,
                             channel=0):
        """
        @return frame number of the i2c sequencer for the specified channel
        """
        try:
            if (channel == all) or (channel[0].upper() == "A"): #all is a built-in function
                frames=[]
                for channel in range(4):
                    frames.append(self.get_frame_number_i2c(channel = channel))
                return frames    
        except:
            pass                    
        status = self.x393_axi_tasks.read_status(
                    address = vrlg.SENSI2C_STATUS_REG_BASE + channel * vrlg.SENSI2C_STATUS_REG_INC + vrlg.SENSI2C_STATUS_REG_REL)
        return int((status >> 12) & 0xf)
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    def skip_frame(self,
                   channel_mask,
                   loop_delay = 0.01,
                   timeout = 2.0):
        old_frames = self.get_frame_numbers()
        timeout_time = time.time() + timeout
        frameno = -1
        while time.time() < timeout_time :
            new_frames = self.get_frame_numbers()
            all_new=True
            for chn in range(4):
                if ((channel_mask >> chn) & 1):
                    if (old_frames[chn] == new_frames[chn]):
                        all_new = False
                        break
                    else:
                        frameno = new_frames[chn]
            if all_new:
                break;
        return frameno # Frame number of the last  new frame checked         

    def skip_frame_i2c(self,
                   channel_mask,
                   loop_delay = 0.01,
                   timeout = 2.0):
        old_frames = self.get_frame_number_i2c("all")
        timeout_time = time.time() + timeout
        frameno = -1
        while time.time() < timeout_time :
            new_frames = self.get_frame_number_i2c("all")
            all_new=True
            for chn in range(4):
                if ((channel_mask >> chn) & 1):
                    if (old_frames[chn] == new_frames[chn]):
                        all_new = False
                        break
                    else:
                        frameno = new_frames[chn]
            if all_new:
                break;
        return frameno # Frame number of the last  new frame checked         
             
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    def setup_compressor(self,
                          chn,
                          cmode =            vrlg.CMPRS_CBIT_CMODE_JPEG18,
                          bayer =            0,
                          qbank =            0,
                          dc_sub =           1,
                          multi_frame =      1,
                          focus_mode =       0,
                          coring =           0,
                          window_width =     None, # 2592,   # 2592
                          window_height =    None, # 1944,   # 1944
                          window_left =      None, # 0,     # 0
                          window_top =       None, # 0, # 0? 1?
                          last_buf_frame =   1,  #  - just 2-frame buffer
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                          colorsat_blue =    0x180,     # 0x90 for 1x
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                          colorsat_red =     0x16c,     # 0xb6 for x1
                          verbose =          1):
        """
        @param chn -         compressor channel (0..3)
        @param cmode -       color mode:
                                CMPRS_CBIT_CMODE_JPEG18 =          0 - color 4:2:0
                                CMPRS_CBIT_CMODE_MONO6 =           1 - mono 4:2:0 (6 blocks)
                                CMPRS_CBIT_CMODE_JP46 =            2 - jp4, 6 blocks, original
                                CMPRS_CBIT_CMODE_JP46DC =          3 - jp4, 6 blocks, dc -improved
                                CMPRS_CBIT_CMODE_JPEG20 =          4 - mono, 4 blocks (but still not actual monochrome JPEG as the blocks are scanned in 2x2 macroblocks)
                                CMPRS_CBIT_CMODE_JP4 =             5 - jp4,  4 blocks, dc-improved
                                CMPRS_CBIT_CMODE_JP4DC =           6 - jp4,  4 blocks, dc-improved
                                CMPRS_CBIT_CMODE_JP4DIFF =         7 - jp4,  4 blocks, differential
                                CMPRS_CBIT_CMODE_JP4DIFFHDR =      8 - jp4,  4 blocks, differential, hdr
                                CMPRS_CBIT_CMODE_JP4DIFFDIV2 =     9 - jp4,  4 blocks, differential, divide by 2
                                CMPRS_CBIT_CMODE_JP4DIFFHDRDIV2 = 10 - jp4,  4 blocks, differential, hdr,divide by 2
                                CMPRS_CBIT_CMODE_MONO1 =          11 -  mono JPEG (not yet implemented)
                                CMPRS_CBIT_CMODE_MONO4 =          14 -  mono 4 blocks
        @param qbank -       quantization table page (0..15)
        @param dc_sub -      True - subtract DC before running DCT, False - no subtraction, convert as is,
        @param multi_frame -  False - single-frame buffer, True - multi-frame video memory buffer,
        @param bayer -        Bayer shift (0..3)
        @param focus_mode -   focus mode - how to combine image with "focus quality" in the result image 
        @param coring - coring value
        @param window_width -      (here - in pixels)
        @param window_height -     16-bit window height in scan lines
        @param window_left -       left margin of the window (here - in pixels)
        @param window_top -        top margin of the window (16 bit)
        @param last_buf_frame) -   16-bit number of the last frame in a buffer
        @param colorsat_blue - color saturation for blue (10 bits), 0x90 for 100%
        @param colorsat_red -  color saturation for red (10 bits), 0xb6 for 100%
        @param verbose - verbose level
        """
        try:
            if (chn == all) or (chn[0].upper() == "A"): #all is a built-in function
                for chn in range(4):
                    self. setup_compressor(self,
                                           chn =            chn,
                                           cmode =          cmode,
                                           qbank =          qbank,
                                           dc_sub =         dc_sub,
                                           multi_frame =    multi_frame,
                                           bayer =          bayer,
                                           focus_mode =     focus_mode,
                                           coring =         coring,
                                           window_width =   None, # 2592,   # 2592
                                           window_height =  None, # 1944,   # 1944
                                           window_left =    None, # 0,     # 0
                                           window_top =     None, # 0, # 0? 1?
                                           last_buf_frame = last_buf_frame,  #  - just 2-frame buffer
                                           colorsat_blue =  colorsat_blue, #0x180     # 0x90 for 1x
                                           colorsat_red =   colorsat_red, #0x16c,     # 0xb6 for x1
                                           verbose =        verbose)
                return
        except:
            pass
        window = self.specify_window (window_width =  window_width,
                                      window_height = window_height,
                                      window_left =   window_left,
                                      window_top =    window_top,
                                      cmode =         cmode, # will use 0
                                      verbose =       0)
        window_width =   window["width"]
        window_height =  window["height"]
        window_left =    window["left"]
        window_top =     window["top"]
        cmode =          window["cmode"]
        num_sensor = chn # 1:1 sensor - compressor
        
        align_to_bursts = 64 # align full width to multiple of align_to_bursts. 64 is the size of memory access
        width_in_bursts = window_width >> 4
        if (window_width & 0xf):
            width_in_bursts += 1
        compressor_left_margin = window_left % 32
    
        num_burst_in_line = (window_left >> 4) + width_in_bursts
        num_pages_in_line = num_burst_in_line // align_to_bursts;
        if num_burst_in_line % align_to_bursts:
            num_pages_in_line += 1
        frame_full_width =  num_pages_in_line * align_to_bursts
        num8rows=   (window_top + window_height) // 8
        if (window_top + window_height) % 8:
            num8rows += 1
        frame_start_address_inc = num8rows * frame_full_width

        num_macro_cols_m1 = (window_width >> 4) - 1
        num_macro_rows_m1 = (window_height >> 4) - 1
        frame_start_address = (last_buf_frame + 1) * frame_start_address_inc * num_sensor
        
        self.x393Cmprs.setup_compressor_channel (
                                  chn =               chn,
                                  qbank =             qbank,
                                  dc_sub =            dc_sub,
                                  cmode =             cmode, # vrlg.CMPRS_CBIT_CMODE_JPEG18,
                                  multi_frame =       True,
                                  bayer       =       bayer,
                                  focus_mode  =       focus_mode,
                                  num_macro_cols_m1 = num_macro_cols_m1,
                                  num_macro_rows_m1 = num_macro_rows_m1,
                                  left_margin =       compressor_left_margin,
                                  colorsat_blue =     colorsat_blue,
                                  colorsat_red =      colorsat_red,
                                  coring =            0,
                                  verbose =           verbose)
    # TODO: calculate widths correctly!
        if cmode == vrlg.CMPRS_CBIT_CMODE_JPEG18:
            tile_margin = 2 # 18x18 instead of 16x16
            tile_width =  2
            extra_pages = 1
            
        else: # actually other modes should be parsed here, now considering just JP4 flavors
            tile_margin = 0 # 18x18 instead of 16x16
            tile_width =  4
#            extra_pages = (0,1)[(compressor_left_margin % 16) != 0] # memory access block border does not cut macroblocks
            extra_pages = 1 # just testing
        tile_vstep = 16
        tile_height = tile_vstep + tile_margin

        left_tiles32 = window_left // 32
        last_tile32 = (window_left + ((num_macro_cols_m1 + 1) * 16) + tile_margin - 1) // 32
        width32 = last_tile32 - left_tiles32 + 1 # number of 32-wide tiles needed in each row
        
        if (verbose > 0) :
            print ("setup_compressor_memory:")
            print ("num_sensor =       ", num_sensor)
            print ("frame_sa =         0x%x"%(frame_start_address))
            print ("frame_sa_inc =     0x%x"%(frame_start_address_inc))
            print ("last_frame_num =   0x%x"%(last_buf_frame))
            print ("frame_full_width = 0x%x"%(frame_full_width))
            print ("window_width =     0x%x"%(width32 * 2 )) # window_width >> 4)) # width in 16 - bursts, made evem
            print ("window_height =    0x%x"%(window_height & 0xfffffff0))
            print ("window_left =      0x%x"%(left_tiles32 * 2)) # window_left >> 4)) # left in 16-byte bursts, made even
            print ("window_top =       0x%x"%(window_top))
            print ("byte32 =           1")
            print ("tile_width =       0x%x"%(tile_width))
            print ("tile_vstep =       0x%x"%(tile_vstep))
            print ("tile_height =      0x%x"%(tile_height))
            print ("extra_pages =      0x%x"%(extra_pages))
            print ("disable_need =     1")

        self.x393Cmprs.setup_compressor_memory (
            num_sensor =       num_sensor,
            frame_sa =         frame_start_address,         # input [31:0] frame_sa;         # 22-bit frame start address ((3 CA LSBs==0. BA==0)
            frame_sa_inc =     frame_start_address_inc,     # input [31:0] frame_sa_inc;     # 22-bit frame start address increment  ((3 CA LSBs==0. BA==0)
            last_frame_num =   last_buf_frame,              # input [31:0] last_frame_num;   # 16-bit number of the last frame in a buffer
            frame_full_width = frame_full_width,            # input [31:0] frame_full_width; # 13-bit Padded line length (8-row increment), in 8-bursts (16 bytes)
            window_width =     (width32 * 2 ),              # input [31:0] window_width;     # 13 bit - in 8*16=128 bit bursts
            window_height =    window_height & 0xfffffff0,  # input [31:0] window_height;    # 16 bit
            window_left =      left_tiles32 * 2,            # input [31:0] window_left;
            window_top =       window_top,                  # input [31:0] window_top;
            byte32 =           1,
            tile_width =       tile_width,
            tile_vstep =       tile_vstep,
            tile_height =      tile_height,
            extra_pages =      extra_pages,
            disable_need =     1)
        
1006
    def setup_all_sensors (self,
1007
                              setup_membridge =           False,
1008 1009 1010
                              exit_step =                 None,
                              sensor_mask =               0x1, # channel 0 only
                              gamma_load =                False,
1011 1012 1013 1014
                              window_width =              None, # 2592,   # 2592
                              window_height =             None, # 1944,   # 1944
                              window_left =               None, # 0,     # 0
                              window_top =                None, # 0, # 0? 1?
1015 1016 1017 1018 1019
                              compressor_left_margin =    0, #0?`1? 
                              last_buf_frame =            1,  #  - just 2-frame buffer
                              colorsat_blue =             0x180,     # 0x90 fo 1x
                              colorsat_red =              0x16c,     # 0xb6 for x1
                              clk_sel =                   1,         # 1
1020 1021 1022 1023
                              histogram_left =            None,
                              histogram_top =             None,
                              histogram_width_m1 =        None, # 2559, #0,
                              histogram_height_m1 =       None, # 799, #0,
1024
                              circbuf_chn_size=           0x1000000, #16777216
1025 1026 1027 1028 1029 1030 1031 1032 1033 1034 1035 1036 1037 1038 1039 1040 1041 1042 1043 1044 1045 1046 1047 1048 1049 1050 1051 1052 1053 1054
                              verbose =                   1):
        """
        Setup one sensor+compressor channel (for one sub-channel only)
        @param exit_step -         exit after executing specified step:
                                1 - after power and clock
                                2 - exit after GPIO setup
                                3 - exit after RTC setup
                                10..19 - exit from setup_sensor_channel:
                                   10 - just after printing calculated values
                                   11 - after programming status
                                   12 - after setup_sensor_memory
                                   13 - after enabling memory controller for the sensor channel
                                   14 - after setup_compressor_channel
                                   15 - after setup_compressor_memory
                                   16 - after compressor run
                                   17 - removing MRST from the sensor
                                   18 - after vignetting, gamma and histograms setup
                                   19 - enabling sensor memory controller (histograms in not yet)
                                20 - after setup_sensor_channel
                                21 - after afi_mux_setup
        @param sensor_mask -       bitmap of the selected channels (1 - only channel 0, 0xf - all channels)
        @param gamma_load -        load gamma table TODO: Change to calculate and load table
        @param window_width -      (here - in pixels)
        @param window_height -     16-bit window height in scan lines
        @param window_left -       left margin of the window (here - in pixels)
        @param window_top -        top margin of the window (16 bit)
        @param compressor_left_margin - 0..31 - left margin for compressor (to the nearest 32-byte column)
        @param last_buf_frame) -   16-bit number of the last frame in a buffer
        @param colorsat_blue - color saturation for blue (10 bits), 0x90 for 100%
        @param colorsat_red -  color saturation for red (10 bits), 0xb6 for 100%
1055
        @param clk_sel - True - use pixel clock from the sensor, False - use internal clock (provided to the sensor), None - no change
1056 1057 1058 1059
        @param histogram_left -      histogram window left margin
        @param histogram_top -       histogram window top margin
        @param histogram_width_m1 -  one less than window width. If 0 - use frame right margin (end of HACT)
        @param histogram_height_m1 - one less than window height. If 0 - use frame bottom margin (end of VACT)
1060
        @param circbuf_chn_size - circular buffer size for each channel, in bytes
1061
        @param verbose - verbose level
1062 1063
        @return True if all done, False if exited prematurely by  exit_step
        """
1064 1065
        global GLBL_CIRCBUF_CHN_SIZE, GLBL_CIRCBUF_STARTS, GLBL_CIRCBUF_END, GLBL_MEMBRIDGE_START, GLBL_MEMBRIDGE_END, GLBL_BUFFER_END, GLBL_WINDOW

1066
        sensorType = self.x393Sensor.getSensorInterfaceType()
1067 1068
        if verbose > 0 :
            print ("Sensor interface type: %s"%(sensorType))
1069 1070 1071 1072 1073 1074 1075 1076 1077 1078 1079
        window = self.specify_window (window_width =  window_width,
                                      window_height = window_height,
                                      window_left =   window_left,
                                      window_top =    window_top,
                                      cmode =         None, # will use 0
                                      verbose =       0)
        window_width =   window["width"]
        window_height =  window["height"]
        window_left =    window["left"]
        window_top =     window["top"]
        """
1080 1081 1082 1083 1084 1085 1086 1087
        if window_width is None:
            window_width = SENSOR_DEFAULTS[sensorType]["width"]
        if window_height is None:
            window_height = SENSOR_DEFAULTS[sensorType]["height"]
        if window_left is None:
            window_left = SENSOR_DEFAULTS[sensorType]["left"]
        if window_top is None:
            window_top = SENSOR_DEFAULTS[sensorType]["top"]
1088
        """    
1089 1090 1091 1092 1093 1094 1095 1096 1097 1098
        #setting up histogram window, same for parallel, similar for serial
                    
        if histogram_left is None:
            histogram_left = 0
        if histogram_top is None:
            histogram_top = 0
        if histogram_width_m1 is None:
            histogram_width_m1 = window_width - 33
        if histogram_height_m1 is None:
            histogram_height_m1 = window_height - 1145
1099 1100

        self.specify_phys_memory(circbuf_chn_size = circbuf_chn_size)
1101
        """
1102 1103 1104
        self.specify_window (window_width =  window_width,
                             window_height = window_height,
                             window_left =   window_left,
1105
                             window_top =    window_top,
1106
                             cmode =         None, # will use 0
1107
                             verbose =       0)
1108
        """
1109
    #TODO: calculate addresses/lengths
1110 1111 1112
        """
        AFI mux is programmed in 32-byte chunks
        """
1113 1114 1115 1116 1117
        afi_cmprs0_sa = GLBL_CIRCBUF_STARTS[0] // 32  
        afi_cmprs1_sa = GLBL_CIRCBUF_STARTS[1] // 32
        afi_cmprs2_sa = GLBL_CIRCBUF_STARTS[2] // 32
        afi_cmprs3_sa = GLBL_CIRCBUF_STARTS[3] // 32
        afi_cmprs_len = GLBL_CIRCBUF_CHN_SIZE  // 32    
1118 1119
        if verbose >0 :
            print ("compressor system memory buffers:")
1120 1121 1122 1123 1124 1125 1126 1127 1128
            print ("circbuf start 0 =           0x%x"%(GLBL_CIRCBUF_STARTS[0]))
            print ("circbuf start 1 =           0x%x"%(GLBL_CIRCBUF_STARTS[1]))
            print ("circbuf start 2 =           0x%x"%(GLBL_CIRCBUF_STARTS[2]))
            print ("circbuf start 3 =           0x%x"%(GLBL_CIRCBUF_STARTS[3]))
            print ("circbuf end =               0x%x"%(GLBL_BUFFER_END))
            print ("membridge start =           0x%x"%(GLBL_MEMBRIDGE_START))
            print ("membridge end =             0x%x"%(GLBL_MEMBRIDGE_END))
            print ("membridge size =            %d bytes"%(GLBL_MEMBRIDGE_END - GLBL_MEMBRIDGE_START))
            print ("memory buffer end =         0x%x"%(GLBL_BUFFER_END))
1129 1130
            
        self.program_status_debug (3,0)
1131 1132
        if setup_membridge:
            self.setup_membridge_sensor(
1133
                               num_sensor      = 0,         
1134 1135 1136 1137 1138
                               write_mem       = False,
                               window_width    = window_width,
                               window_height   = window_height,
                               window_left     = window_left,
                               window_top      = window_top,
1139
                               last_buf_frame  = last_buf_frame,
1140 1141
                               membridge_start = GLBL_MEMBRIDGE_START,
                               membridge_end   = GLBL_MEMBRIDGE_END,
1142
                               verbose         = verbose)
1143 1144 1145 1146 1147
        
#        if verbose >0 :
#            print ("===================== Sensor power setup: sensor ports 0 and 1 =========================")
#        self.setSensorPower(sub_pair=0, power_on=0)
        """        
1148
        if sensor_mask & 3: # Need power for sens1 and sens 2
1149 1150 1151
            if verbose >0 :
                print ("===================== Sensor power setup: sensor ports 0 and 1 =========================")
            self.setSensorPower(sub_pair=0, power_on=1)
1152
        if sensor_mask & 0xc: # Need power for sens1 and sens 2
1153 1154 1155 1156 1157 1158
            if verbose >0 :
                print ("===================== Sensor power setup: sensor ports 2 and 3 =========================")
            self.setSensorPower(sub_pair=1, power_on=1)
        if verbose >0 :
            print ("===================== Sensor clock setup 24MHz (will output 96MHz) =========================")
        self.setSensorClock(freq_MHz = 24.0)
1159 1160 1161 1162
        """
        if verbose >0 :
            print ("===================== Set up sensor and interface power, clock generator  =========================")
        self.setupSensorsPowerClock(quiet = (verbose >0))
1163 1164 1165 1166 1167 1168 1169 1170
        if exit_step == 1: return False
        if verbose >0 :
            print ("===================== GPIO_SETUP =========================")
            
        self.x393GPIO.program_status_gpio (
                                       mode =    3,   # input [1:0] mode;
                                       seq_num = 0)   # input [5:0] seq_num;

1171 1172 1173 1174 1175
        if verbose >0 :
            print ("===================== CMDSEQMUX_SETUP =========================")
        #Will report frame number for each channel
        self.setup_cmdmux()    
           
1176 1177 1178 1179 1180 1181 1182 1183 1184
        if exit_step == 2: return False
        if verbose >0 :
            print ("===================== RTC_SETUP =========================")
        self.x393Rtc.program_status_rtc( # also takes snapshot
                                     mode =    1, # 3,     # input [1:0] mode;
                                     seq_num = 0)     #input [5:0] seq_num;
            
        self.x393Rtc.set_rtc () # no correction, use current system time
        if exit_step == 3: return False
1185
        
1186 1187 1188 1189 1190 1191 1192 1193 1194 1195 1196 1197 1198 1199 1200 1201 1202 1203 1204 1205
        if verbose >0 :
            print ("===================== AFI_MUX_SETUP =========================")
        
        self.x393CmprsAfi.afi_mux_setup (
                               port_afi =       0,
                               chn_mask =       sensor_mask,
                               status_mode =    3, # = 3,
                                # mode == 0 - show EOF pointer, internal
                                # mode == 1 - show EOF pointer, confirmed written to the system memory
                                # mode == 2 - show current pointer, internal
                                # mode == 3 - show current pointer, confirmed written to the system memory
                               report_mode =    0, # = 0,
                               afi_cmprs0_sa =  afi_cmprs0_sa,
                               afi_cmprs0_len = afi_cmprs_len,
                               afi_cmprs1_sa =  afi_cmprs1_sa,
                               afi_cmprs1_len = afi_cmprs_len,
                               afi_cmprs2_sa =  afi_cmprs2_sa,
                               afi_cmprs2_len = afi_cmprs_len,
                               afi_cmprs3_sa =  afi_cmprs3_sa,
                               afi_cmprs3_len = afi_cmprs_len)
1206 1207 1208 1209 1210 1211 1212 1213 1214 1215 1216 1217 1218 1219 1220 1221 1222 1223

        for num_sensor in range(4):
            if sensor_mask & (1 << num_sensor):
                if verbose >0 :
                    print ("===================== SENSOR%d_SETUP ========================="%(num_sensor+1))
                if gamma_load:    
                    if verbose >0 :
                        print ("===================== GAMMA_LOAD =========================")
                    self.x393_sensor.program_curves(
                                                    num_sensor = num_sensor,  #num_sensor,  # input   [1:0] num_sensor;
                                                    sub_channel = 0)          # input   [1:0] sub_channel;    
                rslt = self.setup_sensor_channel (
                          exit_step =               exit_step,      # 10 .. 19
                          num_sensor =              num_sensor,
                          window_width =            window_width,   # 2592
                          window_height =           window_height,   # 1944
                          window_left =             window_left,     # 0
                          window_top =              window_top, # 0? 1?
1224
#                          compressor_left_margin =  compressor_left_margin, #0?`1? 
1225 1226 1227 1228 1229 1230 1231 1232 1233 1234 1235
                          last_buf_frame =          last_buf_frame,  #  - just 2-frame buffer
                          colorsat_blue =           colorsat_blue,     # 0x90 fo 1x
                          colorsat_red =            colorsat_red,     # 0xb6 for x1
                          clk_sel =                 clk_sel,         # 1
                          histogram_left =          histogram_left,
                          histogram_top =           histogram_top,
                          histogram_width_m1 =      histogram_width_m1,
                          histogram_height_m1 =     histogram_height_m1,
                          verbose =                 verbose)
                if not rslt : return False
                if exit_step == 20: return False
1236 1237 1238 1239
                """
                if verbose >0 :
                    print ("===================== AFI_MUX_SETUP =========================")
                
1240 1241 1242 1243 1244 1245 1246 1247 1248 1249 1250 1251 1252 1253 1254 1255
                self.x393CmprsAfi.afi_mux_setup (
                                       port_afi =       0,
                                       chn_mask =       sensor_mask,
                                       status_mode =    3, # = 3,
                                        # mode == 0 - show EOF pointer, internal
                                        # mode == 1 - show EOF pointer, confirmed written to the system memory
                                        # mode == 2 - show current pointer, internal
                                        # mode == 3 - show current pointer, confirmed written to the system memory
                                       report_mode =    0, # = 0,
                                       afi_cmprs0_sa =  afi_cmprs0_sa,
                                       afi_cmprs0_len = afi_cmprs_len,
                                       afi_cmprs1_sa =  afi_cmprs1_sa,
                                       afi_cmprs1_len = afi_cmprs_len,
                                       afi_cmprs2_sa =  afi_cmprs2_sa,
                                       afi_cmprs2_len = afi_cmprs_len,
                                       afi_cmprs3_sa =  afi_cmprs3_sa,
1256 1257
                                       afi_cmprs3_len = afi_cmprs_len)
                """                           
1258 1259 1260
                self.x393Sensor.print_status_sensor_io (num_sensor = num_sensor)
                self.x393Sensor.print_status_sensor_i2c (num_sensor = num_sensor)
                
1261
                if verbose >0 :
1262
                    print ("===================== I2C_SETUP =========================")
1263 1264 1265
                slave_addr = SENSOR_DEFAULTS[sensorType]["slave"]
                i2c_delay=  SENSOR_DEFAULTS[sensorType]["i2c_delay"]
                    
1266 1267
                self.x393Sensor.set_sensor_i2c_command (
                                num_sensor = num_sensor,
1268 1269 1270
                                rst_cmd =   True,
                                verbose = verbose)

1271
                self.x393Sensor.set_sensor_i2c_command (
1272 1273 1274 1275
                                num_sensor =      num_sensor,
                                active_sda =      True,
                                early_release_0 = True,
                                verbose = verbose)
1276
    
1277
                if sensorType ==  x393_sensor.SENSOR_INTERFACE_PARALLEL:
1278 1279 1280 1281 1282 1283 1284 1285 1286 1287 1288 1289 1290 1291 1292 1293 1294 1295 1296 1297 1298 1299 1300 1301 1302 1303 1304 1305 1306 1307 1308 1309 1310 1311 1312 1313 1314 1315 1316 1317 1318
                    self.x393Sensor.set_sensor_i2c_table_reg_wr (
                                    num_sensor = num_sensor,
                                    page       = 0,
                                    slave_addr = slave_addr,
                                    rah        = 0,
                                    num_bytes  = 3, 
                                    bit_delay  = i2c_delay,
                                    verbose =    verbose)
                     
                    self.x393Sensor.set_sensor_i2c_table_reg_rd (
                                    num_sensor =    num_sensor,
                                    page       =    1,
                                    two_byte_addr = 0,
                                    num_bytes_rd =  2,
                                    bit_delay  =    i2c_delay,
                                    verbose =       verbose)
    # aliases for indices 0x90 and 0x91
                    self.x393Sensor.set_sensor_i2c_table_reg_wr (
                                    num_sensor = num_sensor,
                                    page       = 0x90,
                                    slave_addr = slave_addr,
                                    rah        = 0,
                                    num_bytes  = 3, 
                                    bit_delay  = i2c_delay,
                                    verbose = verbose)
                     
                    self.x393Sensor.set_sensor_i2c_table_reg_rd (
                                    num_sensor =    num_sensor,
                                    page       =    0x91,
                                    two_byte_addr = 0,
                                    num_bytes_rd =  2,
                                    bit_delay  =    100,
                                    verbose =       verbose)
                    
                    self.x393Sensor.set_sensor_i2c_table_reg_rd ( #for compatibility with HiSPi mode, last page for read
                                    num_sensor =    num_sensor,
                                    page       =    0xff,
                                    two_byte_addr = 0,
                                    num_bytes_rd =  2,
                                    bit_delay  =    i2c_delay,
                                    verbose =       verbose)
1319

1320
                elif sensorType == x393_sensor.SENSOR_INTERFACE_HISPI:
1321 1322 1323 1324 1325 1326 1327 1328 1329 1330 1331 1332 1333 1334 1335 1336 1337 1338 1339 1340 1341 1342 1343 1344
                    for page in (0,1,2,3,4,5,6,                           # SMIA configuration registers
                                 0x10,0x11,0x12,0x13,0x14,                # SMIA limit registers
                                 0x30,0x31,0x32,0x33,0x34,0x35,0x36,0x37, # Manufacturer registers
                                 0x38,0x39,0x3a,0x3b,0x3c,0x3d,0x3e):
                        self.x393Sensor.set_sensor_i2c_table_reg_wr (
                                        num_sensor = num_sensor,
                                        page       = page,
                                        slave_addr = slave_addr,
                                        rah        = page,
                                        num_bytes  = 4, 
                                        bit_delay  = i2c_delay,
                                        verbose = verbose)
                    
                    self.x393Sensor.set_sensor_i2c_table_reg_rd ( # last page used for read
                                    num_sensor =    num_sensor,
                                    page       =    0xff,
                                    two_byte_addr = 1,
                                    num_bytes_rd =  2,
                                    bit_delay  =    i2c_delay,
                                    verbose =       verbose)
                else:
                    raise ("Unknown sensor type: %s"%(sensorType))
                
                
1345
# Turn off reset (is it needed?)
1346 1347 1348
                self.x393Sensor.set_sensor_i2c_command (
                                num_sensor = num_sensor,
                                rst_cmd =   False)
1349
# Turn on sequencer
1350 1351 1352 1353 1354
                self.x393Sensor.set_sensor_i2c_command (
                                num_sensor = num_sensor,
                                run_cmd =   True)

        if exit_step == 21: return False
1355

1356 1357
        self.x393Camsync.camsync_setup (
                     sensor_mask =        sensor_mask,
1358
                      trigger_mode =       False, # False - async (free running) sensor mode, True - triggered (global reset) sensor mode
1359 1360 1361 1362 1363 1364 1365 1366 1367 1368 1369 1370 1371 1372 1373 1374 1375 1376 1377 1378 1379 1380 1381 1382 1383 1384 1385 1386 1387 1388 1389 1390 1391 1392 1393 1394 1395 1396 1397
                      ext_trigger_mode =   False, # True - external trigger source, 0 - local FPGA trigger source
                      external_timestamp = False, # True - use received timestamp in the image file, False - use local timestamp 
                      camsync_period =     None,
                      camsync_delay =      None)
        
        
    def print_status_sensor(self,
                            restart = False,
                            chn = None):
        """
        Decode and print channel-related status
        @param restart - reset "alive" bits, wait 1 second, read status
        @param chn - channel numberr or None - in that case print it for all channels
        """
        if chn is None:
            sensors=range(4)
        else:
            sensors = [chn]

        if restart:
            for chn in sensors:

                self.x393Sensor.program_status_sensor_i2c(
                    num_sensor = chn,  # input [1:0] num_sensor;
                    mode =       3,           # input [1:0] mode;
                    seq_num =    0);          # input [5:0] seq_num;
                self.x393Sensor.program_status_sensor_io(
                    num_sensor = chn,  # input [1:0] num_sensor;
                    mode =       3,           # input [1:0] mode;
                    seq_num =    0);          # input [5:0] seq_num;
        
                self.x393Cmprs.program_status_compressor(
                    cmprs_chn =  chn,  # input [1:0] num_sensor;
                    mode =       3,           # input [1:0] mode;
                    seq_num =    0);          # input [5:0] seq_num;
            time.sleep(1)
        for chn in sensors:
            self.x393Sensor.print_status_sensor_io (num_sensor = chn)
            self.x393Sensor.print_status_sensor_i2c (num_sensor = chn)
1398 1399 1400 1401 1402 1403 1404 1405 1406 1407 1408 1409 1410 1411 1412
            
### Debug network methods
    def program_status_debug( self,
                              mode,     # input [1:0] mode;
                              seq_num): # input [5:0] seq_num;
        """
        Set status generation mode for selected sensor port i2c control
        @param mode -       status generation mode:
                                  0: disable status generation,
                                  1: single status request,
                                  2: auto status, keep specified seq number,
                                  4: auto, inc sequence number 
        @param seq_number - 6-bit sequence number of the status message to be sent
        """

1413
        self.x393_axi_tasks.program_status (vrlg.DEBUG_ADDR,
1414 1415 1416 1417 1418 1419 1420 1421 1422 1423 1424 1425 1426 1427 1428 1429
                             vrlg.DEBUG_SET_STATUS,
                             mode,
                             seq_num)
            
    def debug_read_ring(self,
                        num32 = 32):
        """
        Read serial debug ring
        @param num32 - number of 32-bit words to read
        @return - list of the 32-bit words read
        """
        maxTimeout = 2.0 # sec
        endTime=time.time() + maxTimeout
        result = []
        # load all shift registers from sources
        self.x393_axi_tasks.write_control_register(vrlg.DEBUG_ADDR + vrlg.DEBUG_LOAD, 0); 
1430
        for i in range (num32): 
1431
            seq_num = (self.x393_axi_tasks.read_status(vrlg.DEBUG_STATUS_REG_ADDR) >> vrlg.STATUS_SEQ_SHFT) & 0x3f;
1432
            self.x393_axi_tasks.write_control_register(vrlg.DEBUG_ADDR + vrlg.DEBUG_SHIFT_DATA, (0,0xffffffff)[i==0]);
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            while seq_num == (self.x393_axi_tasks.read_status(vrlg.DEBUG_STATUS_REG_ADDR) >> vrlg.STATUS_SEQ_SHFT) & 0x3f:
                if time.time() > endTime:
                    return None 
            result.append(self.x393_axi_tasks.read_status(vrlg.DEBUG_READ_REG_ADDR))
        return result    
            
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    def setup_membridge_sensor(self,
1441
                               num_sensor      = 0,
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                               write_mem       = False,
                               cache_mode      = 0x3, # 0x13 for debug mode
                               window_width    = 2592,
                               window_height   = 1944,
                               window_left     = 0,
                               window_top      = 0,
1448
                               last_buf_frame =  1,  #  - just 2-frame buffer
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                               membridge_start = 0x2ba00000,
                               membridge_end   = 0x2dd00000,
                               verbose         = 1):
        """
        Configure membridge to read/write to the sensor 0 area in the video memory
1454
        @param num_sensor - sensor port number (0..3)
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        @param write_mem - Write to video memory (Flase - read from)
        @param cache_mode - lower 4 bits, axi cache mode (default 3), bit [4] - debug mode (replace data)
        @param window_width -  window width in pixels (bytes) (TODO: add 16-bit mode)
        @param window_height - window height in lines
        @param window_left -   window left margin
        @param window_top -    window top margin
1461
        @param last_buf_frame) -   16-bit number of the last frame in a buffer
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        @param membridge_start system memory low address (bytes) 0x2ba00000,
        @param membridge_end   system memory buffer length (bytes)= 0x2dd00000,
        @param verbose         verbose level):
        """
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#copied from setup_sensor_channel()
        align_to_bursts = 64 # align full width to multiple of align_to_bursts. 64 is the size of memory access
        width_in_bursts = window_width >> 4
        if (window_width & 0xf):
            width_in_bursts += 1
        num_burst_in_line = (window_left >> 4) + width_in_bursts
        num_pages_in_line = num_burst_in_line // align_to_bursts;
        if num_burst_in_line % align_to_bursts:
            num_pages_in_line += 1
        frame_full_width =  num_pages_in_line * align_to_bursts
        num8rows=   (window_top + window_height) // 8
        if (window_top + window_height) % 8:
            num8rows += 1
        frame_start_address_inc = num8rows * frame_full_width
        frame_start_address = (last_buf_frame + 1) * frame_start_address_inc * num_sensor
        
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        if verbose >0 :
            print ("===================== Setting membridge for sensor 0 =========================")
            print ("Write to video buffer =     %s"%(("False","True")[write_mem]))
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            print ("num_sensor =                ", num_sensor)
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            print ("Window width =              %d(0x%x)"%(window_width,window_width))
            print ("Window height =             %d(0x%x)"%(window_height,window_height))
            print ("Window left =               %d(0x%x)"%(window_left,window_left))
            print ("Window top =                %d(0x%x)"%(window_top,window_top))
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            print ("frame_start_address =       0x%x"%(frame_start_address))
            print ("frame_start_address_inc =   0x%x"%(frame_start_address_inc))
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            print ("membridge start =           0x%x"%(membridge_start))
            print ("membridge end =             0x%x"%(membridge_end))
            print ("membridge size =            %d bytes"%(membridge_end - membridge_start))
            print ("cache/debug mode =          0x%x bytes"%(cache_mode))
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        # Copied from setup_sensor    
        align_to_bursts = 64 # align full width to multiple of align_to_bursts. 64 is the size of memory access
        width_in_bursts = window_width >> 4
        if (window_width & 0xf):
            width_in_bursts += 1
        num_burst_in_line = (window_left >> 4) + width_in_bursts
        num_pages_in_line = num_burst_in_line // align_to_bursts;
        if num_burst_in_line % align_to_bursts:
            num_pages_in_line += 1
        frame_full_width =  num_pages_in_line * align_to_bursts
        num8rows=   (window_top + window_height) // 8
        if (window_top + window_height) % 8:
            num8rows += 1
1511
#        frame_start_addr = 0 # for sensor 0
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#        frame_start_address_inc = num8rows * frame_full_width
#        len64 = num_burst_in_line * 2 * window_height    
  
        """
        Setup video memory
        """
        mode=   x393_mcntrl.func_encode_mode_scan_tiled(
1519
                                   skip_too_late = False,                     
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                                   disable_need = False,
                                   repetitive=    True,
                                   single =       False,
                                   reset_frame =  False,
                                   extra_pages =  0,
                                   write_mem =    write_mem,
                                   enable =       True,
                                   chn_reset =    False)

1529
        self.x393_axi_tasks.write_control_register(vrlg.MCNTRL_SCANLINE_CHN1_ADDR + vrlg.MCNTRL_SCANLINE_STARTADDR,        frame_start_address) # RA=80, CA=0, BA=0 22-bit frame start address (3 CA LSBs==0. BA==0) 
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        self.x393_axi_tasks.write_control_register(vrlg.MCNTRL_SCANLINE_CHN1_ADDR + vrlg.MCNTRL_SCANLINE_FRAME_FULL_WIDTH, frame_full_width)
        self.x393_axi_tasks.write_control_register(vrlg.MCNTRL_SCANLINE_CHN1_ADDR + vrlg.MCNTRL_SCANLINE_WINDOW_WH,        (window_height << 16) | (window_width >> 4)) # WINDOW_WIDTH + (WINDOW_HEIGHT<<16));
        self.x393_axi_tasks.write_control_register(vrlg.MCNTRL_SCANLINE_CHN1_ADDR + vrlg.MCNTRL_SCANLINE_WINDOW_X0Y0,      (window_top << 16) | (window_left >> 4))     # WINDOW_X0+ (WINDOW_Y0<<16));
        self.x393_axi_tasks.write_control_register(vrlg.MCNTRL_SCANLINE_CHN1_ADDR + vrlg.MCNTRL_SCANLINE_WINDOW_STARTXY,   0)
        self.x393_axi_tasks.write_control_register(vrlg.MCNTRL_SCANLINE_CHN1_ADDR + vrlg.MCNTRL_SCANLINE_MODE,             mode) 
        self.x393_axi_tasks.configure_channel_priority(1,0);    # lowest priority channel 1
        self.x393_axi_tasks.enable_memcntrl_en_dis(1,1);
        self.x393Membridge.afi_setup(0)
        """
        self.afi_write_reg(port_num, 0x0,      0) # AFI_RDCHAN_CTRL
        self.afi_write_reg(port_num, 0x04,   0x7) # AFI_RDCHAN_ISSUINGCAP
        self.afi_write_reg(port_num, 0x08,     0) # AFI_RDQOS
        #self.afi_write_reg(port_num,0x0c,     0) # AFI_RDDATAFIFO_LEVEL
        #self.afi_write_reg(port_num,0x10,     0) # AFI_RDDEBUG
        self.afi_write_reg(port_num, 0x14, 0xf00) # AFI_WRCHAN_CTRL
        self.afi_write_reg(port_num, 0x18,   0x7) # AFI_WRCHAN_ISSUINGCAP
        self.afi_write_reg(port_num, 0x1c,     0) # AFI_WRQOS
        #self.afi_write_reg(port_num,0x20,     0) # AFI_WRDATAFIFO_LEVEL
        #self.afi_write_reg(port_num,0x24,     0) # AFI_WRDEBUG
        """
        self.x393Membridge.membridge_setup(
                                           len64 =     num_burst_in_line * 2 * window_height,
                                           width64 =   num_burst_in_line * 2, # 0,
                                           start64 =   0,
                                           lo_addr64 = membridge_start // 8,
                                           size64 =    (membridge_end - membridge_start) // 8,
                                           cache =     cache_mode,
                                           quiet = 1 - verbose)
        
        self.x393Membridge.membridge_en( # enable membridge
                                        en =     True,
                                        quiet = 1 - verbose)
        
        if verbose >0 :
            print ("Run 'membridge_start' to initiate data transfer")
            print ("Use 'mem_dump 0x%x <length>' to view data"%(membridge_start))
            print ("Use 'mem_save \"/usr/local/verilog/memdumpXX\" 0x%x 0x%x' to save data"%(membridge_start,(membridge_end - membridge_start)))
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    def print_debug( self,
                     first = None,
                     last = None,
1571
                     num32 = 200):
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        """
        Read and print serial debug ring as a sequence of 32-bit numbers
        @parame first - index of the first 32-bit debug word to decode
                       also valid: "list" - print list of all fields,
                       "raw" - print 32-bit hex data only
        @parame last - index of the last 32-bit debug word to decode
        @param num32 - number of 32-bit words to read
        @return - list of the 32-bit words read
        """
        debug_dict = {"x393":          (("sensors393_i",       "sensors393"),
                                        ("compressors393_i",   "compressors393"),
                                        ("membridge_i",        "membridge")),
                      "sensors393":    (("sensor_channel0_i",  "sensor_channel"),
                                        ("sensor_channel1_i",  "sensor_channel"),
                                        ("sensor_channel2_i",  "sensor_channel"),
                                        ("sensor_channel3_i",  "sensor_channel"),
                                        ("histogram_saxi_i",   "histogram_saxi")),
                      "sensor_channel":(("sens_histogram0_i",  "sens_histogram"),
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#                                        ("sens_histogram1_i",  "sens_histogram"),
#                                        ("sens_histogram2_i",  "sens_histogram"),
#                                        ("sens_histogram3_i",  "sens_histogram"),
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                                        ("debug_line_cntr",    16),
                                        ("debug_lines",        16),
                                        ("hact_cntr",          16),
                                        ("hist_rq",            4),
                                        ("hist_gr",            4),
                                        ("hist_request",       1),
                                        ("hist_grant",         1),
                                        (None,                 6),
                                        ("gamma_pxd_out",      8),
                                        ("pxd",                12),
                                        ("pxd_to_fifo",        12),
                                        ("gamma_pxd_in",       16),
                                         ("lens_pxd_in",       16)),
                      "sens_histogram":(("hcntr",              16),
                                        ("width_m1",           16),
                                        ("debug_line_cntr",    16),
                                        ("debug_lines",        16)),
                      "histogram_saxi":(("pri_rq",             4),
                                        ("enc_rq",             3),
                                        ("start_w",            1), # 8
                                        ("pages_in_buf_wr",    3),
                                        (None,                 1),
                                        ("burst",              3 ), 
                                        (None,                 1), # 16
                                        ("started",            1),
                                        ("busy_r",             1),
                                        ("busy_w",             1),
                                        (None,                 1),
                                        ("chn_grant",          4), # 24
                                        ("frame0",             4),
                                        ("hist_chn0",          2),
                                        (None,                 2), # 32
                                        ("saxi_awsize",        2),
                                        ("saxi_awburst",       2),
                                        ("saxi_awlen",         4), # 40
                                        ("saxi_awprot",        3),
                                        (None,                 1),
                                        ("saxi_awcache",       4), # 48
                                        ("saxi_awid",          6),
                                        ("saxi_awlock",        2), # 56
                                        ("saxi_awvalid",       1),
                                        ("saxi_awready",       1),
                                        (None,                 6), # 64
                                        ("saxi_wid",           6),
                                        ("saxi_wvalid",        1),
                                        ("saxi_wready",        1), # 72
                                        ("saxi_wlast",         1),
                                        (None,                 3),
                                        ("page_rd",            2),
                                        ("page_wr",            2), # 80
                                        ("num_bursts_pending", 5),
                                        (None,                 3), # 88
                                        ("num_bursts_in_buf",  5),
                                        (None,                 3), # 96
                                        ("page_ra",            8), # 104
                                        ("extra_ra",           8), # 112
                                        ("page_wa",            8), # 120
                                        ("extra_wa",           8), # 128
                                        ("num_addr_saxi",     16), # 144
                                        ("num_addr_saxi",     16), # 160
                                        ),
                      "compressors393":(("jp_channel0_i",      "jp_channel"),
                                        ("jp_channel1_i",      "jp_channel"),
                                        ("jp_channel2_i",      "jp_channel"),
                                        ("jp_channel3_i",      "jp_channel"),
                                        ("cmprs_afi0_mux_i",   "cmprs_afi_mux")),
                      "jp_channel":    (("line_unfinished_src",16),
                                        ("frame_number_src",   16),
                                        ("line_unfinished_dst",16),
                                        ("frame_number_dst",   16),
                                        ("suspend",            1),
                                        ("sigle_frame_buf",    1),
                                        ("dbg_last_DCAC",      1),
                                        ("dbg_lastBlock_sent", 1),
                                        ("dbg_gotLastBlock_persist",1),
                                        ("dbg_fifo_or_full",   1),
                                        (None,                 2),
                                        ("fifo_count",         8),
                                        ("reading_frame",      1),
                                        ("debug_frame_done",   1),
                                        ("stuffer_running_mclk",1),
                                        ("dbg_stuffer_ext_running",1),
                                        ("etrax_dma",          4),
                                        ("stuffer_rdy",        1),
                                        ("dbg_flushing",       1),
                                        ("dbg_flush_hclk",     1),
                                        ("dbg_last_block",     1),
                                        ("dbg_test_lbw",       1),
                                        ("dbg_gotLastBlock",   1),
                                        ("dbg_last_block_persist",1),
                                        ("color_last",         1),
#                                        (None,                 2),
                                        ("debug_fifo_in",      32),
                                        ("debug_fifo_out",     28),
                                        ("dbg_block_mem_ra",    3),
                                        ("dbg_comp_lastinmbo",  1),
                                        ("pages_requested",    16),
                                        ("pages_got",          16),
                                        ("pre_start_cntr",     16),
                                        ("pre_end_cntr",       16),
                                        ("page_requests",      16),
                                        ("pages_needed",       16),
                                        ("dbg_stb_cntr",       16),
                                        ("dbg_zds_cntr",       16),
                                        ("dbg_block_mem_wa",   3),
                                        ("dbg_block_mem_wa_save",3),
1700 1701 1702
                                        (None,                 26),
                                        ("dbg_sec",            32),
                                        ("dbg_usec",           32)
1703 1704 1705 1706 1707 1708 1709 1710 1711 1712 1713 1714 1715 1716 1717 1718 1719 1720 1721 1722 1723 1724 1725 1726 1727 1728
                                        ),
                      "cmprs_afi_mux": (("fifo_count0",        8),
                                        (None,                 24),
                                        ("left_to_eof",        32)),
                      "membridge":     (("afi_wcount",         8),
                                        ("afi_wacount",        6),
                                        (None,                 2),
                                        ("afi_rcount",         8),
                                        ("afi_racount",        3),
                                        (None,                 5))       
                      }
        def flatten_debug(inst,item):
            if (isinstance(item,str)):
                mod_struct=debug_dict[item]
                result = []
                for node in mod_struct:
                    sub_inst = node[0]
                    if not ((inst is None) or (node[0] is None)):
                        sub_inst= inst+"."+node[0]
                    result += flatten_debug(sub_inst,node[1])    
            else: # value
                result = [(inst, item)]
            return result

        flat =  flatten_debug(None,"x393")
        maximal_name_length = max([len(f[0]) for f in flat if f[0] is not None])
1729 1730 1731 1732 1733 1734 1735
        num_bits=0;
        for p in flat:
            num_bits += p[1]
        num_words = num_bits// 32
        if num_bits % 32:
            num_words += 1
        if (first == list) or (first == "list"):
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            l=0;
            for p in flat:
                print (("%03x.%02x: %"+str(maximal_name_length)+"s")%(l // 32, l % 32, p[0]))
                l += p[1]
            print("total bits: ", l)    
            print("total words32: ", l / 32) 
            return
        
        if (self.DRY_MODE):
            status = [0xaaaaaaaa,0x55555555]*(num32 // 2)
            if (num32 % 2) !=0:
                status += [0xaaaaaaaa]
            status.append(0xffffffff)
        else:
            status = self.debug_read_ring(num32)
        if first == "raw":
            numPerLine = 8
            for i,d in enumerate (status):
                if ( i % numPerLine) == 0:
                    print ("\n%2x: "%(i), end="")
                print("%s "%(hx(d,8)), end = "") 
            print()   
            return
        
        if not (first is None) and (last is None):
            last=first
        if first is None:
            first = 0
            
        if (last is None) or (last > (num32-1)):
            last = (num32-1)
1767 1768 1769 1770 1771 1772 1773 1774
        if (last is None) or (last > (num_words-1)):
            last = (num_words-1)
#        if (num_words)    
#        for i,d in enumerate (status):
#            if d == 0xffffffff:
#                if i <= last:
#                   last = i - 1
#                break
1775 1776
#        print("first = ",first)
#        print ("last = ",last)    
1777 1778
#        print("total bits: ", l)    
#        print("total words32: ", l // 32) 
1779 1780 1781 1782 1783 1784 1785 1786 1787 1788 1789
        l=0;
        long_status = 0;
        for i,s in enumerate(status):
            long_status |= s << (32*i)
#        print (long_status)
#       print (hex(long_status))        
        for p in flat:
            if ((l // 32) >= first) and ((l // 32) <= last) and (not p[0] is None):
                d = (long_status >> l) & ((1 << p[1]) - 1)
                print (("%03x.%02x: %"+str(maximal_name_length)+"s [%2d] = 0x%x (%d)")%(l // 32, l % 32, p[0],p[1],d,d))
            l += p[1]
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    def program_huffman(self,
                        chn,
                        index,
                        huffman_data):
        """
        @brief Program data to compressor Huffman table
        @param chn - compressor channel (0..3)
        @param index offset address by multiple input data sizes
        @param huffman_data - list of table 512 items or a file path
                             with the same data, same as for Verilog $readmemh
        """
        if isinstance(huffman_data, (unicode,str)):
            with open(huffman_data) as f:
                tokens=f.read().split()
            huffman_data = []
            for w in tokens:
                huffman_data.append(int(w,16))
        self.program_table(chn =        chn,
                           table_type = "huffman",
                           index =      index,
                           data =       huffman_data)                
                
    def program_quantization(self,
                             chn,
                             index,
                             quantization_data,
                             verbose = 1):
        """
        @brief Program data to quantization table ( a pair or four of Y/C 64-element tables)
        @param chn - compressor channel (0..3)
        @param index offset address by multiple input data sizes
        @param quantization_data - list of table 64/128/256 items or a file path (file has 256-entry table)
        @param verbose - verbose level
                             with the same data, same as for Verilog $readmemh
        """
        if isinstance(quantization_data, (unicode,str)):
            with open(quantization_data) as f:
                tokens=f.read().split()
            quantization_data = []
            for w in tokens:
                quantization_data.append(int(w,16))
        self.program_table(chn =        chn,
                           table_type = "quantization",
                           index =      index,
                           data =       quantization_data,
                           verbose =    verbose)                
    def program_coring(self,
                       chn,
                       index,
                       coring_data):
        """
        @brief Program data to quantization table ( a pair or four of Y/C 64-element tables)
        @param chn - compressor channel (0..3)
        @param index offset address by multiple input data sizes
        @param coring_data - list of table 64/128/256 items or a file path (file has 256-entry table)
                             with the same data, same as for Verilog $readmemh
        """
        if isinstance(coring_data, (unicode,str)):
            with open(coring_data) as f:
                tokens=f.read().split()
            coring_data = []
            for w in tokens:
                coring_data.append(int(w,16))
        self.program_table(chn =        chn,
                           table_type = "coring",
                           index =      index,
                           data =       coring_data)
        
    def program_focus(self,
                      chn,
                      index,
                      focus_data):
        """
        @brief Program data to focus sharpness weight table
        @param chn - compressor channel (0..3)
        @param index offset address by multiple input data sizes
        @param focus_data - list of table 128 items or a file path
                             with the same data, same as for Verilog $readmemh
        """
        if isinstance(focus_data, (unicode,str)):
            with open(focus_data) as f:
                tokens=f.read().split()
            focus_data = []
            for w in tokens:
                focus_data.append(int(w,16))
        self.program_table(chn =        chn,
                           table_type = "focus",
                           index =      index,
                           data =       focus_data)                
                
    
    def program_table(self,
                      chn,
                      table_type,
                      index,
                      data,
                      verbose = 0):
        """
        @brief Program data to compressor table
        @param chn - compressor channel (0..3)
        @param table_type : one of "quantization", "coring","focus","huffman"
        @param index offset address as index*len(data32) = index*len(data)*merge_num
        @param data - list of table items
        """
        table_types = [{"name":"quantization", "merge":2, "t_num": vrlg.TABLE_QUANTIZATION_INDEX},
                       {"name":"coring",       "merge":2, "t_num": vrlg.TABLE_CORING_INDEX},
                       {"name":"focus",        "merge":2, "t_num": vrlg.TABLE_FOCUS_INDEX},
                       {"name":"huffman",      "merge":1, "t_num": vrlg.TABLE_HUFFMAN_INDEX}]
        
        for item in table_types:
            if (table_type == item['name']):
                merge_num =   item["merge"];
                t_num =       item["t_num"];
                break;
        else:
            raise Exception ("Invalid table type :",table_type," table_types=",table_types)
        reg_addr = (vrlg.CMPRS_GROUP_ADDR + chn * vrlg.CMPRS_BASE_INC) + vrlg.CMPRS_TABLES # for data, adderss is "reg_addr + 1"
        if merge_num == 1:
            data32 = data
        else:
            data32 = []
            for i in range(len(data) // merge_num):
                d = 0;
                for j in range (merge_num):
                    d |=  data[2* i + j] << (j * (32 // merge_num))   
                data32.append(d)
        t_addr = (t_num << 24) + index* len(data32)
        self.x393_axi_tasks.write_control_register(reg_addr + 1, t_addr)
        for d in data32:
            self.x393_axi_tasks.write_control_register(reg_addr, d)
                               
1921
            
1922