multithread preprocessing of ipecamera frames and code reorganization

14 files changed, 1322 insertions, 988 deletions

diff --git a/ipecamera/CMakeLists.txt b/ipecamera/CMakeLists.txt
new file mode 100644
index 0000000..029993c
--- /dev/null
+++ b/ipecamera/CMakeLists.txt
@@ -0,0 +1,8 @@
+include_directories(
+    ${CMAKE_SOURCE_DIR}
+)
+
+set(HEADERS ${HEADERS} ipecamera.h model.h reader.h events.h data.h public.h private.h)
+
+add_library(ipecamera STATIC ipecamera.c model.c reader.c events.c data.c)
+
diff --git a/ipecamera/data.c b/ipecamera/data.c
new file mode 100644
index 0000000..5de6617
--- /dev/null
+++ b/ipecamera/data.c
@@ -0,0 +1,270 @@
+#define _IPECAMERA_IMAGE_C
+#define _BSD_SOURCE
+#define _GNU_SOURCE
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/time.h>
+#include <pthread.h>
+#include <assert.h>
+
+#include <ufodecode.h>
+
+#include "../tools.h"
+#include "../error.h"
+
+#include "pcilib.h"
+#include "private.h"
+#include "data.h"
+
+// DS: Currently, on event_id overflow we are assuming the buffer is lost
+static int ipecamera_resolve_event_id(ipecamera_t *ctx, pcilib_event_id_t evid) {
+    pcilib_event_id_t diff;
+
+    if (evid > ctx->event_id) {
+	diff = (((pcilib_event_id_t)-1) - ctx->event_id) + evid;
+	if (diff >= ctx->buffer_size) return -1;
+    } else {
+	diff = ctx->event_id - evid;
+        if (diff >= ctx->buffer_size) return -1;
+    }
+    
+	// DS: Request buffer_size to be power of 2 and replace to shifts (just recompute in set_buffer_size)
+    return (evid - 1) % ctx->buffer_size;
+}
+
+inline static int ipecamera_decode_frame(ipecamera_t *ctx, pcilib_event_id_t event_id) {
+    int err = 0;
+    uint32_t tmp;
+    uint16_t *pixels;
+    
+    int buf_ptr = ipecamera_resolve_event_id(ctx, event_id);
+    if (buf_ptr < 0) return PCILIB_ERROR_TIMEOUT;
+    
+    if (ctx->frame[buf_ptr].event.image_ready) return 0;
+    
+    if (ctx->frame[buf_ptr].event.info.flags&PCILIB_EVENT_INFO_FLAG_BROKEN) {
+	ctx->frame[buf_ptr].event.image_broken = 1;
+	err = PCILIB_ERROR_INVALID_DATA;
+	goto ready;
+    }
+	
+		
+    pixels = ctx->image + buf_ptr * ctx->image_size;
+    memset(ctx->cmask + ctx->buffer_pos * ctx->dim.height, 0, ctx->dim.height * sizeof(ipecamera_change_mask_t));
+    err = ufo_decoder_decode_frame(ctx->ipedec, ctx->buffer + buf_ptr * ctx->padded_size, ctx->raw_size, pixels, &tmp, &tmp, ctx->cmask + ctx->buffer_pos * ctx->dim.height);
+    if (err) {
+        ctx->frame[buf_ptr].event.image_broken = 1;
+        err = PCILIB_ERROR_FAILED;
+	goto ready;
+    }
+	    
+    ctx->frame[buf_ptr].event.image_broken = 0;
+
+ready:
+    ctx->frame[buf_ptr].event.image_ready = 1;
+
+    if (ipecamera_resolve_event_id(ctx, event_id) < 0) {
+	ctx->frame[buf_ptr].event.image_ready = 0;
+	return PCILIB_ERROR_TIMEOUT;
+    }
+    
+    return err;
+}
+
+static int ipecamera_get_next_buffer_to_process(ipecamera_t *ctx, pcilib_event_id_t *evid) {
+    int res;
+
+    if (ctx->preproc_id == ctx->event_id) return -1;
+    
+    if (ctx->preproc) 
+	pthread_mutex_lock(&ctx->preproc_mutex);
+	
+    if (ctx->preproc_id == ctx->event_id) {
+	if (ctx->preproc)
+	    pthread_mutex_unlock(&ctx->preproc_mutex);
+	return -1;
+    }
+
+    if ((ctx->event_id - ctx->preproc_id) > (ctx->buffer_size - IPECAMERA_RESERVE_BUFFERS)) ctx->preproc_id = ctx->event_id - (ctx->buffer_size - 1) - IPECAMERA_RESERVE_BUFFERS - 1;
+
+    res = ctx->preproc_id%ctx->buffer_size;
+
+    if (pthread_rwlock_trywrlock(&ctx->frame[res].mutex)) {
+	pthread_mutex_unlock(&ctx->preproc_mutex);
+	return -1;
+    }
+    
+    *evid = ++ctx->preproc_id;
+
+    if (ctx->preproc)
+	pthread_mutex_unlock(&ctx->preproc_mutex);
+
+    return res;
+}
+
+
+void *ipecamera_preproc_thread(void *user) {
+    int buf_ptr;
+    pcilib_event_id_t evid;
+    
+    ipecamera_preprocessor_t *preproc = (ipecamera_preprocessor_t*)user;
+    ipecamera_t *ctx = preproc->ipecamera;
+    
+    while (ctx->run_preprocessors) {
+	buf_ptr = ipecamera_get_next_buffer_to_process(ctx, &evid);
+	if (buf_ptr < 0) {
+	    usleep(IPECAMERA_NOFRAME_PREPROC_SLEEP);
+	    continue;
+	}
+	
+	ipecamera_decode_frame(ctx, evid);
+	
+	pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex);
+    }
+    
+    return NULL;
+}
+
+static int ipecamera_get_frame(ipecamera_t *ctx, pcilib_event_id_t event_id) {
+    int err;
+    int buf_ptr = (event_id - 1) % ctx->buffer_size;
+    
+    if (!ctx->preproc) {	
+	pthread_rwlock_rdlock(&ctx->frame[buf_ptr].mutex);
+
+	err = ipecamera_decode_frame(ctx, event_id);
+
+	if (err) {
+	    pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex);
+	    return err;
+	}
+	
+	return 0;
+    }
+    
+    
+    while (!ctx->frame[buf_ptr].event.image_ready) {
+	usleep(IPECAMERA_NOFRAME_PREPROC_SLEEP);
+
+	buf_ptr = ipecamera_resolve_event_id(ctx, event_id);
+	if (buf_ptr < 0) return PCILIB_ERROR_OVERWRITTEN;
+    }	
+
+    pthread_rwlock_rdlock(&ctx->frame[buf_ptr].mutex);
+    
+    buf_ptr = ipecamera_resolve_event_id(ctx, event_id);
+    if ((buf_ptr < 0)||(!ctx->frame[buf_ptr].event.image_ready)) {
+	pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex);
+	return PCILIB_ERROR_OVERWRITTEN;
+    }
+    
+    return 0;    
+}
+
+
+/*
+ We will lock the data for non-raw data to prevent ocasional overwritting. The 
+ raw data will be overwritten by the reader thread anyway and we can't do 
+ anything to prevent it for performance reasons.
+*/
+int ipecamera_get(pcilib_context_t *vctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, size_t arg_size, void *arg, size_t *size, void **ret) {
+    int err;
+    int buf_ptr;
+    size_t raw_size;
+    ipecamera_t *ctx = (ipecamera_t*)vctx;
+
+    void *data = *ret;
+
+    if (!ctx) {
+	pcilib_error("IPECamera imaging is not initialized");
+	return PCILIB_ERROR_NOTINITIALIZED;
+    }
+	
+    buf_ptr = ipecamera_resolve_event_id(ctx, event_id);
+    if (buf_ptr < 0) return PCILIB_ERROR_OVERWRITTEN;
+    
+    switch ((ipecamera_data_type_t)data_type) {
+	case IPECAMERA_RAW_DATA:
+	    raw_size = ctx->frame[buf_ptr].event.raw_size;
+	    if (data) {
+		if ((!size)||(*size < raw_size)) return PCILIB_ERROR_TOOBIG;
+		memcpy(data, ctx->buffer + buf_ptr * ctx->padded_size, raw_size);
+		if (ipecamera_resolve_event_id(ctx, event_id) < 0) return PCILIB_ERROR_OVERWRITTEN;
+		*size = raw_size;
+		return 0;
+	    }
+	    if (size) *size = raw_size;
+	    *ret = ctx->buffer + buf_ptr * ctx->padded_size;
+	    return 0;
+	case IPECAMERA_IMAGE_DATA:
+	    err = ipecamera_get_frame(ctx, event_id);
+	    if (err) return err;
+
+	    if (data) {
+		if ((!size)||(*size < ctx->image_size * sizeof(ipecamera_pixel_t))) return PCILIB_ERROR_TOOBIG;
+		memcpy(data, ctx->image + buf_ptr * ctx->image_size, ctx->image_size * sizeof(ipecamera_pixel_t));
+		pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex);
+		*size =  ctx->image_size * sizeof(ipecamera_pixel_t);
+		return 0;
+	    }
+	
+	    if (size) *size = ctx->image_size * sizeof(ipecamera_pixel_t);
+	    *ret = ctx->image + buf_ptr * ctx->image_size;
+	    return 0;
+	case IPECAMERA_CHANGE_MASK:
+	    err = ipecamera_get_frame(ctx, event_id);
+	    if (err) return err;
+
+	    if (data) {
+		if ((!size)||(*size < ctx->dim.height * sizeof(ipecamera_change_mask_t))) return PCILIB_ERROR_TOOBIG;
+		memcpy(data, ctx->image + buf_ptr * ctx->dim.height, ctx->dim.height * sizeof(ipecamera_change_mask_t));
+		pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex);
+		*size =  ctx->dim.height * sizeof(ipecamera_change_mask_t);
+		return 0;
+	    }
+
+	    if (size) *size = ctx->dim.height * sizeof(ipecamera_change_mask_t);
+	    *ret = ctx->cmask + buf_ptr * ctx->dim.height;
+	    return 0;
+	case IPECAMERA_DIMENSIONS:
+	    if (size) *size = sizeof(ipecamera_image_dimensions_t);
+	    ret = (void*)&ctx->dim;
+	    return 0;
+	case IPECAMERA_IMAGE_REGION:
+	case IPECAMERA_PACKED_IMAGE:
+	    // Shall we return complete image or only changed parts?
+	case IPECAMERA_PACKED_LINE:
+	case IPECAMERA_PACKED_PAYLOAD:
+	    pcilib_error("Support for data type (%li) is not implemented yet", data_type);
+	    return PCILIB_ERROR_NOTSUPPORTED;
+	default:
+	    pcilib_error("Unknown data type (%li) is requested", data_type);
+	    return PCILIB_ERROR_INVALID_REQUEST;
+    }
+}
+
+
+/*
+ We will unlock non-raw data and check if the raw data is not overwritten yet
+*/
+int ipecamera_return(pcilib_context_t *vctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, void *data) {
+    ipecamera_t *ctx = (ipecamera_t*)vctx;
+
+    if (!ctx) {
+	pcilib_error("IPECamera imaging is not initialized");
+	return PCILIB_ERROR_NOTINITIALIZED;
+
+    }
+
+    if ((ipecamera_data_type_t)data_type == IPECAMERA_RAW_DATA) {
+	if (ipecamera_resolve_event_id(ctx, event_id) < 0) return PCILIB_ERROR_OVERWRITTEN;
+    } else {
+	int buf_ptr = (event_id - 1) % ctx->buffer_size;
+	pthread_rwlock_unlock(&ctx->frame[buf_ptr].mutex);
+    }
+
+    return 0;
+}
diff --git a/ipecamera/data.h b/ipecamera/data.h
new file mode 100644
index 0000000..846cb78
--- /dev/null
+++ b/ipecamera/data.h
@@ -0,0 +1,6 @@
+#ifndef _IPECAMERA_DATA_H
+#define _IPECAMERA_DATA_H
+
+void *ipecamera_preproc_thread(void *user);
+
+#endif /* _IPECAMERA_DATA_H */
diff --git a/ipecamera/events.c b/ipecamera/events.c
new file mode 100644
index 0000000..58d2971
--- /dev/null
+++ b/ipecamera/events.c
@@ -0,0 +1,121 @@
+#define _IPECAMERA_IMAGE_C
+#define _BSD_SOURCE
+#define _GNU_SOURCE
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/time.h>
+#include <pthread.h>
+#include <assert.h>
+
+#include <ufodecode.h>
+
+#include "../tools.h"
+#include "../error.h"
+
+#include "pcilib.h"
+#include "public.h"
+#include "private.h"
+#include "events.h"
+
+int ipecamera_stream(pcilib_context_t *vctx, pcilib_event_callback_t callback, void *user) {
+    int err = 0;
+    int do_stop = 0;
+    
+    ipecamera_event_info_t info;
+    ipecamera_t *ctx = (ipecamera_t*)vctx;
+
+    if (!ctx) {
+	pcilib_error("IPECamera imaging is not initialized");
+	return PCILIB_ERROR_NOTINITIALIZED;
+    }
+
+    ctx->streaming = 1;
+    ctx->run_streamer = 1;
+
+    if (!ctx->started) {
+	err = ipecamera_start(vctx, PCILIB_EVENTS_ALL, PCILIB_EVENT_FLAGS_DEFAULT);
+	if (err) {
+	    ctx->streaming = 0;
+	    return err;
+	}
+	
+	do_stop = 1;
+    }
+    
+	// This loop iterates while the generation
+    while ((ctx->run_streamer)||(ctx->reported_id != ctx->event_id)) {
+	while (ctx->reported_id != ctx->event_id) {
+	    if ((ctx->event_id - ctx->reported_id) > (ctx->buffer_size - IPECAMERA_RESERVE_BUFFERS)) ctx->reported_id = ctx->event_id - (ctx->buffer_size - 1) - IPECAMERA_RESERVE_BUFFERS;
+	    else ++ctx->reported_id;
+
+	    memcpy(&info, ctx->frame + ((ctx->reported_id-1)%ctx->buffer_size), sizeof(ipecamera_event_info_t));
+
+	    if ((ctx->event_id - ctx->reported_id) < ctx->buffer_size) {
+		err = callback(ctx->reported_id, (pcilib_event_info_t*)&info, user);
+		if (err <= 0) {
+		    if (err < 0) err = -err;
+		    break;
+		}
+	    }
+	}
+	usleep(IPECAMERA_NOFRAME_SLEEP);
+    }
+
+    ctx->streaming = 0;
+
+    if (do_stop) {
+	ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+    }
+    
+
+    return err;
+}
+
+int ipecamera_next_event(pcilib_context_t *vctx, pcilib_timeout_t timeout, pcilib_event_id_t *evid, size_t info_size, pcilib_event_info_t *info) {
+    struct timeval tv;
+    ipecamera_t *ctx = (ipecamera_t*)vctx;
+
+    if (!ctx) {
+	pcilib_error("IPECamera imaging is not initialized");
+	return PCILIB_ERROR_NOTINITIALIZED;
+    }
+
+    if (!ctx->started) {
+	pcilib_error("IPECamera is not in grabbing mode");
+	return PCILIB_ERROR_INVALID_REQUEST;
+    }
+
+    if (ctx->reported_id == ctx->event_id) {
+	if (timeout) {
+	    pcilib_calc_deadline(&tv, timeout);
+	    
+	    while ((pcilib_calc_time_to_deadline(&tv) > 0)&&(ctx->reported_id == ctx->event_id))
+		usleep(IPECAMERA_NOFRAME_SLEEP);
+	}
+	
+	if (ctx->reported_id == ctx->event_id) return PCILIB_ERROR_TIMEOUT;
+    }
+
+retry:
+    if ((ctx->event_id - ctx->reported_id) > (ctx->buffer_size - IPECAMERA_RESERVE_BUFFERS)) ctx->reported_id = ctx->event_id - (ctx->buffer_size - 1) - IPECAMERA_RESERVE_BUFFERS;
+    else ++ctx->reported_id;
+
+    if (evid) *evid = ctx->reported_id;
+
+    if (info) {
+	if (info_size >= sizeof(ipecamera_event_info_t))
+	    memcpy(info, ctx->frame + ((ctx->reported_id-1)%ctx->buffer_size), sizeof(ipecamera_event_info_t));
+	else if (info_size >= sizeof(pcilib_event_info_t))
+	    memcpy(info, ctx->frame + ((ctx->reported_id-1)%ctx->buffer_size), sizeof(pcilib_event_info_t));
+	else
+	    return PCILIB_ERROR_INVALID_ARGUMENT;
+    }
+    
+    if ((ctx->event_id - ctx->reported_id) >= ctx->buffer_size) goto retry;
+    
+    return 0;
+}
+
diff --git a/ipecamera/events.h b/ipecamera/events.h
new file mode 100644
index 0000000..5268c81
--- /dev/null
+++ b/ipecamera/events.h
@@ -0,0 +1,5 @@
+#ifndef _IPECAMERA_EVENTS_H
+#define _IPECAMERA_EVENTS_H
+
+
+#endif /* _IPECAMERA_EVENTS_H */
diff --git a/ipecamera/image.c b/ipecamera/image.c
deleted file mode 100644
index e60bbf2..0000000
--- a/ipecamera/image.c
+++ /dev/null
@@ -1,971 +0,0 @@
-#define _IPECAMERA_IMAGE_C
-#define _BSD_SOURCE
-
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <string.h>
-#include <sys/time.h>
-#include <pthread.h>
-#include <assert.h>
-
-#include <ufodecode.h>
-
-#include "../tools.h"
-#include "../error.h"
-
-#include "pcilib.h"
-
-#include "model.h"
-#include "event.h"
-#include "image.h"
-
-#include "dma/nwl_dma.h"
-
-#ifdef IPECAMERA_DEBUG
-#include "dma/nwl.h"
-#endif /* IPECAMERA_DEBUG */
-
-
-#define IPECAMERA_BUG_EXTRA_DATA
-#define IPECAMERA_BUG_MULTIFRAME_PACKETS
-#define IPECAMERA_BUG_INCOMPLETE_PACKETS
-
-#define IPECAMERA_DEFAULT_BUFFER_SIZE 64  	//**< should be power of 2 */
-#define IPECAMERA_RESERVE_BUFFERS 2		//**< Return Frame is Lost error, if requested frame will be overwritten after specified number of frames
-#define IPECAMERA_SLEEP_TIME 250000 		//**< Michele thinks 250 should be enough, but reset failing in this case */
-#define IPECAMERA_NEXT_FRAME_DELAY 1000 	//**< Michele requires 30000 to sync between End Of Readout and next Frame Req */
-#define IPECAMERA_WAIT_FRAME_RCVD_TIME 0 	//**< by Uros ,wait 6 ms */
-#define IPECAMERA_NOFRAME_SLEEP 100
-
-#define IPECAMERA_MAX_LINES 1088
-#define IPECAMERA_EXPECTED_STATUS 0x08409FFFF
-#define IPECAMERA_END_OF_SEQUENCE 0x1F001001
-
-#define IPECAMERA_MAX_CHANNELS 16
-#define IPECAMERA_PIXELS_PER_CHANNEL 128
-#define IPECAMERA_WIDTH (IPECAMERA_MAX_CHANNELS * IPECAMERA_PIXELS_PER_CHANNEL)
-
-/*
-#define IPECAMERA_HEIGHT 1088
-#if IPECAMERA_HEIGHT < IPECAMERA_MAX_LINES
-# undef IPECAMERA_MAX_LINES
-# define IPECAMERA_MAX_LINES IPECAMERA_HEIGHT
-#endif 
-*/
-
-//#define IPECAMERA_MEMORY 
-
-#define IPECAMERA_FRAME_REQUEST 		0x1E9
-#define IPECAMERA_READOUT_FLAG			0x200
-#define IPECAMERA_READOUT			0x3E1
-#define IPECAMERA_IDLE 				0x1E1
-#define IPECAMERA_START_INTERNAL_STIMULI 	0x1F1
-
-
-typedef uint32_t ipecamera_payload_t;
-
-typedef struct {
-    pcilib_event_id_t evid;
-    struct timeval timestamp;
-} ipecamera_autostop_t;
-
-struct ipecamera_s {
-    pcilib_context_t event;
-    ufo_decoder ipedec;
-
-    char *data;
-    ipecamera_pixel_t *image;
-    size_t size;
-
-    pcilib_event_callback_t cb;
-    void *cb_user;
-
-    pcilib_event_id_t event_id;
-    pcilib_event_id_t reported_id;
-    
-    pcilib_dma_engine_t rdma, wdma;
-
-    pcilib_register_t packet_len_reg;
-    pcilib_register_t control_reg, status_reg;
-    pcilib_register_t start_reg, end_reg;
-    pcilib_register_t n_lines_reg;
-    uint16_t line_reg;
-    pcilib_register_t exposure_reg;
-    pcilib_register_t flip_reg;
-
-    int started;		/**< Camera is in grabbing mode (start function is called) */
-    int streaming;		/**< Camera is in streaming mode (we are within stream call) */
-    int parse_data;		/**< Indicates if some processing of the data is required, otherwise only rawdata_callback will be called */
-
-    int run_reader;		/**< Instructs the reader thread to stop processing */
-    int run_streamer;		/**< Indicates request to stop streaming events and can be set by reader_thread upon exit or by user request */
-    ipecamera_autostop_t autostop;
-
-    struct timeval autostop_time;
-
-    size_t buffer_size;		/**< How many images to store */
-    size_t buffer_pos;		/**< Current image offset in the buffer, due to synchronization reasons should not be used outside of reader_thread */
-    size_t cur_size;		/**< Already written part of data in bytes */
-    size_t raw_size;		/**< Size of raw data in bytes */
-    size_t full_size;		/**< Size of raw data including the padding */
-    size_t padded_size;		/**< Size of buffer for raw data, including the padding for performance */
-    
-    size_t image_size;		/**< Size of a single image in bytes */
-    
-    int width, height;
-
-    
-//    void *raw_buffer;
-    void *buffer;
-    ipecamera_change_mask_t *cmask;
-    ipecamera_event_info_t *frame_info;
-    
-
-    ipecamera_image_dimensions_t dim;
-
-    pthread_t rthread;
-};
-
-
-#define FIND_REG(var, bank, name)  \
-        ctx->var = pcilib_find_register(pcilib, bank, name); \
-	if (ctx->var ==  PCILIB_REGISTER_INVALID) { \
-	    err = PCILIB_ERROR_NOTFOUND; \
-	    pcilib_error("Unable to find a %s register", name); \
-	}
-    
-
-#define GET_REG(reg, var) \
-    if (!err) { \
-	err = pcilib_read_register_by_id(pcilib, ctx->reg, &var); \
-	if (err) { \
-	    pcilib_error("Error reading %s register", ipecamera_registers[ctx->reg].name); \
-	} \
-    }
-
-#define SET_REG(reg, val) \
-    if (!err) { \
-	err = pcilib_write_register_by_id(pcilib, ctx->reg, val); \
-	if (err) { \
-	    pcilib_error("Error writting %s register", ipecamera_registers[ctx->reg].name); \
-	} \
-    }
-
-#define CHECK_REG(reg, check) \
-    if (!err) { \
-	err = pcilib_read_register_by_id(pcilib, ctx->reg, &value); \
-	if (err) { \
-	    pcilib_error("Error reading %s register", ipecamera_registers[ctx->reg].name); \
-	} \
-	if (!(check)) { \
-	    pcilib_error("Unexpected value (%li) of register %s", value, ipecamera_registers[ctx->reg].name); \
-	    err = PCILIB_ERROR_INVALID_DATA; \
-	} \
-    }
-
-#define CHECK_VALUE(value, val) \
-    if ((!err)&&(value != val)) { \
-	pcilib_error("Unexpected value (0x%x) in data stream (0x%x is expected)", value, val); \
-	err = PCILIB_ERROR_INVALID_DATA; \
-    }
-
-#define CHECK_FLAG(flag, check, ...) \
-    if ((!err)&&(!(check))) { \
-	pcilib_error("Unexpected value (0x%x) of " flag,  __VA_ARGS__); \
-	err = PCILIB_ERROR_INVALID_DATA; \
-    }
-
-
-pcilib_context_t *ipecamera_init(pcilib_t *pcilib) {
-    int err = 0; 
-    
-    ipecamera_t *ctx = malloc(sizeof(ipecamera_t));
-
-    if (ctx) {
-	memset(ctx, 0, sizeof(ipecamera_t));
-	
-	ctx->buffer_size = IPECAMERA_DEFAULT_BUFFER_SIZE;
-	ctx->dim.bpp = sizeof(ipecamera_pixel_t) * 8;
-
-	    // We need DMA engine initialized to resolve DMA registers
-//	FIND_REG(packet_len_reg, "fpga", "xrawdata_packet_length");
-	
-	FIND_REG(status_reg, "fpga", "status");
-	FIND_REG(control_reg, "fpga", "control");
-	FIND_REG(start_reg, "fpga", "start_address");
-	FIND_REG(end_reg, "fpga", "end_address");
-
-	FIND_REG(n_lines_reg, "cmosis", "number_lines");
-	FIND_REG(line_reg, "cmosis", "start1");
-	FIND_REG(exposure_reg, "cmosis", "exp_time");
-	FIND_REG(flip_reg, "cmosis", "image_flipping");
-
-	ctx->rdma = PCILIB_DMA_ENGINE_INVALID;
-	ctx->wdma = PCILIB_DMA_ENGINE_INVALID;
-
-	if (err) {
-	    free(ctx);
-	    return NULL;
-	}
-    }
-    
-    return (pcilib_context_t*)ctx;
-}
-
-void ipecamera_free(pcilib_context_t *vctx) {
-    if (vctx) {
-	ipecamera_t *ctx = (ipecamera_t*)vctx;
-	ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
-	free(ctx);
-    }
-}
-
-pcilib_dma_context_t *ipecamera_init_dma(pcilib_context_t *vctx) {
-    ipecamera_t *ctx = (ipecamera_t*)vctx;
-    
-    pcilib_model_description_t *model_info = pcilib_get_model_description(vctx->pcilib);
-    if ((!model_info->dma_api)||(!model_info->dma_api->init)) {
-	pcilib_error("The DMA engine is not configured in model");
-	return NULL;
-    }
-
-
-#ifdef IPECAMERA_DMA_R3
-    return model_info->dma_api->init(vctx->pcilib, PCILIB_NWL_MODIFICATION_IPECAMERA, NULL);
-#else
-    return model_info->dma_api->init(vctx->pcilib, PCILIB_DMA_MODIFICATION_DEFAULT, NULL);
-#endif
-}
-
-
-int ipecamera_set_buffer_size(ipecamera_t *ctx, int size) {
-    if (ctx->started) {
-	pcilib_error("Can't change buffer size while grabbing");
-	return PCILIB_ERROR_INVALID_REQUEST;
-    }
-    
-    if (size < 2) {
-	pcilib_error("The buffer size is too small");
-	return PCILIB_ERROR_INVALID_REQUEST;
-    }
-    
-    if (((size^(size-1)) < size) < size) {
-	pcilib_error("The buffer size is not power of 2");
-    }
-    
-    ctx->buffer_size = size;
-    
-    return 0;
-}
-
-int ipecamera_reset(pcilib_context_t *vctx) {
-    int err = 0;
-    ipecamera_t *ctx = (ipecamera_t*)vctx;
-    pcilib_t *pcilib = vctx->pcilib;
-
-    pcilib_register_t control, status;
-    pcilib_register_value_t value;
-
-    if (!ctx) {
-	pcilib_error("IPECamera imaging is not initialized");
-	return PCILIB_ERROR_NOTINITIALIZED;
-    }
-
-    pcilib = vctx->pcilib;
-    control = ctx->control_reg;
-    status = ctx->status_reg;
-
-	// Set Reset bit to CMOSIS
-    err = pcilib_write_register_by_id(pcilib, control, 0x1e4);
-    if (err) {
-	pcilib_error("Error setting FPGA reset bit");
-	return err;
-    }
-    usleep(IPECAMERA_SLEEP_TIME);
-
-	// Remove Reset bit to CMOSIS
-    err = pcilib_write_register_by_id(pcilib, control, 0x1e1);
-    if (err) {
-	pcilib_error("Error reseting FPGA reset bit");
-	return err;
-    }
-    usleep(IPECAMERA_SLEEP_TIME);
-
-	// Special settings for CMOSIS v.2
-    value = 01; err = pcilib_write_register_space(pcilib, "cmosis", 115, 1, &value);
-    if (err) {
-	pcilib_error("Error setting CMOSIS configuration");
-	return err;
-    }
-    usleep(IPECAMERA_SLEEP_TIME);
-
-    value = 07; err = pcilib_write_register_space(pcilib, "cmosis", 82, 1, &value);
-    if (err) {
-	pcilib_error("Error setting CMOSIS configuration");
-	return err;
-    }
-    usleep(IPECAMERA_SLEEP_TIME);
-
-	// Set default parameters
-    err = pcilib_write_register_by_id(pcilib, control, IPECAMERA_IDLE);
-    if (err) {
-	pcilib_error("Error bringing FPGA in default mode");
-	return err;
-    }
-
-    usleep(10000);
-
-        
-    err = pcilib_read_register_by_id(pcilib, status, &value);
-    if (err) {
-	pcilib_error("Error reading status register");
-	return err;
-    }
-
-    if (value != IPECAMERA_EXPECTED_STATUS) {
-	pcilib_error("Unexpected value (%lx) of status register, expected %lx", value, IPECAMERA_EXPECTED_STATUS);
-	return PCILIB_ERROR_VERIFY;
-    }
-
-    return 0;    
-}
-
-// DS: Currently, on event_id overflow we are assuming the buffer is lost
-static int ipecamera_resolve_event_id(ipecamera_t *ctx, pcilib_event_id_t evid) {
-    pcilib_event_id_t diff;
-
-    if (evid > ctx->event_id) {
-	diff = (((pcilib_event_id_t)-1) - ctx->event_id) + evid;
-	if (diff >= ctx->buffer_size) return -1;
-    } else {
-	diff = ctx->event_id - evid;
-        if (diff >= ctx->buffer_size) return -1;
-    }
-    
-	// DS: Request buffer_size to be power of 2 and replace to shifts (just recompute in set_buffer_size)
-    return (evid - 1) % ctx->buffer_size;
-}
-
-static inline int ipecamera_new_frame(ipecamera_t *ctx) {
-    ctx->frame_info[ctx->buffer_pos].raw_size = ctx->cur_size;
-
-    if (ctx->cur_size < ctx->raw_size) ctx->frame_info[ctx->buffer_pos].info.flags |= PCILIB_EVENT_INFO_FLAG_BROKEN;
-    
-    ctx->buffer_pos = (++ctx->event_id) % ctx->buffer_size;
-    ctx->cur_size = 0;
-
-    ctx->frame_info[ctx->buffer_pos].info.type = PCILIB_EVENT0;
-    ctx->frame_info[ctx->buffer_pos].info.flags = 0;
-    ctx->frame_info[ctx->buffer_pos].image_ready = 0;
-
-    if ((ctx->event_id == ctx->autostop.evid)&&(ctx->event_id)) {
-	ctx->run_reader = 0;
-	return 1;
-    }
-	
-    if (pcilib_check_deadline(&ctx->autostop.timestamp, PCILIB_DMA_TIMEOUT)) {
-	ctx->run_reader = 0;
-	return 1;
-    }
-    
-    return 0;
-}
-
-static uint32_t frame_magic[6] = { 0x51111111, 0x52222222, 0x53333333, 0x54444444, 0x55555555, 0x56666666 };
-
-static int ipecamera_data_callback(void *user, pcilib_dma_flags_t flags, size_t bufsize, void *buf) {
-    int eof = 0;
-
-#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS
-    size_t extra_data = 0;
-#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */
-
-    ipecamera_t *ctx = (ipecamera_t*)user;
-
-    if (!ctx->cur_size) {
-#if defined(IPECAMERA_BUG_INCOMPLETE_PACKETS)||defined(IPECAMERA_BUG_MULTIFRAME_PACKETS)
-	size_t startpos;
-	for (startpos = 0; (startpos + 8) < bufsize; startpos++) {
-	    if (!memcmp(buf + startpos, frame_magic, sizeof(frame_magic))) break;
-	}
-	
-	if (startpos) {
-	    buf += startpos;
-	    bufsize -= startpos;
-	}
-#endif /* IPECAMERA_BUG_INCOMPLETE_PACKETS */
-
-	if ((bufsize >= 8)&&(!memcmp(buf, frame_magic, sizeof(frame_magic)))) {
-/*
-		// Not implemented in hardware yet
-	    ctx->frame_info[ctx->buffer_pos].info.seqnum = ((uint32_t*)buf)[6] & 0xF0000000;
-	    ctx->frame_info[ctx->buffer_pos].info.offset = ((uint32_t*)buf)[7] & 0xF0000000;
-*/
-	    gettimeofday(&ctx->frame_info[ctx->buffer_pos].info.timestamp, NULL);
-	} else {
-//	    pcilib_warning("Frame magic is not found, ignoring broken data...");
-	    return PCILIB_STREAMING_CONTINUE;
-	}
-    }
-
-#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS
-    if (ctx->cur_size + bufsize > ctx->raw_size) {
-        size_t need;
-	
-	for (need = ctx->raw_size - ctx->cur_size; need < bufsize; need += sizeof(uint32_t)) {
-	    if (*(uint32_t*)(buf + need) == frame_magic[0]) break;
-	}
-	
-	if (need < bufsize) {
-	    extra_data = bufsize - need;
-	    //bufsize = need;
-	    eof = 1;
-	}
-	
-	    // just rip of padding
-	bufsize = ctx->raw_size - ctx->cur_size;
-    }
-#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */
-
-    if (ctx->parse_data) {
-	if (ctx->cur_size + bufsize > ctx->full_size) {
-    	    pcilib_error("Unexpected event data, we are expecting at maximum (%zu) bytes, but (%zu) already read", ctx->full_size, ctx->cur_size + bufsize);
-	    return -PCILIB_ERROR_TOOBIG;
-	}
-
-        memcpy(ctx->buffer + ctx->buffer_pos * ctx->padded_size +  ctx->cur_size, buf, bufsize);
-    }
-
-    ctx->cur_size += bufsize;
-//    printf("%i: %i %i\n", ctx->buffer_pos, ctx->cur_size, bufsize);
-
-    if (ctx->cur_size >= ctx->full_size) eof = 1;
-
-    if (ctx->event.params.rawdata.callback) {
-	ctx->event.params.rawdata.callback(ctx->event_id, (pcilib_event_info_t*)(ctx->frame_info + ctx->buffer_pos), (eof?PCILIB_EVENT_FLAG_EOF:PCILIB_EVENT_FLAGS_DEFAULT), bufsize, buf, ctx->event.params.rawdata.user);
-    }
-    
-    if (eof) {
-	if (ipecamera_new_frame(ctx)) {
-	    return PCILIB_STREAMING_STOP;
-	}
-	
-#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS
-	if (extra_data) {
-	    return ipecamera_data_callback(user, flags, extra_data, buf + bufsize);
-	}
-#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */
-    }
-
-    return PCILIB_STREAMING_REQ_FRAGMENT;
-}
-
-static void *ipecamera_reader_thread(void *user) {
-    int err;
-    ipecamera_t *ctx = (ipecamera_t*)user;
-    
-    while (ctx->run_reader) {
-	err = pcilib_stream_dma(ctx->event.pcilib, ctx->rdma, 0, 0, PCILIB_DMA_FLAG_MULTIPACKET, PCILIB_DMA_TIMEOUT, &ipecamera_data_callback, user);
-	if (err) {
-	    if (err == PCILIB_ERROR_TIMEOUT) {
-		if (ctx->cur_size > ctx->raw_size) ipecamera_new_frame(ctx);
-#ifdef IPECAMERA_BUG_INCOMPLETE_PACKETS
-		else if (ctx->cur_size > 0) ipecamera_new_frame(ctx);
-#endif /* IPECAMERA_BUG_INCOMPLETE_PACKETS */
-		if (pcilib_check_deadline(&ctx->autostop.timestamp, PCILIB_DMA_TIMEOUT)) {
-		    ctx->run_reader = 0;
-		    break;
-		}
-		usleep(IPECAMERA_NOFRAME_SLEEP);
-	    } else pcilib_error("DMA error while reading IPECamera frames, error: %i", err);
-	} else printf("no error\n");
-
-	//usleep(1000);
-    }
-    
-    ctx->run_streamer = 0;
-    
-    if (ctx->cur_size)
-	pcilib_error("partialy read frame after stop signal, %zu bytes in the buffer", ctx->cur_size);
-
-    return NULL;
-}
-
-int ipecamera_start(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_event_flags_t flags) {
-    int err = 0;
-    ipecamera_t *ctx = (ipecamera_t*)vctx;
-    pcilib_t *pcilib = vctx->pcilib;
-    pcilib_register_value_t value;
-    
-    const size_t chan_size = (2 + IPECAMERA_PIXELS_PER_CHANNEL / 3) * sizeof(ipecamera_payload_t);
-    const size_t line_size = (IPECAMERA_MAX_CHANNELS * chan_size);
-    const size_t header_size = 8 * sizeof(ipecamera_payload_t);
-    const size_t footer_size = 8 * sizeof(ipecamera_payload_t);
-    size_t raw_size;
-    size_t padded_blocks;
-    
-    pthread_attr_t attr;
-    struct sched_param sched;
-    
-    if (!ctx) {
-	pcilib_error("IPECamera imaging is not initialized");
-	return PCILIB_ERROR_NOTINITIALIZED;
-    }
-    
-    if (ctx->started) {
-	pcilib_error("IPECamera grabbing is already started");
-	return PCILIB_ERROR_INVALID_REQUEST;
-    }
-
-
-	// Allow readout and clean the FRAME_REQUEST mode if set for some reason
-    SET_REG(control_reg, IPECAMERA_IDLE|IPECAMERA_READOUT_FLAG);
-    usleep(IPECAMERA_SLEEP_TIME);
-    CHECK_REG(status_reg, IPECAMERA_EXPECTED_STATUS);
-    if (err) return err;
-
-
-    ctx->event_id = 0;
-    ctx->reported_id = 0;
-    ctx->buffer_pos = 0;
-    ctx->parse_data = (flags&PCILIB_EVENT_FLAG_RAW_DATA_ONLY)?0:1;
-    ctx->cur_size = 0;
-
-    ctx->dim.width = IPECAMERA_WIDTH;
-    GET_REG(n_lines_reg, ctx->dim.height);
-    
-    raw_size = header_size + ctx->dim.height * line_size + footer_size;
-    padded_blocks = raw_size / IPECAMERA_DMA_PACKET_LENGTH + ((raw_size % IPECAMERA_DMA_PACKET_LENGTH)?1:0);
-    
-    ctx->image_size = ctx->dim.width * ctx->dim.height;
-    ctx->raw_size = raw_size;
-    ctx->full_size = padded_blocks * IPECAMERA_DMA_PACKET_LENGTH;
-
-#ifdef IPECAMERA_BUG_EXTRA_DATA
-    ctx->full_size += 8;
-    padded_blocks ++;
-#endif /* IPECAMERA_BUG_EXTRA_DATA */
-
-    ctx->padded_size = padded_blocks * IPECAMERA_DMA_PACKET_LENGTH;
-
-    ctx->buffer = malloc(ctx->padded_size * ctx->buffer_size);
-    if (!ctx->buffer) {
-	err = PCILIB_ERROR_MEMORY;
-	pcilib_error("Unable to allocate ring buffer (%lu bytes)", ctx->padded_size * ctx->buffer_size);
-	return err;
-    }
-
-    ctx->image = (ipecamera_pixel_t*)malloc(ctx->image_size * ctx->buffer_size * sizeof(ipecamera_pixel_t));
-    if (!ctx->image) {
-	err = PCILIB_ERROR_MEMORY;
-	pcilib_error("Unable to allocate image buffer (%lu bytes)", ctx->image_size * ctx->buffer_size * sizeof(ipecamera_pixel_t));
-	return err;
-    }
-
-    ctx->cmask = malloc(ctx->dim.height * ctx->buffer_size * sizeof(ipecamera_change_mask_t));
-    if (!ctx->cmask) {
-	err = PCILIB_ERROR_MEMORY;
-	pcilib_error("Unable to allocate change-mask buffer");
-	return err;
-    }
-
-    ctx->frame_info = malloc(ctx->buffer_size * sizeof(ipecamera_event_info_t));
-    if (!ctx->frame_info) {
-	err = PCILIB_ERROR_MEMORY;
-	pcilib_error("Unable to allocate frame-info buffer");
-	return err;
-    }
-    
-    ctx->ipedec = ufo_decoder_new(ctx->dim.height, ctx->dim.width, NULL, 0);
-    if (!ctx->ipedec) {
-	pcilib_error("Unable to initialize IPECamera decoder library");
-	return PCILIB_ERROR_FAILED;
-    }
-
-    if (!err) {
-	ctx->rdma = pcilib_find_dma_by_addr(vctx->pcilib, PCILIB_DMA_FROM_DEVICE, IPECAMERA_DMA_ADDRESS);
-	if (ctx->rdma == PCILIB_DMA_ENGINE_INVALID) {
-	    err = PCILIB_ERROR_NOTFOUND;
-	    pcilib_error("The C2S channel of IPECamera DMA Engine (%u) is not found", IPECAMERA_DMA_ADDRESS);
-	} else {
-	    err = pcilib_start_dma(vctx->pcilib, ctx->rdma, PCILIB_DMA_FLAGS_DEFAULT);
-	    if (err) {
-		ctx->rdma = PCILIB_DMA_ENGINE_INVALID;
-		pcilib_error("Failed to initialize C2S channel of IPECamera DMA Engine (%u)", IPECAMERA_DMA_ADDRESS);
-	    }
-	}
-    }
-    
-/*    
-    if (!err) {
-	ctx->wdma = pcilib_find_dma_by_addr(vctx->pcilib, PCILIB_DMA_TO_DEVICE, IPECAMERA_DMA_ADDRESS);
-	if (ctx->wdma == PCILIB_DMA_ENGINE_INVALID) {
-	    err = PCILIB_ERROR_NOTFOUND;
-	    pcilib_error("The S2C channel of IPECamera DMA Engine (%u) is not found", IPECAMERA_DMA_ADDRESS);
-	} else {
-	    err = pcilib_start_dma(vctx->pcilib, ctx->wdma, PCILIB_DMA_FLAGS_DEFAULT);
-	    if (err) {
-		ctx->wdma = PCILIB_DMA_ENGINE_INVALID;
-		pcilib_error("Failed to initialize S2C channel of IPECamera DMA Engine (%u)", IPECAMERA_DMA_ADDRESS);
-	    }
-	}
-    }
-*/    
-
-/*
-    SET_REG(packet_len_reg, IPECAMERA_DMA_PACKET_LENGTH);
-    if (err) return err;
-*/
-
-	// Clean DMA
-    err = pcilib_skip_dma(vctx->pcilib, ctx->rdma);
-    if (err) {
-	pcilib_error("Can't start grabbing, device continuously writes unexpected data using DMA engine");
-	return err;
-    }
-
-    if (err) {
-	ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
-	return err;
-    }
-
-    if (vctx->params.autostop.duration) {
-	gettimeofday(&ctx->autostop.timestamp, NULL);
-	ctx->autostop.timestamp.tv_usec += vctx->params.autostop.duration % 1000000;
-	if (ctx->autostop.timestamp.tv_usec > 999999) {
-	    ctx->autostop.timestamp.tv_sec += 1 + vctx->params.autostop.duration / 1000000;
-	    ctx->autostop.timestamp.tv_usec -= 1000000;
-	} else {
-	    ctx->autostop.timestamp.tv_sec += vctx->params.autostop.duration / 1000000;
-	}
-    }
-    
-    if (vctx->params.autostop.max_events) {
-	ctx->autostop.evid = vctx->params.autostop.max_events;
-    }
-    
-    ctx->started = 1;
-    ctx->run_reader = 1;
-    
-    pthread_attr_init(&attr);
-
-    if (pthread_attr_setschedpolicy(&attr, SCHED_FIFO)) {
-	pcilib_warning("Can't schedule a real-time thread, you may consider running as root");
-    } else {
-	sched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;	// Let 1 priority for something really critcial
-	pthread_attr_setschedparam(&attr, &sched);
-    }
-    
-    if (pthread_create(&ctx->rthread, &attr, &ipecamera_reader_thread, (void*)ctx)) {
-	ctx->started = 0;
-	ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
-	err = PCILIB_ERROR_THREAD;
-    }
-    
-    pthread_attr_destroy(&attr);    
-
-    return err;
-}
-
-
-int ipecamera_stop(pcilib_context_t *vctx, pcilib_event_flags_t flags) {
-    int err;
-    void *retcode;
-    ipecamera_t *ctx = (ipecamera_t*)vctx;
-
-    if (!ctx) {
-	pcilib_error("IPECamera imaging is not initialized");
-	return PCILIB_ERROR_NOTINITIALIZED;
-    }
-
-    if (flags&PCILIB_EVENT_FLAG_STOP_ONLY) {
-	ctx->run_reader = 0;
-	return 0;
-    }
-    
-    if (ctx->started) {
-	ctx->run_reader = 0;
-	err = pthread_join(ctx->rthread, &retcode);
-	if (err) pcilib_error("Error joining the reader thread");
-    }
-
-    if (ctx->wdma != PCILIB_DMA_ENGINE_INVALID) {
-	pcilib_stop_dma(vctx->pcilib, ctx->wdma, PCILIB_DMA_FLAGS_DEFAULT);
-	ctx->wdma = PCILIB_DMA_ENGINE_INVALID;
-    }
-
-    if (ctx->rdma != PCILIB_DMA_ENGINE_INVALID) {
-	pcilib_stop_dma(vctx->pcilib, ctx->rdma, PCILIB_DMA_FLAGS_DEFAULT);
-	ctx->rdma = PCILIB_DMA_ENGINE_INVALID;
-    }
-    
-    if (ctx->ipedec) {
-	ufo_decoder_free(ctx->ipedec);
-	ctx->ipedec = NULL;
-    }
-
-    if (ctx->frame_info) {
-	free(ctx->frame_info);
-	ctx->frame_info = NULL;
-    }
-
-    if (ctx->cmask) {
-	free(ctx->cmask);
-	ctx->cmask = NULL;
-    }
-
-    if (ctx->image) {
-	free(ctx->image);
-	ctx->image = NULL;
-    }
-
-    if (ctx->buffer) {
-	free(ctx->buffer);
-	ctx->buffer = NULL;
-    }
-    
-
-    memset(&ctx->autostop, 0, sizeof(ipecamera_autostop_t));
-
-    ctx->event_id = 0;
-    ctx->reported_id = 0;
-    ctx->buffer_pos = 0; 
-    ctx->started = 0;
-
-    return 0;
-}
-
-
-int ipecamera_trigger(pcilib_context_t *vctx, pcilib_event_t event, size_t trigger_size, void *trigger_data) {
-    int err = 0;
-    pcilib_register_value_t value;
-
-    ipecamera_t *ctx = (ipecamera_t*)vctx;
-    pcilib_t *pcilib = vctx->pcilib;
-
-    if (!ctx) {
-	pcilib_error("IPECamera imaging is not initialized");
-	return PCILIB_ERROR_NOTINITIALIZED;
-    }
-
-    if (!ctx->started) {
-	pcilib_error("Can't trigger while grabbing is not started");
-	return PCILIB_ERROR_INVALID_REQUEST;
-    }
-
-    SET_REG(control_reg, IPECAMERA_FRAME_REQUEST|IPECAMERA_READOUT_FLAG);
-    usleep(IPECAMERA_WAIT_FRAME_RCVD_TIME);
-    CHECK_REG(status_reg, IPECAMERA_EXPECTED_STATUS);
-    SET_REG(control_reg, IPECAMERA_IDLE|IPECAMERA_READOUT_FLAG);
-
-
-	// DS: Just measure when next trigger is allowed instead and wait in the beginning
-    usleep(IPECAMERA_NEXT_FRAME_DELAY);  // minimum delay between End Of Readout and next Frame Req
-
-    return 0;
-}
-
-int ipecamera_stream(pcilib_context_t *vctx, pcilib_event_callback_t callback, void *user) {
-    int err = 0;
-    int do_stop = 0;
-    pcilib_event_id_t reported;
-    ipecamera_t *ctx = (ipecamera_t*)vctx;
-
-    size_t events = 0;
-
-    struct timeval stream_stop;
-
-    if (!ctx) {
-	pcilib_error("IPECamera imaging is not initialized");
-	return PCILIB_ERROR_NOTINITIALIZED;
-    }
-
-    ctx->streaming = 1;
-    ctx->run_streamer = 1;
-
-    if (!ctx->started) {
-	err = ipecamera_start(vctx, PCILIB_EVENTS_ALL, PCILIB_EVENT_FLAGS_DEFAULT);
-	if (err) {
-	    ctx->streaming = 0;
-	    pcilib_error("IPECamera is not in grabbing state");
-	    return PCILIB_ERROR_INVALID_STATE;
-	}
-	
-	do_stop = 1;
-    }
-    
-	// This loop iterates while the generation
-    while ((ctx->run_streamer)||(ctx->reported_id != ctx->event_id)) {
-	while (ctx->reported_id != ctx->event_id) {
-	    if ((ctx->event_id - ctx->reported_id) > (ctx->buffer_size - IPECAMERA_RESERVE_BUFFERS)) ctx->reported_id = ctx->event_id - (ctx->buffer_size - 1) - IPECAMERA_RESERVE_BUFFERS;
-	    else ++ctx->reported_id;
-
-	    callback(ctx->reported_id, (pcilib_event_info_t*)(ctx->frame_info + ((ctx->reported_id-1)%ctx->buffer_size)), user);
-	}
-	usleep(IPECAMERA_NOFRAME_SLEEP);
-    }
-
-    ctx->streaming = 0;
-
-    if (do_stop) {
-	ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
-    }
-    
-
-    return err;
-}
-
-int ipecamera_next_event(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_timeout_t timeout, pcilib_event_id_t *evid, pcilib_event_info_t **info) {
-    struct timeval tv;
-    ipecamera_t *ctx = (ipecamera_t*)vctx;
-
-    if (!ctx) {
-	pcilib_error("IPECamera imaging is not initialized");
-	return PCILIB_ERROR_NOTINITIALIZED;
-    }
-
-    if (!ctx->started) {
-	pcilib_error("IPECamera is not in grabbing mode");
-	return PCILIB_ERROR_INVALID_REQUEST;
-    }
-
-    if (ctx->reported_id == ctx->event_id) {
-	if (timeout) {
-	    pcilib_calc_deadline(&tv, timeout);
-	    
-	    while ((pcilib_calc_time_to_deadline(&tv) > 0)&&(ctx->reported_id == ctx->event_id))
-		usleep(IPECAMERA_NOFRAME_SLEEP);
-	}
-	
-	if (ctx->reported_id == ctx->event_id) return PCILIB_ERROR_TIMEOUT;
-    }
-
-    if ((ctx->event_id - ctx->reported_id) > (ctx->buffer_size - IPECAMERA_RESERVE_BUFFERS)) ctx->reported_id = ctx->event_id - (ctx->buffer_size - 1) - IPECAMERA_RESERVE_BUFFERS;
-    else ++ctx->reported_id;
-
-    if (evid) *evid = ctx->reported_id;
-    if (info) *info = (pcilib_event_info_t*)(ctx->frame_info + ((ctx->reported_id-1)%ctx->buffer_size));
-    
-    return 0;
-}
-
-
-inline static int ipecamera_decode_frame(ipecamera_t *ctx, pcilib_event_id_t event_id) {
-    int err;
-    uint32_t tmp;
-    uint16_t *pixels;
-    
-    int buf_ptr = (event_id - 1) % ctx->buffer_size;
-    
-    if (!ctx->frame_info[buf_ptr].image_ready) {
-	if (ctx->frame_info[buf_ptr].info.flags&PCILIB_EVENT_INFO_FLAG_BROKEN) return PCILIB_ERROR_INVALID_DATA;
-	
-	ufo_decoder_set_raw_data(ctx->ipedec, ctx->buffer + buf_ptr * ctx->padded_size, ctx->raw_size);
-		
-	pixels = ctx->image + buf_ptr * ctx->image_size;
-	memset(ctx->cmask + ctx->buffer_pos * ctx->dim.height, 0, ctx->dim.height * sizeof(ipecamera_change_mask_t));
-	err = ufo_decoder_get_next_frame(ctx->ipedec, &pixels, &tmp, &tmp, ctx->cmask + ctx->buffer_pos * ctx->dim.height);
-	if (err) return PCILIB_ERROR_FAILED;
-	    
-	ctx->frame_info[buf_ptr].image_ready = 1;
-
-	if (ipecamera_resolve_event_id(ctx, event_id) < 0) {
-	    ctx->frame_info[buf_ptr].image_ready = 0;
-	    return PCILIB_ERROR_TIMEOUT;
-	}
-    }
-    
-    return 0;
-}
-
-void* ipecamera_get(pcilib_context_t *vctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, size_t arg_size, void *arg, size_t *size, void *data) {
-    int err;
-    int buf_ptr;
-    size_t raw_size;
-    ipecamera_t *ctx = (ipecamera_t*)vctx;
-    uint16_t *pixels;
-
-    if (!ctx) {
-	pcilib_error("IPECamera imaging is not initialized");
-	return NULL;
-    }
-    
-
-    buf_ptr = ipecamera_resolve_event_id(ctx, event_id);
-    if (buf_ptr < 0) return NULL;
-    
-    switch ((ipecamera_data_type_t)data_type) {
-	case IPECAMERA_RAW_DATA:
-	    raw_size = ctx->frame_info[buf_ptr].raw_size;
-	    if (data) {
-		if ((!size)||(*size < raw_size)) return NULL;
-		memcpy(data, ctx->buffer + buf_ptr * ctx->padded_size, raw_size);
-		if (ipecamera_resolve_event_id(ctx, event_id) < 0) return NULL;
-		*size = raw_size;
-		return data;
-	    }
-	    if (size) *size = raw_size;
-	    return ctx->buffer + buf_ptr * ctx->padded_size;
-	case IPECAMERA_IMAGE_DATA:
-	    err = ipecamera_decode_frame(ctx, event_id);
-	    if (err) return NULL;
-
-	    if (data) {
-		if ((!size)||(*size < ctx->image_size * sizeof(ipecamera_pixel_t))) return NULL;
-		memcpy(data, ctx->image + buf_ptr * ctx->image_size, ctx->image_size * sizeof(ipecamera_pixel_t));
-		if (ipecamera_resolve_event_id(ctx, event_id) < 0) return NULL;
-		*size =  ctx->image_size * sizeof(ipecamera_pixel_t);
-		return data;
-	    }
-	
-	    if (size) *size = ctx->image_size * sizeof(ipecamera_pixel_t);
-	    return ctx->image + buf_ptr * ctx->image_size;
-	case IPECAMERA_CHANGE_MASK:
-	    err = ipecamera_decode_frame(ctx, event_id);
-	    if (err) return NULL;
-
-	    if (data) {
-		if ((!size)||(*size < ctx->dim.height * sizeof(ipecamera_change_mask_t))) return NULL;
-		memcpy(data, ctx->image + buf_ptr * ctx->dim.height, ctx->dim.height * sizeof(ipecamera_change_mask_t));
-		if (ipecamera_resolve_event_id(ctx, event_id) < 0) return NULL;
-		*size =  ctx->dim.height * sizeof(ipecamera_change_mask_t);
-
-		return data;
-	    }
-
-	    if (size) *size = ctx->dim.height * sizeof(ipecamera_change_mask_t);
-	    return ctx->cmask + buf_ptr * ctx->dim.height;
-	case IPECAMERA_DIMENSIONS:
-	    if (size) *size = sizeof(ipecamera_image_dimensions_t);
-	    return &ctx->dim;
-	case IPECAMERA_IMAGE_REGION:
-	case IPECAMERA_PACKED_IMAGE:
-	    // Shall we return complete image or only changed parts?
-	case IPECAMERA_PACKED_LINE:
-	case IPECAMERA_PACKED_PAYLOAD:
-	    pcilib_error("Support for data type (%li) is not implemented yet", data_type);
-	    return NULL;
-	default:
-	    pcilib_error("Unknown data type (%li) is requested", data_type);
-	    return NULL;
-    }
-}
-
-
-
-int ipecamera_return(pcilib_context_t *vctx, pcilib_event_id_t event_id, void *data) {
-    ipecamera_t *ctx = (ipecamera_t*)vctx;
-
-    if (!ctx) {
-	pcilib_error("IPECamera imaging is not initialized");
-	return PCILIB_ERROR_NOTINITIALIZED;
-
-    }
-
-    if (ipecamera_resolve_event_id(ctx, event_id) < 0) {
-	return PCILIB_ERROR_NOTAVAILABLE;
-    }
-
-    return 0;
-}
diff --git a/ipecamera/ipecamera.c b/ipecamera/ipecamera.c
new file mode 100644
index 0000000..0819284
--- /dev/null
+++ b/ipecamera/ipecamera.c
@@ -0,0 +1,597 @@
+#define _IPECAMERA_IMAGE_C
+#define _BSD_SOURCE
+#define _GNU_SOURCE
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/time.h>
+#include <pthread.h>
+#include <assert.h>
+
+#include <ufodecode.h>
+
+#include "../tools.h"
+#include "../error.h"
+#include "../event.h"
+
+#include "pcilib.h"
+#include "private.h"
+#include "model.h"
+#include "reader.h"
+#include "events.h"
+#include "data.h"
+
+#include "dma/nwl_dma.h"
+
+#ifdef IPECAMERA_DEBUG
+#include "dma/nwl.h"
+#endif /* IPECAMERA_DEBUG */
+
+
+#define FIND_REG(var, bank, name)  \
+        ctx->var = pcilib_find_register(pcilib, bank, name); \
+	if (ctx->var ==  PCILIB_REGISTER_INVALID) { \
+	    err = PCILIB_ERROR_NOTFOUND; \
+	    pcilib_error("Unable to find a %s register", name); \
+	}
+    
+
+#define GET_REG(reg, var) \
+    if (!err) { \
+	err = pcilib_read_register_by_id(pcilib, ctx->reg, &var); \
+	if (err) { \
+	    pcilib_error("Error reading %s register", ipecamera_registers[ctx->reg].name); \
+	} \
+    }
+
+#define SET_REG(reg, val) \
+    if (!err) { \
+	err = pcilib_write_register_by_id(pcilib, ctx->reg, val); \
+	if (err) { \
+	    pcilib_error("Error writting %s register", ipecamera_registers[ctx->reg].name); \
+	} \
+    }
+
+#define CHECK_REG(reg, check) \
+    if (!err) { \
+	err = pcilib_read_register_by_id(pcilib, ctx->reg, &value); \
+	if (err) { \
+	    pcilib_error("Error reading %s register", ipecamera_registers[ctx->reg].name); \
+	} \
+	if (!(check)) { \
+	    pcilib_error("Unexpected value (%li) of register %s", value, ipecamera_registers[ctx->reg].name); \
+	    err = PCILIB_ERROR_INVALID_DATA; \
+	} \
+    }
+
+#define CHECK_VALUE(value, val) \
+    if ((!err)&&(value != val)) { \
+	pcilib_error("Unexpected value (0x%x) in data stream (0x%x is expected)", value, val); \
+	err = PCILIB_ERROR_INVALID_DATA; \
+    }
+
+#define CHECK_FLAG(flag, check, ...) \
+    if ((!err)&&(!(check))) { \
+	pcilib_error("Unexpected value (0x%x) of " flag,  __VA_ARGS__); \
+	err = PCILIB_ERROR_INVALID_DATA; \
+    }
+
+
+pcilib_context_t *ipecamera_init(pcilib_t *pcilib) {
+    int err = 0; 
+    
+    ipecamera_t *ctx = malloc(sizeof(ipecamera_t));
+
+    if (ctx) {
+	memset(ctx, 0, sizeof(ipecamera_t));
+	
+	ctx->buffer_size = IPECAMERA_DEFAULT_BUFFER_SIZE;
+	ctx->dim.bpp = sizeof(ipecamera_pixel_t) * 8;
+
+	    // We need DMA engine initialized to resolve DMA registers
+//	FIND_REG(packet_len_reg, "fpga", "xrawdata_packet_length");
+	
+	FIND_REG(status_reg, "fpga", "status");
+	FIND_REG(control_reg, "fpga", "control");
+	FIND_REG(start_reg, "fpga", "start_address");
+	FIND_REG(end_reg, "fpga", "end_address");
+
+	FIND_REG(n_lines_reg, "cmosis", "number_lines");
+	FIND_REG(line_reg, "cmosis", "start1");
+	FIND_REG(exposure_reg, "cmosis", "exp_time");
+	FIND_REG(flip_reg, "cmosis", "image_flipping");
+
+	ctx->rdma = PCILIB_DMA_ENGINE_INVALID;
+	ctx->wdma = PCILIB_DMA_ENGINE_INVALID;
+
+	if (err) {
+	    free(ctx);
+	    return NULL;
+	}
+    }
+    
+    return (pcilib_context_t*)ctx;
+}
+
+void ipecamera_free(pcilib_context_t *vctx) {
+    if (vctx) {
+	ipecamera_t *ctx = (ipecamera_t*)vctx;
+	ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	free(ctx);
+    }
+}
+
+pcilib_dma_context_t *ipecamera_init_dma(pcilib_context_t *vctx) {
+//    ipecamera_t *ctx = (ipecamera_t*)vctx;
+    
+    pcilib_model_description_t *model_info = pcilib_get_model_description(vctx->pcilib);
+    if ((!model_info->dma_api)||(!model_info->dma_api->init)) {
+	pcilib_error("The DMA engine is not configured in model");
+	return NULL;
+    }
+
+
+#ifdef IPECAMERA_DMA_R3
+    return model_info->dma_api->init(vctx->pcilib, PCILIB_NWL_MODIFICATION_IPECAMERA, NULL);
+#else
+    return model_info->dma_api->init(vctx->pcilib, PCILIB_DMA_MODIFICATION_DEFAULT, NULL);
+#endif
+}
+
+
+int ipecamera_set_buffer_size(ipecamera_t *ctx, int size) {
+    if (ctx->started) {
+	pcilib_error("Can't change buffer size while grabbing");
+	return PCILIB_ERROR_INVALID_REQUEST;
+    }
+    
+    if (size < 2) {
+	pcilib_error("The buffer size is too small");
+	return PCILIB_ERROR_INVALID_REQUEST;
+    }
+    
+    if (((size^(size-1)) < size) < size) {
+	pcilib_error("The buffer size is not power of 2");
+    }
+    
+    ctx->buffer_size = size;
+    
+    return 0;
+}
+
+int ipecamera_reset(pcilib_context_t *vctx) {
+    int err = 0;
+    ipecamera_t *ctx = (ipecamera_t*)vctx;
+    pcilib_t *pcilib = vctx->pcilib;
+
+    pcilib_register_t control, status;
+    pcilib_register_value_t value;
+
+    if (!ctx) {
+	pcilib_error("IPECamera imaging is not initialized");
+	return PCILIB_ERROR_NOTINITIALIZED;
+    }
+
+    pcilib = vctx->pcilib;
+    control = ctx->control_reg;
+    status = ctx->status_reg;
+
+	// Set Reset bit to CMOSIS
+    err = pcilib_write_register_by_id(pcilib, control, 0x1e4);
+    if (err) {
+	pcilib_error("Error setting FPGA reset bit");
+	return err;
+    }
+    usleep(IPECAMERA_SLEEP_TIME);
+
+	// Remove Reset bit to CMOSIS
+    err = pcilib_write_register_by_id(pcilib, control, 0x1e1);
+    if (err) {
+	pcilib_error("Error reseting FPGA reset bit");
+	return err;
+    }
+    usleep(IPECAMERA_SLEEP_TIME);
+
+	// Special settings for CMOSIS v.2
+    value = 01; err = pcilib_write_register_space(pcilib, "cmosis", 115, 1, &value);
+    if (err) {
+	pcilib_error("Error setting CMOSIS configuration");
+	return err;
+    }
+    usleep(IPECAMERA_SLEEP_TIME);
+
+    value = 07; err = pcilib_write_register_space(pcilib, "cmosis", 82, 1, &value);
+    if (err) {
+	pcilib_error("Error setting CMOSIS configuration");
+	return err;
+    }
+    usleep(IPECAMERA_SLEEP_TIME);
+
+	// Set default parameters
+    err = pcilib_write_register_by_id(pcilib, control, IPECAMERA_IDLE);
+    if (err) {
+	pcilib_error("Error bringing FPGA in default mode");
+	return err;
+    }
+
+    usleep(10000);
+
+        
+    err = pcilib_read_register_by_id(pcilib, status, &value);
+    if (err) {
+	pcilib_error("Error reading status register");
+	return err;
+    }
+
+    if (value != IPECAMERA_EXPECTED_STATUS) {
+	pcilib_error("Unexpected value (%lx) of status register, expected %lx", value, IPECAMERA_EXPECTED_STATUS);
+	return PCILIB_ERROR_VERIFY;
+    }
+
+    return 0;    
+}
+
+
+int ipecamera_start(pcilib_context_t *vctx, pcilib_event_t event_mask, pcilib_event_flags_t flags) {
+    int i;
+    int err = 0;
+    ipecamera_t *ctx = (ipecamera_t*)vctx;
+    pcilib_t *pcilib = vctx->pcilib;
+    pcilib_register_value_t value;
+    
+    const size_t chan_size = (2 + IPECAMERA_PIXELS_PER_CHANNEL / 3) * sizeof(ipecamera_payload_t);
+    const size_t line_size = (IPECAMERA_MAX_CHANNELS * chan_size);
+    const size_t header_size = 8 * sizeof(ipecamera_payload_t);
+    const size_t footer_size = 8 * sizeof(ipecamera_payload_t);
+    size_t raw_size;
+    size_t padded_blocks;
+    
+    pthread_attr_t attr;
+    struct sched_param sched;
+    
+    if (!ctx) {
+	pcilib_error("IPECamera imaging is not initialized");
+	return PCILIB_ERROR_NOTINITIALIZED;
+    }
+    
+    if (ctx->started) {
+	pcilib_error("IPECamera grabbing is already started");
+	return PCILIB_ERROR_INVALID_REQUEST;
+    }
+
+
+	// Allow readout and clean the FRAME_REQUEST mode if set for some reason
+    SET_REG(control_reg, IPECAMERA_IDLE|IPECAMERA_READOUT_FLAG);
+    usleep(IPECAMERA_SLEEP_TIME);
+    CHECK_REG(status_reg, IPECAMERA_EXPECTED_STATUS);
+    if (err) return err;
+
+
+    ctx->event_id = 0;
+    ctx->preproc_id = 0;
+    ctx->reported_id = 0;
+    ctx->buffer_pos = 0;
+    ctx->parse_data = (flags&PCILIB_EVENT_FLAG_RAW_DATA_ONLY)?0:1;
+    ctx->cur_size = 0;
+
+    ctx->dim.width = IPECAMERA_WIDTH;
+    GET_REG(n_lines_reg, ctx->dim.height);
+    
+    raw_size = header_size + ctx->dim.height * line_size + footer_size;
+    padded_blocks = raw_size / IPECAMERA_DMA_PACKET_LENGTH + ((raw_size % IPECAMERA_DMA_PACKET_LENGTH)?1:0);
+    
+    ctx->image_size = ctx->dim.width * ctx->dim.height;
+    ctx->raw_size = raw_size;
+    ctx->full_size = padded_blocks * IPECAMERA_DMA_PACKET_LENGTH;
+
+#ifdef IPECAMERA_BUG_EXTRA_DATA
+    ctx->full_size += 8;
+    padded_blocks ++;
+#endif /* IPECAMERA_BUG_EXTRA_DATA */
+
+    ctx->padded_size = padded_blocks * IPECAMERA_DMA_PACKET_LENGTH;
+
+    ctx->buffer = malloc(ctx->padded_size * ctx->buffer_size);
+    if (!ctx->buffer) {
+	ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	pcilib_error("Unable to allocate ring buffer (%lu bytes)", ctx->padded_size * ctx->buffer_size);
+	return PCILIB_ERROR_MEMORY;
+    }
+
+    ctx->image = (ipecamera_pixel_t*)malloc(ctx->image_size * ctx->buffer_size * sizeof(ipecamera_pixel_t));
+    if (!ctx->image) {
+	ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	pcilib_error("Unable to allocate image buffer (%lu bytes)", ctx->image_size * ctx->buffer_size * sizeof(ipecamera_pixel_t));
+	return PCILIB_ERROR_MEMORY;
+    }
+
+    ctx->cmask = malloc(ctx->dim.height * ctx->buffer_size * sizeof(ipecamera_change_mask_t));
+    if (!ctx->cmask) {
+	ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	pcilib_error("Unable to allocate change-mask buffer");
+	return PCILIB_ERROR_MEMORY;
+    }
+
+    ctx->frame = (ipecamera_frame_t*)malloc(ctx->buffer_size * sizeof(ipecamera_frame_t));
+    if (!ctx->frame) {
+	ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	pcilib_error("Unable to allocate frame-info buffer");
+	return PCILIB_ERROR_MEMORY;
+    }
+    
+    memset(ctx->frame, 0, ctx->buffer_size * sizeof(ipecamera_frame_t));
+    
+    for (i = 0; i < ctx->buffer_size; i++) {
+	err = pthread_rwlock_init(&ctx->frame[i].mutex, NULL);
+	if (err) break;
+    }
+
+    ctx->frame_mutex_destroy = i;
+
+    if (err) {
+        ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	pcilib_error("Initialization of rwlock mutexes for frame synchronization has failed");
+	return PCILIB_ERROR_FAILED;
+    }
+    
+    ctx->ipedec = ufo_decoder_new(ctx->dim.height, ctx->dim.width, NULL, 0);
+    if (!ctx->ipedec) {
+        ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	pcilib_error("Unable to initialize IPECamera decoder library");
+	return PCILIB_ERROR_FAILED;
+    }
+
+    if (!err) {
+	ctx->rdma = pcilib_find_dma_by_addr(vctx->pcilib, PCILIB_DMA_FROM_DEVICE, IPECAMERA_DMA_ADDRESS);
+	if (ctx->rdma == PCILIB_DMA_ENGINE_INVALID) {
+	    err = PCILIB_ERROR_NOTFOUND;
+	    pcilib_error("The C2S channel of IPECamera DMA Engine (%u) is not found", IPECAMERA_DMA_ADDRESS);
+	} else {
+	    err = pcilib_start_dma(vctx->pcilib, ctx->rdma, PCILIB_DMA_FLAGS_DEFAULT);
+	    if (err) {
+		ctx->rdma = PCILIB_DMA_ENGINE_INVALID;
+		pcilib_error("Failed to initialize C2S channel of IPECamera DMA Engine (%u)", IPECAMERA_DMA_ADDRESS);
+	    }
+	}
+    }
+    
+/*    
+    if (!err) {
+	ctx->wdma = pcilib_find_dma_by_addr(vctx->pcilib, PCILIB_DMA_TO_DEVICE, IPECAMERA_DMA_ADDRESS);
+	if (ctx->wdma == PCILIB_DMA_ENGINE_INVALID) {
+	    err = PCILIB_ERROR_NOTFOUND;
+	    pcilib_error("The S2C channel of IPECamera DMA Engine (%u) is not found", IPECAMERA_DMA_ADDRESS);
+	} else {
+	    err = pcilib_start_dma(vctx->pcilib, ctx->wdma, PCILIB_DMA_FLAGS_DEFAULT);
+	    if (err) {
+		ctx->wdma = PCILIB_DMA_ENGINE_INVALID;
+		pcilib_error("Failed to initialize S2C channel of IPECamera DMA Engine (%u)", IPECAMERA_DMA_ADDRESS);
+	    }
+	}
+    }
+*/    
+
+/*
+    SET_REG(packet_len_reg, IPECAMERA_DMA_PACKET_LENGTH);
+*/
+
+    if (err) {
+        ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	return err;
+    }
+
+	// Clean DMA
+    err = pcilib_skip_dma(vctx->pcilib, ctx->rdma);
+    if (err) {
+        ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	pcilib_error("Can't start grabbing, device continuously writes unexpected data using DMA engine");
+	return err;
+    }
+
+    if (vctx->params.autostop.duration) {
+	gettimeofday(&ctx->autostop.timestamp, NULL);
+	ctx->autostop.timestamp.tv_usec += vctx->params.autostop.duration % 1000000;
+	if (ctx->autostop.timestamp.tv_usec > 999999) {
+	    ctx->autostop.timestamp.tv_sec += 1 + vctx->params.autostop.duration / 1000000;
+	    ctx->autostop.timestamp.tv_usec -= 1000000;
+	} else {
+	    ctx->autostop.timestamp.tv_sec += vctx->params.autostop.duration / 1000000;
+	}
+    }
+    
+    if (vctx->params.autostop.max_events) {
+	ctx->autostop.evid = vctx->params.autostop.max_events;
+    }
+    
+    if (flags&PCILIB_EVENT_FLAG_PREPROCESS) {
+	ctx->n_preproc = pcilib_get_cpu_count();
+	switch (ctx->n_preproc) {
+	    case 1: break;
+	    case 2-3: ctx->n_preproc -= 1; break;
+	    default: ctx->n_preproc -= 2; break;
+	}
+	
+	ctx->preproc = (ipecamera_preprocessor_t*)malloc(ctx->n_preproc * sizeof(ipecamera_preprocessor_t));
+	if (!ctx->preproc) {
+	    ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	    pcilib_error("Unable to allocate memory for preprocessor contexts");
+	    return PCILIB_ERROR_MEMORY;
+	}
+
+	memset(ctx->preproc, 0, ctx->n_preproc * sizeof(ipecamera_preprocessor_t));
+
+	err = pthread_mutex_init(&ctx->preproc_mutex, NULL);
+	if (err) {
+	    ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	    pcilib_error("Failed to initialize event mutex");
+	    return PCILIB_ERROR_FAILED;
+	}
+	ctx->preproc_mutex_destroy = 1;
+	
+
+	ctx->run_preprocessors = 1;
+	for (i = 0; i < ctx->n_preproc; i++) {
+	    ctx->preproc[i].i = i;
+	    ctx->preproc[i].ipecamera = ctx;
+	    err = pthread_create(&ctx->preproc[i].thread, NULL, ipecamera_preproc_thread, ctx->preproc + i);
+	    if (err) {
+		err = PCILIB_ERROR_FAILED;
+		break;
+	    } else {
+		ctx->preproc[i].started = 1;
+	    }
+	}
+	
+	if (err) {
+	    ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	    pcilib_error("Failed to schedule some of the preprocessor threads");
+	    return err;
+	}
+    } else {
+	ctx->n_preproc = 0;
+    }
+
+    ctx->started = 1;
+    ctx->run_reader = 1;
+
+    pthread_attr_init(&attr);
+
+    if (pthread_attr_setschedpolicy(&attr, SCHED_FIFO)) {
+	pcilib_warning("Can't schedule a real-time thread, you may consider running as root");
+    } else {
+	sched.sched_priority = sched_get_priority_max(SCHED_FIFO) - 1;	// Let 1 priority for something really critcial
+	pthread_attr_setschedparam(&attr, &sched);
+    }
+    
+    if (pthread_create(&ctx->rthread, &attr, &ipecamera_reader_thread, (void*)ctx)) {
+	ctx->started = 0;
+	ipecamera_stop(vctx, PCILIB_EVENT_FLAGS_DEFAULT);
+	err = PCILIB_ERROR_FAILED;
+    }
+    
+    pthread_attr_destroy(&attr);    
+
+    return err;
+}
+
+
+int ipecamera_stop(pcilib_context_t *vctx, pcilib_event_flags_t flags) {
+    int i;
+    int err;
+    void *retcode;
+    ipecamera_t *ctx = (ipecamera_t*)vctx;
+
+    if (!ctx) {
+	pcilib_error("IPECamera imaging is not initialized");
+	return PCILIB_ERROR_NOTINITIALIZED;
+    }
+
+    if (flags&PCILIB_EVENT_FLAG_STOP_ONLY) {
+	ctx->run_reader = 0;
+	return 0;
+    }
+
+    if (ctx->started) {
+	ctx->run_reader = 0;
+	err = pthread_join(ctx->rthread, &retcode);
+	if (err) pcilib_error("Error joining the reader thread");
+    }
+    
+    if (ctx->preproc) {
+	ctx->run_preprocessors = 0;
+	
+	for (i = 0; i < ctx->n_preproc; i++) {
+	    if (ctx->preproc[i].started) {
+		pthread_join(ctx->preproc[i].thread, &retcode);
+		ctx->preproc[i].started = 0;
+	    }
+	}
+
+	if (ctx->preproc_mutex_destroy) {
+	    pthread_mutex_destroy(&ctx->preproc_mutex);
+	    ctx->preproc_mutex_destroy = 0;
+	}
+	
+	free(ctx->preproc);
+	ctx->preproc = NULL;
+    }
+    
+    if (ctx->frame_mutex_destroy) {
+	for (i = 0; i < ctx->frame_mutex_destroy; i++) {
+	    pthread_rwlock_destroy(&ctx->frame[i].mutex);
+	}
+	ctx->frame_mutex_destroy = 0;
+    }
+    
+    if (ctx->wdma != PCILIB_DMA_ENGINE_INVALID) {
+	pcilib_stop_dma(vctx->pcilib, ctx->wdma, PCILIB_DMA_FLAGS_DEFAULT);
+	ctx->wdma = PCILIB_DMA_ENGINE_INVALID;
+    }
+
+    if (ctx->rdma != PCILIB_DMA_ENGINE_INVALID) {
+	pcilib_stop_dma(vctx->pcilib, ctx->rdma, PCILIB_DMA_FLAGS_DEFAULT);
+	ctx->rdma = PCILIB_DMA_ENGINE_INVALID;
+    }
+    
+    if (ctx->ipedec) {
+	ufo_decoder_free(ctx->ipedec);
+	ctx->ipedec = NULL;
+    }
+
+    if (ctx->frame) {
+	free(ctx->frame);
+	ctx->frame = NULL;
+    }
+
+    if (ctx->cmask) {
+	free(ctx->cmask);
+	ctx->cmask = NULL;
+    }
+
+    if (ctx->image) {
+	free(ctx->image);
+	ctx->image = NULL;
+    }
+
+    if (ctx->buffer) {
+	free(ctx->buffer);
+	ctx->buffer = NULL;
+    }
+    
+
+    memset(&ctx->autostop, 0, sizeof(ipecamera_autostop_t));
+
+    ctx->event_id = 0;
+    ctx->reported_id = 0;
+    ctx->buffer_pos = 0; 
+    ctx->started = 0;
+
+    return 0;
+}
+
+
+int ipecamera_trigger(pcilib_context_t *vctx, pcilib_event_t event, size_t trigger_size, void *trigger_data) {
+    int err = 0;
+    pcilib_register_value_t value;
+
+    ipecamera_t *ctx = (ipecamera_t*)vctx;
+    pcilib_t *pcilib = vctx->pcilib;
+
+    if (!ctx) {
+	pcilib_error("IPECamera imaging is not initialized");
+	return PCILIB_ERROR_NOTINITIALIZED;
+    }
+
+    SET_REG(control_reg, IPECAMERA_FRAME_REQUEST|IPECAMERA_READOUT_FLAG);
+    usleep(IPECAMERA_WAIT_FRAME_RCVD_TIME);
+    CHECK_REG(status_reg, IPECAMERA_EXPECTED_STATUS);
+    SET_REG(control_reg, IPECAMERA_IDLE|IPECAMERA_READOUT_FLAG);
+
+
+	// DS: Just measure when next trigger is allowed instead and wait in the beginning
+    usleep(IPECAMERA_NEXT_FRAME_DELAY);  // minimum delay between End Of Readout and next Frame Req
+
+    return 0;
+}
diff --git a/ipecamera/ipecamera.h b/ipecamera/ipecamera.h
index 3abcf25..19c123b 100644
--- a/ipecamera/ipecamera.h
+++ b/ipecamera/ipecamera.h
@@ -4,9 +4,9 @@
 typedef struct ipecamera_s ipecamera_t;
 
 typedef  struct {
-    int bpp;			/*<< Bits per pixel (8, 16, or 32) as returned by IPECAMERA_IMAGE_DATA */
-    int real_bpp;		/*<< Bits per pixel as returned by camera and IPECAMERA_PACKED_IMAGE */
-    int width, height;
+    unsigned int bpp;			/*<< Bits per pixel (8, 16, or 32) as returned by IPECAMERA_IMAGE_DATA */
+    unsigned int real_bpp;		/*<< Bits per pixel as returned by camera and IPECAMERA_PACKED_IMAGE */
+    unsigned int width, height;
 } ipecamera_image_dimensions_t;
 
 typedef enum {
@@ -25,8 +25,9 @@ typedef uint16_t ipecamera_pixel_t;
 
 typedef struct {
     pcilib_event_info_t info;
-    size_t raw_size;		/**< Indicates the actual size of raw data */
     int image_ready;		/**< Indicates if image data is parsed */
+    int image_broken;		/**< Unlike the info.flags this is bound to the reconstructed image (i.e. is not updated on rawdata overwrite) */
+    size_t raw_size;		/**< Indicates the actual size of raw data */
 } ipecamera_event_info_t;
 
 int ipecamera_set_buffer_size(ipecamera_t *ctx, int size);
diff --git a/ipecamera/model.c b/ipecamera/model.c
index ddf9ee6..e60561b 100644
--- a/ipecamera/model.c
+++ b/ipecamera/model.c
@@ -26,7 +26,7 @@
 int ipecamera_read(pcilib_t *ctx, pcilib_register_bank_description_t *bank, pcilib_register_addr_t addr, pcilib_register_value_t *value) {
     uint32_t val, tmp[4];
     char *wr, *rd;
-    struct timeval start, cur;
+    struct timeval start;//, cur;
     int retries = RETRIES;
 
     assert(addr < 128);
@@ -116,7 +116,7 @@ retry:
 int ipecamera_write(pcilib_t *ctx, pcilib_register_bank_description_t *bank, pcilib_register_addr_t addr, pcilib_register_value_t value) {
     uint32_t val, tmp[4];
     char *wr, *rd;
-    struct timeval start, cur;
+    struct timeval start;//, cur;
     int retries = RETRIES;
 
     assert(addr < 128);
diff --git a/ipecamera/model.h b/ipecamera/model.h
index b9c3b32..4a0fc8c 100644
--- a/ipecamera/model.h
+++ b/ipecamera/model.h
@@ -4,7 +4,7 @@
 #include <stdio.h>
 
 #include "pcilib.h"
-#include "image.h"
+#include "public.h"
 
 //#define IPECAMERA_DEBUG
 
@@ -126,7 +126,7 @@ pcilib_event_api_description_t ipecamera_image_api = {
     ipecamera_trigger,
     
     ipecamera_stream,
-    NULL, //ipecamera_next_event,
+    ipecamera_next_event,
     ipecamera_get,
     ipecamera_return,
     ipecamera_init_dma
diff --git a/ipecamera/private.h b/ipecamera/private.h
new file mode 100644
index 0000000..b583f38
--- /dev/null
+++ b/ipecamera/private.h
@@ -0,0 +1,121 @@
+#ifndef _IPECAMERA_PRIVATE_H
+#define _IPECAMERA_PRIVATE_H
+
+#include "ipecamera.h"
+
+#define IPECAMERA_BUG_EXTRA_DATA
+#define IPECAMERA_BUG_MULTIFRAME_PACKETS
+#define IPECAMERA_BUG_INCOMPLETE_PACKETS
+
+#define IPECAMERA_DEFAULT_BUFFER_SIZE 64  	//**< should be power of 2 */
+#define IPECAMERA_RESERVE_BUFFERS 2		//**< Return Frame is Lost error, if requested frame will be overwritten after specified number of frames
+#define IPECAMERA_SLEEP_TIME 250000 		//**< Michele thinks 250 should be enough, but reset failing in this case */
+#define IPECAMERA_NEXT_FRAME_DELAY 1000 	//**< Michele requires 30000 to sync between End Of Readout and next Frame Req */
+#define IPECAMERA_WAIT_FRAME_RCVD_TIME 0 	//**< by Uros ,wait 6 ms */
+#define IPECAMERA_NOFRAME_SLEEP 100
+#define IPECAMERA_NOFRAME_PREPROC_SLEEP 100
+
+#define IPECAMERA_MAX_LINES 1088
+#define IPECAMERA_EXPECTED_STATUS 0x08409FFFF
+#define IPECAMERA_END_OF_SEQUENCE 0x1F001001
+
+#define IPECAMERA_MAX_CHANNELS 16
+#define IPECAMERA_PIXELS_PER_CHANNEL 128
+#define IPECAMERA_WIDTH (IPECAMERA_MAX_CHANNELS * IPECAMERA_PIXELS_PER_CHANNEL)
+
+#define IPECAMERA_FRAME_REQUEST 		0x1E9
+#define IPECAMERA_READOUT_FLAG			0x200
+#define IPECAMERA_READOUT			0x3E1
+#define IPECAMERA_IDLE 				0x1E1
+#define IPECAMERA_START_INTERNAL_STIMULI 	0x1F1
+
+
+typedef uint32_t ipecamera_payload_t;
+
+typedef struct {
+    pcilib_event_id_t evid;
+    struct timeval timestamp;
+} ipecamera_autostop_t;
+
+typedef struct {
+    size_t i;
+    pthread_t thread;
+    ipecamera_t *ipecamera;
+    
+    int started;			/**< flag indicating that join & cleanup is required */
+} ipecamera_preprocessor_t;
+
+
+typedef struct {
+    ipecamera_event_info_t event;	/**< this structure is overwritten by the reader thread, we need a copy */
+    pthread_rwlock_t mutex;		/**< this mutex protects reconstructed buffers only, the raw data, event_info, etc. will be overwritten by reader thread anyway */
+} ipecamera_frame_t;
+
+struct ipecamera_s {
+    pcilib_context_t event;
+    ufo_decoder ipedec;
+
+    char *data;
+    ipecamera_pixel_t *image;
+    size_t size;
+
+    pcilib_event_callback_t cb;
+    void *cb_user;
+
+    pcilib_event_id_t event_id;
+    pcilib_event_id_t preproc_id;
+    pcilib_event_id_t reported_id;
+    
+    pcilib_dma_engine_t rdma, wdma;
+
+    pcilib_register_t packet_len_reg;
+    pcilib_register_t control_reg, status_reg;
+    pcilib_register_t start_reg, end_reg;
+    pcilib_register_t n_lines_reg;
+    uint16_t line_reg;
+    pcilib_register_t exposure_reg;
+    pcilib_register_t flip_reg;
+
+    int started;		/**< Camera is in grabbing mode (start function is called) */
+    int streaming;		/**< Camera is in streaming mode (we are within stream call) */
+    int parse_data;		/**< Indicates if some processing of the data is required, otherwise only rawdata_callback will be called */
+
+    int run_reader;		/**< Instructs the reader thread to stop processing */
+    int run_streamer;		/**< Indicates request to stop streaming events and can be set by reader_thread upon exit or by user request */
+    int run_preprocessors;	/**< Instructs preprocessors to exit */
+    
+    ipecamera_autostop_t autostop;
+
+    struct timeval autostop_time;
+
+    size_t buffer_size;		/**< How many images to store */
+    size_t buffer_pos;		/**< Current image offset in the buffer, due to synchronization reasons should not be used outside of reader_thread */
+    size_t cur_size;		/**< Already written part of data in bytes */
+    size_t raw_size;		/**< Size of raw data in bytes */
+    size_t full_size;		/**< Size of raw data including the padding */
+    size_t padded_size;		/**< Size of buffer for raw data, including the padding for performance */
+    
+    size_t image_size;		/**< Size of a single image in bytes */
+    
+    int width, height;
+
+    
+//    void *raw_buffer;
+    void *buffer;
+    ipecamera_change_mask_t *cmask;
+    ipecamera_frame_t *frame;
+    
+
+    ipecamera_image_dimensions_t dim;
+
+    pthread_t rthread;
+    
+    size_t n_preproc;
+    ipecamera_preprocessor_t *preproc;
+    pthread_mutex_t preproc_mutex;
+    
+    int preproc_mutex_destroy;
+    int frame_mutex_destroy;
+};
+
+#endif /* _IPECAMERA_PRIVATE_H */
diff --git a/ipecamera/image.h b/ipecamera/public.h
index c311b4d..b745d6c 100644
--- a/ipecamera/image.h
+++ b/ipecamera/public.h
@@ -1,25 +1,25 @@
-#ifndef _IPECAMERA_IMAGE_H
-#define _IPECAMERA_IMAGE_H
+#ifndef _IPECAMERA_PUBLIC_H
+#define _IPECAMERA_PUBLIC_H
 
 #include <stdio.h>
 
 #include "ipecamera.h"
 #include "pcilib.h"
 
+
 pcilib_context_t *ipecamera_init(pcilib_t *pcilib);
 void ipecamera_free(pcilib_context_t *ctx);
 
+pcilib_dma_context_t *ipecamera_init_dma(pcilib_context_t *ctx);
+
 int ipecamera_reset(pcilib_context_t *ctx);
 int ipecamera_start(pcilib_context_t *ctx, pcilib_event_t event_mask, pcilib_event_flags_t flags);
 int ipecamera_stop(pcilib_context_t *ctx, pcilib_event_flags_t flags);
 int ipecamera_trigger(pcilib_context_t *ctx, pcilib_event_t event, size_t trigger_size, void *trigger_data);
 int ipecamera_stream(pcilib_context_t *vctx, pcilib_event_callback_t callback, void *user);
-//pcilib_event_id_t ipecamera_next_event(pcilib_context_t *ctx, pcilib_event_t event_mask, pcilib_timeout_t timeout);
-
-void* ipecamera_get(pcilib_context_t *ctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, size_t arg_size, void *arg, size_t *size, void *buf);
-int ipecamera_return(pcilib_context_t *ctx, pcilib_event_id_t event_id, void *data);
-
-pcilib_dma_context_t *ipecamera_init_dma(pcilib_context_t *ctx);
+int ipecamera_next_event(pcilib_context_t *vctx, pcilib_timeout_t timeout, pcilib_event_id_t *evid, size_t info_size, pcilib_event_info_t *info);
 
+int ipecamera_get(pcilib_context_t *ctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, size_t arg_size, void *arg, size_t *size, void **buf);
+int ipecamera_return(pcilib_context_t *ctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, void *data);
 
-#endif /* _IPECAMERA_IMAGE_H */
+#endif /* _IPECAMERA_PUBLIC_H */
diff --git a/ipecamera/reader.c b/ipecamera/reader.c
new file mode 100644
index 0000000..f02df0f
--- /dev/null
+++ b/ipecamera/reader.c
@@ -0,0 +1,170 @@
+#define _IPECAMERA_IMAGE_C
+#define _BSD_SOURCE
+#define _GNU_SOURCE
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <sys/time.h>
+#include <pthread.h>
+#include <assert.h>
+
+#include <ufodecode.h>
+
+#include "../tools.h"
+#include "../error.h"
+
+#include "pcilib.h"
+#include "private.h"
+#include "reader.h"
+
+static inline int ipecamera_new_frame(ipecamera_t *ctx) {
+    ctx->frame[ctx->buffer_pos].event.raw_size = ctx->cur_size;
+
+    if (ctx->cur_size < ctx->raw_size) ctx->frame[ctx->buffer_pos].event.info.flags |= PCILIB_EVENT_INFO_FLAG_BROKEN;
+    
+    ctx->buffer_pos = (++ctx->event_id) % ctx->buffer_size;
+    ctx->cur_size = 0;
+
+    ctx->frame[ctx->buffer_pos].event.info.type = PCILIB_EVENT0;
+    ctx->frame[ctx->buffer_pos].event.info.flags = 0;
+    ctx->frame[ctx->buffer_pos].event.image_ready = 0;
+
+    if ((ctx->event_id == ctx->autostop.evid)&&(ctx->event_id)) {
+	ctx->run_reader = 0;
+	return 1;
+    }
+	
+    if (pcilib_check_deadline(&ctx->autostop.timestamp, PCILIB_DMA_TIMEOUT)) {
+	ctx->run_reader = 0;
+	return 1;
+    }
+    
+    return 0;
+}
+
+static uint32_t frame_magic[6] = { 0x51111111, 0x52222222, 0x53333333, 0x54444444, 0x55555555, 0x56666666 };
+
+static int ipecamera_data_callback(void *user, pcilib_dma_flags_t flags, size_t bufsize, void *buf) {
+    int res;
+    int eof = 0;
+
+#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS
+    size_t extra_data = 0;
+#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */
+
+    ipecamera_t *ctx = (ipecamera_t*)user;
+
+    if (!ctx->cur_size) {
+#if defined(IPECAMERA_BUG_INCOMPLETE_PACKETS)||defined(IPECAMERA_BUG_MULTIFRAME_PACKETS)
+	size_t startpos;
+	for (startpos = 0; (startpos + 8) < bufsize; startpos++) {
+	    if (!memcmp(buf + startpos, frame_magic, sizeof(frame_magic))) break;
+	}
+	
+	if (startpos) {
+	    buf += startpos;
+	    bufsize -= startpos;
+	}
+#endif /* IPECAMERA_BUG_INCOMPLETE_PACKETS */
+
+	if ((bufsize >= 8)&&(!memcmp(buf, frame_magic, sizeof(frame_magic)))) {
+/*
+		// Not implemented in hardware yet
+	    ctx->frame[ctx->buffer_pos].event.info.seqnum = ((uint32_t*)buf)[6] & 0xF0000000;
+	    ctx->frame[ctx->buffer_pos].event.info.offset = ((uint32_t*)buf)[7] & 0xF0000000;
+*/
+	    gettimeofday(&ctx->frame[ctx->buffer_pos].event.info.timestamp, NULL);
+	} else {
+//	    pcilib_warning("Frame magic is not found, ignoring broken data...");
+	    return PCILIB_STREAMING_CONTINUE;
+	}
+    }
+
+#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS
+    if (ctx->cur_size + bufsize > ctx->raw_size) {
+        size_t need;
+	
+	for (need = ctx->raw_size - ctx->cur_size; need < bufsize; need += sizeof(uint32_t)) {
+	    if (*(uint32_t*)(buf + need) == frame_magic[0]) break;
+	}
+	
+	if (need < bufsize) {
+	    extra_data = bufsize - need;
+	    //bufsize = need;
+	    eof = 1;
+	}
+	
+	    // just rip of padding
+	bufsize = ctx->raw_size - ctx->cur_size;
+    }
+#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */
+
+    if (ctx->parse_data) {
+	if (ctx->cur_size + bufsize > ctx->full_size) {
+    	    pcilib_error("Unexpected event data, we are expecting at maximum (%zu) bytes, but (%zu) already read", ctx->full_size, ctx->cur_size + bufsize);
+	    return -PCILIB_ERROR_TOOBIG;
+	}
+
+        memcpy(ctx->buffer + ctx->buffer_pos * ctx->padded_size +  ctx->cur_size, buf, bufsize);
+    }
+
+    ctx->cur_size += bufsize;
+//    printf("%i: %i %i\n", ctx->buffer_pos, ctx->cur_size, bufsize);
+
+    if (ctx->cur_size >= ctx->full_size) eof = 1;
+
+    if (ctx->event.params.rawdata.callback) {
+	res = ctx->event.params.rawdata.callback(ctx->event_id, (pcilib_event_info_t*)(ctx->frame + ctx->buffer_pos), (eof?PCILIB_EVENT_FLAG_EOF:PCILIB_EVENT_FLAGS_DEFAULT), bufsize, buf, ctx->event.params.rawdata.user);
+	if (res <= 0) {
+	    if (res < 0) return res;
+	    ctx->run_reader = 0;
+	}
+    }
+    
+    if (eof) {
+	if (ipecamera_new_frame(ctx)) {
+	    return PCILIB_STREAMING_STOP;
+	}
+	
+#ifdef IPECAMERA_BUG_MULTIFRAME_PACKETS
+	if (extra_data) {
+	    return ipecamera_data_callback(user, flags, extra_data, buf + bufsize);
+	}
+#endif /* IPECAMERA_BUG_MULTIFRAME_PACKETS */
+    }
+
+    return PCILIB_STREAMING_REQ_FRAGMENT;
+}
+
+void *ipecamera_reader_thread(void *user) {
+    int err;
+    ipecamera_t *ctx = (ipecamera_t*)user;
+    
+    while (ctx->run_reader) {
+	err = pcilib_stream_dma(ctx->event.pcilib, ctx->rdma, 0, 0, PCILIB_DMA_FLAG_MULTIPACKET, PCILIB_DMA_TIMEOUT, &ipecamera_data_callback, user);
+	if (err) {
+	    if (err == PCILIB_ERROR_TIMEOUT) {
+		if (ctx->cur_size > ctx->raw_size) ipecamera_new_frame(ctx);
+#ifdef IPECAMERA_BUG_INCOMPLETE_PACKETS
+		else if (ctx->cur_size > 0) ipecamera_new_frame(ctx);
+#endif /* IPECAMERA_BUG_INCOMPLETE_PACKETS */
+		if (pcilib_check_deadline(&ctx->autostop.timestamp, PCILIB_DMA_TIMEOUT)) {
+		    ctx->run_reader = 0;
+		    break;
+		}
+		usleep(IPECAMERA_NOFRAME_SLEEP);
+	    } else pcilib_error("DMA error while reading IPECamera frames, error: %i", err);
+	} else printf("no error\n");
+
+	//usleep(1000);
+    }
+    
+    ctx->run_streamer = 0;
+    
+    if (ctx->cur_size)
+	pcilib_error("partialy read frame after stop signal, %zu bytes in the buffer", ctx->cur_size);
+
+    return NULL;
+}
diff --git a/ipecamera/reader.h b/ipecamera/reader.h
new file mode 100644
index 0000000..738d742
--- /dev/null
+++ b/ipecamera/reader.h
@@ -0,0 +1,6 @@
+#ifndef _IPECAMERA_READER_H
+#define _IPECAMERA_READER_H
+
+void *ipecamera_reader_thread(void *user);
+
+#endif /* _IPECAMERA_READER_H */