summaryrefslogtreecommitdiffstats
path: root/ipecamera/image.c
blob: 969071d71c75e4256c452308338c649019ef181f (plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
513
514
515
516
517
518
519
520
521
522
523
524
525
526
527
528
529
530
531
532
533
534
535
536
537
#define _IPECAMERA_IMAGE_C
#define _BSD_SOURCE

#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
#include <sys/time.h>
#include <assert.h>

#include "../tools.h"
#include "../error.h"

#include "pcilib.h"

#include "model.h"
#include "image.h"

#define IPECAMERA_SLEEP_TIME 250000
#define IPECAMERA_MAX_LINES 1088
#define IPECAMERA_DEFAULT_BUFFER_SIZE 10

typedef uint32_t ipecamera_payload_t;

struct ipecamera_s {
    pcilib_t *pcilib;

    char *data;
    size_t size;

    pcilib_callback_t cb;
    void *cb_user;

    pcilib_event_id_t event_id;

    pcilib_register_t control_reg, status_reg;
    pcilib_register_t start_reg, end_reg;
    pcilib_register_t n_lines_reg, line_reg;
    pcilib_register_t exposure_reg;

    int started;
    int buffer_size;
    int buf_ptr;
    
    int width, height;

    ipecamera_pixel_t *buffer;
    ipecamera_change_mask_t *cmask;

    ipecamera_image_dimensions_t dim;
};


#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) \
    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) \
    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 (%x) in data stream (%x is expected)", value, val); \
	err = PCILIB_ERROR_INVALID_DATA; \
    }

#define CHECK_FLAG(flag, check, ...) \
    if ((!err)&&(!(check))) { \
	pcilib_error("Unexpected value (%x) of " flag,  __VA_ARGS__); \
	err = PCILIB_ERROR_INVALID_DATA; \
    }


void *ipecamera_init(pcilib_t *pcilib) {
    int err = 0; 
    
    ipecamera_t *ctx = malloc(sizeof(ipecamera_t));

    if (ctx) {
	memset(ctx, 0, sizeof(ipecamera_t));
	
	ctx->pcilib = pcilib;

	ctx->buffer_size = IPECAMERA_DEFAULT_BUFFER_SIZE;
	ctx->dim.bpp = sizeof(ipecamera_pixel_t) * 8;

	ctx->data = pcilib_resolve_data_space(pcilib, 0, &ctx->size);
	if (!ctx->data) {
	    err = -1;
	    pcilib_error("Unable to resolve the data space");
	}
	
	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");

	if (err) {
	    free(ctx);
	    return NULL;
	}
    }
    
    return (void*)ctx;
}

void ipecamera_free(void *vctx) {
    if (vctx) {
	ipecamera_t *ctx = (ipecamera_t*)vctx;
	ipecamera_stop(ctx);
	free(ctx);
    }
}

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 (ctx->size < 1) {
	pcilib_error("The buffer size is too small");
	return PCILIB_ERROR_INVALID_REQUEST;
    }

    ctx->buffer_size = size;
    
    return 0;
}


int ipecamera_reset(void *vctx) {
    int err;
    pcilib_t *pcilib;
    ipecamera_t *ctx = (ipecamera_t*)vctx;

    pcilib_register_t control, status;
    pcilib_register_value_t value;
    
    if (!ctx) {
	pcilib_error("IPECamera imaging is not initialized");
	return PCILIB_ERROR_NOTINITIALIZED;
    }
    
    pcilib = ctx->pcilib;
    control = ctx->control_reg;
    status = ctx->status_reg;

	// Set Reset bit to CMOSIS
    err = pcilib_write_register_by_id(pcilib, control, 5);
    if (err) {
	pcilib_error("Error setting CMOSIS reset bit");
	return err;
    }
    usleep(IPECAMERA_SLEEP_TIME);

	// Remove Reset bit to CMOSIS
    err = pcilib_write_register_by_id(pcilib, control, 1);
    if (err) {
	pcilib_error("Error reseting CMOSIS 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
    SET_REG(n_lines_reg, 1);
    SET_REG(exposure_reg, 0);
    SET_REG(control_reg, 141);
    
    if (err) return err;
    
	// This is temporary for verification purposes
    memset(ctx->data, 0, ctx->size);

    err = pcilib_read_register_by_id(pcilib, status, &value);
    if (err) {
	pcilib_error("Error reading status register");
	return err;
    }

    if (value != 0x0849FFFF) {
	pcilib_error("Unexpected value (%lx) of status register", value);
	return PCILIB_ERROR_VERIFY;
    }

    return 0;    
}

int ipecamera_start(void *vctx, pcilib_event_t event_mask, pcilib_callback_t cb, void *user) {
    int err = 0;
    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 grabbing is already started");
	return PCILIB_ERROR_INVALID_REQUEST;
    }
    
    ctx->cb = cb;
    ctx->cb_user = user;
    
    ctx->event_id = 0;
    ctx->buf_ptr = 0;    

    ctx->dim.width = 1270;
    ctx->dim.height = 1088; //GET_REG(lines_reg, lines);

    ctx->buffer = malloc(ctx->dim.width * ctx->dim.height * ctx->buffer_size * sizeof(ipecamera_pixel_t));
    if (!ctx->buffer) {
	err = PCILIB_ERROR_MEMORY;
	pcilib_error("Unable to allocate ring buffer");
    }

    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");
    }
    
    if (err) {
	ipecamera_stop(ctx);
	return err;
    }
    
    return 0;
}


int ipecamera_stop(void *vctx) {
    ipecamera_t *ctx = (ipecamera_t*)vctx;

    if (!ctx) {
	pcilib_error("IPECamera imaging is not initialized");
	return PCILIB_ERROR_NOTINITIALIZED;
    }

    if (ctx->buffer) {
	free(ctx->buffer);
	ctx->buffer = NULL;
    }
    
    if (ctx->cmask) {
	free(ctx->cmask);
	ctx->cmask = NULL;
    }


    ctx->event_id = 0;
    ctx->buf_ptr = 0;    
    
    return 0;
}


static int ipecamera_get_payload(ipecamera_t *ctx, ipecamera_pixel_t *pbuf, ipecamera_change_mask_t *cbuf, int line_req, pcilib_register_value_t size, ipecamera_payload_t *payload, pcilib_register_value_t *advance) {
    int i, j;
    int err = 0;
    
    ipecamera_payload_t info = payload[0];
    int channel = info&0x0F;		// 4 bits
    int line = (info>>4)&0x7FF;		// 11 bits
					// 1 bit is reserved
    int bpp = (info>>16)&0x0F;		// 4 bits
    int pixels = (info>>20)&0xFF;	// 8 bits
					// 2 bits are reserved
    int header = (info>>30)&0x03;	// 2 bits
    
    int bytes;
    
    CHECK_FLAG("payload header magick", header == 2, header);
    CHECK_FLAG("pixel size, only 10 bits are supported", bpp == 10, bpp);
    //CHECK_FLAG("row number, should be %li", line == line_req, line, line_req);
    CHECK_FLAG("relative row number, should be 0", line == 0, line);
    CHECK_FLAG("channel, limited by 10 channels now", channel < 10, channel);
    CHECK_FLAG("channel, dublicate entry for channel", ((*cbuf)&(1<<channel)) == 0, channel);
    CHECK_FLAG("number of pixels, 127 is expected", pixels == 127, pixels);
    
    bytes = pixels / 3;
    if (bytes * 3 < pixels) ++bytes;
    
    CHECK_FLAG("payload data bytes, at least %i are expected", bytes < size, size, bytes);
    
    for (i = 0; i < bytes; i++) {
	ipecamera_payload_t data = payload[i + 1];
        int header = (data>>30)&0x03;	
	
        CHECK_FLAG("payload data magick", header == 3, header);
	
	for (j = 0; j < 3; j++) {
	    int pix = 3 * i + j;

	    if (pix == pixels) break;
    
	    pbuf[channel*pixels + pix] = (data >> (10 * j))&0x3FF;
	}
    }
    
    if (!err) {
	*cbuf |= (1 << channel);
	*advance = bytes + 1;
    }

    return err;
}

static int ipecamera_get_line(ipecamera_t *ctx, ipecamera_pixel_t *pbuf, ipecamera_change_mask_t *cbuf, int line) {
    int err = 0;
    pcilib_t *pcilib = ctx->pcilib;
    pcilib_register_value_t ptr, size, pos, advance, value;
    ipecamera_payload_t *linebuf;
    int column = 0;

    ipecamera_reset((void*)ctx);

    SET_REG(n_lines_reg, 1);
    SET_REG(line_reg, line);
    
    SET_REG(control_reg, 149);
    usleep(IPECAMERA_SLEEP_TIME);
    CHECK_REG(status_reg, 0x0849FFFF);
    
    GET_REG(start_reg, ptr);
    GET_REG(end_reg, size);
    size -= ptr;

    pcilib_warning("Reading line %i: %i %i\n", line, ptr, size);    

    if (size < 6) {
	pcilib_error("The payload is tool small, we should have at least 5 header dwords and 1 footer.");
	return PCILIB_ERROR_INVALID_DATA;
    }
    
    linebuf = (uint32_t*)malloc(size * sizeof(ipecamera_payload_t));
    if (linebuf) {
	//pcilib_memcpy(linebuf, ctx->data + ptr, size * sizeof(ipecamera_payload_t));
	pcilib_datacpy(linebuf, ctx->data + ptr, sizeof(ipecamera_payload_t), size, pcilib_model[PCILIB_MODEL_IPECAMERA].endianess);

	
	CHECK_VALUE(linebuf[0], 0x51111111);	
	CHECK_VALUE(linebuf[1], 0x52222222);	
	CHECK_VALUE(linebuf[2], 0x53333333);	
	CHECK_VALUE(linebuf[3], 0x54444444);	
	CHECK_VALUE(linebuf[4], 0x55555555);
	
	if (err) {
	    size = 0;
	} else {
	    pos = 5;
	    size -= 6;
	}
	
	while (size > 0) {
	    err = ipecamera_get_payload(ctx, pbuf, cbuf, line, size, linebuf + pos, &advance);
	    if (err) break;
	    
	    pos += advance;
	    size -= advance;
	}
	
        CHECK_VALUE(linebuf[pos], 0x0AAAAAAA);

	CHECK_FLAG("payloads changed, we expect exactly 10 channels", *cbuf == 0x3FF, *cbuf);

	free(linebuf);
    }

    if (!err) {
	SET_REG(control_reg, 141);
	usleep(IPECAMERA_SLEEP_TIME);
	CHECK_REG(status_reg, 0x0849FFFF);
    }
    
    return err;
}


static int ipecamera_get_image(ipecamera_t *ctx) {
    int err;
    int i;
    int buf_ptr;
    pcilib_t *pcilib = ctx->pcilib;
    
//atomic    
    buf_ptr = ctx->buf_ptr;
    if (ctx->buf_ptr++ == ctx->buffer_size) ctx->buf_ptr = 0;
    if (ctx->event_id++ == 0) ctx->event_id = 1;

    memset(ctx->buffer + buf_ptr * ctx->dim.width * ctx->dim.height, 0, ctx->dim.width * ctx->dim.height * sizeof(ipecamera_pixel_t));
    memset(ctx->cmask + buf_ptr * ctx->dim.height, 0, ctx->dim.height * sizeof(ipecamera_change_mask_t));

    for (i = 0; i < ctx->dim.height; i++) {
	ipecamera_get_line(ctx, ctx->buffer + buf_ptr * ctx->dim.width * ctx->dim.height + i * ctx->dim.width,  ctx->cmask + buf_ptr * ctx->dim.height + i, i);
    }
}


int ipecamera_trigger(void *vctx, pcilib_event_t event, size_t trigger_size, void *trigger_data) {
    int err;
    pcilib_t *pcilib;
    ipecamera_t *ctx = (ipecamera_t*)vctx;

    if (!ctx) {
	pcilib_error("IPECamera imaging is not initialized");
	return PCILIB_ERROR_NOTINITIALIZED;
    }

    if (!ctx->started) {
	pcilib_error("Can't trigger while not grabbing is not started");
	return PCILIB_ERROR_INVALID_REQUEST;
    }
    
    err = ipecamera_get_image(ctx);
    if (!err) err = ctx->cb(event, ctx->event_id, ctx->cb_user);

    return err;
}

static int ipecamera_resolve_event_id(ipecamera_t *ctx, pcilib_event_id_t evid) {
    int buf_ptr, diff;
    
    if ((!evid)||(evid > ctx->event_id)) return -1;
    
    diff = ctx->event_id - evid;
    buf_ptr = ctx->buf_ptr - diff - 1;
    if (buf_ptr < 0) {
	buf_ptr += ctx->buffer_size;
	if (buf_ptr < 0) return -1;
    }
    
    return buf_ptr;
}

void* ipecamera_get(void *vctx, pcilib_event_id_t event_id, pcilib_event_data_type_t data_type, size_t arg_size, void *arg, size_t *size) {
    int buf_ptr;
    ipecamera_t *ctx = (ipecamera_t*)vctx;

    if (!ctx) {
	pcilib_error("IPECamera imaging is not initialized");
	return NULL;
    }
    

    buf_ptr = ipecamera_resolve_event_id(ctx, event_id);

    //printf("%i %i %i\n", ctx->event_id, event_id, buf_ptr);

    if (buf_ptr < 0) return NULL;
    
    switch ((ipecamera_data_type_t)data_type) {
	case IPECAMERA_IMAGE_DATA:
	    if (size) *size = ctx->dim.width * ctx->dim.height * sizeof(ipecamera_pixel_t);
	    return ctx->buffer + buf_ptr * ctx->dim.width * ctx->dim.height;
	case IPECAMERA_CHANGE_MASK:
	    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(void *vctx, pcilib_event_id_t event_id) {
    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;
}