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#ifndef _IPECAMERA_PRIVATE_H
#define _IPECAMERA_PRIVATE_H
#include <pthread.h>
#include <pcilib/model.h>
#include <pcilib/debug.h>
#include <pcilib/locking.h>
#include "base.h"
#include "ipecamera.h"
#include "env.h"
#define IPECAMERA_DEBUG
#ifdef IPECAMERA_DEBUG
//# define IPECAMERA_DEBUG_RAW_FRAMES //**< Store all raw frames */
# define IPECAMERA_DEBUG_BROKEN_FRAMES //**< Store broken frames in the specified directory */
# define IPECAMERA_DEBUG_RAW_PACKETS //**< Store all raw packets read from DMA grouped in frames */
# define IPECAMERA_DEBUG_HARDWARE //**< Produce various debugging information about ipecamera operation */
# define IPECAMERA_DEBUG_FRAME_HEADERS //**< Print frame headers & footers */
# define IPECAMERA_DEBUG_API //**< Debug IPECamera API calls */
#endif /* IPECAMERA_DEBUG */
#define IPECAMERA_BUG_MISSING_PAYLOAD //**< CMOSIS fails to provide a first payload for each frame, therefore the frame is 32 bit shorter */
#define IPECAMERA_BUG_MULTIFRAME_PACKETS //**< This is by design, start of packet comes directly after the end of last one in streaming mode */
#define IPECAMERA_BUG_MULTIFRAME_HEADERS //**< UFO Camera operates with 32-byte entities, but some times there is 16-byte padding before the data which may result in spliting the header between 2 DMA packets. We still need to define a minimal number of bytes which are always in the same DMA packet (CMOSIS_ENTITY_SIZE) */
#define IPECAMERA_BUG_REPEATING_DATA //**< 16 bytes repeated at frame offset 4096, the problem start/stop happenning on board restart */
//#define IPECAMERA_BUG_STUCKED_BUSY //**< DMA may stuck in busy. According to Michele, the work-around is to disable triggering and read all data out. Not checked */
//#define IPECAMERA_BUG_INCOMPLETE_PACKETS //**< Support incomplete packets, i.e. check for frame magic even if full frame size is not reached yet (slow) */
//#define IPECAMERA_ANNOUNCE_READY //**< Announce new event only after the reconstruction is done */
//#define IPECAMERA_CLEAN_ON_START //**< Read all the data from DMA before starting of recording */
//#define IPECAMERA_ADJUST_BUFFER_SIZE //**< Adjust default buffer size based on the hardware capabilities (number of frames stored in the FPGA memory) */
#define IPECAMERA_DEFAULT_BUFFER_SIZE 256 //**< number of buffers in a ring buffer, should be power of 2 */
#define IPECAMERA_DEFAULT_CMOSIS20_BUFFER_SIZE 64 //*< overrides number of buffers for CMOSIS20 sensor to reduce memory consumption */
#define IPECAMERA_RESERVE_BUFFERS 4 //**< Return Frame is Lost error, if requested frame will be overwritten after specified number of frames
#define IPECAMERA_DMA_TIMEOUT 50000 //**< Default DMA timeout */
#define IPECAMERA_TRIGGER_TIMEOUT 200000 //**< In trigger call allow specified timeout for camera to get out of busy state. Set 0 to fail immideatly */
#define IPECAMERA_CMOSIS_RESET_DELAY 250000 //**< Michele thinks 250 should be enough, but reset failing in this case */
#define IPECAMERA_CMOSIS_REGISTER_DELAY 250000 //**< Michele thinks 250 should be enough, but reset failing in this case */
#define IPECAMERA_SPI_REGISTER_DELAY 10000 //**< Delay between consequitive access to the registers */
#define IPECAMERA_NEXT_FRAME_DELAY 1000 //**< Michele requires 30000 to sync between End Of Readout and next Frame Req */
#define IPECAMERA_TRIGGER_DELAY 0 //**< Defines how long the trigger bits should be set */
#define IPECAMERA_READ_STATUS_DELAY 1000 //**< According to Uros, 1ms delay needed before consequitive reads from status registers */
#define IPECAMERA_NOFRAME_SLEEP 100 //**< Sleep while polling for a new frame in reader */
#define IPECAMERA_NOFRAME_PREPROC_SLEEP 100 //**< Sleep while polling for a new frame in pre-processor */
#define IPECAMERA_EXPECTED_STATUS_4 0x08409FFFF
#define IPECAMERA_EXPECTED_STATUS 0x08449FFFF
#define IPECAMERA_END_OF_SEQUENCE 0x1F001001
#define CMOSIS_FRAME_HEADER_SIZE (8 * sizeof(ipecamera_payload_t))
#define CMOSIS_FRAME_TAIL_SIZE (8 * sizeof(ipecamera_payload_t))
#ifdef IPECAMERA_BUG_MULTIFRAME_HEADERS
# define CMOSIS_ENTITY_SIZE (4 * sizeof(ipecamera_payload_t)) //**< This normaly should be equal to 32 bytes like header and tail, but in fact is only 16 bytes */
#else /* IPECAMERA_BUG_MULTIFRAME_HEADERS */
# define CMOSIS_ENTITY_SIZE (8 * sizeof(ipecamera_payload_t)) //**< This normaly should be equal to 32 bytes like header and tail, but in fact is only 16 bytes */
#endif /* IPECAMERA_BUG_MULTIFRAME_HEADERS */
#define CMOSIS_MAX_CHANNELS 16
#define CMOSIS_PIXELS_PER_CHANNEL 128
#define CMOSIS_WIDTH (CMOSIS_MAX_CHANNELS * CMOSIS_PIXELS_PER_CHANNEL)
//#define IPECAMERA_MAX_LINES 1088
#define CMOSIS_MAX_LINES 2048
/*
#define CMOSIS20_MAX_CHANNELS 8
#define CMOSIS20_PIXELS_PER_CHANNEL 640
#define CMOSIS20_WIDTH (CMOSIS20_MAX_CHANNELS * CMOSIS20_PIXELS_PER_CHANNEL)
*/
#define CMOSIS20_PIXELS_PER_CHANNEL 320
#define CMOSIS20_WIDTH (CMOSIS_MAX_CHANNELS * CMOSIS_PIXELS_PER_CHANNEL)
#define CMOSIS20_MAX_LINES 3840
#define IPECAMERA_FRAME_REQUEST 0x209 // 0x80000209 // 0x1E9
#define IPECAMERA_IDLE 0x201 // 0x80000201 // 0x1E1
#define IPECAMERA_START_INTERNAL_STIMULI 0x1F1
#define IPECAMERA_MODE_16_CHAN_IO 0
#define IPECAMERA_MODE_4_CHAN_IO 2
#define IPECAMERA_MODE_12_BIT_ADC 2
#define IPECAMERA_MODE_11_BIT_ADC 1
#define IPECAMERA_MODE_10_BIT_ADC 0
#ifdef IPECAMERA_DEBUG_RAW_FRAMES
# define IPECAMERA_DEBUG_RAW_FRAMES_MESSAGE(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_message (#function, __FILE__, __LINE__, __VA_ARGS__); }
# define IPECAMERA_DEBUG_RAW_FRAMES_BUFFER(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_data_buffer (#function, __VA_ARGS__); }
#else /* IPECAMERA_DEBUG_RAW_FRAMES */
# define IPECAMERA_DEBUG_RAW_FRAMES_MESSAGE(function, ...)
# define IPECAMERA_DEBUG_RAW_FRAMES_BUFFER(function, ...)
#endif /* IPECAMERA_DEBUG_RAW_FRAMES */
#ifdef IPECAMERA_DEBUG_BROKEN_FRAMES
# define IPECAMERA_DEBUG_BROKEN_FRAMES_MESSAGE(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_message (#function, __FILE__, __LINE__, __VA_ARGS__); }
# define IPECAMERA_DEBUG_BROKEN_FRAMES_BUFFER(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_data_buffer (#function, __VA_ARGS__); }
#else /* IPECAMERA_DEBUG_BROKEN_FRAMES */
# define IPECAMERA_DEBUG_BROKEN_FRAMES_MESSAGE(function, ...)
# define IPECAMERA_DEBUG_BROKEN_FRAMES_BUFFER(function, ...)
#endif /* IPECAMERA_DEBUG_BROKEN_FRAMES */
#ifdef IPECAMERA_DEBUG_RAW_PACKETS
# define IPECAMERA_DEBUG_RAW_PACKETS_MESSAGE(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_message (#function, __FILE__, __LINE__, __VA_ARGS__); }
# define IPECAMERA_DEBUG_RAW_PACKETS_BUFFER(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_data_buffer (#function, __VA_ARGS__); }
#else /* IPECAMERA_DEBUG_RAW_PACKETS */
# define IPECAMERA_DEBUG_RAW_PACKETS_MESSAGE(function, ...)
# define IPECAMERA_DEBUG_RAW_PACKETS_BUFFER(function, ...)
#endif /* IPECAMERA_DEBUG_RAW_PACKETS */
#ifdef IPECAMERA_DEBUG_HARDWARE
# define IPECAMERA_DEBUG_HARDWARE_MESSAGE(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_message (#function, __FILE__, __LINE__, __VA_ARGS__); }
# define IPECAMERA_DEBUG_HARDWARE_BUFFER(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_data_buffer (#function, __VA_ARGS__); }
#else /* IPECAMERA_DEBUG_HARDWARE */
# define IPECAMERA_DEBUG_HARDWARE_MESSAGE(function, ...)
# define IPECAMERA_DEBUG_HARDWARE_BUFFER(function, ...)
#endif /* IPECAMERA_DEBUG_HARDWARE */
#ifdef IPECAMERA_DEBUG_FRAME_HEADERS
# define IPECAMERA_DEBUG_FRAME_HEADERS_MESSAGE(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_message (#function, __FILE__, __LINE__, __VA_ARGS__); }
# define IPECAMERA_DEBUG_FRAME_HEADERS_BUFFER(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_data_buffer (#function, __VA_ARGS__); }
#else /* IPECAMERA_DEBUG_RAW_FRAMES */
# define IPECAMERA_DEBUG_FRAME_HEADERS_MESSAGE(function, ...)
# define IPECAMERA_DEBUG_FRAME_HEADERS_BUFFER(function, ...)
#endif /* IPECAMERA_DEBUG_RAW_FRAMES */
#ifdef IPECAMERA_DEBUG_API
# define IPECAMERA_DEBUG_API_MESSAGE(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_message (#function, __FILE__, __LINE__, __VA_ARGS__); }
# define IPECAMERA_DEBUG_API_BUFFER(function, ...) if (ipecamera_getenv(function##_ENV, #function)) { pcilib_debug_data_buffer (#function, __VA_ARGS__); }
#else /* IPECAMERA_DEBUG_API */
# define IPECAMERA_DEBUG_API_MESSAGE(function, ...)
# define IPECAMERA_DEBUG_API_BUFFER(function, ...)
#endif /* IPECAMERA_DEBUG_API */
#define ipecamera_debug(function, ...) \
IPECAMERA_DEBUG_##function##_MESSAGE(IPECAMERA_DEBUG_##function, PCILIB_LOG_DEFAULT, __VA_ARGS__)
#define ipecamera_debug_buffer(function, ...) \
IPECAMERA_DEBUG_##function##_BUFFER(IPECAMERA_DEBUG_##function, __VA_ARGS__)
typedef uint32_t ipecamera_payload_t;
typedef enum {
IPECAMERA_FIRMWARE_UNKNOWN = 0,
IPECAMERA_FIRMWARE_UFO5 = 5,
IPECAMERA_FIRMWARE_CMOSIS20 = 6
} ipecamera_firmware_t;
typedef enum {
IPECAMERA_FORMAT_CMOSIS = 5,
IPECAMERA_FORMAT_CMOSIS20 = 6,
IPECAMERA_FORMAT_POLARIS = 7
} ipecamera_format_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;
UfoDecoder *ipedec;
pcilib_lock_t *run_lock; /**< Lock protecting global camera operation */
pcilib_lock_t *stream_lock; /**< Lock protecting stream/next_frame operations */
pcilib_lock_t *trigger_lock; /**< Lock protecting stream/next_frame operations */
int run_locked; /**< Flag indicating if camera is currently locked */
int stream_locked; /**< Flag indicating if camera is currently locked */
int trigger_locked; /**< Flag indicating if camera is currently locked */
char *data;
ipecamera_pixel_t *image;
size_t size;
volatile pcilib_event_id_t event_id;
volatile pcilib_event_id_t preproc_id;
pcilib_event_id_t reported_id;
pcilib_dma_engine_t rdma;
pcilib_register_t control_reg, status_reg;
pcilib_register_t status2_reg, status3_reg;
// pcilib_register_t n_lines_reg;
// uint16_t line_reg;
// pcilib_register_t exposure_reg;
// pcilib_register_t flip_reg;
pcilib_register_t firmware_version_reg;
pcilib_register_t adc_resolution_reg;
pcilib_register_t output_mode_reg;
pcilib_register_t max_frames_reg;
pcilib_register_t num_frames_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 */
volatile int run_reader; /**< Instructs the reader thread to stop processing */
volatile int run_streamer; /**< Indicates request to stop streaming events and can be set by reader_thread upon exit or by user request */
volatile int run_preprocessors; /**< Instructs preprocessors to exit */
ipecamera_autostop_t autostop;
struct timeval autostop_time;
struct timeval next_trigger; /**< The minimal delay between trigger signals is mandatory, this indicates time when next trigger is possible */
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; /**< Expected maximum size of raw data in bytes */
size_t padded_size; /**< Expected maximum size of buffer for raw data, including additional padding */
size_t roi_raw_size; /**< Expected size (for currently configured ROI) of raw data in bytes */
size_t roi_padded_size; /**< Expected size (for currently configured ROI) of buffer for raw data, including additional padding */
size_t image_size; /**< Size of a single image in bytes */
size_t max_frames; /**< Maximal number of frames what may be buffered in camera DDR memory */
ipecamera_firmware_t firmware; /**< Firmware type */
int cmosis_outputs; /**< Number of active cmosis outputs: 4 or 16 */
int width, height;
// void *raw_buffer;
void *buffer;
ipecamera_change_mask_t *cmask;
ipecamera_frame_t *frame;
#ifdef IPECAMERA_BUG_MULTIFRAME_HEADERS
size_t saved_header_size; /**< If it happened that the frame header is split between 2 DMA packets, this variable holds the size of the part containing in the first packet */
char saved_header[CMOSIS_FRAME_HEADER_SIZE]; /**< If it happened that the frame header is split between 2 DMA packets, this variable holds the part containing in the first packet */
#endif /* IPECAMERA_BUG_MULTIFRAME_HEADERS */
size_t data_line_size;
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 */
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