forked from M-Labs/artiq-zynq
cxp coredevice driver: init
cxp driver: add api init cxp driver: add cxp syscall cxp driver: add xml download driver: change to using linktrigger (hw trig)
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cxp_kernel.py
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310
cxp_kernel.py
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"""
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Non-realtime drivers for CXP.
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"""
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# TODO: add api calls for CTRL packet similar i2c
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# TODO: add timing critical trigger ack
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from artiq.language.core import syscall, kernel
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from artiq.language.types import TBool, TInt32, TNone
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from artiq.coredevice.rtio import rtio_output
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from artiq.experiment import *
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import numpy as np
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import math
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# TODO: change this to read bytes and accept TBytearray
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@syscall(flags={"nounwind", "nowrite"})
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def cxp_read_words(addr: TInt32, val: TList(TInt32), with_tag: TBool) -> TInt32:
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raise NotImplementedError("syscall not simulated")
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@syscall(flags={"nounwind", "nowrite"})
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def cxp_readu32(addr: TInt32, with_tag: TBool) -> TInt32:
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raise NotImplementedError("syscall not simulated")
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@syscall(flags={"nounwind", "nowrite"})
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def cxp_readu64(addr: TInt32, with_tag: TBool) -> TInt64:
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raise NotImplementedError("syscall not simulated")
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@syscall(flags={"nounwind", "nowrite"})
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def cxp_writeu32(addr: TInt32, val: TInt32, with_tag: TBool) -> TNone:
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raise NotImplementedError("syscall not simulated")
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@syscall(flags={"nounwind", "nowrite"})
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def cxp_writeu64(addr: TInt32, val: TInt64, with_tag: TBool) -> TNone:
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raise NotImplementedError("syscall not simulated")
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@syscall(flags={"nounwind", "nowrite"})
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def cxp_setup() -> TBool:
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raise NotImplementedError("syscall not simulated")
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@syscall(flags={"nounwind", "nowrite"})
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def cxp_debug_frame_print() -> TNone:
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raise NotImplementedError("syscall not simulated")
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# Bootstrap register
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_XML_MANIFEST_SIZE = 0x0008
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_XML_MANIFEST_SEL = 0x000C
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_XML_VER = 0x0010
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_XML_SCHEMA_VER = 0x0014
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_XML_URL_ADDR = 0x0018
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_WIDTH_ADDR = 0x3000
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_HEIGHT_ADDR = 0x3004
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_ACQUISITION_MODE_ADDR = 0x3008
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_ACQUISITION_START_ADDR = 0x300C
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_ACQUISITION_STOP_ADDR = 0x3010
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_PIXEL_FORMAT_ADDR = 0x3014
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_DEVICE_TAP_GEOG_ADDR = 0x3018
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_IMG_1_STREAMID_ADDR = 0x301C
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_MAX_BYTE_SIZE = 100 # in bytes
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_MAX_WORD_SIZE = _MAX_BYTE_SIZE // 4 # in bytes
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class CoaXPress:
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def __init__(self, channel, core_device="core", xml_url_len=_MAX_WORD_SIZE):
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# __device_mgr is private
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# self.core = dmgr.get(core_device)
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# you can get the channel via `print(len(rtio_channels))` before calling
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# `rtio_channels.append(rtio.Channel.from_phy(cxp_interface))`
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self.channel = channel
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# the first 8 bits is reserved for the rtlink.OInterface.addr not for channel no.
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self.target_o = channel << 8
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self.with_tag = False
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self.xml_addr = 0
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self.width_addr = 0
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self.height_addr = 0
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self.acq_mode_addr = 0
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self.acq_start_addr = 0
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self.acq_stop_addr = 0
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self.pixel_fmt_addr = 0
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self.device_tap_geog_addr = 0
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self.img_1_streamid_addr = 0
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self.xml_url = [0] * xml_url_len
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@staticmethod
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def get_rtio_channels(channel, **kwargs):
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return [(channel, None)]
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@kernel
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def trigger(self, linktrig, trigdelay):
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rtio_output(self.target_o, linktrig | trigdelay << 1)
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@kernel
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def init(self):
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self.with_tag = cxp_setup()
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self.xml_addr = self.read_u32(_XML_URL_ADDR)
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# self.width_addr = self.read_u32(_WIDTH_ADDR)
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# self.height_addr = self.read_u32(_HEIGHT_ADDR)
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self.acq_mode_addr = self.read_u32(_ACQUISITION_MODE_ADDR)
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self.acq_start_addr = self.read_u32(_ACQUISITION_START_ADDR)
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self.acq_stop_addr = self.read_u32(_ACQUISITION_STOP_ADDR)
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self.pixel_fmt_addr = self.read_u32(_PIXEL_FORMAT_ADDR)
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# self.device_tap_geog_addr = self.read_u32(_DEVICE_TAP_GEOG_ADDR)
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self.img_1_streamid_addr = self.read_u32(_IMG_1_STREAMID_ADDR)
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self.read_words(self.xml_addr, self.xml_url)
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@kernel
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def read_u32(self, addr: TInt32) -> TInt32:
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return cxp_readu32(addr, self.with_tag)
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@kernel
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def read_u64(self, addr: TInt32) -> TInt64:
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return cxp_readu64(addr, self.with_tag)
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@kernel
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def read_words(self, addr: TInt32, val: TList(TInt32)):
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cxp_read_words(addr, val, self.with_tag)
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@kernel
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def write_u32(self, addr: TInt32, val: TInt32):
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cxp_writeu32(addr, val, self.with_tag)
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@kernel
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def write_u64(self, addr: TInt32, val: TInt64):
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cxp_writeu64(addr, val, self.with_tag)
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@kernel
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def write_wide(self, addr: TInt32, vals: TList(TInt32)):
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for i in range(len(vals)):
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cxp_writeu32(addr + i * 4, vals[i], self.with_tag)
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@kernel
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def read_width(self) -> TInt32:
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return self.read_u32(self.width_addr)
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@kernel
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def read_height(self) -> TInt32:
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return self.read_u32(self.height_addr)
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@kernel
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def read_acq_mode(self) -> TInt64:
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return self.read_u64(self.acq_mode_addr)
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@kernel
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def write_acq_mode(self, val: TInt64):
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self.write_u64(self.acq_mode_addr, val)
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@kernel
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def start(self):
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self.write_u32(self.acq_start_addr, 0x00000001)
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@kernel
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def stop(self):
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self.write_u32(self.acq_stop_addr, 0x00000001)
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@kernel
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def get_frameid(self) -> TInt32:
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return self.read_u32(self.img_1_streamid_addr)
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@kernel
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def get_pixel_format(self) -> TInt32:
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return self.read_u32(self.pixel_fmt_addr)
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@host_only
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def print_xml_url(self):
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url = ""
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for x in self.xml_url:
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url += x.to_bytes(4, byteorder="big").decode("ascii")
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print(f"url = {url}")
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if "Local:" in url:
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file_name, start_addr, size = url.split(";", 2)
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print(
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f"file name: {file_name.replace("Local:", "")}, start addr: 0x{start_addr}, size; 0x{size.split("?", 1)[0]} bytes"
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)
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@kernel
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def get_xml_data(self, xml_start_addr, xml_data):
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i = -1
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addr_offset = 0
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for i in range(len(xml_data) // _MAX_WORD_SIZE):
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buf = [0] * _MAX_WORD_SIZE
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self.read_words(xml_start_addr + addr_offset, buf)
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for j in range(len(buf)):
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xml_data[j+i*_MAX_WORD_SIZE] = buf[j]
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addr_offset += _MAX_WORD_SIZE * 4
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buf = [0]*(len(xml_data) % _MAX_WORD_SIZE)
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self.read_words(xml_start_addr + addr_offset, buf)
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for j in range(len(buf)):
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xml_data[j+(i+1)*_MAX_WORD_SIZE] = buf[j]
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@host_only
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def write_xml_data(self, xml_data, file_path):
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byte_arr = bytearray()
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for d in xml_data:
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byte_arr += d.to_bytes(4, "big", signed=True)
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with open(file_path, "wb") as binary_file:
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binary_file.write(byte_arr)
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# From the camera XML files
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_USER_SET_SELECTOR = 0x10000050
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_REAL_ACQ_MODE = 0x10000bb4
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_REAL_ACQ_START = 0x10000498
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_REAL_ACQ_STOP = 0x100004a4
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_REAL_ACQ_ABORT = 0x100004b0 #stop all acq immediately
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_BSL_SENSOR_STAND_BY = 0x100004c8 # put sensor in standby mode, certain parameter can only be change during standby
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_BSL_POWER_MODE = 0x100000b4
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# strange d_470 -> d_469 (= 3) perhaps a obscure security trick? So I guess looking @ Index"3" is fine?
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_TRIG_MODE_INDEX_3 = 0x10001424 # d_87
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_TRIG_SRC_INDEX_3 = 0x100081ac # d_479
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_TRIG_ACT_INDEX_3 = 0x1000293c # d_502
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_TRIG_SOFTWARE_INDEX_3 = 0x10000c34 # d_525
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CXP_TRIG = True
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class IdleKernel(EnvExperiment):
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def build(self):
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self.setattr_device("core")
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self.setattr_device("led0")
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# declare the class before using it in kernel
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self.cxp = CoaXPress(0x0)
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# self.vals = [0]*0x11ab3
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xml_word_size = math.ceil(0x11ab3/4)
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self.vals = [0] * xml_word_size
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@kernel
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def camera_setup(self):
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self.cxp.init()
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# DEBUG: get xml data
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# self.cxp.get_xml_data(0xc0000000, self.vals)
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# DEBUG: Try to setup trigger
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# All address below is from the XML, what's the point of bootstrap anyway?
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# NOTE: setting is persistent over ConnectionReset but NOT power cycle
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# self.cxp.write_u32(_REAL_ACQ_MODE, 1) # single frame mode
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# self.cxp.write_u32(_REAL_ACQ_START, 1) # single acq start
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# self.cxp.write_u32(_REAL_ACQ_STOP, 1) # single acq end
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# self.cxp.write_u32(_REAL_ACQ_ABORT, 1) # single acq ABORT
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# boA2448-250cm is area scan camera:
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# see https://docs.baslerweb.com/triggered-image-acquisition#hardware-and-software-triggering to setup triggering properly
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# TRIGGER: setup
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# self.cxp.write_u32(_TRIG_SELECTOR, 3) # FrameStart by default, boA xml b_469 don't have an address for some reason
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self.cxp.write_u32(_TRIG_MODE_INDEX_3, 1) # ON
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if CXP_TRIG:
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self.cxp.write_u32(_TRIG_SRC_INDEX_3, 7) # CXPTrigger0
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else:
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self.cxp.write_u32(_TRIG_SRC_INDEX_3, 0) # use software trigger
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self.cxp.write_u32(_TRIG_ACT_INDEX_3, 2) # trig on anyedge
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cxp_debug_frame_print()
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# TAKING PICTURE
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self.cxp.write_u32(_REAL_ACQ_MODE, 1) # single frame mode
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self.cxp.write_u32(_REAL_ACQ_START, 1) # single acq start
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# STOP acq
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# self.cxp.write_u32(_REAL_ACQ_STOP, 1) # single acq end
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# self.cxp.write_u32(_REAL_ACQ_ABORT, 1) # single acq ABORT
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# self.cxp.write_u32(_BSL_SENSOR_STAND_BY, 1)
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return self.cxp.read_u32(_BSL_POWER_MODE)
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@kernel
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def kernel(self):
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# reset mu for rtio
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self.core.reset()
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self.core.break_realtime()
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if CXP_TRIG:
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self.cxp.trigger(0 ,0x00)
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else:
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self.cxp.write_u32(_TRIG_SOFTWARE_INDEX_3, 0) # software trigger via register write
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# self.cxp.write_u32(_REAL_ACQ_STOP, 1) # single acq end
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# self.cxp.write_u32(_REAL_ACQ_ABORT, 1) # single acq ABORT
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# self.cxp.write_u32(_BSL_SENSOR_STAND_BY, 1)
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for _ in range(4):
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cxp_debug_frame_print()
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return 0
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def print_hex(self, arr: TList(TInt32)):
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print("[{}]".format(", ".join(hex(np.uint32(x)) for x in arr)))
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def run(self):
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print(f"power mode = {self.camera_setup()}")
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self.kernel()
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# self.cxp.print_xml_url()
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# self.cxp.write_xml_data(self.vals, "genicam_16e13898.zip")
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