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)

cxp_kernel.py

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