From dc1752ece277963f98fb96800a07c1dd8208612e Mon Sep 17 00:00:00 2001
From: Andreas Kopmann <andreas.kopmann@kit.edu>
Date: Tue, 31 Jul 2012 23:57:04 +0200
Subject: Initial version of the UFO camera users manual

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+% UFO camera user manual 
+%
+
+\chapter{Operation manual}
+
+\section{Concept}
+
+A high performance camera interface combined with application specific camera controllers opens 
+a wide range of opportunities for scientific applications. Figure \ref{camera-setup} shows the first 
+prototype of the fully programmable high-throughput UFO camera currently developed at KIT. 
+
+The main features of the UFO camera are:
+
+\begin{itemize}
+\item Modular concept with fast FMC interface between camera controller and image sensor. With minimal effort a large variety of image sensors can be included in the setup.
+\item Powerful high bandwidth firmware to handle data rate currently up to 2GByte/sec.
+\item Fast interface to the readout PC using a PCI Express extender. High performance Linux drivers for the architecture are available.
+\item Interfaces for attaching application specific logic in FPGA and driver.
+\end{itemize}
+
+\begin{figure}
+\includegraphics[width=\textwidth]{images/Figure_2.png}
+\caption{\label{camera-setup} Prototype of the modular UFO camera.}
+\end{figure}
+
+
+
+
+\section{Supported image sensors}
+
+The prototype of the UFO camera has been developed using the images sensor CMOSIS CMV2000 with 2.2 mega pixel and frames rates of up to 340 fps in full resolution. The sensor supports to modes of operation with 10bit and 12bit resolution \cite{CMOSIS:CMV2000}. 
+
+A full list of supported and future sensors is given in table \ref{image-sensors}.
+
+
+
+\begin{table}
+\caption{\label{image-sensors} List of supported image sensors.}
+\begin{center}
+\begin{tabular}{|c|c|p{8cm}|}
+\hline
+Image sensor 			&  Mode 		& Comment \\
+\hline
+CMOSIS CMV2000 		& 10bit, 340fps & Implemented, tested, characterized \\
+\hline
+CMOSIS CMV2000		& 12bit, 70fps	& Implemented, tested, characterized \\
+\hline
+CMOSIS CVM4000		& 			& Ordered. Note: the sensor is pin compatible with the smaller CMV2000 and provides the same operation mode \cite{CMOSIS:CMV4000}. \\
+\hline
+Fairchild CIS1021		& 2x11bit, 100fps & Planned \cite{FAIRCHILD:CIS1021}\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+\section{Starting the camera}
+Camera and readout PC are considered as a unit. In order to establish word with the camera 
+prototype a certain procedure has to be followed.
+
+\begin{itemize}
+\item First, the camera has to be turned ON while the readout PC is ON.
+\item Reboot the readout PC. Currently only then the connection is properly established.
+\item Check that the camera is operational. 
+
+The LEDs on the controller board should show the following values:\\
+DS19 blinking, DS18 ON, DS20  ON, DS17 OFF. 
+
+All three LEDs on FMC board should be ON to indicate proper voltage levels.
+
+CBL and EDGE LEDs should be ON to indicate proper PCIe connection. 
+\item Select the desired frame rate using the script \verb/Reset_<bitrate>_bits.sh/
+\item Check again the status. 
+
+Now also the LEDS DS21, DS14, DS15 need to be ON.
+\end{itemize}
+
+
+\subsection{LED status indicators}
+
+For visual confirmation of the camera's proper working state, number of LED indicators are provided on the camera controller board, shown in \figurename~\ref{pic_LED}. The description of this LEDs is given in \tablename~\ref{LEDs}. 
+
+For other existing LEDs on the FPGA main board, they are related to ML605 board functionality \cite{XILINX:ML605}.
+Beside the visual information of the LEDs more details are given by the status register of the camera. 
+
+\begin{figure}[p]
+\centering
+\includegraphics[width=0.7\textwidth]{images/pic_LEDs.png}
+\caption{\label{pic_LED} Camera indicator LEDs}
+\end{figure}
+
+
+\begin{table}[p]
+\caption{\label{LEDs} List of status LEDs on the camera controller board.}
+\begin{center}
+\begin{tabular}{|c|c|c|}
+\hline
+LED					& Status 		& Comment \\
+\hline
+DS18 				& On			&  DDR3 initialization has completed \\
+\hline
+DS16				& On			& Readout in progress \\
+\hline
+DS14				& On			& data register is locked\\
+\hline
+					& Off, Flashing	& data register doesn’t work correctly \\
+\hline
+DS15				& On			& status register is locked\\
+\hline
+					& Off, Flashing	& status register doesn’t work correctly \\
+\hline
+DS19				& Flashing	& 200 MHz clock is alive \\
+\hline
+DS21				& On			& Busy active \\
+\hline
+DS17				& Off			& PCIe connection is properly established \\
+\hline
+DS12				& On			& DMA ready to accept data \\
+
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+\newpage
+\subsection{Reset scripts}
+The script \verb/Reset_<bitrate>_bits.sh/ will report if initialization completed successfully. 
+If initialization is executed successfully the status  OK  is printed and the camera is ready for operation.
+
+Example: configuring camera for 12 bit mode  
+
+\begin{lstlisting}
+ufo@ufocamera:~> Reset_Init_all_reg_12bit.sh
+ Reset Readout and CMOSIS 
+ Release Reset for Readout
+ Start CMOSIS Configuration ..
+ 12 - bit mode, set Bit_mode 
+ 12 bit mode, set ADC resolution 12 bits 
+ End CMOSIS Configuration ..
+ Write exp time......
+ cmosis_number_lines = 1088
+ Camera READY ........ OK
+\end{lstlisting}
+
+
+\newpage
+\section{Camera interfaces}
+
+The camera can be used by a graphical user interface. It displays life images and provides access to all camera parameters. 
+For automation of purpose the powerful command-line tool pcitool is available. The distribution contains several scripts that 
+implement some often used functions.
+
+\subsection{Graphical camera user interface}
+
+The camera comes with a graphical application that displays live images from the camera. 
+The bottom tab provides some short cuts for often used camera functions. 
+The full set of camera properties are accessible in the right part of the application. 
+
+The graphical user inferface is shown in \figurename~\ref{camera-gui}.  The main screen display the image data from the camera. The control buttons above the main window allow an video recorder like recording and replay of the selected scenes.
+The bottom part provides some shortcuts for often used camera parameters.  The full set of camera properties are accessible in the right part of the application. With the double click on the parameter name the value can be changed. All sensor registers are accessible as well. 
+
+\begin{figure}[h]
+\includegraphics[width=\textwidth]{images/ufo_gui2.png}
+\caption{\label{camera-gui} Camera frontend}
+\end{figure}
+
+
+\subsubsection{Set camera parameters}
+
+Select the parameter "Exposure" in the bottom window, increment the value, or directly writing the desired value in the appropriate space. The value should be given in units of seconds. Alternatively the parameter "exposure-time" from the  parameter list in the right window could be chosen.
+
+\subsubsection{Piecewise-linear response function}
+
+The camera can be used with a piecewise linear response function. This gives the possibility to achieve a virtual higher optical dynamic range. The feature will clip illuminated pixels which reach a programmable voltage, while leaving the darker pixels untouched. The clipping level can be adjusted 2 times within one exposure time to achieve a maximum of 3 slopes in the response curve. In the dislay it is shown using bar for piecewise linear response. It is shown in  \figurename~\ref{ufo_gui_piecewise_bar}. 
+
+More information for using the piecewise can be found in CMOSIS2000 reference sheet \cite{CMOSIS:CMV2000}.
+
+\begin{figure}[h]
+\centering
+\includegraphics[width=1\textwidth]{images/ufo_gui_piecewise_bar.png}
+\caption{\label{ufo_gui_piecewise_bar} Dialog to customize the piecewise linear response function}
+\end{figure}
+
+\subsubsection{Monitoring of the camera temperatures}
+
+Finally the temperature of sensor and FPGA is monitored. It is shown in  \figurename~\ref{ufo_gui_temp_bar}. Alarm would indicate if the temperature of the FPGA exceeds the alarm limits. 
+\begin{figure}[h]
+\centering
+\includegraphics[width=\textwidth]{images/ufo_gui_temp.png}
+\caption{\label{ufo_gui_temp_bar} Sensor temperature monitoring}
+\end{figure}
+
+
+
+%TODO: How to save a picture with the GUI?
+
+
+% Host: ipecamera
+
+\subsection{Command line tools in pci-tools}
+
+
+
+The pcitools provide complete control of all camera properties. It allows to read and write the camera registers,
+trigger frame acquisition, initiate DMA transfers, and check the status of active operations. Basically, the command is
+executed as follows:
+
+\begin{verbatim}
+pci <mode> [options] [hex data]
+\end{verbatim}
+
+The first argument mode defines the global mode of operation. Examples are retrieving current camera configuration, 
+reading and writing registers and device memory, performing DMA transfers, or performing continuous frame grabbing.  
+There mode of operation is followed by one or more options that specify various parameters like the register name or address to read/write, required frame rate, number of frames to grab, etc. Finally, the hex data is hex 
+decimal values written to the registers. More information about of the pcitool usage can be found 
+with \verb/pci -h/. 
+
+\begin{lstlisting}
+ufo@ufocamera:~> pci -h
+Usage:
+ pci <mode> [options] [hex data]
+  Modes:
+   -i				- Device Info
+   -l[l]			- List (detailed) Data Banks & Registers
+   -r <addr|reg|dmaX>		- Read Data/Register
+   -w <addr|reg|dmaX>		- Write Data/Register
+   --benchmark <barX|dmaX>	- Performance Evaluation
+   --reset			- Reset board
+   --help			- Help message
+
+  Event Modes:
+   --trigger [event]		- Trigger Events
+   -g [event]			- Grab Events
+
+  DMA Modes:
+   --start-dma <num>[r|w]	- Start specified DMA engine
+   --stop-dma [num[r|w]]	- Stop specified engine or DMA subsystem
+   --list-dma-engines		- List active DMA engines
+   --list-dma-buffers <dma>	- List buffers for specified DMA engine
+   --read-dma-buffer <dma:buf>	- Read the specified buffer
+   --wait-irq <source>		- Wait for IRQ
+
+  Kernel Modes:
+   --list-kernel-memory 	- List kernel buffers
+   --read-kernel-memory <blk>	- Read the specified block of the kernel memory
+				  block is specified as: use:block_number
+   --free-kernel-memory <use>	- Cleans lost kernel space buffers (DANGEROUS)
+	dma			- Remove all buffers allocated by DMA subsystem
+	#number			- Remove all buffers with the specified use id
+
+  Addressing:
+   -d <device>			- FPGA device (/dev/fpga0)
+   -m <model>			- Memory model (autodetected)
+	pci			- Plain
+	ipecamera		- IPE Camera
+   -b <bank>			- PCI bar, Register bank, or DMA channel
+
+  Options:
+   -s <size>			- Number of words (default: 1)
+   -a [fifo|dma]<bits>		- Access type and bits per word (default: 32)
+   -e <l|b>			- Endianess Little/Big (default: host)
+   -o <file>			- Append output to file (default: stdout)
+   -t <timeout|unlimited> 	- Timeout in microseconds
+
+  Event Options:
+   --event <evt>		- Specifies event for trigger and grab modes
+   --data <type>		- Data type to request for the events
+   --run-time <us>		- Limit time to grab/trigger events
+   -t <timeout|unlimited>	- Timeout to stop if no events triggered
+   --trigger-rate <tps>		- Generate tps triggers per second
+   --trigger-time <us>		- Specifies delay between triggers (us)
+   -s <num|unlimited> 		- Number of events to grab and trigger
+   --format [type]		- Specifies how event data should be stored
+	raw			- Just write all events sequentially
+	add_header		- Prefix events with 512 bit header:
+				  event(64), data(64), nope(64), size(64)
+				  seqnum(64), offset(64), timestamp(128)
+   --buffer [size]		- Request data buffering, size in MB
+   --threads [num]		- Allow multithreaded processing
+
+  DMA Options:
+   --multipacket		- Read multiple packets
+   --wait			- Wait until data arrives
+
+  Information:
+   --verbose [level]		- Announce details of ongoing operations
+   -q				- Quiete mode (suppress warnings)
+
+  Data:
+	Data can be specified as sequence of hexdecimal number or
+	a single value prefixed with '*'. In this case it will be
+	replicated the specified amount of times
+	
+\end{lstlisting}
+
+
+Example: read the exposure time
+
+\begin{verbatim}
+pci -r cmosis_exp_time
+\end{verbatim}
+
+\begin{description}
+\item[] The argument  \verb/-r cmosis_exp_time/ reads the register from the image sensor. 
+\end{description}
+
+
+
+
+\section{Working with the camera}
+
+This section describes common operations with the pcitools. 
+
+
+\subsection{Take a single picture}
+
+\begin{verbatim}
+pci --grab -s 1 --trigger -o <output_image>
+\end{verbatim}
+
+\begin{description}
+\item[ ] Mode \verb/--grab/ instructs pcitool to start grabbing
+\item[ ] \verb/-s 1/ option specifies that only a single frame is required
+\item[ ] \verb/--trigger/ instructs camera to self trigger, if this option not provided the pcitool will wait
+until camera will decide to send the frame (possibly triggered by external hardware trigger)
+\item[ ] \verb/-o <output_image>/ specifies the file to store images. The images are stored in raw format, each 16 bit word describing a single pixel. The horizontal dimension is changing before vertical.
+\end{description}
+
+The raw image data does not contain information on image size and colors. This information has to be specified when the image should be displayed. Standard image analysis applications like \emph{Imagej} \cite{SW:IMAGEJ} have raw data import filter that allow to decode the data correctly. 
+The following examples shows the import dialog of an ImageJ distribution called \emph{Fiji} \cite{SW:FIJI}. 
+
+\includegraphics[width=\textwidth]{images/Fiji_set_param.png}
+
+For opening the frame(s) we should execute: \textbf{File} $\rightarrow $ \textbf{Import} $ \rightarrow $ \textbf{Raw...}. After the selection of the frame we should set the frame info: width, height, it's size, endianess, and number of frames. When hovering over the picture with the mouse, in the status bar of the \emph{Fiji} is shown the pixel position and pixel value. In the upper left corner of the picture are additional informations: which frame is displayed, how many frames are open, size of the frame, etc.
+
+
+
+
+\subsection{Taking a series of pictures}
+Similarly, multiple images may be grabbed
+
+\begin{verbatim}
+pci --grab --run-time <us> --trigger --trigger-rate <fps> -o <output_image>
+\end{verbatim}
+
+In this case:
+\begin{description}
+\item[ ] \verb/--run-time <us>/ option specifies how long to grab frames in microseconds
+\item[ ] \verb/--trigger-rate <fps>/ option instructs pcitool how often to issue software triggers. This value is desired frame rate in frames per second
+\item[ ] \verb/-o <output_image>/ option agains specifies the output file. The frames are stored sequentially one after another in a single file
+\end{description}
+
+There is additional options which may define the duration and speed of grabbing process
+\begin{description}
+\item[ ] \verb/--trigger-time <time>/ is alternative way to define the frame rate. In this case, the interval between triggers in microseconds is specified.
+\item[ ] \verb/-s <num>/ limits the number of frames to grab. It is possible to specify both \verb/--run-time/ and \verb/-s/. In this case the grabbing will terminate on each of conditions.
+\item[ ] \verb/-s unlimited/ requires camera to grab infinitely or until \verb/Ctrl+C/ is pressed.
+\item[ ] \verb/-t <timeout>/ instructs camera to stop grabbing if new frames are not triggered within the specified timeout (in microseconds).
+\end{description}
+
+
+The image file now contains a series of images in 16bit raw format. The sequence can be displayed by \emph{Fiji} as shown for the single frame case above.
+
+
+
+\subsection{Exploring camera parameters}
+
+The camera parameters, like exposure time, are set to optimal defaults by the initialization script. During camera operation it is possible to adjust this parameters as needed using camera registers. To get the list of all registered registers along with current values, call:
+\begin{verbatim}
+pci -r 
+\end{verbatim}
+The read command will read by default all known registers.
+
+
+The detailed description of the registers may be obtained with
+\begin{verbatim}
+pci -l
+\end{verbatim}
+
+\begin{lstlisting}
+ufo@ufocamera:~> pci -l
+ BAR 0 - MEM32, Start: 0xf7ff0000, Length: 0x   10000, Flags: 0x00040200
+ BAR 1 - MEM32, Start: 0xf7fee000, Length: 0x    2000, Flags: 0x00040200
+ BAR 2 - MEM32, Start: 0xf7fec000, Length: 0x    2000, Flags: 0x00040200
+
+DMA Engines: 
+
+Banks: 
+ 0x00 cmosis: CMOSIS CMV2000 Registers
+ 0x01 fpga: IPECamera Registers
+ 0x80 dma: DMA Registers
+
+Registers: 
+ 0x01 (16 RW) cmosis_number_lines
+ 0x03 (16 RW) cmosis_start1
+ 0x05 (16 RW) cmosis_start2
+ 0x07 (16 RW) cmosis_start3
+ 0x09 (16 RW) cmosis_start4
+ 0x0b (16 RW) cmosis_start5
+ 0x0d (16 RW) cmosis_start6
+ 0x0f (16 RW) cmosis_start7
+ 0x11 (16 RW) cmosis_start8
+ 0x13 (16 RW) cmosis_number_lines1
+ 0x15 (16 RW) cmosis_number_lines2
+ 0x17 (16 RW) cmosis_number_lines3
+ 0x19 (16 RW) cmosis_number_lines4
+ 0x1b (16 RW) cmosis_number_lines5
+ 0x1d (16 RW) cmosis_number_lines6
+ 0x1f (16 RW) cmosis_number_lines7
+ 0x21 (16 RW) cmosis_number_lines8
+ 0x23 (16 RW) cmosis_sub_s
+ 0x25 (16 RW) cmosis_sub_a
+ 0x27 ( 1 RW) cmosis_color
+ 0x28 ( 2 RW) cmosis_image_flipping
+ 0x29 ( 2 RW) cmosis_exp_flags
+ 0x2a (24 RW) cmosis_exp_time
+ 0x2d (24 RW) cmosis_exp_step
+ 0x30 (24 RW) cmosis_exp_kp1
+ 0x33 (24 RW) cmosis_exp_kp2
+ 0x36 ( 2 RW) cmosis_nr_slopes
+ 0x37 ( 8 RW) cmosis_exp_seq
+ 0x38 (24 RW) cmosis_exp_time2
+ 0x3b (24 RW) cmosis_exp_step2
+ 0x44 ( 2 RW) cmosis_nr_slopes2
+ 0x45 ( 8 RW) cmosis_exp_seq2
+ 0x46 (16 RW) cmosis_number_frames
+ 0x48 ( 2 RW) cmosis_output_mode
+ 0x4e (12 RW) cmosis_training_pattern
+ 0x50 (18 RW) cmosis_channel_en
+ 0x52 ( 3 RW) cmosis_special_82
+ 0x59 ( 8 RW) cmosis_vlow2
+ 0x5a ( 8 RW) cmosis_vlow3
+ 0x64 (14 RW) cmosis_offset
+ 0x66 ( 2 RW) cmosis_pga
+ 0x67 ( 8 RW) cmosis_adc_gain
+ 0x6f ( 1 RW) cmosis_bit_mode
+ 0x70 ( 2 RW) cmosis_adc_resolution
+ 0x73 ( 1 RW) cmosis_special_115
+ 0x00 (32 RW) spi_conf_input
+ 0x10 (32 R ) spi_conf_output
+ 0x20 (32 RW) spi_clk_speed
+ 0x30 (32 R ) firmware_info
+ 0x40 (32 RW) control
+ 0x50 (32 R ) status
+ 0x54 (32 R ) status2
+ 0x58 (32 R ) status3
+ 0x5c (32 R ) fr_status
+ 0x70 (32 R ) start_address
+ 0x74 (32 R ) end_address
+ 0x78 (32 R ) rd_address
+ 0xa0 (32 R ) fr_param1
+ 0xb0 (32 RW) fr_param2
+ 0xc0 (32 R ) skiped_lines
+ 0x100 (32 RW) rawdata_pkt_addr
+ 0x110 (32 R ) temperature_info
+ 0x120 (32 R ) num_lines
+ 0x130 (32 R ) start_line
+ 0x140 (32 R ) exp_time
+ 0x150 (32 RW) motor
+ 0x160 (32 R ) write_status
+ 0x170 (32 RW) num_triggers
+ 0x180 (32 RW) trigger_period
+ 0x190 (32 R ) temperature_sample_period
+ 0x1a0 (32 RW) max_frames
+ 0x1b0 (32 R ) num_frames
+ 0x4000 (32 RW) dma_control_and_status
+ 0x8000 (32 R ) dma_design_version
+ 0x8200 (32 R ) dma_transmit_utilization
+ 0x8204 (32 R ) dma_receive_utilization
+ 0x8208 (32 R ) dma_mwr
+ 0x820c (32 R ) dma_cpld
+ 0x8210 (12 R ) dma_init_fc_cpld
+ 0x8214 ( 8 R ) dma_init_fc_cplh
+ 0x8218 (12 R ) dma_init_fc_npd
+ 0x821c ( 8 R ) dma_init_fc_nph
+ 0x8220 (12 R ) dma_init_fc_pd
+ 0x8224 ( 8 R ) dma_init_fc_ph
+
+Events: 
+ new_frame
+    image: 16 bit pixel data
+    raw: raw data from camera
+    cmask: change mask
+
+\end{lstlisting}
+
+In order to include the sub-registers (bit fields) into the output call
+\begin{verbatim}
+pci -ll
+\end{verbatim}
+
+Example: Read and adjust the exposure time
+
+The value of single register may be read with:
+\begin{verbatim}
+pci -r cmosis_exp_time
+\end{verbatim}
+
+The following command will modify a register:
+\begin{verbatim}
+pci -w cmosis_exp_time 0x25
+\end{verbatim}
+
+
+
+\subsection{Standard scripts}
+
+For often used operations pcitool contains scripts.
+The scripts are self-explanatory. More information, if needed, can be found inside the scripts itself.
+
+\begin{tabular}{|c|p{10cm}|}
+\hline
+Script						& Description \\
+\hline
+\verb/Status.sh/			& For reading the status of the bank register. Field description is provided in accompanying spreadsheet file. \\
+\hline
+\verb/Reset_10_bits.sh/ 	& Reset sequence for setup with the 10bit/pixel. \\
+\hline
+
+\verb/Reset\_11\_bits.sh/ 	& Reset sequence for setup with the 11bit/pixel. \\
+\hline
+\verb/Reset\_12\_bits.sh/ 	& Reset sequence for setup with the 12bit/pixel. \\
+\hline
+\verb/frame.sh/ 			& For requesting frames. Number of frames and exposure time is settable by user. \\
+\verb/stimuli.sh/			& \\
+\hline
+\end{tabular}
+
+% TODO: Display the status output and describe?!
+
+
+%\subsection{Performing calibration of the image sensor}
+
+% TODO: Add description of scripts used to calibrate the sensor
+
+
+
+\section{Advanced options of pcitool}
+
+\subsection{Using DMA engine and accessing raw data}
+
+UFO Camera uses the DMA engine to deliver frames at high rate. Pcitool provides direct access to the DMA engine and allows complex scripting to perform conditional grabbing or debug the camera problems. To achieve this pcitool's DMA engine supports two modes of operation: normal and persistent. In normal mode, the DMA engine is started at each invocation of pci command and is stopped before the application termination. It suits perfectly well the standard grabbing applications. However, it is not enough if complex procedure have to be scripted. In this case, the user should start DMA engine with following command:
+\begin{verbatim}
+pci --start-dma <dma_engine_id>
+\end{verbatim}
+
+The DMA engine will stay running after command termination and may be verified with 
+\begin{verbatim}
+pci --list-dma-engines
+\end{verbatim}
+command. Then, multiple camera operations may be executed. The DMA engine will stay running through these operations. The small buffer will be allocated in the kernel memory space and will accept data coming from camera. When data required, the user will query DMA engine and currently buffered data will be immediately available for further processing. 
+
+To give an example, the following alternative procedure may be used to grab frames directly using DMA engine. First DMA engine for reading from using the first DMA channel should be started
+\begin{verbatim}
+pci --start-dma dma1r
+\end{verbatim}
+
+The new frame may be triggered with following commands:
+\begin{verbatim}
+pci -w control 1e9
+usleep 100000
+pci -w control 1e1
+pci -w control 3e1
+\end{verbatim}
+The first command sends frame request to control register. Then, the script pauses until camera recognizes request and third command cleans the frame request bit from the control register. Finally, the last command enables readout.
+
+Afterwards, the camera will deliver the data to the described kernel buffers. To read the data, the following command may be executed:
+\begin{verbatim}
+pci -r dma1 --multipacket -o <image file>
+\end{verbatim}
+
+\begin{description}
+\item[ ] Mode \verb/-r dma1/ indicates that we want to read from DMA-engine \verb/dma1/.
+\item[ ] DMA option \verb/--multipacket/ indicates that we want to read all DMA engine buffers, otherwise only one buffer (4KB)[check the size of the buffer] would be read out.
+\item[ ] \verb/-o/ option again specifies image file where to store results.
+\end{description}
+
+Finally, the DMA engine must be stopped if we don't want to grab further frames. The following command will do it
+\begin{verbatim}
+pci --stop-dma
+\end{verbatim}
+
+
+However, directly from DMA the data will be returned in internal format of UFO camera, not a pixel data. To decode the format and get actual image, the \verb/ipedec/ command from ufodecode package is required.
+
+To see which parameters could \verb/ipedec/ have, type following in console:
+\begin{lstlisting}
+ufo@ufocamera:~> ipedec -h
+usage: ipedec [OPTION]... FILE [FILE ...]
+Options:
+  -h, --help                Show this help message and exit
+  -v, --verbose             Print additional information on STDOUT
+  -r, --num-rows=N          N rows that are contained in the file
+  -c, --clear-frame         Clear the frame for each iteration
+  -d, --dry-run             Do not save the frames
+  -f, --print-frame-rate    Print frame rate on STDOUT
+      --print-num-rows      Print number of rows on STDOUT
+\end{lstlisting}
+
+The command 
+\begin{verbatim}
+ipedec <image file>
+\end{verbatim}
+creates the decoded file \verb/<image file>.raw/. The application supports one or more frames in the file. It is also possible to grab multiple frames using standard approach in the UFO camera native format. To achieve this, \verb/--format/ option may be added to standard grab command:
+\begin{verbatim}
+pci --grab --run-time --trigger --trigger-rate 30 -o <output_image> --format raw
+\end{verbatim}
+
+
+\subsection{Direct access to the PCI register space}
+
+The bank register is implemented in BAR0 address space. It address is BAR0 address + 0x9000. 
+
+The addresses of pci bar are reported by 
+\begin{verbatim}
+ufo@ufocamera:~> pci -i
+Vendor: 10ee, Device: 6081, Interrupt Pin: 1, Interrupt Line: 11
+BAR 0 - MEM32, Start: 0xfe400000, Length: 0x   10000, Flags: 0x00040200
+BAR 1 - MEM32, Start: 0xfe412000, Length: 0x    2000, Flags: 0x00040200
+BAR 2 - MEM32, Start: 0xfe410000, Length: 0x    2000, Flags: 0x00040200
+\end{verbatim}
+
+Now it is possible to read with \verb/pci -r 0xfe409000 -s 32/ the first 32 bytes of the BAR0 starting with offset 0x9000 (the actual location of UFO camera registers):
+\begin{verbatim}
+ufo@ufocamera:~> pci -r 0xfe409000 -s 32
+fe409000:  00003200  00000000    00003200  00000000
+fe409010:  000b3200  00000000    000b3200  00000000
+fe409020:  00000004  00000000    00000004  00000000
+fe409030:  00000005  00000000    00000005  00000000
+fe409040:  000003e1  00000000    000003e1  00000000
+fe409050:  8449ffff  0f001001    3ffff111  00000000
+fe409060:  00000000  00000000    00000000  00000000
+fe409070:  00089108  0011220c    00112210  00000000
+\end{verbatim}
+
+When accessing the register space, it is possible to configure
+\begin{description}
+\item[ ] \verb/-s <num>/ specifies how many words to read
+\item[ ] \verb/-a <num>/ specifies access mode, how many bits contained in each word (the default value is 32)
+\item[ ] \verb/-e b/ requires decoding from big endian format
+\item[ ] \verb/-o <data.out>/ requires to store the data in the specified file
+\end{description}
+
+Explanation of the Bank register fields are given in \tablename~\ref{bank_reg_fields}.
+
+\begin{table}[p]
+\begin{center}
+\caption{\label{bank_reg_fields}Bank register fields}
+\begin{tabular}{|c| c|p{10cm}|}
+\hline
+Address & Value & Description \\ 
+\hline
+9000 & 0000c800 & Configure the CMOSIS param\\
+\hline
+9010 & 000bc800 & Feedback after the writing. The MSB code -b- for no error present\\
+\hline
+9020 & 00000004 & SPI speed grade - do not care \\
+\hline
+9030 & 00000005	& 12'b0, 2'b0, Output\_mode, 2'b0, ADC\_Resolution, 3'b0,bit\_mode, ReadFirmware\_Ver \\
+\hline
+9040 & 00000201	& Control register\\
+\hline
+9050 & 8449ffff	& Status 1\\
+	& 0f001001	& Status 2\\
+	& 3ffff111	& Status 3\\
+	& 00000000	& do not care\\
+\hline
+9070 & 00089108	& DDR Memory pointer in Start DDR\_ADDRESS\\
+	& 0011220c	& END\_DDR\_ADDRESS\\
+	& 00112210	& RD\_DDR\_ADDRESS\\
+	& 00000000	& do not care\\
+\hline
+90a0 & CMOSIS\_PARAM\_1	& 9:0 skip\_num\_of\_lines\_in, 10:20 num\_of\_lines\_CMOSIS, 21:31 start CMOSIS address\\
+\hline
+90b0 & CMOSIS\_PARAM\_2	& 10:0 CMOSIS threshold line -do not care\\
+\hline
+90c0 & SKIPED\_LINES & Number of skipped lines in CMOSIS\\
+\hline
+9100 & 00001000 & RAWDATA\_PKT\_ADDR\\
+\hline
+9110 & 14830466 & [2:0]FPGA\_Monitor\_temp\_alarms, [9:0]fpga\_temperature, sensor\_temp[18:0]\\
+\hline
+9120 & 00000440 & Number of rows (readout)\\
+\hline
+9130 & START\_POS\_ADD & First ROW in the readout (Start row position)\\
+\hline
+9140 & 00000025 & EXP\_TIME\_EXT\\
+\hline
+9150 & 02800000 & GAIN\_AND\_MOTOR\_POS\_ADD - {4'h0, ADC\_gain, Motor\_X, Motor\_Y, Motor\_Z,	Phi\_deg} \\
+\hline
+9170 & 00000080 & NUMBER\_OF\_TRIGGERS - this set the number of frames when the stimuli.sh is used\\
+\hline
+9180 & 00000280 & TRIGGER\_PERIOD - wait time between frames (min value is 0x280) \\
+\hline
+9190 & 07735940 & Sample period of the CMOSIS temperature - do not care\\
+\hline
+91a0 & 00000064 & Max number of frames in the DDR, works like a threshold, if the number of frame in DDR is equal to this threshold, the Busy is ON	\\
+\hline
+91b0 & 00000000 & Number of frames in DDR - Number of frames sent by DMA. Gives the number of frames still not transmitted\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+
+
+\begin{table}[p]
+\caption{\label{Control} Control register (0x9040)}
+\begin{center}
+\begin{tabular}{|c|c|p{10cm}|}
+\hline
+Bit				& Value 		& Comment \\
+\hline
+31-27 				& -			&  Future applications \\
+\hline
+26				& 1		& Use difference mode, each pixel is subtracted with the reference value  \\
+\hline
+25-16				& -			& Reference pixel value 10bit value \\
+\hline
+15-12				& -	& Future applications \\
+\hline
+11				& 1			& Enable streaming\\
+\hline
+10				& 1	& Enable interleave \\
+\hline
+9				& 1	& Enable READOUT \\
+\hline
+8-5				& -	& Future applications \\
+\hline
+4				& 1		& Enable stimuli \\
+\hline
+3				& 1		& Request single frame \\
+\hline
+2				& 1		& Reset CMOSIS \\
+\hline
+1				& 1		& Reset FPGA temperature monitor \\
+\hline
+0				& 1		& Enable input stage \\
+
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+
+\begin{table}[p]
+\caption{\label{Status1} Status1 register}
+\begin{center}
+\begin{tabular}{|c|c|p{10cm}|}
+\hline
+Bit				& Value 		& Comment \\
+\hline
+31-30 				& 10			&   \\
+\hline
+29-26				& -		& FSM\_Master\_Readout  \\
+\hline
+25-22				& -			& FSM\_DATA \\
+\hline
+21-18				& -	& FSM\_DAQ \\
+\hline
+17				& 1			& FIFO pixel FULL\\
+\hline
+16				& 1	& Control word lock \\
+\hline
+15-0			& -	& DATA channels lock \\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+\begin{table}[p]
+\caption{\label{Status2} Status2 register}
+\begin{center}
+\begin{tabular}{|c|c|p{10cm}|}
+\hline
+Bit				& Value 		& Comment \\
+\hline
+31 				& 1			& End of all stimuli or frame req  \\
+\hline
+30				& 1		& Global BUSY active  \\
+\hline
+29				& 1			& BUSY DDR active \\
+\hline
+28				& 1	& Busy interleaving active \\
+\hline
+27-24				& -			& error status\\
+\hline
+23-14				& -	& Number of words left in RD DDR fifo \\
+\hline
+13			& 1	& RD DDR fifo full \\
+\hline
+12			& 1	& RD DDR fifo empty \\
+\hline
+9-2			& -	& Number of words left in WR DDR fifo \\
+\hline
+1			& 1	& WR DDR fifo full \\
+\hline
+0			& 1	& WR DDR fifo empty \\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+\begin{table}[p]
+\caption{\label{Status3} Status3 register}
+\begin{center}
+\begin{tabular}{|c|c|p{10cm}|}
+\hline
+Bit				& Value 		& Comment \\
+\hline
+29-19				& -			& Error descriptor- Row counter \\
+\hline
+18-12				& -	& Error descriptor- Pixel counter \\
+\hline
+10-8				& -			& FSM RD DDR\\
+\hline
+6-4				& -			& FSM WR DDR\\
+\hline
+2-0				& -			& FSM ARBITER DDR\\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+\begin{table}
+\caption{\label{FSM_DAQ} FSM\_DAQ}
+\begin{center}
+\begin{tabular}{|c|c|}
+\hline
+Value				& Field 	\\	
+\hline
+4'h0				& FSM\_DAQ\_idle \\
+\hline
+4'h1				& FSM\_DAQ\_CMOSIS\_lock \\
+\hline
+4'h2				& FSM\_DAQ\_CMOSIS\_ReadyForEvent \\
+\hline
+4'h3				& FSM\_DAQ\_in\_INT1\_INT2 \\
+\hline
+4'h4				& FSM\_DAQ\_in\_FOT \\
+\hline
+4'h5				& FSM\_DAQ\_New\_Frame \\
+\hline
+4'h6				& FSM\_DAQ\_Pixel\_Readout \\
+\hline
+4'h7				& FSM\_DAQ\_New\_Burst \\
+\hline
+4'h8				& FSM\_DAQ\_New\_Row \\
+\hline
+4'h9				& FSM\_DAQ\_Readout\_Done \\
+\hline
+4'hF				& FSM\_DAQ\_in\_ERROR \\
+
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+\begin{table}
+\caption{\label{FSM_DATA} FSM\_DATA}
+\begin{center}
+\begin{tabular}{|c|c|}
+\hline
+Value				& Field 	\\	
+\hline
+4'h0				& FSM\_DATA\_Reset \\
+\hline
+4'h1				& FSM\_DATA\_Idle \\
+\hline
+4'h2				& FSM\_DATA\_WR\_HEADER\_DATA \\
+\hline
+4'h3				& FSM\_DATA\_WR\_TAIL\_DATA \\
+\hline
+4'h4				& FSM\_DATA\_READOUT\_FINISHED \\
+\hline
+4'h5				& FSM\_DATA\_ERROR \\
+
+
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+\begin{table}
+\caption{\label{FSM_Master_Readout} FSM\_Master\_Readout}
+\begin{center}
+\begin{tabular}{|c|c|}
+\hline
+Value				& Field 	\\	
+\hline
+4'h0				& FSM\_Master\_Ctrl\_Reset \\
+\hline
+4'h1				& FSM\_Master\_Ctrl\_idle \\
+\hline
+4'h2				& FSM\_Master\_Ctrl\_check\_DDR\_busy \\
+\hline
+4'h3				& FSM\_Master\_Ctrl\_save\_Start\_Address \\
+\hline
+4'h4				& FSM\_Master\_Ctrl\_prepare\_and\_write\_Header \\
+\hline
+4'h5				& FSM\_Master\_Ctrl\_start\_readout \\
+\hline
+4'h6				& FSM\_Master\_Ctrl\_wait\_for\_valid\_data \\
+\hline
+4'h7				& FSM\_Master\_Ctrl\_Write\_in\_DDR \\
+\hline
+4'h8				& FSM\_Master\_Ctrl\_all\_Data\_transfered \\
+\hline
+4'h9				& FSM\_Master\_Ctrl\_prepare\_and\_write\_Tailer \\
+\hline
+4'hA				& FSM\_Master\_Ctrl\_save\_End\_Address \\
+\hline
+4'hB				& FSM\_Master\_Ctrl\_RAM\_FULL \\
+
+
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+\begin{table}
+\caption{\label{Error_status} Error\_status}
+\begin{center}
+\begin{tabular}{|c|c|}
+\hline
+Value				& Field 	\\	
+\hline
+4'h0				& FSM\_Data\_check\_Idle \\
+\hline
+4'h1				& FSM\_Data\_Check\_Header\_in\_Payload \\
+\hline
+4'h2				& FSM\_Data\_Check\_Data\_Payload \\
+\hline
+4'h3				& FSM\_Data\_Check\_tail\_in\_Payload \\
+\hline
+4'h4				& FSM\_Data\_Error\_Header \\
+\hline
+4'h5				& FSM\_Data\_Error\_Header\_in\_Payload \\
+\hline
+4'h6				& FSM\_Data\_Error\_pixel\_num\_wrong \\
+\hline
+4'h7				& FSM\_Data\_Error\_row\_number\_wrong \\
+\hline
+4'h8				& FSM\_Data\_Error\_Tail \\
+\hline
+4'h9				& FSM\_Data\_Error\_in\_LVDS\_line \\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+\begin{table}
+\caption{\label{ARBITER} ARBITER DDR values}
+\begin{center}
+\begin{tabular}{|c|c|}
+\hline
+Value				& Field 	\\	
+\hline
+3'h0				& FSM\_ARBITER\_DDR3\_Reset \\
+\hline
+3'h1				& FSM\_ARBITER\_DDR3\_Idle \\
+\hline
+3'h2				& FSM\_ARBITER\_DDR3\_FIFO\_Unload \\
+\hline
+3'h3				& FSM\_ARBITER\_DDR3\_Read \\
+\hline
+3'h4				& FSM\_ARBITER\_DDR3\_Check\_RD\_ADDR \\
+\hline
+3'h5				& FSM\_ARBITER\_DDR3\_Write \\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+
+\begin{table}
+\caption{\label{WR_DDR} WR DDR values}
+\begin{center}
+\begin{tabular}{|c|c|}
+\hline
+Value				& Field 	\\	
+\hline
+3'h0				& FSM\_WR\_DDR3\_Reset \\
+\hline
+3'h1				& FSM\_WR\_DDR3\_Idle \\
+\hline
+3'h2				& FSM\_WR\_DDR3\_Pending \\
+\hline
+3'h3				& FSM\_WR\_DDR3\_Write \\
+\hline
+3'h4				& FSM\_WR\_DDR3\_Copy\_ADD \\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+\begin{table}
+\caption{\label{RD_DDR} RD DDR values }
+\begin{center}
+\begin{tabular}{|c|c|}
+\hline
+Value				& Field 	\\	
+\hline
+3'h0				& FSM\_RD\_DDR3\_Reset \\
+\hline
+3'h1				& FSM\_RD\_DDR3\_Idle \\
+\hline
+3'h2				& FSM\_RD\_DDR3\_Pending \\
+\hline
+3'h3				& FSM\_RD\_DDR3\_Read \\
+\hline
+3'h4				& FSM\_RD\_DDR3\_Copy\_ADD \\
+\hline
+\end{tabular}
+\end{center}
+\end{table}
+
+
+
+
+
+
+\clearpage
+
+
+\subsection{Advanced Scripting}
+Using ability to write to the camera registers and using persistent DMA mode, it is possible to write complex scripts to control camera and perform conditioned frame grabbing. One example may be grabbing frames upon the notification from the external application. In this case, we start the the DMA engine
+\begin{verbatim}
+pci --start-dma dma1r
+\end{verbatim}
+
+and run the grabbing process in the background for 1 minute
+\begin{verbatim}
+pci -g -o images.raw --run-time 60000000 &
+\end{verbatim}
+
+then we execute external application and when required it just triggers a frame-grabbing by calling
+\begin{verbatim}
+pci --trigger
+\end{verbatim}
+
+the frames will be received by the background grabbing process and stored in the specified file images.raw. The example script is  called grab.sh and may be found  in the tests folder within pcitool sources. You may find more scripting examples in the test folder as well.
+
+\subsection{DMA Debugging}
+Pcitool provides advanced options to debug current status of DMA engine. The 
+\begin{verbatim}
+pci --list-dma-engines
+\end{verbatim}
+
+will list currently active DMA engines. 
+\begin{verbatim}
+pci --list-dma-buffers dma1r
+\end{verbatim}
+will report the which buffers of the specified DMA engine are used. dma1r specifies C2S channel of 1st DMA engine. It is the only DMA channel used by the current version of UFO Camera. Finally, it is possible to view current content of the desired DMA buffer without picking it from queue.
+\begin{verbatim}
+pci --read-dma-buffer dma1r:1
+\end{verbatim}
+
+
+It is also possible to investigate the status of kernel buffers. To simplify maintenance the kernel buffers are grouped by their types or, so called, uses. All buffers of the same use may be manipulated together. The following commands are supported:
+\begin{description}
+\item[ ] \verb/pci --list-kernel-memory/ will list all currently allocated kernel memory
+\item[ ] \verb/pci --read-kernel-memory <use:block\_id>/ will return content of the specified block
+\item[ ] \verb/pci --free-kernel-memory <use|dma|block\_id>/ will forcefully deallocate all buffers of specified type, all buffers related to the DMA engine, or buffer with specified id. This is quite dangerous command and if you don't know that are you doing, you most probably will end up with crashed PC.
+\end{description}
+
+To bring an example, lets start DMA engine and request a single frame. The command \verb/pci --list-dma-engines/ will show the following information
+
+\begin{verbatim}
+ufo> pci --list-dma-engines
+DMA Engine     Status      Total Size         Buffer Ring (1st used - 1st free)
+--------------------------------------------------------------------------------
+DMA1 C2S         SD            8.0 MB         0 - 1098 (of 2048)
+--------------------------------------------------------------------------------
+S - Started, D - Data in buffers
+\end{verbatim}
+
+It reports that DMA engine started, the total size of kernel buffers is 8 MB and approximately half o this buffers is already loaded with data of requested frame. Now we can take a look on the buffers with \verb/pci --list-dma-buffers dma1r/
+\begin{verbatim}
+Buffer      Status      Total Size         
+--------------------------------------------------------------------------------
+    0    U  FL       4 KB
+    1    U  FL       4 KB
+...
+ 1096    U  F        4 KB
+ 1097    U   L       8 B 
+ 1098                0 B 
+...
+--------------------------------------------------------------------------------
+U - Used, E - Error, F - First block, L - Last Block
+\end{verbatim}
+'U' flag indicating used buffers and 'F' and 'L' flags specify beginnings and ends of DMA packet.  You may see most of DMA packets, but last, are occupying only one DMA buffer and had size of 4 KB. Only the last DMA packet spans over two buffers and uses only 8 bytes in the last buffer. We may be curious enough to take a look on this buffer with 
+\begin{verbatim}
+pci --read-dma-buffer dma1r:1097 | hexdump -e ' 0x00000000:  0x89abcdef  0x01234567  0x          0x"0x%08.8_ax: " 4/4 " 0x%08x " "\n" '
+\end{verbatim}
+the \verb/pci --read-dma-buffer/ returns data in the raw binary format. So we are using \verb/hexdump/ to make it user readable. The following output will be printed:
+\begin{verbatim}
+0x00000000:  0x89abcdef  0x01234567  0x          0x
+\end{verbatim}
+
+
+Now we can take a look how it is represented in the kernel memory
+\begin{verbatim}
+pci --list-kernel-memory
+\end{verbatim}
+
+will print
+\begin{verbatim}
+	Use      Type                  Count      Total Size       REF       Mode 
+	--------------------------------------------------------------------------------
+	00010001  DMA1 C2S Ring             1         128 KB      HW         Persistent
+	00020001  DMA1 C2S Pages         2048         8.0 MB      HW         Persistent
+	--------------------------------------------------------------------------------
+	REF - Software/Hardware Reference, MODE - Reusable/Persistent/Open
+\end{verbatim}
+
+So, with each DMA engine, the kernel buffers of two types are associated. A single Ring buffer contains the descriptor of DMA engine and associated buffers and 2048 Pages buffers are ready to accept data. We can try to get content of DMA buffer directly accessing the kernel memory with command:
+\begin{verbatim}
+	pci --read-kernel-memory 00020001:1097 | hexdump -e ' "0x%08.8_ax: " 4/4 " 0x%08x " "\n" '
+\end{verbatim}
+
+the following will be printed:
+\begin{verbatim}
+	0x00000000:  0x89abcdef  0x01234567  0x00200200  0xdead0000
+	0x00000010:  0x00000080  0x00000000  0x1fcbf080  0xffff8800
+	0x00000020:  0x00000000  0x00000000  0x00000000  0x00000000
+	0x00000030:  0x00000001  0x00000002  0x00000003  0x00000004
+	...
+\end{verbatim}
+all 4096 bytes of the buffer will be printed in this case because the kernel doesn't know how much memory is actually used in the buffer by DMA engine. But as you can see the first two 32 bit words are the same.
+
+
+
+
+
-- 
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