Merge tag 'io_uring-5.11-2021-01-16' of git://git.kernel.dk/linux-block
[linux/fpc-iii.git] / drivers / gpu / drm / mxsfb / mxsfb_kms.c
blob3e1bb0aefb87c49ccba1ad3d38451bed4c21bd29
1 // SPDX-License-Identifier: GPL-2.0-or-later
2 /*
3 * Copyright (C) 2016 Marek Vasut <marex@denx.de>
5 * This code is based on drivers/video/fbdev/mxsfb.c :
6 * Copyright (C) 2010 Juergen Beisert, Pengutronix
7 * Copyright (C) 2008-2009 Freescale Semiconductor, Inc. All Rights Reserved.
8 * Copyright (C) 2008 Embedded Alley Solutions, Inc All Rights Reserved.
9 */
11 #include <linux/clk.h>
12 #include <linux/io.h>
13 #include <linux/iopoll.h>
14 #include <linux/pm_runtime.h>
15 #include <linux/spinlock.h>
17 #include <drm/drm_atomic.h>
18 #include <drm/drm_atomic_helper.h>
19 #include <drm/drm_bridge.h>
20 #include <drm/drm_crtc.h>
21 #include <drm/drm_encoder.h>
22 #include <drm/drm_fb_cma_helper.h>
23 #include <drm/drm_fourcc.h>
24 #include <drm/drm_gem_cma_helper.h>
25 #include <drm/drm_gem_framebuffer_helper.h>
26 #include <drm/drm_plane.h>
27 #include <drm/drm_plane_helper.h>
28 #include <drm/drm_vblank.h>
30 #include "mxsfb_drv.h"
31 #include "mxsfb_regs.h"
33 /* 1 second delay should be plenty of time for block reset */
34 #define RESET_TIMEOUT 1000000
36 /* -----------------------------------------------------------------------------
37 * CRTC
40 static u32 set_hsync_pulse_width(struct mxsfb_drm_private *mxsfb, u32 val)
42 return (val & mxsfb->devdata->hs_wdth_mask) <<
43 mxsfb->devdata->hs_wdth_shift;
47 * Setup the MXSFB registers for decoding the pixels out of the framebuffer and
48 * outputting them on the bus.
50 static void mxsfb_set_formats(struct mxsfb_drm_private *mxsfb)
52 struct drm_device *drm = mxsfb->drm;
53 const u32 format = mxsfb->crtc.primary->state->fb->format->format;
54 u32 bus_format = MEDIA_BUS_FMT_RGB888_1X24;
55 u32 ctrl, ctrl1;
57 if (mxsfb->connector->display_info.num_bus_formats)
58 bus_format = mxsfb->connector->display_info.bus_formats[0];
60 DRM_DEV_DEBUG_DRIVER(drm->dev, "Using bus_format: 0x%08X\n",
61 bus_format);
63 ctrl = CTRL_BYPASS_COUNT | CTRL_MASTER;
65 /* CTRL1 contains IRQ config and status bits, preserve those. */
66 ctrl1 = readl(mxsfb->base + LCDC_CTRL1);
67 ctrl1 &= CTRL1_CUR_FRAME_DONE_IRQ_EN | CTRL1_CUR_FRAME_DONE_IRQ;
69 switch (format) {
70 case DRM_FORMAT_RGB565:
71 dev_dbg(drm->dev, "Setting up RGB565 mode\n");
72 ctrl |= CTRL_WORD_LENGTH_16;
73 ctrl1 |= CTRL1_SET_BYTE_PACKAGING(0xf);
74 break;
75 case DRM_FORMAT_XRGB8888:
76 dev_dbg(drm->dev, "Setting up XRGB8888 mode\n");
77 ctrl |= CTRL_WORD_LENGTH_24;
78 /* Do not use packed pixels = one pixel per word instead. */
79 ctrl1 |= CTRL1_SET_BYTE_PACKAGING(0x7);
80 break;
83 switch (bus_format) {
84 case MEDIA_BUS_FMT_RGB565_1X16:
85 ctrl |= CTRL_BUS_WIDTH_16;
86 break;
87 case MEDIA_BUS_FMT_RGB666_1X18:
88 ctrl |= CTRL_BUS_WIDTH_18;
89 break;
90 case MEDIA_BUS_FMT_RGB888_1X24:
91 ctrl |= CTRL_BUS_WIDTH_24;
92 break;
93 default:
94 dev_err(drm->dev, "Unknown media bus format %d\n", bus_format);
95 break;
98 writel(ctrl1, mxsfb->base + LCDC_CTRL1);
99 writel(ctrl, mxsfb->base + LCDC_CTRL);
102 static void mxsfb_enable_controller(struct mxsfb_drm_private *mxsfb)
104 u32 reg;
106 if (mxsfb->clk_disp_axi)
107 clk_prepare_enable(mxsfb->clk_disp_axi);
108 clk_prepare_enable(mxsfb->clk);
110 /* If it was disabled, re-enable the mode again */
111 writel(CTRL_DOTCLK_MODE, mxsfb->base + LCDC_CTRL + REG_SET);
113 /* Enable the SYNC signals first, then the DMA engine */
114 reg = readl(mxsfb->base + LCDC_VDCTRL4);
115 reg |= VDCTRL4_SYNC_SIGNALS_ON;
116 writel(reg, mxsfb->base + LCDC_VDCTRL4);
118 writel(CTRL_RUN, mxsfb->base + LCDC_CTRL + REG_SET);
121 static void mxsfb_disable_controller(struct mxsfb_drm_private *mxsfb)
123 u32 reg;
126 * Even if we disable the controller here, it will still continue
127 * until its FIFOs are running out of data
129 writel(CTRL_DOTCLK_MODE, mxsfb->base + LCDC_CTRL + REG_CLR);
131 readl_poll_timeout(mxsfb->base + LCDC_CTRL, reg, !(reg & CTRL_RUN),
132 0, 1000);
134 reg = readl(mxsfb->base + LCDC_VDCTRL4);
135 reg &= ~VDCTRL4_SYNC_SIGNALS_ON;
136 writel(reg, mxsfb->base + LCDC_VDCTRL4);
138 clk_disable_unprepare(mxsfb->clk);
139 if (mxsfb->clk_disp_axi)
140 clk_disable_unprepare(mxsfb->clk_disp_axi);
144 * Clear the bit and poll it cleared. This is usually called with
145 * a reset address and mask being either SFTRST(bit 31) or CLKGATE
146 * (bit 30).
148 static int clear_poll_bit(void __iomem *addr, u32 mask)
150 u32 reg;
152 writel(mask, addr + REG_CLR);
153 return readl_poll_timeout(addr, reg, !(reg & mask), 0, RESET_TIMEOUT);
156 static int mxsfb_reset_block(struct mxsfb_drm_private *mxsfb)
158 int ret;
160 ret = clear_poll_bit(mxsfb->base + LCDC_CTRL, CTRL_SFTRST);
161 if (ret)
162 return ret;
164 writel(CTRL_CLKGATE, mxsfb->base + LCDC_CTRL + REG_CLR);
166 ret = clear_poll_bit(mxsfb->base + LCDC_CTRL, CTRL_SFTRST);
167 if (ret)
168 return ret;
170 return clear_poll_bit(mxsfb->base + LCDC_CTRL, CTRL_CLKGATE);
173 static dma_addr_t mxsfb_get_fb_paddr(struct drm_plane *plane)
175 struct drm_framebuffer *fb = plane->state->fb;
176 struct drm_gem_cma_object *gem;
178 if (!fb)
179 return 0;
181 gem = drm_fb_cma_get_gem_obj(fb, 0);
182 if (!gem)
183 return 0;
185 return gem->paddr;
188 static void mxsfb_crtc_mode_set_nofb(struct mxsfb_drm_private *mxsfb)
190 struct drm_device *drm = mxsfb->crtc.dev;
191 struct drm_display_mode *m = &mxsfb->crtc.state->adjusted_mode;
192 u32 bus_flags = mxsfb->connector->display_info.bus_flags;
193 u32 vdctrl0, vsync_pulse_len, hsync_pulse_len;
194 int err;
197 * It seems, you can't re-program the controller if it is still
198 * running. This may lead to shifted pictures (FIFO issue?), so
199 * first stop the controller and drain its FIFOs.
202 /* Mandatory eLCDIF reset as per the Reference Manual */
203 err = mxsfb_reset_block(mxsfb);
204 if (err)
205 return;
207 /* Clear the FIFOs */
208 writel(CTRL1_FIFO_CLEAR, mxsfb->base + LCDC_CTRL1 + REG_SET);
210 if (mxsfb->devdata->has_overlay)
211 writel(0, mxsfb->base + LCDC_AS_CTRL);
213 mxsfb_set_formats(mxsfb);
215 clk_set_rate(mxsfb->clk, m->crtc_clock * 1000);
217 if (mxsfb->bridge && mxsfb->bridge->timings)
218 bus_flags = mxsfb->bridge->timings->input_bus_flags;
220 DRM_DEV_DEBUG_DRIVER(drm->dev, "Pixel clock: %dkHz (actual: %dkHz)\n",
221 m->crtc_clock,
222 (int)(clk_get_rate(mxsfb->clk) / 1000));
223 DRM_DEV_DEBUG_DRIVER(drm->dev, "Connector bus_flags: 0x%08X\n",
224 bus_flags);
225 DRM_DEV_DEBUG_DRIVER(drm->dev, "Mode flags: 0x%08X\n", m->flags);
227 writel(TRANSFER_COUNT_SET_VCOUNT(m->crtc_vdisplay) |
228 TRANSFER_COUNT_SET_HCOUNT(m->crtc_hdisplay),
229 mxsfb->base + mxsfb->devdata->transfer_count);
231 vsync_pulse_len = m->crtc_vsync_end - m->crtc_vsync_start;
233 vdctrl0 = VDCTRL0_ENABLE_PRESENT | /* Always in DOTCLOCK mode */
234 VDCTRL0_VSYNC_PERIOD_UNIT |
235 VDCTRL0_VSYNC_PULSE_WIDTH_UNIT |
236 VDCTRL0_SET_VSYNC_PULSE_WIDTH(vsync_pulse_len);
237 if (m->flags & DRM_MODE_FLAG_PHSYNC)
238 vdctrl0 |= VDCTRL0_HSYNC_ACT_HIGH;
239 if (m->flags & DRM_MODE_FLAG_PVSYNC)
240 vdctrl0 |= VDCTRL0_VSYNC_ACT_HIGH;
241 /* Make sure Data Enable is high active by default */
242 if (!(bus_flags & DRM_BUS_FLAG_DE_LOW))
243 vdctrl0 |= VDCTRL0_ENABLE_ACT_HIGH;
245 * DRM_BUS_FLAG_PIXDATA_DRIVE_ defines are controller centric,
246 * controllers VDCTRL0_DOTCLK is display centric.
247 * Drive on positive edge -> display samples on falling edge
248 * DRM_BUS_FLAG_PIXDATA_DRIVE_POSEDGE -> VDCTRL0_DOTCLK_ACT_FALLING
250 if (bus_flags & DRM_BUS_FLAG_PIXDATA_DRIVE_POSEDGE)
251 vdctrl0 |= VDCTRL0_DOTCLK_ACT_FALLING;
253 writel(vdctrl0, mxsfb->base + LCDC_VDCTRL0);
255 /* Frame length in lines. */
256 writel(m->crtc_vtotal, mxsfb->base + LCDC_VDCTRL1);
258 /* Line length in units of clocks or pixels. */
259 hsync_pulse_len = m->crtc_hsync_end - m->crtc_hsync_start;
260 writel(set_hsync_pulse_width(mxsfb, hsync_pulse_len) |
261 VDCTRL2_SET_HSYNC_PERIOD(m->crtc_htotal),
262 mxsfb->base + LCDC_VDCTRL2);
264 writel(SET_HOR_WAIT_CNT(m->crtc_htotal - m->crtc_hsync_start) |
265 SET_VERT_WAIT_CNT(m->crtc_vtotal - m->crtc_vsync_start),
266 mxsfb->base + LCDC_VDCTRL3);
268 writel(SET_DOTCLK_H_VALID_DATA_CNT(m->hdisplay),
269 mxsfb->base + LCDC_VDCTRL4);
272 static int mxsfb_crtc_atomic_check(struct drm_crtc *crtc,
273 struct drm_atomic_state *state)
275 struct drm_crtc_state *crtc_state = drm_atomic_get_new_crtc_state(state,
276 crtc);
277 bool has_primary = crtc_state->plane_mask &
278 drm_plane_mask(crtc->primary);
280 /* The primary plane has to be enabled when the CRTC is active. */
281 if (crtc_state->active && !has_primary)
282 return -EINVAL;
284 /* TODO: Is this needed ? */
285 return drm_atomic_add_affected_planes(state, crtc);
288 static void mxsfb_crtc_atomic_flush(struct drm_crtc *crtc,
289 struct drm_atomic_state *state)
291 struct drm_pending_vblank_event *event;
293 event = crtc->state->event;
294 crtc->state->event = NULL;
296 if (!event)
297 return;
299 spin_lock_irq(&crtc->dev->event_lock);
300 if (drm_crtc_vblank_get(crtc) == 0)
301 drm_crtc_arm_vblank_event(crtc, event);
302 else
303 drm_crtc_send_vblank_event(crtc, event);
304 spin_unlock_irq(&crtc->dev->event_lock);
307 static void mxsfb_crtc_atomic_enable(struct drm_crtc *crtc,
308 struct drm_atomic_state *state)
310 struct mxsfb_drm_private *mxsfb = to_mxsfb_drm_private(crtc->dev);
311 struct drm_device *drm = mxsfb->drm;
312 dma_addr_t paddr;
314 pm_runtime_get_sync(drm->dev);
315 mxsfb_enable_axi_clk(mxsfb);
317 drm_crtc_vblank_on(crtc);
319 mxsfb_crtc_mode_set_nofb(mxsfb);
321 /* Write cur_buf as well to avoid an initial corrupt frame */
322 paddr = mxsfb_get_fb_paddr(crtc->primary);
323 if (paddr) {
324 writel(paddr, mxsfb->base + mxsfb->devdata->cur_buf);
325 writel(paddr, mxsfb->base + mxsfb->devdata->next_buf);
328 mxsfb_enable_controller(mxsfb);
331 static void mxsfb_crtc_atomic_disable(struct drm_crtc *crtc,
332 struct drm_atomic_state *state)
334 struct mxsfb_drm_private *mxsfb = to_mxsfb_drm_private(crtc->dev);
335 struct drm_device *drm = mxsfb->drm;
336 struct drm_pending_vblank_event *event;
338 mxsfb_disable_controller(mxsfb);
340 spin_lock_irq(&drm->event_lock);
341 event = crtc->state->event;
342 if (event) {
343 crtc->state->event = NULL;
344 drm_crtc_send_vblank_event(crtc, event);
346 spin_unlock_irq(&drm->event_lock);
348 drm_crtc_vblank_off(crtc);
350 mxsfb_disable_axi_clk(mxsfb);
351 pm_runtime_put_sync(drm->dev);
354 static int mxsfb_crtc_enable_vblank(struct drm_crtc *crtc)
356 struct mxsfb_drm_private *mxsfb = to_mxsfb_drm_private(crtc->dev);
358 /* Clear and enable VBLANK IRQ */
359 writel(CTRL1_CUR_FRAME_DONE_IRQ, mxsfb->base + LCDC_CTRL1 + REG_CLR);
360 writel(CTRL1_CUR_FRAME_DONE_IRQ_EN, mxsfb->base + LCDC_CTRL1 + REG_SET);
362 return 0;
365 static void mxsfb_crtc_disable_vblank(struct drm_crtc *crtc)
367 struct mxsfb_drm_private *mxsfb = to_mxsfb_drm_private(crtc->dev);
369 /* Disable and clear VBLANK IRQ */
370 writel(CTRL1_CUR_FRAME_DONE_IRQ_EN, mxsfb->base + LCDC_CTRL1 + REG_CLR);
371 writel(CTRL1_CUR_FRAME_DONE_IRQ, mxsfb->base + LCDC_CTRL1 + REG_CLR);
374 static const struct drm_crtc_helper_funcs mxsfb_crtc_helper_funcs = {
375 .atomic_check = mxsfb_crtc_atomic_check,
376 .atomic_flush = mxsfb_crtc_atomic_flush,
377 .atomic_enable = mxsfb_crtc_atomic_enable,
378 .atomic_disable = mxsfb_crtc_atomic_disable,
381 static const struct drm_crtc_funcs mxsfb_crtc_funcs = {
382 .reset = drm_atomic_helper_crtc_reset,
383 .destroy = drm_crtc_cleanup,
384 .set_config = drm_atomic_helper_set_config,
385 .page_flip = drm_atomic_helper_page_flip,
386 .atomic_duplicate_state = drm_atomic_helper_crtc_duplicate_state,
387 .atomic_destroy_state = drm_atomic_helper_crtc_destroy_state,
388 .enable_vblank = mxsfb_crtc_enable_vblank,
389 .disable_vblank = mxsfb_crtc_disable_vblank,
392 /* -----------------------------------------------------------------------------
393 * Encoder
396 static const struct drm_encoder_funcs mxsfb_encoder_funcs = {
397 .destroy = drm_encoder_cleanup,
400 /* -----------------------------------------------------------------------------
401 * Planes
404 static int mxsfb_plane_atomic_check(struct drm_plane *plane,
405 struct drm_plane_state *plane_state)
407 struct mxsfb_drm_private *mxsfb = to_mxsfb_drm_private(plane->dev);
408 struct drm_crtc_state *crtc_state;
410 crtc_state = drm_atomic_get_new_crtc_state(plane_state->state,
411 &mxsfb->crtc);
413 return drm_atomic_helper_check_plane_state(plane_state, crtc_state,
414 DRM_PLANE_HELPER_NO_SCALING,
415 DRM_PLANE_HELPER_NO_SCALING,
416 false, true);
419 static void mxsfb_plane_primary_atomic_update(struct drm_plane *plane,
420 struct drm_plane_state *old_pstate)
422 struct mxsfb_drm_private *mxsfb = to_mxsfb_drm_private(plane->dev);
423 dma_addr_t paddr;
425 paddr = mxsfb_get_fb_paddr(plane);
426 if (paddr)
427 writel(paddr, mxsfb->base + mxsfb->devdata->next_buf);
430 static void mxsfb_plane_overlay_atomic_update(struct drm_plane *plane,
431 struct drm_plane_state *old_pstate)
433 struct mxsfb_drm_private *mxsfb = to_mxsfb_drm_private(plane->dev);
434 struct drm_plane_state *state = plane->state;
435 dma_addr_t paddr;
436 u32 ctrl;
438 paddr = mxsfb_get_fb_paddr(plane);
439 if (!paddr) {
440 writel(0, mxsfb->base + LCDC_AS_CTRL);
441 return;
445 * HACK: The hardware seems to output 64 bytes of data of unknown
446 * origin, and then to proceed with the framebuffer. Until the reason
447 * is understood, live with the 16 initial invalid pixels on the first
448 * line and start 64 bytes within the framebuffer.
450 paddr += 64;
452 writel(paddr, mxsfb->base + LCDC_AS_NEXT_BUF);
455 * If the plane was previously disabled, write LCDC_AS_BUF as well to
456 * provide the first buffer.
458 if (!old_pstate->fb)
459 writel(paddr, mxsfb->base + LCDC_AS_BUF);
461 ctrl = AS_CTRL_AS_ENABLE | AS_CTRL_ALPHA(255);
463 switch (state->fb->format->format) {
464 case DRM_FORMAT_XRGB4444:
465 ctrl |= AS_CTRL_FORMAT_RGB444 | AS_CTRL_ALPHA_CTRL_OVERRIDE;
466 break;
467 case DRM_FORMAT_ARGB4444:
468 ctrl |= AS_CTRL_FORMAT_ARGB4444 | AS_CTRL_ALPHA_CTRL_EMBEDDED;
469 break;
470 case DRM_FORMAT_XRGB1555:
471 ctrl |= AS_CTRL_FORMAT_RGB555 | AS_CTRL_ALPHA_CTRL_OVERRIDE;
472 break;
473 case DRM_FORMAT_ARGB1555:
474 ctrl |= AS_CTRL_FORMAT_ARGB1555 | AS_CTRL_ALPHA_CTRL_EMBEDDED;
475 break;
476 case DRM_FORMAT_RGB565:
477 ctrl |= AS_CTRL_FORMAT_RGB565 | AS_CTRL_ALPHA_CTRL_OVERRIDE;
478 break;
479 case DRM_FORMAT_XRGB8888:
480 ctrl |= AS_CTRL_FORMAT_RGB888 | AS_CTRL_ALPHA_CTRL_OVERRIDE;
481 break;
482 case DRM_FORMAT_ARGB8888:
483 ctrl |= AS_CTRL_FORMAT_ARGB8888 | AS_CTRL_ALPHA_CTRL_EMBEDDED;
484 break;
487 writel(ctrl, mxsfb->base + LCDC_AS_CTRL);
490 static bool mxsfb_format_mod_supported(struct drm_plane *plane,
491 uint32_t format,
492 uint64_t modifier)
494 return modifier == DRM_FORMAT_MOD_LINEAR;
497 static const struct drm_plane_helper_funcs mxsfb_plane_primary_helper_funcs = {
498 .prepare_fb = drm_gem_fb_prepare_fb,
499 .atomic_check = mxsfb_plane_atomic_check,
500 .atomic_update = mxsfb_plane_primary_atomic_update,
503 static const struct drm_plane_helper_funcs mxsfb_plane_overlay_helper_funcs = {
504 .prepare_fb = drm_gem_fb_prepare_fb,
505 .atomic_check = mxsfb_plane_atomic_check,
506 .atomic_update = mxsfb_plane_overlay_atomic_update,
509 static const struct drm_plane_funcs mxsfb_plane_funcs = {
510 .format_mod_supported = mxsfb_format_mod_supported,
511 .update_plane = drm_atomic_helper_update_plane,
512 .disable_plane = drm_atomic_helper_disable_plane,
513 .destroy = drm_plane_cleanup,
514 .reset = drm_atomic_helper_plane_reset,
515 .atomic_duplicate_state = drm_atomic_helper_plane_duplicate_state,
516 .atomic_destroy_state = drm_atomic_helper_plane_destroy_state,
519 static const uint32_t mxsfb_primary_plane_formats[] = {
520 DRM_FORMAT_RGB565,
521 DRM_FORMAT_XRGB8888,
524 static const uint32_t mxsfb_overlay_plane_formats[] = {
525 DRM_FORMAT_XRGB4444,
526 DRM_FORMAT_ARGB4444,
527 DRM_FORMAT_XRGB1555,
528 DRM_FORMAT_ARGB1555,
529 DRM_FORMAT_RGB565,
530 DRM_FORMAT_XRGB8888,
531 DRM_FORMAT_ARGB8888,
534 static const uint64_t mxsfb_modifiers[] = {
535 DRM_FORMAT_MOD_LINEAR,
536 DRM_FORMAT_MOD_INVALID
539 /* -----------------------------------------------------------------------------
540 * Initialization
543 int mxsfb_kms_init(struct mxsfb_drm_private *mxsfb)
545 struct drm_encoder *encoder = &mxsfb->encoder;
546 struct drm_crtc *crtc = &mxsfb->crtc;
547 int ret;
549 drm_plane_helper_add(&mxsfb->planes.primary,
550 &mxsfb_plane_primary_helper_funcs);
551 ret = drm_universal_plane_init(mxsfb->drm, &mxsfb->planes.primary, 1,
552 &mxsfb_plane_funcs,
553 mxsfb_primary_plane_formats,
554 ARRAY_SIZE(mxsfb_primary_plane_formats),
555 mxsfb_modifiers, DRM_PLANE_TYPE_PRIMARY,
556 NULL);
557 if (ret)
558 return ret;
560 if (mxsfb->devdata->has_overlay) {
561 drm_plane_helper_add(&mxsfb->planes.overlay,
562 &mxsfb_plane_overlay_helper_funcs);
563 ret = drm_universal_plane_init(mxsfb->drm,
564 &mxsfb->planes.overlay, 1,
565 &mxsfb_plane_funcs,
566 mxsfb_overlay_plane_formats,
567 ARRAY_SIZE(mxsfb_overlay_plane_formats),
568 mxsfb_modifiers, DRM_PLANE_TYPE_OVERLAY,
569 NULL);
570 if (ret)
571 return ret;
574 drm_crtc_helper_add(crtc, &mxsfb_crtc_helper_funcs);
575 ret = drm_crtc_init_with_planes(mxsfb->drm, crtc,
576 &mxsfb->planes.primary, NULL,
577 &mxsfb_crtc_funcs, NULL);
578 if (ret)
579 return ret;
581 encoder->possible_crtcs = drm_crtc_mask(crtc);
582 return drm_encoder_init(mxsfb->drm, encoder, &mxsfb_encoder_funcs,
583 DRM_MODE_ENCODER_NONE, NULL);