Home

Bi-i Vision System Programming Guide

1. The TLaserController class uses the DMA channels of the DSP Care must be taken if the L2 cache of the DSP is enabled because the DMA transfer together with the L2 cache can result in malfunctions See Section 5 6 L2 Cache for more details When using TLaserController with the L2 cache enabled the internal buffers of the object must be located in a non cacheable memory space The addresses of the internal buffers can be specified as argu ments of the constructor The default value for these arguments is zero which instructs the constructor to allocate the buffers dynamically The LaserUtils h file contains additional functions for laser control The most frequently used function is Laser PixelToAngle which solves a common conversion task The position of the objects to be marked with the laser is usually generated in pixel coordinates on the image of the camera The Laser PixelToAngle function converts the pixel coordinates to values that can be directly passed to the SetPosition function of the TLaserCon troller class 5 9 Debug Bi i application with JTAG A Bi i application can be debugged with Code Composer Studio CCS through the JTAG interface of the DSP The next figures shows the location of the connectors in the different Bi i versions These figures show the circuit boards inside the Bi i cameras which can be seen after removing the back plane 71 THe Bi i SDK 222222CcCCCCcCcc 222666066 22292226 CCcCCcC6cc 2 222
2. Message AMC SDK BII MSG PUT host display host print host put data Operator TStd lt lt BII MSG CLR host clr scr TStd ClrScrQ BII MSG GET host get data or host get pic Operator TStd gt gt in standard input mode BII MSG WAIT BEGIN host wait TStd Wait BII MSG WAIT END BII MSG STOP end or BII MSG STOP received Return from main or Program End from the host 0 Table 4 3 Messages received in the host application The table below show the effect of messages that where sent to the Bi i in AMC and SDK Message AMC SDK BII MSG PAUSE Pause after the current instruction GetPauseStatus or CheckPauseSta BII MSG RESUME Resume after pause tus indicates it BII MSG WAIT END End of wait state immediately BII MSG STOP Stop ofter the current instruction GetStopStatus indicates it BII MSG ABORT Abort immediately Table 4 4 Messages sent from the host application 28 THE API 4 6 NET Components This is a component package for the Microsoft Visual Studio 2005 that works like an API for the NET framework There are five components in this package DeviceControl which is an invisible component that presents the interface of the Bi i API to the NET frame work It contains all of the properties events and public functions that are necessary to access and control an InstantVision application It can start stop pause and resume an application and gives the control interf
3. Precharge value 1 millisecond 195 Capturing to C_LAM1 ace CaptureOpt C_LAM1 Capturing to C_LLM1 ace CaptureOpt C LLM1 5 5 6 Image Processing Library IPL Image processing library for ACE16k is implemented in a class called TACE IPL which contains two function groups for processing images morphological operations and gray scale operations The TACE IPL is derived from TACE class and inherits all the functionality The constructor of this class initializes the needed instruction group writes corresponding IPL templates to the ACE16k Therefore the C TEMI C TEMC21 templates are reserved TACE IPL Overwriting these templates corrupts the TACE IPL functionality The IPL mode can be changed after creating a TACE IPL object with the SetIPLMode member function Note If the morphological group is used a calibration step is needed for the correct working in about every 10 milliseconds Example 5 32 Typical morphological operation with TACE IPL TACE IPL ace IPL MORPH TBitMatrix BinImage 128 128 Loading input image Writing image to ACE16k ace C LLM2 BinImagel Calibration for morphology ace Calibrate Edge detection with full connectivity BOX MASK ace Edge8 1 Reading result images ace gt gt BinImage2 63 THe Bi i SDK Example 5 33 Typical gray scale operation with TACE_IPL TACE_IPL ace IPL GRAY TByteMatrix Image 128 128 Loading input image
4. break Gee Isi M9G So Application stopped go ahead false break 4 3 Sending Messages Use the Bii_PostMessage function the send the following messages to the Bi i BII MSG PAUSE BII MSG RESUME BII MSG WAIT END BII MSG STOP BII MSG ABORT The Bi i pauses program execution The Bi i resumes program execution when it was temporarily paused with BII MSG PAUSE Use when BII MSG WAIT BEGIN was received Forces the Bi i application to finish wait state immediately without waiting for the end of the specified delay Stops the execution of the program on the Bi i The Bi i sends back the same message when the program was really stopped Aborts the program on the Bi i Use this message with care because the application has no chance of executing any cleanup code The normal way of stopping the application is the BII MSG STOP message Do not use the handle received from Bii Run after sending this message 4 4 Data Transfer 4 4 1 Data Rep resentation The data transfer between the Bi i and the host application is based on the Bii HostData structure The data representation on the Bi i uses the data types defined in the InstantVision library Consequently some elements of Bii HostData also use these data types See the InstantVision documentation for more details The Bii HostData structure has the following members Type Identifier Anonymous union The type of the data selected from th
5. Bi i Vision System Programming Guide Eutecus Inc Bi i Vision System Programming Guide 3 1 36 Eutecus Inc 1936 University Ave Suite 360 Berkeley CA 94704 Phone 510 540 9603 Fax 510 649 7808 http www eutecus com info eutecus com Copyright 2004 2007 Eutecus Inc Table of Contents 1 Introduction oen epo ei Oe ROT EDI ted S ee ERE eie temen te E e ea 1 2 The AMC Eangudgex eo oett cs seve REPE QU REO E ETETE A E EE EE saber ERO C a EROR abies 2 2 1 Introduction credito e e RR E dup ap REREEE ERE SUI EET Pe ORE ERI e ERE E et 2 2 2 AME Compiler arcs eset Arte e emet uec E e Feci e ee A ete et des S dst e re tp eR rx 2 2 3 Running AMC Programs sessies phe te tH eo ER He ee t Ehe ER E te Regen 2 2 General Rules 4 oer drm DB Ee pir e HU ERE 3 2 5 Argument Types arn ed t RR e pr e Er Det t ED to eerte deze 3 2 6 Address Sp ces ci menthe m AE ani Acai e ame edere ai E 5 2 7 Data Structures ee ven e REO pO RU GHI RR UE RH Hebe tei etes 5 2 1 1 Images and Other 2D Arrays iie e er I E UNS EEEE EER EEG sens E PESE tans 5 PATEDEA TO DEP 6 2 1 3 Templates 4 ebur pavo ite tae qe aep eret epis 6 2 8 Basic AMG Code scio ite deerat RU Ro t EG eg Re ote dee bebe 6 2 9 Image handling oso de UE Eu UO HERE RR U RR UE E URN 6 2 10 Flow Control nete t e ae e t ER b e er i E ee heben 7 2 10 1 E 00p 4i secos RU RR enda AR ER AA pe on eiae ists 7 2 10 2 Calling Subrouti
6. Image Initialization Both gray scale and binary images can be filled initialized with a specified value using the Set functions In addition the lt lt operator with an integer fills the current C LAM with a constant value while calling the lt lt operator with a logical value fills the current C LLM Example 5 26 Initialization of image memories with TACE TACE ace Initializing a gray scale image memory with 100 gray scale pixel value ace SetLAM C LAM2 100 ox ace lt lt C LAM lt lt 1007 Initializing a binary image memory with false binary value ace SetLLM C_LLM2 false ox ace C LLM2 false 5 5 4 Operations on Images The ACE16k can processes images with several operations like logic on binary images template execution on binary or gray scale images etc The IPL is based also on these operations 60 Tue Bi i SDK 5 5 4 1 Bit Wise Logic on Binary Images The logical unit of the processor array is the only digital module in the ACE16k This performs a bit wise logical operation on binary images but the output image can be also an analog gray scale image therefore the output parameter is a reference of an object of a helper class called TCImageOut which is a container for a specified image memory ID For all logic operations except not the input images are always C LLMI and C_LLM2 therefore these operations have no input parameters Example 5 27 Bit wise logic operations w
7. IniFile ExternalParams Section SpecialVariables Key IndirectVar GDatatype DATA TYPE INT Range 0 20 DefaultValue 2 Flags Indirect 2a int IndirectVariable 40 5 The Bi i SDK 5 1 Getting started The Bi i SDK is a set of C libraries to be used for Bi i programming Some parts of the Bi i SDK are based on classes defined in the BaseData module of the InstantVision libraries It is assumed that you are familiar with BaseData See the InstantVision User s Guide and the InstantVision Reference for more details 5 1 1 The Software Environment The Bi i SDK is designed to be used together with Code Composer Studio from Texas Instruments http www ti com The required version is 2 2 or above It is supposed in this manual that you are familiar with Code Composer Studio and C programming It is recommended to set the lib and the include folders within the installation folder of the Bi i software to the C6X C DIR environment variable Normally this is done during the software setup After that you can use the libraries without path and the include files with relative path to the include folder 5 1 2 Running an Application Torunan application on Bi i first a proper device must be configured with IV Config and after that a host application is needed that refers to the device number as it was set in IVConfig IVRun IVRun x86 exe is a host application that comes with the Bi i software package custom host app
8. Note The closing of the AVI should be in the cleanup code because the cleanup code will run even if the program is aborted due to an error 2 12 Frame Grabber Frame grabber devices on host computer can be used to grab image sequences Only the Hexium frame grabber card and Microsoft Directshow devices are supported Example 2 12 Getting images from the Hexium frame grabber in AMC Opens Hexium frame grabber host frgb start GAM1 HEXIUM 0 0 Sets signal type to PAL host frgb signal GAM1 1 PAL loop Image resolution 384 288 24bit from channel 0 host frgb mov pic GAM1 0 hexmode_384_288_24 0x80010000 rgb Displays grabbed image host display 0x80010000 1 jump loop cleanup host frgb stop GAM1 The program grabs color images from the Hexium frame grabber and display those until the program is stopped 11 THE AMC LANGUAGE Example 2 13 Getting images from a DirectShow source in AMC Opens a directshow device ho staieacqion sta geaGAM ee Di RECs 1 Wile O mele loop Grabs image from default channel and mode host frgb mov pic GAM1 1 0 0x80010000 host display 0x80010000 1 jump loop cleanup host frgb stop GAM1 The DirectShowTest exe utility shows all supported devices channels and modes of connected DirectShow de vices and those parameters can be written to the mode and channel arguments of host frgb mov pic instruction as well as the device argument of host frgb start instruction
9. QKey ExBitMat Datatype DATA_TYPE_BIT_MATRIX Range 0 1 Size 5 3 BUG age ae Oy 109 v9 S og vU tn dre Lag acad DependsOn ExternalParams Matrices ExFloatMat ExternalParams Matrices ExShortMat am InstantVision TBitMatrix ExBitMat This is an explicit byte matrix variable IniFile ExternalParams Section Matrices Key ExByteMat Datatype DATA TYPE BYTE MATRIX Range 1 190 Sue 9 3 DefaultValue 5 3 5B 9e 97 i135 155 AG sal 92 AO 32 GS SA Asy TN G5 Bile InstantVision TByteMatrix ExByteMat This is an explicit float matrix variable IniFile ExternalParams Section Matrices Key ExFloatMat Datatype DATA TYPE FLOAT MATRIX Range 456 456 5940 6 Size ISe DefaultValue 5 3 0 4 48 4 48 5 1 14 1 Z2 Sy poteva Ay Tob ee ALA qu NN ON Veal DS aI E2 Flags Internal A InstantVision TFloatMatrix ExFloatMat This is an explicit string variable IniFile ExternalParams Section Matrices Key ExString Datatype DATA_TYPE_TEXT Size 64 1 DefaultValue Default text Flags Internal tay Instant Vision String Bxstring 39 THE API Example 4 8 Header Comment Sample Interface and Indirect parameters This is an interface variable IniFile ExternalParams Section SpecialVariables Key InterfaceVar Datatype DATA_TYPE_INT Range 0 20 DefaultValue 2 Flags INTERFACE SAMPLE VARIABLE AA int InterfaceVariable This is an interface variable
10. 10 2 10 Reading an existing AVI file in AMC orei erreren orere Eoee EE arn ESETE REEE EEE EEEE EEEE PEETRE EEEE Sk 10 2 11 Initializing an AVI file and writing frames to it in AMC ssseseesssseesssrsseeesresreeresresreeresreerenesreeresresrrerresese 11 2 12 Getting images from the Hexium frame grabber in AMC sse nee nennen 11 2 13 Getting images from a DirectShow source in AMC 00 eecesecesecssecneeeeeceeeeeeseeeenseecsaecaaecaeeeaeseasenseensees 12 2 14 Image acquisition from the Ibis sensor in AMC sssesssseeeeeeeeeneen eene eene eene nne nenne 12 2 15 Image T O for ACEITG6K in AMICO intet re Eb P e PEE pee be ER te E ESER ES ES 13 2 16 Template I O for ACE16k in AMC vna rareste onderin eene EESE EEEE tree nete OESE EE ES E 13 2 17 Bit wise logical operations on ACEI6K in AMC sssssssseseeeeeeeeee ener ener eren ennen rennen nen 13 2 18 Continuous template execution in AMC sss eren nennen nennen trennen rennen 14 2 19 Iterative template execution with freezing mask in AMC oo ee eee eecesecesee cece ceeeeeseesaeceaecaeeeeeeneeensees 14 2 20 Image acquisition with ACE16k in AMC ssesseseeeeenerenneenee nennen enne tene teneret trennen nennen trennen 14 2 21 Typical morphological procedure with IPL in AMC sss 15 2 22 Typical gray scale procedure with IPL in AMC sees nne tenete trennen 15 2 23 Measuring time 1n AMO nnn ERU Re H
11. It only works with TAncestorMatrix types It means that the width and height value should be defined In case of TString the height should be 1 DependsOn The parameter generator has the ability to handle dependencies between the parameters It means an initial ization order can be defined between the parameters With this option all of the parameters that have to be initialized before the current one can be enumerated They should be given by the full path name In this case the full path means that the IniFile the Section and the Key value have to be given in IniFile Section Key format Flags Flags are the modifiers for the parameter behavior functionality or visibility e Indirect This is a Pointer parameter e Invisible The parameter is not visible in the parameter grid control e Internal The parameter data should be stored in the internal memory it only matters in case of TAncestorMatrix based classes e Constant The parameter value can not be changed during the execution Bii The parameter works only on Bi i systems Interface parameter ID This is the name of the constant that specifies this parameter as an interface parameter The interface parameters are non visible in the parameter grid control but they can used to interlace the parameter with a control on the GUI To access the parameter description structure the OnSetInterfaceParam event will be triggered during the XML description loading 4 7 2 Parame
12. Manual documentation for example number of connectors available directions etc 44 THe Bi i SDK Example 5 4 Usage of GPIO interface Set data direction to output for the 0 7 GPIO pins SetGPIOProperty GPIO Direction GPIO out 0 8 Writes 01010101 data to the GPIO 0 7 pins WriteGPIO 0x55 0 8 M Scr Cea chirectiem Co Tont sor 5E EPIO Nh SetGPIOProperty GPIO Direction GPIO in 2 4 Reads the 2 5 GPIO pins The first least significant 4 bits in the data variable will be the result unsigned int data ReadGPIO 2 4 5 2 1 GPIO v301 component The GPIO v301 is an additional components in the Bi i v301 camera It has the following GPIO channels 8 bidirectional channels Channel indexes in the software interface 0 7 e 4opto coupled output channels Channel indexes in the software interface 8 11 in order OUT A1 OUT Bl OUT A2 and OUT B2 e 4opto coupled input channels Channel indexes in the software interface 12 15 in order channel 1 2 3 and 4 The directional property is only variable for the first 8 channels the others have fixed directional There is a property for pulling up the outputs to 5V GPIO Pullup This property has effect on the first 8 bidirectional channel Physically two pullup resistor exist on the hardware Both resistors pulls up 4 channel output 0 3 and 4 7 therefore 4 or 8 channels can be only set in the same time 0 3 4 7 or 0 7 The default value
13. Rete ta to eei i e ae Pe ee iret e es tace 36 9 The Bi Y SDK eedem ER Reto fe PO TR Hee ER METRE ret 41 5 Le Get ng st rted os eed T EEE EE RN d Poison e vaste Du e rho ste eite oes 4l 5 1 1 The Software Environment 5 ie erre et pb re pere e Spe EEEE 41 5 1 2 Running an Application ie ette ete tet terae e rese ha eie e ee ien tees 4l 5 1 3 Memory Usage cusionendete enit o pd ERR TRO HORE ee RO TU e ert euh 41 3 LA Interrupt Vectors iurc docere pop chaste Ro ERE satel REIR IRE DURER RIS 42 5 15 Build Options 5 ni eee c RE ee RO Ee tp Pri e E edite 42 DLO Namespace S utc ede ctr aret te d i ttr eri deste ire Phe en tiere RI UR 43 5 1 7 Imtialization and Closing eite petet tie te epi peers 43 DBs THOR uar De 43 5 1 9 Stop and Pause Status eene Rente ditte diri e e E RR e Eee LER Eiei e 44 5 1 10 Checking the connection sesssseeseeseseeenenereneennen een rennen tree nete treten nenne nenene 44 5 2 General Purpose I O interface GPIO eie unune anaa EE E enne enne a EE EIN EEE TEE 44 5 2 1 GPIO v30 L Component pcies ieie ar seed hes Ire E rE E DOO EEE EE E ER S 45 5 3 Host Communication 4 5 5 p nette e rer Pepe HE E D reir RR Et Eee bes E E ess 45 3 3 1 Types of Communication tette enti ree edere E E ERR el eee etae eere RU 46 5 4 TTIDbis ieiin rupi e ree re e Dr i ote R E 48 DAT Bramerate i eoe ero E
14. SetShutter SHUTTER US IDIS Snutter Gy Read image from left Ibis Hos Selleere BIS SELECT LEBT ibis Read img1 Read image from right Ibis BS See REIS RISE CSESES ENS ibis Read img2 5 4 10 Flash control There is a connector in the GPIO v301 interface as a flash control output signal which controlled by TIbis class The flashing is turned off in default which means that this signal is holded in high 5V If the flash is turned on the signal goes low at shutter start and goes back high at the end of the shutter In the SDK you can only turns on off the flash and gets the flash status The flash signal is controlled by hardware Note It works only on Bi i v301 with GPIO v301 interface The flash output is the specific connector in the GPIO v301 interface See in the Bi i Users Manual Hardware section Example 5 18 Setting flash Creates TIbis object apos Ieee Turns the flash on Ibis SetFlash true Check the flash status LogMsg IVLOG INFO Actual flash status d int Ibis GetFlash 5 4 11 Triggered shutter The shutter procedure can be started from an external trigger signal This is the triggered shutter which is same as the conventional synchronous shutter but after shutter start in SDK code the Ibis waits for a trigger signal falling 55 Tue Bi i SDK edge and start the effective shutter after it The trigger input is the specific connector in the GPIO v301 interface See
15. Signal references VXMAX VX0 VXMIN VDS 2 8 Basic AMC Code Each AMC program should contain and end of program marker end instruction otherwise the compiler will generate and error Namely the simplest AMC code is only an end instruction In the simple Hello World example below you can see that the host application starts and immediately stops without any action Example 2 3 Hello World application in AMC Prints text to a text window in the host application host print Hello World 1 End of AMC program Stops the application end When this AMC program is run the string Hello World appears in a window having ID 1 in the host appli cation 2 9 Image handling The Bi i software platform only supports the handling of BMP format images so only these types of images are supported from AMC as well There are several methods to deliver an image to the DSP s memory e Load the image from the host computer and the image in DSP memory can be saved to the host computer e Get an image from the host application and it can be displayed in the host application Acquire an image with them Ibis CMOS sensor e Acquire an image with ACE16K e Read frames from an AVI file Acquire an image from a frame grabber device in the host computer Build an image in DSP memory THe AMC LANGUAGE Example 2 4 Loading an image from the host computer in AMC Loads color image from the host computer to the DSP memory h
16. TYPE BIT MATRIX DATA TYPE BYTE MATRIX or DATA TYPE RGB was requested When sending dynamic data the matching type of data structure must exist in the memory of the Bi i In the Bi i all dynamic data types are represented as an object derived from JnstantVision TAncestorMatrix DATA TYPE IMAGE is always converted to TBitMatrix TByteMatrix or TRGBMatrix depending on the color depth DATA TYPE TEXT is converted to TString The target object will be resized if its size is different than it was sent TString is an exception it will be resized only if the string sent is longer than the current size of the object After setting the pointer in the Bii HostData structure the Bii SetDataEvent function must be called which in dicates that the request has been processed The BII MSG RELEASE message is always received when data was sent to the Bi i in conjunction with the BII MSG GET message The parameter of this message is a pointer to a Bii HostData structure practically the 27 THe API same as it was set within the Bii_HostDataRequest structure The role of this message is denoting that the requested data is not needed any more on the host side because it is already physically in the Bi i The host application may want to free the memory if it was allocated when the BIT MSG_GET message was processed If it is not the case you can omit this message 4 4 3 Direct Transfer The host application can directly read and write the
17. Template 1 Template 59 Tue Bi i SDK 5 5 2 Internal Image Transfer Images can be transferred between two internal image memories of the ACE16k Both the source and the target can be binary or gray scale image If both image memories in transfer operation is same type this operation is called image copy If the type of image memories are different it is called image conversion Example 5 24 Internal image copying with TACE TACE ace Grayscale image copying from C_LAM1 to C LAM2 ace CopyLAM C LAM2 C LAM1 Binary image copying from C LLM1 to C LLM2 ace CopyLLM C LLM2 C LLM1 There is a special binary image copying called exchange LLMs This member function has no parameters because there are only two binary images are on the ACE16k This operation exchanges the contents of the two binary image memories Exchanging binary image memories ace ExchangeLLM With conversion methods of TACE binary images can be converted to gray scale image and vice versa When converting gray scale to binary the pixel values above a given threshold are converted to 1 others are converted to 0 When converting binary to gray scale 0 is converted to 0 while 1 is converted to 255 Example 5 25 Image conversion with TACE TACE ace Converting from binary to gray scale ace ConvLLMtoLAM C LAM1 C LLM1 COnverting from gray scale to binary with 128 threshold value ace ConvLAMtoLLM C LLM1 C LAM1 128 5 5 3
18. Writing image to ACE16k ace lt lt C LAM1 lt lt Image Using the laplace operator ace Laplace C LAM2 C LAM1 Reading result image ace C LAM2 Image 5 6 L2 Cache The central component of the Bi i is a high performance digital signal processor DSP which executes Bi i programs Bi i v2 and v301 have a Texas Instruments TMS320C6415 DSP which has a two level memory archi tecture for program and data The first level program cache is designated L1P and the first level data cache is designated L1D The Bi i program cannot access the LIP and L1D caches directly The program and data memory share the second level memory designated L2 A part of the L2 memory can be used as cache if it is configured so Memory size L1P and L1D Cache L2 memory L2 SRAM Internal memory L2 Cache External memory 16 or 64 Mbyte Speed Cost Figure 5 1 Memory Architecture of Bi i System Using the L2 cache is useful when the program processes data that is located in the external memory Without the L2 cache the speed of the external memory limits the speed of the processing which can be much slower than when the same operation is performed on the data located in the L2 SRAM When the L2 cache is enabled the processing speed for data in the external memory is increased and approaches the speed of processing data in the L2 SRAM The TMS320C6415 DSP has 1024 Kbytes of L2 memory The term L2 cache refers to the part of L2 mem
19. an image to the default data directory of the Axis AxisImgOut lt lt ByteMatrix A Bi i application can communicate with I O Components via host requests All host requests are stored in a queue located in the memory of the Bi i device The processing of host requests consists of the following operations e The Bi i application puts the host request to the net or the Axis host request queue e The Bi i application sends a signal to the Host side showing that there is a new host request e The Host side reads the host request from the queue e The request is processed on the Host computer or the Axis communication chip e The host application or the Axis communication chip sends a signal to the Bi i application showing that the first item of the net or axis host request queue was completed 5 3 1 Types of Communication The Bi i SDK supports two types of communication between the Bi i application and the I O Components syn chronous communication and asynchronous communication 5 3 1 1 Synchronous Communication The synchronous communication is the default communication type The Bi i application is suspended when a service handler class sends a synchronous host request until the signal is received from the I O Components signing 46 THe Bi i SDK that the host request was completed After that the Bi i application is resumed The functions and operators of a service handler class that sends synchronous host request are not
20. cacheable memory address to the Host computer WriteBackInvalidate Image 2 Data Image 2 DataSizeDword TStd lt lt Image 2 5 6 2 2 Parallel Reading from Ibis sensor The TIbis class in the Bi i SDK represents the Ibis5 sensor of the Bi i system See Section 5 4 TIbis The L2 Cache Mode memory coherence problem can occur if the image read out from the Ibis sensor is parallel with the Bi i program execution To avoid this problem the target of the operation must be non cacheable or the affected memory location must be invalidated in the cache with the WriteBackInvalidate function before starting the image read out The code segment below shows a typical scenario for using non cacheable memory The current image is copied to a different cacheable location for processing while the new data is read to the original location Example 5 36 L2 Cache and Parallel Reading from the Ibis sensor TByteMatrix TemporalTarget width height NONCACHEABLE ADDRESS TByteMatrix Target width height CACHEABLE ADDRESS wsie Moisa This function selects the L2 Cache Mode Set CacheState C_Pl _P2 C_P3 C_P4 while 1 bis Shutter This function starts the image reading bis ReadStart TemporalTarget Parallel code segment processing the Target image Keep TemporalTarget intact here This function waits for the finish of the image reading bis ReadWait This line transfers the image from the nonc
21. color channel These structures are word aligned so the remainder space of the last word in a row is not used The first pixel of the next row starts at the beginning of the next word The other array types have same header and the element of these stored in 4 bytes Below is an example for calculating the size of a 128x128 grayscale image in bytes Image size in bytes 5 4 header 126 qhevrghty 126 width o 3 V X row i26 an words 4 20 128 128 3 4 4 16404 bytes THe AMC LANGUAGE 2 7 2 Vectors Vectors are actually 1D array forms The structure of header is different from header of 2D arrays since the size of it is 3 words 12 bytes 1 Vector type 2 Number of elements in the vector 3 Size of the vector without the header For example the size of a vector in bytes which contains 20 boolean elements is Vector size in bytes 3 4byte header 20 number of elements 31 32 size in words 4 16 bytes 2 7 3 Templates The template is a simple array which contains 32 float values 128 bytes The feedback matrix is denoted by the first nine values the control matrix is denoted by the second nine values the 19th value is the current the 20th value is the BIAS weight the 21th value is the template mode and the last 11 values are the reference values in the ACEI6K chip in the following order Optical references VIN VPCH BIAS_W Weight references VW MAX VWO VWMIN VGP and
22. function Note These operators can be chained because the return value of all operators is the reference of the TACE object 57 THe Bi i SDK Example 5 20 Setting the current IDs on ACE16k TACE ace Setting of current gray scale image ID for reading ace RdID C LAM3 Setting of current binary image ID for writing ace WrID C LAM2 Setting of current binary image ID for reading and writing ace ID C LLM2 ox ace C LLM2 This operator can be chained Setting of gray scale and binary image ID and template ID for reading and writing Bee C WS x C am Z sex Gee The example below demonstrates several image transfer operations Example 5 21 Image transfer between the DSP and ACE16k with TACE ACHES cr TByteMatrix GrayImage 128 128 TBitMatrix BinImage 128 128 Writing gray scale image to C_LAM2 ace WriteLAM C_LAM2 GrayImage or ace lt lt C_LAM2 lt lt Image Reading gray scale image from C_LAM2 ace ReadLAM GrayImage C LAM2 or ace lt lt C_LAM2 gt gt GrayImage Reading binary image from C_LLM1 ace ReadLLM BinImage C LLM1 or C LLMI as default target and source is set by the constructor ace BinImage Reading a gray scale 128 50 subimage from C LAMI1 started from 20th row TByteMatrix SubImage 128 50 ace ReadLAM SubImage C LAMI1 20 5 5 1 1 Template Structure and Template Transfer The TAce16KTem structure represents a te
23. has started on the Bi i Not sent when the application is started with Bii Start or if there was an error before starting the application for example the Bi i was not available on the network BII MSG START has no parameter BII MSG PUT The Bi i sends data to the host application See Section 4 4 Data Transfer for more details BII MSG CLR The host application should clear its internal data See Section 4 4 Data Transfer for more details BII MSG GET The Bi i asks for data from the host application See Section 4 4 Data Transfer for more details BII MSG RELEASE Used in conjunction with BII MSG GET See Section 4 4 Data Transfer for more details BII MSG WAIT BEGIN Indicates that the Bi i application enter a wait state which is a fixed amount of delay The length of the wait state in ms is passed as parameter BII MSG WAIT END Indicates the wait state is finished on the Bi i This message has no parameter BII MSG STOP Sent when the application on the Bi i stopped BII MSG STOP has no parameter This invalidates the handle that was received as the return value of Bii Run Do not use the handle after receiving this message The example below demonstrates how messages are received in a thread 25 THE API Example 4 2 Receiving messages in a thread MSG msg while go_ahead GetMessage amp msg NULL 0 0 switch msg message case Isl IL_IMISIE_ TS IDANEEIE G Application started
24. i j Image i j 42 This function writes back all parts of the image from the L2 Cache and the Host application will read correct data after this function call WriteBackInvalidate Image Data Image DataSizeDword 5 6 2 4 User Defined DMA When selecting the L2 Cache Mode the memory coherence problem can occur if the DMA is started on a cacheable memory range Follow the steps below to avoid this problem Write back and invalidate the source memory area from the L2 cache with the WriteBackInvalidate function e nvalidate the target memory area in the L2 cache with the WriteBackInvalidate function Start the DMA The CPU must not use the source or the target area before finishing the DMA 5 7 Video Analytics FrontEnd Video Analytics FrontEnd is a part of the InstantVision Video Analytics VA library An identical functionality is implemented on the Bi i SDK as well for use on the Bi i v301f model of Bi i VA FrontEnd on the SDK runs on the FPGA of the Bi i v301f whereas VA FrontEnd in InstantVision runs on the DSP of any models of Bi i This document focuses on the differences between the VA FrontEnd functionality implemented in the Bi i SDK and the InstantVision libraries See the InstantVision documentation for a detailed description of VA FrontEnd VA FrontEnd in the Bi i SDK is implemented in the TV AFrontEndF class whose interface is nearly identical to that of the TV AFrontEnd class of the InstantVisio
25. is needed for correct operation once every 10 milliseconds 14 THE AMC LANGUAGE Example 2 21 Typical morphological procedure with IPL in AMC PIL ky ALie iie nee Z tbt OTI vmp init vmp morph Write the previously loaded image to ACE16k mov llm llm LLM3 LLM2 Calibration vmp start For example an erosion vmp morph erode4 Read the result image from ACE16k mov llm llm LLM2 LLM4 Example 2 22 Typical gray scale procedure with IPL in AMC IPL initialization vmp init vmp gray Write the previously loaded image to ACE16k mov lam lam LAM9 LAM1 For example a horizontal sobel filtering vmp gray sobel LAM1 LAM2 sobel horizontal Read the result image from ACE16k mov lam lam LAM2 LAM10 2 16 Profiling Profiling means the measurement of the execution time of operations on the DSP We can measure the running time of a given part of AMC algorithm with this method For example the working time of a function from the image processing library Example 2 23 Measuring time in AMC Initializes and starts the timer timer start vmp morph erode4 1 Write the elapsed time to the GAM1 scalar address timer read GAMI The unit of the obtained time value in GAM1 depends on the Bi i version for example if the device is a Bi iv2 600MHz and the value of GAMI is 750 the effective time of erosion is Time 1 600 8 750 10us If the effective time is needed it can be calculated with scalar operations G
26. levels representing the value in analog memory cells are equalized between the neighboring pixels In other words the resistive grid performs a diffusion operation on the image the rate of the diffusion depends on the duration of the operation Because of the architecture the diffusion is extremely fast Example 5 30 Diffusion with TACE TACE ace Diffusing C LAM1 to C LAM2 to 500 nanoseconds ciere c IDsbieseiteti qoa CIA C LAMI 19 S p 62 THe Bi i SDK 5 5 5 Capturing the Optical Input The optical sensor uses the photo generated current on an N well P Substrate junction to discharge a capacitor that has been previously precharged The precharge value is a parameter of capture function The recommended value for precharging is 195 If it is changed the contrast of captured image will be changed The output image of the capturing from image sensor can be stored in a binary or gray scale image memory When the target is a binary memory the captured image will be thresholded with the 128 gray pixel value There are two member data for capturing in the TACE class There are set and get functions for them Integration time The constructor of TACE sets it to 500 microseconds e Precharge value The constructor of TACE sets it to the recommended value 195 Example 5 31 Image capturing on ACE16k with TACE TACE ace Setting of capturing parameters ace Set_Int_Time 1000 Integration time ace Set_Precharge 195
27. logging feature it uses the logging functionality of InstantVision instead See the InstantVision documentation for more details The LogMsg function from InstantVision can be called from any place in your code but keep in mind that the program execution is blocked while logging which takes a few milliseconds However some logging can be placed even in time critical code because setting the log level high can disable log messages and the execution time of the LogMsg function can fall far below a microsecond 43 THe Bi i SDK Example 5 2 Bi i SDK application with logging finclude SDK Bii Bii h include InstantVision BaseData Logger h using namespace InstantVision int main void LogMsg IVLOG_TRACE Hello World return 0 In the default case the messages are received by the Host computer e g Log window of the IVRun application The SetLogMsgTarget can redirect the messages to the var log messages file on the Axis communication pro cessor 5 1 9 Stop and Pause Status The Stop and the Pause status within the Bi i SDK are internal status indicators that can be set directly from the host application In IVRun the Stop and the Pause buttons set the stop and the pause status in the Bi i respectively Within the application running on the Bi i the GetStopStatus and the GetPauseStatus functions can retrieve the current value of the Stop and the Pause status The example below shows an applicatio
28. of the TVAFrontEndF together with the L2 cache The internal buffers of the object must be located in a non cacheable address space The addresses of the internal buffers are arguments of the constructor The default value for these addresses is zero which causes dynamic memory allocation The input image passed as an argument to the Process or ProcessStart function must be located in a non cacheable address space 5 8 Laser control The laser control feature is available on the Bi i v301f model only when a laser unit is connected to the GPIO port of the camera The laser unit consist of a laser source and two mirrors that can deflect the laser light horizontally and vertically The FPGA inside Bi i v301f controls the laser unit directly but the DSP program can transfer instructions to the FPGA concerning the laser control The DSP program can switch the laser source on or off e The program can pass pairs of coordinates containing the horizontal and the vertical angle If only one pair is passed the laser light is directed continuously in the given direction When more than one pair of coordinates is specified the laser will flash alternately among all of the different positions at a rate that is not visible to the human eye so that all of the specified positions seem to be illuminated continuously The laser functionality described above is implemented in the TLaserController class The LaserOn and LaserOff functions switch the
29. 2C C C 60 6 22522525000000025 72252500059 222222 C6 6C6C66C66 2222222C6CCC6C6 6 9 Bsssssssss Q0202290266666662202020000666066 2222 ARAN A 22 Ar HE HR JEU HR II HH HR LUE i 55 mimm 3 ILI per L nM HIE UL I i Tm n fn m n ES LA miut meg w ma ttt t t 33 gt Hi s P eases tS Lad A e d m JTAG connector of the 6711 DSP oc 0600000 s Qe ooo E mm con JTAG connector 009 TE of the 6415 DSP Figure 5 3 JTAG connectors in the Bi i v2 72 THe Bi i SDK a UL 4 apm nn a TE LILA i Z p X mimm ANA WA WMA Wa WM MMM AX AR x ES Wf fm m are eo eo eo m eo LI eo EI a TTL gi Hitt HIT Br mii a taal E m fe a H gt fu ILI b SEE ELE UE 65 ax x A x i A m m m m SHE S333 pes io HH im sagesses i ILILI TITIT E LARERE EEEE esase Ss 2 5 Eeg m a Hit H AEEA JTAG connector JTAG connector of the 6415 DSP of the 6711 DSP Figure 5 4 JTAG connectors in the Bi i v301 A compatible JTAG device that supports the TMS320C64XX DSP family is required for debugging The driver of the JTAG device which is provided by the manufacturer must be installed In addition the device must be properly set with the CCS Set
30. 6k mov lam lam LAM9 LAM4 Write mask image to ACE16k mov llm llm LLM3 LLM1 Execute template with Freezing Mask ar tem TEM1 LAM4 LAM4 LAMA 2 0 0 1 LLM1 NIL NIL HW MODE CONT Reads result image from ACE16k mov lam lam LAM4 LAM10 2 14 4 Image Acquisition There is a CMOS sensor above the array processor on the ACE16k which can acquire gray scale images to its image memories Example 2 20 Image acquisition with ACE16k in AMC Acquisition to gray scale image memory with 500 micro sec integration time mov opt lam LAM1 500 195 Acquisition to binary image memory with 500 micro sec integration time mowvsopt llm LUM S00 1955 If the target is a binary image memory the acquired image will be cut off with 128 middle of the pixel value range Specifying the Precharge value is not needed because it has default value and using this default value is highly recommended If it is modified the contrast will be changed 2 15 Image Processing Library IPL The IPL has two main groups of operations morphological and gray scale operations which run on the ACE16k instruction names are vmp xxx and it has a totally separate group which runs on DSP instruction names are dsp xxx If you want to use the first two groups an initialization step vmp init instruction is needed which will overwrite the first 21 template memories with the necessary IPL templates If the morphological group is used a calibration step vmp start instruction
31. AMCComp exe The ABC code is an executable code on the Bi i system The AMC compiler is a stand alone executable which has no graphical user interface Use the AMC editor AMCEdit exe to edit and compile the AMC code AMC editor calls the AMC compiler when the appropriate menu item or toolbar button is selected The AMC compiler can be called from a command line as well with the following convention a mandatory key must be added before the parameters separated with space character e Engine file name with path d Device number i Input file name with path o Output file name with path l Logfile name with path If and error occured the compiler writes log messages to this file In all cases if the path is not an absolute path then it is treated as being relative to the path of the AMC compiler The input and the engine or device parameters must be specified If the log or output file name is not specified these file names will be same as the input file name and path of these are same the path of the input file Example 2 1 AMC compiling in a command prompt AMCComp exe e engbiiv2_16k bin i test amc o test abc 1 test log or amccomp exe da 1 i test amc o test abc 1 test log Both of these samples compile the test amc to test abc for Bi i v2 specified by device number 1 by the installation 2 3 Running AMC Programs The ABC code can be run by a host application which downloads the ABC interpreter specified by DSP program
32. AMI 750 Sc mul gam 8 GAM1 GAM1 Sc div gamf GAM1 600 GAMF1 The value of GAMFI is a floating point number which is the running time in microseconds 15 3 AMCedit AMCedit is a graphical environment for developing and running AMC Analogic Macro Code programs on Bi i systems It is a part of all Bi i software packages The AMC source file contains AMC statements and it is compiled to ABC Analogic Binary Code file AMCedit invokes VRun_x86 to execute the compiled ABC 3 1 Editing AMC codes The user interface of AMCedit has two main parts the editor and the info tree window The editor window is a standard text editor field You can write your code here The info tree window is an information tree You can find here various information about the AMC syntax and your AMC code 3 1 1 The Editor Window AMCedit provides several features that can make the AMC development easy Syntax coloring e Automatic completion e AMC Syntax dialog e nfo tree and its usage by mouse 3 1 1 1 The AMC Syntax Dialog The AMC Syntax dialog helps finding the proper AMC instruction The AMC Syntax item of the Help menu or the ET toolbar icon to invoke the AMC Syntax dialog LIII CHEN x Type in the fragment to search for lt a me _ Cance Keyword Syntax Description Group get host cnt count oGAM label NIL LABEL Gets the other hostaviclose handle oGAM Close an host host avi getfra handle oGAM index iGAM ta
33. AsyncMode true TAxisTarget Sends twenty host requests for 1 0 1 lt 10 i Creates a numbered image sequence in the file system of the Host computer NetSeq lt lt MatrixArray il Creates a numbered image sequence in the file system of the communication processor AxisSeq lt lt MatrixArray i loop_cnt 0 Waits until the twenty host requests are finished while GetHostCnt 0 TNetTarget gt 0 GetHostCnt 0 TAxisTarget gt 0 This code segment runs parallel with the host requests ILO _eimiesrarp 5 4 Tlbis The Bi i has an Ibis5 grayscale or color CMOS image sensor with 1280 x 1024 resolution and 40 MHz pixel clock TIbis is a class in the Bi i SDK that represents the Ibis5 sensor When working with the TIbis class some elements of the BaseData module in the InstantVision libraries must be used The InstantVision TByteMatrix class is the representation of an 8 bit gray scale image in the memory of the DSP This class is used when reading the image from the sensor into the DSP memory The InstantVision TRect structure defines a rectangle with the Top Left Width and Height elements This structure can be used when selecting a rectangle on th sensor from which the image will be read See the InstantVision documentation for more details 5 4 1 Framerate The time required for reading an image from the sensor can be calculated as height width 25ns row bl
34. NIL data is referred to by the reserved word NIL Example 2 2 AMC data types TEM TEM7 LLM LLM1 LAM LAM3 Integers 23 467 Floating point numbers 24 529 2 56e3 Strings normal text Text with white spaces in lower or UPPER CASE NIL NIL When referring to an address an address specifier and an optional address type are used before the address itself In case of a direct address the given address contains the data and the address specifier is In case of an indirect address the given address contains the location of the data and the address specifier is The address type shows the type of the data at the given address Valid address types are M TEM M LLM M LAM M RGB M GLM M GAMB M GAM M GAMF M GLM ID M GAMB ID M GAM ID M GAMF ID M GLM 2D M GAMB 2D M GAM 2D M GAMF 2D M STR The address can be given in decimal or hexadecimal format The special address STCK refers to the current position of the stack pointer THE AMC LANGUAGE Note This stack is not the stack for DSP program function calling etc this is declared for AMC flow control instructions call ret etc 2 6 Address Spaces In AMC addresses refer to physical addresses in the DSP memory The AMC interpreter and the ABC code occupy different memory addresses depending on the Bi i version Only the Bi i versions are supported The remaining memory can be used freely by AMC programs images arrays vectors etc Bi
35. Note The closing of the framegrabber should be in the cleanup code because the cleanup code will run even if the program is aborted due to an error 2 13 Image Acquisition from the Ibis Sensor Every Bi i version contains one or two high resolution CMOS sensor s We can acquire images from these to the DSP memory with ibis xxx instructions Example 2 14 Image acquisition from the Ibis sensor in AMC jinitials zing of ibis sensor BUS 5 nostri 7set image width in pixel ibis set ibis nrof pixels 800 Set image height in pixel ibisset ibis nrof lrznes 600 Set integration time in usec ibis set ibis int time 2500 loop start image acquisition on Ibis sensor 1DISOSUarE wait for image acquisition ready ibis wait read image from ibis ibis read 0x80010000 display image to 1 window host display 0x80010000 1 jump loop This particular program acquires an image sequence from the Ibis sensor The program runs until the host appli cation sends a stop message to Bi i The ibis set instructions are not needed because the ibis init instruction sets all of the Ibis parameters to their default values 2 14 ACE16k ACE16k Focal Plain Array Processor is connected directly to the DSP therefore the images from it can be obtained directly from the DSP The whole memory of the ACE16k can be reached from AMC by a predefined symbol Analog gray scale image memories LAM1 LAM8 Binary image memories LLM1 LLM2 Template memorie
36. PI2 and IBIS_X_SWAP30 parameters control the horizontal patterns while the IBIS Y SWAPI2andIBIS Y SWAP30 parameters set the vertical patterns The table below shows the horizontal patterns X means that the pixel is read O means that the pixel is skipped Vertical patterns are similar IBIS X SUBSAMPLE IBIS X SWAPI12 IBIS X SWAP30 Pattern 0 no effect no effect XXXX 1 0 0 XXOO 1 1 0 XOXO 1 0 1 OXOX 1 1 1 OOXX Table 5 4 Horizontal patterns for Ibis5 subsampling There are some special rules when setting the image rectangle with subsampling The width and the height means the number of pixels that are read the number of pixels covered on the sensor is twice as much Consequently left 2 width and top 2 height must be within the sensor area e The left parameter must be a multiple of four Example 5 12 Setting subsampling both directions on Ibis5 Setting subsampling horizontally Swapl2 will result XOXOXOXO pattern ibis Set IBIS X SUBSAMPLE 1 ibis Set IBIS X SWAP12 1 The same thing vertically ibis Set IBIS Y SUBSAMPLE 1y IDIS Sete URIS Y SWAP Z 197 5 4 6 Rolling Shutter In rolling shutter mode there is no separate shutter and read out phase on the sensor the shutter and the read out runs at the same time but on different lines of the image Consequently the available framerate in rolling shutter mode is higher than in synchronous shutter mode On the other hand differen
37. RO UN rede eee ir eI 48 5 4 2 Acquiring Images the Simple Way sse eene eene ener 49 5 4 3 Parallel Operations iiie A Rt SU ume AER RR REI Re RUE I tUe dee tate 49 5 4 B Mode uoutheos en Denon E T 49 34 5 Subsampling oie ore i RR EFRON seats antes ope tas EE UE E Un 50 5 46 Roline Shutter oe nime PURO nin OREL PRI Or ODER EEEE 50 23 27 SUBWINGOWS 42 5 th etit Sie erii to rie ae Acher tes ae e Pola d iae pe AE RR Rid 52 5 4 8 Auto Shutter sionesotetbeenete e e mne ite e E e b EO IO Erebi 53 5 4 9 Using the Stereo HRES oeri died pho tute rp eerie cop oie eese 54 5 4 10 Flash control 2 tere eta tee e e bebe ta he ER REEE 55 23 211 Triggered Shutter ci nA eh RR ORE A UI RIO ERI d 55 5 5 TACE and TACE PL oon HERR ORE ERROR Ee SERRE Red 56 3 5 1 I O Interface oo bo E E IURE QURE REO ERES 56 5 5 2 Internal Image Transfer i nece ede eb RR pei CERE ESTEE Ree ERR RR RUE 60 3 5 3 Image Initialization etse ete ete ie eh t pi Ee ete ie ee ertet Roa 60 5 5 4 Operations on MAZES ssis cites eoe e pene a e e e i rete ERE n 60 5 5 5 Capturing the Optical Input sees eene nen entren nennen nennen trennen SE 63 5 5 6 Image Processing Library IBL teet e ett hber E OT ois 63 5 6 L2 Caches Et 64 5 6 1 L2 Mode Selection eub eerte eee etie te RU Eee 65 3 62 Memory Coherence i ie ote a o te INI Gn PUE 65 5 7 Video Analytics ErontEnd nie tea T Up rr
38. SASAB2B2 1 Allocated in cache Ox5A5AB2B2 2 New data written through DMA 0x11112222 Peripheral Figure 5 2 Cache Coherence Problem The memory coherence problem is completely eliminated if the L2 memory is used in SRAM mode which is the default in the Bi i SDK Because of the relatively low speed of the external memory access this mode is recom mended if the application does not process data located in the external memory The memory coherence problem does not occur if the L2 cache is enabled but the peripheral operations use non cacheable memory locations This can be either the remaining part of L2 memory which is not used as cache or a part of the external memory which is not enabled for caching Because the peripheral operations and the CPU use different memory locations the data must be copied between the different types of operations The memory coherence problem can be avoided even if L2 cache is used together with peripheral operations on cacheable memory locations To do this special programming steps are required before beginning a peripheral operation If the affected address range is partially or completely located in the L2 cache than it must be written back to the original location and invalidated in the cache The CPU must not use the affected memory range during the peripheral otherwise it would be read into the L2 cache again The WriteBackInvalidate function of the Bi i SDK writes back the data from th
39. Special comments The comment block is started with the description of the parameter No special keyword is needed to specify it The ini file s or the section s description can be given after the IniFile or the 9 Section keyword if no 9 Key keyword added The available keywords are as follows e Notes Special comments warnings or information can be highlighted by using this parameter e IniFile The identifier name of the ini file that contains the parameter Or if no 9 Key keyword added the description of the ini file The default value is ParamFile Section The name of the section the contains the parameter Or if no Key keyword added the description of the section The default value is General e Key The name of the parameter in the section e Datatype Data type of the parameter The available data types can be found in the ParamDesc h TParamDataType e Range The validity range of the parameter it can be finite infinite opened closed interval or enumeration e DefaultValue The default value of the parameter 33 THE API VariableName If the parameter is not a certain C type like int float char etc then the NAME of the variable should be given by using the special comment VariableType If the parameter is not a certain C type like int float char etc then the TYPE of the variable should be given by using the special comment Size The maximum size of the parameter object
40. Toolbar Ket Options You can select here a IVRun Workspace File which will be taken to the VRun when you execute the AMC code Build Builds the current document Toolbar ES Shortcut Ctrl F9 F7 Execute Compiles and executes the current document Toolbar Shortcut F9 F5 Preferences Displays the Remember dialog box where you can specify some editor and project settings for the next startup Window menu Cascade Arranges multiple opened windows in an overlapped fashion Tile Horizontal Arranges multiple opened windows vertically in a non overlapped fashion Tile Vertical Arranges multiple opened windows side by side in a non overlapped fashion Next Window Switches to the next open document window Shortcut F6 List of the currently opened documents Help menu Help Displays the AMCedit online help Shortcut F1 AMC Manual Displays the AMC Manual online help AMC Reference Displays the AMC Reference online help AMC Syntax Displays the AMC Syntax dialog box Toolbar ET Shortcut Ctrl F1 About AMCedit Displays the About dialog 22 4 The API The API is a programming interface to be used on the host computer for writing applications working together with Bi i For simplicity the application that runs on the host computer accessing the API is referred to as the host application The host application can run programs on the Bi i and exchange data between the Bi i and the host computer The default host app
41. a template to ACE16k from a Bii TAce16kTem on the DSP memory e TACE ReadLAM Reads a grayscale image from ACE16k to an InstantVision TByteMatrix on the DSP memory e TACE ReadLLM Reads a binary image from ACE16k to an InstantVision TBitMatrix on the DSP memory e TACE ReadTEM Reads a template from ACE16k to a Bii TAce16kTem on the DSP memory Note Not only the whole image can be read from ACE16k The readout image size depends on the size of the target TByteMatrix or TBitMatrix The number of column must be 128 but the number of rows can be lower than 128 In addition the starting row can be specified in a separate parameter In contrast only images of 128x128 pixels can be written to ACE16k completely filling a C LAM or C LLM Operators for transfers Write operator TACE object lt lt TByteMatrix TBitMatrix or TAcel6kTem Read operator TACE object gt gt TByteMatrix TBitMatrix or TAcel6kTem When calling the Read or Write functions the source or target memory in ACE16k is specified in a separate parameter In contrast the source or target ACE16k memory of the gt gt and lt lt operators must be set prior to calling the operator Use the RdIDQ function to set the the source memory for reading and the WrID function to set the target memory for writing ID function sets both the source and the target Calling the operator with C LAM C LLM or C TEM on the right side is equivalent to calling the ID
42. ace of the API by events Two types of events are used e Control events These are triggered if a control event occurred start stop wait etc e Data events These occur if the device sends or requests data IntReceived ImgRequested etc DeviceSelector which is a combo box for selecting the device that was created by the IVConfig The device parameters are read from the Registry The result list can be filtered by the type of the devices ExecutionControl which is a four button panel used to control the execution It contains a Start a Stop a Pause and a Resume button clicking on which triggers the relevant action ParamXMLHandler which is an invisible component that handles the parameters It parses the parameter description XML file and creates a description structure It validates the parameters and uses the device control to send the new parameter value to the device If there is any error during the parameter modification it throws a TParamException to inform the user about it ParamGrid is a custom property grid that makes the parameter visible and easily modifiable Note The NET components will not work with Visual Studio 2003 NET or earlier versions 4 6 1 Installing the Components Install components to the Global Assembly Cache e Open the Control Panel of the computer Select the Administrative Tools Start the Microsoft NET Framework 2 0 Configuration NET Framework 2 0 SDK needed e Open the MyComputer
43. acheable memory to cacheable memory Target TemporalTarget 68 Tue Bi i SDK If the target of the image readout is a cacheable memory range then it must be invalidated in the cache before starting the image read out TByteMatrix TemporalTarget width height CACHEABLE ADDRESS This function starts the image reading WriteBackInvalidate TemporalTarget Data TemporalTarget DataSizeDword Ibis ReadStart TemporalTarget 5 6 2 3 Direct Data Transfer The Direct Transfer of the Bi i API allows the application running on the host computer to access the memory of the Bi i system directly Reading or writing non cacheable memory ranges eliminates the memory coherence problem but when accessing a cacheable memory range with Direct Transfer special care must be taken to avoid it In the Bi i program the affected memory range must be invalidated in the L2 cache with the WriteBackInvalidate function After this step the host computer can read or write data The Bi i application may access the affected memory range only when the read or write operation of the host computer is finished This requires a synchro nization mechanism between the host and the Bi i which is not supported directly in the Bi i SDK or API Example 5 37 L2 Cache and Direct Data Transfer TByteMatrix Image width height CACHEABLE ADDRESS Processing of the image for int j 0 j Image Height j for int i 0 i Image Width i Image
44. anking time Height is the number of lines on the image width is the number of pixels in each line Row blanking time can be 3 5 us 7 us 14 us or 28 us depending on the IBIS GRAN X SEQ parameter When calculating the maximum available framerate the shutter period must be also added except in rolling shutter mode where the shutter and read out run at the same time 48 THe Bi i SDK 5 4 2 Acquiring Images the Simple Way The simplest way images can be acquired from the Ibis5 sensor is just a few program lines Declare a TIbis object and a TByteMatrix object preferably with the same size as the image rectangle on the sensor e Set the image rectangle on the TIbis object with the SetRect function Any rectangle can be set within the physical dimensions of the sensor the only limitation is that the horizontal position and size must be even Image coordinates are zero based e Set the shutter period on the TIbis object with the SetShutter function e Use operator gt gt on the TIbis object to take an image and to read it into the DSP memory Example 5 9 Taking an Image using operator gt gt on a TIbis object TByteMatrix img 640 480 The object for the image 640x480 pixels Tis ibis 7rIhecohgect fors Thies Setting the image rectangle on Ibis5 640x480 pixels from position 100 100 ibis SetRect 100 100 640 480 Setting the shutter period to 5000 us ibis SetShutter 5000 Taking an image ILE
45. as no shutter for those lines at all The number of lines affected depends on the IBIS INT TIME parameter in both cases A simple but useless code for taking images in rolling shutter mode looks like this Example 5 13 Rolling shutter mode on Ibis5 USELESS CODE Setting to rolling shutter mode ibis Set IBIS ROLLING SHUTTER 1 Setting the image rectangle ibis SetRect IMG LEFT IMG TOP IMG WIDTH IMG HEIGHT Setting the shutter period ibis SetShutter SHUTTER US Reading hte images in a loop THEORETICALLY IT WORKS BUT PRACTICALLY IT IS USELESS while some condition ibis Read img The problem with this implementation is that there is now place to write any code that can process the image If we simply write it after the Read function then the time for the processing increases the shutter period for a part of the next image In a usable code two image buffer are nedded one is always filled from the sensor and the other can be processed Instead of the Read function use ReadStart at the beginning of the loop and ReadWait at the end 51 THe Bi i SDK Example 5 14 Rolling shutter mode on Ibis5 Images are read here from Ibis5 TByteMatrix imgl IMG WIDTH IMG HEIGHT img2 IMG WIDTH IMG HEIGHT Points to the buffer where the current image is read from Ibis5 TByteMatrix readptr Points to the buffer that contains a ready image to be processed TByteMatrix procptr Only used whe
46. ation essere nennen nente terere tne enne n rennen nre tr enne etr en nennen 47 5 8 Asynchronous host communication eeeeeeseeeeeeeeeeeee eren nennen rennen enne ennt tnnt tenete et teen tren nennen 48 5 9 Taking an Image using operator gt gt on a TIbis object essseeeseeeeeeeeneren nennen eene 49 5 10 Parallel operations on the Ibis5 sensor esessesssssssesseeeeeeeeeeee nennen nennen nenne etren nennen eene nen 49 5 11 B mode shutter on the Ibis5 sensor eese eene nnne nre retener eene trennen trennen 50 5 12 Setting subsampling both directions on Ibis5 esssssesseeesseeeeeenerenen eene nennen 50 5 13 Rolling shutter mode on Ibis5 USELESS CODE eene nemen tenete trennen 51 5 14 Rolling shutter mode on Ibis S reekse teihea ortet ote pene te tp tc spei terree Pe eee cto E erbe 52 5 15 Subwindows readout on Ibis5 oo ee neern rosee EE E oe EEEE EEES ERE ESE EE SE EEE EEEE EEEE EEEE RS 53 5 16 Auto Shutter ssie op ote ote dte E HO to e i RE E pb p EE CO Reiten 54 5 17 Acquiring Images from the Stereo HRES eseeeesseeeeseeeneene enne neen nennen trennen trennen 55 5 18 Setting flash E bee EORR OE TRO ents OR HE EIE RU ERE REESE 55 5 19 Triggered sh tter oe eui Pe ERE HREERURNUB IU IURE GRE DEO EEEE 56 5 20 Setting the current IDs on ACEZTOK nete ert ree pp tere M es I pibe e UR been 58 5 21 Image tran
47. c dude 5 4 3 Parallel Operations During the shutter period and during the image read out other operations can run on the DSP If you want to do this call ShutterStart and begin other operations Later use the ShutterCheck function to test whether the shutter has already finished Alternatively you can wait for the end of the shutter period with ShutterWait For the read out period similar functions can be used ReadStart ReadCheck and ReadWait Example 5 10 Parallel operations on the Ibis5 sensor Starting the shutter ibis ShutterStart Running some other code while checking the shutter status periodically while ibis ShutterCheck Do something else here while the shutter is not yet finished on Ibis5 Starting the image read out ibis ReadStart img Running some other code while checking the read status periodically while ibis ReadCheck Do something else here while the image is being read from Ibis5 5 4 4 B Mode Normally the sensor directly controls the shutter period The length of the shutter is set with SetShutter and the operation is started with ShutterStart or Shutter or operator gt gt they all call ShutterStart inside After that the shutter is finished exactly after the desired period which is completely independent of the DSP However there is another operation mode which is called B mode The name comes from the similar operation on manual cameras in B mode th
48. ce to be used on the host computer for interfacing applications to Bi i Use the Bi i API if the features of IVRun do not meet your require ments For example if a data acquisition program is needed that receives data from the Bi i and stores it in a database You can use the API with virtually any software development environment capable of handling dynamic libraries The Bi i API is installed with the Development version of the Bi i software only Chapter 5 The Bi i SDK is an overview of the Bi i SDK which is a collection of software libraries to be used when programming the Bi i in C Use the SDK if you need a large complex thoroughly optimized Bi i application which is beyond the scope of AMC programming You will need the Code Composer Studio application suite from Texas Instruments C programming skills are required The Bi i SDK is installed with the Development version of the Bi i software only In all cases it is assumed that you are familiar with the Bi i hardware Bi i configuration and running applications on Bi i Consult the Bi i Manual for more details 2 The AMC Language 2 1 Introduction AMC Analogic Macro Code is a simple programming language for Bi i systems All functionality of the Bi i system can be accessed from an AMC program and can serve as a gentle introduction to programing on a Bi i system 2 2 AMC Compiler The AMC source code can be compiled to Analogic Binary Code ABC with the AMC compiler
49. d or the commu nication processor in the Bi i device gets overloaded e The data to be sent to the Host server must be available at the time when the host request is processed This can be significantly later than when the function or operator of a service handler class was called The following functions are implemented in the SDK Bii Bii h SetAsyncMode Enables or disables the asynchronous communication mode for the selected interface net axis GetAsyncMode Returns the current communication mode for the selected interface net axis GetHostCnt Returns the number of pending host requests for the selected interface net axis WaitHostCnt Waits until the number of pending host requests is lower then or equal to a count for the selected interface net axis GetMaxHostCnt Returns the size of the net or axis host request queue 47 THe Bi i SDK Example 5 8 Asynchronous host communication Ine al COTON ent Creates matrices TByteMatrix MatrixArray 10 Initializes matrices for i 0 1 lt 10 i MatrixArray i Resize 26 13 i 20 Creates image sequence service interface for the Axis TImgSeqOut NetSeq Sample bmp TNetTarget Creates image sequence service interface for the Host computer TImgSeqOut AxisSeq Sample bmp TAxisTarget Enables the asynchronous communication for the Axis SetAsyncMode true TNetTarget Enables the asynchronous communication for the Host computer Set
50. e nstantVision TDataType enumeration An integer that identifies the data In VRun this is the number of the window 1 2 In your application you can use this number for any purpose A union that actually contains the data in various fields depending on the Type member See the table below 26 THE API Type Union member Representation DATA_TYPE_BIT DATA TYPE BYTE bData unsigned char DATA TYPE SHORT sData short DATA TYPE INT Data unsigned int DATA TYPE FLOAT fData float DATA TYPE xxx MATRIX DataPtr InstantVision TMatrixHead DATA TYPE RGB er DATA TYPE IMAGE Dib void DATA TYPE TEXT StrPtr char Table 4 2 The members of the union in the Bii HostData structure DATA TYPE IMAGE is stored as a device independent bitmap as it is described in the Microsoft Windows documentation DATA TYPE TEXT is a null terminated string Use the Bii AllocHostData function to allocate a new host data structure for a specific data type The required spaces for the given dimensions is allocated behind the data pointer within the same function call The reverse function is Bii FreeHostData which can free the Bii HostData structure including the area behind the data pointer 4 4 2 Data Transfer Messages Data from the Bi i is received in the host application with the BIT MSG PUT message The parameter of the message is a pointer to the Bii HostData structure When receiving this message call the Bii Se
51. e L2 cache to the external memory and invalidates the necessary lines in the L2 cache Although this function receives word address and word count as input it always operates on complete cache lines containing 128 bytes and aligned to 128 byte Thus it is recommended to use the WriteBackInvalidate function for memory ranges aligned to a 128 byte and containing a multiple of 128 bytes 66 Tue Bi i SDK The memory coherence problem is maintained automatically in the Bi i SDK for many peripheral operations for synchronous host communication e for the LogMsg function both in synchronous and asynchronous host mode e for the image read out from the Ibis sensor if it is performed by the TIbis Read function However the user application must handle the memory coherence problem in some scenarios that cannot be maintained automatically in the Bi 1 SDK e for asynchronous host communication e for the image read out from the Ibis sensor if it is started by the TIbis ReadStart function e for user defined DMA operations See the detailed description of these situations in the next sections 5 6 2 1 Asynchronous Host Communication The memory coherence problem can occur because of the host operations of a Bi i application if the L2 Cache Mode is enabled and asynchronous host communication is used See Section 5 3 Host Communication Sec tion 5 3 1 2 Asynchronous Communication The memory ranges affected by a host ope
52. e and main rectangle ibis SetShutter 5000 ibis SetRect mainRect Gets sub images from Ibis ibis Shutter ibis Subwindows subwindow position SWNUM DescArray RowBuffer OR ibis SubwndInitialize subwindow position bis Shutter ibis SubwndReadout RowBuffer Note SWNUM DescArray If DescArray and RowBuffer are not specified then these will be allocated automatically In this case or if the specified arrays are in the external memory the running time will be longer 5 4 8 Auto Shutter There is a feature in the TIbis which calculates and sets on automatically shutter time for the actual rectangle in a way that the average of the image is equal to the desired value Note If the lighting or the scenery change the average of the acquired image changes as well 53 THe Bi i SDK Example 5 16 Auto Shutter TByteMatrix img 1280 1024 The object for the image Tats dates The ob ject for ib s5 unsigned int ShutterTime It will be set by AutoShutter Setting the shutter time that the average of images should be 120 ShutterTime ibis AutoShutter 120 Taking an image aoai 2 aS 5 4 9 Using the Stereo HRES Only Bi i v2 has Stereo HRES version In this configuration the Bi i is equipped with two Ibis5 sensors that are capable to aquire images simultaneously Important note e The shutter time must be the same in both sensors If the previously set shutter times ar
53. e binary image M_GAMB_2D M LAM A two dimensional array of unsigned integers 0 255 This is identical to M_LAM M_LAM means the gray scale image M_GAM_2D A two dimensional array of 4 byte signed integers M GAMF 2D A two dimensional array of 4 byte floating point numbers M RGB Color image Actually these are three M LAM array with one header M TEM Template memory floating point scalar array with 32 elements e Other types M_ADR Memory address without type M_STR Address of a string STR String LABEL Name of an existing label in the AMC code NIL Empty data indicates that the operand is not given The details about these structures can be found in Section 2 7 Data Structures C TEM C LLM and C LAM types are referred as TEMx LLMx and LAMXx respectively where x is a number thus TEMI TEM322 are template memories on ACEI6K LAMI LAMS are gray scale image memories on ACEI6K and LLMI LLM2 are binary image memories on ACE16K There are some predefined symbols for all argument types on DSP memory The size of predefined image locations is 128x128 M GLM M GAMB M GAM and M GAMF types can be referred to as direct data input arguments only or memory address As direct data M GLM M GAMB and M GAM can be given in decimal or hexadecimal format with or without a sign M GAMF can be given in floating point or exponential format STR can be used as direct data only with or without double quotation mark
54. e different then the images will be acquired using the shorter shutter time e The image readout from the sensors is not allowed in the same time The TlIbis class does not work on this hardware There is a derived class from the TIbis class called TIbisDual which inherits all feature of the TIbis class There is a function for sensor selection Select Left right or both sensors can be selected The constructor set both sensors to default and after this the left sensor will be selected 54 THe Bi i SDK Example 5 17 Acquiring Images from the Stereo HRES Image width from left Ibis define IMG_WIDTH1 100 Image height from left Ibis define IMG_HEIGHT1 100 Image width from right Ibis define IMG_WIDTH2 640 Image height from right Ibis define IMG_HEIGHT2 480 Integration time for both Ibis d efine SHUTTER_US 1000 The buffers where the images are read same size as the rectangle on Ibis5 TByteMatrix imgl IMG WIDTH1 IMG HEIGHT1 TByteMatrix img2 IMG WIDTH2 IMG HEIGHT2 The object for Ibis5 TIbisDual 1518s Set image size on left Ibis ibis Set IBIS NROF PIXELS IMG WIDTH1 ibis Set IBIS NROF LINES IMG HEIGHT1 Select right Ibis Bou sS eec IBLS SELECT RIGHT Set image size ibis Set IBIS NROF PIXELS IMG WIDTH2 ibis Set IBIS NROF LINES IMG HEIGHT2 Set shutter speed and shutter with both Ibis in same time om Ss Selen QUSS SELECT BOTH ibis
55. e file in the editor Insert the file name Compile error Jump to the error line Insert as a comment Table 3 1 Operations with the mouse on the info tree 17 AMCeopit 3 1 3 Status Bar The status bar has the following fields e Help text Line number if the focus is on the editor field e Caps lock status Num Lock status The help text contains a short description of the current menu item or the toolbar button when you navigate through the menu or the toolbar This area also shows messages when you are editing code or browsing in the info tree These message refers to the syntax of the currently edited command or the properties of the current info tree item 3 2 Running the AMC Before running your code you must have a valid device created with VConfig that points to your Bi i When you run a code AMCedit compiles the AMC file to ABC file and then starts the VRun IVRun x66 exe software to execute this ABC code on the selected device To execute an AMC code follow these steps e Select the target device e Select an VRun Workspace File for your AMC code optional Compile the code e Run the code 3 2 1 Selecting the Device Use the Device item of the Project menu or the ff toolbar icon to invoke the Select Device dialog Select Device Xj Z NV Default Setup generated device 1000 Acel6k Cancel Out file Engine Engbiiv2_16k bin Array Size fi 28 x 128 Memo
56. e last compilation 3 3 Menu Items Toolbar Buttons and Shortcut Keys File menu New Creates a new document in AMCedit Toolbar O Shortcut Ctrl N e Open Opens an existing document in a new window Toolbar Shortcut Ctrl O e Close Closes the active window e Save Saves the current document Toolbar Shortcut Ctrl S Save As Saves the document on a new name Shortcut F2 e Print Prints the current document Shortcut Ctrl P 19 AMCeopit e Print Preview Displays the active document as it would appear when printed Toolbar e e Print Setup Displays the Print Setup dialog box where you can specify the printer and print properties Recent Files List of the recently used files e Exit Exits from AMCedit Shortcut Alt F4 Edit menu e Undo Reverses the last few editing actions if possible Toolbar 2 Shortcut Ctrl Z e Redo Reverse the last undo actions if possible Shortcut Ctrl Y Cut Remove the currently selected data from the document and puts it on the clipboard Toolbar d Shortcut Ctrl X e Copy Copies selected data onto the clipboard Toolbar Shortcut Ctrl C Paste Inserts a copy of the clipboard contents at the insertion point Toolbar B Shortcut Ctrl V Clear Removes the currently selected data from the document Shortcut Del Delete Line Removes the currently edited line from the document Shortcut Ctrl K E e Select All Selects all text in the active window o
57. e memory for basic operations Therefore these template memories last 8 are reserved The TACE IPL class is an image processing library for ACE16k Note Some functionalities of the BaseData module in InstantVision TByteMatrix TBitMatrix are required for using of TACE and TACE IPL 5 5 1 I O Interface The ACE16k has a 32 bit wide digital interface which is able to transfer images and templates between ACE16k and the DSP The internal memory of ACE16k consists of e 8 grayscale image memories TClam enumeration C LAMI C_LAM 8 56 THe Bi i SDK e 2 binary image memories TCllm enumeration C LLMI C LLM2 e 32 template memories TCtem enumeration C TEMI C TEM32 Two kind of images can be transferred binary images from to a TBitMatrix in the DSP memory and grayscale images from to a TByteMatrix in the DSP memory Images can be read or written with image transfer functions or with operators There are separate transfer functions for binary images gray scale images and templates How ever the lt lt and gt gt operators can be used for all data types the actual operation depends on the type of the right side operand Member functions for image and template transfer e TACE WriteLAM Writes a grayscale image to ACE16k from an InstantVision TByteMatrix on the DSP memory e TACE WriteLLM Writes a binary image to ACE16k from an InstantVision TBitMatrix on the DSP memory e TACE WriteTEM Writes
58. e own output is fed back to the input All elements of control matrix have effect the input values of neighboring processors are connected to the input of middle processor unit 4 Template with feed forward and with spatial variant offset This is same as the mode 3 however it has a spatial variant offset with the weight of the bias element of the template The control of template execution is performed by a helper class called TACEtransient This class contains all parameters that are needed for this operation and stores the pointer to the corresponding TACE object The Set member function sets base parameters of execution but there are some parameters which can be changed separately These are set by Set function to default These functionality are used for more complex operations e Boundary condition Working mode of cells processor units on the bound of processor array Writing mask Output analog memory writing mask e Freezing mask Evolution enabling mask e Iteration Number of transients in the operation The example below shows a continuous time template execution on a gray scale image with writing mask It runs for 2 microseconds and stops This example is useful for gray scale operations such as sobel filter laplace inversion etc 61 THe Bi i SDK Example 5 28 Continuous time template execution with TACEtransient TACE ACE TACEtransient Transient amp ace TByteMatrix GrayImage 128 128 TBitMatrix B
59. e shutter is finished only when the exposure button is released Similarly for the TIbis object the shutter can be started with ShutterStartB like pressing the exposure button and stopped with ShutterStopB like releasing the exposure button The time between the two functions is controlled in your code only Setting the shutter period with SetShutter has no effect in B mode 49 THe Bi i SDK The B mode can be useful if extremely long shutter period is needed The longest possible shutter in normal mode that can be set with SetShutter is 26208 us due to the limitation of the sensor Note that the image can become noisy when using very long shutter The B mode is available on Bi i v2 only Example 5 11 B mode shutter on the Ibis5 sensor Starting the shutter ibis Shu utterStartB Wait here for the end of the shutter period Stopping the shutter ibis ShuttersStope y 5 4 5 Subsampling When using subsampling the image read out works a different way only the half of the pixels is read As a result a half sized image can be taken from the same physical area of the sensor Subsampling can be set horizontally vertically or in both directions Setting the IBIS_X_SUBSAMPLE and the IBIS_Y_SUBSAMPLE parameter to 1 enables the horizontal and the vertical subsampling respectively Subsampling works on patterns containing four pixels two pixels are always read and the remaining two pixels are skipped The IBIS X SWA
60. ed or initialized AVI file the properties of frame width height bitcount must be same as the properties of AVI file A frame can only be written to the end of AVI file If an AVI file is initialized a new empty AVI file is created on the file system of host computer with the specified path and name Example 2 10 Reading an existing AVI filein AMC Opens the specified AVI file for reading host avi open sample avi AVI READ GAM1 Gets avi file length as loop condition host avi length GAM1 GAM2 mov gam gam 1 GAM3 loop get GAM3 th frame from AVI file and put it into DSP memory host avi getframe GAM1 GAM3 0x80010000 display image host display 0x80010000 1 Sc rel gam GAM3 GAM2 GLM1 Sc inc gam GAM3 jumpnc GLM1 loop cleanup Closes AVI file host avi close GAM1 10 THE AMC LANGUAGE Example 2 11 Initializing an AVI file and writing frames to itin AMC In this case the AVI file can only be written There is an image in the 0x80010000 address on the DSP memory 100 100 24bit color depth Initialzes a 100x100 24bit color depth AVI file with 25 frame sec without compression host avi init sample avi GAM1 100 100 24 FULL FRAMES 25 100 loop host avi putframe GAM1 0x80010000 jump loop cleanup host avi close GAM1 If reading an existing AVI filethe initialization step should be replaced by AVI file opening in the previous example Opens an existing AVI file host avi open sample avi AVI WRITE GAM1
61. eferences in the template memory of ACE16k The order of these is same as in the TAcel6kTem structure Note Recommended reference values are 128 0 178 229 128 167 140 109 128 47 23 The last 8 template memories in the ACE16k are reserved for some basic operations thus do not overwrite these memories Many ACE16k operations including image transfer depend on these templates Example 5 22 Template transfer with TACE TACE ace TAcel6kTem Template Writting template to ACE16k ace WriteTEM C_TEM1 Template or ace lt lt Template Reading template from ACE16k ace ReadTEM Template C TEM1 Ow ace gt gt Template Note Before writing the template to ACE16k the template must be loaded from the host computer to the DSP or generated on the DSP 5 5 1 2 Loading Templates from the Host Computer The template file is a special ini file see above which has fix variables There is a class which sends and receives templates to or from a template file This class is inherited from the TDataFile class Example 5 23 Loading templates from the host computer include SDK Bii Acel6k TAceTemplate h include SDK Bii Acel6k TAcel6kTem h Creating an object for loading a template from sobel tem ini file TAceTemplate TemFile sobel tem DF CREATE Declaring a structure for template in DSP memory TAcel6kTem Template Loading the template from Template 1 section in the ini file TemFile GetTem
62. ei ER EE Heer erbe erp dee Ses 69 2 8 Laser control 5 t het ie ep RR eet eR echoes at aie Ra iae que e iR es 70 5 9 Debug Bi i application with JT AG sesssssssssssesesseeeseeeeeeeneeene nennen nennen treten trennen 71 List of Figures 3 T AMC Syntax dialog eese te E e e RR REESE SEO PEE RR P CREER E eiue d 16 3 2 The Select Device dialog i ieri oer It HR o p Rep igang Eee Sp reet NEP SES 18 4 1 Add the comporents 5 tree e ee pei b EE e RR OUEST Ri ge bote pco be 31 4 2 Vink the Components cesses ente hte rra Ae ehe a Ree E hus sched e e bete e teh ite eie 32 5 1 Memory Architecture of Bi 1 System ssec eee tetti tate eere Ree e RE 64 3 2 Cache Coherence Problem sorer 5 0 redet eee E ORE DR p DO Mesh IER 66 5 3 TAG connectors in the Bi t V2 itas atus RO e te iL epa EE e EE re ri e Perte here itin 72 5 4 JTAG connectors in the Bi i v301 List of Tables 2 1 3 1 4 1 42 4 3 4 4 5 1 5 2 5 3 5 4 Free memory for AMC programs tee e Hr ED E e ERREUR RENE SERIE Oes DEE ES eR IEEE 5 Operations with the mouse on the info tree essent nren ren rennen enne 17 InfoParam to be passed depending on InfoType essen eene eren nennen nennen 24 The members of the union in the Bii HostData structure eeeesseseseeeeeeeneneneneeee nennen eene eene tren een eene 27 Messages received in the host application sse
63. for all are 1 connected Example 5 5 Usage of GPIO v301 with GPIO interface Set data direction to output for the 0 7 GPIO pins SetGPIOProperty GPIO Direction GPIO out 0 8 Writes 01010101 data to the GPIO 0 7 pins WriteGPIO 0x55 0 8 LogMsg IVLOG INFO Value of the GPIO 0 7 after read back Ox x ReadGPIO 0 8 Deactivates pullup resistors SetGPIOProperty GPIO Pullup 0 0 8 Writes opto coupled outputs WriteGPIO 0x5 8 4 Reads opto coupled inputs The first least significant 4 bits in the result variable will be the received data unsigned int result ReadGPIO 12 4 Note The all channels are accessible on a DB 25 connector See in the Bi i Users Manual 5 3 Host Communication A Bi i application can access two Host servers The first runs on the Axis communication chip in the Bi i hardware The Bi i application can refer to this server with the TAxisTarget class The second one runs on the Host computer which connects to the Bi i hardware via network e g IVRun application The Bi i application can refer to this server with the TNetTarget class The TNetTarget class is the default target These classes are implemented in the SDK Bii TBiiTarget h The Bi i application access services of input and output with inherited classes of the TSer viceAncestor class See the I O and I O Components sections of the InstantVision documentation for more details 45 THe Bi i SDK Services u
64. h it is searched relative to the bin folder within the installation directory of the Bi i software BinFile The name of the ABC file Only relevant when using AMC pass NULL or empty string when running an application created with the Bi i SDK It must be given with a fully qualified path 23 THe API DefDir The default data directory For all host operations on the Bi i AMC or SDK the files are located relative to this directory unless they are given with full path Pass NULL or empty string if you do not want to use this feature InfoType Refers to the mode of message handling as it was listed above InfoParam The parameter for message handling This is a union always fill only the field that is relevant in your case See the table below InfoType InfoParam field Meaning BII INFO THREAD ThreadId The identifier of the thread to which the messages are posted BII INFO WINDOW WindowHandle The handle of the window to which the messages are posted BII INFO CALLBACK Callback The pointer to the callback function BII INFO QUEUE Ignored Table 4 1 InfoParam to be passed depending on InfoType The return value of Bii Run is a handle that can be used later with several other functions A more complicated approach is the following sequence e Call the Bii Init function which has exactly the same parameters as Bii Run The only difference is that it only downloads the application to the Bi i b
65. he loop condition Sc inc gam GAM1 Increment the loop variable jumpnc GLM1 BeginOfLoop Conditional jumping The loop variable is the same as the counter variable GAM1 and itis increased from 1 to 20 In the host application prints the following strings Counter 7 teounter 29 Counter 35 Counters 13 Counter 20 2 10 2 Calling Subroutines A subroutine is a part of program which can be called anywhere in the AMC program The entry point of a subroutine is a label which identifies the subroutine for the call instruction When the subroutine is called the instruction pointer is put to the top of the stack and is set to the begining of the subroutine to the specified label Usually THE AMC LANGUAGE the end of a subroutine is a return instruction ret retc retnc When the return has occurred the top of the stack is popped and the instruction pointer is setto this so the nextinstruction will be the one following the call instruction Example 2 7 Calling a subroutine in AMC pigeudbibwseer ye Vaewuoye OENES call fung host print Func is returned 2 7 End Gf program end Subroutine f ncs Roste print morer ate eel ileysl db moe The subroutine is identified by func label which prints the text Func is called to host application Note Normally subroutines are placed after end instruction 2 10 3 Tiling Tiling is a special loop construct in AMC for segmenting a large image into unifor
66. i i and another on the host computer They can send messages to each other and they can exchange data but they are not linked closely 4 1 Running an Application Before running an application with the API configure a device with VConfig that points to your Bi i or a Local device and optionally contains the DSP program to be executed on the Bi i or the name fo the application DLL There are several ways of receiving messages from the application running You must decide which mode you choose before running the application It cannot be changed later The messaging modes are listed in the TInfo Type enumeration as follows BII INFO THREAD Messages from the Bi i application will be sent to a thread BII INFO WINDOW Messages from the Bi i application will be sent to a window BII INFO CALLBACK A callback function will be called when a message from the Bi i is received The function must match the Bii Callback type declaration BII INFO QUEUE Messages from the Bi i application are sent into an internal queue that can be checked in the host application After configuring a device and deciding the messaging mode the simplest way of running an application on the Bi i is calling the Bii Run function with the following parameters Device The number of the device as it was set with JVConfig App The name of the application Pass NULL or empty string if you want to run the default application that was set in VConfig If given without a full pat
67. i v2 and v301 Internal memory 0x000F0000 OXOOOFFFFF 64KB External memory 0x80000080 Ox80FFFFFF 16MB Ox80Byte or 0x80000080 Ox83FFFFFF 64MB Ox80Byte Table 2 1 Free memory for AMC programs The predefined arguments LAMs LLMs etc are defined from the beginning of the free internal memory there fore if a predefined address is used then these memory addresses are overwritten 2 7 Data Structures 2 7 1 Images and Other 2D Arrays All images and 2D arrays start with a 5 word 20 byte header that describes the type and size of the data These values are represented by unsigned int values in the memory The header structure is as follows 1 Array type 2 Number of elements in a row 3 Number of rows 4 Size of a row in words 5 Size of the array without the header in bytes In AMC three types of images are used e The binary image type M_LLM or M_GLM_ 2D Each pixel occupies 1 bit of memory The value of the image type in the image header is 0 The grayscale image type M LAM or M GAMB 2D with 8 bit color depth each pixel occupying 1 byte The value of the image type in the image header is 1 e The color image type M RGB This data structure contains 1 image header and 3 gray scale image M LAM fields for the 3 color channels red green blue respectively The value of the image type in the image header is 2 The value of the image size field in the header means the size of a single
68. in the Bi i Users Manual Hardware section The waiting for trigger can be canceled In this case the whole shutter procedure is also canceled Note It works only on Bi i v301 Example 5 19 Triggered shutter Creates TIbis object Tibis Ibis Normal shutter with triggering Aquiring image with triggered shutter Ibis TriggeredShutter JULII outer vith c eiggering but ifa condition is realized then the shutter isi canceled Starts aquiring Ibis TriggeredShutterStart Cancels the shutter if Condition Ibis TriggeredShutterCancel Wait for the end of the shutter Ibis ShutterWait 5 5 TACE and TACE IPL Bi i v2 has optionally an ACE16k Focal Plain Array Analog Processor chip ACE16k contains a low resolution 128 128 CMOS grayscale image sensor and an analog processor array One processor belongs to one pixel of sensor without A D conversion All processor unit are connected to the neighbouring processors with specified weight These weights represent a general analog program template This processor array is more useful for several image processing operations than the traditional processors because it processes the whole image in parallel The TACE class contains all basic functionality for control of ACE16k chip like image and template transfer logic template execution etc The constructor initializes the program memory of ACE16k and write some template to the end of templat
69. in the BiiConfig and ABC code to the Bi i system and starts it The default execution environment is the IVRun x86 exe See in the InstantVision documentation It is very important that the following be set in the Properties dialog of IVConfig Engine file in the Engine dialog option e The DSP program is an AMC interpreter ABCEx v2 16k out for Bi i v2 and v301 e ABC file required check box is checked The details about BiiConfig can be found in the Bi i Manual Installation chapter Bi i Configuration section THE AMC LANGUAGE 2 4 General Rules An AMC program contains e AMC instructions InstructionName Argument Argument Labels LabelName Conditions for compiling and defines ifdef else endif define etc An AMC program consists of lines Semicolon indicates comment the comment is finished at the end of the line Without comments a non empty line may contain label and or an instruction with parameters General sepa rator characters are space and tab collectively referred to as whitespace The label the instruction and the parameters must be separated from each other by whitespace although a string parameter between double quotation marks may contain whitespace characters The last character of a label must be a colon There is a special optional label cleanup which signals the cleanup code If this label is specified and an error or stop message occurs this code will be execu
70. in the tree view on the left side e Right click on the Assembly Cache and select Add e Select the IvIseDotNet x86 dll from the bin folder of the InstantVisionISE Close the Microsoft NET Framework 2 0 Configuration Install components to the Microsoft Visual Studio environment Start the Microsoft Visual Studio 2005 VS 2003 will not work e Select the Options from the Tools menu e Open the Projects and Solutions in the tree view 29 THE API Select VC Directories Add the bin folder of the InstantVisionISE to the Reference files and the Executable files on Win32 platform Add the include folder of the InstantVisionISE to the Include files on Win32 platform Add the lib folder of the InstantVisionISE to the Library files on Win32 platform Click the OK button and the components are ready to use e Install components within a Project Start the Microsoft Visual Studio 2005 Create a new Windows Forms Application project Make the Toolbox visible from the view menu Select the Choose Items from the pop up menu of the Toolbox Click on the Browse button Select the IvIseDotNet x86 dll from the bin folder of the InstantVisionISE Click the OK button and the components are ready to use Required Environment settings Add the bin folder of the InstantVisionISE to the System Path 4 6 2 Usage of the Components This is a sample that shows the components and their usage in a very simple application The samp
71. inImage 128 128 TAcel6kTem Template Loading images and template Writing template to ACE16k ace lt lt C TEMI lt lt Template Writing input gray scale image to ACE16k ace lt lt C_LAM1 lt lt GrayImage Writing mask image to ACE16k ace lt lt C_LLM1 lt lt BinImage Setting parameters of transient Wsesiosslicihe Siee C LAMI C TEMI C LAMI C _LAMI C NONE EQUIS Transient WritingMask Set C_LLM1 Running transient evolution Transient Run 2 0 The example below shows an iterative template execution on a binary input image It runs for 1 microseconds in each iteration cycles After each iterations the output is copied back to the input and to the state The number of iterations is 10 This example is a typical morphological operation Example 5 29 Iterative template execution with TA CEtransient TACE ace TACEtransient Transient amp ace TByteMatrix GrayImage 128 128 TBitMatrix BinImage 128 128 TAcel6kTem Template Loading images and template Writing template to ACE16k ace lt lt C TEMI lt lt Template Writing input image to ACE16k ace lt lt C_LLM1 lt lt BinImage Setting parameters of transient Transrent Set CLAMI lannwal EC SUMI C LLMID C NONE CSISUC N Transient Iteration 10 Running transient evolution Transrent Rumtli 0 5 5 4 3 Diffusion There is a resistive grid among the elements of processor array When activating it the voltage
72. ions on ACE16k in AMC Writes the previously loaded binary images to AE16K mov llm llm LLM3 LLM1 mov llm llm LLM4 LLM2 Bit wise logical OR operation on ACE16k to binary image memory ar or llm LLM1 LLM2 LLM2 or to gray scale image memory ar or llm LLM1 LLM2 LAM1 Reads results from ACE16k mov llm llm LLM1 LLM5 mov lam lam LAM1 LAM9 13 THe AMC LANGUAGE 2 14 3 Template Execution Template execution transient evolution is the chief operation of ACE16k The image processing library is also based on this operation There are two modes of this namely continuous transient evolution which runs for a specified time and stops and the iterative discrete time evolution which runs for a unit time in all iterations and the output of an iteration will be the input and state of next iteration useful for morphological operations There are two masks for evolution namely writing mask and the freezing mask which affect the individual pixels during evolution Example 2 18 Continuous template execution in AMC Write images and template to ACE16k mov tem tem tem33 TEM1 mov llm llm 1llm3 LLM1 Executes TEM1 template on LLM1 in iterative mode in 5 iteration ar tem TEM1 LLM1 LLM1 LAM4 5 1 1 NIL NIL NIL HW MODE DISC Reads result image from ACE16k mov lam lam LAM4 LAM9 Example 2 19 Iterative template execution with freezing mask in AMC Write images and template to ACE16k mov tem tem TEM33 TEM1 Writes input image to ACE1
73. ith TACE TACE ace Logical XOR operation to a binary output image memory ace Logic C LLM2 ACE LOG XOR Logical XOR operation to a gray scale output image memory ace Logic C LAM5 ACE LOG XOR Not Operation from C LLM1 to C LLM2 ace Not C LLM2 C LLM1 5 5 4 2 Template Execution and TACEtransient class The template execution also known as transient evolution is an analog operation in ACE16k Te program for this operation is the template This program contains the weights for connecting the processor units and the internal analog voltage references The result is depends on the running time of the operation There are four basic modes of template execution Template execution modes Mode parameter in the template structure 1 Template with feed back and without spatial variant offset All elements of feedback matrix have effect the output values of neighboring processors are fed back to the input of middle processor unit with the specified weights In the control matrix only the middle element has effect the input values of the neighboring pro cessors are not connected to the input of middle processor unit 2 Template with feed back and with spatial variant offset This is same as the mode 1 however it has a spatial variant offset with the weight of the bias element of the template 3 Template with feed forward and without spatial variant offset In the feedback matrix only the middle element has effect only th
74. l information about the current document and also about the syntax of the AMC language The result of the compilation can also be found here Here is a brief description about the items of this tree Language syntax Contains the syntax of the AMC language You can find here the instructions argument types etc in several groups In the Status Bar you can find the brief description of the selected language element Insert Text In this item there are some predefined code segments Labels The labels in the current document are collected here Templates The templates in the current document are collected here Defines The definitions in the current document are collected here Images The images in the current document are collected here Compile info Here you can find the result of the compilation The effect of different mouse manipulations on various parts of the info tree is shown in the table below Left double click Search the item in your code Info tree item type Right double click Insert the item into your code Language syntax Insert text Insert the function corresponding to the item Images Launch your image editor Insert the line into your code Defines Jump to the definition Insert the defined text Labels Jump to the label Insert the label name Templates Open the template file Insert the line into your code Compile info Insert the info into yo ur code as a comment Compiler file Open th
75. laser source on and off respectively The SetPosition function can set one or more directions for the laser This function has several overloaded versions that set the directions in different ways e The SetPosition function can accept two numbers specifying the horizontal and the vertical angles for a single direction It is also possible to pass a matrix with two columns and a number of rows The number of rows defines the number of laser spots while the two columns contain the horizontal and the vertical directions 70 Tue Bi i SDK Directions can be specified in degrees if float numbers are given The valid range is 30 to 30 degrees The values in degrees are converted to a 16 bit digital value internally It is also possible to specify the 16 bit digital value directly if unsigned short arguments are passed to the SetPosition function The example below shows how to use the TLaserController class Example 5 39 Using the TLaserController class include SDK Bii LaserController TLaserController h TLaserController Laser four laser points initialized to the corners of a square 10 and 10 degrees TFloatMatrix Points 2 4 Pees 0 0 ds iEn Pormes m ONT WO DEP ponme 0 lj ORE Peaimes il d e dise Points 0 2 10 0 f Reine il 2 ORE Points 0 3 10 0 Vewimes il 3 WO ien set the laser points Laser SetPosition Points turn the laser light on Laser LaserOn
76. le 2 8 Tiling in AMC Loads the large images as gray scale type host load pic largel bmp 0x80010000 host load pic large2 bmp 0x80030000 tilesloop start 1 1 Minimal overlapping is 1 1 tile cutout 0x80010000 LAM9 tile cutout 0x80030000 LAM10 Loop core This is the place for processing of sub images tile merge LAM9 0x80050000 tile merge LAM10 0x80070000 tile loop end This particular code segments the input large images location 0x80010000 0x80030000 and after processing merges the resulted sub images into the output large images location 0x80050000 0x80070000 THE AMC LANGUAGE 2 10 4 Definitions And Conditional Compilation It is possible to create and release compile time constants or symbols with the define and undefine keywords If a symbol is created this symbol can be used as a predefined symbol There are two possible ways to create a compile time constant First we want to define a constant symbol with a value for example define FloatValue 12 55 In the second case we want to define a symbol for the conditional compilation The value of the defined symbol will be similar to the symbol name For example define Condition This is equivalent to define Condition Condition If a symbol is not needed then we can release it For example undefine Condition These definitions and the predefined symbols can be used for conditional compilation Any part of a program can be included o
77. le can be found in the samples folder under the InstantVision ISE samples API DotNetComponents Only the DeviceControl component is essential because it is the interface of the API The other components only improve usability Place the necessary components on the application form 30 THE API ParamSample Micr Studio Figure 4 1 Add the components Link the components together The DeviceSelector the ExecutionControl and ParamXMLHandler components modify or use the DeviceControl s properties therefore it is necessary to link these components to the DeviceControl Use the DeviceControler property to link the components The ParamGrid uses the ParamXMLHandler so they also should be linked Use the parameter handler property to link the components 31 THe API sample with parameter handling Lx jp s m j w ea v Figure 4 2 Link the Components If the components are linked the application is ready to start and the data events will occur if the device side code triggers the transaction 4 7 Parameter generation ParamTool utility This is the application called ParamTool It can be found in the bin folder of the InstantVision ISE This appli cation is responsible for generating the parameter description XML and the device side source code of the parameter handling class The application works with the header files of the application that have to be commented specially Primarily this utilit
78. lication is VRun IVRun x86 exe which is installed with all software packages Use the API if you need a host application beyond the scope of JVRun The API was developed for Bi i systems For example if you need a customized user interface or if your application has to do other tasks besides working with Bi i such as accessing a database or different peripherals The API can executes DLL based applications like IVRun It is very useful if you would like develop the algorithm and user interface on PC without Bi i system The API interface is same for the Bii and DLL based applications The See the InstantVision ISE User s Guide Chapter 3 for more details from DLL based applications API is implemented as a Windows dynamic library called HostAPI_x86 dil It can be used with practically any development environment that can work with dynamic libraries The prototypes of all functions and all the defi nitions are located in a single C header file called APZ h The import library called HostApi msvc7 x86 lib can be used for integrating your application with API under Microsoft Visual C in this case you only need to pass HostApi msvc7 x86 lib to the linker Consult the documentation of your development environment on using dy namic libraries if you re working with a different development environment API does not control the program execution on the Bi i directly The basic idea is that two independent applications are running one inside the B
79. lications can be created using Bi i API The IVConfig is described in detail in the Bi i Manual and the IVRun is described in the InstantVision User s Guide When configuring a device to run an application observe the following guidelines The Net and the Authentication fields must be properly set so that you can connect and log in to the Bi i The Default Application field must point to the application to be executed Custom applications based on the Bi i API and the IVRun may override this default e Keep the Use AMC ABC the Debug with JTAG and the Load program from Flash boxes unchecked Keep the Log file field blank unless you really want to log Bi i behaviour at the driver level Logs from your application will be saved elsewhere 5 1 3 Memory Usage Bi i v2 and v301 is built with a TMS320C6415 DSP having 1 MB of internal memory which can be used either as data or program memory The amount of the external memory is 16 MB or 64MB On both systems the external memory can be freely used for data storage or program execution however the program may run much slower In general keep the time critical code and the belonging data in the internal memory Keep in mind that copying the data to the internal memory running some calculation and putting back the result to the external memory can be faster than calculating directly on the data in the external memory The table below summarizes the memory ranges in the Bi i syste
80. ls e The positions of the subwindows in x direction must be dividable by 4 Before reading the image an initialization step is needed This calculates the effective rectangles of the readout and stores these in a descriptor structure Therefore if the size and position of the subwindows on the rectangle are not changed the initialization step is needed only once 52 THe Bi i SDK Note When using many subwindows the time of the readout of a row may be longer than the available time before the readout of the next row is started In this case an assert will occur Increasing the row blanking time Set IBIS_GRAN_X_SEQ x can solve this problem Example 5 15 Subwindows readout on Ibis5 Number of subwindows define SWNUM 6 Parameters of main rectangle define MAIN_WIDTH 800 define MAIN_HEIGHT 600 define MAIN_LEFT 0 define MAIN_TOP 0 Memory space for descriptors The CalcDescArraySize macro calculates the needed size of array unsigned char DescArray CalcDescArraySize SWNUM Memory space for row buffer unsigned char RowBuffer MAIN WIDTH TRect mainRect MAIN LEFT MAIN TOP MAIN WIDTH MAIN HEIGHT TByteMatrix subwindow SWNUM TPair Int position SWNUM WIveALSioAsyll aUe unsigned int i Sets initial parameters of subwindows ieee E OR a lt lt E SWNUM ISI subwindow i Resize 200 200 Ow ALe Alena at 1 ke EO warp position i y 80 i Sets shutter tim
81. m in hexadecimal format 41 THe Bi i SDK Bi i v2 and v301 Internal memory 0x00000000 0x000FFFFF L2 Cache is disabled Internal memory 0x00000000 0x000BFFFF L2 Cache is enabled External memory 0x80000000 Ox8OFFFFFF 16MB or 0x80000000 0x83FFFFFF 64MB Table 5 1 Memory ranges on the Bi i systems Most memory ranges can be used freely but there are some exceptions The space for interrupt vectors must always be 0x00000000 0x000001FF When the program is to be written to the flash the range 0x00000200 0x000007FF must be left free for the boot loader Always leave the range 0x80000000 0x8000007F free this is used for host communication Besides the usual input sections there must be a section called host request which is an internal adminis tration space for host requests This can be placed anywhere usually it s in the external memory since host operations are never time critical The space required is less than 64 kB 5 1 4 Interrupt Vectors The interrupt vector table occupies the first 128 32 bit words of the memory It consists of 16 8 word entries each entry belongs to one interrupt The table of interrupt vectors is usually an asm file containing exactly 8 instructions for each entries which is enough for implementing a branch to some code that handles the interrupt When pro gramming in C C the first entry drives the code after some initialization to the mai
82. m smaller subimages ACE16K size with specified overlapping and merging these subimages into another large image after processing This is very useful for processing a large image on the ACEI6K It is possible to process an arbitrary number of large images at the same time hence multi input multi output algorithms can be defined in this way The only require ment is that all of the images must be processed at the same time in the same loop and they all must have the same size The loop starts with a tile loop start instruction The tile loop start instruction calculates the relative cutting po sition and the overlap The tile cutout instruction cuts out a ACE16K sized image part specified by the latest tile loop start instruction The cut out part is saved into a new memory location In case of a multi input algorithm there can be more tile cutout instructions These instructions cut out chip size images from the same image location from different large images Among the large images there can be both gray scale and binary images Then the chip sized image part s are processed Finally the processed chip sized image parts are merged together again with the tile merge instructions The loop is closed with the tile loop end instruction When the tile loop start instruction is first executed it assigns the upper left corner of the large image to be cut out Then the segmentation goes on from left to right from top to bottom Examp
83. memory of the DSP even if no messages from the Bi i were received Call the Bii_WriteData function to write the Bi i memory A physical address and a Bii_HostData structure are passed to this function When writing data with a dynamic size the matching type of object derived from TAnces torMatrix with exactly the same size must exist in the Bi i memory at the given location prior to calling Bii_WriteData DATA_TYPE_IMAGE can be written to TBitMatrix TByteMatrix or to TRGBMatrix depending on the color depth DATA_TYPE_TEXT is converted to TString which need not have exactly the same size the target size can be bigger Call the Bii_ReadData function to read the Bi i memory A physical address and a Bii_HostDataRequest structure are passed to this function The Identifier filed of the structure is ignored in this case The HostData field is filled with the requested data matching the type passed When reading data with a dynamic size the matching type of object derived from TAncestorMatrix must exist in the Bi i memory at the given location prior to calling Bii_Read Data DATA_TYPE_IMAGE reads any of TBitMatrix TByteMatrix or TRGBMatrix the required conversion is done internally Similarly DATA_TYPE_TEXT is converted from TString The memory must be deallocated later with Bii_FreeHostData 4 5 Cooperation with AMC and SDK The table below shows the functions in AMC and SDK that results in sending message to the host application
84. mplate in the DSP memory The TAcel6KTem structure is declared in the TAce16kTem h header file The corresponding template structure in the file system of the host computer is a text file containing one or more template structures in the following format Template 1 control R gw cu c Osce etos Og gases Feedback 910000 6 0000 0 Current 3 0 Bias 0 Mode 3 References 11 1 128 0 178 229 128 142 255 112 128 37 23 The number between the square brackets is the identifier of the template data A template contains the following data Control 3x3 control matrix The first two values sign that this field contains 9x1 elements The range of these elements except the middle element is 3 0 3 0 The middle element s range is 6 0 6 0 58 Tue Bi i SDK FeedBack 3x3 feedback matrix The first two values sign that this field contains 9x1 elements The range of these elements except the middle element is 3 0 3 0 The middle element s range is 6 0 6 0 Current Spatial invariant offset value the range is 6 0 6 0 Bias Weight for spatial variant offset image the range is 6 0 6 0 Mode Template execution mode This can be 1 2 3 or 4 References 11 analog references for template optional The first two values sign that this field contains 11x1 elements If not specified after loading in the DSP the first reference value will be 1 If this template is written to ACE16k references will be a set of recommended r
85. mple The following sample code shows some of the parameter comment blocks For more details see the Param sample in the DotNetComponent Samples folder Example 4 4 Header Comment Sample Enumeration Types Section Section Enum This the section contains the enumeration types A This is the first enumerator type This is an implicit number based enumerator Section Section Enum Key Enum_Implicit_Num Range 0 1 2 3 DefaultValue 2 A int Enuml This is the second enumerator type This is an implicit character based enumerator with default values Section Section Enum Key Enum_Implicit_Char Range Oma Cont DefaultValue Off int Enum2 This is the fourth enumerator type This is an Explicit character based enumerator with custom value Section Section Enum Key Enum Explicit Char Datatype DATA TYPE ENUM Range EnumVall 567 EnumVal2 123 EnumVal3 324 EnumVal4 42342 EnumVal5 35 DefaultValue EnumVal3 A int Enum4 36 THE API Example 4 5 Header Comment Sample Different range types Section Section Range This the section contains the range samples B This is the first range sample parameter Two side closed range Section Section Range Key Range_Close_Close Range L2 2 1 DefaultValue 5 A Tanto Randgeb This is the fourth range sample parameter Two size opened range Section Section Range Key Range_Open_Open Ra
86. n VA library An important difference is the usage of the Process function In TVAFrontEndF the Process function can be used in the same way as in TVAFrontEnd but it is also possible to split the same functionality into two parts so that the ProcessStart function can start processing a frame on the FPGA and the control is returned to the DSP program The DSP can execute any other tasks while the VA 69 Tue Bi i SDK FrontEnd processes the frame on the FPGA The DSP program can call the ProcessWait function to wait for the completion of the VA FrontEnd process on the FPGA A typical usage of the TVAFrontEndF class is shown in the example below Example 5 38 Using the TVAFrontEndF class include SDK Bii VA TVAFrontEndF h TVAFrontEndF VAFrontEnd WIDTH HEIGHT TByteMatrix FEinput WIDTH HEIGHT TBitMatrix FEoutput WIDTH HEIGHT Set the features of the algorithm while GoAhead VAFrontEnd ProcessStart FEoutput FEinput The DSP can run other tasks here VAFrontEnd ProcessWait The result in FEoutput can be used beyond this point The width of the images to be processed is limited to 320 pixels in TVAFrontEndF Another restriction is that the width must be a multiple of 32 The TVAFrontEndF class uses DMA transfers on the DSP This can cause incorrect behavior if the L2 cache is enabled which is detailed in Section 5 6 L2 Cache Following the rules below will ensure the proper operation
87. n changing readptr and sendptr TByteMatrix tmpptr The object for Ibis5 Io UIS Setting to rolling shutter mode ibis Set IBIS ROLLING SHUTTER 1 Setting the image rectangle ibis SetRect IMG LEFT IMG TOP IMG WIDTH IMG HEIGHT Setting the shutter period BS SetShutt r SHUTTER USJ Two images are read The first image is never perfect in rolling shutter mode ibis Read img1 ibis Read imgl Initializing the pointers now we can read to img2 and we can process imgl readptr amp img2 procptr amp imgl The loop while some_condition Starting read out to readptr ibis ReadStart readptr Process the image at procptr here Exchanging readptr and procptr tmpptr readptr readptr procptr procptr tmpptr Waiting for the end of the current image read out ibis ReadWait 5 4 7 Subwindows The subwindows is a multi window readout method from a main previously set rectangle on the Ibis5 This works only with Bi i v2 Stereo HRES and the Bi i v301 This is a two step readout because a row can be read only once from the Ibis5 and the subwindows can overlap Therefore the rows are read to a row buffer and in the second step the data will be copied to the corresponding rows of the subwindows Important e The subwindows must be inside the main rectangle The minimum width of the subwindows is 200 if width is set to a lower value then the algorithm will read more pixe
88. n function like this RES MVK MVK B S NOP NOP NOP NOP NOP ENTIS ENS Ke SZ Cu nee X0 TS O oke 1X0 2 BO 5 1 5 Build Options Generally the build options of the project can be set freely but there are some rules to be followed Set the Target version to C64XX mv6400 for Bi i v2 and v301 Always build little endian code do not use me In most cases Far Calls amp Data must be set ml3 Setting Use Function Subsections mo is recommended Link the code with the run time support library the Bi i SDK library and the InstantVision libraries 42 THe Bi i SDK Bi i v2 or v301 rts6400 lib Debug BiiSdk_ccs3_v2d lib IvBase ccs3 tx64d lib IvSi_ccs3_tx64d lib IvSif ccs3 tx64d lib rts6400 lib Release BiiSdk ccs3 v2 lib IvBase_ccs3_tx64 lib IvSi ccs3 tx64 lib IvSif ccs3 tx64 lib Table 5 2 Recommended libraries Using the debug libraries is recommended in the development phase In the release version range checking is disabled in many places 5 1 6 Namespaces Inside the Bi i SDK all classes functions and types are declared within the Bii namespace Because of the tight connection with the InstantVision libraries the InstantVision namespace is also needed 5 1 7 Initialization and Closing Before using any other functions from the Bi i SDK the Init Library function must be called This initializes all the internal data structures for host communicati
89. n that keeps on running and stops only if the Stop button is pressed in IVRun After starting it the START message appears in the Logs window the STOP message comes only when the Stop button was pressed Example 5 3 Checking the stop status finclude SDK Bii Bii h using namespace Bii int main void while GetStopStatus Do something here return 0 5 1 10 Checking the connection When using the Bi i as a stand alone system a host computer is not required for the normal operation at all In this case flash boot mode must be used See the Bi i User s Manual for more details In the flash boot mode the Bi i application starts immediately after it has been loaded from the flash memory of the DSP A Host application e g IVRun can connect to the Bi i device also in this case The following functions help waiting for the connection WaitForConnection and CheckConnection from the Bii h 5 2 General Purpose I O interface GPIO The Bi i SDK has a general software interface for different GPIO interfaces in the Bi i cameras The functions for the GPIO handling is declared in the Include SDK Bii GPIO h header file See in the Bi i Programming Reference All property of GPIO connectors can be modified separately and all connectors can be written and read separately but max 32 connectors in the same time The specific properties for the certain GPIO interfaces are described in the Hardware section of the Bi i Users
90. nes edere Dt tre e os ERO REOR RR Rehab dos 7 VS P 8 2 10 4 Definitions And Conditional Compilation eese nennen 9 2 1 T Avi handling rr metere ta em eel ode las e ies e iR Rods 10 2 12 Frame Grabber need eee petite o tee ER tH ER EEEIEE A EERIE EESE ha USER 11 2 13 Image Acquisition from the Ibis Sensor sss eene 12 2 14 ACETOK nt T eo EO ran e D e bte ef cp eere Eie e pei 12 2 14 1 Image And Template O 5 iac eee e eo eie iei beads Mone 13 2 14 2 Logical Operation o cetero RR dre ee err ER Ere estes 13 2 14 3 Template Execution dre Ub o ep RIPE te E OUO PRESE peas rU o E e EE RE RRu 14 2 14 4 Im ge ACQUISILIOD ss cies iii onere RP Rer Eee ie Rei FERRY EN rere repete ERES 14 2 15 Image Processing Library QPI csee tec ettet e ito tbe Ines e cvenashedbsobounacdants 14 2 16 Profiling eer e OO RR RUP TRE IO EU e EE REO HERE TEE SERERE ree bii 15 3 AMCedit oiee ouo a peg vedo gni oqusiiteg duties anditiis us 16 3 1 Editing AME codes ncmo Seu pr DH Dro eed E dr 16 3 117 The Editor WindOw ia t AIR IU REI RU AERE ERES 16 3 1 2 The Info tree Window ideoeiiseteen ore D REDE RO REOR 17 3 13 Status Bar ego relonsb e OU o UI UU e git et POE S 18 32 Running the AMO enn o or eer ROLE ORE RE ED ER p ree des epar Ap iret 18 3 2 1 Selecting the Device virise teienei eu eee age e eter tei eee ie eee RE c ie SE 18 3 2 2 Selecting the W
91. ng the Id of the current thread handle Bii Run ip The number of the device in IvConfig NULL The default DSP program from IvConfig NULL No ABC file NULL No default directory BII INFO THREAD The current thread will receive messages infoparam i 4 2 Receiving Messages When using the BII INFO THREAD or BII INFO WINDOW mode messages can be received with the GetMes sage or the PeekMessage Windows API calls Both functions receive the message in an MSG structure The identifier parameter and additional parameter components are placed into the message wParam and IParam members respectively When using BII INFO CALLBACK mode then all message components are passed to the callback function When using BII INFO QUEUE mode then the internal message queue can be checked with the Bii PeekMes sage and the Bii GetMessage functions The difference between them is that Bii PeekMessage returns immedi ately while Bii GetMessage waits for a message Both receive the identifier and the parameter only The additional parameter is not received because the handle that would be received as additional parameter is passed in the first argument of the functions When working with more Bi i systems at the same time then the message queue for each of them must be checked in separate function calls The host application can receive the following messages from the Bi i BII MSG START Sent after calling Bii Run when the application
92. nge 5220 DefaultValue 5 29 2 int Range4 This is the fifth range sample parameter Left Infinite Right Closed Section Section Range Key Range_Infinite_Close Range Zea p AW DefaultValue 5 A int Range5 This is the sixth range sample parameter Left Closed Right Infinite Section Section Range Key Range_Close_Infinite Range L276 soll DefaultValue 5 29 2 int Range6 This is the seventh range sample parameter Two side infinite Section Section Range Key Range_Infinite_Infinite Range re etie DefaultValue 5 iA int Range7 37 THE API Example 4 6 Header Comment Sample Explicit data type parameters This is an explicit byte variable IniFile ExternalParams Key ExByte Datatype DATA_TYPE_BYTE Range 0 200 DefaultValue 150 A unsigned char ExByte This is an explicit unsigned int variable IniFile ExternalParams Key ExUInt Datatype DATA_TYPE_UINT Range 0 3000000000 DefaultValue 2800000000 Flags Constant A int EXUINt This is an explicit float variable IniFile ExternalParams Key ExFloat Datatype DATA_TYPE_FLOAT Range 456 456 194 194 DefaultValue 153 505 ey float Exbloat 38 THE API Example 4 7 Header Comment Sample Matrix parameters This is an explicit bit matrix variable Shows the usage of the dependency between the parameters IniFile ExternalParams Section Matrices
93. on The last Bi i SDK call in the program must be the InstantVision IVExit function which sends a message to the host application telling that the program execution on Bi i has been finished The main macro in Bii h can perform the initialization and finalization it replaces the main function with a sequence of Init Library the original main function and Program End Consequently you need not directly call Init Library and Program End if Bii h is included in the file where the main function is implemented Defining DIRECT MAIN FUNC disables this behaviour The empty Bi i SDK application which only starts and after that stops immediately is very easy to implement It includes Bii h and contains an empty main function When running it from your host computer a message is received because of the implicit call of InstantVision IVExit telling to the host application that the program execution on the Bi i has been finished When running it from IVRun the Stop button on the toolbar is activated and the Run button is deactivated for a short time showing that the application is running but when the Stop message is received the original status of the toolbar buttons returns Run is active Stop is inactive Two messages appear in the Logs window of IVRun START and STOP Example 5 1 The empty Bi i SDK application include SDK Bii Bii h int main void return 0 5 1 8 Logging The Bi i SDK does not have its own
94. ore Dei e RE Ee eei E ei re ee Rebel 15 Ae Calling Bu R N other teo eee to e ir e n T re P etes debe Ferte fore a dee che uote cepe lig 25 4 2 Receiving messages ina thread easet o rre d rH RR RFT ERR Eg 26 4 3 Sample Parameter Comment block seesseeseeeeeseeeee enne ene EE REEE nennen nene trennen 33 4 4 Header Comment Sample Enumeration Types sess eene nenne nennen 36 4 5 Header Comment Sample Different range types sese eere 37 4 6 Header Comment Sample Explicit data type parameters sese 38 4 7 Header Comment Sample Matrix parameters ssesssssssssseseeeeeeeneeeneenne enne nenne nene nennen 39 4 8 Header Comment Sample Interface and Indirect parameters serere 40 5 1 The empty Bi i SDK application sinini densi irel ceseeeecnsecesceeceeeeseeseceeesseeeseeeeesseseeeseseeseeeeseeseeeeeeeeeeseeeeeeees 43 5 2 Bii SDK application with logging sees sseeseoesscsecsscossossenssenssesnsssvossesssonssensecesonessesoneeseesserseerseesners 44 3 3 Checking the stop status cs 2 2 ra Rer E IEEE EE RR eerte Indes she eee 44 5 4 Usage of GPIO interface reote eee d RR ERE pa ie AE ier Ret ped E DEOR Ss 45 5 5 Usage of GPIO v301 with GPIO interface sss eren neen trennen en reete trennen 45 5 6 Host Targets sten ee oben bee i i e ot ege Er E Ore e Pet e He e RR Re ee 46 5 7 Synchronous host communic
95. orkspace net ette eee E eid Ese SETERS tasei 19 3 2 3 Compiling the AMC sescenti opea st entr es n Rer eR oe ERE epu ee eR Res 19 3 24 Running the ABC oes ceca Eo edet Gebote ce de ri epis 19 3 3 Menu Items Toolbar Buttons and Shortcut Keys sse 19 4 The API ien DE donee etin 23 4 1 Runnmng an Application ore te et FRU PEUT ERE Fe ie RI E NER Eee Free EE E RE 23 4 2 Receiving Messages oin E PRO p HEC E PUE e ER rU PEE ERR 25 4 3 Sending Message Sven sonet A eni ee ip de a ien qu seg d ette etes o ESES tei ORE Ee ERU 26 4 4 Data Transfer ise tee reb thee Dre T 26 4 A Data Representation oe pete Dto meer rr HU RO D rir er pe res 26 4A 2 Data Transfer Messages oec e ee CO PER EE ERR E eb LO RE PE Ea 27 4 4 3 Direct Transfer eoe en Renan diate Siu anes Bin e AIRE 28 4 5 Cooperation with AMC and SDK eene teta t te e C Re REPRE EUER 28 4 6 NET Components i dur IHR UI ERREUR ERREUR URE ER ISI EPOD ROME ONERE RT 29 4 6 1 Installing the Components 4 nor perte tr e tp SERERE EE EEE e ERE Den 29 46 2 Usage of the Components 5 eee ete emet ette reti iie ree irte anes 30 4 7 Parameter generation ParamTool utility sess nennen enne 32 47 1 Special comments 2 eee eer qp ee iste e ERE EUR p PER E 33 47 2 Parameter Handling Class t irte ette ete i pee ee ERR EE ptbvanenecs 34 Br Vision SYSTEM 4 1 3 Example e inm ose
96. ory being used as a cache The L2 cache is a 4 way set associative cache whose capacity is 256 Kbytes with a line size of 128 byte L2 SRAM is the remaining part of the L2 memory which can be accessed directly by the Bi i appli cation The Bi i SDK supports the following L2 modes e L2 SRAM Mode The entire L2 memory is mapped as L2 SRAM thus the external address ranges are not cached The L2 SRAM is mapped into the address range 0000 0000h to 000F FFFFh The L2 SRAM mode is the default mode e L2 Cache Mode This mode enables the usage of the L2 cache thus the external address ranges can be cached The lower 768 Kbyte of L2 memory is mapped as L2 SRAM over the address range 0000 0000h to 000B 64 THe Bi i SDK FFFFh The upper 256K byte of L2 memory is mapped as L2 cache over the address range 000C 0000h to OOOF FFFFh Note Reading or writing to the L2 address range that is configured as L2 Cache may result in undesired operation of the cache hierarchy The Bi i programs must confine L2 accesses to L2 addresses that are mapped as L2 SRAM to ensure correct program operation Related documentation from Texas Instruments e TMS320C6000 DSP Cache User s Guide literature number SPRU656 e TMS320C64x Two Level Internal Memory Reference Guide literature number SPRU610 5 6 1 L2 Mode Selection When the L2 Cache Mode is selected 16 MByte ranges of the external memory can be individually enabled for caching The number of
97. ost Communication eeeeeeseeeeeeeeeneen eene nennen nenne 68 5 36 L2 Cache and Parallel Reading from the Ibis sensor seeessssesseeeeeeeenreneeeee nennen nenne 68 5 37 L2 Cache and Direct Data Transfer ssssessssssseseseeene eene E tenerent rene tree etre 69 5 38 Using the TVAFrontEndF class eres erat te UO ere b E RR HERES EE 70 5 39 Using the TLaserController classas o reinen n ree E E EAE eene trennen eene trennen EEE IONES ESEESE 71 viii 1 Introduction This manual is a description of the different ways of Bi i programming Chapter 2 The AMC Language describes the AMC language which is the conventional way of Bi i programming suitable for small applications Chapter 3 AMCedit is an introduction to the AMCedit application which is a syntax highlighting development environment for AMC Choose AMC if you want to run relatively small image pro cessing algorithms on Bi i such as testing the different interesting features of the ACE16K array processor for example No special programming skills are required to learn AMC and if you have some experience in computer programming with scripting languages for example in Javascript or Matlab the language will be familiar All software tools required for AMC programming are installed with the Standard or the Development version of the Bi i software Chapter 4 The API is a description of the Bi i API which is a programming interfa
98. ost load pic rgb bmp 0x80010000 rgb Displays the image to the host application host display 0x80010000 1 This code loads the rgb bmp image in color format to the DSP memory and displays it in the host application in window number 1 Example 2 5 Initializing an image in AMC Initializing a 128 128 resolution gray scale image conv gam_b lam 120 LAM9 128 128 Display it in the host application host display LAM9 1 After running this program the LAM9 memory location contains a 128x128 resolution gray scale image All pixel values of this image are 120 so we can see on the user interface of host application a homogeneous middle gray image 2 10 Flow Control In AMC we can create loops and subroutines to facilitate the processing of the acquired image sequence counting image processing pixel by pixel branching etc 2 10 1 Loop The loop construct in AMC is a special use of the jump instructions jump jumpc jumpnc The begining of a loop is a label The loop variable is changed inside of loop core and it should be initialized before loop is started The condition checking can be anywhere inside the loop For example we want to increase a counter variable and print this The loop variable same as the counter variable Example 2 6 Loop constructs in AMC mov gam gam 1 GAM1 Initializing of loop variable BeginOfLoop Begining of loop host print Counter d 1 GAMI Print the counter Sc rel equ 20 GAM1 GLM1 Check t
99. r omitted during the compilation depending on these symbols as conditions The following keywords can be used for conditional compilation e ifdef Symbol If the Symbol is defined the next part of AMC code will be included in the compilation e ifndef Symbol If the Symbol is defined the next part of AMC code will be omitted from the compilation e else If the previous condition was true then the next part of AMC code will be omitted from compilation and vice versa e ftendif All conditional compilation directives such as ifdef and ifndef must be matched with closing endif directives prior to the end of file otherwise an error message is generated There are two predefined symbols the name for the Bi i version e Bi iv2 Defined if the device is a Bi i v2 Bi iv301 Defined if the device is a Bi i v301 These symbols are equally useful for Bi i v2 and Bi i v301 because there is only one engine for both Bi i version The next program illustrates how conditions can be used at compile time THE AMC LANGUAGE Example 2 9 Conditional compilation in AMC define Symboll ifdef Symboll AMCCodel ifndef Symboll AMCCode2 else AMCCode3 endif AMCCode4 endif AMCCode5 This is equivalent to AMCCodel AMCCode3 AMCCode4 AMCCode5 2 11 Avi handling AMC programs can open AVI file for reading or writing or create new ones To put frames into a previously open
100. r selects all text in the selected object Shortcut Ctrl A e Find Searches for the specified text formatting symbols comments footnotes or endnotes in the active document Toolbar oh Shortcut Ctrl F 20 AMCeopit Replace Searches for the specified text and replaces it in the active document Shortcut Ctrl H Repeat Repeats the last search Shortcut F3 Go To Line Moves the insertion point to head of the line you want to go Shortcut Ctrl G View menu Toolbar Displays or hides the Toolbar Status Bar Displays or hides the Status Bar Move Split Moves the line between the tree and the editor windows Swap Focus Changes the focus between the tree and the editor window Shortcut F4 Change Layout Saves the file and changes the layout between vertical and horizontal orientation Toolbar BS Auto Complete Completes the current statement Shortcut Ctrl Space Set Font Selects the font properties Insert menu Filename Inserts a file name File Content Inserts the content of a file into your document Toolbar i Block Define Inserts define at the insertion point Shortcut Ctrl Block Comment Comments the selected lines Toolbar a Shortcut Ctrl R D Block Uncomment Removes the comment symbols form the selected lines Toolbar Shortcut Ctrl T Shift D Make Lowercase Makes lowercase the selection Project menu 21 AMCeopit Device You can select the target device here
101. ration are not limited to the target or the source data of the operation The Bi i SDK maintains internal data belonging to the host operations in the host request section and also in reserved memory area at the beginning of the external memory When using asynchronous host operations all of the affected memory ranges must be considered e The lower 16 MByte of the external memory must be non cacheable because it contains the reserved area for the host communication e The host request section must be placed to non cacheable memory It either to the L2 SRAM or to a part of the external memory where the L2 cache is disabled e The target or source memory ranges must either be non cacheable or the WriteBackInvalidate must be called for them before the host operation 67 Tue Bi i SDK Example 5 35 L2 Cache and Asynchronous Host Communication TByteMatrix Image l width height NONCACHEABLE ADDRESS TByteMatrix Image 2 width height CACHEABLE ADDRESS The simplest class from IO group Tstd xc Ib This function enables the Asynchronous Host Communication SetAsyncMode true TNetTarget This function selects the L2 Cache Mode and sets the cacheability of external address ranges without the first 16 Mbyte part setCachesState C_ P2 C P3 NEA This function sends an image from a noncacheable memory address to the Host computer TStd lt lt Image 1 These functions send an image from a
102. re details 74
103. returned until the requested data is sent or received In this communication type the net and axis host request queue can contain only one host request at a time Example 5 7 Synchronous host communication Makes a storage class for the image TByteMatrix ByteMatrix Image input service on the Host computer TImgIn ImgIn sample bmp Sends the host request to the Host computer ImgIn ByteMatrix if ImgIn good The requested data is available in the ByteMatrix object else The requested data is not available because the host request was failed 5 3 1 2 Asynchronous Communication The asynchronous communication is an advanced communication type which enables code execution on the Bi i while processing net or axis host requests are in progress on the I O Components The Bi i application puts the asynchronous host request to the axis or net host request queue and sends a signal to the I O Components The Bi 1 application does not wait for the signal from the Host server meaning that host requests can aggregate in the net and axis host request queue All service handler classes use the same communication type at a given time for the same I O Components because they all share a single net and axis host request queue Using this communication type is recommended only for advanced users Keep in mind the following points e Do not send host requests in a tight loop because the net or axis host request queue gets fille
104. rget M LLM M L amp M M R Getafra host host avi init file STRING handle oGAM width iG amp M height iG amp M b Create 4 host host avilength handle oGAM length oGAM Get the a host hostaviopen file STRING mode 0 1 handle oGAM Openan host host avi putfra handle oGAM source M_LLM M_LAM M RGB Put a fra host host close data handle oGAM Closes a host host clr ser Clears th host host display source M_LLM M LAM M RGB identifier iGAM Displays host E host err lam aremlam obs El hnst frah dma Ihandle iRAM ftaraet M 11h M LAMM RfsRIfima sner Downlna hnst Figure 3 1 AMC Syntax dialog Dialog options Type in the fragment to search for Write a new search term here or select from the previous ones Browse button Starts searching 16 AMCeort Insert button Exits and inserts the selected keyword Fields of the result window Keyword The name of the keyword Syntax The exact syntax description of the keyword parameter name default value TYPE Description The description of the statement Group The name of the keyword group 3 1 1 2 Auto Complete Select the Auto Complete item of the View menu to switch on off the automatic completion feature Use Ctrl Space to complete the currently edited word to a valid AMC instruction It works only if the completion of the current segment is unambiguous 3 1 2 The Info tree Window The info tree contains severa
105. ry 8 LAM 2 LLM 32 TEM ABC code 20 0Kbyte Ox000E 5000 Q 000FFFFF 0800001 00 Q 80FFFFFF zl Figure 3 2 The Select Device dialog Device Here you can select the Bi i device that will be used for program execution The device must be configured with IVConfig prior to running AMCedit The device must have the following properties 18 AMCeort The device type must be Bi i v2 The Use AMC ABC check box must be checked The setting above are defaults newly created devices always have these features Under the combo box some information about the selected device can be found Default checkbox Save the selected device as default See menu Project Preferences 3 2 2 Selecting the Workspace Select the Options item of the Project menu to specify a VRun Workspace file which will be passed to VRun when you execute the AMC code This workspace must refer to the ABC file whose source is the current document If you do not set any workspace then AMCedit will find a workspace named like the AMC file but if it does not exist then executes the ABC file without any workspace 3 2 3 Compiling the AMC with error info can be found at the bottom of the info tree 3 2 4 Running the ABC To run the compiled code select the Execute item of the Project menu or on the toolbar This command starts VRun to execute the ABC code on the selected device The code will be compiled before running if it has changed after th
106. ry buffers In no GUI mode there are no secondary buffers allocated Initialize This function initializes the parameter handling It works only in synchronous host communication mode So the function set the host communication mode to synchronous and set back to the original if it finished the execution Send the buffer parameters addresses to the host set the pointers of the original parameters and download the initial parameter values from the host In no GUI mode there are no secondary buffers allocated It open the ini files and loads the parameter values directly to the application classes member variables Refresh This function refreshes the original parameters with the buffered parameters It handles the synchronization problem with the host The parameters will not be mixed during this operation In no GUI mode it does the same as the initialize function Update This function updates the buffered parameters with the current value of the parameters It handles the syn chronization problem with the host The parameters will not be mixed during this operation In no GUI mode it saves the actual parameter values to the ini files UploadRequest This function sends a request to the Host to read the modified parameters from the IV application to it s buffer 35 THE API Note This function overwrites the buffered data Any non refreshed data will be lost In no GUI mode this function does not exist 4 7 3 Exa
107. s TEM1 TEM32 12 THE AMC LANGUAGE These containers don t map to the DSP memory ranges therefore there are some transfer instructions in AMC to enable the transfer between them 2 14 1 Image And Template I O We can write and read templates and images to from the ACE16k Example 2 15 Image I O for ACE16k in AMC Initializes ACE16k size images on DSP memory conv gim llm FALSE LLM3 conv gam b lam 100 LAM9 Writes images to ACE16k mov llm llm LLM3 LLM mov lam lam LAM9 LAM Reads images from ACE16k mov llm llm LLM1 LLM4 mov lam lam LAM1 LAM10 Important Keep in mind that the image memories of ACE16k only keep their contents for a few 10 milliseconds Example 2 16 Template I O for ACE16k in AMC Before writing a template to the ACE16k it has to be loaded from the host computer to the DSP memory Load template from the host computer host load tem erosion tem TEM33 Write template to the ACE16k mov tem tem TEM33 TEM1 Read template from ACE16k mov tem tem TEM1 TEM34 Note The read back template values can be different from the original template values because the floating point template values will be converted to unsigned integer value 0 255 on the ACE16k 2 14 2 Logical Operation In bit wise logic operations on the ACE16k each operand must be a binary image memory however the output may be either a binary or a gray scale image memory on ACE16k Example 2 17 Bit wise logical operat
108. se a default data directory which points to a folder of the local file system if the service request does not include a filename with full path Generally the default data directory may be set in the Host Application e g IVRun The I O Components on the Axis communication processor uses the following default directory var data This parameter is included in the etc axishost ini file Service handler classes in the In Server on Host computer Server on Axis communication stantVison software module chip supported this class can send and re supported for operator lt lt TStd ceive data directly to from the host TString amp these strings are trans application e g IVRun ferred to the var log messages file TFile supported supported TMatlab supported not supported TDataFile supported supported TImglIn and TImgOut supported supported THexFrgb and TDShow supported not supported TVideoIn and TVideoOut supported not supported TImgSeqIn and TImgSeqOut supported supported Table 5 3 Supported services on the Bi i system Example 5 6 Host Targets TByteMatrix ByteMatrix 156 362 Image output service on Axis MCM chip TImgOut NetImgOut Sample bmp TNetTarget Image output service on the Host computer TImgOut AxisImgOut sample bmp TAxisTarget ByteMatrix 100 Creates an image to the default data directory of the Host computer NetImgOut lt lt ByteMatrix Creates
109. sfer between the DSP and ACE16k with TACE essere 58 5 22 Template transfer with T ACE ente terere te er eripere praed 59 5 23 Loading templates from the host computer esses nennen nennen eren entrent 59 5 24 Internal image copying With TAGE rnnt ertet e Rep hp He Oe oq RI OE E E ER Pope SiE 60 vii Br Vision SYSTEM 25 25 Image conversion with TACK essaie erea teme ert aue e e ep eee itera ie EE 60 5 26 Initialization of image memories with TACE sessssssssssesseeeeeeeneeenee trennen etre ener tree 60 5 27 Bit wise logic operations with TACE sess een rennen rennen tenete nenne tenete 61 5 28 Continuous time template execution with TACEtransient eese nennen nennen 62 5 29 Iterative template execution with TACEtransient eeseeeseeseeeeeene enne trennen trennen 62 5 30 Diffusion with TACE iceiiteeri tee ete ede Cg e EOS D REO RO Re Fe iie eite t tute orte teh 62 5 31 Image capturing on ACE16k with TACE sssssseeseeeeeenrenneenen nennen trennen Er EES US ener tenere 63 5 32 Typical morphological operation with TACE IPL esesseseeeeeeeen nennen nennen nennen 63 5 33 Typical gray scale operation with TACE IPL sseeeeeeeeeeneeenrenne enne ene tete tenete trennen 64 5 34 L2 Mod Selection oie utto go Ge EE ROSEO HE tu ee E eret ter et bi b rhe 65 5 35 L2 Cache and Asynchronous H
110. sssssssesseseeeeeennneeeeene nennt nennen ener tnne nene 28 Messages sent from the host application sseseseseeeeseeeseeeeeene ener nene trennen tenter 28 Memory ranges on the Bi i systems oce eet eh eite I ER Er e RM eee eee ERE 42 Recommended libraries 4 een Ae e be t i e ER TO Bes hav e te RR EC setts 43 Supported services on the Bi i system nsise isores seiirt sisser tetesa stenosi rS a nene trennen tereti ne enne enne eene nnnene 46 Horizontal patterns for Ibis5 subsampling 00 eee eee eee ceeeceseceseceaeeeseeeeeeseeseeesecsecsaecsaecsaecsaecaeseneseaeens 50 vi List of Examples 2 1 AMC compiling in a command prompt sess en neen eene en eene enne teen trennen nen 2 2 2 AMC d ta types iau ee e BER E A E te RIO I ORE EE UE E RO E E EEE EEEN 4 2 3 Hello World application m AMC tet Reit per per rot re EE RUE b Ree e aed 6 2 4 Loading an image from the host computer in AMC ssssssssssssesseeeeeeeeeenee nennen nennen 7 2 5 Initializing an imagen AMC sontes te eiie ett eee E REO E re E EHE HD bentes 7 2 6 L 00p constructs m AMO i3 ette ERU RUE e aces IE rer od DUI OU up 7 2 7 Calling asubroutine 1n AME nda her Ro ee d e EI e E EE E Eee Pe eire tut 8 2 8 Miny MAMO ios aicieas hU BI AC e e RA RM RN OR AI RI A UR ADS 8 2 9 Conditional compilation in AMC sessssesssesseseseeeeeeeene ennt entree nnne trennen ennemi nere nnen eene nennen
111. t lines of the image are taken at 50 THe Bi i SDK different times which can cause side effects Siginificant distortion can appear when taking images of fast moving objects or a short flash can be seen only in some lines Setting the IBIS ROLLING SHUTTER parameter to 1 enables the rolling shutter mode The shutter period i e the IBIS INT TIME parameter in rolling shutter mode refers to the number of lines on the image between the shutter and the read out Thus the minimum available shutter period is the time required for reading a line and the maximum available shutter period is the time required for reading the complete image except the last line see the Framerate section The resolution between the minimum and the maximum is the time for reading one line The minimum the maximum and the resolution depends on the size of the image The proper value is set to IBIS INT TIME when calling the SetShutter with the required shutter period in us It is assumed that IBIS ROLLING SHUTTER the size of the image and IBIS GRAN X SEQ are already set when SetShutter is called In rolling shutter mode the images must be read periodically without significant delay because the delay between the images increases the actual shutter period for the first few lines on the image It means that the framerate is fixed and it depends on the size of the image Another similar effect is that the first few lines of the first image are blank because there w
112. tDataEvent func tion showing that the host request has been processed You can free the allocated memory with Bii FreeHostDa ta if you do not need the received data any more The BII MSG CLR message is sent if the Bi i application wants to clear the data stored on the host side This message has no parameter The practical implementation depends on your application VRun closes all windows when it receives this message When processing BII MSG CLR the Bii SetDataEvent function must be called The BI MSG GET message is sent to the host application when it should send data to the Bi i The parameter of this message is a pointer to the Bii HostDataRequest structure which consists of an Identifier and a Type field and a pointer to the Bii HostData structure The host application must set this pointer to a valid value if it can supply the requested data or to NULL if it cannot supply it The data supplied must match the data requested e The Identifier must be the same in the Bii HostData structure as it is in the Bii HostDataRequest structure e The Type in the Bii HostData structure must be compatible with the Type the Bii HostDataRequest structure Matching data types are obviously always compatible Besides that DATA TYPE BIT MATRIX DATA TYPE BYTE MATRIX or DATA TYPE RGB can be sent if DATA TYPE IMAGE was requested The opposite direction is somewhat restricted DATA TYPE IMAGE with the matching color depth can be sent when DATA
113. ted before the DSP program stops This is important for example when a frame grabber is opened and sends images to DSP in an infinite cycle and the DSP receives a stop message or an error occurs In this case the frame grabber can be stopped in this cleanup code The instructions have a fixed number of parameters except that one or more of the last parameters can have default values which is automatically appended by the compiler AMC code is not case sensitive 2 5 Argument Types This section summarizes the basic data types supported in AMC There are two groups of these types Images and templates on ACE16k e Arguments on DSP Images and templates on ACE16k C_TEM Template memory C_LLM Binary image memory C_LAM Analog gray scale image memory Argument types on DSP e Scalar types The size of all scalar types are 4 byte in the memory M GLM Logical type scalar 0 1 M GAMB Byte type scalar Unsigned integer 0 255 M GAM 4 byte signed integer scalar M GAMF 4 byte floating point scalar e Vector types M GLM ID Logical type 1D vector The range of its elements is O 1 M GAMB ID Byte type 1D vector The range of its elements is 0 255 unsigned integer M GAM ID 4 byte signed integer 1D vector THe AMC LANGUAGE M GAMF 1D 4 byte floating point 1D vector e 2D array types Matrixes M_GLM_2D M_LLM A two dimensional array of logical values 0 or 1 This is identical to M_LLM M_LLM means th
114. ter Handling Class This is the class that handles the parameters on the device side It adds a secondary buffer for the parameters to prevent the parameter overwriting during the algorithm execution and also determine an interface to easily initialize and refresh the parameters 34 THe API The class contains a pointer of the original parameters of the utilizing class and a buffer for each parameters The user interface application changes the buffered values and the device side application should call the refresh func tion of the parameter handling class to override the new parameter value If there is no GUI for the application it uses the TDataFile class to get and set the parameters form the ini files and no double buffering applied Note The enumeration values are stored with different way in GUI and no GUI mode In no GUI mode they are stored by value in GUI mode they are stored by name Therefore in the ini files which were generated in GUI mode the enumeration parameters name should be replaced by the theirs values to make them usable in no GUI mode on the other direction the values should be relaced by the names 4 7 2 1 Functions The following functions are available in the parameter handling class Constructor Allocates the secondary buffers for the parameters and resizes the TAncestorMatrix type parameters In no GUI mode it does not allocates secondary buffers Destructor Releases the allocated seconda
115. the available address ranges depends on the size of the external memory of the Bi i system i e one range for 16MB 4 ranges for 64 MB The following continuous parts of the external memory can be enabled for caching e C PI the first part of the SDRAM Range 8000 0000h 80FF FFFFh C P2 the second part of the SDRAM Range 8100 0000h 81FF FFFFh e C P3 the third part of the SDRAM Range 8200 0000h 82FF FFFFh e C P4 the fourth part of the SDRAM Range 8300 0000h 83FF FFFFh The following steps are needed to enable the L2 cache in the Bi i application e Besure that the memory range of the L2 cache is not used in the application for any other purpose The easiest way to do this is to modify the linker command file of the project for example changing the line IntRAM o 00000800h 1 000FF800h to IntRAM o 00000800h 1 000BF800h which disables the general usage of the upper 256 kByte of the L2 memory e Include the L2Cache h file from the include SDK Bii directory e Use the SetCacheState function to enable the L2 cache pass the required external address ranges as parameter Example 5 34 L2 Mode Selection include SDK Bii L2Cache h This function selects the L2 Cache Mode and sets the cacheability of all external address ranges C Pl First part of the SDRAM 16MByte Range 8000 0000 80FF FFFF C P2 Second part of the SDRAM 16MByte Range 8100 0000 81FF FFFF C P3 Third part of the SDRAM 16MB
116. up tool as follows e Add a new board that has a DSP of the C64XX family and a platform matching the type of the JTAG device to your system A new CPU also appears which is a part of the board e Select the Instant VisionISE bin Accessories Bii6415 gel GEL file as a property of the new CPU If more than one device was created in CCS setup than the CCS Parallel Debug Manager appears each time when CCS is started The required board must be selected from the open menu to get the usual CCS interface To start debugging a Bi i application the following steps must be completed e InIVConfig check the Debug with JTAG box for the corresponding device n Code Composer studio CCS initialize EMIF register with the GEL Memory Map and EMIF init EMIFInit16MB or GEL Memory Map and EMIF init EMIFInit64MB menu item depending on the SDRAM size of the Bi i system e In CCS download the application to the Bi i with the File Load Program menu item 73 THe Bi i SDK InIVRun select the device Settings Run open the application File Open Application and push the Run button At this point the application does NOT start running which is normal when debugging e In CCS run the application with the Debug Run menu item It is important to follow the order of steps exactly After completing these steps the debugging begins with the usual features such as breakpoints or variable watch See the CCS documentation for mo
117. ut it does not start it e Call the Bii Start function to start the application e Call the Bii Close function to close the connection with the Bi i Using this method can be useful when you want to run the same application on the Bi i several times without downloading it each time Another advantage can be that you can prepare the execution with Bii Init and after the application can be started in a relatively short time with Bii Start The messages between the host application and the Bi i have the following components Identifier Parameter Additional parameter A value which identifies the role of the message Specifies additional information about the message The exact meaning depends on the value of the Identifier field Always contains the handle the return value of Bii Run or Bii Init when re ceiving messages from the Bi i Receiving the handle as an additional parameter is useful when more Bi i systems are used from the same host application at the same time Otherwise this parameter can be omitted When sending messages to the Bi i the Parameter and Additional parameter components are currently not used they are reserved for future use Passing zero is recommended The example below calls Bii Run for device 1 and the current thread will receive the messages 24 THE API Example 4 1 Calling Bii_Run Bii_InfoParam infoparam void handle infoparam ThreadId GetCurrentThreadId Getti
118. y is developed to prepare the interface of the parameter handler components ParamXML Handler ParamGrid but if there is no GUI for the application it can be useful because it has the capability to handle the parameters off line For more details see Section 4 7 2 Parameter Handling Class The parameters are those member variables of the application classes that can be modified by the user interface during execution These parameters are stored in standard ini files Each parameter consists of an ini file and a section It also has a name within the section These three things make up the unique identifier of a parameter To make a parameter from a member variable a special comment block should be placed before the variable and the container class The blocks should be started with a slash and two asterisks and should have the structure as shown in the following example 32 THE API Example 4 3 Sample Parameter Comment block This is an sample class ClassPath SampleNamespace SampleClass uf class SampleClass IniFile MainParamFile This is the main parameter file that contains the main parameters of the application Section MainSection This section contains the parameter of the Main cycle ff public This is a sample integer variable IniFile MainParamFile Section MainSection Key SampleInt Datatype DATA TYPE INT Range 450000 480000 DefaultValue 12000 Be riri Saeimas 4 7 1
119. yte Range 8200 0000 82FF FFFF C_P4 Fourth part of the SDRAM 16MByte Range 8300 0000 83FF FFFF SetCachestateC PEIL EP22 EE GEI ORAY This function selects the L2 SRAM Mode The entire L2 memory is mapped as L2 SRAM again SetCacheState 0 5 6 2 Memory Coherence The memory system of the DSP supports requests from two sources CPU and DMA All peripherals access the memory system by DMA Generally if the CPU and a DMA channel share the same cacheable memory region 65 Tue Bi i SDK the cache and the memory can become incoherent Consider the system shown in Figure 5 2 Cache Coherence Problem Suppose that the CPU accesses a memory location that gets subsequently allocated in cache 1 Later a peripheral is writing data to this same location that is meant to be read and processed by the CPU 2 However since this memory location is kept in cache the memory access hits in cache and the CPU reads the old data from the L2 cache instead of the new data from external memory 3 A similar problem occurs if the CPU writes to a memory location that is cached and the data is to be read by a peripheral The data only gets updated in cache but not in memory from where the peripheral reads the data In this case the cache and the memory are said to be incoherent Consequently if a memory location is shared cached and has been modified there is a cache coherence problem 3 CPU reads old data Ox

Bi-i Vision System Programming Guide

Contents

Download Pdf Manuals

Related Search

Related Contents