User Manual
Contents
1. Example of the new packet for Track Color with Raw Mode output only WARNING This may temporarily interfere with a terminal program by sending non visible characters RM 1 ACK TC 50 20 90 130 70 255 ACK C gt k ai Ck amp L This command ReSets the vision board Note on reset the first character is a r Example of how to reset the camera TS ACK CMUcam v1 0 S1 position t This command lets you Set the position of servo 1 0 turns the servo off and holds the line low 1 127 will set the servo to that position while it is tracking or getting mean data Any value 128 and higher sets the line high In order for the servo to work the camera must be in either a tracking loop or mean data gather loop Values 0 and 128 can be useful if you wish to use the servo port as a digital output The port can also be used as a digital input see I1 command The MM command can enable or disable the automatic servo tracking 18 SM value W This command is used to enable the Switching Mode of color tracking When given a 0 it is in it s default mode where tracking will return its normal C or M color packet If the value is set to 1 the tracking commands will alternate each frame between color packets and S statistic packets Each statistic packet is only being sampled from an area one quarter the size of the bounded area returned from the tracking command If no object was bounded then no S statistic packets are returned This can be2. O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O O ollo ollo Testing the Board Once you have set the board up and downloaded the firmware a good way to test the system is to connect it to a computers serial port Step 1 Step 2 Step 3 Step 4 Step 5 Step 6 Step 7 Step 8 Build a serial and power cable Plug both of them in Open the terminal emulator of your choice and set the communication protocol to 115 200 Baud 8 Data bits 1 Stop bit no parity local echo on and if possible turn on add line feed add n to a received r Turn on the board the Power LED should light up and the Track LED should not You should see the following on your terminal emulator CMUcam v1 1 Once you have seen this the board was able to successfully configure the camera and start the firmware Type gv followed by the enter key You should see the following igv ACK CMUcam v1 1 This shows the current version of the firmware If this is successful then your computer serial port is also configured correctly Using the CMUcam java GUI or by graphically interpreting the Dump Frame Packet yourself focus the camera lens Usually the lens is focused when it sits a few rotations out from its closest position to the CMOS array Turning the lens and re dumping the frame incrementally should provide a good feel for when the image is sharp
3. Resistor __ 220QBK ND___R1_ 06 6 fi 0 uF Capacitor P2105 ND c C2 C3 C4 C5 C6 b 42 2 sPsTswisn lecso iss ft 1 Bmm red LED l67 1125 ND ED3MM 0 16 ie pe 21D o O TT 3 100 uF Capacitor P5138 ND c7 C9 C11 0 28 Pa Zale pin IC socket to form a 28 pin socke RENO CL da 1 ig pu IC socket TEE ND G1 _1_ Double row female header___929852 01 36__ips_ 8 35 1 Single row male header SZ 09 36 ND ae JP3 JP4 JP7 a 1 83 a a AA 2 Crimp terminals Ww TENT ND 1 Polarized 2 pin terminal header Polarized 2 pin terminal header WM4000 ND CS E 1 Female serial ribbon cable head AFSO9G ND a Serial ribbon cable socket connector Serial ribbon cable socket Serial ribbon cable socket connector ASC10G ND T a _ Order Code BB048 at http www electronics123 com Ask them for an evaluation board with an OV6620 from Omnivision and an IR coated lens Use this for the oscillator by cutting off the inner 4 legs accessories that make interfacing easier but are not required for functionality 24 A 5 zR DDOO 33D BARE GND 25 CMUcam Schematic qN C11 y snq eau
4. a separate serial link This communication to the board should be identical to using a single CMUcam For example you could have the master board tracking some color while the slave board could be told to get mean color data Each board runs independently of one another and only the master can control camera registers Baud Rate Jumper 2 Jumper 2 on the camera switches the baud rate from 115 200 baud to 38 400 baud Demo Mode Jumper 3 Jumper 3 puts the camera into a demo mode Demo mode causes the camera to call the track window command and then begin outputting a standard hobby servo PWM signal from the servo output The servo attempts to drive the camera mounted on it towards the middle mass of the color detected on startup Note that upon power up in this mode the camera will wait for 5 seconds before grabbing a color and servoing to allow the camera to stabilize This feature can be enabled manually without the jumper by sending the MM 2 command If when the servo is mounted on the camera it appears to be tracking in the incorrect direction also set jumper 1 When jumper 1 and jumper 3 are set the board does not go into slave mode it runs demo mode and reverses the direction of the servo i 00 ol ollo O a o olo Ollo E e ole o anio o o ano o ano o o ano o 82XS 00000000000000 Startup Demo Jumper 3 ZEZXVM 00000000 00000000000 00nO Baud Rate Jumper 2 Slave Mode Jumper 1 O O O O O O O
5. is then terminated with two OxAAs OxAA is never transmitted as part of the data so it should be used to signify termination of the binary bitmap After the binary bitmap is complete a normal tracking packet should follow raw data AA XX XX XX XX XX XX AA AA C 45 72 65 106 18 51 raw data AA XX XX XX XX XX XX AA AA C 46 72 65 106 18 52 Get mean Line Mode prefix packet This packet prefix outputs the mean color of each row being processed These packets are started with an OxFE and terminate with an OxFD Each byte of data between these values represents the corresponding line s mean color value Due to the serial transfer time the vertical resolution is halved After all rows have been completed a normal tracking packet should follow raw data FE XX XX XX XX XX XX FD M 45 56 34 10 15 8 raw data FE XX XX XX XX XX XX FD M 45 56 34 10 15 8 22 Firmware Once the board has been assembled and powered up the firmware can be downloaded using the SX Key downloading program The SX Key downloader and manual are available at www parallaxinc com html_files downloads downloads_sx htm The firmware for the camera can be found at http www cs cmu edu cmucam downloads html Downloading The Firmware After downloading and installing the SX Key software it is necessary to load the CMUcam hex firmware to the board step 1 Turn on the boards power step 2 Ensure that the programming switch is in the p
6. the LM command when dumping a bitmap image An acitve value of 1 causes only every odd column to be processed The default value of 0 disables the mode This command uses the servo port as a digital Input Calling I1 returns either a 1 or O depending on the current voltage level of the servo line The line is pulled high so it is only required to pull it low or let it float to change its state The servo line can also be used as a digital output See S1 command Example of how to read the digital value of the servo line LI ACK 1 L1 value r This command is used to control the tracking Light It accepts 0 1 and 2 default as inputs 0 disables the tracking light while a value of 1 turns on the tracking light A value of 2 puts the light into its default auto mode In auto mode and while tracking the light turns on when it detects the presents of an object that falls within the current tracking threshold This command is useful as a debugging tool Example of how to toggle the Tracking Light on and then off Ll 2 ACK L1 0 ACK 15 LM active r This command turns on Line Mode which uses the time between each frame to transmit more detailed data about the image It adds prefix data onto either C M or S packets This mode is intended for users who wish to do more complex image processing on less reduced data Since the frame rate is not compromised the actual processing of the data output by the vision system must be done at a h
7. CK PM mode r This command puts the board into Poll Mode Setting the mode parameter to engages poll mode while O default turns it off When poll mode is engaged then only one packet is returned when an image processing function is called This could be useful if you would like to rapidly change parameters or if you have a slow processor that can t keep up with a given frame rate Example of how to get one packet at a time 7PM 1 ACK TC 50 20 90 130 70 255 ACK C 38 82 53 128 35 98 17 RM bit_flagsw RS r This command is used to engage the Raw serial transfer Mode It reads the bit values of the fist 3 lsb bits to configure settings All bits cleared is the default visible ascii mode If bit 0 is set then all output is in raw byte packets The format of the data packets will be changed so as not to include spaces or be formatted as readable ASCII text Instead you will receive a 255 valued byte at the beginning of each packet followed by the packet including the packet identifying character i e C for a color packet There is no r sent after each packet so you must use the 255 to synchronize the incoming data Any 255 valued bytes that may be sent as part of the packet are set to 254 to avoid confusion If bit 1 is set then all input will be read as raw byte values too After the byte values of a command are sent send byte telling how many arguments are to follow i e DFO for no arguments No r character is required
8. CMUcam Vision Board User Manual Contents IMtrOdUCHON ssc ciiiecedssansacuvooranansa vet eetseeeuas aetenaua ssa nee T RE e 3 Hardware Board Layo t da 4 Assembled VIEW cion 5 Ports amd JUMPers cocos ia 6 9 LESS A AR 10 About the Camera c ccc cccce cece eeneeeeeeeeeeeesnanes 11 Parts St 6s a ds ETAG 24 Schematic Li A A 25 Communication Serial Command Set ooococcccccccccnnnnnnncccono eneeeeeeeeeeees 12 20 Data Packet Description rra 21 22 Firmware Downloading Firmware ooooccccconccncconccnncnnnnnnoncnnnnns 23 Troubleshooting AA strn ionene AE po 23 This is the CMUcam Manual v1 08 for the CMUcam v1 1 firmware For more information go to http www cs cmu edu cmucam or contact us at cmucam cs cmu edu Copyright 2001 Anthony Rowe and Carnegie Mellon University All Rights Reserved Introduction The CMUcam is a SX28 microcontroller http www ubicom com products processors sx28ac html interfaced with an OV6620 Omnivision CMOS camera http www ovt com omnicmoss htm on a chip that allows simple high level data to be extracted from the camera s streaming video The board communicates via a RS 232 or a TTL serial port and has the following functionality e Track user defined color blobs at 17 Frames Per Second e Find the centroid of the blob e Gather mean color and variance data e Transfer a real time binary bitmap of the tracked pixels in an image e Arbitrary image windowing e Adjust the
9. Clock A o 14 HREF Horizontal Window Reference lt O 15 AGND Analog Ground Yo 16 VSYN Vertical Sync K O 17 AGND Analog Ground o 18 PCLK Pixel Clock 19 EXCLK External Clock O 20 VCC 5 VDC Oo 21 AGND Analog Ground o 22 VCC 5 VDC 23 30 UVO UV Digital output UV bus o 31 GND Common Ground z Fin 322 VTO Video Analog Output 75 Ohm Servo Port This is the output for the servo The positive signal does not go through a regulator from the boards power input Do not use a servo with the board if the board is being run off of more than 6 volts EF TAG Ground Input Servo Port Signal Parallel Processing in Slave Mode Jumper 1 The CMUcam supports a mode of operation that allows multiple boards to process data from the same camera Ifa PC104 style pass through header is used instead of the standard double row female header it is possible to rack multiple boards along the same camera bus Upon startup if jumper is set the camera becomes a slave Slave mode stops the camera board from being able to configure or interfere with the CMOS camera s settings Instead it just processes the format setup by the master vision board When linking the buses together you must only have one master all other boards should be setup to be in slave mode In this current version of the system there is no message passing between boards other than the image data from the camera bus This means you have to communicate to each slave board via
10. ault type M packet also includes the center of mass of the object The resolution of the processed image is 80x143 The X values will range from 1 to 80 and the y values will range from 1 to 143 A packet of all zeros indicates that no color in that range was detected The confidence value is a ratio of the pixels counted within the given range and the area of the color bounding box It returns a value which ranges from 0 to 255 Under normal operations any value greater then 50 should be considered a very confident lock on a single object A value of 8 or lower should be considered quite poor With no arguments the last color tracking parameters will be repeated Type M packet M mx my xl yl x2 y2 pixels confidence r Type C packet C xl yl x2 y2 pixels confidence r Example of how to Track a Color with the default mode parameters TC 130 255 0 0 30 30 ACK M 50 80 38 82 53 128 35 98 M 52 81 38 82 53 128 35 98 M 51 80 38 82 53 128 35 98 This command will Track the color found in the central region of the current Window After the color in the current window is grabbed the track color function is called with those parameters and on the full screen This can be useful for locking onto and tracking an object held in front of the camera Since it actually calls track color it returns the same type of C or M color packet Note your set window will only be used for grabbing the color to track and then the window will return to 80x143 Example
11. camera s image properties e Dump araw image e 80x143 Resolution e 115 200 baud or 38 400 baud serial communication e Slave parallel image processing mode off a single camera bus e Automatically detect a color and drive a servo to track an object upon startup e Ability to control 1 servo or have 1 digital I O pin Board Layout Programming Svitch Power LED Track LED 15 Mounting Holes E Level Shifted O 0 9990 E Serial Port o o 00 o Al oo 40k o o o Osan Oo O 0o SX Key Port OO O10 gt 5 E o o i o o o y o Camera Bus TTL Serial o o 06 o Back Mounted o o o o o Jumper 3 o o o o 2 o z ja Jumper y O o e Q Jumper 1 0ll0 OllO rower m gt Q El LM2940 Power Switch Servo Port Assembled View Programming Switch LOANO SUL Power Switch Ports Power The input power to the board goes through a 5 volt regulator It is ideal to supply the board with between 5 6 volts of DC power that is capable of supplying at least 200 milliamperes of current MIO ol N OS alo E oO O o O ollo ollo oloJolo CLIO Level Shifted Serial Port This port provides full level shifting for communication with a computer Though it only uses 3 of the 10 pins it is packaged in a 2x5 pin configuration to fit standard 9 pin ribbon cable clip on serial sockets and 10 pin female clip on serial headers that can both attach to a 10 wire ribbon cable PC Transmit Scenix Receive PC Recei
12. ed If there was a problem in the syntax of the transmission or if a detectable transfer error occurred a NCK string is returned After either an ACK or a NCK a r is returned When a prompt r followed by a is returned this indicates that the camera is waiting for another command in the idle state White spaces do matter and are used to separate argument parameters The r ASCII 13 carriage return is used to end each line and activate each command If visible character transmission exerts too much overhead it is possible to use varying degrees of raw data transfer See Raw Mode 12 This command is used to set the camera board into an idle state Like all other commands you should receive the acknowledgment string ACK or the not acknowledge string NCK on failure After acknowledging the idle command the camera board waits for further commands which is shown by the prompt While in this idle state a r by itself will return an ACK followed by r and character prompt Example of how to check if the camera is alive while in the idle state ACK CR regl valuel reg2 value2 reg16 value16 r This command sets the Camera s internal Register values directly The register locations and possible settings can be found in the Omnivision documentation All the data sent to this command should be in decimal visible character form unless the camera has previously been set into raw mode It is possible to send up to 16 regi
13. est Try running the camera in demo mode 10 About the Camera From power up the camera can take up to 6 seconds to automatically adjust to the light Drastic changes in the environment such as lights being turned on and off can induce a similar readjustment time When using the camera outside due to the sun s powerful IR emissions even on relatively cloudy days it will probably be necessary to use either an IR filter or a neutral density 3 camera filter to decrease the ambient light level The field of view depends on the lens attached to the camera Amazon Electronics provides a 13 7mm F2 0 lens with a 65deg x 50deg field of view It is possible to special order the camera with wider or narrower lenses Individual lenses can be purchased separately The functions provided by the camera board a meant to give the user a toolbox of color vision functions Actual applications may greatly vary and are left up to the imagination of the user Being able to change the viewable window grab color light statistics and track colors can be interwoven by the host processor to create higher level functionality 11 Serial Command Set The serial communication parameters are as follows e 115 200 Baud e 8 Data bits e 1 Stop bit e No Parity e No Flow Control Not Xon Xoff or Hardware All commands are sent using visible ASCII characters 123 is 3 bytes 123 Upon a successful transmission of a command the ACK string should be return
14. igher rate This may not be suitable for many slower microcontrollers Line mode s effect on TC and TW When line mode is active and TC or TW is called line mode will send a binary bitmap of the image as it is being processed It will start this bitmap with an OxAA flag value hex value AA not in human readable form The value OxAA will not occur in the data stream This is followed by bytes each of which contains the binary value of 8 pixels being streamed from the top left to the bottom right of the image The vertical resolution is constrained by the time in which it takes to transfer the horizontal data so lines may be skipped when outputting data In full resolution mode the resulting binary image is 80x48 The binary bitmap is terminated by two OxAA s This is then followed by the normally expected standard C or M data packet processed at that lower resolution Example of TC with line mode on LM 1 TC raw data AA XX XX XX XX XX XX AA AA C 45 72 65 106 18 51 raw data AA XX XX XX XX XX XX AA AA C 46 72 65 106 18 52 Line mode s effect on GM When line mode is active and GM is called line mode will send a raw not human readable mean value of every line being processed These packets are started with an OXFE and terminate with an OxFD Each byte of data between these values represents the corresponding line s mean color value Similarly to the bitmap mode due to the serial transfer time the vertical resolutio
15. n is halved At 17 fps 115 200 baud every other line is skipped At any slower frame rate still 115 200 baud no lines will be skipped Example of GM with line mode on LM 1 GM raw data FE XX XX XX XX XX XX FD M 45 56 34 10 15 8 raw data FE XX XX XX XX XX XX FD M 45 56 34 10 15 8 16 MM mode r This command controls the Middle Mass mode which adds the centroid coordinates to the normal tracking data A mode value of O disengages middle mass a value of 1 default engages middle mass and a value of 2 engages the mode and turns on the servo PWM signal that tries to center the camera on the center of color mass see the Demo Mode Jumper description This mode is good if you want a single point representation of where the object is or if there is too much small background noise to get a good bounding box To switch the direction of the servo it is necessary to set the 2 bit counting from 0 i e 4 of the mode value Example of how to disable Middle Mass mode MM 0 ACK TC ACK C 38 82 53 128 35 98 C 38 82 53 128 35 98 C 38 82 53 128 35 98 NF active r This command controls the Noise Filter setting It accepts a Boolean value 1 default or 0 A value of 1 engages the mode while a value of 0 deactivates it When the mode is active the camera is more conservative about how it selects tracked pixels It requires 2 sequential pixels for a pixel to be tracked Example of how to turn on noise filtering NF 1 A
16. of how to use Track Window TW ACK S 24050401278 C 2 40 12 60 10 70 C 34112611170 C 2 40 12 60 13 70 C342 1262970 C 445 1260870 20 Output Data Packet Descriptions All output data packets are in ASCII viewable format except for the F frame and prefix packets ACK This is the standard acknowledge string that indicates that the command was received and fits a known format NCK This is the failure string that is sent when an error occurred The only time this should be sent when an error has not occurred is during binary data packets Type C packet This is the return packet from a color tracking command xl The left most corner s x value yl The left most corner s y value x2 The right most corner s x value y2 The right most corner s y value pixels Number of Pixels in the tracked region scaled and capped at 255 pixels 4 8 confidence The of pixels area 256 of the bounded rectangle and capped at 255 C xl yl x2 y2 pixels confidence r Type F data packet format 1 new frame 2 newcol 3 end of frame RGB CrYCb ranges from 16 240 RGB CrYCb represents a two pixels color values Each pixel shares the red and blue 176 cols of R G B Cr Y Cb packets forms 352 pixels 144 rows To display the correct aspect ratio double each column so that your final image is 352x144 It does not begin with an F and only sends raw data 12rgbrgb rgbrgb2rgbrgb rgbrgb Type M packet This is the return packet from a c
17. olor tracking command with Middle Mass mode on mx The middle of mass x value my The middle of mass y value xl The left most corner s x value yl The left most corner s y value x2 The right most corner s x value y2 The right most corner s y value pixels Number of Pixels in the tracked region scaled and capped at 255 pixels 4 8 confidence The of pixels area 256 of the bounded rectangle and capped at 255 M mx my xl yl x2 y2 pixels confidence r 21 Type S data packet format This is a statistic packet that gives information about the camera s view Rmean the mean Red or Cr approximates r g value in the current window Gmean the mean Green or Y approximates intensity value found in the current window Bmean the mean Blue or Cb approximates b g found in the current window Rdeviation the deviation of red or Cr found in the current window Gdeviation the deviation of green or Y found in the current window Bdeviation the deviation of blue or Cb found in the current window S Rmean Gmean Bmean Rdeviation Gdeviation Bdeviation t deviation The mean of the absolute difference between the pixels and the region mean Binary bitmap Line Mode prefix packet This packet is in raw byte form only It starts off with the hex value OxAA and then streams bytes each byte containing a mask for 8 pixels from the top left to the bottom right of the image Each binary bit in the byte represents a pixel The bitmap
18. ou to see a slowly updating view of what the camera sees To get the correct aspect ratio double each column of pixels Type F data packet format 1 new frame 2 new col 3 end of frame RGB CrYCb ranges from 16 240 12rgbrgb rgbrgb2rgbrgbr rgbrgb Example of a Frame Dump from a terminal program WARNING This may temporarily interfere with a terminal program by sending non visible characters DF ACK maKP U A IU AL lt gt U A L YL L L G AUsonthA YA KMAy098a34ymawvk This command will Get the Mean color value in the current image As with the TC command this function only operates on a selected region of the image The mean values will be between 16 and 240 It will also return a measure of the average absolute deviation of color found in that region The mean together with the deviation can be a useful tool for automated tracking or detecting change in a scene In YCrCb mode RGB maps to CrYCb Type S data packet format S Rmean Gmean Bmean Rdeviation Gdeviation Bdeviation r Example of how to grab the mean color of the entire window SW 1 1 40 143 ACK GM ACK S89 9067563 S 899167562 S 88 90 66 462 This command Gets the current Version of the firmware from the camera It returns an ACK followed by the firmware version string Example of how to ask for the firmware version ACK CMUcam v1 0 14 HM active r nv This command puts the camera into Half horizontal resolution Mode for the DF command and
19. rogram mode pushed away from the LEDs step 3 Plug in the SX key text side facing away from the board for more details see the hardware port section step 4 Open up the SX Key software step 5 Select Device from under the Run menu step 6 Click on the Load Hex button step 7 Go to the directory of the CMUcam hex file and type its name into the dialog box It may not be visible step 8 Press Open to load it step 9 Press the Program button step 10 Once programming has finished turn off the power to the board step 11 Unplug the SX Key and switch the programming switch into the run position step 12 Once the power switch is turned on again the firmware should be running and will greet you with CMUcam v1 1 Troubleshooting If when you tried to program you see or experience SX Key not found Make sure the comm port is set correctly and power is going to the camera Vpp Generation Failed Ensure that the program switch is in the correct position Programming Failed Try it again and if it still occurs consult the SX Key manual No response Make sure you switched the board out of program mode Try power cycling the board 23 Hardware The following is a list of parts needed to assemble the CMUcam 1 as MIPS Ubicom SX28 SX28AC75 DP ND Cl 5 18 _1 Ov6620EvalBoard Boag 5 95 1 Maxim 232 Level Shifter IMAX232CPE ND c3 B31 iu VEIEAN A CAR 1 b Volt Regulator LM2940CT 5 0 ND c2 1 80 _2 220 ohm 1 4 Watt
20. ster value combinations Previous register settings are not reset between CR calls however you may overwrite previous settings Calling this command with no arguments resets the camera and restores the camera registers to their default state Useful Settings Register Values 18 Color Mode 36 YCrCb Auto White Balance On 32 YCrCb Auto White Balance Off 44 RGB Auto White Balance On 40 RGB Auto White Balance Off default 17 Clock Speed 17 fps default 13 fps 11 fps 9 fps 8 fps 7 fps 6 fps 5 fps 4 fps ere ONAN HWW NO 19 Auto Exposure Auto Gain Off Auto Gain On default Example of decreasing the internal camera clock speed default speed is 2 SCR 175 ACK Ww Uy Wn Red channel becomes Cr which approximates r g Green channel becomes Y which approximates intensity Blue channel becomes Cb which approximates b g RGB gt CrYCb Y 0 59G 0 31R 0 11B Cr R Y Cb B Y 13 DFv GM r GV This command will Dump a Frame out the serial port to a computer This is the only command that will by default only return a non visible ASCII character packet It dumps a type F packet that consists of the raw video data column by column with a frame synchronize byte and a column synchronize byte This data can be read and displayed by the CMUcamGUI java application Since the data rate required to send the raw video greatly exceeds the maximum serial port speed only one column per frame is sent at a time This allows y
21. useful for adaptive tracking or any type of tracking where you would like to get feedback from the currently bound target After the first tracking packet is returned the window gets set back to full size for all future packets Note you will get only half the number of actual color packets per time interval Example of how to Track Color with SM SM 1 ACK TC 200 255030030 ACK C 2 40 12 60 10 70 S225 2016231 C 5 60 20 30 12 100 S2251917121 C000000 C000000 C000000 C 5 60 20 30 12 100 S2251917121 SW xy x2 y2 r This command Sets the Window size of the camera It accepts the x and y Cartesian coordinates of the upper left corner followed by the lower right of the window you wish to set The origin is located at the upper left of the field of view SW can be called before an image processing command to constrain the field of view Without arguments it returns to the default full window size of 1 1 80 143 Example of setting the camera to select a mid portion of the view SW 35 65 45 75 ACK 19 TC Rmin Rmax Gmin Gmax Bmin BmaxIW TW r This command begins to Track a Color It takes in the minimum and maximum RGB CrYCb values and outputs a type M or C data packet set by the MM command The smaller type C packet encodes a bounded box that contains pixels of the curently defined color the number of found pixels scaled actual value is pixels 4 8 that fall in the given color bounds and a confidence ratio The def
22. ve Scenix Transmit A TTL Serial Port This serial port taps into the serial I O before it goes through the MAX232 chip This port may be ideal for communication with a microcontroller that does not have any built in level shifting Note it may be necessary to remove the max232 chip t ollo o o olo alo Ground SX28 Transmit PC Receive SX28 Receive PC Transmit aj ole o glo o o ano o aio o e ano o 82XS 00000000000000 ZEZXVM 00000000 00000000000 0o0O ollo ollo Programming Port The programming port allows the firmware to be downloaded to the SX28 using a SX Key Blitzer or equivalent programmer These can be purchased from Parallax Inc www parallaxinc com ra y eRe ollo O OSCI OSC2 VDD VSS o olo Slo Circuit Side Up a ano o aio o o ano o aio o o anio o 82XxS 00000000000000 ZEZXVM 00000000 00000000000 0 O O O 0 O CK 0 O CK O O O O O O O O O O 0 O 0 O O 0 ollo ollo AAA 7 Camera Bus This bus interfaces with the CMOS camera chip The CMOS camera board is mounted parallel to the processing part of the board and connects staring at pin 1 The female camera header should be soldered on the back of the board See assembled view o o 0 Pin Description o0 oo 1 8 YO Y7 Digital Output Y Bus 9 PWDN Power Down Mode o0 10 RST Reset O 11 SDA 12C Serial Data 12 FODD Odd Field Flag 13 SCL 12C Serial
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