HiPerCam1 - ELTEC Elektronik AG
Contents
1. e 3 5 Q I 0 uonejeisu 30 HiPerCam1 User s Manual 3 Installation Figure 9 10BaseT 10Base2 IHub Network Connection 00000 00000 OVoooo 9 6000 0 1 2009 10Base2 AU 10BaseT 10BaseT Standard Cable V HPC1 Z004 10BaseT 10Base2 AUI oo G 55 ge 6 o Hub V HPC1 Z008 Take care that the 10Base2 network connection is correctly terminated at both ends HiPerCam1 31 e 3 5 Q I 0 uonejeisu 3 Installation 32 User s Manual Figure 10 10BaseT AUI Hub Network Connection 10BaseT Standard Cable V HPC1 Z004 V HPC1 2009 __ O 10Base2 AUI 10BaseT AUI Cable V CABL A112 10BaseT AUI 10Base2 Hub V HPC1 Z008 HiPerCam1 User s Manual 3 Installation 3 3 Software Configuration To become familiar with the HiPerCaml family the host and the HiPerCaml should be configured for the first steps as described in this section First the VxWorks Tornado cross development should be installed on the host see Tornado User s Guide2. Motherboard BIOS PCI Slot 1 Product PCI Slot 2 Product PCI Slot 3 Product PCI Slot 4 Product ISA Slot 1 Product ISA Slot 2 Product ISA Slot 3 Product ISA Slot 4 Product Please include the Support Request Form Sheet previous page Germany ELTEC Elektronik AG Galileo Galilei StraBe 11 Postfach 42 13 63 D 55071 Mainz Phone 49 6131 918 0 Fax 49 6131 918 197 Great Britain ELTEC International PLC 45 Caldecotte Lake Drive Caldecotte Business Park GB Milton Keynes MK7 8LF Phone 44 1908 36 64 99 Fax 44 1908 27 46 00 France ELTEC International SARL 1 All e des Garays F 91120 Palaiseau Phone 33 1 64 47 18 77 Fax 33 1 64 47 09 33 V HPC A991 USA American ELTEC Inc 101 College Road East Princeton Forrestal Center USA Princeton NJ 08540 6601 Phone 1 609 4 52 15 55 Fax 1 609 4 52 73 74
3. user hipercam1 password 403 home directory User Rights HiPerCam1 39 9 T Ld 5 S E 5 5 o S 5 3 Installation User s Manual 3 3 9 Creating Boot ROMs HiPerCam1 may use either the built in system EPROM or the built in user Flash EPROM The hex switch located on the back panel is used to select the boot EPROM On position 1 the system EPROM will start the VxWorks monitor On any other non reset position the system EPROM jumps into user Flash EPROM The Flash EPROM can keep a modified VxWorks monitor or stand alone VxWorks including a user application for example The function sysFileToFlash fileName offset see in sysLib c can be called from VxWorks shell on the target to burn the user Flash EPROM For that the target shell must have net connection for file access to host system For bootable objects the parameter offset has to be always zero To generate a stand alone VxWorks for the HiPerCaml the Makefile has to be modified for user Flash EPROM usage The bootfile is generated by the Tornado cross development using the Shell Stat Sym Tbl BSP configuration HiPerCam1 User s Manual 3 Installation 3 4 Troubleshooting If the HiPerCaml does not come up Table 12 Checklist in Section 3 3 Software Configuration may help to assure correct system installation When the HiPerCam1 does not come
4. 22 API I REA 43 B Backlight compensation 21 En tae ks 25 Boot Parameters 33 Boot ROMS 40 Booting 38 BSP API package 33 C Camera Control Functions 17 CCIR 625 9 Checklist 222522222 perap oes 39 Config Switch 25 Configuration 36 37 Connectors 11 D Default Settings 24 Demo Program 45 Double field single field acquisition 22 5 ELIA 525 n Gh site Geass sees 9 Enable DMA function 22 EPROM 64 oot swans 2 Ethernet 2 F Field ordering 22 Field Frame integration 20 FTP osx 37 1 User s Manual G Sze 21 Gamma correction 21 H THOS o skies 28 I Interrupt control 23 L lenses EIE RE 3 Line mode 21 N Network Interface 36 Parallel I O 2 7 power supply 28 PowerPC imb RR 2 R Reset Restart 17 RS 232 se DER ohare 2 S Sensor niv nt 8 Serial WO eR 7 Shutter speed 20 Software Configuration 28 Synchronization 17 T Troubleshooting 41 video output 2 User s Manual Support Request Form
5. uoneoyioods O 5 p oO 5 g 5 HiPerCaml contains everything that is needed for image processing PowerPC CPU peripherals optimized for embedded control applications fast image and program memory Flash EPROM nonvolatile memory video output connectivity via Ethernet or RS 232 and our proven professional frame grabber logic On board I O is intended to communicate with an external computer through the serial connection as well as triggering flashlights with the parallel I O bits The Ethernet interface can transfer images or image processing results for remote display or is used for software download The on board DAC drives an analog video output supplied for adjustment purposes it shows the incoming analog video signal when acquisition is on or the stored images when acquisition 15 off Video input data is stored in main memory RAM via an on board DMA controller It can store video data at video rates in four possible formats each for CCIR 625 EIA 525 Pixels are acquired synchronously to the camera clock Smaller image fields 512 hor e g are centered edges are left out The DMA controller is used to display live image or stored image data from local memory at the video output Video line pitch is the same as video line length to conserve memory lines are tightly packed 2 HiPerCam1 User s Manual 1 Specification 1 3 Mechanical Specification HiPerCam1 cas
6. HiPerCam1 43 4 Software a 2 gt o 4 Software Development User s Manual 4 3 Development Flow Imaging applications for the HiPerCam1 are intended to be developed in or C using the foundation of the ELTEC Imaging API The hardware implementation details are encapsulated for the user to get easier handling No assembler programming is required Compilation of the source code is done on the host computer with the Tornado development system Software testing is done by downloading binary code into the HiPerCaml via Ethernet or serial link and debugging with the source level remote debugger gdb supplied with Tornado When using source level debugger CPU caches have to be i disabled see BSP makefile Finally the operating system together with user code can be programmed into on board Flash memory in the HiPerCaml monitor and debug kernel reside in a separate EPROM so that there is no danger of corrupting vital firmware After that the HiPerCaml can start image processing immediately after applying power without further downloads lt 5 3 5 lt 44 HiPerCam1 User s Manual 5 Demo Program 5 Demo Program To start the demo program delivered with the HiPerCam1 BSP package read the demo txt file in directory tornado target src hipercam 1 demo 5 Demo Program HiPerCam1 45 6 Index 6 Index A Acquisition window size
7. Table 9 Table 10 Table 11 Table 12 List of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 Page HiPerCaml Peripheral Connections 3 5 625 9 EVA 525 Formats o XE bI 9 Power Connector 12 Pin Hirose Male Connector 11 Parallel I O Connector 9 Pin D Sub female 11 Ethernet Connector RJ45 Jack 12 Serial 2 Connector 9 Pin D Sub male 12 Video Output BNC Connector 12 Serial 1 Interface RJ12 Jack 13 Default Settings 24 on to c nr dr Oe es 39 Page Block Diagrams ius ec RARE eS 4 Opto Coupler Circuit 10 Tripod Attachment 13 Status e RE 25 Hex erre ad EUER US 25 Location of Switches and Connectors on the Back Panel 28 Connecting HiPerCam1 to Host without Hub 29 10BaseT Hub Network Connection 30 10BaseT 10Base2 Hub Network Connection 31 10BaseT AUI Hub Network Connection 32 HiPerCam1 User s Manual Available Configurations Available Configurations RAM 4MB 8 MB 16 MB CPU PowerPC PPC 403 33 66 MHz
8. For EIA a window size of 768 492 full acquisition window double field 768 x 246 full acquisition window single field 512x480 reduced acquisition window double field 512 x 240 reduced acquisition window single field is selectable The pitch size is 512 for a reduced acquisition window size and 768 for a full acquisition window size For window size of 768 pixels per line i EIA sensor 32 invalid pixels at each start of a line CCIR sensor 48 invalid pixels at each start of a line Enable DMA function This feature enables or disables the video DMA transfers The DMA transfers have to be enabled to store image data into the memory or to display image data at the video output 22 HiPerCam1 User s Manual 2 Camera Control Functions DMA transfer direction The transfer direction of the video DMA transfers has to be set to display video data on the video output or to store the image data into the local memory It is either possible to display stored video data on the video 1 output DMA transfer direction is from local memory to video display unit or to store incoming video data to the local memory DMA transfer direction is from video acquisition unit to local memory Both possibilities cannot be used simultaneously It is recommended to set the DMA direction only when no the transfers are active DMA transfers disabled else video data could be corrupted Interrupt control The HiPerCam1 offers video
9. Net 10 BaseT Ethernet Sensor 1 3 VCM3405 CCIR 625 1 3 VCM3405 EIA 525 EPROM 1 MB Flash 2 MB Flash HiPerCam1 V Related Products Related Products Description Documentation Hardware Tripod Attachment Option 2 3 thread for photo Power Supply Option 230 V power outlet 10BaseT Twisted pair Network Cable Crossover for connection to host PC 10BaseT Twisted pair Cable Standard for Hub connection Serial Cable 6 pin RJ12 to 9 25 pin adapter included D Sub female used for Serial 1 interface Serial Cable 9 pin D Sub female to 9 25 pin adapter included D Sub female used for Serial 2 interface Video Cable 75 Ohm BNC BNC 3 m Ethernet Hub 8 10BaseT ports AUI Cheapernet Ethernet Card for PC PCI Power Supply US Version AUI Cable 5 Software VxWorks Cross Development Package Tornado with GNU C C Win NT for PC HiPerCam1 BSP for Tornado with ELTEC Imaging API VxWorks Runtime License for HiPerCam1 HiPerCam1 User s Manual Order No V HPC A991 V HPC1 Z001 V HPC1 Z002 V HPC1 Z003 V HPC1 Z004 V HPC1 Z005 V HPC1 Z006 V HPC1 Z007 V HPC1 Z008 V HPC1 Z009 V HPC1 Z010 V CABL A112 W VXHC A107 W VXHC A106 W VXHC A101 User s Manual Conventions Conventions If not otherwise specified addresses are written in hexadecimal notation and identified by a leading dollar sign Signal names preceded by a slash indicate that this signal is
10. line after the falling edge of the H pulse The external HSYNC and VSYNC timing parameters have to be as follows 59 zi 6 3us 2 us 5 E 5 N ext H max 1 2 line time between ra rising edge H and falling edge V ext V nominal time V low gt 10H lines 5 lines HiPerCam1 19 2 Camera Control Functions User s Manual Shutter speed The camera offers several integration modes It is possible to select eight fixed shutter times In the electronic exposure mode an auto exposure circuit adapts the shutter speed to the brightness of the scene This feature is intended for surveillance systems while the fixed shutter mode meets requirements of industrial machine control The following table shows the different shutter speeds Mode Shutter Speeds 1 60 s EIA 1 50 s CCIR 1 100 s EIA 1 120 s CCIR 1 250 1 500 s 1 1000 s 1 2000 s 1 5000 s 1 10000 s min ss 1 100 000 Electrical Exposure Mode min ss 1 39 000 electronic iris start ss 1 100 000 start ss 1 2000 2 2 104409 eweg 2 Fixed Shutter Mode Field Frame integration In field integration mode every line is exposed 20 ms for CCIR and 16 6 ms for EIA In field one the lines 1 and 2 3 and 4 5 and 6 etc are added up and in field two the lines 2 and 3 4 and 5 6 and 7 etc are added up So each lin
11. 16 HiPerCam1 User s Manual 2 Camera Control Functions 2 Camera Control Functions The on board camera control logic hardware makes versatile camera features possible These functions are discussed in this chapter All functions are supported by API functions The Philips CCD sensor module offers several features which all can be controlled via ELTEC API function interface Synchronization The 12 pin Hirose connector offers HSYNC and VSYNC signals for camera synchronization These signals can be used as outputs of the internal camera timing or as inputs for synchronization from external sync source Usage as input or output is selected via an API function In case of external synchronization there are four possible modes signals at the 12 pin Hirose connector are set to output and an external source also drives these signals By default these signals are set to input The hardware can be damaged when HSYNC VSYNC Reset Restart An external trigger impulse at TRIG TRIG of the 12 pin Hirose connector leads to a camera Restart Reset if the Restart Reset feature is enabled by software If the Restart feature is enabled an external trigger signal restarts the camera timing of the CCD module is reset and starts the acquisition So no frame delay occurs for triggered snapshots HiPerCam1 17 5 oc S 85 N 2 Camera Control Functions User s Manual V lock In this mode the
12. DRAM Memory The DRAM on the HiPerCaml is used for data instruction and video data The memory is built by a standard 72 pin SO DIMM Memory sizes of 4 8 and 16 MB are supported The memory modules have to be 5 V types with 60 ns access time HiPerCam1 5 1 Specification User s Manual 1 4 3 System Flash EPROM HiPerCam1 comes with a ROM based firmware monitor for system initialization basic debug download and network configuration This firmware monitor is held in the system EPROM To come up with the system firmware the hex switch on the back panel has to be switched to position 1 sjreleq Oo 2 9 gt 5 1 4 4 User Flash EPROM The operating system together with user code can be programmed into the user Flash EPROM of the HiPerCam1 Monitor and debug kernel reside in the system EPROM so there is no danger of corrupting vital system firmware while reprogramming the Flash EPROM The user EPROM offers up to 2 MB program and data storage When the hex switch on the back panel is switched to any other odd position than 1 the HiPerCaml comes up user defined Application can start image processing immediately after power on or reset without any necessary download So the HiPerCaml can be installed as a stand alone image processing system 1 4 5 Serial EEPROMs On the HiPerCam1 two serial EEPROMs are available One of these is used to store the system
13. as described in the Wind River Systems Tornado User s Guide Necessarily the boot configuration parameters have to be changed corresponding to your system environment host name The name of the host machine to boot from This is the name by which the host is known to VxWorks it need not be the name used by the host itself hpchost file name The full pathname of the VxWorks object module to be booted tornado target config HiPerCam 1 vx Works This pathname is also reported to the host when you start a target server so that it can locate the host resident image of VxWorks 9 55 se SE 2 inet on ethernet The Internet address of the HiPerCaml with an Ethernet interface 195 0 0 201 host inet h The Internet address of the host to boot from 195 0 0 200 user u The user name that VxWorks uses to access the host HiPerCam1l in the example that user must have permission to read the VxWorks boot image file VxWorks must have access to this user s FTP sign on with the FTP password provided below ftp password pw The user password This field is not required by the boot program but you must supply it to boot over the network HiPerCam1 35 5 5 8 5 36 3 Installation User s Manual from a Windows host If you do not supply this password the boot ROM attempts to load the run time system image using a protocol based on the UNIX rsh u
14. camera is synchronized in vertical direction This mode is also called line lock For this mode a negative V reset pulse has to be applied to the camera via the HSYNC input The amplitude of the pulses that are supplied to the camera should has to be TTL level N e The V reset timing has to be as follows n a S field 1 field 2 50 5 V reset EIA 262 5 lines CCIR 312 5 lines 10 lines 5 lines Synclock with V reset In this mode the camera can lock to a composite sync signal if also a V reset is applied to the camera The composite sync pulses have to be fed to the camera via the HSYNC input the V reset pulses via the VSYNC input The amplitude of the pulses that are supplied to the camera have to be TTL The composite pulse has to be a negative pulse as follows vertical pulse components not shown 1H line time approx 64 us For requirements of the V reset signal see description to mode V lock 18 HiPerCam1 User s Manual 2 Camera Control Functions H and V lock In this mode the camera is locked in vertical and horizontal direction to the external timing The external HSYNC and VSYNC pulses have to be applied via the HSYNC and VSYNC inputs correspondingly The amplitude of the pulses that are supplied to the camera has to be TTL It is very important that the falling edge of the V pulse comes within half a
15. configuration and specific board parameters The second EEPROM can be used by the user to store any data up to 512 B To program the EEPROM use special HiPerCaml software functions 6 HiPerCam1 User s Manual 1 Specification 1 4 6 Ethernet Interface The 10BaseT Ethernet interface offers a communication link with high transfer rates and long distances 10 Mb s 100 m So the HiPerCaml can be connected via Ethernet to a 10BaseT hub which offers network links to other HiPerCams in the network and a host computer 25 Sa 8 re 1 4 7 Serial I O The HiPerCaml offers two serial interfaces Serial 1 and Serial 2 The Serial 1 interface is directly linked to the embedded PowerPC controller PPC403 This interface can be connected via a RJ12 jack on the back panel Supported communication lines are Receive RXD Transmit TXD Request To Send RTS and Clear To Send CTS Software and hardware handshake is possible Baud rates of 300 bps up to 115 kbps are supported The Serial 2 interface can be connected via a standard 9 pin D Sub male connector on the back panel This interface allows full RS 232 communication as necessary for modem support Supported data lines are RXD TXD RTS CTS Data Terminal Ready DTR Data Set Ready DSR Data Carrier Detect DCD and Ring Indicator RI 1 4 8 Parallel 1 0 On the back panel of the HiPerCaml 9 pin D Sub female connector offers eight user configu
16. up with the monitor program on the terminal check Hex switch is set to position 1 The upper status LED shows an active CPU Correct power connection to HiPerCaml The power supply voltage of the power supply unit is switched to 12 V Serial cable connection for serial I O 1 ELTEC serial cable V HPC1 Z005 Configuration of terminal Baud protocol etc When the HiPerCaml does not boot via network check 8 2 5 2 OH Check that all related network devices hubs repeaters file server etc are powered up Network connection as shown in Section 3 2 Connect the HiPerCaml to the Host Keep in mind that the 10BaseT cross over cable is only used for a direct host HiPerCaml connection In conjunction with a hub a standard 10BaseT cable has to be used Check the boot parameter configuration of the HiPerCaml Boot parameters are listed with the command on the ROM monitor e Make sure that the configuration of the HiPerCaml boot parameters is consistent to the parameters on the host Especially the parameters host name file name inet on ethernet host inet user and ftp password have to be checked Assure that a VxWorks boot file exists in the configured directory HiPerCam1 41 3 Installation User s Manual FTP server is started and configured correctly Check hosts table on the host system When a gateway is used check Ethernet IP addres
17. API function which displays the following status conditions Acquisition running No acquisition running Acquisition finished No acquisition finished VSYNC active VSYNC inactive Odd field active Even field active Video interrupts can be generated for the CPU on the following conditions Interrupt triggered when acquisition is finished Interrupt triggered when VSYNC is active The video interrupts are connected to interrupt line IRQ3 and critical interrupt input CINT of the CPU HiPerCam1 23 5 oc S 85 5 2 10409 eweg 2 2 Camera Control Functions 2 1 Default Settings Table 11 Default Settings User s Manual Function Default Setting Acquisition window size Reduced acquisition size Two field single field acquisition Single field Field ordering even odd Enable DMA function Disabled DMA transfer direction Acquisition into to memory Interrupt control Interrupt disabled Line mode Interlaced Gamma correction Off Backlight compensation Off Gain Minimal gain Field Frame integration Field integration Shutter speed 1 50 s CCIR 1 60 s EIA Synchronization Internal Synchronization 24 HiPerCam1 User s Manual 2 Camera Control Functions 2 2 Status Display On the back panel of the HiPerCam1 four LEDs indicate the operating status of th
18. C with 14 3 12 5 Msamples s is used for pixel synchronous conversion thus subpixel computations are easy Standard lenses are attached with a C mount thread 8 HiPerCam1 User s Manual 1 5 4 Video DMA Controller 1 Specification The video DMA controller is used to store the incoming video data at video rates into the local memory Four possible formats each for CCIR 625 and EIA 525 are implemented Table 3 CCIR 625 Formats Dot clock Image Format Images stored in MHz Size 4 8 16 MB without OS 14 3 768 x 568 CCIR full double field 8 16 32 14 3 512 x 512 CCIR reduced double field 15 30 60 14 3 768 x 284 CCIR full single field 17 34 68 14 3 512 x 256 CCIR reduced single field 30 60 120 Table 4 525 Formats Dot clock Image Format Images stored in MHz Size 4 8 16 MB without OS 14 3 768 x 480 EIA full double field 10 20 40 14 3 512 x 480 EIA reduced double field 16 32 64 14 3 768 x 240 EIA full single field 21 42 84 14 3 512 x 240 EIA reduced single field 32 64 128 While acquisition is active the live image is displayed at the video output The same DMA controller can also be used to display stored data at the video output Either the video acquisition mode can be active transferring video data from the CCD module to the local memory or the video display mode can be active transferring video data not operate simu
19. HiPerCaml High Performance Camera User s Manual Revision 1A Revision History Revision Changes Date 1A First Edition 16 05 97 valid for hardware revision 1A WARNING This equipment generates and can radiate radio frequencies If not installed in accordance with the instruction manual it may cause interference to radio communications The equipment has not been tested for compliance with the limits for class A computing devices pursuant to subpart J of part 15 of FCC rules which are designed to provide reasonable protection against such interference but temporary usage is permitted as per regulations Operation of this equipment in a residential area is likely to cause interference in which case the user at his own expense is required to take whatever measures may be required to shield the interference DISCLAIMER The information in this document has been carefully checked and is believed to be entirely reliable However no responsibility is assumed for inaccuracies ELTEC reserves the right to make changes to any products to improve reliability function or design ELTEC does not assume any liability arising out of the application or use of any product or circuit described in this manual neither does it convey any license under its patent rights nor the rights of others ELTEC products are not authorized for use as components in life support devices or systems intended for surgical i
20. Support Request Form HiPerCam1 Revision HiPerCam version Memory size Hardware revision Serial number BSP revision HiPerCam1 Configuration HiPerCam IP address Host IP address User name Ftp password Boot file Host Configuration Ethernet IP address VxWorks boot file Tornado development tool revision API software revision Operating system and revision Error Description What must be done to reproduce the error Listing of config h file Send the completed form to ELTEC Elektronik AG Support E2i Mainz Germany Telefax 49 6131 918 197 E Mail e2i_support eltec de gt 5 gt ao 5 o fo ELTEC Elektronik AG Phone 49 0 6131 918 520 Galileo Galilei Str 11 FAX 49 0 6131 918 197 D 55129 Mainz email e2i_support eltec de TECHNICAL ACTION REQUEST Date Customer Name Customer Ref Contact Name Department Phone Number FAX Number Severity of Problem 1 Critical 2 Serious 3 Major 4 Minor Problem concerns Hardware Software System Documentation Product Revision Level ELTEC Serial No barcode Operating System Windows 95 Windows NT Other System Configuration Hardware Software
21. a RXD 6 Clear to send CTS Front View Figure 3 Tripod Attachment M2 thread M2 thread 1 4 UNC 20 6 thread tC Q M6 thread V HPC1 Z001 2 thread M2 thread HiPerCam1 13 1 Specification User s Manual 1 7 System Parameters 1 7 1 Environmental Conditions Las 2 9 gt 5 Storage Temperature 25 C to 85 C 4 lt n a 3 gt 9 3 0 Operating Temperature 0 C to 45 C non condensing Maximum Operating Humidity 85 relative 1 7 2 Power Requirements Input voltage range 9 V 25 V DC stabilized ripple lt 10 550 mA at 12 max 650 mA Typ 6 6 W max 8 W 1 7 3 Dimensions 60 8 mm x 60 8 mm x 150 mm without lens tripod attachment protrusion of connectors at back panel Weight approx 650 g 1 7 4 Regulations Compliance CE 14 HiPerCam1 User s Manual 1 Specification 1 7 5 Sensor 55 e CCIR 720x 568 pixel a EIA 736 x 480 pixel 5 Horizontal resolution 560 5 TV lines CCIR vertical resolution 415 field integration mode TV lines CCIR vertical resolution 485 frame integration mode TV lines 1 7 6 MTBF 7538 h computed after MTL HDBK 217E 101009 2 h realistic value from industry standard experience HiPerCam1 15 1 Specification User s Manual 2 2 2 30 om m 38 55 5
22. boot is protocoled on the terminal by some network initialization messages At the end of the boot sequence the VxWorks logo appears on the terminal At state of delivery the HiPerCaml is equipped with a stand alone VxWorks in the user Flash EPROM So generating a VxWorks bootfile is not necessary to test connectivity Just switch the hex switch on the HiPerCaml to position 3 The now comes up with the VxWorks logo on the terminal For applicational use of this VxWorks a runtime licence is necessary HiPerCam1 User s Manual 3 3 8 Configuration Checklist 3 Installation The following checklist specifies the necessary configuration parameters for the HiPerCam1 and the host system after Tornado installation to allow an easy connectivity of the HiPerCaml via network to the host system The configuration data can be modified by the user but care must be taken for corresponding parameter specifications between the HiPerCaml and the host system Table 12 Checklist HiPerCam1 boot parameter configuration Your configuration host name hpchost tornado target config hipercam1 vxworks file name inet on ethernet 195 0 0 201 host inet 195 0 0 200 user hipercam1 ftp password 403 Host system installation network protocol TCP IP network IP address 195 0 0 200 host name hpchost correct hosts table VxWorks FTP server configuration Windows 95 only
23. e HiPerCam1 The upper LED signals that the CPU is running The LED below shows video acquisition activity The next LED indicates transfers on the Ethernet interface and the LED at the bottom is flickering during transfers via the Serial 2 interface Figure 4 Status Display CPU active Acquisition on Ethernet active iz o OOOO Serial line 2 active 2 3 Config Switch The hex switch on the back panel defines the configuration source and special operation modes Switch position 1 is the default setting and forces the HiPerCaml to come up with the system monitor of the system EPROM All other non reset positions are reserved for user specific configuration In that case the HiPerCaml uses the user Flash EPROM as boot ROM As an example at time of delivery a stand alone VxWorks OS is installed in the user Flash EPROM Figure 5 Hex Switch All even switch positions 0 2 4 6 8 A C E hold the in reset state HiPerCam1 25 o 5 2 Camera Control Functions User s Manual 2 2 104409 eweg 2 26 HiPerCam1 User s Manual 3 Installation 3 Installation 3 1 First Steps Carefully remove the camera from the shipping carton Save the original shipping container and packing material for storing or reshipping the camera Inspect the camera for any shipping damage If u
24. e has a small cross section of 60 mm x 60 mm and a length of 150 mm making it possible to stack several HiPerCams in space constrained applications The camera has a C mount thread for lenses all electrical connections are routed to the HiPerCam1 s back Mechanical 9 G o o s panel Table 1 HiPerCam1 Peripheral Connections Connector Connector Type Signals Data Rate Digital I O 9 pin D Sub female 8 bit TTL parallel I O 500 3 mA loL 10 mA Serial I O 1 RJ12 RS 232 serial RXD TXD RTS CTS 300 bps Serial I O 2 9 pin D Sub male RS 232 serial RXD 115 kbps TXD RTS CTS DTR DCD DSR RI Power Hirose 12 pin circular 12V trigger video 2 synchronization Analog Composite videosignal 14 3MPixel s video output 1 Vpp bandwidth CCIR 625 EIA 525 Ethernet RJ45 10BaseT 10 Mbps Lens C mount n a Status CPU activity acquisition Ethernet Serial 2 HiPerCam1 1 Specification User s Manual 1 4 Technical Details Sg 5 9 Figure 1 Block Diagram 8 5 CCD Sensor 5 Video ADC 8 bit LUT Y 8 Data Video out __ k DAC 8 bit 42 Video output Vide
25. e is used twice once in field one and once in field two In field integration mode the vertical resolution is 415 TV lines CCIR In frame integration mode every line is exposed 40 ms for CCIR 33 33 ms for EIA In field one only the odd lines are coming out of the CCD The even lines will be exposed for an extra 20 ms 16 6 ms So after an extra field period the even lines are coming out The vertical resolution in this mode is 485 TV lines CCIR 20 HiPerCam1 User s Manual 2 Camera Control Functions Line mode Line mode is a special CCD sensor mode Line mode can be set to interlaced normal operation mode noninterlaced In the noninterlaced mode field one and field two are equal to each other The lines 1 and 2 3 and 4 5 and 6 etc are combined to build a single line In this mode the pixel arrays are rectangular and the vertical resolution is reduced to half o gt 5 Gamma correction S Gamma is a nonlinear function in the camera to compensate the nonlinear behavior of the monitor Normal gamma coefficient is 0 45 For pattern recognition a linear behavior is often more useful so the gamma correction can be switched off Backlight compensation Backlight compensation can be quite useful if the main object of the scene is in front of a very bright background So the main subject can become very dark and difficult to recognize In no
26. either active low or that this signal becomes active with the trailing edge b bit B byte K kilo means the factor 400 in hex 1024 decimal M mega the multiplication with 100 000 in hex 1 048576 decimal MHz 1 000 000 Hertz Indicates information that requires close attention Indicates information that is imperative to read Skipping this material possibly causes damage to the system Indicates critical information that is essential to read HiPerCam1 VII User s Manual VIII HiPerCam1 User s Manual 1 Specification 1 Specification 1 1 Main Features Main Features 9 G o o ui HiPerCaml camera with built in image processing computer Smart camera complete with CCD local CPU and network connectivity PowerPC processor with 30 60 k Dhrystone 40 80 MIPS Real time acquisition of images directly into local memory for optimum CPU access On board ADC input look up table and DAC for video output Complete interface equipment two serial ports Ethernet digital I O port trigger input video output Basic software VxWorks development system Tornado with GNU C C compiler ELTEC Imaging API HiPerCam1 1 1 Specification User s Manual 1 2 General Description 1 1 is the first of a growing number of intelligent cameras from ELTEC It is a complete CCD based matrix camera with an intelligent frame grabber together in a small housing
27. has permission to access files in the specified directory HiPerCam1 User s Manual 3 Installation 3 3 5 Configuration of the Tornado Cross Development Tornado is the integrated environment for software cross development for the HiPerCam1 The Tornado environment provides an efficient way to develop real time and embedded applications The following describes the basic environment configurations for getting started with the HiPerCaml For more detailed descriptions refer to the Tornado User s Guide When installing the Tornado on the host system the VxWorks port mapper the VxWorks registry and the VxWorks terminal emulation should be added in the autostart file allow network connectivity These programs are mandatory for working with Tornado and HiPerCaml Also an FTP server has to be started to For Windows NT or UNIX the host system built in FTP server has to be used For configuration refer to the Windows NT UNIX system manual For Windows 95 systems the FTP server is included in the Tornado 1 0 Development Package and has to be configured as shown This description refers to Tornado 1 0 and could be subject to change in the next version Open the WFTPD window and select the Users rights command from the security menu Via the New User button a user name can be entered which has to correspond to that declared in the HiPerCaml boot parameter configuration default setting hipercam1 A password has to be specified which ha
28. ical Specification 3 L4 ER teeth 4 1 4 1 5 1 4 2 DRAM Memory 5 1 4 3 System Flash 6 1 4 4 User Flash 6 1 4 5 Serial EEPROMS 6 1 4 6 Ethernet Interface 7 1 4 7 Serial TO shes rener iubente bete 7 1 4 8 Parallel VO RR 7 1 5 Video 8 1 5 1 Video A D Converter 8 1 5 2 Video D A Converter 8 1 5 3 CED Sensor cet i aes eet ls 8 1 5 4 Video DMA Controller 9 1 5 5 Trigger Input 2 ese siennes 10 1 6 Connectors See pe 11 HiPerCam1 Table of Contents Continued User s Manual 1 7 System Parameters 14 1 7 1 Environmental Conditions 14 1 7 2 Power Requirements 14 1 7 3 Dimensions reete oed 14 1 7 4 Regulations Compliance 14 1 7 5 Sensor eek 15 1 7 6 gt eg a ee 15 Camera Control Functions 17 21 Default Settings cic De 24 2 2 Status Display osc
29. ltaneously from the local memory to the video output Both modes can The base address to store the video image can be programmed into the video base address register in steps of 128 KB with API functions HiPerCam1 9 o o Video Acquisition gt 5 o 5 1 Specification User s Manual 1 5 5 Trigger Input The trigger input is opto decoupled and occupies two pins on the 12 pin power connector The two pins are connected to the anode and cathode of the LED in the opto coupler circuit Figure 2 Opto Coupler Circuit Therefore the external signal is totally independent of the internal signal level An opto decoupled trigger provides much better noise immunity than conventional TTL devices Figure 2 Opto Coupler Circuit TRIG 2200 TRIG opto coupler circuit HiPerCam1 User s Manual 1 Specification 1 6 Connectors Table 5 Power Connector 12 Pin Hirose Male Connector Connectors Pin Signal 2 G o 2 o GND 12V Power Supply GND NC GND HSYNC input output VSYNC input output TRIGGER input TRIG 20 mA TRIGGER input TRIG max 20 mA Front View NC NC GND A 12V Power Supply Table 6 Parallel Connecto
30. mands type the help command h or followed by lt Enter gt For more detailed description of the commands see the Wind River Systems Tornado User s Guide To display the current boot parameters type the boot prompt as follows VxWorks Boot p A display similar to the following appears the meaning of each of these parameters is described in the next section The p command does not actually display blank fields although this example shows them for completeness boot device 1 nicHPC processor number 210 host name hpchost file name tornado target config HiPerCaml vxWorks inet on ethernet e 195 0 0 201 inet on backplane b host inet h 195 0 0 200 gateway inet 9g user u HiPerCaml ftp password pw blank use rsh 403 flags f 0 0 target name tn 5 startup script 5 other To change the boot parameters type c at the boot prompt VxWorks Boot c In response the boot program prompts you for each parameter If a particular field has the correct value already press Enter To clear a field enter a period then press Enter If you want to quit before completing all the parameters type lt CTRL gt D HiPerCam1 User s Manual 3 Installation Network information has to be entered to match your particular system configuration The inet addresses has to match those in your system s hosts file or those known to your Domain Name Server
31. mplant into the body or intended to support or sustain life Buyer agrees to notify ELTEC of any such intended end use whereupon ELTEC shall determine availability and suitability of its product or products for the use intended ELTEC points out that there is no legal obligation to document internal relationships between any functional modules realized in either hardware or software of a delivered entity This document contains copyrighted information All rights including those of translation reprint broadcasting photomechanical or similar reproduction and storage or processing in computer systems in whole or in part are reserved EUROCOM is a trademark of ELTEC Elektronik AG Other brands and their products are trademarks of their respective holders and should be noted as such 1997 ELTEC Elektronik AG Mainz User s Manual Table of Contents Table of Contents Page Table of Contents I List of Tables IV Figutess hilar eere de ach cede dike ele aac dato IV Available Configurations Related Products Conventions i oet eter ey AE LA RN a ets 1 Specification 1 Lr 1 122 General D scription ren Re RUE Te RP PIENE 2 13 Mechan
32. ndamaged the camera can be prepared for system installation Make sure that the hex switch is in position 1 Connect the HiPerCaml as shown in Figure 7 8 9 Connect the serial 1 interface to your terminal host Connect the HiPerCam1 10BaseT to your host Configure the host and the HiPerCaml as described in Section 3 3 Software Configuration HiPerCam1 27 9 T Ld Q e o x LL e 3 5 Q I 0 g 28 3 Installation User s Manual 3 2 Connect the HiPerCam1 to the Host To connect the HiPerCam1 to the host the serial 1 interface must be connected to an ASCII terminal or emulator Otherwise no HiPerCam1 boot configuration is possible Therefore use ELTEC serial cable V HPC1 Z005 Also a network connection from the HiPerCaml to the host system must be installed as shown in Figures 7 8 9 to allow boot file download The HiPerCaml can be directly connected to the host via a special crossed 10BaseT network cable ELTEC V HPC1 Z003 So no hub is necessary For power supply of the HiPerCaml use ELTEC power supply V HPC1 Z002 US version V HPC1 Z010 A video monitor should be connected to the HiPerCaml After power on a live image can be seen on the monitor Before starting the HiPerCaml1 make sure that the configuration of the host and the HiPerCaml is correct Therefore refer to Section 3 3 Software Configura
33. ne done eG id 25 2 3 Config S Witch e eese 25 Installation 27 Hirst ERROR 27 32 Connect the HiPerCaml to the Host 28 3 3 Software Configuration 33 3 3 1 Configuration of the 1 33 3 3 2 Entering Boot Parameters 33 3 3 3 Configuration of the Host System 36 3 3 4 Configuration of the Network Interface 36 3 3 5 Configuration of the Tornado Cross Development 37 3 3 6 Generate a VxWorks boot file for the HiPerCaml 38 3 3 7 teas 38 3 3 8 Configuration Checklist 39 3 3 9 Creating Boot ROMS 40 3 4 Troubleshooting 41 HiPerCam1 User s Manual Table of Contents Continued 4 Software Development 43 4 1 Operating System cese sun ee aie rU 43 42 ELTEC Imaging API 0 0 eee eee eee eee 43 4 3 Development Flow 44 5 Demo Program hehe ES A CS 45 gt NOR plat eC Mrs os a 46 Support Request Form Sheet Technical Action Request Form Sheet HiPerCam1 List of Tables Figures User s Manual List of Tables Table 1 Table 2 Table 3 Table 4 Table 5 Table 6 Table 7 Table 8
34. o Data FIFO 5 2 Data 0 32 Control System EPROM 256 KB SystemEEPROM DMA Controller 512B DRAM Instr Data Images User 4 8 16 MB Flash EPROM 1 MB 2 MB User EEPROM 512B 8 bit Parallel Input Output Hex Parallel 1 0 Switch Y Ethernet Ethernet Status Indicator Controller 10BaseT CPU busy 9 IBM PPC403 Acquisition 0 Serial 2 PowerPC Ethernet Serial 2 Serial 2 2 CPU Controller Power 068 RXD TXD RTS CTS Supply QY DTR DCD DSR RI HSYNC VSYNC d 11 TRIG TRIG insi Serial 1 RXD TXD RTS CTS 4 HiPerCam1 User s Manual 1 Specification 1 4 1 CPU meee 2 4 1 CPU chip is a member of the PowerPC family of RISC T 9 processors It is a full PowerPC with on chip peripherals optimized for 2 embedded control 8 re Table 2 CPU CPU IBM PowerPC 403 GA GCX Compatibility PowerPC family Clock 33 MHz 66 MHz clock doubled CPU opt Performance 40 80 MIPS Power consumption 0 2 W 0 4 W Caches 1K data 2K instructions 8K data 16K instr Data bus width 32 The PPC403 is a 32 bit RISC embedded controller with a specific implementation of the PowerPC architecture The PPC403 consists of a highly pipelined processor core and several peripheral interface units as DMA controller serial interface asynchronous interrupt controller and programmable interval and watchdog timers 1 4 2
35. r 9 Pin D Sub female Pin Signal Port bit 0 Port bit 1 Port bit 2 5 1 Port bit 3 Port bit 4 9 6 Port bit 5 Front View Port bit 6 Port bit 7 GND olo A IN HiPerCam1 11 1 Specification User s Manual Table 7 Ethernet Connector RJ45 Jack Pin Signal Transmit TX 1 8 Receive RX NC NC Receive RX NC NC T So 20 a 2 58 5 Front View o c wl ND Table 8 Serial 2 Connector 9 Pin D Sub male Pin Signal Data carrier detect DCD Receive data RXD Transmit data TXD 1 5 Data terminal ready DTR GND 6 9 Data set ready DSR Front View Request to send RTS Clear to send CTS Ring indicator RI oio oc Table 9 Video Output BNC Connector Pin Signal 1 Video output 1 2 GND 2 Front View 12 HiPerCam1 User s Manual 1 Specification Table 10 Serial 1 Interface RJ12 Jack Pin Signal 1 6 8 1 Request to send RTS 3 2 Transmit data TXD 4 5 3 GND id 4 GND 5 Receive dat
36. rable TTL I O lines The port lines 0 1 2 3 4 5 6 7 can be configured in pairs as input or output The parallel I O is handled via specific library functions which offer input output configuration and port read write operations HiPerCam1 7 1 Specification User s Manual 1 5 Video Acquisition 1 5 1 Video A D Converter Las Oo 2 9 gt 5 The video analog to digital converter is 8 bit converter with a sampling rate up to 20 Msamples s The A D converter also includes a 256 B x 8 bit look up table LUT The LUT is applicable for signal correction and binarization The look up table can be initialized via a standard API function 1 5 2 Video D A Converter The video D A converter is used to display the live video data of the camera or the video data stored in the DRAM at a standard CCIR EIA monitor The maximum output voltage is 1 Vpp at 75 Ohm 1 5 3 CCD Sensor HiPerCaml is available with different built in sensors Modules for interlaced acquisition with optional square pixel format and restart are available Features of the Philips VCM3405 include programmable or auto gain shutter speed 1 50 1 12000 s electronic iris with 1 2000 1 100000 s exposure time backlight compensation gamma correction non interlaced operation field frame integration all configurable by software The electrical camera interface matches the sensor a flash AD
37. rmal mode the auto exposure control loop measures the average signal of the complete image In backlight compensation mode only the bottom part of the scene is taken into account for the auto exposure control loop Gain The camera has a gain control logic So auto gain and fixed gain control is possible Using auto gain the video output signal is kept at 1 Vpp over a certain illumination range For normal gain mode the gain of the output can be individually adjusted by the user Adjustment range is 0 16 dB HiPerCam1 21 2 Camera Control Functions User s Manual Double field single field acquisition With this feature a single field acquisition mode or a two field acquisition mode is selectable The difference between the two modes is as follows For single field acquisition each field is in one frame In the double field acquisition mode a frame consists of an even and an odd field In the local memory the image is stored in linear which means after an even line follows an odd line and vice versa Field ordering 2 2 104409 eweg 2 The field acquisition order can be set to even odd ordering or can be set to don t care Acquisition window size For CCIR a window size of 768 x 582 full acquisition window double field 768 x 291 full acquisition window single field 512 x 512 reduced acquisition window double field 512x256 reduced acquisition window single field is selectable
38. s for gateway HiPerCaml boot configuration 5 2 To m 5 42 HiPerCam1 User s Manual 4 Software Development 4 Software Development Major requirements for a software development environment are a C C compiler a source code debugger and cross development under Windows 95 NT Target operating system is VxWorks a full real time OS with multitasking Wind River s Tornado development system for VxWorks package fulfills these needs GNU C C compiler on PC with source level debugger 4 1 Operating System VxWorks as the heart of the run time system supports a full range of real time features including fast multitasking and interrupt support The run time system is fully scalable allowing the user to configure VxWorks for the widest range of applications VxWorks networking facilities include NFS TCP IP SLIP FTP TFTP rlogin telnet and remote boot via network with the BootP protocol 4 2 ELTEC Imaging API All frame grabber related functions are implemented according to ELTEC PC_EYE Basic Tool standard where applicable Therefore the HiPerCaml supplies the same programming interface known from other ELTEC image processing products like PC_EYE family Thus there is no need to access ADC registers or to set acquisition ROI by accessing registers just use the C C ELTEC Imaging API A detailed library description is supplied with the HiPerCam1 BSP as Windows helpfile
39. s to correspond to that declared in the HiPerCaml boot parameter configuration default setting 403 A home directory has to be defined in the home directory text box useful setting In the submenu Rights gt gt enter in the directory text box The configuration is saved by clicking the button done HiPerCam1 37 5 Ld S E 5 5 o S 5 38 3 Installation User s Manual To display network messages during the boot procedure set enable logging in the Logging LogOptions menu Now the system is up to communicate with the HiPerCam1 3 3 6 Generate a VxWorks boot file for the HiPerCam1 After installation of the VxWorks cross development package and the HiPerCaml1 BSP board support package a VxWorks boot file has to be generated to be downloaded by the HiPerCaml Therefore start Tornado and select the Configure BSP command from the Project menu Set the Board Support Package to HiPerCaml confirm with configure and then close the window The VxWorks boot file generation is started by the VxWorks command in the Project HiPerCam1 menu After that the HiPerCaml can boot via Ethernet from the host system 3 3 7 Booting To boot the HiPerCam1 the hex switch on the back panel has to be switched to position 1 When the HiPerCaml is powered on it starts booting via network automatically after a countdown of seven seconds The network
40. tility which is not available for Windows hosts The boot parameters are stored in the system EEPROM and retain even if power is turned off For each subsequent power on or system reset the boot program uses these stored parameters for the automatic boot configuration 3 3 3 Configuration of the Host System HiPerCaml is connected to the host s system via an ethernet 10 interface shielded twisted pair and a serial interface The serial interface is used as a terminal default ASCII terminal configuration is 9600 bps 8 data bits no parity one stop bit protocol Xon Xoff connection to set the boot parameters on the HiPerCaml as described in Section 3 3 2 Entering Boot Parameters The network interface is mainly used for program downloads and data transfers between the host and the HiPerCaml 3 3 4 Configuration of the Network Interface The network interface of the host system has to support the TCP IP protocol Therefore it is necessary to add this protocol type into the network configuration setup For correct message transfers a network IP address has to be declared and a host name has to be defined for the host network interface If these parts are done make sure that the host IP address and the host name correspond to the entries specified in the HiPerCam boot parameter configuration default setting host IP address 195 0 0 200 host name hpchost Make sure that the user name is known to the host and
41. tion Figure 6 Location of Switches and Connectors on the Back Panel O O Parallel O oooo oO Network Serial 2 01 Gis Video Serial1 Config Status 0000 HiPerCam1 User s Manual 3 Installation Figure 7 Connecting IHiPerCam1 to Host without Hub Target System Host System Power Supply V HPC1 Z002 Z010 230V 50Hz Z002 110V 60Hz Z010 00000 o Power Parallel 00000 Serial 2 Network G 8 ge 6 o Con Stat V HPC1 Z005 Video Cable V HPC1 Z007 00090 00009 Serial gt 78 Interface 9 pin D Sub Video Network Interface 10Base2 10Baset V HPC1 Z009 pert 10BaseT crossed Cable V HPC1 Z003 HiPerCam1 29 3 Installation User s Manual Figure 8 10BaseT Hub Network Connection _____ 1 2009 10Base2 10BaseT 10BaseT Standard Cable V HPC1 Z004 10BaseT Standard Cable V HPC1 Z004 10BaseT 10Base2 AUI Hub V HPC1 Z008
42. with the BSP API package supplied by ELTEC for the HiPerCam1 3 3 1 Configuration of the HiPerCam1 If you have correctly configured your host software and target hardware you are ready to turn on the target system power and boot VxWorks When you power on the HiPerCaml and each time you reset it the HiPerCaml starts from system EPROM hex switch position 1 During the boot process the camera uses its serial port to communicate with your terminal or the terminal emulation default VT100 of the workstation The boot program first displays the ROM BSP version and then starts a seven second countdown visible on the screen Unless you press any key on the keyboard within that seven second period VxWorks boots automatically with a default configuration To change the boot configuration first power on or reset the target then stop the boot sequence by pressing any key during the countdown The boot program displays the VxWorks boot prompt as follows VxWorks Boot 3 3 2 Entering Boot Parameters Before booting VxWorks you have to set the configuration parameters for the boot including the host and target network addresses the file to be booted the user name and so on HiPerCam1 33 5 T S S E 5 5 8 5 4 3 Installation User s Manual The VxWorks boot program provides a limited set of commands To see a list of available com
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