Dragonfly Technical Reference Manual
Contents
1. 13 Figure 9 Spectral response curve for the ICX424AQ 640x480 Color 13 Figure 10 Spectral response curve for the ICX204AL 1024x768 Black and White 14 Figure 11 Spectral response curve for the ICX204AK 1024x768 Color 14 Figure 12 Diagram indicating the location of the GPIO pins csceeeeeeeeeteeeteeeeeteeeees 19 Figure 13 GPIO pin layOut ninen cece ceneeeeece cece cece ae eeeeaeseaeeeceaeeseaaeseeaeeseeeeesaaeseeaaesseneeee 19 Figure 14 IEEE 1394 Connector Pin Configuration ccccccccceeeesseeeeeeeeeeteeeseeeteeneeees 20 Figure 15 Physical dimensions of standard camera UNiit ccccseeeeeeeeeeeeeeeteeeeneeeee 25 Figure 16 Physical dimensions of extended head Unit ee eeeeeee cence eeeeeteeeteeeees 26 Figure 17 Physical dimensions of aluminum enclosure FRONT eessen 27 Figure 18 Physical dimensions of aluminum enclosure FRONT cont d 28 Figure 19 Physical dimensions of aluminum enclosure FRONT cont d 28 Figure 20 Physical dimensions of aluminum enclosure BACK c cceeeeeeeeeeeeeneeee 29 Figure 21 Physical dimensions of aluminum enclosure BACK cont d s es 30 Figure 22 Dragonfly timing Characteristics cccccececeeeseeeeeeeeeeeeeeeeseeeeeesaeeesaeeeeneeee 33 Figure 23 Dragonfly that implements four GPIO PINS 0 ecccceeeeeeeeeeeeeeeeeteeeeeaeeeeaeeeees 38 Revised 29 Sep 04 Copyright c 2004 5 PGR Dragonfly Technical Reference 1 Int2. 5 Physical Dimensions 5 1 Standard Camera Unit The following illustrations provide a number of useful dimensions of the standard camera system 63 50 _ 11 68 _ _ 22 i O O gl E on 0 o NI o a A Q O 43 18 42 03 26 16 Front _ 16 30 9 13 E E eE O p y Pe vi fo SE L Ww ms O O ca O L LO 19 4 11 Back al pahla aS a mt ih S a mj _ Side 7 All measurements are in millimeters Figure 15 Physical dimensions of standard camera unit Revised 29 Sep 04 Copyright c 2004 25 PGR Dragonfly Technical Reference 5 2 Extended Head The following diagrams illustrate the physical dimensions of the extended head unit Back All measurements are in millimeters Figure 16 Physical dimensions of extended head unit Revised 29 Sep 04 Copyright c 2004 26 PGR Dragonfly Technical Reference 5 3 Aluminum Enclosure Case The following diagrams illustrate the physical dimensions of the black aluminum case 2mm set screw hol On On lt if __modified dimension ISlig ht Chamfer Figure 17 Physical dimensions of aluminum enclosure FRONT Revised 29 Sep 04 Copyright c 2004 27 PGR Dragonfly Technical Refer
3. you have to do the following 1 Set the pin high by writing 80 01 00 01 to the GPIO_CTRL_PIN 2 Set the pin low by writing 80 01 00 00 to the GPIO_CTRL_PIN Revised 29 Sep 04 Copyright c 2004 34 PGR Dragonfly Technical Reference For example to set the output of GPIO_1 to high the user would do the following 6 3 6 set 1120h to 80 01 00 01 Use Trigger_Mode_1 to control integration time To see the effects of using Trigger_Mode_1 to control the camera shutter time 1 Rae 6 3 7 Attach a function generator to the camera negative to GND pin positive to 102 Attach an oscilloscope to the camera just to observe the signal and duty cycle ground the GND and signal lead to IO2 Open the PGR FlyCapture SDK example program FlyCap and start the camera Open the Camera Control Dialog box and go to the Extended tab Enable External Trigger mode the function generator s pulses should now be driving the external trigger Enable Trigger_Mode_1 by writing 82 01 00 00 to register 830h Use the function generator to increase and decrease the duty cycle Decreasing the duty cycle increases the integration shutter time and vice versa Externally trigger the camera into free running mode To externally trigger the Dragonfly into isochronous continuous or free running mode 1 Enable the external asynchronous trigger on IOO set register 1110h to 80 02 00 00 Set the last 8 bits in register 1104 to a value gr
4. head Dragonfly and Firefly cameras with serial numbers greater than 3100183 7 1 2 Errata Description The extended head Dragonfly and Firefly cameras will use a more flexible cable This modification will occur starting with cameras shipped on and after March 17th All extended head Dragonfly and Firefly cameras with serial numbers greater than 3100183 will have this modification The new cable is electronically identical to the previous cable and should not cause any issues in installation Aside from being more flexible the new cable is of light blue color as opposed to the white color of the old cable 7 2 New Image Sensors 7 2 1 Affected Cameras Some but not all see Errata Descripion below Dragonfly cameras shipped as of early 2003 7 2 2 Errata Description In 2003 Sony discontinued production of the Sony ICX084AL and ICX084AK CCD image sensors and replaced them with the Sony ICX424AL and ICX424AK sensors These sensors are effectively equivalent datasheets can be found at http www ptgrey com support kb details asp id 23 Revised 29 Sep 04 Copyright c 2004 37 PGR Dragonfly Technical Reference Starting in early 2003 some but not all Dragonfly cameras began shipping with the new ICX424 model sensors Once Point Grey Research s supplies of ICX084 sensors are completely depleted all 640x480 Dragonfly cameras will ship with the new ICX424 sensors To determine which of these two sensor models is
5. interline transfer progressive scan CCDs The following table enumerates a number of features of these sensors and provides links to locations of pertinent data sheets Low Resolution High Resolution Sensor Type Sony ICX424AL AQ and Sony ICX084AL AK discontinued Sony ICX204AL AK Sensor Size Diagonal 6mm 1 3 type Diagonal 6mm 1 3 type effective 5 952mm Total Pixels 692 H x 504 V approx 350K pixels 1077 H x 788 V approx 850K pixels Total 659 H x 494 V approx 330K pixels 1034 H x 779 V approx 800K pixels Effective Pixels Chip Size Unit Cell Size Datasheets Active Pixels 640 H x 480 V approx 307K pixels 5 79mm H x 4 89mm V ICX424 5 84mm H x 4 94mm V ICX084 7 4um H x 7 4um V ICX424AL http products sel sony com semi PDF ICX424AL pdf 1024 H x 768 V approx 790K pixels 5 80mm H x 4 92mm V 4 65um H x 4 65um V ICX204AL http products sel sony com semi PDF ICX204AL pdf ICX084AL discontinued http www ptgrey com support kb data ICX084AL pdf ICX204AK http products sel sony com semi PDF ICX204AK pdf ICX424AQ http products sel sony com semi PDF ICX424A0 pdf ICX084AK discontinued http www ptgrey com support kb data ICX084AK pdf Revised 29 Sep 04 Copyright c 2004 PGR Dragonfly Technical Reference 2 3 1 Typical Spectral Response The following spectral response curves have be
6. software this will require calls to flycaptureInitialize and flycaptureStart Ensure that isochronous data transfer is turned off by doing the following set 614h to 00 00 00 00 Fora single shot poke the first bit of the MULTI_SHOT register as follows set 61Ch to 80 00 00 00 For multiple shots in this example 175 or OxAF poke the first bit of the MULTI_SHOT register as follows set 61Ch to 40 00 00 AF This will cause the camera to produce the desired number of images before resuming a wait state Standard image transmission can be resumed by poking the 614h register again as follows set 614h to 80 00 00 00 Revised 29 Sep 04 Copyright c 2004 32 PGR Dragonfly Technical Reference 6 3 Interacting with External Devices The Point Grey Research Dragonfly is a versatile EEE 1394 digital camera that is capable of interacting with external devices It can be configured to trigger on an external electrical signal or produce a similar signal that allows devices external to the camera to be synchronized to the camera Input and output of these signals is achieved via the Dragonfly s general purpose IO pins through the 6 pin 2mm header 6 3 1 External trigger timing information For a low resolution Dragonfly 640x480 the time from the external trigger going low to the integration time is shown below rr External trigger tl min lus t2 less than 10us t3 integration time Integration t we a _ t
7. used on your camera contact Technical Support via our web form at http www ptgrey com support contact and reference ICX084 or ICX424 on my camera S N XXXXXXX where X is your serial number in the subject line 7 3 Identifying a Camera That Supports Four GPIO Pins 7 3 1 Affected Cameras All Dragonfly cameras with firmware 2 1 1 12 and later and printed circuit board PCB V1 3 7 3 2 Errata Description Recent versions of Dragonfly firmware 2 1 1 12 and later implement support for four instead of only three GPIO pins However the camera itself must electrically implement this GPIO pin To determine if a specific Dragonfly camera support four GPIO pins look at the sensor side of the printed circuit board If the board version is V1 3 and there are 4 transistors at the location noted in the diagram below the camera supports 4 GPIO pins nfo ptgey cor Pont Crey Ressarch nc C 2003 le PCB Version Number Transistors f v J Figure 23 Dragonfly that implements four GPIO pins Revised 29 Sep 04 Copyright c 2004 38 PGR Dragonfly Technical Reference 8 Technical Support Resources Point Grey Research Inc endeavours to provide the highest level of technical support possible to our customers Most support resources can be accessed through the Product Support section of our website http www ptgrey com support 8 1 Creating a Customer Login Account The first step in acces
8. used to hold the lens in place once the lens is focused To change the lens or refocus the lens loosen the screw adjust the lens and then tighten the screw once more The Dragonfly comes with three microlenses of varying focal lengths 4mm 6mm pre mounted on the camera and 8mm To differentiate between the various lenses consult http www ptgrey com support kb 2 2 Camera Power The 6 pin 1394 connector connects to a standard IEEE 1394 FireWire 6 pin cable and provides the camera with both power and a connection to your computer The ideal input voltage is 12V DC however the camera is designed to handle voltages between 8V and 32V DC according to the IEEE 1394 standard The power consumption of the Dragonfly is less than 2W at 12V DC Some 1394 PCMCIA cards for laptop notebook computers require a 4 pin cable A 4 pin cable does not provide power and will therefore not work with PGR cameras which require a 6 pin connector the additional two pins provide power Some 1394 accessory manufacturers sell cables that have one 4 pin end and one 6 pin end However the cameras still require power to be Revised 29 Sep 04 Copyright c 2004 10 PGR Dragonfly Technical Reference provided For suggestions on how to provide power in these circumstances consult the knowledge base article at http www ptgrey com support kb details asp id 93 2 3 Sensors The Dragonfly is currently available with one of four Sony HAD
9. 4 ims Mode 5 30fps t t3 t5 30ms 240 packets lt l Video packet t4 t5 Do S e ap Figure 22 Dragonfly timing characteristics 6 3 2 Synchronizing to an external device Trigger Mode In order for the camera to acquire images synchronized to an external electrical signal the signal must be connected to one of the GPIO pins and the camera s TRIGGER_MODE CSR must be correctly configured The external synchronization signal may be connected to any of the IO signals however by default triggering occurs on IO2 only It has a weak pull up so a simple external trigger may be implemented by using a push button switch connected between the GND and the IO2 pins To use IOO or IO1 as trigger input the pins should be connected to 5V or 3 3V digital logic signals Having connected the physical interface the TRIGGER_MODE CSR located at offset 830h must be correctly configured The Dragonfly supports Trigger_Mode_0 for external synchronization In order to put the camera into the Trigger_Mode_0 with a low active input the user must do the following set 830h to be 82 00 00 00 Turning it off can be achieved by doing the following Revised 29 Sep 04 Copyright c 2004 33 PGR Dragonfly Technical Reference set 830h to be 80 00 00 00 6 3 3 Broadcasting a sync pulse to an external device An external shutter pulse is available by default on IO1 The shutter pulse is aligned with the start of the CCD integration period and
10. Dragonfly Technical Reference Manual Revised September 29 2004 e fs RIE S E AJR CJA www ptgrey com PGR Dragonfly Technical Reference Hardware Warranty Point Grey Research Inc PGR warrants to the Original Purchaser that the Camera Module provided with this package is guaranteed to be free from material and manufacturing defects for a period of one 1 year Should a unit fail during this period PGR will at its option repair or replace the damaged unit Repaired or replaced units will be covered for the remainder of the original equipment warranty period This warranty does not apply to units that after being examined by PGR have been found to have failed due to customer abuse mishandling alteration improper installation or negligence Point Grey Research Inc expressly disclaims and excludes all other warranties express implied and statutory including but without limitation warranty of merchantability and fitness for a particular application or purpose In no event shall Point Grey Research Inc be liable to the Original Purchaser or any third party for direct indirect incidental consequential special or accidental damages including without limitation damages for business interruption loss of profits revenue data or bodily injury or death Revised 29 Sep 04 Copyright c 2004 2 PGR Dragonfly Technical Reference Table of Contents Introduction isccsecctsccsecseccnterscecnsessescntaseeecnsa
11. ats bandwidth image data formats 23 infrared cut off filters 15 Cc L capture image in single shot mode 32 chip size 11 laptop power considerations 10 cleaning the CCD 8 lens adapter formats 6 custom image modes 22 M D microlens set screw 10 downsampling 22 Mounting the Tripod Bracket 7 multiple camera automatic synchronization 21 syncing cameras on different buses 21 E extended head camera assembly 7 O extended head ribbon cables 37 extended shutter 17 OHCI IEEE 1394 host controllers 31 external trigger timing information 33 operating temperature 7 F P FCC compliance 6 power consumption 6 FireWire bus adapters See OHCI IEEE 1394 host powering the camera 10 controllers firmware changes summary 37 R current version 6 reading data from external device 34 Revised 29 Sep 04 Copyright c 2004 41 PGR Dragonfly Technical Reference region of interest 22 S sensor datasheets 11 sensor sizes 11 sensor types 11 shutter control shutter using Trigger_Mode_1 35 shutter conversion formula 17 signal to noise ratio 6 spectral response curves 12 static discharge protective measures 8 storage temperature 7 sub sampled custom image format See downsampling sub window custom image format See region of interest synchronizing to an external device 33 T technical support resources contacting a support representative 39 creating a Customer Login Account 39 knowledge base 39 on the Internet 39 V voltage requirements 6 Ww writing data
12. can support at most 4 simultaneous DMA channels also known as DMA contexts Similar adapters based on the Lucent Agere chipset support up to 8 DMA contexts 2 The maximum bandwidth of the 1394 bus is 400Mbits sec The actual usable bandwidth is approximately 80 or 40MBytes sec 3 The 1394a standard limits the maximum number of devices on a single bus to 63 4 An inadequate power supply Consult the voltage and power requirements in the General Specifications section of this manual to determine the amount of power required to operate the cameras effectively 6 1 1 Calculating Maximum Possible Frame Rate The maximum frame rate allowable for each of the cameras on the bus depends on the resolution of the cameras and the frame rate and can be roughly approximated using the following general formula assuming all cameras are at the same resolution Frames_per_second Bandwidth Pixels_per_frame Bytes_per_pixel Num_cameras Example To calculate the frames per second available to three 1024x768 Dragonfly s that are in 8 bit mode you would calculate Frames_per_second 40MB s 1024 768 lbyte pixel 3 40MB s 0 75MB total_frames 3 53 33fps 3 17 8fps In this example however the maximum frame rate per camera would be 15Hz the upper limit of a 1024x768 Dragonfly To determine the exact frame rate allowable use the number of quadlets being sent at the given frame rate see Isochronous Bandwidth R
13. ct This will create a ticket in our Request Tracker support system and a Technical Support representative will contact you by e mail within one 1 business day Revised 29 Sep 04 Copyright c 2004 39 PGR Dragonfly Technical Reference 9 Contacting Point Grey Research Inc For any questions concerns or comments please contact us via the following methods Email For all general questions about Point Grey Research or our products contact info ptgrey com For all specific questions about our products or for quotes or product pricing contact sales ptgrey com For technical support existing customers only please consult the Technical Support Resources section of this manual Telephone Fax Mail 604 730 9937 604 732 8231 Point Grey Research Inc 305 1847 W Broadway Vancouver BC V6J 1Y6 CANADA Or visit our webpage http www ptgrey com for detailed product information and support Revised 29 Sep 04 Copyright c 2004 40 PGR Dragonfly Technical Reference 10 Index 4 G 4 pin 1394 cables 10 gain conversion formula 16 general purpose input output pins 19 electrical characteristics 20 A analog to digital converter 15 H automatic synchronization See multiple camera automatic synchronization hardware warranty 2 B l broadcast sync pulse to external device 34 IEEE 1394 maximum bus bandwidth 31 bus bandwidth See IEEE 1394 maximum bus image data endianness See image data form
14. de_0 Dimensions 63 5mm x 50 8mm x 13 15mm without lens holder Mass 38 grams bare board with CS mount lens holder Lens Adapter M12 microlens standard or C or CS mount lens optional Camera Specification IIDC 1394 based Digital Camera Specification v1 30 FCC Compliance The 640x480 and 1024x768 non Extended Dragonfly s comply with Part 15 of FCC Rules Extended DRAG xxx EX models have not yet undergone this compliance process Operation is subject to the following two conditions 1 this device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation CE Compliance N A Revised 29 Sep 04 Copyright c 2004 6 PGR Dragonfly Technical Reference Operating Temperature Commercial grade electronics rated from 0 70 C Sensor operating temperatures are available in sensor datasheet Storage Temperature Room temperature Camera Upgrades Firmware upgrades in field via IEEE 1394 1 2 Assembling an Extended Head Camera If you have purchased an extended head camera e g DRAG XXX EX which is useful when a smaller profile camera head is needed it will come in three pieces as shown in the figure below NOTE The ends of recent models of the flexible ribbon cable are blue not black To assemble the extended camera 1 Make sure the camera is unplugged and no power is go
15. dsencstasseedisadsuecsuadsuedsvansdeus 6 1 1 General Specifications cee ceeceeesceceeeeeeceeeeeeaeeeeeeeseaeeeeaaeseeneeseeeeetaeeteaaeeees 6 1 2 Assembling an Extended Head Camera cccccceseeeeeeeeeeeeeeeteeeeneeseneeees 7 1 3 Mounting the Tripod Bracket ee cceeeeeeeeeneeeeeeeaeeeeeeaeeeeeeaaeeeeseaeeeeeeaae 7 1 4 Caring for your Camera ssessssesesesreesressrnsrnstrnsrnsrnsrnstnstnsstnssnnsstnnsnns nnen 8 Camera Properties ccccccccsesssseeeeeeeeeeeeeeseseseeeeeeeeeeeeeeeeenenenenees 10 2 1 Physical Description of the Dragonfly s es 10 2 24 Gamera POWEr aea tinct tie i lei Ai A ian a aaa 10 229 DONSOMS at te hi NG teat eth ee eet hace ana As NS 11 2 3 1 Typical Spectral RESPONSE ececeeeeeeeeeee eects eeeeeeseeeesaaeeeeneeees 12 2 4 Infrared Cut Off Filters iiini renit pnei aeaa iada euie a aana aaaea 15 2 5 Analog to Digital CONVerter 00 eee ceeeeeseeeeeeeeceeeeeeaeeeeaeeeseaeeesaeeseeeenenees 15 Camera Operations and Features ssssseeeeeeeeeeeeeeees 16 3 1 Gain and Shutter Settings seccgscecsybetectecdl eve eavtactarsveiiebegeedilecsetetavteaghbeteans 16 SEU Mle gt CY T1 PEE e E E EN 16 S12 SNUTT arses estes ai aa aa tiene AaS aaRS ae eee Wee aed p na peste 17 3 2 Camera Intera Cerea eaaa aiaa aeaa eaaa a E aaa AAE nE aa i 19 3 2 1 General Purpose IO GPIO PinS sseseseeseeseesseeesresrrrerrrsrrnssrnses 19 3 2 2 IEEE 1394 Connector sssesssees
16. e following protective measures o Either handle bare handed or use non chargeable gloves clothes or material Also use conductive shoes o Install a conductive mat on the floor or working table to prevent the generation of static electricity o Consult the following knowledge base article for more information http www pterey com support kb details asp id 42 e When handling the camera unit avoid touching the lenses Fingerprints will affect the quality of the image produced by the device e To clean the lenses use a standard camera lens cleaning kit or a clean dry cotton cloth Do not apply excessive force e To clean the imaging surface of your CCD follow the steps outlined in http www ptgrey com support kb details asp id 66 Revised 29 Sep 04 Copyright c 2004 8 PGR Dragonfly Technical Reference e Our cameras are designed for an office environment or laboratory use Extended exposure to bright sunlight rain dusty environments etc may cause problems with the electronics and the optics of the system e Avoid excessive shaking dropping or any kind of mishandling of the device Revised 29 Sep 04 Copyright c 2004 PGR Dragonfly Technical Reference 2 Camera Properties 2 1 Physical Description of the Dragonfly 1394 Connector Figure 5 Picture of Dragonfly module The lens set screw in the Dragonfly is located at the top of the lens perpendicular to the connector It is to be
17. eaeeeeaes 38 Tae Errata Description nerina aE eeaaibindans 38 8 Technical Support RESOUICES ssceseeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeees 39 8 1 Creating a Customer Login ACCOUNT 0 cccceeeeceeeeeeeeeeeeeeeeeeeeesaaeeseneeees 39 8 2 Knowledge BaSes imiim inwis eects seen iiaiai aidia idian adanida 39 8 3 Product D wnmoadS esenea aii ia AE A 39 8 4 Contacting Technical Support ssssssssesssessseessessssnesnnsnntsnnnttnnnnnnnnnnnnnet 39 9 Contacting Point Grey Research INC ssssssuunnnnnnnnnnnnnnnnnnnnnnnnnnn 40 oE e E A 41 Revised 29 Sep 04 Copyright c 2004 4 PGR Dragonfly Technical Reference Table of Figures Figure 1 Unassembled extended head camera ceceecceeeeeneeeeeeeneeeeeenaeeeeeeaeeeeeenaeeeeneaas 7 Figure 2 Assembled extended head CaMera cccsscceeeeeeeeeeeeeeeeeeeseeeeeseaeeeeaeeeeeeteaees 7 Figure 3 Camera with mounting bracket Front cccccceeeeeeeeeeeeeeeeeceeeeeseeeeeaeeeeneessaees 8 Figure 4 Camera with mounting bracket Back ccccceceeeeeeeeeeeeeeceeeeeseaeeesaeeseneessaees 8 Figure 5 Picture of Dragonfly module cccceeeeeeeeeeeeeee eee eeeeaeeeeeeeeseeeeesaeeesaaeeeeneeee 10 Figure 6 Spectral response curve for the ICXO84AL 640x480 Black and White 12 Figure 7 Spectral response curve for the ICXO84AK 640x480 Color ss 12 Figure 8 Spectral response curve for the ICX424AL 640x480 Black and White
18. eater than zero this represents the strobe divider This allows you to extend the period of the strobe to ensure that the external trigger is re armed in time For example if you have a large shutter time the external trigger will not be re armed by the time the strobe is finished disrupting the free running mode set register 1104h to 00 00 00 FF Enable the physical trigger on I02 set register 1130h to 80 02 00 00 Set IO1 to generate a strobe pulse and wire IO1 to IOO set register 1120h to 80 03 00 00 Set the delay of the strobe to 100us and duration of the strobe to Ims set register 1124h to 13 33 CO 00 To fire the trigger and thereby start free running short GND to IO2 Revised 29 Sep 04 Copyright c 2004 35 PGR Dragonfly Technical Reference Once the trigger is fired a square wave of duration Ims being generated by IO1 should be observable by oscilloscope indicating that the camera is in free running mode Revised 29 Sep 04 Copyright c 2004 36 PGR Dragonfly Technical Reference 7 Errata and Change Notifications This errata and product change notifications section lists significant changes to the Dragonfly hardware and electrical components that have been implemented since the last release of the Dragonfly Technical Reference For a summary of all firmware changes please consult the Dragonfly Firmware Release Notes 7 1 Extended Head Dragonfly Ribbon Cables 7 1 1 Affected Cameras All extended
19. en extracted from the sensor specific data sheets that are available from Sony According to the literature the curves include lens characteristics but exclude light source characteristics Relative Response Wave Length nm Figure 6 Spectral response curve for the ICX084AL 640x480 Black and White Relative Response Wave Length nm Figure 7 Spectral response curve for the ICX084AK 640x480 Color Revised 29 Sep 04 Copyright c 2004 12 PGR Dragonfly Technical Reference Figure 8 Relative Response Relative Response 1 0 0 9 0 8 0 7 0 6 0 5 0 4 0 3 0 2 0 1 0 400 5 00 600 700 800 900 1000 Wave Length nm Spectral response curve for the ICX424AL 640x480 Black and White 1 0 0 9 0 8 0 7 0 6 0 5 0 4 0 3 0 2 Wave Length nm Figure 9 Spectral response curve for the ICX424AQ 640x480 Color Revised 29 Sep 04 Copyright c 2004 PGR Dragonfly Technical Reference 0 8 0 6 2 2 2 x 2 04 2 v a 0 2 0 400 500 600 700 800 900 1000 Wave Length nm Figure 10 Spectral response curve for the ICX204AL 1024x768 Black and White Relative Response Wave Length nm Figure 11 Spectral response curve for the ICX204AK 1024x768 Color Revised 29 Sep 04 Copyright c 2004 14 PGR Dragonfly Technical Reference 2 4 Infrared Cut Off Filter
20. ence 68 50 iii clan 45 72 0 80 tapped hole 0 80 tapped hole Figure 18 Physical dimensions of aluminum enclosure FRONT cont d ___1 4 20 tapped holes Figure 19 Physical dimensions of aluminum enclosure FRONT cont d Revised 29 Sep 04 Copyright c 2004 28 PGR Dragonfly Technical Reference 1 I I I I I J E i 2 O x eae sO I S o E Bad f f i NG ye O aa i NEA ae S 12 75 Figure 20 Physical dimensions of aluminum enclosure BACK Revised 29 Sep 04 Copyright c 2004 29 PGR Dragonfly Technical Reference gA a 14 50 Hole appropriate for 0 80 soc cap screw head Figure 21 Physical dimensions of aluminum enclosure BACK cont d Revised 29 Sep 04 Copyright c 2004 30 PGR Dragonfly Technical Reference 6 Application Notes This section is recommended for advanced users only and is not meant to address all possible applications of the Dragonfly camera 6 1 Maximum Number of Cameras on a Single 1394 Bus There are four elements that limit the number of cameras that can be used on the same 1394 bus 1 Although the 1394 standard limits the maximum number of simultaneous isochronous channels to 16 there is currently no OHCI Compliant IEEE 1394 host controller that is capable of supporting 16 channels Host adapters based on the TI chipset
21. ended 2 4000 30 16000 0 469 30 1 8000s 16s 50Hz 2 256 50 12800 50 50 1 6400s 1 50s 24Hz 2 666 24 16000 0 375 24 1 8000s 2 66s 1024x768 15Hz 2 800 15 12000 0 469 15 1 6000s 1 30s Extended 2 4000 15 12000 0 469 15 1 6000s 10 66s Extended shutter essentially works as follows 640x480 line rate KHz 1024x768 line rate KHz fps 16 n a 30 8 12 15 4 6 7 5 2 3 3 75 1 1 5 1 875 To calculate the shutter period in seconds Maximum number of line periods is given as 61344 This is the maximum we can send to register 0x81C so it has a range from 0 61344 To calculate a shutter period of 1 sec we could do this multiple ways using the formula Revised 29 Sep 04 Copyright c 2004 17 PGR Dragonfly Technical Reference X line rate Hz shutter period sec where X is the number of lines to wait 1 At 30 fps we get X line rate 1 sec At 30 Hz at 640x480 the line rate is 16 KHz so we get X 16000 1 So the value we would set is 16000 At 15 fps X would be 8000 for 640x480 At 7 5 fps X would be 4000 for 640x480 At 15 fps X would be 12000 for 1024x768 At 7 5 fps X would be 6000 for 1024x768 A Or Currently the maximum shutter period is 61344 1000 61 344 sec It should be noted that in extended shutter mode the upper limit of 4000 OxOFAO can be extended up to a maximum of 65440 OxFFAO by simply writing to the high shutt
22. equirements in the PGR IEEE 1394 Digital Camera Register Reference Revised 29 Sep 04 Copyright c 2004 31 PGR Dragonfly Technical Reference 6 1 2 Problems Maximizing Frame Rates In some circumstances due to 1394 bus bandwidth limitations set by Microsoft Windows some cameras may not be able to achieve the maximum calculated frame rate Example According to the formula in the section Calculating Maximum Possible Frame Rate it is possible to run four 640x480 cameras in Y8 8 bit mode at 30Hz However when attempting to do this via the PGR software Format and Frame Rate controls starting the fourth camera at 30Hz often results in a bandwidth exceeded error The workaround to this problem is to circumvent the Windows bandwidth restrictions by directly manipulating the camera s CURRENT_FRAME_RATE register 600h In the example above start three instances of the PGR FlyCapture demo program FlyCap with each camera running at 30Hz Start the fourth camera up at 15Hz then access register 600h and set the register to 0x80000000 30Hz 6 2 Using the Camera in Single Shot Mode It is possible to put the camera into a mode where it will grab only a single image single shot or a set number of images multi shot In order to have the camera capture a single image the user must do the following Put the software system into a mode where it is ready to accept images from the camera If you are using the PGR FlyCapture
23. er bits 8 19 of the SHUTTER register Revised 29 Sep 04 Copyright c 2004 PGR Dragonfly Technical Reference 3 2 Camera Interface 3 2 1 General Purpose IO GPIO Pins The Dragonfly has a set of four 4 general purpose IO pins that can be accessed via the 6 pin 2mm header shown below These GPIO pins can be configured to accept an input signal to externally trigger the camera or to send an output signal or strobe to an external device To determine how to configure the GPIO pins please consult the PGR IEEE 1394 Digital Camera Register Reference GPIO pins IOO to IO3 can be used for external triggering general input output or strobe output 3 2 1 1 GPIO Pin Layout Figure 12 Diagram indicating the location of the GPIO pins GN 103 Pin 3 3 Figure 13 GPIO pin layout New cameras only see Dragonfly Errata section Revised 29 Sep 04 Copyright c 2004 19 PGR Dragonfly Technical Reference 3 2 1 2 GPIO Electrical Characteristics The Dragonfly GPIO pins are TTL 3 3V pins protected by two diodes to 3 3V and GND in parallel There is also a 10K resistor in series to limit current When configured as input the pins can be directly driven from a 3 3V or 5V logic output For output each GPIO pin has almost no drive strength they are high impedance and needs to be buffered with a transistor or driver to lower its impedance Pin 1 is capable of powering external circuitry up to a total
24. ing to the camera and take appropriate steps to limit any electrostatic discharge 2 Lift the brown tab on the camera body 3 Insert the extending cable with the black blue side of the cable facing the brown tab on the camera body Close the brown tab 4 Lift the brown tab on the camera head 5 Insert the other end of the extending cable with the black side of the cable facing the brown tab into the camera head Close the brown tab Figure 1 Unassembled extended head camera Figure 2 Assembled extended head camera 1 3 Mounting the Tripod Bracket You will need a 3 32 hex key in addition to the tripod bracket the spacers and the mounting screws 6 Place the bracket face down with the edge that will attach to the tripod facing up 7 Place the spacers on the four corners of the bracket 8 Place the camera face down on the spacers Revised 29 Sep 04 Copyright c 2004 7 PGR Dragonfly Technical Reference 9 Insert and fasten the screws to the bracket 10 See the figures below to ensure that the bracket has been mounted correctly Figure 3 Camera with mounting bracket Figure 4 Camera with mounting bracket Back Front 1 4 Caring for your Camera Your PGR IEEE 1394 digital camera module is a precisely manufactured device and should be handled with care Here are some tips on how to care for the device e CCD image sensors are easily damaged by static discharge Before handling be sure to take th
25. is 1 microsecond in duration In order to put the Dragonfly into a mode that fires shutter synchronized pulses other than the default 1 Set the GPIO_CTRL_PIN to be 80 03 00 00 2 Set the GPIO_XTRA_PIN to be the delay bits 0 15 and the duration bits 16 31 The units of this register are ticks on a 49 152MHz For example to put Pin 2 into a strobe mode that sets a signal with a delay of 9 ticks 0x9 and duration of 1235 ticks 0x4D3 you would do the following set 1130h to be 80 03 00 00 set 1134h to be 00 09 04 D3 On Pin 2 you should get a square wave of duration of approximately 25 microseconds separated by the time between each CCD trigger 6 3 4 Reading data from an external device In order to for the Dragonfly to go into a mode that allows reading the current input level from a pin you have to do the following 1 Set the GPIO_CTRL_PIN for the desired pin to be 80 00 00 00 2 Read the GPIO_CTRL_PIN This will return the current pin state in the bottom bit i e when the pin is high the register would read as 80 00 00 01 and when the pin is low the register would read as 80 00 00 00 For example to put GPIO_0 into this mode you would do the following set 1110h to be 80 00 00 00 read 1110h 80 00 00 00 indicates that the input is low and 80 00 00 01 indicates that the input is high 6 3 5 Writing data to an external device In order to put the Dragonfly to into a mode that allows setting the pin output level
26. nneeeeeeeaeeeeeeaaeeeeeeeaaeeeeeeaaes 33 6 3 1 External trigger timing information c cceeeeeseeeeeeeesseeeeeseeeteees 33 6 3 2 Synchronizing to an external device Trigger Mode 06 33 6 3 3 Broadcasting a sync pulse to an external device ccee 34 6 3 4 Reading data from an external device eccceceesteeeeeeteeeeseeeeees 34 Revised 29 Sep 04 Copyright c 2004 3 PGR Dragonfly Technical Reference 6 3 5 Writing data to an external device eeceeteeeeeteteeeeeteteeeenaeeeeees 34 6 3 6 Use Trigger_Mode_1 to control integration time 0ee 35 6 3 7 Externally trigger the camera into free running mode 06 35 7 Errata and Change Notifications cccccessseseseeeeeeeeeeeeeeeeees 37 7 1 Extended Head Dragonfly Ribbon Cables ccccccceeeeceeeeeeeetteeeeneeeees 37 7 1 1 Affected CAMeras e ceecccceccceecseceeneeceeeeeseeeeeaaeeeeeeeeseaeeteaeeeeneeesees 37 7 1 2 Errata D SCription seriea a 37 7 2 New Image Sensors ccccceeececeeeeeceeeeeeeaeeeeneeceeeeseaaeseeaeeeeeeeesaeseeaaesseneeee 37 7 2 1 Affected CAMeras cecccccecccceeeceeneeceeeeeseaeeeesaeeeeeeeeseaeeteaaeseeneeeeaes 37 7 2 2 Errata De SCIription eiren ana r Erk EE EERO 37 7 3 Identifying a Camera That Supports Four GPIO Pins ccceseeeeeeeee 38 7 3 1 Affected CAMeras ceeccccecccceeeceeneeceeeeeseaeeeeaaeeeeeeeeseaeeeeaaese
27. of 5 0mA The IO pins are protected from both over and under voltage It is recommended however that they only be connected to 5V or 3 3V digital logic signals Suitable mating connectors are available from a number of sources Two examples are parts WM18031 and WM18056 from Digikey www digikey com It should be noted that IO2 is different from the other IO pins IO2 has a weak pull up resistor This allows for easy triggering of the camera by simply shorting the pin to ground NOTE IO2 should not be used as an input GPIO_MODE_O 3 2 2 IEEE 1394 Connector The Dragonfly has a standard 6 pin IEEE 1394 connector pin configuration shown below that is used for data transmission camera control and powering the camera Figure 14 IEEE 1394 Connector Pin Configuration Pin Function 1 Power Input 8 to 32 VDC 2 DC GND 3 TPB 4 TPB 5 TPA 6 TPA Revised 29 Sep 04 Copyright c 2004 20 PGR Dragonfly Technical Reference 3 3 Automatic Inter Camera Synchronization Multiple Dragonfly s on the same IEEE 1394 bus are automatically synchronized to each other at the hardware level When using multiple cameras the timing of one camera to another camera is as follows e Ifthe cameras are on the same bus the cameras are synchronized to within 125ys microseconds of each other please note 125us is the maximum deviation However the 1394 bandwidth limits the maximum number of came
28. ras that can be on one bus e Ifthe cameras are on separate buses a PGR Sync Unit is needed to synchronize the buses The Sync Unit can synchronize cameras on different buses within the same computer or on different buses across multiple computers This device will ensure that the cameras are synchronized to within 125s If there is no sync device there is no timing correlation between separate cameras on separate buses Revised 29 Sep 04 Copyright c 2004 21 PGR Dragonfly Technical Reference 3 4 Supported Data Formats and Modes 3 4 1 Standard Formats Modes and Frame Rates The following table enumerates the different data formats and modes contained in the IDC 1394 specification that are supported by the Dragonfly Camera Format Mode Frame Rate fps Mode Description 12 wn Leal aes ei ed pe Low res 0 5 e e 640x480 Y8 Mono 640x480 0 6 640x480 Y 16 Mono High res 1 5 1024x768 Y8 Mono 1024x768 1 7 e e 1024x768 Y16 Mono 3 4 2 Customizable Formats and Modes The following table outlines 1394 DCAM compliant Format 7 custom image modes that are supported by the camera The frame rates specified however are not contained in the specification Camera Format Mode Frame Description Rate fps Low res 7 0 30fps Partial Image Format sub window allows the 640x480 user to only transmit a selected a
29. rea of the image Although no speed improvement is realized this feature is useful for reducing bandwidth requirements while maintaining frame rate 7 1 50fps Partial Image Format sub sampled allows the user to transmit a sub sampled 640x240 image at up to 50fps High res 7 0 15fps Partial Image Format sub window allows the 1024x768 user to only transmit a selected area of the image Although no speed improvement is realized this feature is useful for reducing bandwidth requirements while maintaining frame rate 7 1 25fps Partial Image Format sub sampled allows the user to transmit a sub sampled 1024x384 image at up to 25fps Revised 29 Sep 04 Copyright c 2004 22 PGR Dragonfly Technical Reference 3 4 3 Image Data Formats The following table illustrates the data format for the various modes Mode Data Format Y8 8bit pixel 0 7 76543210 Y16 16bit pixel 0 7 8 15 High byte Low byte Note This format can be toggled via Y16_DATA_FORMAT register 1048h Revised 29 Sep 04 Copyright c 2004 23 PGR Dragonfly Technical Reference 4 Camera Control Command Registers For a complete description of the Camera Control Command Registers implemented on the Dragonfly please refer to the PGR IEEE 1394 Digital Camera Register Reference Revised 29 Sep 04 Copyright c 2004 24 PGR Dragonfly Technical Reference
30. roduction The Dragonfly is a board level camera designed to be a suitable component of a wide variety of end user applications This manual attempts to provide the user with a detailed specification of the Dragonfly camera system The reader should be aware that the camera system is a complex and dynamic system if any errors or omissions are found during experimentation please contact us using our support web form at http www ptgrey com support contact 1 1 General Specifications Specification Low Resolution 640x480 High Resolution 1024x768 Style Current Firmware Ver OEM board level camera black anodized aluminum case available 2 1 Release Candidate 13 Sensor Sony 1 3 Type Sony HAD CCD ICX084 ICX424 ICX204 Resolution 640x480 1024x768 A D Converter Analog Devices AD9841A A D Video Output Signal 8 bits per pixel 10 bits per pixel digital data Interfaces 6 pin IEEE 1394 for camera control and video data transmission 4 general purpose digital input output pins Voltage Requirements 8 32V Power Consumption Less than 2W Frame Rates 3 75 7 5 15 30fps 1 875 3 75 7 5 15fps Gain Automatic Manual modes OdB through 30dB OdB through 27dB Shutter Automatic Manual Extended Shutter modes 1 30s to 1 8000s 30Hz 1 15s to 1 6000s 15Hz Signal To Noise Ratio 50dB or better at minimum gain External Trigger DCAM v1 30 Trigger_Mo
31. s It should be noted that Dragonfly cameras equipped with color sensors have an additional infrared cut off filter included The approximate properties of this filter are illustrated by the IRC30 curve in the graph below IR cut off filter transmittance S 3 g IRC20 IRC21 E IRC30 c Wavelength nm 2 5 Analog to Digital Converter The Dragonfly incorporates an Analog Devices AD9841A A D converter in order to digitize the images produced by the CCD The following table illustrates the most important aspects of the processor For more information please refer to the datasheet Resolution 10bit Pixel Gain Amplifier 4dB 6dB 6 bit Variable Gain Amplifier 2dB to 36dB 10 bit Datasheets http www analog com productSelection pdf AD9841A_2A_0 pdf Revised 29 Sep 04 Copyright c 2004 15 PGR Dragonfly Technical Reference 3 Camera Operations and Features 3 1 Gain and Shutter Settings This section describes how to convert Gain and Shutter settings from the format reported by the camera into real world units NOTE PGR strongly recommends obtaining these real world units via the Absolute Value registers see the Absolute Value CSR Registers section This method is easier and more efficient than calculating them using the following formulas which may change without warning 3 1 1 Gain The Gain settings in the FlyCap program can be con
32. seesseesseessnessnessnessnnernnsnnernnsrnnnsnnnns 20 3 3 Automatic Inter Camera Synchronization eseeeeesseeseeeseeeieereerreerreerre 21 3 4 Supported Data Formats and Modes ccc ccceeeeeeeeeeeeneeceeeeeseeeeessaeeeeenees 22 3 4 1 Standard Formats Modes and Frame Rates 0 cccesseeeeeee 22 3 4 2 Customizable Formats and Modes 0 ccccsceeeeeeeseeeeeseeeeeeetens 22 3 4 3 Image Data Format cccececeseeeeeeeeeeeeeeeaeeeeaeeseeeeeesaeeeeeaeeeeneeee 23 Camera Control Command Registers cccccessssssseeeeeeeeeees 24 Physical DIMCNSIONSiivicseicicsnineiecciiivinssnniinienrsiennsneednerenins 25 5 1 Standard Camera Unlit cccecceeecceceeeeeeeeeeeeeeseeeeecaaeeseeeeseeeeeeeaeeesaeeeeneeee 25 Bi2 Extended Head oi te cccccecuciececveetdectuceddecsneusdanesveehiestveeddacsueendantivedieew ehiectia 26 5 3 Aluminum Enclosure Case cc cccccccceseeeeeseeceeeeeceeeesaeeeeeeeeesaeeesaeeeeneeee 27 ADPUCATION Notes ctajifesiinsaseiusntdsetitesdtnseiaatsophinabianinaaieaucesveninmadsaden 31 6 1 Maximum Number of Cameras on a Single 1394 BUS c ceeeeeeeeee 31 6 1 1 Calculating Maximum Possible Frame Rate ccccesseeseesees 31 6 1 2 Problems Maximizing Frame Rates cccceeceeeeeeeeseeeeeneeeeees 32 6 2 Using the Camera in Single Shot Mode c cccceeeeeeeeeeeeeeeeeeeeseaeeeeneeeees 32 6 3 Interacting with External Devices 00 ee cenee ee e
33. sing our technical support resources is to obtain a Customer Login Account This requires a valid name e mail address and camera serial number To apply for a Customer Login Account go to http www ptgrey com support downloads user_request html 8 2 Knowledge Base Our on line knowledge base contains answers to some of the most common support questions It has information about all PGR products and was developed to help customers resolve product issues It is constantly updated expanded and refined to ensure that our customers have access to the latest information To access the knowledge base go to http www ptgrey com support kb 8 3 Product Downloads Customers with a Customer Login Account can access the latest software and firmware for their cameras from our downloads site at http www ptgrey com support downloads We encourage our customers to keep their software and firmware up to date by downloading and installing the latest versions These versions include the latest bug fixes and feature enhancements 8 4 Contacting Technical Support Before contacting Technical Support have you 1 Read the product documentation and user manual 2 Searched the Knowledge Base 3 Downloaded and installed the latest version of software and or firmware If you have done all the above and still can t find an answer to your question contact our Technical Support team using our on line web form http www ptgrey com support conta
34. to external device 34 Revised 29 Sep 04 Copyright c 2004 42
35. verted to decibels dB by using the following formula 640x480 Dragonfly 0dB is 220 ifG lt 512 Gain 6 0404 20 x log 658 G 658 G else if G gt 512 Gain 6 0404 0 0354 G 1024x768 Dragonfly 0dB is 325 ifG lt 512 Gain 9 40 20 x log 658 G 658 G else if G gt 512 Gain 9 40 0 0354 G G is the gain setting in the software The absolute gain setting in dB of the camera can be read from the CSR register at offset 928h The returned number is in the IEEE floating point format Revised 29 Sep 04 Copyright c 2004 16 PGR Dragonfly Technical Reference 3 1 2 Shutter 3 1 2 1 Shutter Conversion Formula In most cases shutter speed can be calculated using the following formulae 640x480 T S 30 16000 F 1024x768 T S 15 12000 F where S is the setting in the camera control and F is the frame rate 3 1 2 2 Extended Shutter In special cases where the user has modified the EXTENDED_SHUTTER register at offset 1028h this formula generalizes to the following T S M U B M is the mode that the EXTENDED_SHUTTER register has been set to 30 for extended mode and U is the reciprocal of the units of the shutter setting Mode Min M U Min Max Min Shutter Max Shutter Max S F Time Time 640x480 30Hz 2 532 30 16000 0 469 30 1 8000s 0 468s 32Hz 2 500 32 16000 0 5 32 1 8000s 2s Ext
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