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Argos 3D - P310

1. 3 Interfacing The Argos 3D P310 provides control and data interfaces via Fast Ethernet The control interface is used to set and read the configuration of the Argos via a set of registers Refer to Chapter 6 for a detailed register description The data interface provides a continuous stream of the distance and amplitude values or the XYZ data depending on the configuration 3 1 Control Interface The Argos 3D P310 can be configured using a TCP IP connection For the control interface the Argos is listening to the following factory default IP settings e IP Address 192 168 0 10 e Subnet mask 255 255 255 0 e Network protocol TCP e TCP port 10001 Note The Ethernet IP settings can be configured using the EthO registers The changes become active on a device reset Once a TCP connection has been established the Argos can be configured using a dedicated set of command frames The Argos answers to each command frame with a dedicated response frame The following table shows the currently supported command frames Command frame Description Register Read Used to read one or more consecutive registers Register Write Used to write one or more consecutive registers Reset Used to reset reboot the Argos 3D P310 Flash Update Used to transfer files and updates Keep Alive Used to keep the TCP control connection alive If no command is sent for 10 seconds the Argos closes the control interface connection and wait
2. DistOffsetO DistOffset1 DistOffset2 DistOffset3 DistOffset4 DistOffset5 DistOffset6 UserDefinedO UserDefined1 UserDefined2 UserDefined3 UserDefined4 UserDefined5 UserDefined6 UserDefined7 UserDefined8 UserDefined9 TempCompGradient Baseboard TempCompGradient 2Baseboard TempCompGradient 3Baseboard Baseboard emp Default Value hex sO fe 0 a O t CX BO R W R W R W R W R W R W R A BLUE TECHNIX Last change 7 October 2014 Version 1 Description An offset for distance values when operating at modulation frequency with index 0 An offset for distance values when operating at modulation frequency with index 1 An offset for distance values when operating at modulation frequency with index 2 An offset for distance values when operating at modulation frequency with index 3 An offset for distance values when operating at modulation frequency with index 4 An offset for distance values when operating at modulation frequency with index 5 An offset for distance values when operating at modulation frequency with index 6 For any purpose For any purpose For any purpose For any purpose For any purpose For any purpose For any purpose For any purpose For any purpose For any purpose Factor c of the ToF baseboard temperature compensation function y mm a 10000 x b 10000 x c 1000 x u Factor b of the ToF baseboard temperature compensati
3. Pixel 1 Lowbyte of Y Coor Pixel 19041 Figure 4 4 Data stream of XYZ Point Cloud 4 4 3 XYZ Point Cloud and Amplitude Highbyte of X Coor Pixel 1 Highbyte of X Coor Pixel 19041 Highbyte of Y Coor Pixel 1 Highbyte of Y Coor Pixel 19041 BLUE TEGHNIX Embedding Ideas N Last change 7 October 2014 Lowbyte of X Coor Pixel 159 Lowbyte of X Coor Pixel 19199 Lowbyte of Y Coor Pixel 159 Lowbyte of Y Coor Pixel 19199 Version 1 Highbyte of X Coor Pixel 159 Highbyte of X Coor Pixel 19199 Highbyte of Y Coor Pixel 159 Highbyte of Y Coor Pixel 19199 Last Byte in Stream In this mode the XYZ point cloud and the amplitude will be transferred in progressive mode The stream starts always with pixel 0 ImageDataFormat 32 The coordinates are coded in millimeters as Int16 the amplitudes as Uint16 Bluetechnix 2014 Page 24 45 BLUETECHNIX ANAN Embedding Ideas Last change 7 October 2014 Version 1 A Software User Manual Argos 3D P310 First Byte in Stream Lowbyte of X Coor Pixel 0 Lowbyte of X Coor Pixel 19040 Lowbyte of Y Coor Pixel 0 Highbyte of X Coor Pixel 0 Highbyte of X Coor Pixel 19040 Highbyte of Y Coor Pixel 0 Lowbyte of X Coor Pixel 1 Lowbyte of X Coor Pixel 19041 Lowbyte of Y Coor Pixel 1 Highbyte of X Coor Pixel 1 Highbyt
4. Response frame Addr 0x00 0x02 0x03 0x04 0x05 0x06 0x08 0x0C 0x0D Ox0E OxOF 0x10 Ox3A Ox3E Bluetechnix 2014 Field Preamble ProtocolVersion Command SubCommand Status Flags Length HeaderData0 HeaderData1 HeaderData2 HeaderData3 Reserved 42 bytes DataCrc32 HeaderCrc16 Type Uint16 high byte first Uint8 Uint8 Uint8 Uint8 Uint16 Uint32 high byte first Uint8 Uint8 Uint8 Uint8 Uint8 Uint32 high byte first Uint16 high byte first Value OxA1EC 0x03 OxFE Refer to table Refer to table 0x0 0x0 lt CRC16 checksum gt Description Unique identifier start of header This document refers to protocol version V3 0 Command code for Keep Alive message Indicates which flash to write to Result code Optional flags No lt Data gt present Ignored Ignored Ignored Ignored Ignored No data present after header Checksum over 60 bytes of Header 0x02 Ox3D Table 3 17 Alive response frame Page 15 45 A BLUE ECHNIX Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Flags Flags Description Currently no flags defined for this command Table 3 18 Alive flag description Result codes Please refer to Table 3 5
5. 05DC R W Integration Time us max 25000 0006 Devicelype 9BA6 R Hardware specific identification 0007 Devicelnfo R Bit 0 3 Hardware Revision O Bluetechnix 2014 Page 33 45 Software User Manual Argos 3D P310 Addr Register Name Default R W hex Value hex 0008 Firmwarelnfo R 0009 ModulationFrequency 07DO R W 000A Framerate 0028 R W 000B HardwareConfiguratio 005A R W n 000C SerialNumberLowWor R d 000D SerialNumberHighWor R d 000E FrameCounter R 000F CalibrationCommand 0000 R W 0010 ConfidenceThresLow 012C R W 0011 ConfidenceThresHigh 3A98 R W 0019 Model 0800 R W 001A CalculationTime R 001B LedboardTemp R 001C MainboardTemp R 001D LinearizationAmplitude R W 001E LinearizationPhaseShif R W t 001F FrameTime R 0020 RealWorldXcoordinate 0000 R W 0021 CalibrationExtended 0000 R Bluetechnix 2014 A BLUETEGHNIX AA Last change 7 October 2014 Version 1 Description Bit 0 5 Non Functional Revision Bit 6 10 Minor Revision Bit 11 15 Major Revision Modulation frequency index 5 MHz 1 9 MHz 10 MHz 15 MHz 20 MHz 25 MHz 30 Mhz or a modulation frequency in multiples of 10kHz may take a while to apply and no calibration data will be available Framerate Hz Lens opening angle identifier E E Lower 16bit of the 32bit Serial Number Higher 16bit of the 32bit Serial Number Frame Counter increments on every captured frame Bit 0 7 Cmd code 19 Calibra
6. ImageDataFormat Timestamp of the actual image in us Continuous frame counter On an overrun it restarts at 0 Typically ToF sensor temperature in C 50 Decrement this field by 50 to get the current temperature of the ToF sensor LED temperature in C 50 Decrement this field by 50 to get the current temperature of the illumination LEDs Content of the register Firmwarelnfo These magic bytes indicate that header version is 3 1 Valid since version 3 1 Integration time in us Valid since version 3 1 Modulation frequency with resolution 10 kHz e g a value of 0x1234 means frequency 46 6 MHz Valid since version 3 1 Temperature sensor 3 Baseboard Sensor in C 50 Decrement this field by 50 to get the current temperature Valid since version 3 1 CRC16 checksum over the header without the first two bytes and the CRC16 checksum itself addr 0x02 to addr Ox3D Various channels described by the header with ToF data Table 3 21 Image data header Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT 3 3 Manual frame triggers The default mode of the Argos is video mode where the camera streams continuously with configured frame rate To use manual frame triggering you have to disable the video mode in register Mode You can either trigger a frame via Bluetechnix 2014 Softw
7. LUETECHNIX Z MN N e NY a Ai 1 D alle 1 1e bh La I VI d JE A NA NJVANJ Software User Manual Argos 3D P310 Last change 7 October 2014 AA Version 1 Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Flags Flags Description Bit 0 1 Ignore DataCrc32 Table 3 8 Register write flag description Result codes Please refer to Table 3 5 3 1 3 Reset Command frame Addr Field Type Value Description 0x00 Preamble Uint16 high OxA1EC Unique identifier start of header byte first 0x02 ProtocolVersion Uint8 0x03 This document refers to version V3 0 0x03 Command Uint8 0x07 Command code for reset 0x04 SubCommand Uint8 Ignored 0x05 Status Uint8 Ignored 0x06 Flags Uint16 Refer to table Optional flags 0x08 Length Uint32 high 0x0 No lt Data gt present byte first OxOG HeaderData0 Uint8 Ignored OxOD HeaderData1 Uint8 Ignored OxOE HeaderData2 Uint8 Ignored OxOF HeaderData3 Uint8 Ignored 0x10 Reserved 42 Uint8 Ignored bytes Ox3A DataCrc32 Uint32 high 0x0 No data present after header byte first Ox3E HeaderCrc16 Uint16 high lt CRC16 Checksum over 60 bytes of Header 0x02 byte first checksum gt Ox3D Table 3 9 Reset command frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix
8. on the UDP stream is split into packets of max 1432 bytes length Each packet consists of a 32 byte packet header and up to 1400 bytes of image data section refer to Figure 3 1 Addr 0x00 0x02 0x04 0x06 0x08 0x0C 0x10 0x14 0x20 Field Version FrameCounter PacketCounter DataLength FrameSize PacketCRC32 Flags Reserved ImageData Type Uint16 high byte first Uint16 high byte first Uint 16 high byte first Uint16 high byte first Uint32 high byte first Uint16 high byte first Uint32 Value 0x0001 Refer to Table 3 20 Description Protocol version Continuous frame counter On an overrun it restarts at 0 Actual packet The frame data must be recomposed in order of the packet Length of the image data section of the current packet Size of the image data It may be used to calculate the expected of packets for a frame CRC32 checksum over the entire packet pos 0 to pos n Optional flags Reserved for future use Image data section Table 3 19 UDP packet header Note 1 For the CRC32 calculation the CRC 32 is used Polynom 0x04C11DB7 start value OxFFFFFFFF Please ask the Bluetechnix support for an implementation example of the CRC 32 Flags Flags Bit 0 Image data Description 1 Ignore DataCrc32 Table 3 20 UDP packet header flag description The image data assembled out of multiple packets again consists of 64 byte image head
9. op weight for data and number of iterations 4 2 1 3 Sliding Average Filter Register FilterSLAFconfig A sliding average filter over up to 20 frames can be applied The number of frames is configurable An increasing number of frames will not decrease the frame rate but may add blurring effects 4 2 2 Pixel invalidation The Argos 3D P310 provides an on board check for invalid pixels If the amplitude of the reflected signal is below a threshold underexposure the distance value of the corresponding pixel will be set to OxFFFF If the amplitude is too high overexposure the distance value will be set to 0x0000 The lower and upper amplitude limit for invalidating pixels can be set by using the registers ConfidenceThresLow and ConfidenceThresHigh For inconsistent pixels due to unreliable data the distance value is set to 0x0001 4 3 Camera Coordinate System The default coordinate system starts pixel numbering in the upper left corner of the pixel array seen from the camera s point of view Also note the directions of X Y and Z coordinates In XYZ image modes Bluetechnix 2014 Page 21 45 a BLUETECHNIX Embedding Ideas AA Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 I z a a Des A FD e a tag E Dm Dn ie H Ke b d E d Figure 4 2 Argos 3D P310 Default Coordinate System 4 4 Camera Data Format The camera provides up to four data channels T
10. support bluetechnix at index html 7 2 Software Packages Software packages and software downloads are for registered customers only Software Package KS httpos support bluetechnix at index html 7 3 Related Products e TIM P 19k 53 USB 2 0 PVI e LIM U LED 850 6 O Bluetechnix 2014 Page 43 45 A BLUETECHNIX RA Embedding Ideas NI Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 8 Firmware History 8 1 Version Information Firmware Status Release date Changes Version 0 9 0 X Grade Aug 2014 1 0 0 First Release Oct 2014 Table 8 1 Overview Argos 3D P310 firmware changes Note Please refer to our support site for additional information about product changes 8 2 Anomalies Applies to Date Description Table 8 2 Firmware anomalies 8 3 Document Revision History Version Date Document Revision 1 2014 07 29 Initial version of the document Table 8 3 Revision history O Bluetechnix 2014 Page 44 45 Software User Manual Argos 3D P310 9 Index 3 3D Stream Data Hien e UDP data format EE A Anomalies cccccecceccecceccecceccaceccecceccaceacesuestestesueateneeaes B Boot loader Boot Sequence rrnnnrnnnnrnnnnnnnnnnnnnnnrnnnnnnnnnnennnnennnnee C Control Interface Coordinate System rrnnnnvnnnnnrennnnnvennnnnennnnnrennnnnrennner D Data Interface 3D Stream arnravnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnenenenen E External Tr
11. support for an implementation example of the CRC CCITT Response frame Addr 0x00 0x02 0x03 0x04 0x05 0x06 0x08 Field Preamble ProtocolVersion Command SubCommand Status Flags Length Bluetechnix 2014 Type Uint16 high byte first Uint8 Uint8 Uint8 Uint8 Uint16 Uint32 high byte first Value OxA1EC 0x03 0x07 Refer to table Refer to table 0x0 Description Unique identifier start of header This document refers to version V3 0 Command code for reset Ignored Result code Optional flags No lt Data gt present Page 12 45 Software User Manual Argos 3D P310 Addr 0x0C 0x0C Ox0OE OxOF 0x10 Ox3A Ox3E Field HeaderData0 HeaderData1 HeaderData2 HeaderData3 Reserved 42 bytes DataCrc32 HeaderCrc16 Type Uint8 Uint8 Uint8 Uint8 Uinte Uint32 high byte first Uint16 high byte first Value 0x0 lt CRC16 checksum gt A BLUETECHNI Last change 7 October 2014 Version 1 Description Ignored Ignored Ignored Ignored Ignored No data present after header Checksum over 60 bytes of Header 0x02 Ox3D Table 3 10 Reset response frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Flags Flags Description Currently no flags defined for this command Result codes Please refer to Tabl
12. the register description section refer to chapter 6 4 2 Image Processing Chain The following flow diagram shows the image processing chain of the Argos for the depth data For the amplitude data there will currently no post processing be performed Integration Image capturing Distance and amplitude Amplitude Image ready calculation Further steps performed only on depth image Apply filter x Filtering Finished Perform Polar to XYZ Point Cloud Cartesian needed Transformation N Figure 4 1 Image processing flow Bluetechnix 2014 Page 20 45 A BLUE TECHNIX A Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 4 2 1 Image filtering After the distance and amplitude calculation the filters are applied to the depth data The amplitude data will be left unfiltered Each of the filter provides one or more configuration parameters The iteration count for each filter can also be configured The filters can be enabled or disabled by writing the ImgProcConfig register Enabling more than one filter is possible but each added filter reduces the maximum achievable frame rate as does the number of iterations 4 2 1 1 Median Filter A 3x3 median filter can be applied Register FilterMedianConfig The number of iterations is configurable 4 2 1 2 Bilateral filter Registers FilterBilateralConfig Configuration options are or weight for radius
13. 3 2 3D Data Interface A UDP stream delivers depth and amplitude data from the Argos Each UDP packet contains a header and up to 1400 bytes of data Ethernet IP and UDP headers are not shown in Figure 3 1 Error No topic specified Figure 3 1 UDP streaming data format The following types are used in the data streaming protocol e Uint8 8 bit unsigned integer e Uint16 16 bit unsigned integer e Uint32 32 bit unsigned integer Note Values with Ox as prefix are hexadecimal values The UDP streaming is enabled by factory default The Argos streams to the following IP settings e IP Address Multicast address 224 0 0 1 e UDP port 10002 Note The UDP stream settings can be configured using the EthO registers As multicast is used more than one host can receive the stream within the same subnet at the same time The client has to join the appropriate multi cast group and open the port 10002 on his local network interface card NIC where the Argos is connected to The receiver should receive the stream and interpret it as the following protocol description shows Note Bluetechnix 2014 Page 16 45 Software User Manual Argos 3D P310 A BLUETECHNIX AA E Last change 7 October 2014 Version 1 Be aware that a multicast stream may slow down your Ethernet network as the stream may be spread to all active links of switches hubs and routers The current protocol version is 1 Each image transmitted
14. 36 45 A BLUETEGHNIX AA Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 6 2 Registers for Segmentation Addr Register Name Default R W Description hex Value hex 0050 SegmentCount 0020 R W Nr Of Segments Macrocells 0051 TopOpeningAngle 1 R W Top Opening Angle in 0 01 0052 TopRow 1 R W Bit 0 7 Top Row 0 119 0053 BottomOpeningAng 1 R W Top Opening Angle in 0 01 e 0054 BottomRow 1 R W Bit 0 7 Bottom Row 0 119 0055 SegmentMinCountTh 1388 R W Bit 0 15 Percentage of pixel per segment where reshold the distance has to be 0 to set the minimum distance to 0 Percent 100 0056 SegmentMaxCountT 1388 R W Bit 0 15 Percentage of pixel per segment where hreshold the distance has to be OxFFFF to set the maximum distance to OxFFFF Percent 100 0057 SegMinSlidingMedia 0005 R W Windows size for the Sliding Median Filter has nWindowSize to be odd 005F SegMinMaxError R Error for the min max calculation cleared on read O No error currently no error available 0060 SegMinDistanceO R Minimum Distance of Segment 0 0 Amplitude to high gt OxFFFF Amplitude to low 0061 SegMinDistance1 R Minimum Distance of Segment 1 0 Amplitude to high OxFFFF Amplitude to low 007E SegMinDistance30 R Minimum Distance of Segment 30 0 Amplitude to high OxFFFF Amplitude to low 007F SegMinDistance31 R Minimum Distance of Segment 31 0 Amplitude to high gt OxFFFF Ampli
15. 6 high byte first 0x40 Data Uint 16 high byte first BL V A Ach ae cl knaen LALN CH Gd IO IG PN PN e d Vz ay Embe AA Last change 7 October 2014 Version 1 Value Description lt Register Start register address of read data Address gt Ignored Ignored Ignored lt CRC32 Checksum over lt Data gt checksum gt lt CRC16 Checksum over 60 bytes of Header checksum gt 0x02 0x3D lt result data gt Result One or more 16 bit values Table 3 3 Register read response frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Note 2 For the CRC32 calculation the CRC 32 is used Polynom 0x04C11DB7 start value OxFFFFFFFF Please ask the Bluetechnix support for an implementation example of the CRC 32 Flags Flags Bit 0 Result codes Description 1 Ignore DataCrc32 Table 3 4 Register read flag description Status Description 0x00 Ok 0x0D Invalid handle internal error OxOF Illegal write The Address is not valid or the register is not write enabled 0x10 Illegal read The Address is not valid deprecated replaced by 17 0x11 Register end reached OxFA Length exceeds maximum file size not enough memory for file download OxFB HeaderCrc16 mismatch OxFC DataCrc32 mismatch OxFD Length invalid Cannot be equal 0 OxFE Length inval
16. D One or more 16 bit values in a stream that should be written Table 3 6 Register write command frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Note 2 For the CRC32 calculation the CRC 32 is used Polynom 0x04C11DB7 start value OxFFFFFFFF Please ask the Bluetechnix support for an implementation example of the CRC 32 Response frame Addr 0x00 0x02 0x03 0x04 0x05 0x06 0x08 0x0C OxOoE OxOF 0x10 Ox3A Ox3E Field Type Preamble Uint16 high byte first ProtocolVersion Uint8 Command Uint8 SubCommand Uint8 Status Uint8 Flags Uint16 Length Uint32 high byte first RegisterAddress Uint8 high byte first HeaderData2 Uint8 HeaderData3 Uint8 Reserved 42 bytes Uint8 DataCrc32 Uint32 high byte first HeaderCrc16 Uint 16 high byte first Bluetechnix 2014 Table 3 7 Register write response frame Value OxA1EC 0x03 0x04 Refer to table Refer to table 0 lt Register Address gt 0x0 lt CRC16 checksum gt Description Unique identifier start of header This document refers to version V3 0 Command code for write registers Ignored Result code Optional flags No lt Data gt present Same as in sent command Ignored Ignored Ignored No data present after header Checksum over 60 bytes of Header 0x02 0x3D Page 11 45 A
17. Version 1 Description 248 Invalid modulation frequency 246 Wrong image mode Need depth Bit 10 1 Error occurred Bit 11 1 No FPN Calibration data in NVM Bit 12 1 No FPPN Calibration data in NVM Bit 13 1 No Dist Calibration data in NVM Bit 14 1 No Lens Calibration data in NVM Bit 15 1 Temperature compensation error Set a password for critical operations 0x4877 Register map flash operations register CmdExec 0x0033 Ox5e6b Test commands register TestConfig 0x01c0 Maximum tolerable LED Board temperature 0 01 C Horizontal field of view in 0 01 Vertical field of view in 0 01 Delay between trigger assertion either software or hardware and image capturing ms Bit 14 15 Firmware Load Counter This counter is reset by the firmware It counts the boot attempts In Bootloader mode it is used to detect a firmware load problem Factor c of the illumination temperature compensation function y mm a 10000 x3 b 10000 x c 1000 x u See Firmwarelnfo 0x0008 for bit description in Bootloader mode this register contains the firmware info of the flashed application Gradient of dist value interpreted as fixed comma shifted by 14 binary digits Factor b of the illumination temperature compensation function y mm a 10000 x3 b 10000 x2 c 1000 x u Initiate an operation OxC2AE Clear RegMap in flash Ox9E20 Read RegMap from flash Ox909A Read f
18. actory RegMap OxDDY9E Save RegMap in flash Writing this register must be preceded by writing 0x4877 into register CmdEnablePasswd 0x0022 Result code of the operation initiated using CmdExec 0 In progress or idle 1 Success Other Error This register clears itself after reading it Highest and second highest byte of the MAC address stored in OTP flash Page 35 45 Software User Manual Argos 3D P310 Addr hex 0036 0037 0038 0039 003A 003B 003C 003D 003E 003F 0040 0041 0042 0043 0044 004A 004B 004C 004D 004E 004F Register Name Value hex FactoryMacAddr1 FactoryMacAddrO Factory Year FactoryMonthDay FactoryHourMinute Factory Timezone TempCompGradient3L im BuildYearMonth BuildDayHour BuildMinuteSecond UpTimeLow UpTimeHigh AkfPlausibilityCheckA mpLimit TimSerialLow TimSerialHigh TempCompGradientTi m 0032 TempCompGradient2T im TempCompGradient3T im TriggerOutDelay CommkKeepAlive Timeo t CommkKeepAliveReset Default R W R W R W R W R W R W A BLUETEGHNIX AA Last change 7 October 2014 Version 1 Description Byte 3 and 2 of the MAC address stored in OTP flash Byte 1 and lowbyte of the MAC address stored in OTP flash Production year stored in OTP flash Bit 0 7 Production day stored in OTP flash Bit 8 15 Production month stored in OTP flash Bit 0 7 Production hour stored in OTP
19. ange 7 October 2014 Version 1 6 6 Registers for Test Commands Addr Register Name Default R W Description hex Value hex 01C0 TestConfig 0000 R W Bit 1 1 Watchdog Test Writing this register must be preceded by writing 0x5E6B into register CmdEnablePasswd 0x0022 Table 6 6 Registers for Test Commands 6 7 Registers for Device Update Addr Register Name Defaut R W Description hex Value hex 01D1 FileUpdateStatus 0000 R idle Ok max filesize exceeded out of memory buffer overrun packet crc error file crc error file ok erasing flash flashing 10 verifying 11 erasing failed 12 flashing failed 13 verifying failed 14 update success 15 wrong packet nr 16 header version conflict 17 missing fw identifier 18 wrong fw identifier 19 flash boundary exceeded 20 data inconsistent 21 in progress 255 protocol violation OMNIPUKRENA O 01D2 FileSizeLow 0000 R W Size of the file to be transmitted 01D3 FileSizeHigh 0000 R W Size of the file to be transmitted 01D4 FlashStartAddLow 0000 R W Position in flash to write to 01D5 FlashStartAddrHigh 0000 R W Position in flash to write to 01D6 FileCrcLow 0000 R W Crc sum of the file to be transmitted 01D7 FileCrcHigh 0000 R W Crc sum of the file to be transmitted Table 6 7 Registers for device update O Bluetechnix 2014 Page 40 45 Software User Manual Argos 3D P310 6 8 Registers for F
20. are trigger See register Mode Hardware trigger The signal is sensitive to a falling edge Page 18 45 or Wel H N IX Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 Both will trigger a frame capture on the ToF sensor as well as a transition to low on the trigger output 4 3 4 External Illumination Interface An external illumination unit ToF Flash is supported It features e The differential modulation signal according to the selected modulation frequency Please refer to the Hardware User Manual for detailed information on the interface 3 5 GPIOs The camera features 2 general purpose input and 4 general purpose output Please see the register description in chapter 4 11 for more information 3 6 Status LED The Status LED is used to give some basic information about the status of the Argos The following table shows the meaning depending on the mode Mode LED signaling Bootloader mode Toggles every second Video mode Toggling with each frame signals the frame rate Manual mode Toggles with each frame signals frame capturing Table 3 22 Status LED meaning The Status LED can be disabled using the register Mode1 Bluetechnix 2014 Page 19 45 A Ge ETECHNIX AA Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 4 Camera Features 4 1 Basic Settings The Argos comes up according to the factory default values as described in
21. conventions Warning Indicates a situation which if not avoided could result in minor or moderate injury and or A property damage or damage to the device Caution Indicates a situation which if not avoided may result in minor damage to the device in malfunction of the device or in data loss Note Notes provide information on special issues related to the device or provide information that will make operation of the device easier Procedures A procedure always starts with a headline 1 The number indicates the step number of a certain procedure you are expected to follow Steps are numbered sequentially This sign gt indicates an expected result of your action References Ss This symbol indicates a cross reference to a different chapter of this manual or to an external document Bluetechnix 2014 Page 6 45 BLUETECHNIX ANAN Embedding Ideas Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 A 2 Overview The document describes the necessary steps and settings to work with the Argos 3D P310 and describes the firmware dependent interfaces This document applies to firmware version 1 0 0 For a hardware compatibility list please refer to our support site Software and documentation KS https support bluetechnix at index html Bluetechnix 2014 Page 7 45 A BLUE TECHNIX Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1
22. e 3 5 3 1 4 Flash Update Command frame Addr 0x00 0x02 0x03 0x04 0x05 0x06 0x08 0x0C 0x10 Ox3A Ox3E 0x40 Field Preamble ProtocolVersion Command SubCommand Status Flags Length FlashAddress Reserved 42 bytes DataCrc32 HeaderCrc16 Data Bluetechnix 2014 Type Uint16 high byte first Uint8 Uint8 Uint8 Uint8 Uint16 Uint32 high byte first Uint32 high byte first Uint8 Uint32 high byte first Uint16 high byte first Uint8 Value OxA1EC 0x03 0x0B or 0x0C Refer to table Refer to table lt of bytes to write gt lt Flash Address gt lt CRC32 checksum gt lt CRC16 checksum gt lt binary loader file gt Table 3 11 Reset flag description Description Unique identifier start of header This document refers to protocol version V3 0 OxOB Flash boot loader OxOG Flash Application Indicates which flash to write to Ignored Optional flags gt The size of the binary file to flash Ignored Ignored Checksum over lt Data gt Checksum over 60 bytes of Header 0x02 Ox3D The file to flash as a binary byte stream Table 3 12 Flash update command frame Page 13 45 Software User Manual Argos 3D P310 A BLUETECHNI Last change 7 October 2014 Version 1 Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example
23. e of X Coor Pixel 19041 Highbyte of Y Coor Pixel 1 Lowbyte of X Coor Pixel 159 Lowbyte of X Coor Pixel 19199 Lowbyte of Y Coor Pixel 159 Highbyte of X Coor Pixel 159 Highbyte of X Coor Pixel 19199 Highbyte of Y Coor Pixel 159 Lowbyte of Y Highbyte of Y Lowbyte of Y Highbyte of Y Lowbyte of Y Highbyte of Y Coor Pixel 19040 Coor Pixel 19040 Coor Pixel 19041 Coor Pixel 19041 Coor Pixel 19199 Coor Pixel 19199 Last Byte in Stream Figure 4 5 Data stream of XYZ Point Cloud and Amplitude 4 4 4 Distances and XYZ Point Cloud In this mode the distances and the XYZ point cloud will be transferred in progressive mode first the distances array then X Y and Z coordinate arrays in this order The stream starts always with pixel 0 ImageDataFormat 72 The distances are coded in millimeters as Uint16 The coordinates are coded in millimeters as Int16 Bluetechnix 2014 Page 25 45 A BLUE TECHNIX Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 4 4 5 X coordinate and Amplitudes In this mode a single coordinate array more specifically the one belonging to the optical axis of the camera X is transferred as well as the amplitudes ImageDataFormat 80 Coordinate values are coded in millimeters as Int16 The amplitudes are coded as Uint16 4 4 6 Distances In this mode a single array with d
24. er and the image data section The format of the image data depends on the selected image format and is described in chapter 4 3 Below you can find the format of the 64 byte image header Addr 0x00 0x02 0x04 0x06 Field Reserved HeaderVersion ImageWidth ImageHeight Type Uint16 Uint16 high byte first Uint16 high byte first Uint16 high byte first Value OxFFFF 0x0003 Description Current header version Width of the image in pixels Height of the image in pixels Bluetechnix 2014 Page 17 45 Software User Manual Argos 3D P310 Addr 0x08 0x09 Ox0A 0x0C 0x10 0x12 Ox1A 0x1B Ox1C Ox1E 0x20 0x22 0x24 0x25 0x26 0x28 Ox2A Ox3E 0x40 Field NofChannels BytesPerPixel ImageFormat Timestamp FrameCounter Reserved MainTemp LedTemp FirmwareVersion MagicV31 IntegrationTime ModFreq Temp3 Reserved Reserved Reserved Reserved CRC16 Data Type Value Uint8 Uint8 Uint16 high byte first Uint32 high byte first Uint16 high byte first Uint8 Uint8 Uint16 high byte first Uint16 high byte first 0x3331 Uint16 high byte first Uint16 high byte first Uint8 Uint16 high byte first Bytestream A BLUETEGHNIX AA Last change 7 October 2014 Version 1 Description Nof data channels Depends on the image format Bytes per pixel of the 3D image data The content is the same as in the register
25. flash Bit 8 15 Production minute stored in OTP flash Production timezone stored in OTP flash Factor a of the illumination temperature compensation function y mm a 10000 x3 b 10000 x2 c 1000 x u Build date time Bit 14 4 Year Bit 3 0 Month Build date time Bit 9 5 Day Bit 4 0 Hour Build date time Bit 11 6 Minute Bit 5 0 Second Lower 16 bit of uptime in s Higher 16 bit of uptime in s Limit for the akf plausibility check Serial Number of the TIM module low word Serial Number of the TIM module high word Factor c of the ToF sensor temperature compensation function y mm a 10000 x3 b 10000 x c 1000 x u Factor b of the ToF sensor temperature compensation function y mm a 10000 x3 b 10000 x c 1000 x u Factor a of the ToF sensor temperature compensation function y mm a 10000 x3 b 10000 x c 1000 x u Delay between completed sensor data readout and trigger output ms Communication keepalive timeout s After this timeout a watchdog reset occurs if the timeout is not reset by writing the reset value to the CommKeepAliveReset register Communication keepalive write register Resets the CommKeepaAlive timeout when the value OxCA82 is written Table 6 1 General register Note 1 The content depends on the mounted lens and the calibration data and represents the real viewing angles Bluetechnix 2014 Page
26. gger To enable the manual trigger you have to disable the video mode in register Mode Bit 0 Bluetechnix 2014 Page 27 45 A BLUE TECHNIX AA Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 4 8 1 Hardware Trigger The camera provides an extension connector where a hardware trigger can be applied Please refer to Chapter 3 3 for more information 4 8 2 Software Trigger In addition to the hardware trigger a software trigger is available To start a frame capturing by software set the appropriate bit bit 4 in register Mode 4 8 3 Trigger Output Every image capturing process will trigger a transition to low on the trigger output An additional delay for this signal can be set in register TriggerOutDelay 4 9 Over Temperature Protection The Argos 3D P310 firmware has a built in monitoring for over temperature condition of the LIMs If the LIM temperature exceeds 70 C the camera will automatically stop illumination and streaming until temperature is below 70 C This limit can be adjusted in register MaxLedTemp 4 10 Communication Keep Alive CKA The communication keep alive feature should improve a stable operation in environments where a high availability of the camera services will be needed If the CKA feature has been enabled by writing a value gt 0 to the register CommKeepAlive Timeout 0x004E the host computer must periodically write the reset value OxCA82 to the registe
27. hange reserved We hereby disclaim any warranties including but not limited to warranties of non infringement regarding circuits descriptions and charts stated herein Bluetechnix makes and you receive no warranties or conditions express implied statutory or in any communication with you Bluetechnix specifically disclaims any implied warranty of merchantability or fitness for a particular purpose Bluetechnix takes no liability for any damages and errors causing of the usage of this board The user of this board is responsible by himself for the functionality of his application He is allowed to use the board only if he has the qualification More information is found in the General Terms and Conditions AGB Information For further information on technology delivery terms and conditions and prices please contact Bluetechnix http www bluetechnix com Warning Due to technical requirements components may contain dangerous substances Bluetechnix 2014 BLU Aen Aa A Bag Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 1 General Information This guide applies to the Argos 3D P310 camera platform from Bluetechnix Follow this guide chapter by chapter to set up and understand your product If a section of this document only applies to certain camera parts this is indicated at the beginning of the respective section 1 1 Symbols Used This guide makes use of a few symbols and
28. he meaning of each data channel depends on the selected data format The factory default setting provides an array of depth data in millimeters as 16 bit unsigned Uint16 and an array of grayscale values Amplitudes also as 16bit unsigned for each pixel When changing the image data format properly a 3D XYZ coordinate set per pixel is provided Refer to chapter 4 3 for a description of the coordinate systems of the camera The image format can be selected in the register ImageDataFormat The following sections describe each of the supported formats in detail Only the data section which contains the image data of the transferred frame will be described For information about the packet format and meta data please refer to chapter 3 2 4 4 1 Distances and Amplitudes In this mode the distances and amplitudes will be transferred in progressive mode first the distance array then the amplitude array The stream starts always with pixel 0 ImageDataFormat 0 The distances are coded in millimeters as Uint16 The amplitudes are also Uint16 Bluetechnix 2014 Page 22 45 Software User Manual Argos 3D P310 First Byte in Stream Lowbyte of Highbyte of Lowbyte of Highbyte of Distance Pixel 0 Distance Pixel 0 Distance Pixel 1 Distance Pixel 1 Lowbyte of Highbyte of Lowbyte of Highbyte of Distance Distance Distance DRENE Pixel 19040 Pixel 19040 Pixel 19041 Pixel 19041 Lowbyte of Highbyte of Amplitude Pixel 0 Amp
29. id Cannot be grater 0 OxFF Unknown command Table 3 5 Result codes 3 1 2 Register write Command frame Addr Field Type Value Description 0x00 Preamble Uint16 high OxA1EC Unique identifier start of header byte first 0x02 ProtocolVersion Uint8 0x03 This document refers to version V3 0 0x03 Command Uint8 0x04 Command code for write registers 0x04 SubCommand Uint8 Ignored Bluetechnix 2014 Page 10 45 Software User Manual Argos 3D P310 Addr 0x05 0x06 0x08 0x0C Ox0E OxOF 0x10 Ox3A Ox3E 0x40 Field Status Flags Length RegisterAddress HeaderData2 HeaderData3 Reserved 42 bytes DataCrc32 HeaderCrc16 Data Type Uint8 Uint16 Uint32 high byte first Uint16 high byte first Uint8 Uint8 Uint8 Uint32 high byte first Uint16 high byte first Uint16 high byte first for each register value Value Refer to table lt of bytes to write gt lt Register Address gt lt CRC32 checksum gt lt CRC16 checksum gt lt data to write gt A BLUE TECHNIX Last change 7 October 2014 Version 1 Description Ignored Optional flags The number of bytes to write Must be a multiple of two and match length of lt Data gt in bytes The length divided by two represents the of registers to write Start register address for write command Ignored Ignored Ignored Checksum over lt Data gt Checksum over 60 bytes of Header 0x02 Ox3
30. igger rronarevnerennnnernnnrnnnevennnnernnnvnnnenennunenen Image data header SD SW CAN E Image Processing Cham A BLUETEGHNIX Last change 7 October 2014 Version 1 M Modulation Frequency rnnrennnnvennnrennnrrnnnvrnnnnrennnnennnver 26 Modulation Signal Interface 27 D Be e mneepeeenkkudenknn ER R Register Map Heer 29 EE 28 S NT 32 OO EN NN PE 43 T Tre pena iie 19 U UDP packet header SD SUA E 17 V Version Product HITOY E 44 Bluetechnix 2014 Page 45 45
31. iki Argos 3D P310 4 15 1 Boot Sequence After a power on or reboot the bootloader will be started The bootloader checks if a valid firmware is installed and tries to start the firmware If no application can be found or the bootstrap pin is high at startup the bootloader stays in bootloader mode waiting for incoming TCP connection requests Bluetechnix 2014 Page 29 45 Software User Manual Argos 3D P310 Power on Run the bootloader Run 0101014 0F 10 1 am bit set Boot butto pressed Valid firmware in flash CRC32 ok Load the firmware Reboot Reboot Argos Run Bootloader Do what you have to do Figure 4 7 Boot sequence Bluetechnix 2014 A BLUETECHNIX ANAN Embedding Ideas Last change 7 October 2014 Version 1 Bootloader Wait for incoming connections Wait for incoming connections Wait for incoming connections Wait for incoming connections Firmware Set Run Bootloader Bit to inform the Bootloader Reboot Page 30 45 A BLUE TECHNIX Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 4 15 2 Bootloader Bootstrap Button To force the module to stay in bootloader mode without starting the firmware the bootstrap button can be used To stay in bootloader mode push the button labled BOOT while applying the supply voltage to the Argos or while resetting the Argos The bootloader samples this button
32. ilter Configuration Addr Register Name hex 01E0 ImgProcConfig 01E1 FilterMedianConfig 01E2 FilterAverageConfig 01E3 FilterGaussConfig 01E4 FilterBilateralConfig 01E5 FilterSlafConfig Default Value hex 7BC1 0001 0100 0100 2082 0005 R W R W R W R W R W R W R W A BLUETEGHNIX AA Last change 7 October 2014 Version 1 Description Bit O 1 enable Median Filter Bit 1 1 enable Average Filter Bit 2 1 enable Gauss Filter Bit 3 1 enable Bilateral Filter Bit 4 1 enable Sliding Average Bit 6 1 enable wiggling compensation Bit 7 1 enable FPPN compensation Bit 8 1 enable ModFreq scaling Bit 9 1 enable scaling to mm Bit 11 1 enable temperature compensation Bit 12 1 enable scaling via register DistCalibGradient 0x002F Bit 13 1 enable offsets via registers DistCalibOffsetX 0x00C1 onwards Bit 14 1 enable akf plausibility check affected pixel have a distance of 1 Bit 0 7 Nr of Median Iterations Bit O 7 0 3x3 Pixel 1 5x5 Pixel Bit 8 15 Nr of iterations Bit 0 7 0 3x3 Pixel 1 5x5 Pixel Bit 8 15 Nr of iterations Bit 0 5 Sigma R factor for weighing for radius max 6 Bit 6 11 Sigma D factor for weighting for data max 6 Bit 12 15 Nr of iterations Bit 0 7 Window size Table 6 8 Register for filter configuration 6 9 Registers for Ethernet c
33. immediately after startup and if it is pressed the bootloader doesn t start the firmware but remains in bootloader mode waiting for incoming commands or TCP connections on the control interface port 4 15 3 Bootloader default settings e IP Address 192 168 0 10 e TCP port for the control interface 10001 e MAC Address Factory default MAC address Note The bootloader doesn t use any saved register map but always factory default register settings That means that any changes in the IP Settings made for the firmware are not valid for the bootloader O Bluetechnix 2014 Page 31 45 BLUETECHNIX E Embedding Ideas Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 A 5 Software 5 1 Demo Application For the first evaluation of the camera and to evaluate different settings and configurations a NET demo application for Microsoft Windows is provided BLT ToF Suite The demo application can be downloaded from our support web site Software and documentation NE https support bluetechnix at index html Bluetechnix 2014 Page 32 45 A BLUETEGHNIX AA Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 6 Register Description Note Some critical registers are password protected To enable the functionality a specific value must be written to the CmdEnablePasswd register in advance to enable the functionality This should prevent from accidentally executing cer
34. istances is transferred The stream starts always with pixel 0 ImageDataFormat 96 The distances are coded in millimeters as Uint16 4 5 Modulation Frequency The modulation frequency is set to 20 MHz per default Other modulation frequencies can be set using the register ModulationFrequency Be aware that this also changes the ambiguity range of the camera The following modulation frequencies can be selected Index Frequency 5 MHz 7 5 MHz 10 MHz 15 MHz 20 MHz 25 MHz 30 MHz OO PS ob Oo Table 4 1 Pre defined modulation frequencies In the register you can either write the frequency in 10 kHz steps frequency 10000 or the index On a read of the register you get the currently selected modulation frequency again in 10 kHz steps Other frequencies between 5 MHz and 30 MHz can be set as well but as there is no calibration data available for other frequencies than the indexed ones it may result in unpredictable distance values 4 6 Frame rate and Integration Time The frame rate and the integration time can be set by using the registers Framerate and IntegrationTime The camera integration time is limited by hardware to 24ms The maximum frame rate is 50 fps but may be limited by the integration time The combination of frame rate and integration time influences the input current as well as the dissipated heat and will be characterized by the Frame rate Integration Time Product FITP which has been defined as follo
35. isters Ignored Ignored Optional flags Number of bytes to read Must be a multiple of two The length divided by two represents the of registers to read Start register address for read command Ignored Ignored Ignored No data present after header Checksum over 60 bytes of Header 0x02 0x3D Table 3 2 Register read command frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Response frame Addr 0x00 0x02 0x03 0x04 0x05 0x06 0x08 Field Preamble ProtocolVersion Command SubCommand Status Flags Length Bluetechnix 2014 Type Uint16 high byte first Uint8 Uint8 Uint8 Uint8 Uint16 Uint32 high byte first Value OxA1EC 0x03 0x03 Refer to table Refer to table lt of bytes read gt Description Unique identifier start of header This document refers to protocol version V3 0 Command code for read registers Ignore Result code Optional flags The number of bytes read length of lt Data gt in bytes The length divided by two represents the of registers read Page 9 45 Software User Manual Argos 3D P310 Addr Field Type UND RegisterAddress Uint16 high byte first OxOE HeaderData2 Uint8 OxOF HeaderData3 Uint8 0x10 Reserved 42 bytes Uint8 Ox3A DataCrc32 Uint32 high byte first Ox3E HeaderCrc16 Uint 1
36. litude Pixel 0 Amplitude Pixel 1 Amplitude Pixel 1 Lowbyte of Highbyte of Lowbyte of Amplitude Pixel 19040 Highbyte of Amplitude Pixel 19040 Lowbyte of Amplitude Pixel 19041 Highbyte of Amplitude Pixel 19041 BLUETECHNIX ek Embedding Ideas Last change 7 October 2014 Version 1 A Lowbyte of Highbyte of Distance Distance Pixel 159 Pixel 159 Lowbyte of Highbyte of Distance Distance Pixel 19199 Pixel 19199 Lowbyte of Amplitude Pixel 159 Highbyte of Amplitude Pixel 159 Lowbyte of Amplitude Pixel 19199 Highbyte of Amplitude Pixel 19199 Last Byte in Stream Figure 4 3 Data stream of Distance and Amplitude data 44 2 XYZ Point Cloud In this mode the XYZ point cloud will be transferred in progressive mode first the X coordinate array then the Y and Z coordinate array The stream starts always with pixel 0 ImageDataFormat 24 The coordinates are coded in millimeters as Int16 Bluetechnix 2014 Page 23 45 Software User Manual Argos 3D P310 First Byte in Stream Lowbyte of X Coor Pixel 0 Lowbyte of X Coor Pixel 19040 Lowbyte of Y Coor Pixel 0 Lowbyte of Y Coor Pixel 19040 Highbyte of X Coor Pixel 0 Highbyte of X Coor Pixel 19040 Highbyte of Y Coor Pixel 0 Highbyte of Y Coor Pixel 19040 Lowbyte of X Coor Pixel 1 Lowbyte of X Coor Pixel 19041 Lowbyte of Y Coor
37. map to flash using registers CmdEnablePasswd and CmdExec Then reboot or power cycle the sensor If the register map in the flash is cleared the factory default MAC address from OTP will be loaded 4 13 2 IP TCP UDP Settings The IP Settings of the Argos can be changes via the EthO_ registers A change of the IP settings IP address port subnet mask default gateway will take effect after a reboot Please see the register description for details Be sure to make the changes persistent by saving the register map to flash using registers CmdEnablePasswd and CmdExec Then reboot or power cycle the sensor 4 14 Reset to Factory Default The Argos 3D P310 can be reset to the factory default register settings by deleting the saved register map This can be done by writing a dedicated value to the register CmdEnablePasswd and CmdExec Alternatively a factory reset is executed via the extension connector s Reset signal Please consult the Hardware User Manual for details It must be active for 5 seconds during boot up 4 15 Bootloader and Firmware Update The Argos will be delivered with a bootloader which is capable to update the onboard firmware The communication with the bootloader will be done using dedicated TCP IP command frames over the control interface connection Bluetechnix provides tools for updating the Argos firmware over Ethernet Please refer to our support site Bluetechnix ToF Suite aN https support bluetechnix at w
38. nrnnnrnnnrnnnernnnrnnrennnnrnnernnrrnnnernnennne 24 4 4 4 Distances and XYZ Point Cloud rernnnnnennnnnnennnnnnennnnnnrennnnnrennnnnrennnnnnsennnnnrennnnnrennnnsnennnnnne 25 4 4 5 X Coordinate and Amplitudes kk 26 4 4 6 BIS ter earn enn eer en ene ee ee ee 26 AO Modulation Re E e 26 4 6 Frame rate and Integration Tume cccccccsecceecceeeeeeceeeeeeeeeeeeeeeeeeeeseeeseeesseeseeeseeeteeeseeeseeeseeenes 26 4 7 Automatic Exposure Control WAEC 27 4 8 Manual Frame TN 21 4 8 1 Hardware NR 28 4 8 2 SOM Wale Nee Te EE 28 4 8 3 Trigger Output rarnrnnnnnnnnnnnnrnnnnnrnnnnnvnnnnnnnnnnsnnnnnrnnnnnrnnnnnennnnnnnnnnsnnnsnsnnnsnsnnnnnennnsnnnnnsnnnnee 28 4 9 Over Temperature Protection rrranrrnnnrnnanennnnennnnennnrnnnnrnnanennnnennnnenansenanennanennnsennnsennnsennsennnsennn 28 Bluetechnix 2014 4 10 Communication Keep Alive CA 28 4 11 APIS ee E E E E E E E E E E 28 4 12 ENEE 28 4 13 Einermne BNO EE EE 29 413 1 ee E 29 4132 PILPVPP SN E 29 4 14 Reset to Factory ARTE E E 29 4 15 Bootloader and Firmware Update 29 4151 BOOl SEQUENCE E 29 4 15 2 Bootloader Bootstrap Button ccccccccseccseceeeceeeeeeeeeeeeeseeeseeeseeeseeeseeeseeeseeeseeeteeeseesseeenes 31 4 15 3 Bootloader default settngds Au 31 S E Ei SE 32 5 1 Pee 32 6 Register Uescrotton nnn nnn annnm ennen 33 6 1 Ce EEE 33 6 2 Registers for Segmentation cccccccccssccccsscecceseeceueeeceueeecaueecsaueecsaeeecsueeessueessaeeessuseessueee
39. of the CRC CCITT Note 2 For the CRC32 calculation the CRC 32 is used Polynom 0x04C11DB7 start value OxFFFFFFFF Please ask the Bluetechnix support for an implementation example of the CRC 32 Note 3 The DataCrc32 is mandatory the appropriate flag must be set to 0 Response frame Addr Field Type Value Description 0x00 Preamble Uint16 high OxA1EC Unique identifier start of header byte first 0x02 ProtocolVersion Uint8 0x03 This document refers to protocol version V3 0 0x03 Command Uint8 OxOB or OxOC 0x0B Flash boot loader OxOG Flash Application 0x04 SubCommand Uint8 Refer to table Indicates which flash to write to 0x05 Status Uint8 Refer to table Result code 0x06 Flags Uint16 Refer to table Optional flags 0x08 Length Uint32 high 0x0 No lt Data gt present byte first OxOG HeaderData0 Uint8 Ignored OxOD HeaderData1 Uint8 Ignored OxOE HeaderData2 Uint8 Ignored OxOF HeaderData3 Uint8 Ignored 0x10 Reserved 42 Uint8 Ignored bytes Ox3A DataCrc32 Uint32 high 0x0 No data present after header byte first Ox3E HeaderCrc16 Uint16 high lt CRC16 Checksum over 60 bytes of Header 0x02 byte first checksum gt Ox3D Table 3 13 Flash update response frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Subcommand SubCommand Description Ignored For boot loader and application u
40. on function y mm a 10000 x b 10000 x c 1000 x u Factor a of the ToF baseboard temperature compensation function y mm a 10000 x b 10000 x c 1000 x u Temperature of baseboard in 0 01 C FFFF Sensor not available Table 6 3 General registers Note 1 This value varies from unit to unit 6 4 Registers for GPIOs Addr hex 00d0 Register Name lOstateO Bluetechnix 2014 Default Value hex 0000 R W R W Description Bit O state of IN 1 read only Bit 1 state of IN 2 read only Bit 8 state of OUT 1 Bit 9 state of OUT 2 Bit 10 state of OUT 3 Bit 11 state of OUT 4 Page 38 45 Software User Manual Argos 3D P310 A BLUE TECHNIX AA Last change 7 October 2014 Version 1 Table 6 4 Registers for GPIOs 6 5 Registers for Automatic Exposure Control Addr Register Name Default R W hex Value hex 01A9 AecAvgWeightO 4444 R W 01AA AecAvgWeight1 44CC R W 01AB AecAvgWeight2 C44C R W O1AC AecAvgWeight3 FC44 R W 01AD AecAvgWeight4 CCC4 R W O1AE AecAvgWeight5 4444 R W O1AF AecAvgWeight6 4000 R W 01BO AecAmpTarget 02BC R W 01B1 AecTintStepMax 0021 R W 01B2 AecTintMax 2710 R W 01B3 AecKp 0028 R W 01B4 Aecki OOOF R W 01B5 Aeckd 0000 R W Description Bit 15 12 Weight for average area 1 Bit 11 8 Weight for average area 2 Bit 7 4 Weight for average area 3 Bit 3 0 Weight for average area 4 Bi
41. onfiguration Addr Register Name hex 0240 EthOConfig 0241 EthOMac2 0242 EthOMact1 0243 EthOMac0 0244 EthOlp0 0245 EthOlp1 0246 EthOSnm0O Bluetechnix 2014 Default Value hex 0006 000A COA8 FFOO R W R W R W R W R W R W R W R W Description Bit 0 1 Enable DHCP Bit 1 1 Enable UDP streaming Bit 2 1 Ignore CRC for UDP streaming Low byte and byte 1 of MAC address default value differs in factory config Byte 2 and byte 3 of MAC address default value differs in factory config Byte 4 and high byte of MAC address default value differs in factory config Low word of IP address High word of IP address Low word of subnet mask Page 41 45 A AA BLUETECHNIX Software User Manual Argos 3D P310 Addr hex 0247 0248 0249 024A 024B 024C 024D 024E 024F Register Name EthOSnm1 EthOGateway0 EthOGateway1 EthOTcpStreamPort EthOTcpConfigPort EthOUdpStreamlp0 EthOUdpStreamlp1 EthOUdpStreamPort EthOUdpStreamStride Default Value hex Elek 0000 0000 2710 2711 0001 E000 2712 1 Last change 7 October 2014 Description High word of subnet mask Low word of gateway High word of gateway Port for TCP streaming Port for TCP control interface Version 1 Low word of IP address for UDP stream High word of IP address for UDP stream Port for UDP streaming Stride for UDP stream 0 Don t stream any frame 1 Stream e
42. pdate Table 3 14 Flash update subcommand description Flags Flags Description Bit 0 1 Ignore DataCrc32 Table 3 15 Flash update flag description Result codes Please refer to Table 3 5 Bluetechnix 2014 Page 14 45 A A BLUETECHNIX Software User Manual Argos 3D P310 3 1 5 Keep Alive Command frame Addr 0x00 0x02 0x03 0x04 0x05 0x06 0x08 0x0C 0x0D OxOE OxOF 0x10 Ox3A Ox3E Field Preamble ProtocolVersion Command SubCommand Status Flags Length HeaderData0 HeaderData1 HeaderData2 HeaderData3 Reserved 42 bytes DataCrc32 HeaderCrc16 Type Uint16 high byte first Uint8 Uint8 Uint8 Uint8 Uint16 Uint32 Uint8 Uint8 Uint8 Uint8 Uint8 Uint32 high byte first Uint16 high byte first Value OxA1EC 0x03 OxFE Refer to table 0x0 0x0 lt CRC16 checksum gt Last change 7 October 2014 Version 1 Description Unique identifier start of header This document refers to protocol version V3 0 Command code for Keep Alive message Ignored Ignored Optional flags No lt Data gt present Ignored Ignored Ignored Ignored Ignored No data present after header Checksum over 60 bytes of Header 0x02 Ox3D Table 3 16 Alive command frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT
43. r CommKeepAliveReset 0x004F If the reset value will not be written within the programmed timeout the device reboots The timeout can be set by the register CommKeepAliveTimeout by writing the timeout value in seconds This value will also be saved if the register map will be saved in flash But after a reboot the timeout check starts only after the first write of the reset value in register CommKeepAliveReset 4 11 GPIOs The Argos3D P310 provides 2 general purpose input connectors IN 1 2 and 4 general purpose output connectors OUT 1 4 The GPIO state is mapped to register IOstateO see chapter 6 4 for details Please refer to the Hardware User Manual for detailed information on the GPIOS 4 12 Save Registers The entire register map can be saved into the flash using the register CmdExec It will be restored from flash after a reboot or power cycle Use this feature to save a user specific configuration O Bluetechnix 2014 Page 28 45 A BLUE TECHNIX A Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 4 13 Ethernet IP Settings 4 13 1 MAG Address A dedicated Ethernet MAC address from Bluetechnix MAC address pool is assigned to each Argos by factory default This MAC address is saved in the OTP and cannot be changed by the user The user is allowed to assign a different MAC address using the registers Eth0MacO to EthOMacz2 Be sure to make the changes persistent by saving the register
44. s for a new incoming connection request Only 1 concurrent control connection is supported Table 3 1 Supported command frames The following section describes each command frame and the expected answer in detail To be able to communicate with the Argos 3D P310 the frame must be composed exactly as described The following types are used e Um 8 bit unsigned integer e Uint16 16 bit unsigned integer e Uint32 32 bit unsigned integer Bluetechnix 2014 Page 8 45 Software User Manual Argos 3D P310 3 1 1 Note A A BLUETECHNIX Values with Ox as prefix are hexadecimal values Register read Command frame Addr 0x00 0x02 0x03 0x04 0x05 0x06 0x08 0x0C OxOE OxOF 0x10 Ox3A Ox3E Field Preamble ProtocolVersion Command SubCommand Status Flags Length RegisterAddress HeaderData2 HeaderData3 Reserved 42 bytes DataCrc32 HeaderCrc16 Type Uint16 high byte first Uint8 Uint8 Uint8 Uint8 Uint16 Uint32 high byte first Uint16 high byte first Uint8 Uint8 Uint8 Uint32 high byte first Uint16 high byte first Value OxA1EC 0x03 0x03 Refer to table lt of bytes to read gt lt Register Address gt 0x0 lt CRC16 checksum gt Last change 7 October 2014 Version 1 Description Unique identifier start of header This description refers to protocol version V3 0 Command code for read reg
45. sseees 3 6 3 More General Registers nnnannnnnnnnuneounnnnnnernnnrnnrrnnrrrnnrrnnrrnnrrrnnernnrnnnrrrnnrrnneennnernnernneennnennnne 38 64 FEN 38 6 5 Registers for Automatic Exposure Control 39 6 6 Registers for Test Commande rrrnnnnrnnnnnnnnnnnrnnnnnnnnnnnnnnnnrnnnnnennannennnnnennnnennnnnennansennnnsennnsennnnse 40 6 7 Registers for Device Update sisacissscensdiseduewereresacedsdauecessaaenetasndsaveauncuwneeslecubslaencabsaduaindeedenesaertenaecy 40 6 8 Registers for Filter Configuration ccccceecccseeeeceeeeeceeeeeceeecsaueeceaeeessaeeesaueessaueessaeeessueeesaaees 41 6 9 Registers for Ethernet configuration cccccceccseeeceeeeceececeeeeseeceeeeceusesaueeseeeesseeeeeeesauesseeeenes 41 6 10 Registers for Temperature Management 42 OO GE 43 7 1 Generar SUDO RR EEE EE EE EN EE 43 T2 OT AS PACK 0 E DEEE DEEA E ENEE EEES 43 RO Ee Le e EE EE E EEE E A 43 8 Firmware History rranrnnnrennrnnnnennnennnennnennnennnennnennnennnennnennnennnrnnnennnnnnnnnnnnnnnrnnnrnnnrnnnsnnnrennsennnennnennsennen 44 o VANN 44 G Ne 44 83 IDOCUMENRT REVISION FAE sieeg eedgieegegieeteg Eege diana aa aesaad baaa eg egl 44 G EG 00 gt E 45 Bluetechnix 2014 A BLUETECHNI se mbeading Ideas Bluetechnix 2014 All Rights Reserved The information herein is given to describe certain components and shall not be considered as a guarantee of characteristics Terms of delivery and rights of technical c
46. t 15 12 Weight for average area 5 Bit 11 8 Weight for average area 6 Bit 7 4 Weight for average area 7 Bit 3 0 Weight for average area 8 Bit 15 12 Weight for average area 9 Bit 11 8 Weight for average area 10 Bit 7 4 Weight for average area 11 Bit 3 0 Weight for average area 12 Bit 15 12 Weight for average area 13 Bit 11 8 Weight for average area 14 Bit 7 4 Weight for average area 15 Bit 3 0 Weight for average area 16 Bit 15 12 Weight for average area 17 Bit 11 8 Weight for average area 18 Bit 7 4 Weight for average area 19 Bit 3 0 Weight for average area 20 Bit 15 12 Weight for average area 21 Bit 11 8 Weight for average area 22 Bit 7 4 Weight for average area 23 Bit 3 0 Weight for average area 24 Bit 15 12 Weight for average area 25 Auto exposure target amplitude value to which the controller is controlling to Auto exposure maximum change of integration time percentage The relative change of the integration time will be lower than this percentage Auto exposure maximum integration time the controller calculates Proportional part of the auto exposure controller in percent Integral part of the auto exposure controller in percent Differential part of the auto exposure controller in percent Table 6 5 Registers for automatic exposure control Bluetechnix 2014 Page 39 45 A BLUETECHNIX Ap Software User Manual Argos 3D P310 Last ch
47. tain functions 6 1 General registers Addr Register Name Default R W Description hex Value hex 0001 Mode 0001 R W Bit O 0 Manual Mode 1 Video Mode Bit 2 0 Full On 1 Sleep Mode Bit 4 1 Manual Trigger Bit 6 1 Clear status register Bit 8 1 Start Bootloader Start Bootloader requires writing 0x5e6b into register CmdEnablePasswd 0x0022 0003 Status 0040 R Bit 0 0 Application Mode 1 Bootloader Mode Bit 2 1 Ongoing Calibration 1 Bit 3 1 LED Board temperature sensor error Bit 4 1 Main Board temperature sensor error Bit 5 1 Calibration data missing Bit 6 1 Factory Regmap was loaded Bit 9 1 LED board over temperature Bit 14 1 Base Board temperature sensor error 0004 ImageDataFormat 0000 R W Bit 3 10 0 2 bytes depth data 2 bytes amp data 3 X Y Z coordinates 2 bytes in signed format for each coordinate 4 X Y Z coordinates and amp data 2 bytes in signed format for each coordinate 2 bytes unsigned for the amp value 9 depth data and X Y Z coordinates 2 byte unsigned for the depth value 2 byte in signed format for each coordinate 10 X coordinate and amp data 2 bytes in signed format 2 bytes unsigned for amp data 11 4 channels Test mode arithmetic functions with coordinates as input 2 bytes ascending index 2 bytes constant Oxbeef 2 bytes ascending squared index 2 bytes constant 0x0000 12 2 bytes depth data 0005 Integration me
48. te DistOffset of the current frequency Amplitude threshold for valid distance data Amplitude threshold for valid distance data Bit 3 0 AEC Off 1 AEC On Bit 7 1 MinMax calculation On Bit 8 1 Disable status LED Bit 11 1 Enable Sliding Median for Min Registers Calculation time for the last frame in 10 us The inverse of this value shows the maximum achievable frame rate based on the CPU load Temperature of LED Board in 0 01 C FFFF Sensor not available Temperature of Main Board in 0 01 C FFFF Sensor not available Amplitude for Linearization Function float value x 10000 Amplitude for Linearization Function float value x 10000 Time between the last two frames In 0 1 ms Distance to the calibration target mm Bit O 7 Status error 0 Idle 20 Erasing flash 161 Operation done 255 Generic error 254 NVM error 252 Out of memory 249 Led board failure Page 34 45 Software User Manual Argos 3D P310 Addr Register Name Default R W hex Value hex 0022 CmdEnablePasswd 0000 R W 0024 MaxLedTemp 1B58 R W 0026 HorizontalFov 1 R 0027 VerticalFov 1 R 002B TriggerDelay 0000 R W 002C BootloaderStatus 4000 R 002D TempCompGradientLi R W m 002E ApplicationVersion R 002F DistCalipGradient 4000 R W 0030 TempCompGradient2L R W im 0033 CmdExec 0000 R W 0034 CmdExecResult 0000 R 0035 FactoryMacAddr2 R Bluetechnix 2014 A A BLUETECHNIX Last change 7 October 2014
49. tude to low 0080 SegMaxDistanceO R Maximum Distance of Segment 0 0 Amplitude to high 2 OxFFFF Amplitude to low 0081 SegMaxDistance1 R Maximum Distance of Segment 1 0 Amplitude to high 2 OxFFFF Amplitude to low 009E SegMaxDistance30 R Maximum Distance of Segment 30 0 Amplitude to high OxFFFF Amplitude to low 3 009F SegMaxDistance31 R Maximum Distance of Segment 31 0 Amplitude to high OxFFFF Amplitude to low Table 6 2 Register for segmentation Note 1 The content depends on the lens and the calibration data and will be set per default to the field of view Dedicated registers will be provided for each segment This causes a bit more overhead if all segments must be read But it is also possible to read only the segment of interest Note 2 This means that the amplitude is too low for correct distance measurement The object might be underexposed Note 3 This means the amplitude is too high for correct measurement The object might be overexposed Note 4 The top angle must be greater than or equal to the bottom angle The top angle cannot be higher than the Field of View angle and the bottom angle cannot be below the Field of View angle O Bluetechnix 2014 Page 37 45 Software User Manual Argos 3D P310 6 3 More General Registers Addr hex 00C1 00C2 00C3 00C4 00C5 00C6 00C7 0100 0101 0102 0103 0104 0105 0106 0107 0108 0109 010A 010B 010C 010D Register Name
50. vat NN wN BLUE TECHNIX Embedding Ideas Argos 3D P310 Software User Manual Version 1 BLUETECHNIX E Embedding Ideas A Bluetechnix WaidhausenstraBe 3 19 A 1140 Vienna AUSTRIA office bluetechnix com www bluetechnix com Argos 3D P310 Software User Manual Document No 900 308 A Publication date October 7 2014 Subject to change without notice Errors excepted This document is protected by copyright All rights reserved No part of this document may be reproduced or transmitted for any purpose in any form or by any means electronically or mechanically without expressly written permission by Bluetechnix Windows is a registered trademark of Microsoft Bluetechnix 2014 Table of Contents 1 2 3 4 Eee Aa Le EE 6 L ES ud 6 NONION EE 7 MAE len O EE EE NE EEE 8 31 Control Interface E 8 3 1 1 Register 0 EEE ERE 9 3 1 2 EL EL EE EE 10 3 1 3 RES EE NE EE eee sewers E 12 3 1 4 BEE wie EEE EN EE 13 3 1 5 EEN 15 3 2 SD Ala ln e 16 3 3 Manual frame triggers EE 18 SA External IMO DEE 19 EO LEE NE SE 19 GE 0 10 E NE E E 19 le ER ME 20 4 1 gt eee Sp Le 20 4 2 Image Processing Chain RER 20 4 2 1 MAG rel EEE EE EE EE 21 4 2 2 JP LTE le Es og EE N aA E E E aE RA aAA EEES 21 4 3 Camera Coordinate Guvstem 21 4 4 RENN 22 4 4 1 Distances NAT ur ie EE ER Bee ZN OOU WE 23 4 4 3 XYZ Point Cloud and Amplitude aaannnannnannnnnnnnannonnnnnnn
51. very frame x Stream every x frame Table 6 9 Registers for Ethernet configuration 6 10 Registers for Temperature Management Addr hex 0293 0297 029B 029F 02D0 02D 1 02D2 02D3 Register Name TempDevStatusO0 TempDevStatus1 TempDevStatus2 TempDevStatus3 TempDevTemperatureO TempDevTemperature1 TempDevTemperature2 TempDevTemperature3 Default Value nex 0000 0000 0000 0000 0000 0000 0000 0000 R W R W R W R W R W Description Status of Baseboard sensor Bit 12 Temperature differs strongly from average Bit 13 Temperature Plausibility Error Bit 14 Sensor IO Error Bit 15 Initialization error Status of TIM sensor See register TempDevStatusO Status of LIM1 sensor See register TempDevStatusO Status of LIM2 sensor See register TempDevStatusO Temperature of Baseboard in 0 01 C FFFF Sensor not available Temperature of TIM in 0 01 C FFFF Sensor not available Temperature of LIM1 in 0 01 C FFFF Sensor not available Temperature of LIM2 in 0 01 C FFFF Sensor not available Table 6 10 Registers for Temperature Management Bluetechnix 2014 Page 42 45 A BLUETECHNIX AA Embedding Ideas Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 7 Support 7 1 General Support General support for products can be found at Bluetechnix support site Support Link Ly https
52. ws 1 FITP tint ms fps S 4 O Bluetechnix 2014 Page 26 45 A BLUETECHNIX mbe a CH sf wn INA at g Cc ec Te AA Software User Manual Argos 3D P310 Last change 7 October 2014 Version 1 Caution Be careful in setting different integration times and frame rate combinations Not all combinations are possible Without appropriate cooling the device may be damaged Refer to the Hardware User Manual for more information Note E If the Auto Exposure Control is enabled the integration time will be set automatically and the register Integration Time should not be written 4 7 Automatic Exposure Control AEC The Argos 3D P310 provides an automatic exposure control feature which controls the integration time according to the currently observed amplitude data The AEC is disabled by default and must be enabled in the register Mode The AEC is controlled through dedicated registers which are listed in chapter 6 5 The AEC algorithm also supports weighting One may assign specific weights to each of 25 areas into which the sensor area is divided These weights are inputs to calculate the current overall amplitude Please see Figure 4 6 AEC weighing areas for an illustration Each area s weight is a Uint8 value and can range from 0 0x0 to 100 Oxf ec Pixel 0 Area 1 2 3 4 5 Figure 4 6 AEC weighing areas 4 8 Manual Frame Trigger There are two types of manual tri

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