TIM-UP – 19k-S3-Spartan 6
Contents
1. Data container 0 phase values 0 Oxffff equal to a phase of 0 2r Data container 1 amplitudes 0 Oxffff Data container 2 plausibility flags Note To calculate the distance you must multiply the phase value with c 2 x f Oxffff c speed of light f modulation frequency Template No 900 306 A Page 7 19 A BL rt a X Software User Manual TIM UP 19k S3 Spartan 6 Last or 19 rer 2014 Version 5 If the resulting value is greater than the ambiguity range subtract the ambiguity range If the value is less than 0 add the ambiguity range 3 2 USB Interface For interfacing the TIM 19k S3 Spartan6 module over USB a powerful Software Development Kit is provided The SDK runs under Linux and Windows Refer to our support site for downloading the SDK and for additional information and documentation Software and documentation SS httos support bluetechnix at wiki TIM UP 19k S3 Spartan6 3 3 ISM FC Interface 3 3 1 RG Configuration Interface The TIM 19k S3 Spartan6 module can be configured using an BC connection The I2C control interface of the TIM F 19k S3 Spartan6 module is listening on the following FC slave address e PC Address 0x5D e SCL Frequency up to 400kHz The TIM 19k S3 Spartan6 module has a set of 32bit registers and is addressed by a 16bit address pointer Following two figures show the timing diagrams of the I2C read and write SDA I2C Slave Add2. Some critical registers are password protected To enable the functionality a specific value must be written to the FlashMagic register 0x0014 prior to enabling the functionality This should prevent from unattended enabling of certain functions 5 1 General Registers Addr Register Name hex 01 SerialNumber 02 ReleaseDate 03 FrameSize 04 NumRows 05 NumColumns OB SequenceLength OF CalculationMode 10 TempMainboard 11 Templllumination 16 ChipsizeColumns 17 ChipsizeRows 19 TriggerMode 1B TempllluminationGain1 1C TempllluminationGain2 Template No 900 306 A Default Value hex 10800 78 AO 4 22E9F DF AO ke R W JJ ze U 9 U R W BI pU Pr R W R W Description Bit 0 19 Serial Number Bit 20 31 Device Type Release date hex value interpreted as date Frame size in bytes Number of vertical pixels Number of horizontal pixels Number of sequences to be calculated Bit 21 22 Content of container O O Intensities 1 corr phase 2 Amplitudes 3 Raw phase O Bit 23 24 Content of container 1 Q Distances 1 Distances plaus 2 Plausibility flags 3 Raw phase 1 Bit 25 26 Content of container 2 O Amplitudes 1 Amplitudes plaus 2 Phase Frequency 1 3 Raw phase 2 Bit 27 28 Content of container 3 O Plausibility flags 1 Distances 2 Phase Frequency 2 3 Raw phase 3 Temperature of Mainboard in fixedpoint 9 4 C Temperature of
3. O ISM PCLK ISM Pixel clock 22 PWR GND Power ground 23 NC 24 I O ISM SDA ISM Configuration bus data signal 25 ISM SCL ISM Configuration bus clock signal 26 nRESET Reset signal hardware reset on low 27 NO 28 ISM SADDR ISM Slave address currently not supported 29 PWR GND Power ground 30 NC 31 NC 32 PWR GND Power ground 33 NC 34 NC 35 PWR GND Power ground 36 NC 37 NC 38 PWR GND Power ground 39 NC 40 NC 41 PWR GND Power ground 42 NC 43 NC 44 NC 45 NC 46 UART RX UART Receive Template No 900 306 A Page 10 19 Software User Manual TIM UP 19k S3 Spartan 6 Pin Type 47 O 48 NC 49 NC 50 NC 51 O 52 I O 53 PWR 54 O 59 O 56 PWR 57 O 58 59 60 NC 61 NC 62 NC 63 PWR 64 NC 65 NC 66 NC 67 NC 68 PWR 69 NC 70 NC 71 PWR 12 NC 73 NC 14 15 NC 76 O U7 I O 78 I O 79 O 80 NC 81 NC 82 NC 83 PWR 84 NC 85 NC 86 NC 87 NC 88 PWR 89 I O 90 I O 91 NC 92 NC 93 O 94 O 95 PWR Signal name UART TX LED SMOD LED IO GND LED MOD_N LED MOD_P GND GPIO 3 GPIO 2 GPIO 1 GND GND GND PEN SPI SCLK SPI SIOO SPI SIO1 SPI nCS GND GND USB D_N USB D_P I2CM SCL I2CM SDA GND Template No 900 306 A BLUE TECHNIX A Wi A I Sa 4 A Last change 19 August 2014 Version 5 Description UART Transmit LIM Single ended mod signal LIM one wire communication bus currently not supported Power ground LIM Differential
4. a few symbols and conventions f Warning Indicates a situation which if not avoided could result in minor or moderate injury and or 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 i 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 This symbol indicates a cross reference to a different chapter of this manual or to an external document Template No 900 306 A Page 5 19 A BLUETECHNIX Software User Manual TIM UP 19k S3 Spartan 6 Last change 19 August 2014 Version 5 2 Overview The document describes the necessary steps and settings to work with the TIM 19k S3 Spartan6 module and describes the firmware dependent interfaces This document applies to firmware version v2 0 0 0x19082014 For a hardware compatibility list please refer to our support site Software and documentation Ze https support bluetechnix at wiki TIM UP 19k S3 Spartan6 Template No 900 306 A Page 6 19 BLUETECHNIX gh Embedding Ideas Softwa
5. pair mod signal negative LIM Differential pair mod signal positive Power ground GPIO 3 status signal toggle on every frame capture Factory Default Reset 4sec on low while reboot to delete register map from flash and boot default configuration GPIO 1 not used internal pull up Power ground Power ground Power ground Module power enable Not used high Z Not used high Z Not used high Z Not used high Z Power ground Power ground USB D Signal high Z on reset USB D Signal high Z on reset I2C Master Clock signal connect I2C bus from LIM I2C Master Data signal connect I2C bus from LIM Power ground Page 11 19 A BLUETECHNIX RA Embedding Ideas ZN Software User Manual TIM UP 19k S8 Spartan 6 Last change 19 August 2014 Version 5 Pin Type Signal name Description 96 PWR GND Power ground 97 PWR VIN 5V Power supply 98 PWR VIN 5V Power supply 99 PWR VIN 5V Power supply 100 PWR VIN 5V Power supply 101 PWR GND Power ground 102 PWR GND Power ground 103 PWR GND Power ground 104 PWR GND Power ground 105 PWR GND Power ground 106 PWR GND Power ground 107 PWR GND Power ground 108 PWR GND Power ground 109 PWR GND Power ground 110 PWR GND Power ground Table 4 1 Pin out of the TIM 19k S3 Spartan6 connector Template No 900 306 A Page 12 19 Software User Manual TIM UP 19k S3 Spartan 6 5 Register Description Note BLUETECHNIX Last change 19 August 2014 Version 5
6. Illumination in fixedpoint 9 4 C Horizontal count of pixels Vertical count of pixels Bit O O free run mode 1 hardware trigger mode 2 software trigger mode Coefficient c3 for cubic temperature compensation of the illumination module temperature x 10000 Coefficient c2 for cubic temperature compensation of the illumination module temperature x 10000 Page 13 19 Software User Manual TIM UP 19k S3 Spartan 6 Addr hex 1D 1E 1F 20 21 22 30 31 37 38 76 I 78 79 7A 7B ZC 7D 7E 7F Register Name TempllluminationGain3 TempMainboardGain1 TempMainboardGain2 TempMainboardGain3 TempLimit Software I rigger ModLedEnable StatusLedEnable Datalnterface Type Firmwarelnfo ModulationFrequencyO ModulationFrequency1 5MHz_ Offset 7 oMHz_ Offset 1OMHz_ Offset 15MHz_ Offset 2OMHz_ Offset 25MHz_ Offset 30MHz_ Offset FramesPerSecond Default Value hex O 46 1B 1312D00 989680 O O O O O O O 5 R W R W R W R W R W R W R W R W R W R W R R W R W R W R W R W R W R W R W R W R W BLUE TECHNIX 4 S Last change 19 August 2014 Version 5 Description Coefficient c1 for cubic temperature compensation of the illumination module temperature x 1000 Coefficient c3 for cubic temperature compensation of the mainboard temperature x 10000 Coefficient c2 for cubic temperature compensation of the mainboard t
7. ce values when setting a new modulation frequency a disconnect and reconnect has to be performed Table 7 3 Product anomalies 7 3 Document Revision History Version Date 2014 04 28 2014 05 16 2014 08 01 2014 08 07 2014 08 19 0O P Gobi Template No 900 306 A Document Revision First release V1 0 of the Document Unused Pins changed from pulldown to high Z Description of phase values added USB and ISM interfaces merged register description updated Added new Modulation Frequency description and finalized SUM for v2 0 0 update Table 7 4 Revision history Page 17 19 A BLUETECHNIX AA Software User Manual TIM UP 19k S3 Spartan 6 Last change 19 August 2014 Version 5 8 List of Abbreviations Abbreviation Description DC Direct Current EBI External Bus Interface ESD Electrostatic Discharge FPN Fixed Pattern Noise FPPN Fixed Phase Pattern Noise GPIO General Purpose Input Output I Input IC Inter Integrated Circuit I O Input Output ISM Image Sensor Module NC Not Connected O Output OS Operating System PPI Parallel Peripheral Interface PWR Power ROI Region Of Interest SPI Serial Peripheral Interface SPORT Serial Port UART Universal Asynchronous Receiver Transmitter USB Universal Serial Bus Table 8 1 List of abbreviations Template No 900 306 A Page 18 19 BLUE TECHNIX Software User Manual TIM UP 19k S3 Spartan 6 Last change 19 August 2014 Versi
8. change 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 Template No 900 306 A A N BLUE TECHNIX A Software User Manual TIM UP 19k S3 Spartan 6 Last change 19 August 2014 Version 5 1 General Information This guide applies to the TIM 19k S3 Spartan6 module from Bluetechnix GmbH 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
9. e DATA A S E E datablock1 N data block 2 Figure 3 4 Timing diagram of the ISM data interface Data comes low byte first and has to be captured on every rising edge starting with the rising edge of the HSYNC signal DATA low byte Figure 3 5 Byte order of the ISM data interface The data stream during one frame is continuous there is no horizontal blanking before the next HSYNC The vertical blanking period varies depending on frame rate Once ISM nDE is low the Li pixel clock never stops ISM PCLK stays constant at 48MHz Template No 900 306 A Page 9 19 y ia l 27 amp A BLUETECHNIX gt A Software User Manual TIM UP 19k S3 Spartan 6 Last change 19 August 2014 Version 5 4 Hardware Connector The following table shows the pin out of the 100 pin TIM connector Pin Type Signal name Description 1 ISM nDE ISM Output enable 0 ISM bus enabled 1 ISM bus high Z 2 NC 3 NC 4 NC 5 NC 6 PWR GND Power ground 7 O ISM D7 ISM Data Bit 7 MSB 8 O ISM D6 ISM Data Bit 6 9 O ISM D5 ISM Data Bit 5 10 O ISM D4 ISM Data Bit 4 11 PWR GND Power ground 12 NC 13 O ISM D3 ISM Data Bit 3 14 O ISM D2 ISM Data Bit 2 15 O ISM D1 ISM Data Bit 1 16 O ISM DO ISM Data Bit O LSB 17 O ISM STROBE ISM Strobe signal high during LED modulation 18 ISM TRIGGER ISM Trigger signal trigger on rising edge 19 O ISM HSYNC ISM Line Sync HSYNC 20 O ISM VSYNC ISM Frame Sync VSYNC 21
10. e below this value will be tagged by the amplitude low flag Table 5 2 Sequence registers description of the TIM 19k S3 Spartan6 Template No 900 306 A Page 15 19 A BLUETECHNIX Software User Manual TIM UP 19k S3 Spartan 6 Last change 19 August 2014 Version 5 6 Support 6 1 General Support General support for products can be found at Bluetechnix support site Support Link S https support bluetechnix at wiki TIM UP 19k S3 Spartan6 6 2 Software Packages Software packages and software downloads are for registered customers only Support Link SS https support bluetechnix at wiki TIM UP 19k S3 Spartan6 6 2 1 Related Products e LIM U LED 850 Template No 900 306 A Page 16 19 Software User Manual TIM UP 19k S3 Spartan 6 7 Product History 7 1 Version Information A TT rake 7 AN N i VA ez N ram Last change 19 August 2014 Version 5 71 1 TIM 19k S3 Spartan6 USB Version Release date Changes 0x28042014 April 2014 First preliminary version Table 7 1 Overview TIM 19k S3 Spartan6 USB firmware changes 7 1 2 TIM 19k S3 Spartan6 Version Release date 2 0 0 2014 08 19 0x19082014 Changes See release notes of v2 0 0 Table 7 2 Overview TIM 19k S3 Spartan6 ISM firmware changes 7 2 Anomalies Version Date V1 0 2014 04 28 V2 0 0 2014 08 19 Description No anomalies reported yet Compatibility to PMDSDK v0 3 0 To get correct distan
11. emperature x 10000 Coefficient c1 for cubic temperature compensation of the mainboard temperature x 1000 Temperature limit for over temperature protection of the illumination module Set 1 to trigger a frame capture when in software trigger mode Register 0x19 Bit O reserved high Bit 1 enable differential LED mod signal Bit 2 enable single ended LED mod signal Bit 3 reserved low Bit 4 enable ISM STROBE signal during modulation Bit O O Status LED disabled 1 Status LED enabled Bit O 0 USB interface 1 ISM interface Bit 6 10 Firmware minor version Bit 1 1 15 Firmware major version First possible modulation frequency Hz Second possible modulation frequency Hz Offset for 5MHz modulation frequency mm Offset for 7 5 MHz modulation frequency mm Offset for 1OMHz modulation frequency mm Offset for 15MHz modulation frequency mm Offset for 2OMHz modulation frequency mm Offset for 25MHz modulation frequency mm Offset for 30MHz modulation frequency mm FPS considering the configured sequence length and the corresponding integration times Table 5 1 General registers description of the TIM 19k S3 Spartan6 The Serial Number field contains the device type code and the serial number For a list of all device type codes refer to 9 For detailed information on hardware pins refer to D htt s support bluetechnix at wiki PMDSDK PMDMDK User Manual No Serial 2FCustomer H gt 4 Hardware Connector_Ha
12. on 5 A List of Figures and Tables Figures Figure 371 Daia ee 7 FIGUFE 3 2 FG register read TIMING CAG AN EE 8 Figure 3 3 FC register write timing diagram ccccccccssssseeeceeceeeeeessseeeeeeeeceeesseeeeeeeseeeaasseeeeeseeseaaaaaeeeeeeessaeggases 8 Figure 3 4 Timing diagram of the ISM data interface nenn nnnnnn nennen neuen nenne nnnnnn nennen 9 Figure 3 5 Byte order of the ISM data interface neuen nenne nenne nnnnn nennen nennen nenne nenne nnnnnennnn 9 Tables Table 4 1 Pin out of the TIM 19k S3 Spartan6 Copnnechor nennen 12 Table 5 1 General registers description of the TIMY 19kK S3 Spartan ccccccccceeseeeeseeeeeeeeeeeeeseeeeeseeeeaas 14 Table 5 2 Sequence registers description of the TIME 19k S3 Spartan6 nennen 15 Table 7 1 Overview TIM 19k S3 Spartan6 USB firmware changes ssssssseceeeeeeeseeeeeeeesaseeeeeseseeees 17 Table 7 2 Overview TIM 19k S3 Spartan6 ISM firmware changes ssssssssseeeceeeeeeeeeeeeeeeeseeeesesseeeees 17 Tabie 7 3 Product ale ug ee se ee en rei 17 Table 7 4 Revision history 22022002000000 00 anno ann anno ann nun ann nen nun nun ann nun nnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnen 17 Table 8 1 eeleren 18 Template No 900 306 A Page 19 19
13. r Register 15 8 Register 7 0 ack SCL LJ LI LILI LS LI LS LIES LI IS LS LI LI LI IS LI II LI LI LI LI LS LI II LI LI U SDA DC Slave Addr Data 31 24 Data 23 16 ack SCL LJ LJ a PL Ly Ly II II II II II II II II II SDA Data 15 8 Data 7 0 ack scL I LJ LJ LJ PL Ly U IILI II II gpa Figure 3 2 C register read timing diagram SDA DC Slave Addr ack Register 15 8 Register 7 0 ack SCL AUU HOH U U I TL I TUL IL I I UE UU TU U U SDA Data 31 24 Data 23 16 ack sc u III LJ PLI LIE LI LI LIE LI U SDA Data 15 8 Data 7 0 ack sc _ _ III PLI LI LILI LI LJ Figure 3 3 I C register write timing diagram For a complete register description refer to Template No 900 306 A Page 8 19 A Deech A A Software User Manual TIM UP 19k S3 Spartan 6 Last change 19 August 2014 Version 5 NS 5 Register Description 3 3 2 ISM Data Interface When configured to stream data over ISM in free run mode the TIM 19k S3 Spartan6 module starts transferring frames automatically and can only be interrupted by switching to manual trigger mode Each frame starts with a rising edge on the VSYNC signal followed by a rising edge of the HSYNC signal With the first HSYNC signal the first data block is transmitted as shown in Figure 3 4 Timing diagram of the ISM data interface Every data block contains 512bytes and starts with a HSYNC box _ L LJ LU DEEL PLE LI LL VSYNC j im I I HSYNC If If eme ff e
14. rdware Connectors 9 For a detailed description of the calculation mode register refer to H D htt s support bluetechnix at wik PMDSDK PMDMDK User Manual Camera Registers Template No 900 306 A Page 14 19 Software User Manual TIM UP 19k S3 Spartan 6 5 2 Sequence Registers Addr hex Register Name 80 SeqOPLLSelect 81 SeqOlntegrationTime 82 SeqOModFreq 87 seqoAmpMin 8A SeqiPLLSelect 8B Seq1IntegrationTime 8C Seq1ModFreq 91 seqlAmpMin Default Value hex O 1F4 1312D00 12C 1F4 989680 12C R W R W R W R W R W R W R W R W R W A AN BLUE TECHNIX A Last change 19 August 2014 Version 5 Description PLL config of the correct modulation frequency Modulation frequency O and 1 are configured in register 76 and 77 Integration time of sequence O in us Modulation frequency to use for this sequence Only modulation frequencies set in register 76 and 77 are valid for this register Sets the minimal amplitude for valid pixels Pixels with an amplitude below this value will be tagged by the amplitude low flag PLL config of the correct modulation frequency Modulation frequency O and 1 are configured in register 76 and 77 Integration time of sequence 1 in us Modulation frequency to use for this sequence Only modulation frequencies set in register 76 and 77 are valid for this register Sets the minimal amplitude for valid pixels Pixels with an amplitud
15. re User Manual TIM UP 19k S3 Spartan 6 Last change 19 August 2014 Version 5 A 3 Interfacing The TIM 19k S3 Spartan6 firmware provides a USB data and control interface an ISM parallel sensor interface and I C control interface All interfaces are exposed on the 100pin board to board connector The interfaces are split into a control and data interface The control interface is used to set and read the configuration of the TIM 19k S3 Spartan6 module using a set of registers For a complete register description refer to N 5 Register Description 3 1 General Data Format The data output format on both the USB and the ISM interface is divided into four containers where each container has its own header The content of the four containers can be configured using the calculation mode register For acomplete register description refer to N 5 Register Description data container 0 data container 1 data container 2 data container 3 Figure 3 1 Data Containers Each header consists of 128 32bit double words of data stored in high byte first order whereas the data container comes in low byte first order For a complete description of the header data refer to our support site Ly httos support bluetechnix at wiki PMDSDK PMDMDK User Manual Source Data Container Header The data containers hold the pixel information configured in the calculation mode register By default three data containers are configured
16. va yy wN BLUE TECHNIX Embedding Ideas TIM UP 19k S3 Spartan 6 V2 0 0 Software User Manual Version 5 y BLUETECHNIX ON Embedding Ideas Contact Bluetechnix Waidhausenstra e 3 19 A 1140 Vienna AUSTRIA office bluetechnix com http www bluetechnix com Date 2014 08 19 Template No 900 306 A A BLUETECHNIX Table of Contents 1 ASS aT NAW E 5 UN OLOS U EE 5 e NON N 6 Oe E E 5 0 D 7 3 1 General Datakormat nennen 7 32 SB lee 8 33 RE e ne 8 38 1 FC COMMOULATON NALIN ACS ae 8 3 3 2 SON Data Meri AC eege 9 d Hardware CGonnechor EEN 10 Register Description 13 5 1 General Registers eet 13 592 S6guence Regle es een 15 SE io eu E N IE E sec EAE ns AA AAE A AE EAE E N A EE HEINE 16 6 1 General SUD POM EE 16 62 SOllware Packages usa 16 6 2 1 Bela eeler EE 16 T lee Leg e oC en EE 17 7 1 WETSIOM WTOP ere a E EE ENEE E EEEE ten aeues E EEE E E 17 7 1 1 NI Ott SS 2S Pal ER EE 17 Pelee TIM wn DEER 17 EE EE 17 Foe lee le Ende ale TE en E 17 8 EE 18 A List of Figures and Tables cccccccccseecceeeceececeeeeceeeceeecaucesaueesaeeceeeseueesaueesaeeesaeeseueessueeseesenegeess 19 Template No 900 306 A A BLUETECHNIX AA 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
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