UC1394a-3 DCAM Camera Development Kit User's Guide
Contents
1. IG USER S GUIDE Ges no GANG A MI DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 orsys Page 43 parameters digit number to be converted pDebugText pointer to storage for the converted string return value none 6 5 26 HexByte2Ascii Converts a 8 bit number into a string 00 FF defined in hexutil h synopsis void HexByte2Ascii unsigned char ucNum char pResult parameters ucNum 8 bit number to convert pResult Pointer to result Must be at least 3 bytes return value none 6 5 27 HexDword2Ascii Converts a 32 bit number into a string O0000000 F FFFFFFF defined in hexutil h synopsis void HexDword2Ascii unsigned long ulNum char pResult parameters ulNum 32 bit number to convert pResult Pointer to result Must be at least 9 bytes return value none 6 5 28 HexNibble2Ascii Converts a 4 bit number lower 4 bits of 8 bit number into a string OUT EI defined in hexutil h synopsis void HexNibble2Ascii const INT8U digit char pResult parameters digit 8 bit number to convert pResult Pointer to result Must be at least 2 bytes return value none USER s GUIDE WI DCAM CAMERA DEVELOPMENT KIT orsys Date 26 January 2007 Doc no DCAM Camera DevKit UG Iss Rev 1 00 Page 44 6 5 29 HexWord2Ascii Converts a 16 bit number into a string 0000 FFFF defined in hexutil h synopsis void HexWord2Ascii INT16U usNum char pResul2. Date 26 January 2007 LOO Doc no DCAM_Camera_Devkit_UG iJ Iss Rev 1 00 e orsys Page Sei User s Guide DCAM Camera Development Kit using the UC1394a 3 MCM Orsys Orth System GmbH Am Stadtgraben 25 88677 Markdorf Germany http www orsys de Ce USER s GUIDE Ges KI DCAM CAMERA DEVELOPMENT KIT aaa DYN Orsys Page 2 Contents EE EES 7 1 1 Document Organization mma KA GAIAANIIEA BATAAN DA NDUKAGRA REESEN 7 1 2 Documentation Overview AGANG ANGAT 7 1 3 Notational conventlonS XA inonma EENE AER sends ENEE EENS EE EN 7 1 4 Trademarks unh 9 L Revision stop Ka ANEK KAIAEGEGNAIN GRANT 9 2 JKT OVERVIEW aaa NN AABANG NANNING NAN NNAGANN ANAKAN 10 2 1 Ga kC MGM ppm en rere ee eee ae 10 2 2 Camera BSP and DCAM Camera API 11 2 3 Ultra Compact Small Garena KNA Eege NEESS 11 2 4 Interfaces and Connectors aaa AGANG 11 2 4 1 Camera Interface a a a a a 12 242 el es ei O a ee 13 KE ET An ne 13 2 44 8 bit HPI or General purpose IO 13 2 4 5 McBSP Intertaces waaa anG cece cette eee e eee e eect ENGE KGGNKKKNKGEKKKKKKGGKKEKEKEEEKKSEKEKEKKKKKKKKK0sKnKNn 14 PA PO AA AA AA 14 AA 14 24 8 XF OP cua GAN E AK REA REA GAL 14 24 9 LED E 14 2 5 JTAG Connector Eeer 14 2 6 Power Supply pt eessen AGA 15 3 GETTING STARTED nian nA NONONO NANGAILANGAN 16 4 PROGRAMMING THE UC 1394 AHS aaa ees 18 4 1 Required CN 18 4 2 Software Development FIOW esssrsueesSSEEEECEEESEEEEELEEESEEEEEEEEEEEEEEEEEEEEEEEEEEEEEEES
3. Figure 7 Memory view of a string in character format H Memory DATA 16 Bit Hex TI Style H N lol x Q 2QDA8 55 B041 0052 0054 d Figure 8 Memory view of a string in binary format Further information can be found in 10 chapter Memory and I O space and in 12 chapter Data types 4 6 2 64K Page Limit The TMS320C5000 series of DSPs use a 16 bit architecture which adds restrictions to pointer accesses Although the DSP as well as the C compiler support 23 bit pointers pointer manipulation is always done modulo 64K Below is a code example that shows how to handle arrays which cross 64K boundaries wrong will stay in the lower 64K bytes static int array 100000 int i for i 0 i lt sizeof array i array i 0 correct use a cast to calculate the pointer for each access static int array 100000 unsigned long i for i unsigned long array i lt unsigned long array sizeof array i unsigned long i 0 4 6 3 Pipeline Accesses to memory may take some clock cycles until they are completed since the execution is broken down into several pipelined steps For memory accesses this is no problem However accesses to hardware registers can lead to unexpected results One example is disabling interrupts asm BSET INTM asm NOP asm NOP asm NOP asm NOP asm NOP asm NOP Without the NOP instruction an interrupt can occur immedia
4. parameters psCfg UART parameters return value none 6 5 39 UartLinestatintStat Checks if the receiver line status interrupt is enabled defined in msl h synopsis INT16U UartLinestatIntStat void USER S GUIDE Date 26 January 2007 y Doc no DCAM Camera DevKit UG DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 48 parameters none return value 1 if receiver line status interrupt is enabled O if receiver line status interrupt is disabled 6 5 40 UariLineStatus Returns the contents of the line status register Please note that reading the line status register clears overrun errors only All other errors must be cleared by reading the erroneous data defined in msl h synopsis INT16U UartLineStatus void parameters none return value contents of the line status register 6 5 41 UartReceive Reads one character from the receive buffer register of the UART This function does not check for available data therefore UartRxReady should be called before to check if characters are available defined in msl h synopsis char UartReceive void parameters none return value character from the receive buffer register If it is empty the last value is repeated 6 5 42 UartRxIntStat Checks if the receiver data ready and the receiver timeout interrupt is enabled defined in msl h synopsis INT16U UartRxIntStat void parameters void UartRxIntStat voi
5. Clock rates initialized by nitDSP INT32U ulSysclk1 fast peripherals DMA HPI Timer INT32U ulSysclk2 slow peripherals McBSP I2C UART INT32U ulSysc1k3 EMIF INT32U ulClkout3 CPU 6 3 2 Interrupt Vector Table The module support library maintains an interrupt vector table This table is initialized by InitDSP User interrupt handlers can be inserted by calling ntHook The table is accessible from outside of the module support library in order to better support debugging Directly accessing the interrupt vector table should be avoided interrupt vector table extern struct void handler void INT32U dummy vectab 32 6 4 Macros Reference This chapter lists the macros that are defined by the module support library Currently the only available macros are utility functions for debug c and macros to control the red LED of the UC1394a 3 MCM 6 4 1 DebugOutByteHex Converts a 8 bit number into a string hexadecimal and puts the string into the debug transmit buffer This is a macro that calls the functions HexByte2Ascii and DebugPuts defined in debug h synopsis void DebugOutByteHex INT8U digit parameters digit 8 bit number to convert and put to the debug interface 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG MS DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Orsys Page 30 return value none 6 4 2 8 DebugOutConstString Puts a string in
6. single stepping and so on For details please refer to the CCS on line help and documentation For the DCAM Camera Development Kit operation at 200MHz CPU clock is recommended 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG UI DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 21 4 4 Programming an Application into Flash Memory The UC1394a 3 supports up to 832KB of flash memory for application code This application code must be in a format suitable for the processor s boot loader To generate such a file the projects on the distribution CD contain a final build step that uses the hex55 utility To program your application into the UC1394a 3 s flash memory you must e Connect the JTAG emulator to the UC1394a 3 Start Code Composer Studio Open your project Build the project as normal Select the Initialization gt MCM init 200MHz command from the GEL menu Start the FlashBurn utility The FlashBurnDSK utility starts up showing the FlashBurn Startup window Select Create a new FlashBur configuration and click on OK In Section 1 Connect to a Target select a suitable connection such as C5501 XDS510 Emulator CPU 1 For most CCS installations there is only one option available Then click on the Connect button e In Section 2 Download the FlashBurn Target Component FBTC click on the button locate FBTCOrsysUC1394a 3 0ut folder named
7. 4 12 DebugOutUNibbleDec Converts an unsigned 4 bit number into a string of two characters and puts the string into the debug transmit buffer This is a macro that calls the functions DecUNibble2Ascii and DebugPuts defined in debug h synopsis void DebugOutUNibbleDec INT8U digit parameters digit number to convert and put to the debug interface return value none 6 4 13 DebugOutUWordDec Converts an unsigned 16 bit number into a string of 5 characters and puts the string into the debug transmit buffer This is a macro that calls the functions DecUnsignedWord2Ascii and DebugPuts defined in debug h synopsis void DebugOutUWordDec INTI16U digit parameters digit number to convert and put to the debug interface return value none 6 4 14 DebugOutWordHex Converts a 16 bit number into a string hexadecimal and puts the string into the debug transmit buffer This is a macro that calls the functions HexWord2Ascii and DebugPuts defined in debug h synopsis void DebugOutWordHex INT16U digit parameters digit 16 bit number to convert and put to the debug interface return value none 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG UI DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 34 6 4 15 UC1394A3 LED ON Turns the red LED of the UC1394a 3 MCM on Defined in uc1394a 3 h 6 4 16 UC1394A3 LED OFF Turns the red LED of the UC1394a 3 MCM off Defined in uc
8. IEEE1394 cable over J8 or J9 e Over the direct MCM connectors J1 J2 requires modification of the carrier For a detailed description of the power supply please refer to 18 5 Date 26 January 2007 DW USER S GUIDE Doc no DCAM Camera DevKit UG MG DCAM CAMERA DEVELOPMENT KIT Le ey 1 00 OFrsys Page 16 3 Getting Started The UC1394a 3 DCAM Camera Development Kit is shipped with the application example camera uart already stored in flash memory This allows to do the very fist steps with the kit without development tools required The camera uart example uses the DCAM camera API to implement an IIDC 1394 compliant digital camera and prints some messages to the RS 232 interface Below is a procedure for doing the first steps with the DCAM Camera Development Kit Required items e the UC1394a 3 DCAM Camera Development Kit e an IEEE 1394 cable and a RS 232 cable e aPC with Windows XP an IEEE1394 interface a terminal program such as HyperTerminal Steps to be performed e start a terminal program such as HyperTerminal on the PC e set up the terminal program to 115200 bits per second 8 data bits no parity 1 stop bit and hardware flow control e connect the UC1394a 3 DCAM Camera Development Kit to the PC using the RS 232 cable e connect the UC1394a 3 DCAM Camera Development Kit to the PC using the IEEE1394 cable e The PC recognizes the UC1394a 3 Camera Development Kit as an IIDC compliant camer
9. Its small size and low cost makes it an ideal solution for end product usage Further the 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG UI DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 orsys Page 11 implementation as a multi chip module MCM allows similar handling as of integrated circuits therefore mass production is supported 2 2 Ultra Compact Small Carrier The Ultra Compact small carrier provides all necessary connectors and control elements Two 400 Mbps IEEE 1394 ports with standard 6 pin connectors Connectors that provide direct access to each MCM signal Power supply either from an external source or over the IEEE1394 cable A red LED as power indicator A reset button A JTAG connector for access to the DSP s and FPGA s JTAG interfaces RS 232 level converter and RS 232 connector that provides the UART interface with RS 232 voltage levels e A jumper block not used by the Camera BSP The carrier board is intended as a development aid which is used in the prototyping stage of a project In the end product the UC1394a 3 MCM will typically be used standalone However the complete kit MCM mounted on carrier is also available in quantities A detailed description of the carrier hardware including schematics and component lists can be found in 18 Jumper JTAG DC block connector input 8 EEE UC1394a 3 o ma MCM Sa mmm 7 D 8 j
10. O or 1 6 5 17 DebugPuts Puts a message into the debug transmit buffer defined in debug h synopsis INT16U DebugPuts unsigned short usLength char pDebugText parameters usLength number of characters in debug string without trailing 0 pDebugText pointer to debug message return value number of characters actually written 6 5 18 DecSignedByte2Ascii Converts a signed 8 bit number into a character string in decimal ASCII representation The Character string consists of 4 characters starting with either lt space gt for positive numbers or for negative numbers The string contains leading zeros if the absolute value is less than 100 defined in decutil h synopsis void DecSignedByte2Ascii INT8S digit char pResult parameters digit number to be converted pDebugText pointer to storage for the converted string return value none 6 5 19 DecSignedDword2Ascii Converts a signed 32 bit number into a character string in decimal ASCII representation The Character string consists of 11 characters starting with either lt space gt for positive numbers or for negative numbers The string contains leading zeros if the absolute value is less than 1000000000 defined in decutil h USER S GUIDE Date 26 January 2007 y Doc no DCAM Camera DevKit UG f DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 41 synopsis void DecSignedDword2Ascii INT32S digit char pResult parame
11. S ff WII 4 D Direct MCM ER C O n ne C to IS T E J TAT TC i Re set pi TT mmi 5 md e Rower Lert indicator LED IEEE1 394 RS 232 connectors connector Figure 2 Ulrta cmpact small carrier board connector locations 2 3 Camera BSP and DCAM Camera API The DSP camera board support package BSP adds a camera interface 8 16 bit image data pixel clock frame amp line enable to the MCM The camera interface is used to connect a digital camera or image sensor to the MCM The camera BSP is described in 16 The camera interface USER S GUIDE Date 26 January 2007 Ly Doc no DCAM Camera DevKit UG AI DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Orsys Page 512 and the connected camera image sensor are controlled by the DCAM camera API which is described in 17 Devices connected to the IEEE1394 bus that support the host side DCAM protocol recognize the MCM with the camera image sensor as a fully IIDC1394 compliant digital camera The camera interface is set up and controlled by he DCAM camera API which is described in 17 The DCAM camera API also provides the necessary infrastructure for image sensor control Incoming camera control commands from a host trigger callback functions where individual sensor control can be implemented Camera 8 16 bit high speed interface image data main interface UART IIDC DCAM protocol IEEE1394 8 bit HPI or GPIO McBSP 0 and 1
12. UG iJ DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 42 void DecUnsignedByte2Ascii INT8U digit char pResult parameters digit number to be converted pDebugText pointer to storage for the converted string return value none 6 5 23 DecUnsignedDword2Ascii Converts an unsigned 32 bit number into a character string in decimal ASCII representation The Character string consists of 10 characters and contains a leading zero if the result is less than 1000000000 defined in decutil h synopsis void DecUnsignedDword2Ascii INT32U digit char pResult parameters digit number to be converted pDebugText pointer to storage for the converted string return value none 6 5 24 DecUnsignedNibble2Ascii Converts an unsigned 4 bit number into a character string in decimal ASCII representation The Character string consists of 2 characters and contains a leading zero if the result is less than 10 defined in decutil h synopsis void DecUnsignedNibble2Ascii INT8U digit char pResult parameters digit number to be converted pDebugText pointer to storage for the converted string return value none 6 5 25 DecUnsignedWord2Ascii Converts an unsigned 16 bit number into a character string in decimal ASCII representation The Character string consists of 5 characters and contains leading zeros if the result is less than 10000 defined in decutil h synopsis void DecUnsignedWord2Ascii INT16U digit char pResult
13. as described in chapter 4 4 All application examples are provided as a CCS project The project has two available configurations Debug and Release Debug is the default configuration and should be used during development The Release configuration differs from Debug in two points e no debugging symbols are created the code is not suitable for source code debugging but better optimized and smaller e the Release version of the module support library is used The Release configuration should be used for the final application after development is finished Further all example projects contain a final build step that creates a hex file This file can be programmed to flash memory as described in chapter 4 4 USER S GUIDE Date 26 January 2007 y Doc no DCAM Camera DevKit UG DCAM CAMERA DEVELOPMENT KIT 1 00 Iss Rev orsyS Page 25 5 1 LED Control toggle led This is the most basic application example It initializes the MCM and then enters a main loop The main loop just toggles the MCM s LED After loading and starting this example the MCM s LED is blinking This application example can be used as a rudimentary test to check if the kit and the MCM are working properly 5 2 UART hello This example shows how to program the UART of the DSP using driver functions from the module support library First the MCM is set up Then the UART is initialized for 115200 baud and hardware RTS CTS handshake T
14. double quotes Example Create a new project using the Create Project command from the File menu The members of a bit field or a group of signals are numbered starting at zero which is the least significant bit Example CFG 4 0 identifies a group of five signals where CFGO is the least significant bit and CFG4 is the most significant bit If necessary numbers are represented with a suffix that specifies their base Example 12AB46 is a hexadecimal number base 16 hexadecimal and is equal to 477940 The bit fields of a register are displayed with the most significant bit to the left Below each bit field is a description of its read write accessibility and its default value 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0 A B C D E F G H l J K L N O r w Q r w 0 r w 0 r w 0 r w 0 r w 0 r w 0102 r 0 r wc 0 w r w 0 rc 0 r w 0 r w 0 accessibility and default value legend r bit is readable rc this bit is cleared after a read rw bitis readable and writeable reading yields the previously written value unless otherwise specified W bit is writeable read value is undefined wc writing a 1 to this bit clears it w 0 bit is write only reading always yields 0 0 default value Date 26 January 2007 IG USER S GUIDE Doc no DCAM Camera DevKit UG WI DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 orsys Page 9 1 4 Trademarks TI Code Composer DSP BIO
15. header is 28 bytes for each variant defined in fpgaload h 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG LJ DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 36 synopsis int FpgaLoad INT32U pData INT32U ulLength parameters pData pointer to FPGA image in flash memory ulLength length of FPGA image in bytes return value FPGA success zero if FPGA image is loaded successfully otherwise the FPGA has not been loaded Possible reasons for this are the flash area for FPGA code is not programmed or contains invalid data the FPGA Code was created for a non matching device the FPGA Code was created with incorrect programming file options 6 5 7 FlashGetDevicelnfo Reads manufacturer and device ID from the flash and stores them in the specified locations Default manufacturer ID is 000116 AMD or 00C24s Macronix Default device ID is 225B46 29LV800 defined in msl h synopsis void FlashGetDeviceInfo INT16U pManufacturer INT16U pDevice void pCallback void parameters pManufacturer pointer to location where manufacturer ID is stored pDevice pointer to location where device ID is stored return value None 6 5 8 FlashEraseSector Erases the specified sector During the erase process a user specified callback function is executed to allow the application to continue processing or to indicate the progress of the operation The callback is called whenever the era
16. host FlashBurnDSK on the distribution media and open it e Click on the Download FBTC button and verify that the chain symbol left of this button changes to a closed chain e In Section 3 Program Flash Memory click on the button right of File to Burn locate the application code that is to be programmed e g toggle led hex and open it e Click on the Erase Flash button The erase process takes about 8 12 seconds to complete e Click on the Program Flash button e Now your application is programmed to flash memory and will boot at the next system start e To save the settings for later usage select Save As from the File menu select an appropriate name and location for the file and click on Save e if problems occur during one of the above steps the following steps could help o select Show Code Composer from the View menu change to Code Composer Studio select the Initialization MCM init 200MHz command from the GEL menu select the Reload Program command from the File menu select the Run command from the Debug menu Now Code Composer Studio must display the cursor at DoMessageProc in the disassembly window o change back to the FlashBurn utility and repeat the procedure O O O O 0 Further help can be found in the help menu of Code Composer Studio The FlashBurnDSK utility is included in the Orsys distribution 4 5 Startup Procedure After power up or a system reset the DSP starts
17. naan saaan an nNK AA KANAN KAEKAN NANA KAENANNEAEKKANAKAIRAKANANKAKKA KANA KNA NANNING 41 RE eet EN 41 E WE e ei Tee EE 42 6 5 24 DecUNSiIQNGONIDDIOZASCH maana AA NAAN aa 42 6 5 25 ee 42 65 20 WT aa AA ANA Aa 43 6 59 27 e E Re re RE EE 43 65 28 e PAN 0 0 AA AA EE 43 6 5 79 HexWord2ASselkn a eege Aa ae a 44 65 30 Diet leng AE AA An 45 6 5 31 UartClearToSend 0 cccccccccccccccccccecccccueeeceesueeecessuueecessueuecessuaueseeeueuaeeeuaueueeusaueeeuuaaseeeeeaasess 45 6 5 32 UartDisableLinestatInt aaa 45 6 55338 pe lebt EE ts Pg ENEE 45 6934 HanDIsable let EEN 46 6 5 35 WartEnablebinesTaNN pA NEGA NANA AG GRAN Gm Dn NAG 46 6 5 36 Uarttnabletivint aa 47 6 5 37 UartEnableTxInt a 47 0 5 90 E 47 6 5 39 EE a AN nG AP ee 47 6 5 40 Ed EE 48 E OR EE a kaa a naa nna AG PAA KAP ae aaa da aan Baga EN TB NA nG nga Ay 48 6 5 42 EE Ee TEE 48 6 5 43 NAAN aa PAA Aa 49 6 544 UA SOLRIS sere akan Ga Gaan NANA ANAND haaa 49 6 345 UWanShuldoWwN EE 49 0 5 46 WEE Deet eege 49 6947 Uan DONO eee meme er ea nena oe ne eo OAE 50 6 5 48 Uart TXINGS tat 0 cccccc cc cccccc cece cece cc cece eccecueeeceseueeecessuueeceesueuaceeeueueeeeueuaeeeueauseeeusauseeeueauseeeueaasess 50 EE E 50 7 FPGADEVELOPMENTSUPPOR DL GANA EEN EeEgENeREEEN 52 8 LIST OF ABBREVIATIONS USED IN THIS DOCUMENT cccccssssseeeeesseseeeeenes 53 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Came
18. provided for reference and for cases where a customization is necessary A CCS project for creating the module support library is also provided Please note after compiling the library sources the compiled libraries reside in the respective output directories Debug and or Release For using them with the example projects they must be copied to the ib Release and ib Debug directories 6 1 Module Support Library Modules The module support library contains the following modules module support functions FPGA loader UART routines flash c flash programming routines simple buffered UO over the UART interface binary to hexadecimal ASCII conversion binary to decimal ASCII conversion Below is a brief description of each module The functions of module are explained in chapter 6 5 6 1 1 init c This module defines initialization and utility functions for the MCM such as interrupt control 6 1 2 fpgaload c This module contains a loader for FPGA code The FPGA must be loaded using this loader at system startup FPGA resources are only available after loading 6 1 3 uari c This module contains functions to control the UART of the TMS320C5501 5502 DSP 6 1 4 flash c Contains flash programming routines It is recommended that application software does not modify the flash memory Instead the provided methods for accessing the flash memory should be used FlashBurn utility for application code programming see chapter 4 5 or FPG
19. 1394a 3 h 6 4 17 UC1394A3 LED TOGGLE Toggles the red LED of the UC 1394a 3 MCM Defined in uc1394a 3 h 6 5 Functions Reference This chapter gives a brief description of the module support library functions 6 5 1 InitDSP Configures the DSP to work with the peripherals Sets up processor clock and EMIF settings Sets up and initializes the interrupt vector table Interrupts are disabled globally during initialization an are enabled again when nitDSP returns Further all maskable interrupts are disabled and cleared Interrupt vectors are set up to a table managed by the module support library The interrupt vector table is initialized with dummy interrupt handlers DefaultISRx in order to get deterministic behavior when uninitialized interrupts are triggered defined in msl h synopsis void InitDsp INIT MODE eMode parameters none return value none 6 5 2 IntHook defined in msl h Description Installs an interrupt handler for the given interrupt number in the interrupt vector table The interrupt numbers are defined in c5507 h The interrupt handler must be defined with the interrupt keyword synopsis void IntHook int iIntNumber void pHandler void parameters int iintNumber number of interrupt to be inserted pHandler pointer to the interrupt handler return value none 6 5 3 IntEnable Enables the specified interrupt in the corresponding Interrupt Enable Register The interrupt numbers are defin
20. 9 6 3 Global Variables Reference L A AANI NAN 29 6 3 1 Clock Rates mma NAIA GANANG GANANG 29 6 3 2 Interrupt Vector Table 29 6 4 Macros Reference aa maa 29 6 4 1 DebugOutByteHeXx aaa AABANG 29 6 4 2 DebugOutConstString EE 30 E Eet 30 6 4 4 DebugQutNibbleHex EE 30 6 4 5 EE EN 6 4 6 AE EN 6 4 7 DeODUGOUTSNIDDIOD Tee aNG AANGAL EN 6 4 8 EE AA EN WE edd 32 6 4 10 EE AA AA AA AA AA 32 Oa Ag Be Bo BP OP AA ees 32 6 4 12 DebugQuUNIbblED a aaa NAA NAA NAN AGA ANA AA 33 GAAS ere BE ee 33 6 4 14 BB E 33 GAO UC1394A3 LED ON AA AA 34 6 4 16 UC1294A3 LED OFF nnaman aga pap pa ssa 34 6417 TIC1S9ARS LED TOGGLE EE 34 5 USER S GUIDE Date 26 January 2007 la DCAM CAMERA DEVELOPMENT KIT Jo l od Camera Dovkit UG O rsys Page A 6 5 Functions Reference 2 a naaa ana KKK KREE KANAN NN ALASKA ANN K KEN KREE ANA NN KANA KAANAK KANA RRE KRKKENRKRKN KKK EN 34 oo SE RE 34 6 5 2 Iotiook aaa anan NA NA NAA NANA NASAN A 34 639 3 Eet 34 0 5 4 I EE 35 65 5 te 35 6 5 6 ee E 35 6 5 7 FlashGetDeviceInfo a E a a a a a e a aai Eo eain 36 6 5 8 Flaebfraeseechor oaan ando e a aa ee A rE da eiar ATERN 36 6 5 9 FlashProgra APA PP PERA HA 37 aa DebugBulMgf EE 37 a Bl a EE 38 6 5 12 ed 38 69 13 O a Ana AA KAG GAGO ka AN Aa 39 694 Eeer dee DEE 39 EE e 39 6 3 16 EE EE 39 nl AA AA AA AA 40 6 5 18 ed 40 6 5 19 ee EE 40 6 5 20 iere enges EE dE SEELEN 41 6 5 21 DecSignedWordPAGSGll
21. A flasher executable for updating programming FPGA code 6 1 5 debug c This module contains a simple system for buffered character I O over the UART interface Typically the functions of this module are not used directly but over associated macros see chapter 6 4 debug c can be used as an alternative for the stdio functions e g printf especially when small code size is required or no emulator is available 6 1 6 hexutil c Utility functions that convert binary values to hexadecimal ASCII 6 1 7 decutil c Utility functions that convert binary values to decimal ASCII Ly USER S GUIDE Ges no Eeer DevKit UG iJ DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 orsys Page 29 6 2 Module Support Library Header Files msl h Contains function prototypes for the main part of the module support library such as initialization and interrupt management camera_bsp h Defines the FPGA registers and includes basic hardware definitions of the UC1394a 3 equipped with the Camera BSP fpgaload h functions for loading the FPGA debug h Defines a simple buffered character I O interface using the UART interface Suitable for debugging output as well as general character UC 6 3 Global Variables Reference 6 3 1 Clock Rates The variables below contain the clock rates of the DSP The function InitDSP sets up the clock rates and then initializes the variables These variables can be used to calculate software controlled timings
22. ART as debug interface Most of the application examples use the UART as debug interface Table 1 UART connector pin assignments 2 4 4 8 bit HPI or General purpose UO The DSP provides an 8 bit host port interface The HPI is accessed by an external host This interface can be used for controlling intelligent cameras that have an own micro controller The host port pins can alternatively be used as general purpose I O pins When configured as general purpose I O these pins can be used for bit level digital I O Each pin can be configured individually as input or output 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG KI DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 14 The HPI and general purpose I O pins can be programmed on register level which is described in 6 A slightly higher level of access is provided by Tse chip support library that is part of Code Composer Studio 2 45 McBSP Interfaces The DSP provides two McBSP interfaces The McBSPs are high speed serial interfaces that can be used for controlling cameras that require a synchronous serial interface They support a lot of different operation modes such as SPI or AC97 The McBSP interfaces can be programmed on register level which is described in 8 A slightly higher level of access is provided by TI s chip support library that is part of Code Composer Studio 24 6 PC Interface The DSP provides an DC interf
23. DCAM Camera Development Kit when implemented on the UC1394a 3 multi chip module MCM The DCAM Camera Development Kit allows to build an IIDC 1394 compliant camera using a low level digital image source The DCAM Camera Development Kit consists of the UC1394a 3 MCM mounted on a carrier board an FPGA design that transforms the parallel input data to IEEE1394 isochronous data packets and the DCAM camera API that implements the IIDC 1394 based Digital Camera Specification V1 30 1 1 Document Organization This document is organized as follows e Chapter 2 gives a brief overview of the whole system and its interfaces Chapter 3 shows how to do the first steps with the kit Chapter 4 gives an introduction to software development Chapter 5 describes the application examples Chapter 6 documents the module support library Chapter 7 introduces the FPGA development option Chapter 8 explains the abbreviations that are used throughout this document Chapter 9 lists documents that contain further information 1 2 Documentation Overview This chapter lists the documentation from Orsys that is shipped together with the DCAM Camera Development Kit Further documents from other vendors are listed in chapter 9 and are referenced throughout the document in square brackets UC1394a 3 Hardware Reference Guide 15 uc1394a 3 nrg paf Describes the hardware of the UC1394a 3 MCM It is intended to get an overview of the MCM and the basic features provided by it This
24. EEEEEEEUEEREEEEENEEEEh 18 4 3 Running an Application with Code Composer Studio ccccccsssseeeeeeceeeeeeseeneeeseeeeeeeees 19 4 3 1 ee e Lee 20 4 4 Programming an Application into Flash Memory ma 21 A5 Startup Eed 21 4 6 Hints for Programming the TMS320VC5501 5502 cccccsssseeeeeeeeeeeeeeneeeneeeeneseeeeeeeneeneeeeese 22 Ge USER s GUIDE Date f 26 January 2007 MG DCAM CAMERA DEVELOPMENT KIT pagan 100 0 Dovkit NG Orsys Page 3 461 EYES 16 DITU AGA GA AABANGAN 22 AG2 64K Page Limiters E E R 22 4 6 3 Ellen 22 5 APPLICATION EXAMPLES cccccceeeeeesseeeessesseeeeeesseeceeessseeeeesseaeeoeaasseeeeeeeseaoaes 24 5 1 LED Control toggle TC E 25 52 BG a CUED AA AA PAA PAA PAP PE 25 5 3 Buttered Character NO dba DUN pa aaah ERAN Ze Ge KA 25 5 4 MCM Information Utility mem info aaamana na eeeeeneeseeneeeeeeeeeeseeseeseeeeeeeeseseeeeeeeeneeeees 26 5 5 Image Source Information Utility SeMSOr_CHheCK cccesseceeseeteeeeeeeeeeeeeeeeeeeeeenseeeeeeess 26 5 6 DCAM Application Examples XA AA NA 27 6 MODULE SUPPORT LIBRARY aaah nnne 28 6 1 Module Support Library Modules ennum nnmnnn nnna 28 CR E et 28 6 1 2 A AA AA AA PAA AA a 28 E E EE 28 Ce EE E 28 6 1 5 deb g Ga AA AA AA AG 28 e NEE 28 6 1 7 JOC CUUIC i deeg been deele dees 28 6 2 Module Support Library Header Files 11 22 7000m2meessuuuanussanaananassass000ra nnmnnn 2
25. EVELOPMENT KIT Iss Rev 1 00 orsyS Page 39 6 5 13 DebugGets Gets a debug message from the debug receive buffer The debug receive buffer is read until a a newline character n is encountered b a carriage return character r is encountered c a null character 0 is encountered d usMaxLen 1 characters are read e buffer is empty defined in debug h synopsis unsigned short DebugGets unsigned short usMaxLength char pDebugText parameters usMaxlength maximum size of the debug message with trailing wO pDebugText pointer to debug message return value number of actually read characters 6 5 14 Debuglnit Initializes the debug interface and the UART defined in debug h synopsis void DebugInit void parameters none return value none 6 5 15 DebugKbhit Tests whether the debug receive buffer is empty defined in debug h synopsis BOOL DebugKbhit void parameters none return value TRUE there is at least one character in the debug receive buffer FALSE debug receive buffer is empty 6 5 16 DebugPutc Puts one character into the debug transmit buffer USER S GUIDE Date 26 January 2007 y Doc no DCAM Camera DevKit UG DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Orsys Page 40 defined in debug h synopsis INT8U DebugPutc char c parameters CG output character for debug interface return value number of characters actually written
26. G DCAM CAMERA DEVELOPMENT KIT Le e 1 00 OFrsys Page 54 9 Literature references Further information that is not covered in this user s guide can be found in the documents listed below References to this list are given in square brackets throughout this document The documents are listed by title author and literature number or file name 1 2 3 4 5 6 7 8 9 Texas Instruments website at www ti com Xilinx website at www xilinx com TMS320VC5501 Fixed Point Digital Signal Processor Data Manual Tl sprs206 TMS320VC5502 Fixed Point Digital Signal Processor Data Manual Tl sprs166 TMS320C55x DSP Peripherals Reference Guide Tl spru317 TMS320VC5501 5502 DSP Host port Interface HPI Tl spru620 TMS320VC5501 5502 DSP Universal Asynchronous Receiver Transmitter Reference Guide TI SPRU597 TMS320VC550 1 5502 5503 5507 5509 5510 DSP Multichannel Buffered Serial Port McBSP Reference Guide TI sprus92 TMS320VC5501 5502 5503 5507 5509 DSP Inter Integrated Circuit I2C Module Reference Guide TI sprui46 10 TMS320VC5501 5502 Timers Reference Guide Tl sprueis 11 TMS320C55x Assembly Language Tools User s Guide Tl spru2so 12 TMS320C55x Optimizing C C Compiler User s Guide Tl spru281 13 FireWire System architecture by Don Anderson Mind Share Inc ISBN 0 201 48535 x 14 Spartan 3 FPGA Family DC and Switching Characteristics Xilinx dso99 15 UC1394a 3 Hardware Reference Guid
27. I see 17 Module support library see chapter 5 6 Register level programming of FPGA registers see 16 On chip peripherals of the TMS320VC5501 5502 see 5 The on chip peripherals can also be programmed at a slightly higher level using TI s chip support library which is part of Code Composer Studio 4 1 Required Items a development PC a JTAG emulator from Texas Instruments e g XDS510 or from another vendor Code Composer Studio CCS from Texas Instruments version 3 1 or higher Ultra Compact Small Carrier or another suitable power supply optional a terminal program such as HyperTerminal and a RS 232 cable 4 2 Software Development Flow User defined software can be written as C source code The source code modules are compiled by the C compiler The resulting object files must be linked with at least the run time library for the TMS320VC5501 5502 rts55x 1ib Usually one or more object libraries are added during the linker process such as the DCAM camera API libraries and the module support library The output of the linker is an executable file which can be downloaded to the UC1394a 3 over the JTAG interface using an emulator To store the user application permanently in flash memory the out file must be converted to a boot data stream by the hex conversion tool To program this boot data stream the FlashBurn application on the PC must be started The FlashBurn application e loads the Flash Burn Target Component FBTC
28. Kit UG MG DCAM CAMERA DEVELOPMENT KIT Rev orsys Page 1 00 26 below is a command switch that could be used in applications that require user interaction over RS_232 switch c case 1713 case h DebugOutConstString Debug interface example r n DebugOutConstString h and show this help page r n no other commands keys defined r n break case t toggle the red MCM LED UC1394A3 SYS CTL UC1394A SYS LED break default DebugOutConstString invalid command 1 shows a help page r n break 5 4 MCM Information Utility mcm_info The mem mio utility loads the FPGA from flash memory and displays the following information e FPGA version e FPGA revision e Flash memory manufacturer e Flash memory device code This utility can be used to find out what FPGA code is currently installed in flash memory COM1_115200_8_N_1_HW HyperTerminal Datei Bearbeiten Ansicht Anruf bertragung HCH Info application exanple FPGA loaded successfully fron flash nenory FPGA version aNg canera BSP 50k nice 98 304HH2 EHIF clock Flash Device Code 225B v Verbunden 02 14 33 ANS 115200 8 N 1 RF GRI 4 5 5 Image Source Information Utility sensor_check The sensor_check utility uses the camera BSP to get as much information as possible from an image source connected to the camera interface It can be useful when doing the first steps with an image source
29. L pCallback corrected code for ulWords 0 ulWords lt ulLengthInWords ulWords enter programming mode volatile INT16U UC1394A3 FLASH BASE 0x0555 OxAA volatile INT16U UC1394A3 FLASH BASE 0x02AA 0x55 volatile INT16U UC1394A3 FLASH BASE 0x0555 OxA0 Spear e s write data word to flash volatile INT16U ulFlashAdr volatile INT16U ulDataAdr The following NOP s causes the write operation to finish before the programming status is read Otherwise the pipeline could exchange write and read which causes a premature abort asm NOP asm NOP ER wait until programmed while volatile INT16U ulFlashAdr volatile INTI6U ulDataAdr asm NOP ulFlashAdr ulDataAdr if ulWords amp FLASH PRG CALLBACK RATIO 0 amp amp pCallback NULL pCallback 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG LJ DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Orsys Page 24 5 Application Examples The distribution media contains two kinds of application examples e Examples that demonstrate the use of the module support library e Examples that demonstrate the use of the camera BSP and the DCAM Camera API The examples are described in the subsequent sections The examples can be run and debugged using Code Composer Studio as described in chapter 4 3 or they can be programmed to the flash memory
30. OrsysUC1394a 3 0ut to the UC1394a 3 and starts it e sends the boot data stream to FBTCOrsysUC1394a 3 out that in turn programs it to the flash memory Further details on flash programming can be found in chapter 4 4 This development flow is shown in the picture below The distribution contains some project examples which perform this development flow oy d Date 26 January 2007 USER S GUIDE Doc no DCAM Camera DevKit UG DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 orsys Page 19 Development flow for testing and debugging C source code C compiler DCAM Camera API Module Object support library modules Run time support library libraries Linker UC1394a 3 Internal COFF RAM executable out Target download via emulator Hex55 utility External RAM Boot data stream hex FLash burn target program Additional steps for flash programming Flash burn Flash burn application exe target program out Figure 6 Software development flow 4 3 Running an Application with Code Composer Studio e connect the kit to the development PC using the JTAG emulator and the RS 232 cable optional e for the camera_stdio and camera_uart examples connect the kit to a host using the IEEE1394 cable e power on the system USER S GUIDE Date 26 January 2007 y Doc no DCAM Camera DevKit UG DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 orsy
31. S and TMS320C5000 are registered trademarks of Texas Instruments Microsoft and Windows are either registered trademarks or trademarks of Microsoft Corporation in the United States and or other countries Hypterterminal is a trademark of Hilgraeve Inc All other brand or product names are trademarks or registered trademarks of their respective companies or organizations 1 5 Revision history Date 26 January 2007 e USER S GUIDE Doc no DCAM_Camera_DevKit_UG or sys DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Page 10 2 Kit Overview The hardware of the DCAM Camera Development Kit consists of a UC1394a 3 MCM mounted on a carrier PCB Figure 1 shows a block diagram of the whole system 9 pin Sub D connector o Adapter IEEE1394 Level RS 232 cable connectors converter connector Direct MCM Direct MCM connectors connectors 00000 0000 o IEEE 1394 interface Camera interface 8 bit HPI or DSP JTAG GPIO interface E7 McBSP 0 FPGA JTAG and1 interface PC interface Timer 0 and 1 Power supply XF output JTAG connector Power supply Figure 1 DCAM Camera Development Kit block diagram 2 1 UC1394a 3 MCM The UC1394a 3 MCM is the main part of DCAM Camera Development Kit It provides all necessary functions except needed to build an IIDC compliant camera After development is finished the UC1394a 3 can be easily integrated into a customized hardware environment
32. SP EMIF FIFO firmware FPGA FC KB KBps LED LLC LSB MB MBps Mbps McBSP MCM MSB n a PCB Phy RAM SDRAM ROM SDK TBC TBD Tl UART application programming interface board support package a combination of software and FPGA design that provides a dedicated functionality to the UC1394a 3 MCM Code Composer Studio TI s development environment central processing unit processor Digital Signal Processor external memory interface an interface of the DSP first in first out a special type of memory software installed on the UC1394a 3 MCM firmly installed software field programmable gate array inter integrated circuit a low speed interface between integrated circuits kilobyte 1024 byte KB per second light emitting diode IEEE1394 link layer controller least significant bit or byte Megabyte 1204 KB 1048576 byte Megabytes per second Megabits per second multi channel buffered serial port a peripheral of the DSP multi chip module most significant bit or byte not available printed circuit board IEEE1394 physical layer transceiver random access memory synchronous dynamic random access memory read only memory software development kit to be changed value not 100 tested and may change in future to be defined value is not yet specified Texas Instruments universal asynchronous receiver transmitter 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG M
33. T KIT Iss Rev 1 00 OFrsys Page 51 parameters none return value TRUE UART can accept at least one more character FALSE UART can accept no more character the transmit FIFO is full 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG MS DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 52 7 FPGA Development Support FPGA Development is supported by a separate FPGA development package This package contains the FPGA design of the Camera BSP as a project with most parts of the design provided as VHDL source code The user can add own functions to the Camera BSP or can create a totally different FPGA design For the latter a framework with an empty FPGA design is provided Together with the FPGA development package development tools from Xilinx 2 are required For the DCAM Camera Development Kit FPGA development can be used for modification of image data such as RGB to YUV conversion or for sensor control Potential signals for sensor control are unused signals of the camera interface In most cases CAM FLAG 1 0 are not used and are available for FPGA designs Another possibility is to use CAM D 15 9 if the image sensor has only 8 bits of data Ly USER S GUIDE Date 26 January 2007 Doc no DCAM Camera DevKit UG KI DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 oS orsys Page 53 8 List of Abbreviations Used in this Document API BSP CCS CPU D
34. a loads a high level driver for the IIDC device class and initializes the camera Camera initialization is also indicated on the terminal output after the startup messages from the camera uart example COM1 115200 8 N 1 HW HyperTerminal Datei Bearbeiten Ansicht Anruf bertragung Advanced Features can be accessed now Canera Initialize Register Callback Verbunden 01 56 02 1152008N 1 RF GARI 7 e Click on Start then on My computer USER S GUIDE Date 26 January 2007 Le a Doc no DCAM Camera DevKit UG DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Orsys wag The Camera Development Kit must now be displayed as Generic 1394 Desktop Camera My Computer File Edit View Favorites Tools Help J gt d P P Search E fotis gt 3 x i Address My Computer Folders Name CH B My Documents B d My Computer E A 3 Floppy A Local Disk C Local Disk H ap Local Disk C 2 CD Drive D Devices with Removable Storage E control Panel a EE o Generic 1394 Desktop Camera 2 31 Floppy A 3 Inch Floppy Disk g3 Shared Documents SD Drive D CD Drive g My Network Places E Recycle Bin Hard Disk Drives Scanners and Cameras W Generic 1394 Desktop Camera 2 Digital camera w i aw lt gt If the camera is opened by a double click the PC sets up and starts the camera No images are displayed because no image data source is connected to the kit s cam
35. ace This interface supports the TC bus specification V2 1 DMA events for automated transfers interrupts and free data formats This interface can be used for controlling digital cameras that have an I C control interface The I C interface can be programmed on register level which is described in 9 A slightly higher level of access is provided by TI s chip support library that is part of Code Composer Studio 2 4 7 Timer Signals The DSP provides two timers with an input output signal each These signals can be used as general purpose I O to control cameras The timer signals can be programmed on register level which is described in 5 A slightly higher level of access is provided by Tl s chip support library that is part of Code Composer Studio 2 4 8 XF Output This pin can be used as general purpose output pin to control cameras XF is set high by the asm BSET xr instruction and set low by the asm scir xr instruction 2 4 9 LED The LED of the UC1394a 3 is available for user control and can be used for optical display or diagnostics Controlling the LED is described in chapter 6 4 2 4 10 JTAG Connector The JTAG connector provides the JTAG signals of both the CPU and the FPGA of the MCM The JTAG interfaces are typically used with the respective download cables or emulators For development kits a JTAG adapter is included that provides suitable connectors for the download cables and emulators Please refer to 15
36. aracters and puts the string into the debug transmit buffer This is a macro that calls the functions DecSignedByte2Ascii and DebugPuts defined in debug h synopsis void DebugSByteDec INT8S digit parameters digit number to convert and put to the debug interface return value none 6 4 6 DebugOutSDwordDec Converts an signed 32 bit number into a string of 11 characters and puts the string into the debug transmit buffer This is a macro that calls the functions DecSignedDword2Ascii and DebugPuts defined in debug h synopsis void DebugOutsDwordDec INT32S digit parameters digit number to convert and put to the debug interface return value none 6 4 7 DebugOutSNibbleDec Converts a signed 4 bit number into a string of two characters and puts the string into the debug transmit buffer This is a macro that calls the functions DecSigneaNibble2Ascii and DebugPuts defined in debug h synopsis void DebugOutSNibbleDec INT8S digit parameters digit number to convert and put to the debug interface return value none 6 4 8 DebugOutString Puts a string into the debug transmit buffer This is a macro that calls the function DebugPuts Pointers to strings are allowed since the length of the string is determined at run time Date 26 January 2007 USER S GUIDE Doc no DCAM Camera DevKit UG Ly II DCAM CAMERA DEVELOPMENT KIT JRev 1 orsys St defined in debug h synopsis INT16U De
37. be called before calling this function defined in 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG iJ DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 50 msl h synopsis void UartTransmit char cTxChar parameters cTxChar character to transmit return value none 6 5 47 UartTxDone Checks if the UART has transmitted all available characters Application software can use this function to ensure that no more characters are in the transmit FIFO When the transmitter is empty up to FIFO size 1 characters can be written to the transmit holding register without calling UartTxReady defined in msl h synopsis INT16U UartTxDone void parameters none return value TRUE the transmit FIFO of the UART is empty FALSE not all characters have been transmitted yet 6 5 48 UartTxIntStat Checks if the transmit holding register empty interrupt is enabled defined in msl h synopsis INT16U UartTxIntStat void parameters none return value 1 if transmit holding register empty interrupt is enabled 0 if transmit holding register empty interrupt is disabled 6 5 49 UartTxReady Checks if the transmit holding register is empty Application software should call this function before it calls UartTransmit to send a character defined in msl h synopsis INT16U UartTxReady void Se USER S GUIDE Ge no AA eae UG KIT DCAM CAMERA DEVELOPMEN
38. bugOutString char pString parameters pString pointer to output string for debug the interface return value number of characters actually written 6 4 9 DebugOutSWordDec Converts a signed 16 bit number into a string of 6 characters and puts the string into the debug transmit buffer This is a macro that calls the functions DecSignedWord2Ascii and DebugPuts defined in debug h synopsis void DebugOutSWordDec INT16S digit parameters digit number to convert and put to debug the interface return value none 6 4 10 DebugOutUByteDec Converts an unsigned 8 bit number into a string of 3 characters and puts the string into the debug transmit buffer This is a macro that calls the functions DecUnsignedByte2Ascii and DebugPuts defined in debug h synopsis void DebugOutUByteDec INT8U digit parameters digit number to convert and put to the debug interface return value none 6 4 11 DebugOutUDwordDec Converts an unsigned 32 bit number into a string of 10 characters and puts the string into the debug transmit buffer This is a macro that calls the functions DecUnsignedDword2Ascii and DebugPuts defined in debug h synopsis void DebugOutUDwordDec INT32U digit 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG MS DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 33 parameters digit number to convert and put to the debug interface return value none 6
39. d return value 1 if receiver data ready and the receiver timeout interrupt is enabled O if receiver data ready and the receiver timeout interrupt is disabled 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG LJ DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Orsys Page 49 6 5 43 UartRxReady Checks if the receive holding register is empty Application software should call this function before it calls UartReceive to read a character defined in msl h synopsis INT16U UartRxReady void parameters none return value TRUE at least one character available FALSE receiver holding register is empty 6 5 44 UartSetRts Signals request to send on the RTS line The RTS line must be controlled by application software if it was enabled by the call to Vartlnit defined in msl h synopsis void UartSetRts void parameters none return value none 6 5 45 UartShutdown This function disables all UART interrupts clears the RTS signal and installs the previous interrupt handler After this function is called none of the UART functions except Uartlnit may be called defined in msl h synopsis void UartShutdown void parameters none return value none 6 5 46 UartTransmit This function writes the character to the transmit holding register of the UART It does not checked whether the transmit FIFO can accept one more character Therefore UartTxReady should
40. e Orsys nsr nrg paf 16 DCAM Camera BSP User s Guide for the UC 1394a 3 MCM Orsys psp_camera_BSP_UG 17 User s Guide DCAM Camera API Orsys pcam_camera_API_ug pdf 18 Ultra Compact Small Carrier User s Guide Orsys uc oc oo odp
41. ed in c5507 h Date 26 January 2007 USER S GUIDE Doc no DCAM Camera DevKit UG Ly KI DCAM CAMERA DEVELOPMENT KIT JRev 1 orsys St defined in msl h synopsis void IntEnable int iIntNumber parameters int iintNumber number of interrupt to be enabled return value none 6 5 4 IntDisable Disables the specified interrupt in the corresponding Interrupt Enable Register The interrupt numbers are defined in c5507 h defined in msl h synopsis void IntDisable int iIntNumber parameters int iintNumber number of interrupt to be disabled return value none 6 5 5 IntClear Clears the specified interrupt in the corresponding Interrupt Flag Register if pending The interrupt numbers are defined in c5507 h defined in msl h synopsis void IntClear int iIntNumber parameters iIntNumber number of interrupt to be cleared see c5501 h return value none 6 5 6 FpgaLoad Loads code to the FPGA usually from flash memory Default address when loading the FPGA code from flash is uci394a3_FLasH_Fpca_copz The code length can be retrieved from the code s header by specifying uci394a3_FLasH_rpca_Lencts When the FPGA code is linked to the application the parameters must be modified accordingly Please note The FPGA code is usually preceded by a header FogaLoad supports both code with and without header Care must be taken to specify the correct length for each variant The length is of the
42. ent Kit can be supplied over the IEEE1394 cable The IEEE1394 interface connects the MCM to a host typically a PC providing the DCAM protocol as a standardized interface During IEEE1394 bus enumeration the MCM is recognized by the host as a fully compliant IIDC 1394 based digital camera The operating system of the host will then automatically load the appropriate driver for the camera 2 4 3 UART Interface The UC1394a 3 MCM has an UART interface that can be used for standard asynchronous communication Different baud rates and RTS CTS handshake are supported The Ultra Compact Small Carrier uses a level converter to convert these signals to RS 232 level The RS 232 signals are routed to a 10 pin connector on the UV1394a Small Carrier board The UART signals are also routed to MCM connector A at 3 3V LVTTL These signals can be used to control the camera image sensor To convert these signals to RS 232 an external level converter is required For a connection example please refer to 15 UC1394a Small Carrier Board 10 pin connector UC1394a 3 MCM peo connector Level Sei E A17 A20 Figure 4 UART interface block diagram The UART interface is often used as debug interface connected to a PC based terminal program during the software development phase Then the UART can not be used to control a camera image sensor The module support library described in chapter 6 provides functions that support the use of the U
43. era interface However interaction between PC and the camera can be seen on the terminal output COM1 115200 8 N 1 HW HyperTerminal OF x Datei Bearbeiten Ansicht Anruf bertragung Deal als i DEA care gi init ialized successfully Canera video registers can be accessed now Canera feature registers can be accessed now Canera Fornat_ Hode_0 register set can be accessed now Advanced Features can be accessed now Canera Initialize Register Callback HhiteBalStatCtrlReadCal lback HhiteBa15tatCtr lReadCal lback HhiteBalStatCtr lReadCal back Feature5tatCtrlCallback Id 3 HhiteBa15tatCtr lReadCal back Feature5tatCtrlCallback Id 0 Feature5tatCtrlCallback Id 2 HhiteBa15tatCtr lReadCal back Feature5tatCtrlCallback Id 3 Video Sett ings Callback Video Fornat Video Hode Frane Rate Iso Channel Transnit Speed 2 IsoEnableCallback Canera Started Verbunden 02 14 25 ANSI f152008N1 AF GRI 5 The application example camera_uart is described in detail in chapter Application Examples in 17 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG UI DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Orsys Page 18 4 Programming the UC1394a 3 This chapter describes general software development for the UC1394a 3 with the DCAM Camera Development Kit The UC1394a 3 provides the following programming interfaces DCAM Camera AP
44. for a description of the pinning of the JTAG connector a a CO DEET A z 3V GND TCK TDO TO TMS FPGA JTAG connector S S H DP JTAG connector fits T emulator POD top view Figure 5 JTAG Adapter The DSP JTAG interface is used for downloading and debugging DSP software It is used with a JTAG emulator such as the TI XDS series which can be connected to the carrier board by an adapter The JTAG adapter is included in the DCAM Camera Development Kit Usually the JTAG connector is used in conjunction with the JTAG adapter This JTAG adapter provides connectors which are compatible with standard development tools e the Texas Instruments emulator cables such as the XDS510 or compatible e the Xilinx parallel download cable 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG MS DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 15 The FPGA JTAG interface is used with programming hardware such as the Xilinx parallel download cable A JTAG adapter which is included in the DCAM Camera Development Kit provides a suitable connector FPGA development for the MCM or the carrier board is available as a separate product 2 4 11 Power Supply Input The UC1394a 3 MCM requires a single regulated 3 3 V power supply The Ultra Compact Small Carrier generates this voltage The Power supply of the carrier can be provided by three different ways e From the DC power input socket J7 e From the
45. hen an output message is assembled using the stdio function sprintf The output message contains some information about the MCM The output message is sent to the RS 232 interface Finally the main loop is entered In the main loop the UART interface is checked for incoming characters Whenever a character comes in it is simply echoed COM1 115200 8 N 1 HW HyperTerminal Datei Bearbeiten Ansicht Anruf bertragung Hello world UC1394a 3 with S N 9717 abedefghijk kas gt Verbunden 00 01 06 Autom Erkenn 115200 8 N 1 RF GROSS NG Figure 9 Sample session of the hello example 5 3 Buffered Character O dbg_out This example uses the UART interface at a higher level of abstraction buffered character I O as provided by the module support library see chapter 5 6 for details This is an alternative to using the stdio functions such as sprintf sscanf etc dbg_out prints out the same startup message as hello but the main loop is programmed as a command interpreter This shows how to implement an application that is interactively controlled over RS 232 Pressing the key within the terminal program causes a help page to be displayed Other command keys can easily be added by inserting appropriate case statement in the command switch Below is an example that shows how insert a command that toggles the MCM LED by pressing the key t USER S GUIDE Date 26 January 2007 Doc no DCAM Camera Dev
46. isableRxInt void parameters none return value none 6 5 34 UartDisableTxint Disables the transmit holding register empty interrupt defined in msl h synopsis void UartDisableTxInt void parameters none return value none 6 5 35 UartEnableLinestailnt Enables the receiver line status interrupt Multiple interrupts cause the interrupt to stay asserted so the interrupt handler must check all possible interrupt sources defined in msl h synopsis void UartEnableLinestatInt void parameters none return value none 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG LJ DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Orsys Page 47 6 5 36 UartEnableRxint Enables the receiver data ready and the receiver timeout interrupt Multiple interrupts cause the interrupt to stay asserted so the interrupt handler must check all possible interrupt sources defined in msl h synopsis void UartEnableRxInt void parameters none return value none 6 5 37 UartEnableTxini Enables the transmit holding register empty interrupt Multiple interrupts cause the interrupt to stay asserted so the interrupt handler must check all possible interrupt sources defined in msl h synopsis void UartEnableTxInt void parameters none return value none 6 5 38 Uartinit Initializes the UART of the DSP defined in msl h synopsis INT16U UartInit UART OPO psCfg
47. its internal boot loader The boot loader initializes the MCM according to the information of the boot header Then it loads the application from flash memory into RAM and starts program execution at the specified address This is the default startup procedure in end system environment During development the startup procedure looks a little bit different The examples provided with the DCAM Camera Development Kit already have predefined FlashBurnDSK configuration files To use them please select Open an existing FlashBurn Configuration instead 5 Date 26 January 2007 LY USER S GUIDE Doc no DCAM Camera DevKit UG MG DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 orsyS Page 22 After power up or a system reset the DSP starts its internal boot loader The boot loader tries to load an application from flash which may succeed or leave the DSP in an unknown state The user starts Code Composer Studio loads UC1394a 3 camera bsp gel and puts the DSP to an initialized state by selecting the MCM init 200MHz command from the GEL 5 Initialization menu Now the user application can be loaded executed and debugged using the emulator 4 6 Hints for Programming the TMS320VC5501 5502 4 61 A Byte is 16 Bits Please note that these DSPs can only access data in units of 16 bit Even a character array will consist of 16 bit The screenshots below illustrate this H Memory DATA Character ll Ed QQQDAS U ART H
48. manual is the recommended starting point for hardware developers Camera BSP User s Guide 16 psp_camera_Bsp_uG pdf Describes the DSP Camera Board Support Package BSP This BSP adds an 8 16 bit interface for image data to the UC1394a 3 MCM including two FIFO buffered data paths and geometry detection DCAM Camera API User s Guide 17 DcaM Camera API ug pdf Describes the DCAM application programmer s interface API that is used to implement the IIDC1394 based digital camera protocol and to control the connected camera image sensor Ultra compact Small Carrier Hardware Reference Guide 18 uc sc nrg paf Describes the carrier board that is used with the DCAM Camera Development Kit including schematics and hints for power supply configuration 1 3 Notational conventions Names of registers bit fields and single bits are written in capital letters Example LLC VERSION Names of signals are also given in capital letters active low signals are marked with a at the beginning of the name Example RESETIN Configuration parameters function names path names and file names are written in italic typeface Example dev id 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG UI DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 8 Source code examples are given in a small fixed width typeface Example int a 10 Menus and commands from menus and submenus are enclosed in
49. ogram pusData Points to the source data pCallback User callback function return value FLASH_OK Programming was successful FLASH_COMPARE_ERROR Verification of the programmed data failed 6 5 10 DebugBufmgr Writes one character form the debug transmit buffer to the debug interface if there is data in the transmit buffer and the underlying debug interface is ready to accept it Reads one character from the debug interface to the debug receive buffer if data is available and the buffer is not already full The function doesn t operate interrupt driven so it must be called periodically defined in debug h synopsis void DebugBufmgr void parameters none return value none USER s GUIDE KI DCAMC D K AMERA DEVELOPMENT KIT OFrsys Date 26 January 2007 Doc no DCAM Camera DevKit UG Iss Rev 1 00 Page 38 6 5 11 DebugFlush Flushes the debug transmit buffer The function just calls DebugBufmgr as long as the debug transmit buffer is not empty defined in debug h synopsis void DebugFlush void parameters none return value none 6 5 12 DebugGetc Reads one character from the debug receive buffer defined in debug h synopsis int DebugGetc void parameters none return value character read from the debug receive buffer or DEBUG_EOF if buffer is empty 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG LJ DCAM CAMERA D
50. ra DevKit UG NI DCAM CAMERA DEVELOPMENT KIT Le e 1 00 OFrsys Page 5 9 LITERATURE REFERENCES viicsticsscciencsancsticstacucccrancsdeceananaudetsncancuastennasteestneranceansnans 54 Q ER Date 26 January 2007 Us S GUIDE Doc no DCAM Camera DevKit UG DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 6 List of Tables Table 1 UART connector pin assignments aa akaapaa saan k nA DAKAA ANNA Lana kanaan pad Ba AA 13 List of Figures Figure 1 Figure 2 Figure 3 Figure 4 Figure 5 Figure 6 Figure 7 Figure 8 Figure 9 DCAM Camera Development Kit block diagram anan aanananananannaaaanannasannn 10 DCAM camera Oovenlew See 12 Ulrta cmpact small carrier board connector locations Aa 11 UART interface block diagram aaa 13 SEENEN a e eege cactearettercasecestanteseteteseektsducecteccateneetescad easentectstisaniwces 14 Software development flow cccccccccccccecceceeeceeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeeteess 19 Memory view of a string in character format 0 eececeeeeeceeeeeeeeeeeeeneaaeeeeeeeeeeeeeeneeneeeeeees 22 Memory view of a string in binary format 11 111 1 177 22 Sample session of the belloevample unan snassnunrenareenreeseceercesceees 25 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG UI DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 7 1 Preface This document describes the
51. s Page 20 e start Code Composer Studio e select the Load GEL command from the File menu locate UC1394a 3 camera bsp gel from the GEL folder on the distribution media and open it e select the Initialization CPU_reset_and_init_300 or CPU_reset_and_init_200 command from the GEL menu e select the Load Program command from the File menu e locate one of the application examples from the examples folder on the distribution media and open it e g toggle led out e select the Run command from the Debug menu Please note most application examples do not use the usual printf function Instead where necessary output is sent over the RS 232 interface This allows to store the examples in flash memory and then to execute them without the JTAG emulator Before running applications using the RS 232 interface a terminal program should be started on the PC The terminal program must be set up as follows baud rate 115200 bits per character 8 parity none stop bits 1 handshake RTS CTS hardware handshake The pin assignment to connect to a PC is described in Table 1 4 3 1 Debugging of the Software Select the Halt command from the Debug menu CCS will stop the DSP from toggling the LED in case of the toggle led example and it displays the current instruction in the disassembly window and in the source code window Now you can use all debugging features that CCS provides such as breakpoints
52. se status is queried Since the flash memory is completely used for storing application and FPGA code see chapter Flash Memory in 15 application software should not modify the flash contents defined in msl h synopsis void FlashEraseSector int iSector void pCallback void parameters iSector Sector number to be erased Allowed values 0 15 pCallback Pointer to a user callback function Must be set to a valid user callback function or to NULL if no callback is used return value FLASH OK Operation was successful 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG LJ DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 orsys Page 37 6 5 9 FlashProgram Programs data into a previously erased area During programming a user specified callback function is executed to allow the application to continue processing or to indicate the progress of the operation The callback is called each time when 100 words have been programmed to the flash After programming the programmed data is verified defined in msl h synopsis int FlashProgram INT32U ulStartOffset INT32U ulLengthInWords INT16U pusData void pCallback void parameters ulStartOffset Destination offset relative to start of the flash specified in 16 bit words Allowed values 000000007 000C0000 or one of UC1394A3 FLASH SAO OFFS UC1394A3 FLASH SA15 OFFS ulLengthInWords Number of 16 bit words to pr
53. t parameters usNum 16 bit number to convert pResult Pointer to result Must be at least 5 bytes return value none 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG LJ DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Orsys Page 45 6 5 30 UartClearRts Signals no request to send on the RTS line The RTS line must be controlled by application software if it was enabled by the call to vartinit defined in msl h synopsis void UartClearRts void parameters none return value none 6 5 31 UartClearToSend Check if remote device can accept a character that is the CTS line is active low Then a character may be sent to the remote device defined in msl h synopsis INT16U UartClearToSend void parameters none return value 1 remote device is clear to send that is a character may be sent 0 remote device is not clear to send that is if character is sent it will be lost 6 5 32 UartDisableLinestatint Disables the receiver line status interrupt defined in msl h synopsis void UartDisableLinestatInt void parameters none return value none 6 5 33 UartDisableRxint Disables the receiver data ready and the receiver timeout interrupt defined in msl h synopsis 5 USER S GUIDE Date 26 January 2007 4 y Doc no DCAM Camera DevKit UG DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 orsys Page 46 void UartD
54. tana E ee E PC interface Timer 0 and 1 XF output The DSP on chip interfaces listed below can be used to control the camera image sensor These interfaces are described in 15 e UART interface Figure 3 DCAM camera overview e 8 bit HPI or up to 16 general purpose digital IO e 2 McBSP interfaces e DC interface e 2 timer inputs outputs e XF output Additionally the FPGA can also be used for sensor control as described in chapter 7 2 4 Interfaces and Connectors 2 4 1 Camera interface The camera interface is the main interface of the DCAM Camera Development Kit It allows high speed data transfers of up to 32 768 000 bytes per second The camera interface is a configurable 8 16 bit parallel port that receives pixel clock line and frame synchronization from the connected camera image sensor The incoming image data is FIFO buffered so that the camera image sensor can operate independent of the IEEE1394 bus The camera interface is implemented by the Camera BSP and is described in detail in 16 The DCAM Camera API provides functions to control the camera interface USER S GUIDE Date 26 January 2007 Doc no DCAM Camera DevKit UG DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Orsys Page 13 2 4 2 IEEE1394 Interface The UC1394a 3 MCM has two 400Mbps IEEE 1394 ports These ports are routed to two standard 6 pin IEEE1394 connectors on the carrier board The DCAM Camera Developm
55. tely after the BSET INTM instruction The execution of the NOPs ensures that all stages of the BSET INTM instruction have been performed before further code is executed The NOPs must be inserted only if the code immediately following the BSET INTM instruction must be protected against interrupts Pg Date 26 January 2007 f USER S GUIDE Doc no DCAM Camera DevKit UG KS DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 23 Another point is access to peripherals in a write read back fashion Since a write access takes longer to be performed than a read access the read may occur before the write resulting in outdated data When reading back data that has just been written two NOP instructions should be inserted between write and read Below is an example taken from the flash programming routines Wrong do not use that for ulWords 0 ulWords lt ulLengthInWords ulWords enter programming mode volatile INT16U UC1394A3 FLASH BASE 0x0555 OxAA volatile INT16U UC1394A3 FLASH BASE 0x02AA 0x55 volatile INT16U UC1394A3 FLASH BASE 0x0555 OxA0 See write data word to flash volatile INT16U ulFlashAdr volatile INT16U ulDataAdr ka tenes wait until programmed while volatile INT16U ulFlashAdr volatile INT16U ulDataAdr asm NOP ulFlashAdr ulDataAdr if ulWords amp FLASH PRG CALLBACK RATIO 0 amp amp pCallback NUL
56. ters digit number to be converted pDebug Text pointer to storage for the converted string return value none 6 5 20 DecSignedNibble2Ascii Converts a signed 4 bit number into a character string in decimal ASCII representation The Character string consists of 2 characters starting with either lt space gt for positive numbers or for negative numbers defined in decutil h synopsis void DecSignedNibble2Ascii INT8U digit char pResult parameters digit number to be converted pDebugText pointer to storage for the converted string return value none 6 5 21 DecSignedWord2Ascii Converts a signed 16 bit number into a character string in decimal ASCII representation The Character string consists of 6 characters starting with either lt space gt for positive numbers or for negative numbers The string contains leading zeros if the absolute value is less than 10000 defined in decutil h synopsis void DecSignedWord2Ascii INT16S digit char pResult parameters digit number to be converted pDebugText pointer to storage for the converted string return value none 6 5 22 DecUnsignedByte2Ascii Converts an unsigned 8 bit number into a character string in decimal ASCII representation The Character string consists of 3 characters and contains leading zeros if the result is less than 100 defined in decutil h synopsis 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit
57. to the debug transmit buffer This is a macro that calls the function DebugPuts It is intended for constant string output such as Debugoutconststring Hello world r n Pointers to strings will fail because the length of the string is not known at compile time defined in debug h synopsis INT16U DebugOutConstString char cString parameters cString output string for the debug interface return value number of characters actually written 6 4 3 DebugOutDwordHex Converts a 32 bit number into a string hexadecimal and puts the string into the debug transmit buffer This is a macro that calls the functions HexLong2Ascii and DebugPuts defined in debug h synopsis void DebugOutDwordHex INT32U digit parameters digit 32 bit number to convert and put to the debug interface return value none 6 4 4 DebugOutNibbleHex Converts a 4 bit number lower 4 bits of 8 bit number into a string hexadecimal and puts the string into the debug transmit buffer This is a macro that calls the functions HexNibble2Ascii and DebugPuts defined in debug h synopsis void DebugOutNibbleHex INT8U digit parameters digit 8 bit number to convert and put to the debug interface 5 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG MS DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 Orsys Page 31 return value none 6 4 5 DebugOutSByteDec Converts a signed 8 bit number into a string of 4 ch
58. to verify that correct settings are used and operation of the camera interface is stable To use this utility an already running image source must be connected to the camera interface p COM1 115200 8 N 1 HW HyperTerminal Datei Bearbeiten Ansicht Anruf bertragung Dial elg viel s Inage Sensor check utility HCH set up to 98 Kabo tie EHIF clock Loaded FPGA code canera BSP for 98 304 HHz EHIF clock Lines per frane 480 Pixel per line 640 Frane tine Os ins 332us Frane rate 030 001f ps Franes received 00000001h zl Verbunden 02 35 11 ANS 115200 8 N 1 RF GRI 4 Date 26 January 2007 Ly USER S GUIDE Doc no DCAM Camera DevKit UG LJ DCAM CAMERA DEVELOPMENT KIT Iss Rev 1 00 OFrsys Page 27 5 6 DCAM Application Examples These examples use the DCAM Camera API to implement an IIDC 1394 compliant digital camera For a detailed description of the examples please refer to chapter Application Examples in 17 Ly USER s GUIDE Date 26 January 2007 f Doc no DCAM Camera DevKit UG WI DCAM CAMERA DEVELOPMENT KIT Iss Rev 100 OFrsys Page 28 6 Module Support Library The module support library is a collection of functions that are commonly used when programming the UC1394a 3 MCM The code in this library is usually not changed by the user During software development this library is simply added to the project However the source code is
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