EDT PCIe Gen1 Framegrabbers User Manual
User’s Guide
Camera Link PCI Express
(PCIe) Gen1 Framegrabbers
High-speed image capture for
Camera Link on PCIe platforms
Doc. 008-04053-00
Rev. 2012 March 16
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EDT, Inc. ii
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Contents
Camera Link PCI Express (PCIe) Gen1 Framegrabbers
Overview...................................................................................................................................................... 1
Included Files ........................................................................................................................................ 1
Power Over Camera Link (PoCL).......................................................................................................... 2
Related Resources................................................................................................................................ 2
Requirements............................................................................................................................................... 3
Installation.................................................................................................................................................... 3
Programming Interface............................... ... ... ... .... ... ... ... .... ... ... ... .... ........................................................... 4
Building or Rebuilding an Application.................................................................................................... 4
Setting the Camera Model ........................................................................................................................... 5
Image Capture and Display.......................................................................................................................... 6
Running PdvShow................................................................................................................................. 6
Compiling PdvShow .............................................................................................................................. 7
Units, Connectors, and Channels ................................................................................................................ 8
Serial Communication.................................................................................................................................. 9
At Initialization .................................. ... ... ... ... .... ... ....................................... ... ... ... .................................. 9
From Command Line........................... ... ... ... .... ... ... .......................................... ... .... ... ... ... ... .................. 9
From PdvShow.................................................................................... ... .... ... ... ... .................................. 9
From a Camera Manufacturer’s Application.......................................................................................... 9
From Your Application...................................................... ... ... .... ... ... ... ................................................ 10
Example and Utility Applications................................................................................................................ 10
pciload ................................................................................................................................................. 10
initcam ................................................................................................................................................. 10
take...................................................................................................................................................... 11
simple_take ......................................................................................................................................... 11
simplest_take....................................................................................................................................... 12
simple_sequence................................................................................................................................. 12
simple_irig2 ......................................................................................................................................... 12
serial_cmd ........................................................................................................................................... 12
dvinfo................................................................................................................................................... 13
Triggering................................................................................................................................................... 13
Freerun (Continuous) .......................................................................................................................... 14
Triggered by EDT Board...................................................................................................................... 14
Pulse-width Triggered (Controlled or Level)........................................................................................ 14
External Trigger Direct to Camera....................................................................................................... 14
External Trigger Pass-through............................................................................................................. 15
External Triggering Pins ...................................................................................................................... 15
Simulation and Testing............................... ... ... ... .... ... ... ... .... ... ... ... .... ......................................................... 15
Firmware.................................................................................................................................................... 17
Checking and Loading the Firmware...................... ............................................................................. 17
Corrupted Firmware............................................................................................................................. 18
Troubleshooting ......................................................................................................................................... 20
Board Not Seen................................................... ... ... .... ... ... ... .... ... ...................................................... 20
Problems With Software Installation.................................................................................................... 21
Corrupted Images, Slow Acquisition, Timeouts, Data Loss. ... .... ... ... ....................................... ... ... ... ... 22
Problems With Bandwidth ........................................................................................................
Problems Acquiring Images With EDT Applications............................................................................ 23
Problems With Your Applications ........................................................................................................ 24
Problems With Threads....................................................................................................................... 24
Problems With Firmware........................ ... ... ....................................................................................... 24
........... 22
EDT, Inc. iv
Appendix A: Pin Assignments................................................................................................................................. 25
Appendix B: Board Diagrams.................................................................................................................................. 26
Standard and Fiberoptic (FOX) Framegrabbers – PCIe “DVa”-series ....................................................... 26
PCIe8 DVa C-Link ............................................................................................................................... 26
PCIe4 DVa C-Link ............................................................................................................................... 26
PCIe4 DVa FOX .................................................................................................................................. 27
Legacy Framegrabbers – PCIe “DV”-series............................................................................................... 28
PCIe8 DV C-Link ................................................................................................................................. 28
PCIe4 DV C-Link ................................................................................................................................. 28
Additional External Inputs ............. ...... .... ... ... ............................................................................................. 29
Via Berg Connector or Optional Lemo Connector...................................... ... ... ... .... ... ... ... ................... 29
Via Optional Cable Assembly.............................................................................................................. 30
Via Ribbon Cabling and D9 Connectors.............................................................................................. 31
Appendix C: Timestamping........................ ... .......................................................................................................... 32
Camera Configuration Directives............................................................................................................... 32
Footer Format ........... .... ... ... ... .... ...................................... .... ... ... ... .... ... ... ... ... .... ......................................... 32
IRIG API........ ... ... ... ... .... ...................................... .... ... ... ... .... ... ................................................................... 34
simple_irig2.c....................................................................................................................................... 34
libpdv.c ................................................................................................................................................ 34
pdv_irig.c, pdv_irig.h............................................................................................................................ 34
irigdump.c............................................................................................................................................ 35
Appendix D: VxWorks............................................. ... ... ....................................... ... ... .... ... ... ................................... 36
Initialization ................................................................................................................................................ 36
Applications With and Without File Systems. ... .......................................................................................... 36
Display Applications................................................................................................................................... 36
Portability ................................................................................................................................................... 36
Revision Log ................. ... ... ... .... ... ... ....................................... ... ... .... ... ... ... ............................................................. 38
EDT, Inc. v
Camera Link PCI Express (PCIe) Gen1 Framegrabbers Overview
Camera Link PCI Express (PCIe) Gen1
Framegrabbers
Overview
This guide covers current and legacy EDT Camera Link PCI Express (PCIe) Gen1 framegrabbers, which
provide fast image capture and DMA between an external Camera Link camera and a host computer.
Current products in this group are called the “DVa” series. This series includes:
PCIe8 DVa C-Link Current standard framegrabber for PCIe Gen1 (x8)
PCIe4 DVa C-Link Current standard framegrabber for PCIe Gen1 (x4)
PCIe4 DVa FOX Current fiberoptic framegrabber for PCIe Gen1 (x4)
Legacy products in this group are called the “DV” (with no “a”) series. This series includes:
PCIe8 DV C-Link Legacy standard framegrabber for PCIe Gen1 (x8)
PCIe4 DV C-Link Legacy standard framegrabber for PCIe Gen1 (x4)
Companion products to the above (not covered in this guide – see Related Reso urces on page 2) include:
EDT simulators Example: PCIe8 DVa CLS – for simulation of Camera Link image data
EDT fiber extenders Example: RCX C-Link – to extend Camera Link 100+ kilometers over fiber
EDT coax extenders Example: RCX C-Link Coax2 – to extend Camera Lin k 600 feet over co ax
Included Files
For the products covered in this guide, your EDT installation package includes device drivers for supported
operating systems, as well as source code and binaries for:
• GUI capture and display application (
• Standalone initialization applications (
• Command-line capture and display applications (
• Command-line serial communication tool (
• Diagnostic tools (
• API libraries (
• Makefiles for Windows (
• Camera configuration files (
pdvshow)
initcam, camconfig)
take, simple_take, simplest_take, simple_*)
serial_cmd)
pciload, dvinfo, pdb)
libpdv, libedt, and associated source files)
makefile.nt) and Linux / Mac OS (makefile)
camera_config/*.cfg)
• Board firmware files (
For detailed descriptions of selected program s , see Example and Utility Applications on page 10. For a
more comprehensive list of programs, see the
source code and header files, see the EDT library and API (Related Resources on page 2).
EDT, Inc. 2012 March 16 1
flash/* directories)
README file in your EDT installation package. For additional
Camera Link PCI Express (PCIe) Gen1 Framegrabbers Overview
CAUTION! Never plug a non-PoCL device (camera, cable, extender, etc.) into an EDT board that
has the PoCL jumpers in the “enabled” position. Doing so will cause a short – indicated by a red
LED (which may be obscured by your backpanel) on the back of the board, near the associated
connector – and may damage your equipment.
Power Over Camera Link (PoCL)
EDT PCIe “DVa”-series framegrabbers support Power Over Camera Link (PoCL) via polyfuse technology
using dedicated power.
When your board is shipped, PoCL is disabled. To enable PoCL, use the jumpers provided on the bo ard,
as shown in Appendix B: Board Diagrams on page 26.
For details on PoCL pin assignments, see Appendix A: Pin Assignments on page 25.
Related Resources
To find product-specific information that is related to a particular EDT product, go to www.edt.com and open
the relevant product page to find links to that product’s datasheet (specifications) and user’s guide.
To find general technical information that is not related to a particular EDT product (for example, ca ble
pinouts for multiple products), go to www.edt.com and look in Product Documentation.
The resources below may be helpful or necessary for your applications.
EDT Resources
Description Detail Web link
• Documentation for each particular product Datasheets and user’s guides www.edt.com (find product page)
• User’s guide – legacy digital imaging products PCI products
AIA products
• User’s guide – camera configuration (setup) Camera configuration guide “ (Product Documentation)
• User’s guide – firmware (setup) Firmware guide “ (Product Documentation)
• User’s guides for cabling and pinouts Cabling and pinouts for
PCI and PMC
• Application programming interface (API) HTML and PDF versions “ (Product Documentation)
• Installation packages (Windows, Linux, and
MacOS included; others by request
Standards / Specifications
Description Pertains to Documentation Web link
• PCI / PCIe PCI / PCIe bus PCI Special Interest Group
• Camera Link Camera Link Machine Vision Online (MVO) www.machinevisiononline.org
• IRIG-B IRIG-B time code Inter-Range Instrumentation
Software / firmware
downloads
(PCI SIG)
Group, mod B
“ (Product Documentation)
“ (Product Documentation)
“ (Product Documentation)
www.pcisig.com
irigb.com
EDT, Inc. 2012 March 16 2
Camera Link PCI Express (PCIe) Gen1 Framegrabbers Requirements
Requirements
EDT framegrabbers are high-speed DMA devices that require adequate bandwidth for reliable operation.
The requirements will vary by camera (since different cameras run at different speeds), so you should select
and configure your camera and system with the proper requirements in mind, as shown in Table 1.
Table 1. Requirements for I/O, bus type, throughput, cabling
Product name Input / output Bus type* Throughput Cabling** OS
Current series PCIe4 DVa FOX Camera Link in (over fiber) PCIe x4 Up to 680 MB/s Fiberoptic Windows,
(“DVa”) PCIe4 DVa C-Link Camera Link in Up to 510 MB/s Camera Link Linux, MacOS
PCIe8 DVa C-Link PCIe x8 Up to 1.2 GB/s (others
Legacy series PCIe4 DV C-Link Camera Link in PCIe x4 Up to 200 MB/s Camera Link by
(“DV” – no “a”) PCIe8 DV C-Link PCIe x8 Up to 1.2 GB/s request)
IMPORTANT NOTATIONS
* For bus type, follow these recommendations for optimal performance:
• Typically, these products will not work in a a bus slot dedicated to graphics cards.
• Typically, these products will work in a bus slot with more lanes than the number specified here, but not in a bus slot with fewer.
• Typically, although these products will work in a bus slot newer than PCIe Gen1 (such as PCIe Gen2 or Gen3), the resulting per-
formance still will not exceed Gen1 specifications.
For details on requirements and bandwidth issues, see Problems With Bandwidth on page 22
.
**Cabling (standard or PoCL, as required) can be from EDT or a third party. For further documentation on cabling and pins, see
Related Resources on page 2 and Appendix A: Pin Assignments on page 25
.
Installation
For all supported operating systems (see Requirements on page 3), EDT provides installation packages,
available from two sources:
• The common installation disk that ships with all EDT products (with instructions on the disk sleeve); or
• Our archived and (frequently updated) current installation package downloads at www.edt.com (see
Related Resources on page 2).
NOTE To be sure that you are using the latest possible version of the appropriate installation package while
at the same time avoiding needless problems with version compatibility, EDT recommends:
— For a new application, download the latest package (see Related Resources on page 2).
— For applications that utilize third-party software, use the version of the EDT installation package that
the software was built with, or recompile / relink the application with the latest package (see Related
Resources on page 2).
EDT, Inc. 2012 March 16 3
Camera Link PCI Express (PCIe) Gen1 Framegrabbers Programming Interface
To install your Camera Link PCIe framegrabber:
1. Uninstall any previously installed EDT installation packages.
2. Do one of the following:
— For Windows, Linux, or MacOS, follow the instructions on your EDT installation disk sleeve or down-
load the latest package and instructions from www.edt.com (see Related Resources on page 2).
— For VxWorks, see Append ix D: VxWo rk s or www.edt.com/support.html, or contact EDT.
— For Solaris, contact EDT.
3. To install the board into your computer, follow the instructions from the board manufacturer.
4. Cable the board to the camera, using the cabling specified in Requirements on page 3.
5. To verify that the driver installed successfully and that the board is recognized, run
command line (for details on
pciload, see Example and Utility Applications on page 10).
Programming Interface
EDT provides a common application programming interface (API) for all supported operating systems, so
an application written for one EDT digital imaging product will work with the others with minimal modification;
any exceptions – such as differences between Windows, Linux, and MacOS – will be noted in this guide.
To interface to the Camera Link PCIe board, use subroutines from the EDT digital imaging library and, if
necessary, from the EDT DMA library; routines in both libraries are documented in the EDT API.
• The EDT digital imaging library provides a C language interface to your Camera Link PCIe board, and
it also handles error recovery, bookkeeping, and camera shutter triggering and timing. EDT recommends using it for all programming specific to Camera Link PCIe products.
• The lower-level EDT DMA library
needed functionality that is not provided in the EDT digital imaging library.
All of these resources are provided in your EDT installation package (see Related Resources on page 2).
Building or Rebuilding an Application
By default, EDT’s installation package is copied into th e directory C:\EDT\pdv (Windows) or /opt/EDTpdv
(Linux / Mac OS). The package includes executables and C source code for all examples, diagnostics, and
utilities. If you want to rebuild a program, you’ll need to use a compiler and either the
Visual Studio 6.0 or later) or the Unix
1. Do one of the following:
edt_ subr outines should be accessed directly only when they provide
make utility, as described below.
pciload from the
nmake application (for
— For Windows, run Pdv Utilities.
— For Linux or Mac OS, navigate to the installation directory in a terminal window.
2. Enter...
make file
...where file is the name of the example program you wish to build.
3. To rebuild the examples, utilities, and diagnostics, navigate to the installation directory and run...
make
...or, on Windows, as an alternative you can use the included Visual Studio 2008 project.
EDT, Inc. 2012 March 16 4
Camera Link PCI Express (PCIe) Gen1 Framegrabbers Setting the Camera Model
Setting the Camera Model
After installing the board and its driver, configure it for the camera you will use.
Your EDT installation package provides example configuration fil es fo r vari ous ca mera models; if no file is
provided for your camera, or if you wish to modify the directives of an existing configuration file, co nsult the
EDT Camera Configuration Guide (see Related Resources on page 2).
NOTE For a medium- or full-mode camera, you may need to fir st reprogra m the flash me mory for m edium- or
full-mode operation. For details, see Table 4 on page 18.
Next, initialize (configure) the driver for your camera model, using one of the methods in Table 2.
Table 2. Initialization Methods by Operating System
OS PdvShow Command line
Windows To configure the driver for your camera:
1. Double-click the PdvShow desktop icon.
2. In dialog box, select your camera model.
3. Click OK.
To reconfigure for a different camera or operating mode:
1. Double-click the PdvShow desktop icon.
2. Execute Camera > Setup.
3. In dialog box, select your camera model.
4. Click OK.
Linux or
Mac OS
VxWorks See Appendix D: VxWorks or www.edt.com/support.html, or contact EDT.
Other Contact EDT.
To configure the driver for your camera:
1. Navigate to the installation directory...
/opt/EDTpdv.
2. At the prompt, enter...
camconfig
3. In dialog box, select your camera model.
4. Click OK.
To reconfigure for a different camera model or operating
mode, rerun
camconfig.
Use the initcam utility. At a command prompt, enter...
initcam -f camera_config/file.cfg
...where file is the name of the camera configuration file that matches
your camera model and operating mode.
This utility optionally lets you specify a unit
-c flag). Thus, if you wish to configure the camera on DMA channel 1,
(
but not the camera on DMA channel 0, enter...
initcam -u camera_config/file.cfg
initcam -u 0 -c 1 -f camera_config/file.cfg
See the application initcam (in this guide) and the Camera Configuration Guide (Related Resources).
Follow the above procedure for Windows.
NOTE: If you do not have “.” in your path, you’ll need to precede commands
with “
./” as in the example below.
Example:
./initcam -f camera_config/file.cfg
(-u flag) and DMA channel
EDT, Inc. 2012 March 16 5
Camera Link PCI Express (PCIe) Gen1 Framegrabbers Image Capture and Display
Image Capture and Display
For capturing and displaying images, your EDT software conta ins a GUI in an application called PdvShow.
The Windows version of this GUI is shown in Figure 1.
Figure 1. Windows GUI for PdvShow
Running PdvShow
To run PdvShow...
• For Windows, double-click the PdvShow desktop icon, or enter
• For Linux, run
• For Mac OS, there is no PdvShow, but you can experiment by exploring this user’s guide and the
pdv_flshow
The command-line invocation allows you to specify options – for example...
pdvshow -pdvU_C
...where U is the unit number (useful if you have more than one Camera Link PCIe device) and C is the
DMA channel number for multichannel devices. For example...
pdvshow -pdv0_1
...runs PdvShow using board 0, DM A channel 1. This is useful if, for example, you are u sing one board with
two base-mode cameras, and you want PdvShow to access the camera on DM A channel 1.
NOTE In Windows, the command line is a property of the icon.To use an icon to access a unit or DMA channel
other than 0 (the default): copy and rename the PdvShow icon; then change its shortcut properties to
use the command line with the option
make pdvshow to build the FLTK application, and then enter pdvshow at the prompt.
subdirectory of the main distribution directory (by default, /opt/EDTpdv).
-pdvU_C where U is the unit and C is the DMA channel.
pdvshow at a command-line prompt.
EDT, Inc. 2012 March 16 6
Camera Link PCI Express (PCIe) Gen1 Framegrabbers Image Capture and Display
For demonstration or debugging purposes, you can run this application when no bo ard is installed in the
system; the image window then shows a test pattern. To do so, at the command line, enter...
initcam -u dmy0 -f configuration_file
pdvshow -dmy0
If you have not yet initialized the driver, select your camera or simulator from the list and click OK.
If the image window shows incorrect data (usually because the camera model has been chan ged since the
last driver initialization), select Camera > Setup to select the correct camera model.
To access camera controls, use the PdvShow toolbar and menus. For details, see PdvShow Help.
Compiling PdvShow
To experiment with example code in this application, use the source code indicated below.
• For Windows, look in
README file in the pdvshow subfolder of the main distribution folder (by default, C:\EDT\Pdv).
pdvshow in the appropriate Visual Studio project subfolder. For details, see the
NOTE The
unless you wish to experiment with the source code.
• For Linux, see the source code and the
tribution directory (by default,
• For Mac OS, there is no PdvShow, but you can experiment by exploring the information in this guide.
For more about the cross-platform FLTK-based version of PdvShow, see
subdirectory of the main distribution directory (by default, /opt/EDTpdv).
If the open-source FTLK library (required by
it. If the installation fails, you will need to install FLTK 1.1.9 by hand.
To install FLTK 1.1.9:
1. In
gunzip fltk-1.1.9-source.tar.gz
tar –xf fltk-1.1.9-source.tar
...to install fltk-1.1.9.
2. In
fltk-1.1.9, run...
make
make install
3. In pdv_flshow, run...
pdvshow executable comes already built on Windows distributions, so you need not compile it
README file in the pdv_flshow subdirectory of the main dis-
/opt/EDTpdv).
README in the pdv_flshow
pdv_flshow) is not installed, make pdvshow will try to install
pdv_flshow, open fltk-1.1.9-source.tar.gz and run...
make pdvshow
EDT, Inc. 2012 March 16 7
Camera Link PCI Express (PCIe) Gen1 Framegrabbers Units, Connectors, and Channels
Unit 0,
Connector 0
(primary)
Unit 0,
Connector 1
(secondary)
Unit 1,
Connector 0
(primary)
Unit 1,
Connector 1
(secondary)
Unit ordering is system-dependent, starting with unit 0.
Connector ordering always starts with the connector nearest
the PCIe bus, which EDT software always calls connector 0.
Units, Connectors, and Channels
This section covers how to work with multiple units, connectors, and channels, which are defined as follows:
unit EDT product (board)
connector physical connector (for example, a fiberoptic or MDR26 connector)
channel DMA channel or, sometimes, simulation channel
Typically, an EDT Camera Link (C-Link) board has two MDR26 connectors and one simulation channel,
while an EDT fiberoptic (FOX) board has one to four fiberoptic connectors with no simulation channel.
In base mode, each camera requires one connector on the EDT board, and each connector provides one
DMA channel. Thus, in base mode, an EDT framegrabber with two connectors has two DMA channels.
In medium or full mode, each camera requires two connectors on the EDT board. In this case, the two
connectors work together to support one DMA channel.
NOTE In EDT hardware, the connectors are labeled 0 and 1 on some boards, but 1 and 2 on others.
Regardless of the labels on the hardware, the software always counts the connectors in order as 0
(primary), 1 (secondary), and so on, with 0 being the connector closest to the PCIe bus.
If you install one board in your host system, the system will assign the default unit number (0) to that board.
If you install multiple boards, the system will assign a unique unit number to each board, starting with 0 (the
sequence is system-dependent). Typically, the unit number is an argument when invoking an application
(such as
take or pdvshow) or a parameter passed into one of the EDT subroutines.
Figure 2 shows an example of how the software numbers the units ( boards) and connectors. The defa ult for
the first unit number, connector number, and DMA channel number is always 0, with additional units,
connectors, and DMA channels numbered as 1, 2, and so on.
Figure 2. Example of Unit Numbering and Connector Numbering
EDT, Inc. 2012 March 16 8
If your EDT board is connected to multiple cameras, the software provides a unique handle to represent
each camera. Unless you specify a different unit number, DMA channel number, or both, any application
(either your own or EDT’s) seeking access to the cameras will default to unit 0, connector 0.
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