Document Number: 337029-009
Intel® RealSense
TM
Product Family D400 Series
Datasheet
Intel® RealSense™ Vision Processor D4, Intel® RealSense™ Vision
Processor D4 Board, Intel® RealSense™ Vision Processor D4 Board V2,
Intel® RealSense™ Vision Processor D4 Board V3, Intel® RealSense™
Depth Module D400, Intel® RealSense™ Depth Module D410, Intel®
RealSense™ Depth Module D415, Intel® RealSense™ Depth Camera D415,
Intel® RealSense™ Depth Module D420, Intel® RealSense™ Depth Module
D430, Intel® RealSense™ Depth Module D450, Intel® RealSense™ Depth
Camera D435, Intel® RealSense™ Depth Camera D435i, Intel®
RealSense™ Depth Camera D455
Revision 009
June 2020
2 337029-009
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Description and Features
337029-009 3
Contents
1 Description and Features .................................................................................. 14
2 Introduction .................................................................................................... 15
2.1 Purpose and Scope of this Document ....................................................... 15
2.2 Terminology ......................................................................................... 15
2.3 Stereo Vision Depth Technology Overview ................................................ 16
2.4 Camera System Block Diagram ............................................................... 18
2.5 Intel® RealSense™ Depth Module D400 series Product SKUs ...................... 19
2.6 Intel® RealSense™ Depth Camera D400 series Product SKUs ..................... 20
3 Component Specification .................................................................................. 21
3.1 Vision Processor D4 Camera System Components ..................................... 21
3.2 Host Processor ..................................................................................... 21
3.3 Intel® RealSense™ Vision Processor D4 ................................................... 21
3.3.1 Vision Processor D4 Features .................................................... 21
3.3.2 Vision Processor D4 Signal Description ....................................... 22
3.3.3 Vision Processor D4 Package Mechanical Attributes ...................... 27
3.3.4 Vision Processor D4 Power Requirements .................................... 33
3.3.5 Vision Processor D4 Power Sequencing ....................................... 33
3.3.6 Vision Processor D4 Spec Code .................................................. 34
3.3.7 Vision Processor D4 Storage and Operating Conditions ................. 34
3.3.8 Vision Processor D4 Thermals ................................................... 35
3.4 Clock ................................................................................................... 35
3.5 Serial (SPI) Flash Memory ...................................................................... 35
3.6 Stereo Depth Module ............................................................................. 35
3.6.1 Left and Right Imagers ............................................................. 37
3.6.2 Infrared Projector .................................................................... 38
3.6.3 Color Sensor ........................................................................... 39
3.6.4 Depth Module Connector .......................................................... 40
3.6.5 Stereo Depth Module Label ....................................................... 40
3.6.6 Stiffener ................................................................................. 41
3.6.7 Temperature Sensor ................................................................ 41
3.6.8 Other Stereo Depth Module Components .................................... 41
3.6.9 Mechanical Dimensions ............................................................. 42
3.6.10 Stereo Depth Module Power Sequence........................................ 43
3.6.11 Stereo Depth Module Storage and Powered Conditions ................. 43
3.7 Intel® RealSense™ Vision Processor D4 Board .......................................... 44
3.7.1 Mechanical Dimensions ............................................................. 45
3.7.2 Depth Module Receptacle .......................................................... 45
3.7.3 Flex and Rigid Interposer Interconnect ....................................... 45
3.7.4 External Sensor Sync Connector ................................................ 50
3.7.5 USB Peripheral Connector – Type-C ........................................... 50
3.7.6 Color Image Signal Processor (ISP) ............................................ 52
3.7.7 Vision Processor D4 Board Power Requirements .......................... 52
3.7.8 Vision Processor D4 Board Thermals .......................................... 52
3.7.9 Vision Processor D4 Board Storage and Powered Conditions .......... 53
3.7.10 Intel® RealSense™ Vision Processor D4 Board Product Identifier and
Material Code .......................................................................... 54
3.8 Intel® RealSense™ Depth Camera D400 Series ......................................... 54
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3.8.1 Depth Camera D400 Series Mechanical Dimensions ..................... 55
3.8.2 Depth Camera D400 Series Thermals ......................................... 56
3.8.3 Depth Camera D400 Series Product Identifier and Material Code ... 58
3.8.4 Camera Lens Cleaning Procedure ............................................... 58
4 Functional Specification .................................................................................... 59
4.1 Vendor Identification (VID) and Device Identification (DID) ........................ 59
4.2 Vision Processor D4 Data Streams .......................................................... 59
4.3 Depth Field of View (FOV) ...................................................................... 62
4.4 Depth Field of View at Distance (Z) ......................................................... 63
4.5 Invalid Depth Band ............................................................................... 64
4.6 Minimum-Z Depth ................................................................................. 65
4.7 Depth Quality Specification .................................................................... 65
4.8 Depth Start Point (Ground Zero Reference) .............................................. 67
4.8.1 Depth Origin X-Y Coordinates .................................................... 69
4.9 Depth Camera Functions ........................................................................ 70
4.10 Color Camera Functions ......................................................................... 71
4.11 IMU Specifications ................................................................................. 72
5 Firmware ........................................................................................................ 73
5.1 Update ................................................................................................ 73
5.1.1 Update Limits .......................................................................... 73
5.2 Recovery ............................................................................................. 73
6 Software ......................................................................................................... 74
6.1 Intel® RealSense™ Software Development Kit 2.0 ..................................... 74
7 System Integration .......................................................................................... 75
7.1 System Level Block Diagram .................................................................. 75
7.2 Vision Processor D4 System Integration ................................................... 75
7.2.1 Vision Processor D4 Board ........................................................ 75
7.2.2 Vision Processor D4 on Motherboard .......................................... 76
7.3 D4 Camera System Power Delivery ......................................................... 77
7.4 Vision Processor D4 Board for Integrated Peripheral .................................. 78
7.4.1 USB 3.1 Gen 1 Receptacle ........................................................ 78
7.4.2 USB 3.1 Gen 1 High Speed Cable Assembly ................................ 78
7.4.3 Transmit to Receive Crossover .................................................. 79
7.4.4 Motherboard Receptacle ........................................................... 80
7.4.5 Vision Processor D4 Board for Integrated Peripheral Power
Requirements .......................................................................... 80
7.5 Thermals ............................................................................................. 80
7.6 Stereo Depth Module Flex ...................................................................... 82
7.7 Stereo Depth Module Mounting Guidance ................................................. 82
7.7.1 Screw Mount ........................................................................... 82
7.7.2 Bracket Mount ......................................................................... 83
7.7.3 Stereo Depth Module Air gap ..................................................... 84
7.8 Thermal Interface Material ..................................................................... 85
7.9 Heat Sink ............................................................................................. 85
7.10 Cover Design and Material Guidance ....................................................... 85
7.11 Gaskets ............................................................................................... 86
7.11.1 Optical Isolation ...................................................................... 87
7.11.2 Dust Protection ....................................................................... 88
7.12 Firmware Recovery ............................................................................... 88
Description and Features
337029-009 5
7.13 Calibration Support ............................................................................... 89
7.14 Multi-Camera Hardware Sync ................................................................. 89
7.15 Handling Conditions .............................................................................. 90
8 Platform Design Guidelines ............................................................................... 91
8.1 Vision Processor D4 on Motherboard ....................................................... 91
8.2 Kaby Lake U and Kaby Lake Y platforms .................................................. 92
8.2.1 Kaby Lake Platform Introduction ................................................ 92
8.2.2 Supported PCB Stack-Up and Routing Geometries ....................... 92
8.2.3 Vision Processor D4 on Motherboard with USB Host Interface ........ 93
8.2.4 Vision Processor D4 on Motherboard with MIPI Host Interface ....... 94
8.2.5 Vision Processor D4 Board for Integrated Peripheral (USB 3.1 Gen 1
Host to Vision Processor D4 Routing) ......................................... 96
8.2.6 USB2.0 Design Guidelines (USB2 Host to Vision Processor D4
Routing) ................................................................................. 97
8.3 Cherry Trail T4 Platform ......................................................................... 98
8.3.1 Cherry Trail T4 Platform Introduction ......................................... 98
8.3.2 Vision Processor D4 Platform Design Guidelines ........................... 98
9 Regulatory Compliance ..................................................................................... 99
9.1 System Laser Compliance ...................................................................... 99
9.1.1 Certification Statement............................................................. 99
9.1.2 Explanatory Label .................................................................... 99
9.1.3 Cautionary Statements ............................................................. 99
9.1.4 US FDA Accession Number ....................................................... 100
9.2 Regulatory Compliance ......................................................................... 100
9.2.1 Manufacturer’s Information ...................................................... 100
9.2.2 EU Single Place of Contact ....................................................... 100
9.2.3 NRTL Statement ..................................................................... 101
9.2.4 FCC Part 15 Declaration of Conformity ...................................... 101
9.2.5 Canada ................................................................................. 102
9.2.6 European Directives ................................................................ 102
9.2.7 Japan .................................................................................... 102
9.2.8 South Korea ........................................................................... 102
9.3 Ecology Compliance ............................................................................. 103
9.3.1 China RoHS Declaration ........................................................... 103
9.3.2 Waste Electrical and Electronic Equipment (WEEE) ...................... 105
10 Mechanical Drawings ....................................................................................... 106
11 Connector Drawings ........................................................................................ 115
12 Appendix A – Vision Processor D4 on Motherboard Schematic Checklist ................. 117
12.1 Power Delivery .................................................................................... 124
13 Appendix B- Cover Material .............................................................................. 127
Figures
Figure 2-1. Active Infrared (IR) Stereo Vision Technology ......................................................... 17
Figure 2-2. Depth Measurement (Z) versus Range (R) .............................................................. 17
Figure 2-3. Vision Processor D4 Camera System Block Diagram ................................................ 18
Figure 3-1. Vision Processor D4 Package Drawing .................................................................... 29
6 337029-009
Figure 3-2. Vision Processor D4 Ball-out ................................................................................. 30
Figure 3-3. Vision Processor D4 Power Sequencing .................................................................. 34
Figure 3-4. Stereo Depth Module (Intel® RealSense™ Depth Module D410)................................. 36
Figure 3-5. Stereo Depth Module (Intel® RealSense™ Depth Module D430)................................. 36
Figure 3-6. Stereo Depth Module Power Sequence ................................................................... 43
Figure 3-7. Vision Processor D4 Board (USB Peripheral Type-C)................................................. 44
Figure 3-8. Flex Interposer (Illustration) ................................................................................. 46
Figure 3-9. Rigid Interposer (Illustration) ............................................................................... 46
Figure 3-10. Depth Module Receptacle and Plug Connector Pin Position ...................................... 47
Figure 3-11. Depth Module Connector Orientation and Pin Position ............................................. 49
Figure 3-12. USB Type-C Receptacle Pin Map .......................................................................... 51
Figure 3-13. Intel® RealSenseTM Depth Camera D415 ............................................................... 54
Figure 3-14. Intel® RealSense™ Depth Camera D435/D435i ..................................................... 54
Figure 3-15. Intel® RealSense™ Depth Camera D455 ............................................................... 55
Figure 4-1. Depth Field of View to Depth Map illustration .......................................................... 63
Figure 4-2. Left Invalid Depth Band ....................................................................................... 64
Figure 4-3. Depth Module Depth Start Point Reference ............................................................. 67
Figure 4-4. Depth Camera Depth Start Point Reference ............................................................ 68
Figure 4-5. Depth Module X-Y Depth Origin Reference .............................................................. 69
Figure 4-6. Depth Camera X-Y Depth Origin Reference ............................................................. 70
Figure 7-1. System Block Diagram ......................................................................................... 75
Figure 7-2. Intel® RealSense™ Vision Processor D4 Board ........................................................ 76
Figure 7-3. Vision Processor D4 on Motherboard (Illustration) ................................................... 76
Figure 7-4. D4 Camera System Power Scheme ........................................................................ 77
Figure 7-5. Host Motherboard USB 3.1 Gen 1 Routing .............................................................. 79
Figure 7-6. Receptacle Ground Bar Motherboard Connections .................................................... 80
Figure 7-7. Bottom Stiffener Depth Module D410 ..................................................................... 82
Figure 7-8. Bottom Stiffener Depth Module D430 ..................................................................... 82
Figure 7-9. Stereo Depth Module Screw Mount ........................................................................ 83
Figure 7-10. Stereo Depth Module Bracket .............................................................................. 83
Figure 7-11. Stereo Depth Module Bracket Mount .................................................................... 84
Figure 7-12. Stereo Depth Module Bracket Install .................................................................... 84
Figure 7-13. Stereo Depth Module Air Gap .............................................................................. 85
Figure 7-14. Illustration of Gasket Placement and Cover Material ............................................... 87
Figure 7-15. Example of Light Leakage Effects......................................................................... 88
Figure 7-16. Firmware Recovery Sequence ............................................................................. 89
Figure 7-17. External Sensor Sync Connector Location on D4 Vision Processor D4 Board .............. 89
Figure 7-18. External Sensor Sync Connector Location on Depth Camera D435/D435i/D455 ......... 90
Figure 8-1. Vision Processor D4 with USB Host Interface .......................................................... 91
Figure 8-2. Vision Processor D4 with MIPI Host Interface .......................................................... 91
Figure 8-3. Vision Processor D4 on Board for USB Integrated Peripheral ..................................... 92
Figure 8-4. Host Processor - Vision Processor D4 ..................................................................... 93
Figure 8-5. Vision Processor D4 Transmit - Host Receive ......................................................... 94
Figure 8-6. Stereo Depth Transmit - Vision Processor D4 Receive .............................................. 95
Figure 8-7. Flex Interposer PCB Stack-Up ............................................................................... 96
Figure 8-8. USB 3.1 Gen 1 Host to Vision Processor D4 Topology ............................................... 96
Figure 8-9. USB2.0 Host to Vision Processor D4 ....................................................................... 97
Figure 9-1. NRTL Certifications ............................................................................................. 101
Figure 10-1. Intel® RealSense™ Depth Module D400 ............................................................... 106
Figure 10-2. Intel® RealSense™ Depth Module D410 ............................................................... 107
Figure 10-3. Intel® RealSense™ Depth Module D415 ............................................................... 108
Figure 10-4. Intel® RealSense™ Depth Module D420 ............................................................... 109
Figure 10-5. Intel® RealSense™ Depth Module D430 ............................................................... 110
Figure 10-6. Vision Processor D4 Board USB Type-C (Intel® RealSense™ Vision Processor D4 Board)
.................................................................................................................... 111
Description and Features
337029-009 7
Figure 10-7. Intel® RealSense™ Depth Camera D415 .............................................................. 112
Figure 10-8. Intel® RealSense™ Depth Camera D435/D435i .................................................... 113
Figure 10-9. Intel® RealSense™ Depth Camera D455 .............................................................. 114
Figure 11-1. Receptacle Mechanical Drawing (50 Pin Depth Module Receptacle).......................... 115
Figure 11-2. Plug Mechanical Drawing (50 pin Depth Module Plug) ............................................ 116
Figure 12-1. Vision Processor D4 Laser PWM Reference Platform Schematic ............................... 124
Figure 12-2. Vision Processor D4 24MHz Crystal Clock Reference Platform Schematic .................. 124
Figure 12-3. DC-DC Reference Platform Schematic (3.3V, 1.8V, 0.9V) ....................................... 125
Figure 12-4. Vision Processor D4 VDD_PG and AVDD Reference Platform Schematic ................... 126
Tables
Table 2-1. Depth Module Product SKU Descriptions .................................................................. 19
Table 2-2. Depth Camera Product SKU Descriptions ................................................................. 20
Table 3-1. Component Descriptions ........................................................................................ 21
Table 3-2. Vision Processor D4 Signal Descriptions .................................................................. 22
Table 3-3. Hardware Straps .................................................................................................. 27
Table 3-4. Vision Processor D4 Package Mechanical Attributes ................................................... 28
Table 3-5. Vision Processor D4 Ball-out by Signal Name ........................................................... 30
Table 3-6. Vision Processor D4 Power Requirements ................................................................ 33
Table 3-7. Vision Processor D4 Power Sequencing Timing Parameters ........................................ 33
Table 3-8. Vision Processor D4 SPEC Code .............................................................................. 34
Table 3-9. Vision Processor D4 Storage and Operating Conditions .............................................. 34
Table 3-10. Stereo Depth Module........................................................................................... 35
Table 3-11. Stereo Depth Module SKU Properties ..................................................................... 36
Table 3-12. Standard Left and Right Imager Properties ............................................................ 37
Table 3-13. Wide Left and Right Imager Properties .................................................................. 37
Table 3-14. Standard Infrared Projector Parameters ................................................................ 38
Table 3-15. Wide Infrared Projector Parameters ...................................................................... 38
Table 3-16. Color Sensor Properties ....................................................................................... 39
Table 3-17. Depth Module 50-pin Connector Plug Details .......................................................... 40
Table 3-18. Stereo Depth Module Product Labeling .................................................................. 40
Table 3-19. Stereo Depth Module Label Fields ......................................................................... 40
Table 3-20. Intel® RealSense™ Depth Module D400 Series Product Identifier Code and Product
Material Code .................................................................................................. 41
Table 3-21. Other Stereo Depth Module Components ............................................................... 41
Table 3-22. Intel® RealSense™ Depth Module D400 Mechanical Dimensions ............................... 42
Table 3-23. Intel® RealSense™ Depth Module D410 Mechanical Dimensions ............................... 42
Table 3-24. Intel® RealSense™ Depth Module D415 Mechanical Dimensions ............................... 42
Table 3-25. Intel® RealSense™ Depth Module D420 Mechanical Dimensions ............................... 42
Table 3-26. Intel® RealSense™ Depth Module D430 Mechanical Dimensions ............................... 43
Table 3-27. Stereo Depth Module Storage and Powered Conditions ............................................ 43
Table 3-28. Vision Processor D4 Board .................................................................................. 44
Table 3-29. Vision Processor D4 Board Components ................................................................. 44
Table 3-30. Vision Processor D4 USB Type-C Board Mechanical Dimensions ................................ 45
Table 3-31. Depth Module Receptacle Details .......................................................................... 45
Table 3-32. Interposer Interconnect Signal Description............................................................ 47
Table 3-33. Custom Flex Interposer Ordering Logistics ............................................................. 49
Table 3-34. External Sensor Connector Details ........................................................................ 50
Table 3-35. External Sensor Sync Connector Pin List ................................................................ 50
Table 3-36. USB Peripheral Connector Pin List ......................................................................... 51
Table 3-37. Recommended USB Type C cable Assemblies Ordering Logistics ............................... 52
Table 3-38. ISP Properties .................................................................................................... 52
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Table 3-39. Vision Processor D4 Board Power Requirements ..................................................... 52
Table 3-40. Vision Processor D4 Board Storage and Powered Conditions ..................................... 53
Table 3-41. Vision Processor D4 Board Product Identifier and Material Code ................................ 54
Table 3-42. Depth Camera SKU properties .............................................................................. 55
Table 3-43. Intel® RealSense™ Depth Camera D415 Mechanical Dimensions ............................... 55
Table 3-44. Intel® RealSense™ Depth Camera D435, D435i Mechanical Dimensions .................... 56
Table 3-45. Intel® RealSense™ Depth Camera D455 Mechanical Dimensions ............................... 56
Table 3-46. Depth Camera D400 Series Storage and Powered Conditions ................................... 56
Table 3-47. Depth Camera D400 Series Product Identifier and Material Code .............................. 58
Table 4-1. Vendor ID and Device ID Table .............................................................................. 59
Table 4-2. Image Formats (USB 3.1 Gen1) ............................................................................. 59
Table 4-3. Image Formats (USB 3.1 Gen1) – D455 .................................................................. 60
Table 4-4. Simultaneous Image Streams (USB 3.1 Gen1 & USB2.0) ........................................... 62
Table 4-5. Depth Field of View ............................................................................................... 62
Table 4-6. Minimum-Z Depth ................................................................................................ 65
Table 4-7: Depth Quality Metric ............................................................................................. 65
Table 4-8: Depth Quality Metric Illustration ............................................................................. 66
Table 4-9. Depth Quality Specification .................................................................................... 66
Table 4-10. Depth Module Depth Start Point .......................................................................... 67
Table 4-11. Depth Cameras Depth Start Point ........................................................................ 68
Table 4-12. Depth Module X-Y Depth Origin Coordinates.......................................................... 69
Table 4-13. Depth Camera X-Y Depth Origin Coordinates ......................................................... 70
Table 4-14. Depth Camera Controls ....................................................................................... 70
Table 4-15. RGB Exposed Controls ......................................................................................... 71
Table 4-16. IMU Specifications .............................................................................................. 72
Table 7-1. USB 3.1 Gen 1 Receptacle Characteristics................................................................ 78
Table 7-2. USB 3.1 Gen 1 Receptacle Pin Out .......................................................................... 78
Table 7-3. USB 3.1 Gen 1 Plug Characteristics ......................................................................... 78
Table 7-4. Cable Assembly Specification ................................................................................. 79
Table 7-5. Motherboard Receptacle Properties ......................................................................... 80
Table 7-6. Vision Processor D4 Board as Embedded Peripheral Power Requirements .................... 80
Table 7-7. Vision Processor D4 Board – Component Power and TDP at Max Operating Mode
(1)
....... 81
Table 7-8. Stereo Depth Module (Standard) – Component Power and TDP at Max Operating Mode
(1)
..................................................................................................................... 81
Table 7-9. Stereo Depth Module (Wide) – Component Power and TDP at Max Operating Mode
(1)
.... 81
Table 7-10. Vision Processor D4 Board Components – Case Temperature Limits (Still Air) ............ 81
Table 7-11. Component Transmission ..................................................................................... 86
Table 7-12. Electrostatic Discharge Caution ............................................................................ 90
Table 8-1. Host Transmit – Vision Processor D4 Receive Routing Guidelines ................................ 93
Table 8-2. Vision Processor D4 Transmit - Host Receive Routing Guidelines ................................ 93
Table 8-3. Vision Processor D4 Transmit – Host Receive Routing Guidelines ................................ 94
Table 8-4. Stereo Depth Module Transmit - Vision Processor D4 Receive Routing Guidelines ........ 95
Table 8-5. USB 3.1 Gen 1 Host to Vision Processor D4 Routing Guidelines ................................. 97
Table 9-1. U.S. FDA Accession Number.................................................................................. 100
Table 12-1. Vision Processor D4 on Motherboard Schematic Checklist ....................................... 117
Table 12-2. Vision Processor D4 Decoupling and Filter Requirements ........................................ 126
Table 13-1. Example: Cover Material Parameters .................................................................... 127
Description and Features
337029-009 9
Revision History
Document Number
Revision Number
Description
Revision Date
337029
001
Initial release
January 2018
002
Tracking Module 1 removal, NRTL
certification, 7.2.2.1 Firmware Update
March 2018
003
• Added USB2.0 support
• Removed VBUS0 from Table 3 6.Vision
Processor D4 Power Requirements
• Table 3 12. Standard Left and Right
Imager Properties
• Table 3 13. Wide Left and Right
Imager Properties
• Table 3 9. Vision Processor D4 Storage
and Operating Conditions
• Table 3 27 Stereo Depth Module
Storage and Operating Conditions
• Table 3 38. Vision Processor D4 Board
Storage and Operating Conditions
• Table 3 44. Depth Camera D400 Series
Storage and Operating Conditions
• Table 4 3. Image Formats (USB 2.0)
• Table 4 5. Simultaneous Image
Streams (USB3.1 Gen1, USB 2.0)
• 4.7 Depth Origin Point (Ground Truth
Zero)
• 7.14 Multi-Camera hardware sync for
multi-camera configuration
July 2018
10 337029-009
Document Number
Revision Number
Description
Revision Date
004
• Description and Features
• Terminology
• Table 2-2. Depth Camera Product SKU
Descriptions
• Table 3-11. Stereo Depth Module SKU
Properties
• Table 3-33. Custom Flex Interposer
Ordering Logistics
• Table 3-35. External Sensor Sync
Connector Pin List
• Table 3-42. Depth Camera SKU
properties
• Table 3-47. Depth Camera D400 Series
Product Identifier and Material
Code
• Table 4-1. Vendor ID and Device ID
Table
• Table 4-2. Image Formats (USB 3.1
Gen1)
• Table 4-3. Image Formats (USB 2.0)
• Table 4-9. Depth Quality Specification
• Section 4-12 IMU Specification
November 2018
005
• Table 3-11. Stereo Depth Module SKU
Properties
• Table 3-42. Depth Camera SKU
Properties
• Table 4-4. Simultaneous Image
Streams (USB 3.1 Gen 1 & USB
2.0)
• Table 4-18. IMU Specifications
January 2019
006
• Table 3-28. Vision Processor D4 Board
• Table 4-2. Image Formats (USB 3.1
Gen1)
• Table 4-4. Simultaneous Image
Streams (USB 3.1 Gen1 & USB 2.0)
• Table 4-17. RGB Exposed Controls
• Figure 10-7. Intel® RealSense™ Depth
Camera D415
• Figure 10-8. Intel® RealSense™ Depth
Camera D435/D435i
• Figure 4-1. Depth Field of View to
Depth Map illustration
June 2019
Description and Features
337029-009 11
Document Number
Revision Number
Description
Revision Date
007
• Table 3-19. Stereo Depth Module
Label Fields
• Table 3 43. Intel® RealSense™ Depth
Camera D415 Mechanical
Dimensions
• Table 3 44. Intel® RealSense™ Depth
Camera D435, D435i Mechanical
Dimensions
• Table 4-9. Depth Quality Specification
• Section 7.6. Stereo Depth Module Flex
• Remove Table 7-11. Bracket Ordering
Logistics
October 2019
12 337029-009
Document Number
Revision Number
Description
Revision Date
008
• Support for Intel® RealSense™ Vision
Processor D4 Board V2 (IMU
version for MM#954010)
• Table 2-1. Depth Module Product SKU
Descriptions
• Table 3-9. Vision Processor D4 Storage
and Operating Conditions
• Table 3-15. Wide Infrared Projector
Parameters
• Table 3-27. Stereo Depth Module
Storage and Powered Conditions
• Table 3-37. Recommended USB Type C
cable Assemblies Ordering Logistics
• Table 3-40. Vision Processor D4 Board
Storage and Powered Conditions
• Table 3-41. Vision Processor D4 Board
Product Identifier and Material
Code
• Table 3-45. Depth Camera D400 Series
Storage and Powered Conditions
• Table 4-2. Image Formats (USB 3.1
Gen 1)
• Table 4-15. RGB Exposed Controls
• Table 4-16. IMU Specifications
• Table 7-10. Vision Processor D4 Board
Components – Case Temperature
Limits (Still Air)
• Table 13-1. Example: Cover Material
Parameters
• Section 1. Description and Features
• Section 3.6.7. Temperature Sensor
• Section 3.7.5. USB Peripheral
Connector – Type-C
• Section 3.8.2.2. Depth Camera D400
Series Thermal Solution Guidance
• Remove Table 4-3. Image Formats
(USB 2.0)
• Remove Section 4.8. Measured Power
April 2020
Description and Features
337029-009 13
Document Number
Revision Number
Description
Revision Date
009
• Section 1. Description and Features
• Section 3.8.4. Camera Lens Cleaning
Procedure
• Section 9. Regulatory Compliance
• Table 2-2. Depth Camera Product SKU
Descriptions
• Table 3-42. Depth Camera SKU
properties
• Table 3-45. Intel® RealSense™ Depth
Camera D455 Mechanical
Dimensions
• Table 3-47. Depth Camera D400 Series
Product Identifier and Material
Code
• Table 4-3. Image Formats (USB 3.1
Gen1) – D455
• Table 4-1. Vendor ID and Device ID
Table
• Table 4-4. Simultaneous Image
Streams (USB 3.1 Gen1 & USB2.0)
• Table 4-5. Depth Field of View
• Table 4-6. Minimum-Z Depth
• Table 4-9. Depth Quality Specification
• Table 4-13. Depth Camera X-Y Depth
Origin Coordinates
• Table 4-11. Depth Cameras Depth
Start Point
• Table 4-16. IMU Specifications
• Figure 3-15. Intel® RealSense™ Depth
Camera D455
• Figure 10-9. Intel® RealSense™ Depth
Camera D455
June 2020
§ §
Description and Features
Datasheet 14
1 Description and Features
Description
The Intel® RealSense
TM
D400 series is a stereo vision depth
camera system. The subsystem assembly contains stereo depth
module and vision processor with USB 2.0/USB 3.1 Gen 1 or
MIPI1 connection to host processor.
The small size and ease of integration of the camera sub system
provides system integrators flexibility to design into a wide
range of products.
The Intel® RealSenseTM D400 series also offers complete depth
cameras integrating vision processor, stereo depth module, RGB
sensor with color image signal processing and Inertial
Measurement Unit2 (IMU). The depth cameras are designed for
easy setup and portability making them ideal for makers,
educators, hardware prototypes and software development.
The Intel® RealSenseTM D400 series is supported with crossplatform and open source Intel® RealSense™ SDK 2.0
Usages/Markets
• Drones
• Robots
• Home and Surveillance
• Virtual Reality
• PC Peripherals
Minimum System Requirements
USB 2.0/USB 3.1 Gen 1
Ubuntu*16.xx/Windows*10
Intel® RealSense™ Depth Camera D415 Features
• Intel® RealSense™ Vision Processor D4
• Up to 1280x720 active stereo depth resolution
• Up to 1920x1080 RGB resolution
• Depth Diagonal Field of View over 70°
• Dual rolling shutter sensors for up to 90 FPS depth
streaming
• Range 0.3m to over 10m (Varies with lighting conditions)
Intel® RealSense™ Depth Camera D435/D435i Features
• Intel® RealSense™ Vision Processor D4
• Up to 1280x720 active stereo depth resolution
• Up to 1920x1080 RGB resolution
• Depth Diagonal Field of View over 90°
• Dual global shutter sensors for up to 90 FPS depth
streaming
• Range 0.2m to over 10m (Varies with lighting conditions)
• Intel® RealSense™ Depth Camera D435i includes Inertial
Measurement Unit (IMU) for 6 degrees of freedom (6DoF)
data
Intel® RealSense™ Depth Camera D455 Features
• Intel® RealSense™ Vision Processor D4
• Up to 1280x720 active stereo depth resolution
• Up to 1280x800 RGB resolution
• Diagonal Field of View over 90°
• Dual global shutter sensors for up to 90 FPS depth
streaming
• RGB global shutter sensor for up to 90 FPS
• Range 0.4m to over 10m (Varies with lighting conditions)
• Intel® RealSense™ Depth Camera D455 includes Inertial
Measurement Unit (IMU) for 6 degrees of freedom (6DoF)
data
Features
• 2nd Generation Stereo Depth Camera System
• 2nd Generation dedicated Intel® RealSense™ Vision
Processor D4 with advanced algorithms
• Infrared (IR) Laser Projector System (Class 1)
• Full HD resolution Image sensors
• Active Power Management
• Selection of Stereo Depth Module options to meet your
usage requirements
1. MIPI is not currently supported. Please contact your
Intel representative on MIPI enablement timelines.
2. Module and Camera SKU dependent
§ §
Introduction
337029-009 15
2 Introduction
2.1 Purpose and Scope of this Document
This document captures the specifications and the design–in details for the Intel®
RealSense™ D400 series family of products. This document provides information
necessary to understand and implement an Intel® RealSense™ D400 series based
camera system.
Note: Intel® RealSense™ D400 series is alternately referred as “D4 Camera System”
in this document. Intel® RealSense™ Vision Processor D4 is alternately referred as
“D4” in this document.
2.2 Terminology
Term
Description
6DOF
Six degrees of freedom (6DoF) refers to the freedom of movement of a rigid
body in three-dimensional space. Forward/back, up/down, left/right, pitch,
yaw, roll
Stereo Depth
Baseline
The distance between the center of the left and right imagers in a stereo
camera
MIPI CSI-2
The Camera Serial Interface (CSI) is a specification of the Mobile Industry
Processor Interface (MIPI) Alliance and CSI-2 is the 2nd generation
specification defining the interface between a camera and a host processor
Depth
Depth video streams are like color video streams except each pixel has a
value representing the distance away from the camera instead of color
information
D4 (DS5)
If the term D4 is used alone, it refers to the entire D4 camera system
consisting of various modules and components.
If the term D4 is used with an appropriate qualifier (i.e. D4 Vision Processor,
D4 Vision Processor Board), it refers to the specific module or component
within the D4 camera system.
FOV
Field Of View (FOV) describes the angular extent of a given scene that is
imaged by a camera. A camera's FOV can be measured horizontally,
vertically, or diagonally
Host System
Computer or SOC connected to D4 camera
I2C
I²C (Inter-Integrated Circuit), pronounced I-squared-C, is a multi-master,
multi-slave, single-ended, serial computer bus invented by Philips
Semiconductor (now NXP Semiconductors). It is typically used to allow easy
control and data communication between components.
IR Projector
This refers to the source of infrared (IR) light used for illuminating a scene,
object, or person to collect depth data.
Introduction
16 337029-009
Term
Description
Imagers
Depth camera system uses a pair of cameras referred as imagers to calculate
depth. They are identical cameras configured with identical settings.
Image Signal
Processor (ISP)
Image processing functions to enhance color image quality
Left imager
From the perspective of the stereo camera looking out at the world, the left
imager is on the left side of the camera module. Thus, when the user is
facing the D4 camera, the left imager is actually on the right side of the
camera module.
Lens
This refers to the optical component of an imager in the D4 camera. Its
purpose is to focus the incoming light rays onto the CMOS chip in the imager.
MIPI
MIPI (Mobile Industry Processor Interface) is a global, open membership
organization that develops interface specifications for the mobile ecosystem
Platform
camera
This refers to the two-dimensional (2D) color camera on platform
System On
Chip (SoC)
Integrated circuit (IC) that integrates all components of a computer
Stereo Depth
Module
This refers to a stiffened module containing at least two imagers. The
distance between the imagers, which is referred to as the baseline or
intraocular spacing, is typically in the range of 20 mm to 70 mm.
Stereo camera
This refers to a pair of imagers looking at the same subject from slightly
different perspectives. The difference in the perspectives is used to generate
a depth map by calculating a numeric value for the distance from the imagers
to every point in the scene.
SKU
Stock Keeping Unit (SKU) is a unique identifier for distinct products. It is
often used in the scope of naming different versions of a device
TBD
To Be Determined. In the context of this document, information will be
available in a later revision.
2.3 Stereo Vision Depth Technology Overview
The Intel® RealSense™ D400 series depth camera uses stereo vision to calculate
depth. The stereo vision implementation consists of a left imager, right imager, and an
optional infrared projector. The infrared projector projects non-visible static IR pattern
to improve depth accuracy in scenes with low texture. The left and right imagers
capture the scene and sends imager data to the depth imaging (vision) processor,
which calculates depth values for each pixel in the image by correlating points on the
left image to the right image and via shift between a point on the Left image and the
Right image. The depth pixel values are processed to generate a depth frame.
Subsequent depth frames create a depth video stream.
Introduction
337029-009 17
Figure 2-1. Active Infrared (IR) Stereo Vision Technology
Image
Sensors
IR Projector
1) Capture
2) Search
3) Depth
The depth pixel value is a measurement from the parallel plane of the imagers and not
the absolute range as illustrated.
Figure 2-2. Depth Measurement (Z) versus Range (R)
Introduction
18 337029-009
2.4 Camera System Block Diagram
The camera system has two main components, Vision processor D4 and Depth
module. The Vision processor D4 is either on the host processor motherboard or on a
discrete board with either USB2.0/USB 3.1 Gen1 or MIPI connection to the host
processor. The Depth module incorporates left and right imagers for stereo vision with
the optional IR projector and RGB color sensor. The RGB color sensor data is sent to
vision processor D4 via the color Image Signal Processor (ISP) on Host Processor
motherboard or D4 Board.
Figure 2-3. Vision Processor D4 Camera System Block Diagram
Introduction
337029-009 19
2.5 Intel
®
RealSense™ Depth Module D400 series
Product SKUs
Table below describes main components that make up the different depth module
SKUs
Table 2-1. Depth Module Product SKU Descriptions
Component
Subcomponent
D400
D410
D415
D420
D430
D450
Intel® RealSense™
Vision Processor D4
-
√ √ √ √ √
√
Intel® RealSense™
Vision Processor D4
Board
-
√ √ √ √ √
X
Intel® RealSense™
Vision Processor D4
Board V2 (IMU
Version)
-
X X X
X √ X
Intel® RealSense™
Vision Processor D4
Board V3 (IMU
Version)
-
X X X X X
√
Intel® RealSense™
Depth Module
Standard Stereo Imagers
√ √ √ X X X Wide Stereo Imagers
X X X √ √
√
Standard Infrared
Projector
X √ √ X X
X
Wide Infrared Projector
X X X X √
√
RGB color sensor
X X √ X X
√
D400 - Intel® RealSense™ Depth Module D400
D410 - Intel® RealSenseTM Depth Module D410
D415 - Intel® RealSenseTM Depth Module D415
D420 - Intel® RealSenseTM Depth Module D420
D430 - Intel® RealSenseTM Depth Module D430
D450 - Intel® RealSenseTM Depth Module D450
Introduction
20 337029-009
2.6 Intel
®
RealSense™ Depth Camera D400 series
Product SKUs
Table below describes main components that make up the different camera SKUs:
Table 2-2. Depth Camera Product SKU Descriptions
Component
Subcomponent
Intel®
RealSenseTM
Depth
Camera
D415
Intel®
RealSenseTM
Depth
Camera
D435
Intel®
RealSenseTM
Depth
Camera
D435i
Intel®
RealSenseTM
Depth
Camera
D455
Intel®
RealSense™
Vision
Processor D4
- √ √ √ √
Intel®
RealSense™
Depth
Module
Standard Stereo
Imagers
√ X X
X
Wide Stereo
Imagers
X √ √
√
Standard Infrared
Projector
√ X X
X
Wide Infrared
Projector
X √ √
√
RGB color sensor
√ √ √
√
Inertial
Measurement
Unit (IMU)
X X √
√
§ §
Component Specification
337029-009 21
3 Component Specification
3.1 Vision Processor D4 Camera System Components
Table 3-1. Component Descriptions
Component
Description
Host Processor
Host Processor that receives Depth and other data streams from Vision
Processor D4
Vision
Processor D4
(DS5 ASIC)
Depth Imaging Processor with USB 2.0/USB 3.1 Gen 1 or MIPI interface
connection to Host Processor
Clock
24MHz clock source for Vision Processor D4
Serial Flash
Memory
SPI 16Mb Serial Flash memory for firmware storage
Stereo Depth
Module
Camera module with left and Right Imager, Color Sensor†, IR projector†
enclosed in a stiffener
Power Delivery
Circuitry on motherboard/Vision processor D4 Board to deliver and manage
power to Vision Processor D4 and Stereo Depth Module.
Stereo Depth
Connector and
Interposer
50 pin connector on motherboard/Vision Processor D4 Board and Stereo
Depth module with interposer for connection
(†) SKU dependent
3.2 Host Processor
The host processor interface to Vision Processor D4 is either USB 2.0/USB 3.1 Gen 1
or MIPI. To ensure the best of quality of service, the Vision Processor D4 must be
connected to a dedicated USB 3.1 Gen 1 root port within the host processor system.
3.3 Intel
®
RealSense™ Vision Processor D4
The primary function of Vision Processor D4 is to perform depth stereo vision
processing. The Vision Processor D4 on Host Processor motherboard or on Vision
Processor D4 Board communicates to the host processor through USB2.0/USB 3.1 Gen
1 or MIPI and receives sensor data from stereo depth module. The Vision Processor
D4 supports MIPI CSI-2 channels for connection to image sensors.
3.3.1 Vision Processor D4 Features
• 28nm Process Technology.
Component Specification
22 337029-009
• 5 MIPI camera ports with each MIPI lane capable of handling data transfers of up
to 750 Mbps.
• USB2.0/USB 3.1 Gen 1 or MIPI interface to host system.
• Image rectification for camera optics and alignment compensation
• IR Projector (Laser) controls
• Serial Peripheral Interface for fast data transfer with external SPI flash.
• Integrated I2C ports
• General purpose Input Output pins
• Active power gating
3.3.2 Vision Processor D4 Signal Description
Table 3-2. Vision Processor D4 Signal Descriptions
RESERVED – Signal reserved for future usage
IO Type- Input Output Buffer type
A – Analog
I – Input
O - Output
Signal Name
Description
IO
Type
After
RESET
Host MIPI
H_DATAP0
H_DATAN0
Host MIPI Data Lane 0 Differential Pair
A
I
H_DATAP1
H_DATAN1
Host MIPI Data Lane 1 Differential Pair
A
I
H_DATAP2
H_DATAN2
Host MIPI Data Lane 2 Differential Pair
A
I
H_DATAP3
H_DATAN3
Host MIPI Data Lane 3 Differential Pair
A
I
H_CLKP
H_CLKN
Host MIPI Clock Differential Transmit Pair
A
I
H_SDA
H_SCL
Host I2C Bus Data and Clock
I/O
IO
H_REXT
Host MIPI External Reference 6.04K 1% resistor pull down
to ground)
A
I
Imager A MIPI
A_DATAP0
A_DATAN0
Imager A MIPI Data Lane 0 Differential Receive Pair
A
I
A_DATAP1
A_DATAN1
Imager A MIPI Data Lane 1 Differential Receive Pair
A
I
Component Specification
337029-009 23
Signal Name
Description
IO
Type
After
RESET
A_CLKP
A_CKLN
Imager A MIPI Clock Differential Receive Pair
A
I
A_SDA
A_SCL
Imager A I2C Bus Data and Clock
I/O
IO
A_RCLK
Imager A Reference Clock
I/O
O
A_PDOWN
(RESERVED) Imager A Power Down Signal
I/O
O
A_VSYNC
Imager A Vertical/Frame Sync
I/O
I
A_RESETN
Imager A Reset
I/O
O
A_REXT
Imager A MIPI External Reference (6.04K 1% resistor pull
down to ground)
A
I
Imager B MIPI
B_DATAP0
B_DATAN0
(RESERVED) Imager B MIPI Data Lane 0 Differential
Receive Pair
A
I
B_DATAP1
B_DATAN1
(RESERVED) Imager B MIPI Data Lane 1 Differential
Receive Pair
A
I
B_CLKP
B_CKLN
(RESERVED) Imager B MIPI Clock Differential Receive Pair
A
I
B_SDA
B_SCL
(RESERVED) Imager B I2C Bus Data and Clock
I/O
IO
B_RCLK
(RESERVED) Imager B Reference Clock
I/O
O
B_PDOWN
(RESERVED) Imager B Power Down
I/O
O
B_VSYNC
(RESERVED) Imager B Vertical/Frame Sync
I/O
I
B_RESETN
(RESERVED) Imager B Reset
I/O
O
B_REXT
Imager B MIPI External Reference (6.04K 1% resistor pull
down to ground)
A
I
Imager M MIPI
M_DATAP0
M_DATAN0
Imager M MIPI Data Lane 0 Differential Receive Pair
A
I
M_DATAP1
M_DATAN1
Imager M MIPI Data Lane 1 Differential Receive Pair
A
I
M_CLKP
M_CKLN
Imager M MIPI Clock Differential Receive Pair
A
I
M_SDA
M_SCL
Imager M I2C Bus Data and Clock
I/O
IO
M_RCLK
Imager M Reference Clock
I/O
O
M_PDOWN
(RESERVED) Imager M Power Down
I/O
O
M_VSYNC
Imager M Vertical/Frame Sync
I/O
I
Component Specification
24 337029-009
Signal Name
Description
IO
Type
After
RESET
M_RESETN
Imager M Reset
I/O
O
M_REXT
Imager M MIPI External Reference (6.04K 1% resistor pull
down to ground)
A
I
Imager Y MIPI
Y_DATAP0
Y_DATAN0
Imager Y MIPI Data Lane 0 Differential Receive Pair
A
I
Y_DATAP1
Y_DATAN1
Imager Y MIPI Data Lane 1 Differential Receive Pair
A
I
Y_CLKP
Y_CKLN
Imager Y MIPI Clock Differential Receive Pair
A
I
Y_SDA
Y_SCL
Imager Y I2C Bus Data and Clock
I/O
IO
Y_RCLK
Imager Y Reference Clock
I/O
O
Y_PDOWN
(RESERVED) Imager Y Power Down
I/O
O
Y_VSYNC
Imager Y Vertical/Frame Sync
I/O
I
Y_RESETN
Imager Y Reset
I/O
O
Y_REXT
Imager Y MIPI External Reference (6.04K 1% resistor pull
down to ground)
A
I
Imager Z MIPI
Z_DATAP0
Z_DATAN0
(RESERVED) Imager Z MIPI Data Lane 0 Differential
Receive Pair
A
I
Z_DATAP1
Z_DATAN1
(RESERVED) Imager Z MIPI Data Lane 1 Differential
Receive Pair
A
I
Z_CLKP
Z_CKLN
(RESERVED) Imager Z MIPI Clock differential Receive Pair
A
I
Z_SDA
Z_SCL
(RESERVED) Imager Z I2C Bus Data and Clock
I/O
IO
Z_RCLK
(RESERVED) Imager Z Reference Clock
I/O
O
Z_PDOWN
(RESERVED) Imager Z Power Down
I/O
O
Z_VSYNC
Depth Vertical/Frame Sync
I/O
O
Z_RESETN
(RESERVED) Imager Z Reset
I/O
O
Z_REXT
Imager Z MIPI External Reference (6.04K 1% resistor pull
down to ground)
A
I
Serial Peripheral Interconnect (SPI)
SPI_DI
SPI Data Input
I/O
I
SPI_DO
SPI Data Output
I/O
O
SPI_CLK
SPI Clock
O
O
Component Specification
337029-009 25
Signal Name
Description
IO
Type
After
RESET
SPI_CS
SPI Chip Select
O
O
SPI_WP
Flash Write Protect
O
O
General Purpose Input Output (GPIO)
GPIO[0]
(RESERVED) Not Defined
I/O
I
GPIO[1]
(RESERVED) Not Defined
I/O
I
GPIO[2]
Laser PWM – Controls Laser Power for IR projector on
Stereo Module
I/O
O
GPIO[3]
(RESERVED) Not Defined
I/O
I
GPIO[4]
(RESERVED) Not Defined
I/O
I
GPIO[5]
(RESERVED) Not Defined
I/O
I
GPIO[6]
(RESERVED) Not Defined
I/O
I
GPIO[7]
(RESERVED) Not Defined
I/O
I/O
EGPIO[0]
(RESERVED) Not Defined
I/O
I/O
EGPIO[1]
(RESERVED) Not Defined
I/O
I/O
EGPIO[2]
(RESERVED) Not Defined
I/O
I/O
EGPIO[3]
Laser_PWRDN - IR projector Power Down Signal
I/O
O
EGPIO[4]
(RESERVED) Not Defined
I/O
I/O
EGPIO[5]
FLAGB – IR Projector Fault Detect
I/O
I
EGPIO[6]
(RESERVED) Not Defined
I/O
I/O
EGPIO[7]
(RESERVED) Not Defined
I/O
I/O
EGPIO[8]
ISP_FCS (Color ISP)
I/O
O
EGPIO[9]
(RESERVED) Not Defined
I/O
I/O
EGPIO[10]
(RESERVED) Not Defined
I/O
I/O
EGPIO[11]
(RESERVED) Not Defined
I/O
I/O
EGPIO[12]
(RESERVED) Not Defined
I/O
I/O
EGPIO[13]
(RESERVED) - For Intel test purpose only
I/O
I/O
Miscellaneous
LD_ON_OUT_XX
(RESERVED) Laser Enable
O
O
MODSTROB
(RESERVED) Modulation current strobe
O
O
MODSIGN
(RESERVED) Modulation current sign
O
O
LD_ERR
Laser Error (Active High)
I
I
CLKXI
24MHz XTAL
I
I
CLKXO
24MHz XTAL
I
I
PRSTN
D4 Reset
I
I
CW_CSR_PRSTn
Hardware reset without debug port reset
I/O
I
Component Specification
26 337029-009
Signal Name
Description
IO
Type
After
RESET
PMU_PWR_EN
Switchable domain (VDD_PG) power control signal
I/O
O
DFU
Dynamic FW update, used for FW recovery
I/O
I
ISP_SCL
ISP_SDA
I2C Bus Data and Clock
I/O
IO
VQPSQ
(RESERVED) – For Intel test purpose only
O
O
VQPSM
(RESERVED) – For Intel test purpose only
O
O
REFPADCLKP
(RESERVED) – For Intel test purpose only
I
I
REFPADCLKM
(RESERVED) – For Intel test purpose only
I
I
JTAG
TDI
Test Data Input
I/O
I
TDO
Test Data Output
I/O
O
TCLK
Test Clock Input
I/O
I
TMS
Test Mode Select
I/O
I
TRSTN
Test Reset
I/O
I
USB
USB_RXP
USB 3.1 Gen 1 receive, positive side
A
I
USB_RXN
USB 3.1 Gen 1 receive, negative side
A
I
USB_TXP
USB 3.1 Gen 1 Transmit, positive side
A
O
USB_TXN
USB 3.1 Gen 1 Transmit, negative side
A
O
USB_DP
USB 2.0 D+ line
A
IO
USB_DN
USB 2.0 D- line
A
IO
USB_ID
Mini-receptacle identifier and test point
USB_RESREF
Reference Resistor input. 200 Ohm 1%
A
I
Power and Ground
VDD
0.9V (Core Voltage)
Power
VDD_PG
0.9V (Switched Core Voltage)
Power
USB_DVDD
0.9V (USB Core Voltage)
Power
VPTX0
0.9V (USB Core Voltage)
Power
VP
0.9V (USB Core Voltage)
Power
*_AVDD
1.8V (MIPI Core and IO Voltage)
Power
VDDPLL
0.9V (PLL Voltage)
Power
VDDTS
1.8V (Temperature Sensor Voltage)
Power
VDDPST18
1.8V (IO Voltage)
Power
USB_VDD330
3.3V (USB Core Voltage)
Power
Component Specification
337029-009 27
Signal Name
Description
IO
Type
After
RESET
VBUS0
3.3V (VBUS power monitor)
Power
VSS
Ground
GND
*_AGND
Ground
GND
Table 3-3. Hardware Straps
Pin
Boot
Load
HW/FW
Description
EPGPIO0
No
FW
USB connection type:
0: Peripheral (default)
1: Integrated
EGPIO4
Yes
HW
SPI Interface:
0: SPI on “Z”
1: SPI connected (default)
EPGPIO7
Yes
FW
Flash
00: 64Mbit
01: 8Mbit
10: 16 Mbit (default)
11: 32 Mbit
EPGPIO8
EPGPIO9
No
FW
Host interface:
0: USB (default)
1: MIPI
EPGPIO10
No
FW
Board version [0] (default: 0)
EPGPIO11
No
FW
Board version [1] (default: 0)
EPGPIO12
No
FW
Board version [2] (default: 0)
DFU
Yes
HW
Go to DFU
0: Disabled (default)
1: Go to DFU mode (Recovery)
NOTES:
• Boot Load – Read during Boot
• Hardware (HW) Strap – External hardware pin state directly configures D4 functionality
• Firmware (FW) Strap – External hardware pin state is read by firmware and firmware
configures D4 functionality
3.3.3 Vision Processor D4 Package Mechanical Attributes
Table below provides an overview of the mechanical attributes of the package.
Component Specification
28 337029-009
Table 3-4. Vision Processor D4 Package Mechanical Attributes
Pin
Boot Load
HW/FW
Package Technology
Package Type
FlipChip CSP (Chip Scale Package)
Interconnect
Ball Grid Array (BGA) Ball
Lead Free
Yes
Halogenated Flame Retardant Free
Yes
Package Configuration
Solder Ball Composition
SAC125Ni
Ball/Pin Count
225 solder balls
Grid Array Pattern
15 x 15
Package Dimensions
Nominal Package Size (mm)
6.40 x 6.40
Min Ball/Pin pitch (mm)
0.42
Weight ~1 gm
Component Specification
337029-009 29
Figure 3-1. Vision Processor D4 Package Drawing
Component Specification
30 337029-009
Figure 3-2. Vision Processor D4 Ball-out
A B C D E F G H J K L M N P R
15
VSS
Y_DATAN0
Y_REXT Y_SCL GPIO_0 GPIO_1 GPIO_5 GPIO_6
MODSTROB
TMS TRSTN SPI_WPN SPI_MISO
CW_CSR_RSTN
VSS
15
14
Y_CLKN Y_CLKP
Y_DATAP0
Y_RCLK Y_SDA
Y_RESETN
GPIO_2 GPIO_3
MODSIGN
TCLK TDO SPI_CLK SPI_MOSI
Z_RESETN
Z_VSYNC
14
13
Y_DATAN1 Y_DATAP1
VSS VSS
Y_PDOWN
Y_VSYNC GPIO_4 GPIO_7 LD_ERR
LD_ON_OUT_XX
TDI SPI_CS Z_SDA
Z_DATAP0
Z_RCLK
13
12
B_DATAN0
B_SCL B_SDA Y_AVDD V SS VSS
VDDPST18_LEFT
VSS VSS
VDDPST18_LEFT
VSS VSS Z_SCL Z_CLKP
Z_DATAN0
12
11
B_CLKN
B_DATAP0
B_REXT VSS VSS VSS V DD VDD V DD VSS VS S Z_AVDD
Z_PDOWN Z_DATAP1
Z_CLKN
11
10
B_DATAN1
B_CLKP
B_RESETN
B_AVDD VDD_PG VDD_PG V DD_PG V DD VDD VDD_PG VDD_PG ISP _SCL Z_REXT
M_DATAP1 Z_DATAN1
10
9
H_DATAN3 B_DATAP1 B_PDOWN
VSS V DD_PG VDD_PG VDD_PG VSS VSS VDD_PG VDD_PG VSS ISP_SDA M_CLKP
M_DATAN1
9
8
H_DATAN2 H_DATAP3
B_VSYNC VSS VSS VDD_PG VDD_PG VSS VSS VSS VSS VSS V SS
M_DATAP0
M_CLKN
8
7
H_CLKN
H_DATAP2
B_RCLK H_AVDD V SS VSS V SS VSS V SS VDD_PG V DD_PG M_AVDD
M_RESETN M_PDOWN M_DATAN 0
7
6
H_DATAN1
H_CLKP H_AVDD
REFPADCLKP REFPADCLKM
VSS VDD V DD VSS VDD_PG VDD_PG M_REXT
M_VSYNC
M_SDA M_RCLK
6
5
H_DATAN0 H_DATAP1
H_REXT VP USB_ID VDD VDD VDD VSS VSS VSS V SS VSS
A_DATAP1
M_SCL
5
4
H_SCL
H_DATAP0
USB_VDD330
VPTX0
USB_RESREF
USB_DVDD
VSS VSS
VDDPST18_RIGHT
VSS VSS A_AVDD A_REXT A_CLKP
A_DATAN1
4
3
USB_RXN H_SDA PRSTN USB_DP EGPIO_1 EGPIO_11 VDDTS VSSTS
VDDPST18_RIGHT
PMU_PWR_EN
VQPSQ VQPSM
A_PDOWN A_DATAP0
A_CLKN
3
2
USB_TXN USB_RXP DFU USB_DN EGPIO_9 EGPIO_13 VDDPLL VSSPLL EGPIO_5 EGPIO_12 EGPIO_3 EGPIO_4 A _SCL A_RCLK
A_DATAN0
2
1
VSS USB_TXP VBUS0 EGPIO_6 EGPIO_7 EGPIO_8 CLK_XIN
CLK_XOUT
EGPIO_10 EGPIO_2 EGPIO_0 A _VSYNC A_SDA
A_RESETN
VSS
1
A B C D E F G H J K L M N P R
Table 3-5. Vision Processor D4 Ball-out by Signal Name
Ball
Name
Ball
Name
Ball
Name
A01
H_AGND
B01
USB_TXP
C01
VBUS0
A02
USB_TXN
B02
USB_RXP
C02
DFU
A03
USB_RXN
B03
H_SDA
C03
PRSTN
A04
H_SCL
B04
H_DATAP0
C04
USB_VDD330
A05
H_DATAN0
B05
H_DATAP1
C05
H_REXT
A06
H_DATAN1
B06
H_CLKP
C06
H_AVDD
A07
H_CLKN
B07
H_DATAP2
C07
B_RCLK
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