Point Grey Flea3 FL3-U3 Technical Reference Manual

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Flea3 FL3-U3

USB 3.0 Digital Camera

Technical Reference Manual

Version 5.2

Revised 9/27/2012

12051 Riverside Way • Richmond, BC • Canada • V6W 1K7 • T (604) 242-9937 • www.ptgrey.com

Point Grey Research®Inc.

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FCC Compliance

This device complies with Part 15 of the FCC rules. Operation is subject to the following two conditions: (1) This device may not cause harmful interference, and (2) this device must accept any interference received, including interference that may cause undesirable operation.

Hardware Warranty

Point Grey Research®, Inc. (Point Grey) warrants to the Original Purchaser that the Camera Module provided with this package is guaranteed to be free from material and manufacturing defects for a period of Two years. Should a unit fail during this period, Point Grey will, at its option, repair or replace the damaged unit. Repaired or replaced units will be covered for the remainder of the original equipment warranty period. This warranty does not apply to units that, after being examined by Point Grey, have been found to have failed due to customer abuse, mishandling, alteration, improper installation or negligence. If the original camera module is housed within a case, removing the case for any purpose other than to remove the protective glass or filter over the sensor voids this warranty. This warranty does not apply to damage to any part of the optical path resulting from removal or replacement of the protective glass or filter over the camera, such as scratched glass or sensor damage.

Point Grey Research, Inc. expressly disclaims and excludes all other warranties, express, implied and statutory, including, but without limitation, warranty of merchantability and fitness for a particular application or purpose. In no event shall Point Grey Research, Inc. be liable to the Original Purchaser or any third party for direct, indirect, incidental, consequential, special or accidental damages, including without limitation damages for business interruption, loss of profits, revenue, data or bodily injury or death.

WEEE

The symbol indicates that this product may not be treated as household waste. Please ensure this product is properly disposed as inappropriate waste handling of this product may cause potential hazards to the environment and human health. For more detailed information about recycling of this product, please contact Point Grey Research.

Trademarks

Point Grey Research, PGR, the Point Grey Research, Inc. logo, Chameleon, Digiclops, Dragonfly, Dragonfly Express, Firefly, Flea, FlyCapture, Gazelle, Grasshopper, Ladybug, Triclops and Zebra are trademarks or registered trademarks of Point Grey Research, Inc. in Canada and other countries.

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Point Grey Flea3 USB 3.0Technical Reference

Table of Contents

1 Welcome to Flea3 USB 3.0 1

1.1 Flea3 USB 3.0 Specifications 1

1.1.1 FL3-U3-13S2M(Mono) Imaging Performance 3

1.1.2 FL3-U3-13S2C(Color) Imaging Performance 4

1.1.3 FL3-U3-13Y3M(Mono) Imaging Performance 5

1.1.4 FL3-U3-13E4M(Mono) Imaging Performance 6

1.1.5 FL3-U3-13E4C (Color) Imaging Performance 7

1.1.6 FL3-U3-32S2M(Mono) Imaging Performance 8

1.1.7 FL3-U3-32S2C (Color) Imaging Performance 9

1.1.8 FL3-U3-88S2C (Color) Imaging Performance 10

1.1.9 Flea3 USB 3.0 Camera Comparison 11

1.2 Analog-to-Digital Conversion 12

1.3 Flea3 USB 3.0 Mechanical Properties 13

1.3.1 Physical Description 13

1.3.2 Camera Dimensions 14

1.3.3 Tripod Adapter Dimensions 15

1.3.4 Lens Mounting 15

1.3.4.1 Back Flange Distance 16

1.3.5 Dust Protection 16

1.3.6 Mounting with the Case or Mounting Bracket 16

1.3.7 Infrared Cut-Off Filters 17

1.4 Handling Precautions and Camera Care 18

1.4.1 Case Temperature and Heat Dissipation 18

1.5 Camera Interface and Connectors 20

1.5.1 USB3.0 Connector 20

1.5.2 Interface Card 20

1.5.3 Interface Cables 21

1.5.4 General Purpose Input/Output (GPIO) 21

2 Getting Started with Flea3 USB 3.0 22

2.1 Before You Install 22

2.1.1 Will your system configuration support the camera? 22

2.1.2 Do you have all the parts you need? 22

2.1.3 Do you have a downloads account? 22

2.2 Installing Your Interface Card and Software 23

2.3 Installing Your Camera 24

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Point Grey Flea3 USB 3.0Technical Reference

2.4 Controlling the Camera 25

2.4.1 Using FlyCapture 25

2.4.2 Using Control and Status Registers 25

2.4.2.1 Modes 25

2.4.2.2 Values 26

2.4.2.3 Using the Inquiry Registers 26

2.4.2.4 Using the Absolute Value Registers 26

2.5 Configuring Camera Setup 27

2.5.1 Configuring Camera Drivers 27

2.5.2 Maximum Number of Cameras on a Single Bus 27

3 General Camera Operation 29

3.1 Powering the Camera 29

3.1.1 CAMERA_POWER: 610h 29

3.2 Device Information 29

3.2.1 SERIAL_NUMBER: 1F20h 30

3.2.2 MAIN_BOARD_INFO: 1F24h 30

3.2.3 SENSOR_BOARD_INFO: 1F28h 31

3.2.4 VOLTAGE: 1A50h – 1A54h 31

3.2.5 CURRENT: 1A58h – 1A5Ch 31

3.2.6 TEMPERATURE: 82Ch 32

3.2.7 PIXEL_CLOCK_FREQ: 1AF0h 32

3.2.8 HORIZONTAL_LINE_FREQ: 1AF4h 32

3.3 User Memory Channels 32

3.3.1 MEMORY_SAVE: 618h 33

3.3.2 MEM_SAVE_CH: 620h 33

3.3.3 CUR_MEM_CH: 624h 33

3.3.4 Memory Channel Registers 33

3.4 On-Camera Frame Buffer 35

3.4.1 IMAGE_RETRANSMIT: 634h 36

3.4.2 Example: Retransmitting in Image External Mode Using Registers 36

3.4.3 Example: Storing Images for Later Transmission Using Registers 37

3.5 Non-Volatile Flash Memory 38

3.5.1 DATA_FLASH_CTRL: 1240h 38

3.5.2 DATA_FLASH_DATA: 1244h 38

3.6 Camera Firmware 39

3.6.1 Determining Firmware Version 39

3.6.2 Upgrading Camera Firmware 39

3.6.3 FIRMWARE_VERSION: 1F60h 39

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Point Grey Flea3 USB 3.0Technical Reference

3.6.4 FIRMWARE_BUILD_DATE: 1F64h 40

3.6.5 FIRMWARE_DESCRIPTION: 1F68-1F7Ch 40

4 Input/Output Control 41

4.1 General Purpose Input/Output (GPIO) 41

4.2 GPIO Modes 41

4.2.1 GPIO Mode 0: Input 41

4.2.2 GPIO Mode 1: Output 41

4.2.3 GPIO Mode 2: Asynchronous (External) Trigger 42

4.2.4 GPIO Mode 3: Strobe 42

4.2.5 GPIOMode 4: Pulse Width Modulation (PWM) 42

4.3 Programmable Strobe Output 42

4.3.1 Synchronizing Image Capture with an Output Trigger or Strobe 43

4.3.2 Example: Setting a GPIOPin to Strobe (Using the Camera Registers) 44

4.3.3 Example: Setting a GPIOPin to Strobe (Using the FlyCapture API) 46

4.3.4 Strobe Signal Output Registers 47

4.3.4.1 Strobe Output Registers 47

4.3.4.2 GPIO_STRPAT_CTRL: 110Ch 48

4.3.4.3 GPIO_STRPAT_MASK_PIN: 1118h-1148h 49

4.3.4.4 GPIO_XTRA: 1104h 49

4.4 Pulse Width Modulation (PWM) 50

4.4.1 GPIO_CTRL_PIN: 1110h-1140h 50

4.4.2 GPIO_XTRA_PIN: 1114h-1144h 51

4.5 Serial Communication 51

4.5.1 Serial Output Transaction (Transmitting Data) 52

4.5.1.1 Example: Transmitting Characters to a PC 52

4.5.2 Serial Input Transaction (Receiving Data) 53

4.5.2.1 Example: Receiving Characters from a PC 54

4.5.3 Transmitting and Receiving Data Simultaneously 55

4.5.4 Serial Input/Output Registers 55

4.6 GPIO Electrical Characteristics 59

4.6.1 GPIO0 (Opto-Isolated Input) Circuit 59

4.6.2 GPIO1 (Opto-Isolated Output) Circuit 60

4.6.3 GPIO 2/3 (Bi-Directional) Circuit 61

5 Video Formats, Modes and Frame Rates 63

5.1 Video Modes Overview 63

5.1.1 Video Mode Descriptions 64

5.1.2 Calculating Format 7 Frame Rates 66

5.2 Pixel Formats 66

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5.2.1 Raw 67

5.2.2 Mono 67

5.2.3 RGB 67

5.2.4 YUV 67

5.2.5 Y16 (16-bit Mono) Image Acquisition 68

5.2.5.1 DATA_DEPTH: 630h 68

5.2.6 Y8 or Y16 Raw Bayer Output 68

5.2.6.1 BAYER_MONO_CTRL: 1050h 68

5.3 Supported Formats, Modes and Frame Rates 69

5.3.1 FL3-U3-13S2 Video Modes 69

5.3.1.1 FL3-U3-13S2 Standard Formats, Modes and Frame Rates 69

5.3.1.2 FL3-U3-13S2 Custom Formats, Modes and Frame Rates 69

5.3.2 FL3-U3-13Y3 Video Modes 71

5.3.2.1 FL3-U3-13Y3 Standard Formats, Modes and Frame Rates 71

5.3.2.2 FL3-U3-13Y3 Custom Formats, Modes and Frame Rates 71

5.3.3 FL3-U3-13E4 Video Modes 72

5.3.3.1 FL3-U3-13E4 Standard Formats, Modes and Frame Rates 72

5.3.3.2 FL3-U3-13E4 Custom Formats, Modes and Frame Rates 72

5.3.4 FL3-U3-32S2 Video Modes 73

5.3.4.1 FL3-U3-32S2 Standard Formats, Modes and Frame Rates 73

5.3.4.2 FL3-U3-32S2 Custom Formats, Modes and Frame Rates 74

5.3.5 FL3-U3-88S2 Video Modes 75

5.3.5.1 FL3-U3-88S2C Standard Formats, Modes and Frame Rates 75

5.3.5.2 FL3-U3-88S2C Custom Formats, Modes and Frame Rates 75

5.4 Video Format, Mode, and Frame Rate Settings 76

5.4.1 FRAME_RATE: 83Ch 76

5.4.2 CURRENT_FRAME_RATE: 600h 77

5.4.3 CURRENT_VIDEO_MODE: 604h 78

5.4.4 CURRENT_VIDEO_FORMAT: 608h 78

5.4.5 Example: Setting a Standard Video Mode, Format and Frame Rate Using the FlyCapture API 78

6 Image Acquisition 79

6.1 Global Shutter 79

6.2 Rolling Shutter 79

6.3 Rolling Shutter with Global Reset 80

6.4 Asynchronous Triggering 81

6.4.1 External Trigger Timing 81

6.4.2 Minimum Trigger Pulse Length 82

6.4.3 Maximum Frame Rate in External Trigger Mode 82

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Point Grey Flea3 USB 3.0Technical Reference

6.4.4 Camera Behavior Between Triggers 83

6.4.5 Changing Video Modes While Triggering 83

6.4.6 Trigger Modes 84

6.4.6.1 Trigger Mode 0 (“Standard External Trigger Mode”) 84

6.4.6.2 Trigger Mode 1 (“Bulb Shutter Mode”) 84

6.4.6.3 Trigger Mode 15 (“Multi-Shot Trigger Mode”) 85

6.4.7 Example: Asynchronous Hardware Triggering (Using the Camera Registers) 86

6.4.8 Example: Asynchronous Hardware Triggering (Using the FlyCapture API) 88

6.4.9 Asynchronous Software Triggering 88

6.4.10 Asynchronous Trigger Settings 89

6.4.10.1 TRIGGER_MODE: 830h 90

6.4.10.2 TRIGGER_DELAY: 834h 90

6.4.10.3 PIO_DIRECTION: 11F8h 91

6.4.10.4 SOFTWARE_TRIGGER: 62Ch 91

6.4.10.5 ISO_CHANNEL/ISO_SPEED: 60Ch 91

6.4.10.6 ISO_EN/CONTINUOUS_SHOT: 614h 92

6.4.10.7 ONE_SHOT/MULTI_SHOT: 61Ch 92

7 Imaging Parameters and Control 94

7.1 Overview of Imaging Parameters 94

7.2 Brightness 95

7.2.1 BRIGHTNESS: 800h 95

7.2.2 Example: Setting Brightness Using the FlyCapture API 96

7.3 Gain 96

7.3.1 GAIN: 820h 97

7.3.2 Example: Setting Gain Using the FlyCapture API 98

7.4 Saturation 98

7.4.1 SATURATION: 814h 98

7.4.2 Example: Setting Saturation Using the FlyCapture API 99

7.5 Hue 100

7.5.1 HUE: 810h 100

7.5.2 Example: Setting Hue Using the FlyCapture API 101

7.6 Sharpness 101

7.6.1 SHARPNESS: 808h 102

7.6.2 Example: Setting Sharpness Using the FlyCapture API 103

7.7 Gamma and Lookup Table 103

7.7.1 GAMMA: 818h 105

7.7.2 Example: Setting Gamma Using the FlyCapture API 106

7.7.3 LUT: 80000h – 80048h (IIDC1.32) 106

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Point Grey Flea3 USB 3.0Technical Reference

7.8 White Balance 109

7.8.1 WHITE_BALANCE: 80Ch 110

7.8.2 Example: Setting White Balance Using the FlyCapture API 110

7.9 Shutter 111

7.9.1 Extended Shutter Times 112

7.9.2 SHUTTER: 81Ch 112

7.9.3 Example: Setting Shutter Using the FlyCapture API 113

7.10 Auto Exposure 114

7.10.1 AUTO_EXPOSURE: 804h 114

7.10.2 AE_ROI: 1A70 – 1A74h 115

7.10.3 Example: Setting Auto Exposure Using the FlyCapture API 116

7.11 Bayer Color Processing 117

7.11.1 Accessing Raw Bayer Data 117

7.11.2 BAYER_TILE_MAPPING: 1040h 118

7.11.3 Example: Accessing Raw Bayer Data using FlyCapture2 118

7.12 Image Flip/Mirror 119

7.12.1 MIRROR_IMAGE_CTRL: 1054h 119

7.13 Embedded Image Information 119

7.13.1 FRAME_INFO: 12F8h 120

8 Troubleshooting 122

8.1 Support 122

8.2 Camera Diagnostics 123

8.2.1 INITIALIZE: 000h 123

8.2.2 TIME_FROM_INITIALIZE: 12E0h 123

8.2.3 TIME_FROM_BUS_RESET: 12E4h 123

8.2.4 XMIT_FAILURE: 12FCh 124

8.2.5 VMODE_ERROR_STATUS: 628h 124

8.2.6 CAMERA_LOG: 1D00 – 1DFFh 124

8.3 Status Indicator LED 125

8.3.1 LED_CTRL: 1A14h 125

8.4 Test Pattern 126

8.4.1 TEST_PATTERN: 104Ch 126

8.5 Blemish Pixel Artifacts 127

8.5.1 Pixel Defect Correction 127

8.5.2 PIXEL_DEFECT_CTRL: 1A60h 127

8.6 Rolling Shutter Artifacts 128

8.7 Fixed Pattern Noise Artifact 129

8.7.1 FPN_CTRL: 1A0Ch 129

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Point Grey Flea3 USB 3.0Technical Reference

Appendix A: Control and Status Registers 130

A.1 General Register Information 130

A.1.1 Register Memory Map 130

A.1.2 Config ROM 131

A.1.2.1 Root Directory 131

A.1.2.2 Unit Directory 132

A.1.2.3 Unit Dependent Info 132

A.1.3 Calculating Base Register Addresses using 32-bit Offsets 133

A.2 Inquiry Registers 133

A.2.1 Basic Functions Inquiry Registers 133

A.2.2 Feature Presence Inquiry Registers 134

A.2.3 Feature Elements Inquiry Registers 136

A.2.4 Video Format Inquiry Registers 138

A.2.5 Video Mode Inquiry Registers 138

A.2.6 Video Frame Rate Inquiry Registers 140

A.3 Video Mode Control and Status Registers 143

A.3.1 FORMAT_7_RESIZE_INQ: 1AC8h 144

A.3.2 Inquiry Registers for Custom Video Mode Offset Addresses 144

A.3.2.1 Image Size and Position 145

A.3.2.2 COLOR_CODING_ID and COLOR_CODING_INQ 146

A.3.2.3 PACKET_PARA_INQ, BYTE_PER_PACKET, and PACKET_PER_FRAME 146

A.3.2.4 FRAME_INTERVAL_INQ 147

A.3.2.5 VALUE_SETTING 148

A.4 Absolute Value Registers 148

A.4.1 Setting Absolute Value Register Values 148

A.4.2 Absolute Value Offset Addresses 149

A.4.3 Units of Value for Absolute Value CSR Registers 150

A.4.4 Determining Absolute Value Register Values 150

Contacting Point Grey Research 152

Revision History 153

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Point Grey Flea3 USB 3.0Technical Reference

List of Tables

Table 1.1: Temperature Sensor Specifications 18

Table 1.2: USB 3.0 Micro-B Connector Pin Assignments 20

Table 2.1: CSRMode Control Descriptions 26

Table 4.1: GPIO pin assignments (as shown looking at rear of camera) 41

Table 5.1: FL3-U3-13S2M Custom Formats, Modes and Frame Rates 69

Table 5.2: FL3-U3-13S2C Custom Formats, Modes and Frame Rates 70

Table 5.3: FL3-U3-13Y3M Custom Formats, Modes and Frame Rates 71

Table 5.4: FL3-U3-13E4M Custom Formats, Modes and Frame Rates 72

Table 5.5: FL3-U3-13E4C Custom Formats, Modes and Frame Rates 73

Table 5.6: FL3-U3-32S2M Custom Formats, Modes and Frame Rates 74

Table 5.7: FL3-U3-32S2C Custom Formats, Modes and Frame Rates 74

Table 5.8: FL3-U3-88S2C Custom Formats, Modes and Frame Rates 75

Table A.1: Custom Video Mode Inquiry Register Offset Addresses 145

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Point Grey Flea3 USB 3.0Technical Reference

List of Figures

Figure 1.1: FL3-U3-13S2M Quantum Efficiency 3

Figure 1.2: FL3-U3-13S2C Quantum Efficiency 4

Figure 1.3: FL3-U3-13Y3M Quantum Efficiency 5

Figure 1.4: FL3-U3-13E4M Quantum Efficiency 6

Figure 1.5: FL3-U3-13E4C Quantum Efficiency 7

Figure 1.6: FL3-U3-32S2M Quantum Efficiency 8

Figure 1.7: FL3-U3-32S2C Quantum Efficiency 9

Figure 1.8: FL3-U3-88S2C Quantum Efficiency 10

Figure 1.9: FL3-U3 Mono Models Quantum Efficiency 11

Figure 1.10: FL3-U3 Models Dynamic Range 11

Figure 1.11: Camera Dimensional Diagram 14

Figure 1.12: Tripod Adapter Dimensional Diagram 15

Figure 1.13: IR filter transmittance graph 17

Figure 1.14: USB 3.0 Micro B Connector 20

Figure 4.1: Optical input circuit 60

Figure 4.2: Optical output circuit 60

Figure 4.3: GPIO2/3 Circuit 61

Figure 5.1: 2x Vertical and 2x Horizontal Binning 63

Figure 6.1: External trigger timing characteristics 82

Figure 6.2: Relationship Between External Triggering and Video Mode Change Request 83

Figure 6.3: Trigger Mode 0 (“Standard External Trigger Mode”) 84

Figure 6.4: Trigger Mode 1 (“Bulb Shutter Mode”) 85

Figure 6.5: Trigger Mode 15 (“Multi-Shot Trigger Mode”) 86

Figure 6.6: Software trigger timing 89

Figure 7.1: Example Bayer Tile Pattern 117

Figure 8.1: Test Pattern Sample Image 126

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Point Grey Flea3 USB 3.0Technical Reference

About This Manual

This manual provides the user with a detailed specification of the Flea3 USB 3.0 camera system. The user should be aware that the camera system is complex and dynamic – if any errors or omissions are found during experimentation, please contact us. (See Contacting Point Grey Research on page 152.)

This document is subject to change without notice.

All model-specific information presented in this manual reflects functionality available in the model's firmware version.

For more information see Camera Firmware on page 39.

Where to Find Information

Chapter What You Will Find

General camera specifications and specific model specifications (page 1)

1. Welcome

2. Getting Started

3. General Operation

4. Input/Output Control

5. VideoFormats, Modes, and Frame Rates

6. Image Acquisition and Transmission

Imaging Performance specifications and Quantum Efficiency graphs Camera properties, including diagrams (page 13)

Preparation for installing the camera (page 22) Installation instructions (page 24) Introduction to camera controls (page 25)

Powering the camera (page 29) Device Information (page 29) User Configuration sets (page 32) On-camera frame buffer (page 35) Flash memory (page 38) Firmware (page 39)

GPIO Modes (page 41) Programmable Strobe Output (page 42) Pulse Width Modulation (page 50) Serial Communication (page 51) GPIOElectrical Characteristics (page 59)

Overview and descriptions of Video Modes (page 63) Supported Formats, Modes, and Frame Rates for each model (page 69) Video Format and Mode CSRs (page 76)

Types of shutters:Global, Rolling, Global Reset (page 79) Asynchronous Triggering (page 81) and Supported Trigger Modes (page 84)

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Point Grey Flea3 USB 3.0Technical Reference

Chapter What You Will Find

Brightness (page 95) Shutter (page 111) Gain (page 96) Auto Exposure (page 114) Gamma and Lookup Table (page 103)

7. Image Parameters and Control

8. Troubleshooting

Appendix Register Reference Information (page 130)

Contacting Point Grey How to reach Point Grey Research Inc. (page 152)

Saturation (page 98) Hue (page 100) Sharpness (page 101) White Balance (page 109) Bayer Color Processing (page 117) Image Flip/Mirror (page 119) Embedded Image Information (page 119)

How to get support (page 122) Status LED (page 125) Diagnostics (page 123) Test Pattern (page 126) Blemish Pixel Artifacts (page 127) Rolling Shutter Artifacts (page 128) Fixed Pattern Noise Artifacts (page 129)

Document Conventions

This manual uses the following to provide you with additional information:

A note that contains information that is distinct from the main body of text. For example, drawing attention to a difference between models; or a reminder of a limitation.

A note that contains a warning to proceed with caution and care, or to indicate that the information is meant for an advanced user. For example, indicating that an action may void the camera's warranty.

If further information can be found in our Knowledge Base, a list of articles is provided.

Related Knowledge Base Articles

Title Article

Title of the Article

If there are further resources available, a link is provided either to an external website, or to the FlyCapture2 SDK.

Link to the article on the Point Grey website

Related Resources

Title Link

Title of the resource Link to the resource

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Point Grey Flea3 USB 3.0Technical Reference 1 Welcome toFlea3 USB 3.0

1 Welcome to Flea3 USB 3.0

The fully redesigned, next generation Flea3 camera series builds on the success of the ultra-compact Flea2 by adding new Sony image sensors to the line-up. The Flea3 also offers a host of new features, including enhanced opto-isolated GPIO; an on-camera frame buffer; non-volatile flash memory for user data storage; new trigger modes; and improved imaging performance.

1.1 Flea3 USB 3.0 Specifications

MODEL VERSION MP IMAGINGSENSOR

FL3-U3-13S2C-CS

Color

1.3 MP

FL3-U3-13S2M-CS

Mono

FL3-U3-13Y3M-C Mono 1.3 MP

FL3-U3-13E4C-C

Color

1.3 MP

FL3-U3-13E4M-C

FL3-U3-32S2C-CS

Mono

Color

3.2 MP

FL3-U3-32S2M-CS

Mono

FL3-U3-88S2C-C Color 8.8 MP

A/DConverter

12-bit (FL3-U3-13S2, FL3-U3-32S2, FL3-U3-88S2) / 10-bit (FL3-U3-13Y3, FL3-U3-13E4)

n Sony IMX035 CMOS, 1/3", 3.63 μm n Rolling Shutter n 1328x1048 at 120 FPS

n On Semi VITA1300 CMOS, 1/2", 4.8 μm n Global Shutter n 1280x1024 at 150 FPS

n e2v EV76C560 CMOS, 1/1.8", 5.3 µm n Global Shutter n 1280x1024 at 60 FPS

n Sony IMX036 CMOS, 1/2.8", 2.5 μm n Rolling Shutter with Global Reset n 2080x1552 at 60 FPS

n Sony IMX121 CMOS, 1/2.5", 1.55 μm n Rolling Shutter with Global Reset n 4096x2160 at 21 FPS

All Flea3 USB 3.0 Models

Video Data Output 8, 12, 16 and 24-bit digital data

Image Data Formats

Y8, Y16, Mono8, Mono12, Mono16, Raw8, Raw12, Raw16 (all models); RGB, YUV411, YUV422, YUV 444 (color models)

Partial Image Modes Pixel binning and region of interest (ROI) modes

Image Processing Gamma, lookup table, hue, saturation, and sharpness

Automatic*/Manual/One-Push* Gain modes (*Free running only)

Gain

0 dB to 24 dB (FL3-U3-13S2, FL3-U3-32S2, FL3-U3-88S2) / 0 db to 18 db (FL3-U3-13Y3, FL3-U3-13E4)

Gamma 0.50 to 4.00

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Point Grey Flea3 USB 3.0Technical Reference 1 Welcome toFlea3 USB 3.0

All Flea3 USB 3.0 Models

White Balance Automatic/Manual modes, programmable via software

Color Processing On-camera in YUV or RGB format, or on-PC in Raw format

Digital Interface USB 3.0 interface with screw locks for camera control, data, and power

Transfer Rates 5 Gbit/s

GPIO

8-pin Hirose HR25 GPIO connector for power, trigger, strobe, PWM, and serial I/O: 1 opto-isolated input, 1 opto-isolated output, 2 bi-directional I/O pins

External Trigger Modes IIDC Trigger Modes 0, 1 (excluding FL3-U3-13E4), and 15

Synchronization via external trigger or software trigger

Rolling Shutter (FL3-U3-13S2) / Global Reset (FL3-U3-32S2, FL3-U3-88S2) / Global Shutter (FL3-U3-13Y3, FL3-U3-13E4)

Automatic*/Manual/One-Push*/Extended Shutter** modes (*Free running

Shutter

only) (**except FL3-U3-13Y3)

0.008ms to 1 second (FL3-U3-13S2) / 0.006ms to 1 second (FL3-U3-13Y3) /

0.016ms to 1 second (FL3-U3-13E4) / 0.01ms to 32 seconds (FL3-U3-32S2) /

0.021ms to 1 second (FL3-U3-88S2)

Image Buffer 32 MB frame buffer

Memory Channels 2 memory channels for custom camera settings

Flash Memory 1 MB

Dimensions 29 x 29 x 30 mm excluding lens holder (metal case)

Mass

Without optics: 35 g (FL3-U3-13S2, FL3-U3-32S2) / 41 g (FL3-U3-13Y3, FL3-U3-13E4, FL3-U3-88S2)

Power Consumption 5 V, <3 W, via GPIO or USB 3.0 interface

Camera Specification IIDC v1.32

Camera Control via FlyCapture SDK, CSRs, or third party software

Camera Updates In-field firmware updates

Lens Mount

CS-mount (FL3-U3-13S2, FL3-U3-32S2) / C-mount (FL3-U3-13Y3, FL3-U3-13E4, FL3-U3-88S2)

Operating Temperature 0° to 45°C

Storage Temperature -30° to 60°C

Emissions Compliance CE, FCC, RoHS

Operating System Windows 7 32- or 64-bit

Warranty Two years

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Point Grey Flea3 USB 3.0Technical Reference 1 Welcome toFlea3 USB 3.0

1.1.1 FL3-U3-13S2M(Mono) Imaging Performance

Specification Mode 0

Full Well Depth 17700 e- at zero gain

Dynamic Range 65 dB

Read Noise 9.0 e- at zero gain

Measurements taken at maximum resolution

Quantum Efficiency

Peak QE Wavelength 490 nm

Peak QE Value 60%

Figure 1.1: FL3-U3-13S2M Quantum Efficiency

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1.1.2 FL3-U3-13S2C(Color) Imaging Performance

Specification Mode 0

Full Well Depth 17000 e- at zero gain

Dynamic Range 65 dB

Read Noise 8.5 e- at zero gain

Measurements taken at maximum resolution

Quantum Efficiency

Peak QE Wavelength Red 600 nm, 540 nm, Blue 460 nm

Peak QE Value Red 40%, Green 48%, Blue 47%

Figure 1.2: FL3-U3-13S2C Quantum Efficiency

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1.1.3 FL3-U3-13Y3M(Mono) Imaging Performance

Specification Mode 0

Full Well Depth 14500 e- at zero gain

Dynamic Range 52 dB

Read Noise 33 e- at zero gain

Measurements taken at maximum resolution

Quantum Efficiency

Peak QE Wavelength 560 nm

Peak QE Value 49%

Figure 1.3: FL3-U3-13Y3M Quantum Efficiency

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1.1.4 FL3-U3-13E4M(Mono) Imaging Performance

Specification Mode 0

Full Well Depth 15600 e- at zero gain

Dynamic Range 54 dB

Read Noise 31.6 e- at zero gain

Measurements taken at maximum resolution

Quantum Efficiency

Peak QE Wavelength 570 nm

Peak QE Value 45%

Figure 1.4: FL3-U3-13E4M Quantum Efficiency

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1.1.5 FL3-U3-13E4C (Color) Imaging Performance

Specification Mode 0

Full Well Depth 14500 e- at zero gain

Dynamic Range 54 dB

Read Noise 29.6 e- at zero gain

Measurements taken at maximum resolution

Quantum Efficiency

Peak QE Wavelength Red 600 nm, Green 540 nm, Blue 470 nm

Peak QE Value Red 41%, Green 42%, Blue 39%

Figure 1.5: FL3-U3-13E4C Quantum Efficiency

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1.1.6 FL3-U3-32S2M(Mono) Imaging Performance

Specification Mode 0

Full Well Depth 15200 e- at zero gain

Dynamic Range 61 dB

Read Noise 9.2 e- at zero gain

Measurements taken at maximum resolution

Quantum Efficiency

Peak QE Wavelength 510 nm

Peak QE Value 56%

Figure 1.6: FL3-U3-32S2M Quantum Efficiency

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1.1.7 FL3-U3-32S2C (Color) Imaging Performance

Specification Mode 0

Full Well Depth 14300 e- at zero gain

Dynamic Range 60 dB

Read Noise 9.4 e- at zero gain

Measurements taken at maximum resolution

Quantum Efficiency

Peak QE Wavelength Red 600 nm, Green 530 nm, Blue 460 nm

Peak QE Value Red 37%, Green 45%, Blue 40%

Figure 1.7: FL3-U3-32S2C Quantum Efficiency

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1.1.8 FL3-U3-88S2C (Color) Imaging Performance

Specification Mode 0

Full Well Depth 7600 e- at zero gain

Dynamic Range 68 dB

Read Noise 3.0 e- at zero gain

Measurements taken at maximum resolution

Quantum Efficiency

Peak QE Wavelength Red 609 nm, Green 519 nm, Blue 459 nm

Peak QE Value Red 52%, Green 64%, Blue 56%

Figure 1.8: FL3-U3-88S2C Quantum Efficiency

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1.1.9 Flea3 USB 3.0 Camera Comparison

Figure 1.9: FL3-U3 Mono Models Quantum Efficiency

Figure 1.10: FL3-U3 Models Dynamic Range

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1.2 Analog-to-Digital Conversion

All CMOS camera sensors incorporates an on-chip analog to digital converter. The bit depth of the output varies between sensors and can be seen in the table below. Image data is left-aligned across a 2- byte format. The least significant bits, which are the unused bits, are always zero.

For example, for a 12 bit output, the least significant 4 bits will be zeros in order to fill 2 bytes. E.g. 0xFFF0.

Model Bit Depth Possible Values

FL3-U3-13S2 12 4096

FL3-U3-13Y3 10 1024

FL3-U3-13E4 10 1024

FL3-U3-32S2 12 4096

FL3-U3-88S2 12 4096

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1.3 Flea3 USB 3.0 Mechanical Properties

1.3.1 Physical Description

1. Lens holder

Attach lens or other optical equipment. See Lens

Mounting on page 15

2. Glass/IR filter system

See Dust Protection on page 16 and Infrared Cut-

Off Filters on page 17

3. M2x2 mounting holes

See Mounting with the Case or Mounting Bracket

on page 16

4. General purpose I/O connector

The 8- pin GPIO connector is used for external triggering, strobe output or digital I/O. See

General Purpose Input/Output (GPIO) on page 41

5. Status LED

This light indicates the current state of the camera operation. See Status Indicator LED on

page 125

6. USB3 connector

See USB3.0 Connector on page 20

7. M2x2 mounting holes

8. M3x2.5 mounting holes

See Mounting with the Case or Mounting Bracket

on page 16

9. Camera label

Contains camera information such as model name, serial number and required compliance information.

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1.3.2 Camera Dimensions

To obtain 3D models, contact support@ptgrey.com.

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Figure 1.11: Camera Dimensional Diagram

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1.3.3 Tripod Adapter Dimensions

1.3.4 Lens Mounting

Lenses are not included with individual cameras.

Related Knowledge Base Articles

Title Article

Selecting a lens for your camera

The FL3-U3-13S2 and FL3-U3-32S2 lens mount is compatible with CS-mount lenses. A 5 mm C-mount adapter is included.

The FL3-U3- 13Y3, FL3- U3-13E4, and FL3-U3- 88S2 lens mount is compatible with C-mount lenses. Correct focus cannot be achieved using a CS-mount lens on a C-mount camera.

Figure 1.12: Tripod Adapter Dimensional Diagram

Knowledge Base Article 345

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1.3.4.1 Back Flange Distance

The Back Flange Distance (BFD) is offset due to the presence of both a 1 mm infrared cutoff (IRC) filter and a 0.5 mm sensor package window. These two pieces of glass fit between the lens and the sensor image plane. The IRC filter is installed on color cameras. In monochrome cameras, it is a transparent piece of glass. The sensor package window is installed by the sensor manufacturer. Both components cause refraction, which requires some offset in flange back distance to correct.

For more information about the IRC filter, see Infrared Cut-Off Filters on next page.

1.3.5 Dust Protection

The camera housing is designed to prevent dust from falling directly onto the sensor's protective glass surface. This is achieved by placing a piece of clear glass (monochrome camera models) or an IR cut-off filter (color models) that sits above the surface of the sensor's glass. A removable plastic retainer keeps this glass/filter system in place. By increasing the distance between the imaging surface and the location of the potential dust particles, the likelihood of interference from the dust (assuming non-collimated light) and the possibility of damage to the sensor during cleaning is reduced.

n Cameras are sealed when they are shipped. To avoid contamination, seals should not

be broken until cameras are ready for assembly at customer's site.

n Use caution when removing the protective glass or filter. Damage to any component of

the optical path voids the Hardware Warranty.

n Removing the protective glass or filter alters the optical path of the camera, and may

result in problems obtaining proper focus with your lens.

Related Knowledge Base Articles

Title Article

Removing the IR filter from a col or camera

Selecting a lens for your camera

Knowledge Base Article 215

Knowledge Base Article 345

1.3.6 Mounting with the Case or Mounting Bracket

Using the Case

The case is equipped with the following mounting holes:

n Two (2) M2 x 2mm mounting holes on the top of the case n Three (3) M3 x 2.5mm mounting holes on the bottom of the case n Four (4) M2 x 2mm mounting holes on the bottom of the case that can be used to attach the camera directly to

a custom mount or to the tripod mounting bracket

Using the Mounting Bracket

Thetripod mounting bracket is equipped with two (2) M3 and one (1) M2 mounting holes.

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1.3.7 Infrared Cut-Off Filters

Point Grey color camera models are equipped with an additional infrared (IR) cut-off filter. This filter can reduce sensitivity in the near infrared spectrum and help prevent smearing. The properties of this filter are illustrated in the results below.

Figure 1.13: IR filter transmittance graph

In monochrome models, the IR filter is replaced with a transparent piece of glass.

The following are the properties of the IR filter/protective glass:

Type Reflective

Material Schott D 263 T

Physical Filter Size 14 mm x 14 mm

Glass Thickness 1.0 mm

Dimensional Tolerance +/-0.1 mm

Coating Filters Scott D 263 T

For more information, see Dust Protection on previous page.

Related Knowledge Base Articles

Title Article

Removing the IR filter from a col or camera

Knowledge Base Article 215

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1.4 Handling Precautions and Camera Care

Do not open the camera housing. Doing so voids the Hardware Warranty described at the beginning of this manual.

Your Point Grey digital camera is a precisely manufactured device and should be handled with care. Here are some tips on how to care for the device.

n Avoid electrostatic charging.

n When handling the camera unit, avoid touching the lenses. Fingerprints will affect the quality of the image

produced by the device.

n To clean the lenses, use a standard camera lens cleaning kit or a clean dry cotton cloth. Do not apply excessive

force.

n Extended exposure to bright sunlight, rain, dusty environments, etc. may cause problems with the electronics

and the optics of the system.

n Avoid excessive shaking, dropping or any kind of mishandling of the device.

Related Knowledge Base Articles

Title Article

Solving probl ems with static electricity

Cleaning the imaging surface of your camera

Knowledge Base Article 42

Knowledge Base Article 66

1.4.1 Case Temperature and Heat Dissipation

You must provide sufficient heat dissipation to control the internal operating temperature of the camera.

The camera is equipped with an on-board temperature sensor. It allows you to obtain the temperature of the camera board-level components. The sensor measures the ambient temperature within the case. This feature can be accessed using the TEMPERATURE register 82Ch (page 32).

Table 1.1: Temperature Sensor Specifications

Accuracy 0.5°C

Range -25°C to +85°C

Resolution 12 bits

As a result of packing the camera electronics into a small space, the outer case of the camera can become very warm to the touch when running in some high data rate video modes. This is expected behavior and will not damage the camera electronics.

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To reduce heat, use a cooling fan to set up a positive air flow around the camera, taking into consideration the following precautions:

n Mount the camera on a heat sink, such as a camera mounting bracket, made out of a heat-conductive material

like aluminum.

n Make sure the flow of heat from the camera case to the bracket is not blocked by a non-conductive material

like plastic.

n Make sure the camera has enough open space around it to facilitate the free flow of air.

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1.5 Camera Interface and Connectors

1.5.1 USB3.0 Connector

The camera is equipped with a USB 3.0 Micro- B connector that is used for data transmission, camera control and power. For more detailed information, consult the USB 3.0 specification available from

http://www.usb.org/developers/docs/.

Figure 1.14: USB 3.0 Micro B Connector

Table 1.2: USB 3.0 Micro-B Connector Pin Assignments

Pin Signal Name Description

1 VBUS Power

2 D-

3 D+

4 ID OTG identification

5 GND Ground for power return

6 MicB_SSTX-

7 MicB_SSTX+

8 GND_DRAIN Ground for SuperSpeed signal return

9 MicB_SSRX-

10 MicB_SSRX+

USB 2.0 differential pair

SuperSpeed transmitter differential pair

SuperSpeed receiver differential pair

The USB 3.0 Micro-B receptacle accepts a USB 2.0 Micro- B plug and, therefore, the camera is backward compatible with the USB 2.0 interface.

When the camera is connected to a USB 2.0 interface, it runs at USB2.0 speed, and maximum frame rates are adjusted accordingly based on current imaging parameters.

Related Knowledge Base Articles

Title Article

USB 3.0 Frequently Asked Questions

1.5.2 Interface Card

The camera must connect to an interface card. This is sometimes called a host adapter, a bus controller, or a network interface card (NIC).

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In order to achieve the maximum benefits of USB3.0, the camera must connect to a USB3.0 PCIe 2.0 card.

To purchase a compatible card from Point Grey, visit the Point Grey Webstore or the Products Accessories page.

1.5.3 Interface Cables

The USB 3.0 standard does not specify a maximum cable length.

To purchase a recommended cable from Point Grey, visit the Point Grey Webstore or the Products Accessories page.

1.5.4 General Purpose Input/Output (GPIO)

The camera has an 8-pin GPIO connector on the back of the case; refer to the diagram below for wire color-coding. The connector is a Hirose HR25 8 pin connector (Mfg P/N: HR25-7TR-8SA). Male connectors (Mfg P/N: HR25-7TP-8P) can be purchased from Digikey (P/N: HR702-ND).

Diagram Pin Function Description

1 I0 Opto-isolated input (default Trigger in)

2 O1 Opto-isolated output

3 IO2 Input/Output/serial transmit (TX)

4 IO3 Input/Output/serial receive (RX)

5 GND Ground for bi-directional IO, V

6 OPTO_GND Ground for opto-isolated IO pins

7 V

8 +3.3 V Power external circuitry up to 150 mA

EXT

, +3.3 V pins

EXT

Allows the camera to be powered externally

Point Grey sells a 12 V wall-mount power supply equipped with a HR25 8-pin GPIO wiring harness for connecting to the camera (Part No. ACC-01-9006). For more information, see the miscellaneous product accessories page on the Point Grey website.

For more information on camera power, see Powering the Camera on page 29

For more information on configuring input/output with GPIO, see Input/Output Control on page 41.

For details on GPIO circuits, see GPIO Electrical Characteristics on page 59.

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2 Getting Started with Flea3 USB 3.0

2.1 Before You Install

2.1.1 Will your system configuration support the camera?

Recommended System Configuration

Operating

System

Windows 7 32- or 64-bit

CPU RAM Video Ports Software

Intel Core i3 3.1 GHz or equivalent

2 GB

Refer to Knowledge Base Article 368 for important information on recommended and unsupported USB 3.0 system components.

128 MB RAM

PCIe 2.0 compatible host controller with USB 3.0 connector

Microsoft Visual Studio 2005 SP1 and SP1 Update (to compile and run example code)

2.1.2 Do you have all the parts you need?

To install your camera you will need the following components:

n USB 3.0 cable (on page 21) n 8-pin GPIOconnector (on page 41) n CS-mount (or C-mount with adaptor)/C-mount (FL3-U3-13Y3) Lens (on page 15) n Interface card (on page 20)

Point Grey sells a number of the additional parts required for installation. To purchase, visit the Point Grey Webstore or the Products Accessories page.

2.1.3 Do you have a downloads account?

The Point Grey downloads page has many resources to help you operate your camera effectively, including:

n Software, including Drivers (required for installation) n Firmware updates and release notes n Dimensional drawings and CADmodels n Documentation

To access the downloads resources you must have a downloads account.

1. Go to the Point Grey downloads page.

2. Under Register (New Users), complete the form, then click Submit.

After you submit your registration, you will receive an email with instructions on how to activate your account.

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2.2 Installing Your Interface Card and Software

1. Install your Interface Card

Ensure the card is installed per the manufacturer's instructions.

Alternatively, use your PC's built-in host controller, if equipped.

Open the Windows Device Manager. Ensure the card is properly installed under Universal Serial Bus Controllers. An exclamation point (!) next to the card indicates the driver has not yet been installed.

2. Install the FlyCapture® Software

For existing users who already have FlyCapture installed, we recommend ensuring you have the latest version for optimal performance of your camera. If you do not need to install FlyCapture, use the DriverControlGUI to install and enable drivers for your card.

a. Login to the Point Grey downloads page.

b. Select your Camera and Operating System from the drop-down lists and click the Search button.

c. Click on the Software search results to expand the list.

d. Under FlyCapture v2x, click the appropriate link to begin the download and installation.

After the download is complete, the FlyCapture setup wizard begins. If the wizard does not start automatically, doubleclick the .exe file to open it. Follow the steps in each setup dialog.

3. Enable the Drivers for the card

During the FlyCapture installation, you are prompted to select your interface driver.

In the Interface Driver Selection dialog, select the I will use USB cameras.

For optimal performance, after setup, we recommend configuring the pgrxhci (UsbPro) driver on the host controller to operate directly with the camera.

To uninstall or reconfigure the driver at any time after setup is complete, use the DriverControlGUI (page 27).

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2.3 Installing Your Camera

1. Install the Tripod Mounting Bracket

The ASA and ISO-compliant tripod mounting bracket attaches to the camera using the included metal screws.

Cameras with metal cases should use metal screws; cameras with plastic cases should use plastic screws. Using improper screws may cause damage to the camera.

2. Attach a Lens

For FL3- U3-13S2/FL3- U3-32S2: Unscrew the dust cap from the CS-mount lens holder to install a lens. Note: the camera can be used with a removable 5 mm C- mount adapter.

For FL3-U3-13Y3: Unscrew the dust cap from the C-mount lens holder to install a lens.

3. Plug in the GPIO connector

GPIOcan be used for power, trigger, pulse width modulation, serial input output, and strobe.

The wiring harness must be compatible with a Hirose HR25 8-pin female GPIOconnector.

4. Connect the interface Card and Cable to the Camera

Plug the interface cable into the host controller card and the camera. The cable jack screws can be used for a secure connection.

5. Confirm Successful Installation

Check Device Manager to confirm that installation was successful.

a. Go to the Start menu, select Run, and enter devmgmt.msc.

Verify the camera is listed under "Point Grey Research Devices."

b. Run the FlyCap2 program: Start-> Point Grey Research->FlyCapture2-> FlyCap2

The FlyCap2 program can be used to test the camera's image acquisition capabilities.

Changes to your camera's installation configuration can be made using utilities available in the FlyCapture2 SDK (see

Configuring Camera Setup on page 27).

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2.4 Controlling the Camera

The camera's features can be accessed using various controls, including:

n FlyCapture2 SDK including API examples and the FlyCap program

n Control and Status Registers

Examples of the controls are provided throughout this document. Additional information can be found in the appendices.

2.4.1 Using FlyCapture

The user can monitor or control features of the camera through FlyCapture API examples provided in the FlyCapture SDK, or through the FlyCap2 Program.

FlyCap2 Program

The FlyCap2 application is a generic, easy-to-use streaming image viewer included with the FlyCapture2 SDK that can be used to test many of the capabilities of your compatible Point Grey camera. It allows you to view a live video stream from the camera, save individual images, adjust the various video formats, frame rates, properties and settings of the camera, and access camera registers directly. Consult the FlyCapture SDK Help for more information.

Custom Applications Built with the FlyCapture API

The FlyCapture SDK includes a full Application Programming Interface that allows customers to create custom applications to control Point Grey Imaging Products. Included with the SDK are a number of source code examples to help programmers get started.

FlyCapture API examples are provided for C, C++, C#, and VB.NET languages. There are also a number of precompiled examples.

2.4.2 Using Control and Status Registers

The user can monitor or control each feature of the camera through the control and status registers (CSRs) programmed into the camera firmware. These registers conform to the IIDC v1.32 standard (except where noted). Format tables for each 32-bit register are presented to describe the purpose of each bit that comprises the register. Bit 0 is always the most significant bit of the register value.

Register offsets and values are generally referred to in their hexadecimal forms, represented by either a ‘0x’ before the number or ‘h’ after the number, e.g. the decimal number 255 can be represented as 0xFF or FFh.

The controllable fields of most registers are Mode and Value.

2.4.2.1 Modes

Each CSR has three bits for mode control, ON_OFF, One_Push and A_M_Mode (Auto/Manual mode). Each feature can have four states corresponding to the combination of mode control bits.

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One_Push ON_OFF A_M_Mode State

(Self clear)

2.4.2.2 Values

If the Presence_Inq bit of the register is one, the value field is valid and can be used for controlling the feature. The user can write control values to the value field only in the Manual control state. In the other states, the user can only read the value. The camera always has to show the real setting value at the value field if Presence_Inq is one.

Not all features implement all modes.

Table 2.1: CSRMode Control Descriptions

N/A 0 N/A

N/A 1 1

0 1 0

1 0

Off state. Feature will be fixed value state and uncontrollable.

Auto control state. Camera controls feature by itself continuously.

Manual control state. User can control feature by writing value to the value field.

One-Push action. Camera controls feature by itself only once and returns to the Manual control state with adjusted value.

2.4.2.3 Using the Inquiry Registers

The camera provides a series of inquiry registers, which allow you to reference basic information about camera features. For information about the following inquiry registers, see:

n Inquiry Registers for Basic Functions and Feature Presence (page 133): To determine if a particular function or

feature is available on the camera.

n Inquiry Registers for Feature Elements (page 136): To determine if elements of a particular feature are

available on the camera.

n Video Format, Mode and Frame Rate Inquiry Registers (page 138): To determine which standard video format,

modes and frame rates are available on the camera.

The following additional inquiry registers are also available:

n Inquiry Registers for Custom Video Modes (page 144) n Inquiry Registers for Strobe Output (page 47) n Inquiry Registers for Serial I/O (page 55) n Inquiry Registers for Lookup Table Functionality (page 106)

2.4.2.4 Using the Absolute Value Registers

Many Point Grey cameras implement “absolute” modes for various camera settings that report real-world values, such as shutter time in seconds (s) and gain value in decibels (dB). Using these absolute values is easier and more efficient than applying complex conversion formulas to the information in the Value field of the associated Control and Status Register. A relative value does not always translate to the same absolute value. Two properties that can affect this relationship are pixel clock frequency and horizontal line frequency. These properties are, in turn, affected

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by such properties as resolution, frame rate, region of interest (ROI) size and position, and packet size. Additionally, conversion formulas can change between firmware versions. Point Grey therefore recommends using absolute value registers, where possible, to determine camera values.

For more information, see Absolute Value Registers on page 148.

2.5 Configuring Camera Setup

After successful installation of your camera and interface card, you can make changes to the setup. Use the tools described below to change the driver for your interface card.

For information on updating your camera's firmware post installation, see Camera Firmware on page 39.

2.5.1 Configuring Camera Drivers

Point Grey has created its own Extensible Host Controller Interface (xHCI) driver that is compatible with several USB

3.0 host controller chipsets. The PGRxHCI driver offers the best compatibility between the camera and host controller; Point Grey recommends using this driver when using Point Grey USB 3.0 cameras.

Point Grey’s PGRxHCI driver does not support USB devices from other manufacturers.

Related Knowledge Base Articles

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How does my USB 3.0 camera appear in Device Manager?

To manage and update drivers use the DriverControlGUI utility provided in the SDK. To open the DriverControlGUI:

Start Menu-->All Programs-->Point Grey Research-->FlyCapture2-->Utilities-->DriverControlGUI

Select the interface from the tabs in the top left. Then select your interface card to see the current setup.

For more information about using the DriverControlGUI, see the online help provided in the tool.

Knowledge Base Article 368

Knowledge Base Article 370

2.5.2 Maximum Number of Cameras on a Single Bus

A single USB port generally constitutes a single 'bus.' The USB 3.0 standard allows for multiple devices to be connected to a single bus. The number of cameras is limited by the following considerations:

n Adequate power supply. The camera requires a nominal 5 volts (V) to operate effectively. While a standard,

non-powered bus provides 500 milliamps (mA) of current at 5V, an internal, bus-powered hub provides only 400 mA. Externally-powered hubs provide 500 mA per port.

n Adequate bandwidth. The effective bandwidth available via the USB 3.0 bulk transfer method is 384 MB per

second. However, many USB 3.0 interface cards currently available are built on PCIe 1.0 architecture, and cannot exceed 180 MB per second. In contrast, the PCIe 2.0 interface can transfer just under 400 MB per second. Regardless of PCIe interface, bandwidth must be shared on the system, depending on the operating configuration of the cameras (resolution, frame rate, and pixel format).

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Related Knowledge Base Articles

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Knowledge Base Article 389

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3 General Camera Operation

3.1 Powering the Camera

The USB 3.0 Micro-B connector (page 20) provides a power connection between the camera and the host computer. The ideal input voltage is nominal 5 V DC.

The power consumption specification is: 5 V, <3 W, via GPIO or USB 3.0 interface.

Power can also be provided through the GPIO interface. For more information, see General Purpose Input/Output

(GPIO) on page 41. The camera selects whichever power source is supplying a higher voltage.

The camera does not transmit images for the first 100 ms after power-up. The auto-exposure and auto-white balance algorithms do not run while the camera is powered down. It may therefore take several (n ) images to get a satisfactory image, where n is undefined.

When the camera is power cycled (power disengaged then re-engaged), the camera will revert to its default factory settings, or if applicable, the last saved memory channel. For more information, see User Memory Channels on page

32.

3.1.1 CAMERA_POWER: 610h

Format:

Field Bit Description

Cam_Pwr_Ctrl [0]

[1-30] Reserved

Camera_Power_Status [31]

3.2 Device Information

Read: 0: Camera is powered down, or in the process of powering up (i.e., bit will be zero until camera completely powered up ), 1: Camera is powered up

Write: 0: Begin power-down process, 1: Begin power-up process

Read only Read: the pending value of Cam_Pwr_Ctrl

Information about the camera 's hardware, status and monitoring is available.

Serial Number—This specifies the unique serial number of the camera.

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Main Board Information—This specifies the type of camera (according to the main printed circuit board).

Sensor Board Information—This specifies the type of imaging sensor used by the camera.

Voltage—This allows the user to access and monitor the input as well as several of the internal voltages of the

cameras.

Current—This allows the user to access and monitor the current consumption of the camera.

Temperature—Allows the user to get the temperature of the camera board-level components. For cameras housed

in a case, it is the ambient temperature within the case. For more information about camera temperature, see Case

Temperature and Heat Dissipation on page 18.

Camera Power—Allows the user to power up or power down the camera.

Pixel Clock Frequency—This specifies the current pixel clock frequency (in Hz) in IEEE-754 32-bit floating point format.

The camera pixel clock defines an upper limit to the rate at which pixels can be read off the image sensor.

Horizontal Line Frequency—This specifies the current horizontal line frequency in Hz in IEEE-754 32-bit floating point format.

3.2.1 SERIAL_NUMBER: 1F20h

Format:

Field Bit Description

Serial_Number [0-31] Unique serial number of camera (read-only)

3.2.2 MAIN_BOARD_INFO: 1F24h

Format:

Field Bit Description

Major_Board_Design [0-11]

0x6: Ladybug Head 0x7: Ladybug Base Unit 0x10: Flea 0x18: Dragonfly2 0x19: Flea2 0x1A: Firefly MV 0x1C: Bumblebee2 0x1F:Grasshopper 0x22: Grasshopper2 0x21: Flea2G-13S2 0x24: Flea2G-50S5 0x26: Chameleon

0x27: Grasshopper Express 0x29: Flea3 FireWire 14S3/20S4 0x2A: Flea3 FireWire 03S3 0x2B: Flea3 FireWire 03S1 0x2F: Flea3 GigE 14S3/20S4 0x32: Flea3 GigE 13S2 0x34: Flea3 USB 3.0 0x36: Zebra2 0x39: Flea3 GigE 03S2/08S2 0x3E: Flea3 GigE 50S5 0x3F: Flea3 GigE28S4 0x40: Flea3 GigE03S1

Minor_Board_Rev [12-15] Internal use

Reserved [16-31] Reserved

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3.2.3 SENSOR_BOARD_INFO: 1F28h

The interpretation of this register varies depending on the camera type, as defined in the MAIN_ BOARD_INFO register 0x1F24 (page 30) . Read MAIN_ BOARD_INFO to determine how to use the Sensor_Type_x fields.

Format:

Field Bit Description

Sensor_Type_1 [0-11] tbd

Minor_Board_Rev [12-15] Internal use

Reserved [16-27] Reserved

Sensor_Type_2 [28-31] tbd

3.2.4 VOLTAGE: 1A50h – 1A54h

Format:

Offset Name Field Bit Description

Presence_Inq [0]

1A50h VOLTAGE_LO_INQ

1A54h VOLTAGE_HI_INQ [0-31]

- [1-7] Reserved

- [20-31] Reserved

3.2.5 CURRENT: 1A58h – 1A5Ch

Format:

Offset Name Field Bit Description

Presence_ Inq

1A58h

1A5Ch

CURRENT_ LO_INQ

CURRENT_ HI_INQ

Presence of this feature 0: Not available, 1: Available

[8-19] Number of voltage registers supported

32-bit offset of the voltage CSRs, which report the current voltage in Volts using the 32-bit floating-point IEEE/REAL*4 format.

[0]

[1-7] Reserved

[8-19] Number of current registers supported

[20-31] Reserved

[0-31]

Presence of this feature 0: Not available, 1: Available

32-bit offset of the current registers, which report the current in amps using the 32-bit floating-point IEEE/REAL*4 format.

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3.2.6 TEMPERATURE: 82Ch

Format:

Field Bit Description

Presence_Inq [0]

[1-19] Reserved

Value [20-31]

3.2.7 PIXEL_CLOCK_FREQ: 1AF0h

Format:

Field Bit Description

Pixel_Clock_Freq [0-31] Pixel clock frequency in Hz (read-only).

Presence of this feature 0: Not Available, 1: Available

Value. In Kelvin (0°C = 273.15K) in increments of one-tenth (0.1) of a Kelvin

3.2.8 HORIZONTAL_LINE_FREQ: 1AF4h

Format:

Field Bit Description

Horizontal_Line_Freq [0-31] Horizontal line frequency in Hz (read-only).

3.3 User Memory Channels

The camera can save and restore settings and imaging parameters via on- board configuration sets, also known as memory channels. This is useful for saving default power-up settings, such as gain, shutter, video format and frame rate, and others that are different from the factory defaults.

Memory channel 0 stores the factory default settings that can always be restored. Two additional memory channels are provided for custom default settings. The camera will initialize itself at power-up, or when explicitly reinitialized, using the contents of the last saved memory channel. Attempting to save user settings to the (read-only) factory defaults channel will cause the camera to switch back to using the factory defaults during initialization.

The following camera settings are saved in memory channels.

Frame Rate (including Absolute Value) (page 76) Image Data Format

Current Frame Rate (page 76) Image Position and Image Size (page 145)

Current Video Mode (page 76) Current Video Format (page 76)

Camera Power (page 29) Frame Information (page 119)

Brightness (including Absolute Value) (page 95) Trigger Mode (page 84)

Auto Exposure (including Absolute Value and Range) (page

114)

Trigger Delay (including Absolute Value) (page 89)

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Sharpness (page 101)

White Balance (page 109)

Hue (page 100) GPIOPin Modes (page 50)

Saturation (page 98) GPIOStrobe Modes (page 42)

Gamma (including Absolute Value) (page 103) GPIO PWM Modes (page 50)

Color Coding ID (page 146) Format 7 Bytes per Packet

3.3.1 MEMORY_SAVE: 618h

Format:

Field Bit Description

Memory_Save [0] 1 = Current status modes are saved to MEM_SAVE_CH (Self cleared)

3.3.2 MEM_SAVE_CH: 620h

Shutter (including Absolute Value, Auto Shutter Range, and Shutter Delay) (page 111)

Gain (including Absolute Value and Auto Gain Range) (page

96)

[1-31] Reserved

Format:

Field Bit Description

Mem_Save_Ch [0-3]

[4-31] Reserved

3.3.3 CUR_MEM_CH: 624h

Format:

Field Bit Description

Cur_Mem_Ch [0-3]

[4-31] Reserved

Read: The current memory channel number Write: Loads the camera status, modes and values from the specified memory channel.

3.3.4 Memory Channel Registers

The values of the following registers are saved in memory channels.

Write channel for Memory_Save command. Shall be >=0001 (0 is for factory default settings) See BASIC_FUNC_INQ register.

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CURRENT_FRAME_RATE 600h

CURRENT_VIDEO_MODE 604h

CURRENT_VIDEO_FORMAT 608h

CAMERA_POWER 610h

CUR_SAVE_CH 620h

BRIGHTNESS 800h

AUTO_EXPOSURE 804h

SHARPNESS 808h

WHITE_BALANCE 80Ch

HUE 810h

SATURATION 814h

GAMMA 818h

SHUTTER 81Ch

GAIN 820h

IRIS 824h

FOCUS 828h

TRIGGER_MODE 830h

TRIGGER_DELAY 834h

FRAME_RATE 83Ch

PAN 884h

TILT 888h

ABS_VAL_AUTO_EXPOSURE 908h

ABS_VAL_SHUTTER 918h

ABS_VAL_GAIN 928h

ABS_VAL_BRIGHTNESS 938h

ABS_VAL_GAMMA 948h

ABS_VAL_TRIGGER_DELAY 958h

ABS_VAL_FRAME_RATE 968h

IMAGE_DATA_FOR MAT 1048h

AUTO_EXPOSURE_RANGE 1088h

AUTO_SHUTTER_RANGE 1098h

AUTO_GAIN_RANGE 10A0h

GPIO_XTRA 1104h

SHUTTER_DELAY 1108h

GPIO_STRPAT_CTRL 110Ch

GPIO_CTRL_PIN_x 1110h, 1120h, 1130h, 1140h

GPIO_XTRA_PIN_x 1114h, 1124h, 1134h, 1144h

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GPIO_STRPAT_MASK_PIN_x 1118h, 1128h, 1138h, 1148h

FRAME_INFO 12F8h

IMAGE_POSITION 008h

IMAGE_SIZE 00Ch

COLOR_CODING_ID 010h

UDP_PORT 1F1Ch

DESTINATION_IP 1F34h

3.4 On-Camera Frame Buffer

The camera has 32 MB of memory that can be used for temporary image storage. This may be useful in cases such as:

n Retransmission of an image is required due to data loss or corruption. n Multiple camera systems where there is insufficient bandwidth to capture images in the desired configuration.

All images pass through the frame buffer mechanism. This introduces relatively little delay in the system because the camera does not wait for a full image to arrive in the buffer before starting transmission but rather lags only a few lines behind.

The user can cause images to accumulate by enabling the frame buffer. This effectively disables the transmission of images in favor of accumulating them in the frame buffer. The user is then required to use the remaining elements of the interface to cause the transmission of the images.

The buffer system is circular in nature, storing only the last 32 MB worth of image data. The number of images that this accommodates depends on the currently configured image size.

The standard user interaction involves the following steps:

1. Configure the imaging mode.

This first step involves configuring the format, mode and frame rate for acquiring images. This can be done by either directly manipulating the registers or using the higher level functionality associated with the software library being used. Depending on the software package, this may involve going so far as to configure the camera, perform bandwidth negotiation and grab an image. In cases where bandwidth is restricted, the user will want to disable transmission and free the bandwidth after the camera is configured.

2. Enable frame buffer accumulation

The second step involves enabling the frame buffer. Enabling this results in images being accumulated in the frame buffer rather than immediately being transmitted.

3. Negotiate bandwidth with the camera

Having accumulated some number of images on the camera, bandwidth will have to be renegotiated if it has not been done already. In most cases, this will involve effectively starting the camera in the imaging mode configured in step (1).

4. Disable isochronous transmission and enable buffered image transfer

To transfer buffered images, isochronous data transmission must be disabled, and transfer data enabled.

5. Transmit images off of the camera

The final step involves setting One Shot/Multi-shot in order to cause the camera to transmit one or more images from the frame buffer over the data interface.

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Although it is possible to repeatedly transmit the same image, there is no way to access images that are older than the last image transmitted.

Whether by enabling trigger or disabling isochronous data, switching out of a free running mode leaves the last image transmitted in an undefined state.

The frame buffer is volatile memory that is erased after power cycling. To store images on the camera after power cycling, use Non-Volatile Flash Memory on page 38. Accessing flash memory is significantly slower than accessing the frame buffer, and storage is limited.

3.4.1 IMAGE_RETRANSMIT: 634h

This register provides an interface to the camera’s frame buffer functionality.

Transmitting buffered data is available when continuous shot is disabled. Either One shot or Multi shot can be used to transmit buffered data when Transfer_Data_Select = 1. Multi shot is used for transmitting one or more (as specified by Count_Number) buffered images. One shot is used for retransmission of the last image from the retransmit buffer.

Image data is stored in a circular image buffer when Image_Buffer_Ctrl = 1. If the circular buffer overflows, the oldest image in the buffer is overwritten.

Transmitted data is always stored in the retransmit buffer. If a last or previous image does not exist, (for example, an image has not been acquired since a video format or mode change), the camera still transmits an image from the retransmit buffer, but its contents are undefined.

The image buffer is initialized when Image_Buffer_Ctr is written to ‘1’. Changing the video format, video mode, image_size, or color_coding causes the image buffer to be initialized and Max_Num_Images to be updated.

Format:

Field Bit Description

Image_Buffer_Ctrl [0]

Transfer_Data_Select [1]

[2-7] Reserved

Max_Num_Images [8-19]

Number_of_Images [20-31]

Image Buffer On/Off Control 0: OFF, 1: ON

Transfer data path 0: Live data, 1: Buffered image data Ignored if ISO_EN=1

Maximum number of images that can be stored in the current video format. Must be greater than zero. This field is read only.

The number of images currently in buffer. This field is read only.

3.4.2 Example: Retransmitting in Image External Mode Using Registers

There are occasions where it might be beneficial to retransmit an image when in an external trigger mode. Having configured the camera to be running in an external trigger mode, the user can cause the camera to retransmit an image by doing the following:

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1. Read the current state of the IMAGE_RETRANSMITregister 634h:

Read 634h 00 07 00 00

Reading register 634h indicates that the frame buffer mechanism is currently disabled, and in the current imaging mode, the system is capable of storing up to 7 images.

2. Enable image hold:

Write 634h 80 07 00 00

Setting bit 0 of register 634h to 1 enables images to accumulate in the frame buffer.

3. Enable buffered image transfer:

Write 634h C0 07 00 00

Setting bit 1 of register 634h to 1 enables transfer of buffered image data.

4. Retransmit the last image:

Write 61Ch 80 00 00 00

Setting bit 0 of register 61Ch to 1 causes the last image to be retransmitted.

5. Disable buffered image transfer:

Write 634h 00 07 00 00

Writing 0 to bits 0 and 1 of register 634h disables buffered image hold and transfer, and returns the camera to normal operation.

3.4.3 Example: Storing Images for Later Transmission Using Registers

Again, assuming the camera is configured to run in an external trigger mode:

1. Read the current state of register 634h:

Read 634h 00 07 00 00

Again, this value indicates that the frame buffer mechanism is currently disabled, and in the current imaging mode the system is capable of storing up to 7 images.

2. Enable hold image mode and buffer data transfer:

Write 634h C0 07 00 00

Setting bits 0 and 1 of register 634h enables image buffer hold and transfer, resulting in images being accumulated in the frame buffer for later transmission.

3. Acquire 4 images:

Write 62Ch 80 00 00 00

Read 634h C0 07 00 04

Writing to software trigger register 62Ch 4 times causes 4 images to accumulate in the frame buffer. The last 12 bits of register 634h will now indicate that there are 4 images in the frame buffer.

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4. Transmit two images:

Write 61Ch 80 00 00 00

Read 634h C0 07 00 02

Writing 1 to bit 0 of register 61Ch results in a single image being transmitted and the number of images available being decremented by one. After transmitting two images, a subsequent read of the register indicates that there are two images left.

3.5 Non-Volatile Flash Memory

The camera has 1 MB of non-volatile memory for users to store data.

Related Knowledge Base Articles

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3.5.1 DATA_FLASH_CTRL: 1240h

This register controls access to the camera’s on-board flash memory. Each bit in the data flash is initially set to 1.

The user can transfer as much data as necessary to the offset address (1244h), then perform a single write to the control register to commit the data to flash. Any modified data is committed by writing to this register, or by accessing any other control register.

Format:

Field Bit Description

Presence_Inq [0]

[1-5] Reserved

Clean_Page [6]

[7] Reserved

Page_Size [8-19]

Num_Pages [20-31]

Presence of this feature 0: Not Available, 1: Available

Read: 0: Page is dirty, 1: Page is clean

Write: 0: No-op, 1: Write page to data flash

8 == 256 byte page 9 == 512 byte page

11 == 2048 pages 13 == 8192 pages

3.5.2 DATA_FLASH_DATA: 1244h

This register provides the 32-bit offset to the start of where the data is stored in the flash memory.

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Format:

Offset Field Bit Description

1244h DF_Data [0-31] 32-bit offset to the start of data

3.6 Camera Firmware

Firmware is programming that is inserted into the programmable read-only memory (programmable ROM) of most Point Grey cameras. Firmware is created and tested like software. When ready, it can be distributed like other software and installed in the programmable read-only memory by the user.

The latest firmware versions often include significant bug fixes and feature enhancements. To determine the changes made in a specific firmware version, consult the Release Notes.

Firmware is identified by a version number, a build date, and a description.

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3.6.1 Determining Firmware Version

To determine the firmware version number of your camera:

n In FlyCapture, open the Camera Control dialog and click on Camera Information. n If you're implementing your own code, use flycaptureGetCameraRegister(). n Query the Firmware Version register 1F60h

3.6.2 Upgrading Camera Firmware

Camera firmware can be upgraded or downgraded to later or earlier versions using the UpdatorGUI program that is bundled with the FlyCapture SDK available from the Point Grey downloads site.

Before upgrading firmware:

n Install the SDK, downloadable from the Point Grey downloads site. n Ensure that FlyCapture2.dll is installed in the same directory as UpdatorGUI3. n Download the firmware file from the Point Grey downloads site.

3.6.3 FIRMWARE_VERSION: 1F60h

This register contains the version information for the currently loaded camera firmware.

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Format:

Field Bit Description

Major [0-7] Major revision number

Minor [8-15] Minor revision number

Type of release: 0: Alpha

Type [16-19]

Revision [20-31] Revision number

1: Beta 2: Release Candidate 3: Release

3.6.4 FIRMWARE_BUILD_DATE: 1F64h

Format:

Field Bit Description

Build_Date [0-31] Date the current firmware was built in Unix time format (read-only)

3.6.5 FIRMWARE_DESCRIPTION: 1F68-1F7Ch

Null padded, big-endian string describing the currently loaded version of firmware.

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4 Input/Output Control

4.1 General Purpose Input/Output (GPIO)

Table 4.1: GPIO pin assignments (as shown looking at rear of camera)

Diagram Pin Function Description

1 I0 Opto-isolated input (default Trigger in)

2 O1 Opto-isolated output

3 IO2 Input/Output/serial transmit (TX)

4 IO3 Input/Output/serial receive (RX)

5 GND Ground for bi-directional IO, V

6 OPTO_GND Ground for opto-isolated IO pins

7 V

8 +3.3 V Power external circuitry up to 150 mA

EXT

Allows the camera to be powered externally

, +3.3 V pins

EXT

Power can be provided through the GPIO interface. The camera selects whichever power source is supplying a higher voltage.

For details on GPIO circuits, see GPIO Electrical Characteristics on page 59.

4.2 GPIO Modes

4.2.1 GPIO Mode 0: Input

When a GPIO pin is put into GPIOMode 0 it is configured to accept external trigger signals. See Serial Communication

on page 51.

4.2.2 GPIO Mode 1: Output

When a GPIO pin is put into GPIOMode 1 it is configured to send output signals.

Do not connect power to a pin configured as an output (effectively connecting two outputs to each other). Doing so can cause damage to camera electronics.

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4.2.3 GPIO Mode 2: Asynchronous (External) Trigger

When a GPIO pin is put into GPIO Mode 2, and an external trigger mode is enabled (which disables isochronous data transmission), the camera can be asynchronously triggered to grab an image by sending a voltage transition to the pin. See Asynchronous Triggering on page 81.

4.2.4 GPIO Mode 3: Strobe

A GPIO pin in GPIO Mode 3 will output a voltage pulse of fixed delay, either relative to the start of integration (default) or relative to the time of an asynchronous trigger. A GPIOpin in this mode can be configured to output a variable strobe pattern. See Programmable Strobe Output below.

4.2.5 GPIOMode 4: Pulse Width Modulation (PWM)

When a GPIO pin is set to GPIO Mode 4, the pin will output a specified number of pulses with programmable high and low duration. See Pulse Width Modulation (PWM) on page 50.

4.3 Programmable Strobe Output

The camera is capable of outputting a strobe pulse off select GPIO pins that are configured as outputs. The start of the strobe can be offset from either the start of exposure (free-running mode) or time of incoming trigger (external trigger mode). By default, a pin that is configured as a strobe output will output a pulse each time the camera begins integration of an image.

The duration of the strobe can also be controlled. Setting a strobe duration value of zero produces a strobe pulse with duration equal to the exposure (shutter) time.

Multiple GPIO pins, configured as outputs, can strobe simultaneously.

Connecting two strobe pins directly together is not supported. Instead, place a diode on each strobe pin.

The camera can also be configured to output a variable strobe pulse pattern. The strobe pattern functionality allows users to define the frames for which the camera will output a strobe. For example, this is useful in situations where a strobe should only fire:

n Every Nth frame (e.g. odd frames from one camera and even frames from another); or n N frames in a row out of T (e.g. the last 3 frames in a set of 6); or n Specific frames within a defined period (e.g. frames 1, 5 and 7 in a set of 8)

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4.3.1 Synchronizing Image Capture with an Output Trigger or Strobe

The following diagrams illustrate the timing of an output trigger, such as a strobe, with both a global and a rolling shutter in free-running mode. Regardless of the type of shutter on the camera, the output trigger is synchronized to the shutter time of line 1 in each frame.

With a global shutter camera all lines of a frame are exposed at the same time. This means that the output trigger for a frame starts after the previous frame has completed exposure.

With a rolling shutter camera the lines of a frame are exposed in a staggered sequence. This means that the output trigger for a frame may start before the previous frame has completed exposure.

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As an example, if the output trigger is a strobe light, the light from the second frame will appear in the first frame as well. To reduce this effect, slow the frame rate to increase the time between frames. If the slower frame rate is not feasible, or the reduction of the effect not complete, a camera with a global shutter is recommended.

For more information on types of shutters see Global Shutter on page 79 and Rolling Shutter on page 79.

4.3.2 Example: Setting a GPIOPin to Strobe (Using the Camera Registers)

Consider the following example strobe scenario:

n Desired strobe output pin: GPIO2 n Strobe output characteristics: 500us delay from start of shutter, 1ms high duration (see below)

Determine the Default Output Pins

Electrically, general purpose input/output pins are in one of two states: input or output. In order for a GPIO pin to act as a strobe output source, it must be configured as an output. To determine which of the GPIO pins are outputs by default, get the value of the PIO_ DIRECTION register 0x11F8 (page 91) . The IOx_Mode fields (bits 0-3) report the current state of the corresponding pin. For example:

0x11F8 = 0x4000 0000

4 0 0 0 0 0 0 0 Hex

0100 0000 0000 0000 0000 0000 0000 0000 Binary

0-7 8-15 16-23 24-31 Bits

Each of the first four bits represents the current state of its associated GPIO pin: ‘0’ indicates it is an input/trigger, and ‘1’ indicates it is an output/strobe. In the example above, 0x4 = 0100 in binary, so GPIO1 is configured as an output and GPIO0, GIPIO2 and GPIO3 are inputs.

Set the Desired Pin as an Output

Following the example above, assume we want to configure GPIO2 to be an output. To do this, set the appropriate bit of the PIO_DIRECTION register 0x11F8 (in this case bit 2) to ‘1’. In the example above, we would therefore do the following register write:

0x11F8 = 0x6000 0000

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Determine Strobe Support

The next step is to determine whether our desired strobe pin, GPIO2, is capable of outputting a strobe signal. To do this, get the value of the appropriate STROBE_x_ INQ register (page 47); in this case, the STROBE_0_ INQ register 0x1408. Assuming we have correctly configured GPIO2 to be an output, we should get a value of:

8 E 0 0 0 F F F Hex

1000 1110 0000 0000 0000 1111 1111 1111 Binary

0-7 8-15 16-23 24-31 Bits

Bit 0 is a ‘1’, which confirms that the strobe functionality is present on this GPIO pin. Bit 4 points to the ability to read the value of this feature. Bit 5 indicates the ability to turn the strobe on and off, and bit 6 indicates that we can change the strobe signal polarity. Bits 8-19 are ‘0’, which means the minimum strobe duration is zero. Bits 20-31 are ‘0xFFF’ or 4096 in decimal, so the maximum strobe delay and duration is 4096.

Configure the Desired Pin to Output a Strobe

At this point, GPIO2 is set as an output pin and we know it can be a strobe signal source. Now, we need to enable it as a strobe source by “turning it on” using the GPIO pin’s STROBE_x_CNT register (page 47).

Continuing our example, the desired strobe pin is GPIO2. Therefore, we want to look at the STROBE_ 2_CNT register 0x1508. The values that we enter in the Delay_Value and Duration_ Value fields of this register are determined as follows: for values up to approximately 0x400 (1024 decimal), each value increment is a tick of a 1.024MHz clock. Values between 0x401 and 0xFF become non-linear in the manner shown in the figure below:

Duration_Value/Delay_Value Real Time (ms)

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0x050 0.078

0x200 0.5

0x400 1

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Duration_Value/Delay_Value Real Time (ms)

0x600 2

0x800 4

0x900 6

0xA00 8

0xB00 12

0xC00 16

0xD00 24

0xE00 32

0xF00 48

0xFFF 63.93

For example, to achieve a 500us delay and 1ms duration we calculate:

Delay_Value = 0.0005s * 1024000Hz = 512 = 0x200

Duration_Value = 0.001s * 1024000Hz = 1024 = 0x400

To finish configuring GPIO2 to output a strobe pulse of 500us delay from the start of integration and 1ms high duration (high active output), we make the following final register write:

0x1508 = 0x8320 0400

4.3.3 Example: Setting a GPIOPin to Strobe (Using the FlyCapture API)

The following FlyCapture 2.x code sample uses the C++ interface to do the following:

n Configures GPIO1 as the strobe output pin. n Enables strobe output. n Specifies an active high (rising edge) strobe signal. n Specifies that the strobe signal begin 1 ms after the shutter opens. n Specifies the duration of the strobe as 1.5 ms.

Assuming a Camera object cam:

StrobeControl mStrobe;

mStrobe.source = 1;

mStrobe.parameter = 0;

mStrobe.onOff = true;

mStrobe.polarity = 1;

mStrobe.delay = 1.0f;

mStrobe.duration = 1.5f

cam.SetStrobeControl(&mStrobe);

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4.3.4 Strobe Signal Output Registers

This section describes the control and inquiry registers for the Strobe Signal functionality.

4.3.4.1 Strobe Output Registers

To calculate the base address for an offset CSR:

1. Query the offset inquiry register.

2. Multiple the value by 4. (The value is a 32-bit offset.)

3. Remove the 0xF prefix from the result. (i.e., F70000h becomes 70000h)

Format:

Offset Name Field Bit Description

STROBE_

48Ch

Base +0hSTROBE_CTRL_

Base + 100h

Base + 104h

Base + 108h

Base + 10Ch

OUTPUT_CSR_ INQ

INQ

STROBE_0_INQ

STROBE_1_INQ Same definition as Strobe_0_Inq

STROBE_2_INQ Same definition as Strobe_0_Inq

STROBE_3_INQ Same definition as Strobe_0_Inq

Strobe_Output_ Quadlet_Offset

Strobe_0_Inq [0] Presence of strobe 0 signal

Strobe_1_Inq [1] Presence of strobe 1 signal

Strobe_2_Inq [2] Presence of strobe 2 signal

Strobe_3_Inq [3] Presence of strobe 3 signal

- [4-31] Reserved

Presence_Inq [0] Presence of this feature

ReadOut_Inq [4] Ability to read the value of this feature

On_Off_Inq [5] Ability to switch feature ON and OFF

Polarity_Inq [6] Ability to change signal polarity

Min_Value [8-19] Minimum value for this feature control

Max_Value [20-31] Maximum value for this feature control

[0-31]

[1-3] Reserved

[7] Reserved

32-bit offset of the Strobe output signal CSRs from the base address of initial register space

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Offset Name Field Bit Description

Presence of this feature 0: Not Available, 1: Available

Read: read a status Write: ON or OFF this function

0: OFF, 1: ON If this bit = 0, other fields will be read only.

When ON, strobe signals continue to output after the camera stops streaming images. To stop strobe output, this bit must be explici tly turned OFF.

Select signal polarity

If Polarity_Inq = 1:

Base + 200h

Presence_Inq [0]

[1-5] Reserved

On_Off [6]

STROBE_0_CNT

Signal_Polarity [7]

Delay_Value [8-19] Delay after start of exposure until the strobe signal asserts

Duration_Value [20-31]

Base + 204h

Base + 208h

Base + 20Ch

STROBE_1_CNT

STROBE_2_CNT Same definition as Strobe_0_Cnt

STROBE_3_CNT Same definition as Strobe_0_Cnt

Same definition as Strobe_0_ Cnt

4.3.4.2 GPIO_STRPAT_CTRL: 110Ch

This register provides control over a shared 4-bit counter with programmable period. When the Current_Count equals N a GPIO pin will only output a strobe pulse if bit[N] of the GPIO_STRPAT_MASK_PIN_x register’s Enable_Pin field is set to ‘1’.

Read to get strobe output polarity Write to change strobe output polarity

If Polarity_Inq = 0, then Read only

0: Low active output, 1: High active output

Duration of the strobe signal

A value of 0 means de-assert at the end of exposure, if required.

Field Bit Description

Presence_Inq [0]

[1-18] Reserved

Count_Period [19-23]

[24-27] Reserved

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Presence of this feature 0: Not Available, 1: Available

Controls the period of the strobe pattern Valid values: 1..16

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Field Bit Description

Read-only

Current_Count [28-31]

The value of the bit index defined in GPIO_ x_STRPAT_MASK that will be used during the next image’s strobe. Current_Count increments at the same time as the strobe start signal occurs.

4.3.4.3 GPIO_STRPAT_MASK_PIN: 1118h-1148h

These registers define the actual strobe pattern to be implemented by GPIO pins in conjunction with the Count_ Period defined in GPIO_STRPAT_CTRL register 110Ch.

For example, if Count_Period is set to ‘3’, bits 16-18 of the Enable_Mask can be used to define a strobe pattern. An example strobe pattern might be bit 16=0, bit 17=0, and bit 18=1, which will cause a strobe to occur every three frames (when the Current_Count is equal to 2).

Pin Register

0 GPIO_STRPAT_MASK_PIN_0 1118h

1 GPIO_STRPAT_MASK_PIN_1 1128h

2 GPIO_STRPAT_MASK_PIN_2 1138h

3 GPIO_STRPAT_MASK_PIN_3 1148h

Format:

Field Bit Description

Presence_Inq [0]

[1-15] Reserved

Enable_Mask [16-31]

Presence of this feature 0: Not Available, 1: Available

Bit field representing the strobe pattern used in conjunction with Count_Period in GPIO_STRPAT_CTRL

0: Do not output a strobe, 1: Output a strobe

4.3.4.4 GPIO_XTRA: 1104h

The GPIO_XTRA register controls when a strobe starts: relative to the start of integration (default) or relative to the time of an asynchronous trigger.

Format:

Field Bit Description

Strobe_Start [0]

[1-31] Reserved

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Current Mode

0: Strobe start is relative to start of integration (default) 1: Strobe start is relative to external trigger

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4.4 Pulse Width Modulation (PWM)

When a GPIO pin is set to PWM (GPIO Mode 4), the pin will output a specified number of pulses with programmable high and low duration.

The pulse is independent of integration or external trigger. There is only one real PWM signal source (i.e. two or more pins cannot simultaneously output different PWMs), but the pulse can appear on any of the GPIO pins.

The units of time are generally standardized to be in ticks of a 1.024 MHz clock. A separate GPIO pin may be designated as an “enable pin”; the PWM pulses continue only as long as the enable pin is held in a certain state (high or low).

The pin configured to output a PWM signal (PWM pin) remains in the same state at the time the ‘enable pin’ is disabled. For example, if the PWM is in a high signal state when the ‘enable pin’ is disabled, the PWM pin remains in a high state. To re-set the pin signal, you must re-configure the PWM pin from GPIO Mode 4 to GPIO Mode 1.

4.4.1 GPIO_CTRL_PIN: 1110h-1140h

These registers provide control over the GPIOpins.

Pin Register

0 GPIO_CTRL_PIN_0 1110h

1 GPIO_CTRL_PIN_1 1120h

2 GPIO_CTRL_PIN_2 1130h

3 GPIO_CTRL_PIN_3 1140h

Format:

Field Bit Description

Presence_Inq [0]

[1-11] Reserved

Pin_Mode [12-15]

[16-30]

Presence of this feature 0: Not Available, 1: Available

Current GPIO Mode: 0: Input 1: Output 2: Asynchronous Trigger 3: Strobe 4: Pulse width modulation (PWM)

For Modes 0, 1, and 2: Reserved For Mode 4 (PWM:) see below

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Field Bit Description

For Modes 0, 1, and 2: Data field

Data [31]

Pwm_Count [16-23]

[24] Reserved

En_Pin [25-27]

[28] Reserved

Disable_Pol [29]

En_En [30]

Pwm_Pol [31]

0 = 0 V (falling edge), 1 = +3.3 V (rising edge)

For Mode 4 (PWM): see below

Number of PWM pulses

Read: The current count; counts down the remaining pulses. After reaching zero, the count does not automatically reset to the previously-written value.

Write: Writing the number of pulses starts the PWM. Write 0xFF for infinite pulses. (Requires write of 0x00 before writing a different value.)

The GPIO pin to be used as a PWM enable i.e. the PWM continues as long as the En_Pin is held in a certain state (high or low).

Polarity of the PWM enable pin (En_Pin) that will disable the PWM. If this bit is 0, the PWM is disabled when the PWM enable pin goes low.

0: Disable enable pin (En_Pin) functionality 1: Enable En_Pin functionality

Polarity of the PWM signal 0: Low, 1: High

4.4.2 GPIO_XTRA_PIN: 1114h-1144h

These registers contain mode specific data for the GPIO pins. Units are ticks of a 1.024MHz clock.

Pin Register

0 GPIO_XTRA_PIN_0 1114h

1 GPIO_XTRA_PIN_1 1124h

2 GPIO_XTRA_PIN_2 1134h

3 GPIO_XTRA_PIN_3 1144h

Format:

Field Bit Description

Mode_Specific_1 [0-15] GPIO_MODE_4: Low period of PWM pulse (if Pwm_Pol = 0)

Mode_Specific_2 [16-31] GPIO_MODE_4: High period of PWM pulse (if Pwm_Pol = 0)

4.5 Serial Communication

The camera is capable of serial communications at baud rates up to 115.2 Kbps via the on-board serial port built into the camera’s GPIO connector. The serial port uses TTL digital logic levels. If RS signal levels are required, a level converter must be used to convert the TTL digital logic levels to RS voltage levels.

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Related Knowledge Base Articles

Title Article

Configuring and testing the RS-232 serial port

Knowledge Base Article 151

SIO Buffers

Both the transmit and receive buffers are implemented as circular buffers that may exceed the 255 byte maximum.

n The transmit buffer size is 512 B.

n The receive buffer size is 8 KB.

Block reads and writes are both supported. Neither their length nor their address have to be 32-bit aligned or divisible by 4.

4.5.1 Serial Output Transaction (Transmitting Data)

A general overview of the steps for a serial output transaction, where the camera is transmitting data to a receiving serial port, is as follows:

1. In TRANSMIT_BUFFER_STATUS_CONTROL register 7000Ch, read the available data space of the current transmit buffer TBUF_ST field.

2. Write characters to the SIO_DATA_REGISTER 70100h.

3. In TRANSMIT_BUFFER_STATUS_CONTROL register 7000Ch, write the valid output data length to the TBUF_CNT field to start transmit.

4. To output more characters, repeat step 1.

4.5.1.1 Example: Transmitting Characters to a PC

This example describes how to send four (4) characters from the camera to the serial port on a PC. Microsoft’s HyperTerminal program (Start Menu > All Programs > Accessories > Communications) is used to display the characters received from the camera.The process detailed by the table below involves the user enabling transmit, verifying that the transmit buffer is ready, writing four characters to the transmit buffer via the data access registers and then verifying that the characters are ready before finally transmitting them.

Step Action Register Input/Expected Output

1. Plug the camera in and start FlyCap.

2. Open the Camera Control Dialog and select the Register tab.

3. Get the current baud rate, character length setting, parity setting and stop bit setting.

Get Register 0x70000

0x060800FF

n 0x06 = 19200bps n 0x08 = 8bit, no parity, 1 stop n 0xFF = 255 byte buffer

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Step Action Register Input/Expected Output

4. Open a HyperTerminal window and create a new connection, setting the COM Port Settings to match the current camera settings obtained in step 3.

5. Enable the serial output (transmit).

6. Verify transmit buffer ready.

7. Send four (4) characters to the output buffer on the camera.

8. Verify that the transmit buffer is currently storing 4 bytes worth of characters.

Set Register 0x70004 0x40000000

Get Register 0x70004 0x40800000

0x31323334

Set Register 0x70100

n ASCII = 1234

0xFF040000

Get Register 0x7000C

n 0xFF = 255 bytes of buffer space

remaining

n 0x04 = 4 bytes currently stored and

waiting to be transmitted

9. Send the characters from the output buffer to the PC’s serial port.

Set Register 0x7000C

0xFF040000

n HyperTerminal should echo the

characters “1234”

To send more than four characters, either:

n Repeat steps 7 through 9 above, and send characters in sets of four using register 0x70100; or n Do a block write of all the characters using registers 0x70104 – 0x701FF (see the FlyCapture API

documentation for information on doing block transfers).

Although both types of writes to the transmit buffer may have to be 32-bit aligned, the number of characters transmitted does not.Subsequent writes to the buffer will simply overwrite characters that were not transmitted during a previous transmit.

The actual transmit buffer size may be larger than that reported in step 3 above. See SIO Buffers on previous page . When this is the case, the “buffer space remaining” that is reported in step 8 will not decrease until the actual buffer space remaining is less than 255 bytes.

4.5.2 Serial Input Transaction (Receiving Data)

A general overview of the steps for a serial input transaction, where the camera is receiving data from a transmitting serial port, is as follows:

1. In RECEIVE_BUFFER_STATUS_CONTROL register 70008h, read the valid data size of current receive buffer RBUF_ST.

2. Write the input data length to RBUF_CNT field.

3. Read received characters from SIO_DATA_REGISTER 70100h.

4. To input more characters, repeat step 1.

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4.5.2.1 Example: Receiving Characters from a PC

This example describes how to send four (4) characters from the PC to the camera’s serial port. Microsoft’s HyperTerminal program (Start Menu > All Programs > Accessories > Communications) is used to send the characters received from the camera.The process detailed by the table below involves the user enabling receive, having characters sent to the camera, checking to insure that the receive buffer is ready to be read, verifying that the characters have arrived and then having them transferred to the data access registers before they are read out.

Step Action Register Input/Expected Output

1. Repeat steps 1 to 4 described in

Example: Transmitting Characters to a PC (page 52)

2. Enable the serial input (receive).

3. Verify no receive data framing errors. (page 54)

4. Send four (4) characters to the input buffer on the camera. For test purposes, type the characters “ABCD” in the HyperTerminal window.

5. Verify that the receive data buffer is ready to be read.

6. Verify that the receive buffer is currently storing 4 bytes worth of characters, which are waiting to be read.

Set Register 0x70004 0x80000000

0x80000000

n 0x80040000 indicates a receive

data framing error, possibly due

Get Register 0x70004

to a noisy RS-232 line or incorrect baud rate/port settings.

n 0x80020000 indicates a receive

data parity error

By default, characters will not be displayed in the HyperTerminal window. To echo typed characters to the screen, select File > Properties > Settings tab > ASCII Setup…

Get Register 0x70004 0x80200000

Get Register 0x70008 0x04000000

7. Send four (4) characters from the input buffer to the data access register.

8. Verify that four (4) characters are ready to be read from the data access register.

9. Read the four (4) characters from the data access register.

To receive more than four characters, either:

Revised 9/27/2012

Set Register 0x70008 0x00040000

Get Register 0x70008 0x00040000

0x41424344

Get Register 0x70100

n Assumes input was “ABCD”

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n Repeat steps above, and receive characters in sets of four using register 70100h; or n Do a block read of all of the characters using registers 0x70104 – 0x701FF. For example, if 12 characters were

received (0x70008 = 0x0C000000), Set Register 0x70008 to 0x000C0000 and begin reading the bytes starting at 0x70104 (see the FlyCapture API documentation for information on doing block transfers).

Although both types of reads from the receive buffer may have to be 32-bit aligned, the number of characters received does not. Extra characters read will simply be filled with 0’s.

The actual receive buffer size may be larger than that reported in step 3 above. See SIO Buffers on page 52.

4.5.3 Transmitting and Receiving Data Simultaneously

Simultaneous transmitting and receiving of data can be achieved in a manner very similar to that illustrated by the previous two examples. The primary difference is that register 70004h must be set to 0xC0000000 to enable both transmit and receive. Once this has been done transmit and receive transactions can be interleaved as may be required by the application.

4.5.4 Serial Input/Output Registers

This section describes the control and inquiry registers for the serial input/output (SIO) control functionality.

To calculate the base address for an offset CSR:

1. Query the offset inquiry register.

2. Multiple the value by 4. (The value is a 32-bit offset.)

3. Remove the 0xF prefix from the result. (i.e., F70000h becomes 70000h)

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Offset Name Field Bit Description

SIO_

488h

SIO_CONTROL_ CSR_INQ

Base +0hSERIAL_MODE_

REG

Control_ Quadlet_

[0-31]

Offset

Baud_Rate [0-7]

32-bit offset of the SIO CSRs from the base address of initial register space

Baud rate setting

Read: Get current baud rate Write: Set baud rate

0: 300 bps 1: 600 bps 2: 1200 bps 3: 2400 bps 4: 4800 bps 5: 9600 bps 6: 19200 bps 7: 38400 bps 8: 57600 bps 9: 115200 bps 10: 230400 bps

Char_ Length

[8-15]

Parity [16-17]

Stop_Bit [18-19]

[20-23] Reserved

Buffer_ Size_Inq

[24-31]

Other values reserved

Character length setting

Read: Get data length Write: Set data length (must not be 0)

7: 7 bits, 8: 8 bits

Other values reserved

Parity setting

Read: Get current parity Write: Set parity

0: None, 1: Odd, 2: Even

Stop bits

Read: Get current stop bit Write: Set stop bit

0: 1, 1: 1.5, 2: 2

Buffer Size (Read-Only)

This field indicates the maximum size of the receive/transmit data buffer. See also SIO Buffers on page 52

If this value=1, Buffer_Status_Control and SIO_Data_Register characters 1-3 should be ignored.

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Offset Name Field Bit Description

Receive enable

Indicates if the camera's ability to receive data has been enabled.

Base +4hSERIAL_

CONTROL_REG

RE [0]

TE [1]

- [2-7] Reserved

Enabling this register causes the receive capability to be immediately started. Disabling this register causes the data in the buffer to be flushed.

Read: Current status Write: 0 Disable, 1: Enable

Transmit enable

Indicates if the camera's ability to transmit data has been enabled. Enabling this register causes the transmit capability to be immediately started. Disabling this register causes data transmission to stop immediately, and any pending data is discarded.

Read: Current status Write: 0: Disable, 1: Enable

Transmit data buffer ready (read only)

SERIAL_ STATUS_REG

Indicates if the transmit buffer is ready to receive data from the user. It

TDRD [8]

will be in the Ready state as long as TBUF_ST != 0 and TE is enabled.

Read only

0: Not ready, 1: Ready

- [9] Reserved

Receive data buffer ready (read only)

Indicates if the receive buffer is ready to be read by the user. It will be

RDRD [10]

in the Ready state as long as RBUF_ST != 0 and RE is enabled.

Read only

0: Not ready, 1: Ready

- [11] Reserved

Receive buffer over run error

ORER [12]

Read: Current status Write: 0: Clear flag, 1: Ignored

Receive data framing error

FER [13]

Read: Current status Write: 0: Clear flag, 1: Ignored

Receive data parity error

PER [14]

Read: Current status Write: 0: Clear flag, 1: Ignored

- [15-31] Reserved

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Offset Name Field Bit Description

SIO receive buffer status

Base + 8h

RECEIVE_ BUFFER_ STATUS_ CONTROL

RBUF_ST [0-8]

Indicates the number of bytes that have arrived at the camera but have yet to be queued to be read.

Read: Valid data size of current receive buffer Write: Ignored

SIO receive buffer control

Base + Ch

TRANSMIT_ BUFFER_ STATUS_ CONTROL

RBUF_CNT [8-15]

Indicates the number of bytes that are ready to be read.

Read: Remaining data size for read Write: Set input data size

- [16-31] Reserved

SIO output buffer status

Indicates the minimum number of free bytes available to be filled in the transmit buffer. It will count down as bytes are written to any of the SIO_DATA_REGISTERs starting at 2100h. It will count up as bytes

TBUF_ST [0-8]

are actually transmitted after a write to TBUF_CNT. Although its maximum value is 255, the actual amount of available buffer space may be larger.

Read: Available data space of transmit buffer Write: Ignored

SIO output buffer control

Indicates the number of bytes that have been stored since it was last written to. Writing any value to TBUF_CNT will cause it to go to 0. Writing a number less than its value will cause that many bytes to be

TBUF_CNT [8-15]

transmitted and the rest thrown away. Writing a number greater than its value will cause that many bytes to be written - its value being valid and the remainder being padding.

- [16-31] Reserved

Base + 100h

SIO_DATA_ REGISTER

Char_0 [0-7]

Char_1 [8-16]

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Read: Written data size to buffer Write: Set output data size for transmit.

Character_0

Read: Read character from receive buffer. Padding data if data is not available.

Write: Write character to transmit buffer. Padding data if data is invalid.

Character_1

Read: Read character from receive buffer+1. Padding data if data is not available.

Write: Write character to transmit buffer+1. Padding data if data is invalid.

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Offset Name Field Bit Description

Character_2

Read: Read character from receive buffer+2. Padding data if data is not

Base + 104h : Base + 1FFh

SIO_DATA_ REGISTER_ALIAS

Char_2 [17-23]

Char_3 [24-31]

[0-31] Alias SIO_Data_Register area for block transfer.

available.

Write: Write character to transmit buffer+2. Padding data if data is invalid.

Character_3

Read: Read character from receive buffer+3. Padding data if data is not available.

Write: Write character to transmit buffer+3. Padding data if data is invalid.

4.6 GPIO Electrical Characteristics

Opto-isolated input pins require an external pull up resistor to allow triggering of the camera by shorting the pin to the corresponding opto ground (OPTO_GND). Non opto-isolated input pins are internally pulled high using weak pullup resistors to allow triggering by shorting the pin to GND. Inputs can also be directly driven from a 3.3 V or 5 V logic output.

The inputs are protected from over voltage.

When configured as outputs, each line can sink 10 mA of current. To drive external devices that require more, consult Knowledge Base Article 200 for information on buffering an output signal using an optocoupler.

The V A.

The +3.3V pin is fused at 150 mA. External devices connected to Pin 8 should not attempt to pull anything greater than that.

4.6.1 GPIO0 (Opto-Isolated Input) Circuit

pin (Pin 7) allows the camera to be powered externally. The voltage limit is 5-24 V, and current is limited to 1

EXT

To avoid damage, connect the OPTO_GND pin first before applying voltage to the GPIO line.

The figure below shows the schematic for the opto-isolated input circuit.

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Figure 4.1: Optical input circuit

n Logical 0 input voltage: 0 VDC to +1 VDC (voltage at OPTO_IN) n Logical 1 input voltage: +1.5 VDC to +24 VDC (voltage at OPTO_IN) n Maximum input current: 8.3mA n Behavior between 1 VDC and 1.5 VDC is undefined and input voltages between those values should be avoided n Input delay time: 4 μs

4.6.2 GPIO1 (Opto-Isolated Output) Circuit

The figure below shows the schematic for the opto-isolated output circuit. The maximum current allowed through the opto-isolated output circuit is 25 mA.

Figure 4.2: Optical output circuit

The following table lists the switching times for the opto-isolator in the output pin, assuming an output VCC of 5 V and a 1kΩ resistor.

Parameter Value

Delay Time 9 μs

Rise Time 16.8 μs

Storage Time 0.52 μs

Fall Time 2.92 μs

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The following table lists several externalvoltage and resistor combinations that have been tested to work with the opto-isolated output.

External Voltage External Resistor OPTO_OUT Voltage OPTO_OUT Current

3.3 V 1 kΩ 0.56 V 2.7 mA

5 V 1 kΩ 0.84 V 4.2 mA

12 V 2.4 kΩ 0.91 V 4.6 mA

24 V 4.7 kΩ 1.07 V 5.1 mA

4.6.3 GPIO 2/3 (Bi-Directional) Circuit

Figure 4.3: GPIO2/3 Circuit

Input Side

n Logical 0 input voltage: 0 VDC to +0.5 VDC (voltage at GPIO2/3) n Logical 1 input voltage: +1.5 VDC to +24 VDC (voltage at GPIO2/3) n Behavior between 0.5 VDC and 1.5 VDC is undefined and input voltages between those values should be

avoided

To avoid damage, connect the ground (GND) pin first before applying voltage to the GPIO line.

Output Side

The maximum output current allowed through the bi-directional circuit is 25 mA (limit by PTC resistor), and the output impedance is 40 Ω.

The following table lists several external voltage and resistor combinations that have been tested to work with the bidirectional GPIO when configured as output.

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External Voltage

3.3 V 1 kΩ 0.157 V

5 V 1 kΩ 0.218 V

12 V 1 kΩ 0.46 V

24 V 1 kΩ 0.86 V

External Resistor

external

)

GPIO2/3 Voltage

The following table lists the switching times for a standard GPIO pin, assuming an output VCC of 5V and a 1 kΩ resistor.

Parameter Value

Delay Time 0.28 μs

Rise Time 0.06 μs

Storage Time 0.03 μs

Fall Time 0.016 μs

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Point Grey Flea3 USB 3.0Technical Reference 5VideoFormats, Modesand Frame Rates

5 Video Formats, Modes and Frame Rates

5.1 Video Modes Overview

The camera implements a number of Format 7 customizable video modes. These modes, which may increase frame rate and image intensity, operate by selecting a specific region of interest (ROI) of the image, or by configuring the camera to aggregate pixel values using a process known as “binning.” Some modes implement a combination of ROI and binning.

On Point Grey cameras, binning refers to the aggregation of pixels. Analog binning is aggregation that occurs before the analog to digital conversion. Digital binning is aggregation that occurs after the analog to digital conversion. Unless specified otherwise, color data is maintained in binning modes.

On FL3-U3-32S2 models, no frame rate increase is achieved through binning. A frame rate increase may be achieved by reducing ROI, depending on Format 7 mode. For more information, see Format 7 Mode Descriptions (page 64).

The figures below illustrate how binning works. 2x vertical binning aggregates two adjacent vertical pixel values to form a single pixel value. 2x horizontal binning works in the same manner, except two adjacent horizontal pixel values are aggregated.

Figure 5.1: 2x Vertical and 2x Horizontal Binning

In most cases, pixels are added once they are binned. Additive binning usually results in increased image intensity. Another method is to average the pixel values after aggregation. Binning plus averaging results in little or no change in the overall image intensity.

Moving the ROI position to a different location does not require the camera to be stopped (isochronous transmission disabled) and restarted (iso enabled), unless the change is illegal (e.g. moving the ROI outside the imaging area).

Changing the position or size of the ROI requires approximately one frame time to implement. Changing the Format 7 mode requires up to approximately three frame times to implement.

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Additional binning information can be obtained by reading the FORMAT_7_ RESIZE_INQ (page 144) register 0x1AC8. The implementation of Format 7 modes and the frame rates that are possible are not specified by the IIDC, and are subject to change across firmware versions.

For information about configuring the camera in Format 7 mode, see Video Format, Mode, and Frame Rate Settings

on page 76.

For information about configuring Format 7 modes/sizes and Format 7- related inquiry registers, see Supported

Formats, Modes and Frame Rates on page 69.

When operating in Format 7 mode, the Feature_Lo_Inq register 408h reports the presence of the Pan and Tilt features. However, these feature are off and cannot be turned on.

Pixel correction (page 127) is not done in any of the binning modes.

5.1.1 Video Mode Descriptions

Mode Models Description Frame Rate Increase

0 All ROI No No No

FL3-U3-13S2M FL3-U3-13E4M FL3-U3-32S2M

FL3-U3-13E4C Yes Yes No

FL3-U3-13Y3M

FL3-U3-13E4C

FL3-U3-13E4M

FL3-U3-13S2C

FL3-U3-32S2C FL3-U3-88S2C

FL3-U3-13S2C FL3-U3-13S2M FL3-U3-32S2C

FL3-U3-32S2M

FL3-U3-13E4C FL3-U3-13E4M

FL3-U3-13S2C FL3-U3-13S2M

FL3-U3-32S2C FL3-U3-32S2M

10 FL3-U3-88S2C 4000 x 3000 (12 MP) resolution at 15 FPS No No No

2X/2X Additive Binning

2X/2X Subsampling

2X/2X Su bsampling Yes No No

2X/2X On sensor Binning

Output 12bits Extended shutter

Rolling Shu tter No No Yes

Smaller fields at faster frame rate No No No

Brightness

Increase

No Yes No

Yes No No

No Yes Yes

No No No

SNR

Improved

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Mode 0

Mode 0 allows only for specifying a region of interest, and does not perform any binning. Frame rate does not increase when ROI size is reduced.

Mode 1

Mode 1 implements a combination of 2X horizontal and 2X vertical additive binning. This mode results in a resolution that is both half the width and half the height of the original image.

For the FL3-U3-13S2, FL3- U3-13E4, and FL3-U3-32S2 mono models, mode 1 may result in an increase in brightness and improved signal-to-noise ratio. Frame rate does increase.

For the FL3-U3-13E4 color model, frame rate and brightness increase but there is no improvement to signal-to-noise ratio.

Mode 1 (FL3-U3-13Y3M)

For the FL3-U3-13Y3M, mode 1 implements a combination of 2X horizontal and 2X vertical subsampling. This mode results in a resolution that is both half the width and half the height of the original image.

Frame rate increases, but there is no increase in brightness nor improvement to signal-to-noise ratio.

Mode 2

Mode 2 implements a combination of 2X horizontal and 2X vertical subsampling. It results in a faster frame rate, but there is no increase in brightness or improvement to signal-to-noise ratio.

Mode 4

Mode 4 implements a combination of 2X horizontal and 2X vertical binning. Both horizontal and vertical binning are performed on the sensor, prior to color processing. It results in an increase in image intensity by a factor of four, and improved signal-to-noise ratio.

Mode 7

Mode 7 allows only for specifying a region of interest, and does not perform any binning. This mode uses a slower pixel clock, and is recommended for longer extended shutter times (FL3-U3-13S2 to 1 second and FL3-U3-32S2 to 32 seconds). Frame rate does not increase when ROI size is reduced. Mode 7 output is in 12 bits.

Mode 7 (FL3-U3-13E4)

For the FL3-U3-13E4 mono and color cameras, mode 7 enables a rolling shutter. There is no increase in frame rate or brightness, but signal-to-noise ratio may be improved.

Mode 8

Mode 8 is a region of interest mode, with no binning, and is recommended for smaller fields of vision at faster frame rates. On FL3-U3-13S2 models, the maximum size of the ROI is 688 x 504. The width must be a multiple of 16. The ROI can change position within the entire 2080 x 1552 pixel array. The maximum frame rate stays constant regardless of the ROIsize.

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On FL3-U3-32S2 models, the ROI size can range from 16 to 2080 pixels wide and 2 to 1080 pixels high, making the minimum image size 16 x 2 and the maximum size 2080 x 1080. The ROI can change position within the entire 2080x1552 pixel array.

Specifying an image size outside the allowable parameters of the Mode 8 cut-out returns an error from register VALUE_SETTING: 07Ch (page 148).

The first two frames following a change in the size or position of the Mode 8 cut-out are invalid.

Mode 10 (FL3-U3-88S2)

For FL3- U3-88S2, mode 10 allows a maximum image size of 4000 x 3000 (12 MP) with a maximum frame rate of 15FPS. There is no pixel correction (page 127) in mode 10. Only 8-bit and 12-bit pixel formats support 12 MP; 16-bit pixel formats support 11 MP and 24-bit pixel formats support 7.4 MP.

5.1.2 Calculating Format 7 Frame Rates

The theoretical frame rate (FPS) that can be achieved given the number of packets per frame (PPF) can be calculated as follows:

FPS = 1 / (Packets per Frame * 125us)

An estimate for the number of packets per frame can be determined according to the following:

PPF = (Image_Size * Bytes_Per_Pixel) / Bytes_Per_Packet

For the exact number of packets per frame, query the PACKET_PER_FRAME_INQ register. For the number of bytes per packet, query the BYTE_PER_PACKET register.

For example, assuming an image size of 1032x776, pixel format of Mono16 (2 bytes per pixel), and 3880 bytes per packet, the calculation would be as follows:

FPS = 1 / ((1032*776*2 / 3880 ) * 0.000125 )

FPS = 1 / (412.8 * 0.000125 )

FPS = 19.38

5.2 Pixel Formats

Pixel formats are an encoding scheme by which color or monochrome images are produced from raw image data. Most pixel formats are numbered 8, 12, or 16 to represent the number of bits per pixel.

The camera's ADC (page 12), which digitizes the images , is configured to a fixed bit output. If the pixel format selected has fewer bits per pixel than the ADCoutput, the least significant bits are dropped. If the pixel format selected has greater bits per pixel than the ADC output, the least significant bits are padded with zeros.

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5.2.1 Raw

Raw is a pixel format where image data is Bayer RAW untouched by any on board processing. Selecting a Raw format bypasses the FPGA/color core which disables image processing, such as gamma/LUT and color encoding, but allows for faster frame rates.

5.2.2 Mono

Mono is a pixel format where image data is monochrome. Color cameras using a mono format enable FPGA/color core image processing such as access to gamma/LUT.

Y8 and Y16 are also monochrome formats with 8 and 16 bits per pixel respectively.

Pixel Format Bits per Pixel

Mono 8, Raw 8 8

Mono 12, Raw 12, YUV 411 12

Mono 16, Raw 16, YUV 422 16

RGB 8, YUV 444 24

5.2.3 RGB

RGB is a color-encoding scheme that represents the intensities of red, green, and blue channels in each pixel. Each color channel uses 8 bits of data. With 3 color channels, a single RGB pixel is 24 bits.

5.2.4 YUV

YUV is a color-encoding scheme that assigns both brightness (Y) and color (UV) values to each pixel. Each Y, U, and V value comprises 8 bits of data. Data transmission can be in 24, 16, or 12 bits per pixel. For 16 and 12 bits per pixel transmissions, the U and V values are shared between pixels to free bandwidth and possibly increase frame rate.

YUV444 is considered a high resolution format which transmits 24 bits per pixel. Each Y, U, and V value has 8 bits.

YUV422 is considered a medium resolution format which transmits 16 bits per pixel. Each Y value has 8 bits, but the U and V values are shared between 2 pixels. This reduces the bandwidth of an uncompressed video signal by one-third with little to no visual difference.

YUV411 is considered a low resolution format which transmits 12 bits per pixel. Each Y value has 8 bits, but the U and V values are shared between 4 pixels. The reduces bandwidth by one half compared to YUV444, but also reduces the color information being recorded.

YUVcan be either packed or planar. Packed is when the Y, U, and V components are stored in a single array (macropixel). Planar is when the Y, U, and V components are stored separately and then combined to form the image. Point Grey cameras use packed YUV.

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Related Knowledge Base Articles

Title Article

Understanding YUVdata formats

Knowledge Base Article 313

5.2.5 Y16 (16-bit Mono) Image Acquisition

The camera can output Y16 (16 bits-per-pixel) mono images. Because the camera's A/D converter is less than 16 bits, unused bits are zero.

Related Knowledge Base Articles

Title Article

Method for converting signal-to-noise ratio (SNR) to/from bits of data

The PGM file format can be used to correctly save 16- bit images. Although the availability of photo manipulation/display applications that can correctly display true 16-bit images is limited, XV in Linux and Adobe Photoshop are two possibilities.

5.2.5.1 DATA_DEPTH: 630h

This register allows the user to control the endianness of Y16 images.

Knowledge Base Article 170

Format:

Field Bit Description

Data_Depth [0-7]

Little_Endian [8]

[9-31 Reserved

5.2.6 Y8 or Y16 Raw Bayer Output

When operating in Y8 or Y16 mode, color models can output either grayscale or raw Bayer data.

Selecting a half- width, half-height image size and monochrome pixel format, such as 800x600 Y8, using a non- Format 7 mode provides a monochrome binned image. In some cases, enabling raw Bayer output in mono mode provides a raw Bayer region of interest of 800x600, centered within the larger pixel array. This has an effect on the field of view.

Effective data depth of current image data.

If read value of Data_Depth is zero, shall ignore this field. Read: Effective data depth Write: Ignored

Little endian mode for 16-bit pixel formats only

Write/Read: 0: Big endian mode (default on initialization) 1: Little endian mode

5.2.6.1 BAYER_MONO_CTRL: 1050h

This register enables raw Bayer output in non-Format 7 Y8/Y16 modes, or Format 7 Mono8/Mono16 modes.

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Format:

Field Bit Description

Presence_Inq [0]

[1-30] Reserved.

[31] Value

Bayer_Mono_Ctrl

Presence of this feature. 0: Not Available, 1: Available

0: Disable raw Bayer output in mono modes, 1: Enable raw Bayer output in mono modes

5.3 Supported Formats, Modes and Frame Rates

The tables on the following pages show the supported pixel formats and mode combinations, along with achievable frame rates at varying resolutions, for each camera model.

5.3.1 FL3-U3-13S2 Video Modes

5.3.1.1 FL3-U3-13S2 Standard Formats, Modes and Frame Rates

Models: •13S2M • 13S2C

Modes 3.75 FPS 7.5 FPS 15 FPS 30 FPS 60 FPS 120 FPS

1280 x 960 YUV422

1280 x 960 RGB

1280 x 960 Y8

1280 x 960 Y16

• • (default) • • •

• • • •

•• •• • (default)• •• •• ••

•• •• •• •• ••

5.3.1.2 FL3-U3-13S2 Custom Formats, Modes and Frame Rates

For FL3-U3-13S2 in Format 7 modes the image width must be a multiple of 16.

Many USB 3.0 PCI Express Gen 2.0 motherboards limit data rates to ~180MByte/s. The FlyCap2 Camera Selection dialog shows the supported PCIe bus speed. If you select a video format/mode that requires data rates above what is supported, the camera will skip images.

For example: 1920 x 1080, 60 FPS, YUV422 = ~248 MB/s

Table 5.1: FL3-U3-13S2M Custom Formats, Modes and Frame Rates

Mode 0

Pixel Format 1328 x 1048 1280 x 960 640 x 480 320 x 240 160 x 120

8-bit (Mono) 120 120 120 120 120

12-bit (Mono) 97 109 120 120 120

16-bit (Mono, Raw) 73 81 120 120 120

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Mode 1

Pixel Format 656 x 524 640 x 480 320 x 240 160 x 120

All Formats 120 120 120 120

Mode 7

Pixel Format 1328 x 1048 1280 x 960 640 x 480 320 x 240 160 x 120

All Formats 60 60 60 60 60

Mode 8

Pixel Format 688 x 504 640 x 480 320 x 240 160 x 120

All Formats 243 243 243 243

In mode 8, the maximumsize of the ROI i s 688 x504. The width must be a multiple of 16.

Images acquired by color cameras using Mono8, Mono12 or Mono16 modes are converted to greyscale on the camera. Users interested in accessing the raw Bayer data to apply their own color conversion algorithm or one of the FlyCapture library algorithms should refer to Accessing

Raw Bayer Data on page 117.

Table 5.2: FL3-U3-13S2C Custom Formats, Modes and Frame Rates

Mode 0

Pixel Format 1328 x 1048 1280 x 960 640 x 480 320 x 240 160 x 120

8-bit (Mono, Raw) 120 120 120 120 120

12-bit (Mono, Raw, YUV411) 97 109 120 120 120

16-bit (Mono, Raw, YUV422) 73 81 120 120 120

24-bit (YUV444, RGB) 47 55 120 120 120

Mode 4

Pixel Format 656 x 524 640 x 480 320 x 240 160 x 120

All Formats 120 120 120 120

Mode 7

Pixel Format 1328 x 1048 1280 x 960 640 x 480 320 x 240 160 x 120

8-, 12-, 16-bit (Mono, Raw, YUV411, YUV422) 60 60 60 60 60

24-bit (YUV444, RGB) 48 55 60 60 60

Mode 8

Pixel Format 688 x 504 640 x 480 320 x 240 160 x 120

All Formats 243 243 243 243

In mode 8, the maximumsize of the ROI i s 688 x504. The width must be a multiple of 16.

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5.3.2 FL3-U3-13Y3 Video Modes

5.3.2.1 FL3-U3-13Y3 Standard Formats, Modes and Frame Rates

Modes 15 FPS 30 FPS 60 FPS

1280 x 960 Y8

1280 x 960 Y16

Modes default to highest frame rate

• • •

5.3.2.2 FL3-U3-13Y3 Custom Formats, Modes and Frame Rates

For example: 1920 x 1080, 60 FPS, YUV422 = ~248 MB/s

Table 5.3: FL3-U3-13Y3M Custom Formats, Modes and Frame Rates

Mode 0

Pixel Format 1280 x 1024 1280 x 960 640 x 480 320 x 240 160 x 120

8-bit (Raw) 150 157 301 284 284

16-bit (Raw) 71 77 296 284 284

8-, 12-bit (Mono) 89 95 186 350 350

16-bit (Mono) 71 77 186 350 350

Mode 1

Pixel Format 640 x 512 640 x 480 320 x 240 160 x 120

8-bit (Raw) 430 450 450 450

16-bit (Raw) 230 310 440 440

8-, 12-, 16-bit (Mono) 230 230 230 230

Choosing a Mono pixel format enables FPGA processing, i.e., Gamma/Lookup Table, but limits the frame rate. Choosing a Raw pixel format disables FPGA processing, but increases the frame rate.

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5.3.3 FL3-U3-13E4 Video Modes

5.3.3.1 FL3-U3-13E4 Standard Formats, Modes and Frame Rates

Models: •13E4M • 13E4C

Modes 1.875 FPS 3.75 FPS 7.5 FPS 15 FPS 30 FPS 60 FPS

1280 x 960 YUV422

1280 x 960 RGB

1280 x 960 Y8

1280 x 960 Y16

Modes default to highest frame rate.

• • • • • •

• • • • •

• •• •• • • •• ••

• • •• •• •• •• ••

5.3.3.2 FL3-U3-13E4 Custom Formats, Modes and Frame Rates

For example: 1920 x 1080, 60 FPS, YUV422 = ~248 MB/s

Table 5.4: FL3-U3-13E4M Custom Formats, Modes and Frame Rates

Mode 0

Pixel Format 1280 x 1024 1280 x 960 640 x 480 320 x 240 160 x 120

All Formats 60 64 124 230 410

Mode 1

Pixel Format 640 x 512 640 x 480 320 x 240 160 x 120

All Formats 60 60 60 60

Mode 2

Pixel Format 640 x 512 640 x 480 320 x 240 160 x 120

All Formats 118 118 118 118

Mode 7

Pixel Format 1280 x 1024 1280 x 960 640 x 480 320 x 240 160 x 120

All Formats 60 60 60 60 60

Raw Bayer Data on page 117.

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Table 5.5: FL3-U3-13E4C Custom Formats, Modes and Frame Rates

Mode 0

Pixel Format 1280 x 1024 1280 x 960 640 x 480 320 x 240 160 x 120

8-bit (Mono, Raw) 40 43 124 234 419

12-bit (Mono, Raw, YUV411) 26 28 114 234 419

16-bit (Mono, Raw, YUV422) 20 21 86 234 419

24-bit (YUV444, RGB) 13 14 57 229 419

Mode 1

Pixel Format 640 x 512 640 x 480 320 x 240 160 x 120

8-, 12-, 16-bit (Mono, Raw, YUV411, YUV422) 60 60 60 60

24-bit (YUV444, RGB) 53 57 60 60

Mode 2

Pixel Format 640 x 512 640 x 480 320 x 240 160 x 120

8-bit (Mono, Raw) 119 119 119 119

12-bit (Mono, Raw, YUV411) 108 114 119 119

16-bit (Mono, Raw, YUV422) 81 86 119 119

24-bit (YUV444, RGB) 53 57 119 119

Mode 7

Pixel Format 1280 x 1024 1280 x 960 640 x 480 320 x 240 160 x 120

8-bit (Mono, Raw) 40 43 60 60 60

12-bit (Mono, Raw, YUV411) 26 28 60 60 60

16-bit (Mono, Raw, YUV422) 20 21 60 60 60

24-bit (YUV444, RGB) 13 14 57 60 60

5.3.4 FL3-U3-32S2 Video Modes

5.3.4.1 FL3-U3-32S2 Standard Formats, Modes and Frame Rates

Models: •32S2M • 32S2C

Modes 1.875 FPS 3.75 FPS 7.5 FPS 15 FPS 30 FPS 60 FPS

1600 x 1200 YUV422

1600 x 1200 RGB8

1600 x 1200 Y8

1600 x 1200 Y16

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• • • • • (default)

• • • •

•• •• •• •• • (default)• ••

•• •• •• ••

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5.3.4.2 FL3-U3-32S2 Custom Formats, Modes and Frame Rates

For example: 1920 x 1080, 60 FPS, YUV422 = ~248 MB/s

Table 5.6: FL3-U3-32S2M Custom Formats, Modes and Frame Rates

Mode 0

Pixel Format 2080 x 1552 1600 x 1200 1280 x 960 640 x 480 320 x 240 160 x 120

8-bit (Mono) 60 60 60 60 60 60

12-bit (Mono) 42 60 60 60 60 60

16-bit (Mono, Raw) 31 52 60 60 60 60

Mode 1

Pixel Format 1040 x 776 640 x 480 320 x 240 160 x 120

All Formats 60 60 60 60

Mode 7

Pixel Format 2080 x 1552 1600 x 1200 1280 x 960 640 x 480 320 x 240 160 x 120

All Formats 15 15 15 15 15 15

Mode 8

Pixel Format 2080 x 1080 1280 x 960 640 x 480 320 x 240 160 x 120

8-bit (Mono) 86 97 182 182 182

12-bit (Mono) 60 97 182 182 182

16-bit (Mono, Raw) 45 82 182 182 182

In mode 8, the ROI size can ra nge from 16 to 2080 pixels wide and 2 to 1080 pixels high, making t he minimum image size 16 x 2 and the maximum size 2080 x 1080

Raw Bayer Data on page 117.

Table 5.7: FL3-U3-32S2C Custom Formats, Modes and Frame Rates

Mode 0

Pixel Format 2080 x 1552 1600 x 1200 1280 x 960 640 x 480 320 x 240 160 x 120

8-bit (Mono, Raw) 60 60 60 60 60 60

12-bit (Mono, Raw, YUV411) 37 60 60 60 60 60

16-bit (Mono, Raw, YUV422) 31 52 60 60 60 60

24-bit (YUV444, RGB) 20 34 55 60 60 60

Mode 4

Pixel Format 1040 x 776 640 x 480 320 x 240 160 x 120

All Formats 60 60 60 60

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Mode 7

Pixel Format 2080 x 1552 1600 x 1200 1280 x 960 640 x 480 320 x 240 160 x 120

All Formats 15 15 15 15 15 15

Mode 8

Pixel Format 2080 x 1080 1280 x 960 640 x 480 320 x 240 160 x 120

8-bit (Mono, Raw) 86 97 182 182 182

12-bit (Mono, Raw, YUV411) 60 97 182 182 182

16-bit (Mono, Raw, YUV422) 45 81 182 182 182

24-bit (YUV444, RGB) 29 55 182 182 182

In mode 8, the ROI size can ra nge from 16 to 2080 pixels wide and 2 to 1080 pixels high, making t he minimum image size 16 x 2 and the maximum size 2080 x 1080

5.3.5 FL3-U3-88S2 Video Modes

5.3.5.1 FL3-U3-88S2C Standard Formats, Modes and Frame Rates

Modes 1.875 FPS 3.75 FPS 7.5 FPS 15 FPS

1600 x 1200 YUV422

1600 x 1200 RGB

1600 x 1200 Y8

1600 x 1200 Y16

Modes default to highest frame ra te

• • • •

5.3.5.2 FL3-U3-88S2C Custom Formats, Modes and Frame Rates

For example: 1920 x 1080, 60 FPS, YUV422 = ~248 MB/s

Raw Bayer Data on page 117.

Table 5.8: FL3-U3-88S2C Custom Formats, Modes and Frame Rates

Mode 0

Pixel Format 4096 x 2160 1600 x 1200 1280 x 960 640 x 480 320 x 240 160 x 120

8-bit (Mono, Raw) 22 22 28 28 28 28

12-bit (Mono, Raw, YUV411) 16 28 28 28 28 28

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Mode 0

Pixel Format 4096 x 2160 1600 x 1200 1280 x 960 640 x 480 320 x 240 160 x 120

16-bit (Mono, Raw, YUV422) 12 28 28 28 28 28

24-bit (RGB, YUV444) 9* 28 28 28 28 28

*In Mode 0 24-bit, the FL3-U3-88S2C supports a maximumsi ze of 7.5 MP (for example, 3440 x 2160 or 4096 x 1820)

Mode 4

Pixel Format 2048 x 1080 1280 x 960 640 x 480 320 x 240 160 x 120

8-, 12-bit (Mono, Raw, YUV411) 60 60 60 60 60

16-bit (Mono, Raw, YUV422) 46 60 60 60 60

24-bit (RGB, YUV444) 28 55 60 60 60

Mode 10

Pixel Format

8-, 12-bit (Mono, Raw) 15 15 15 19 19 19 19

12-bit (Mono, Raw, YUV411)

16-bit (Mono, Raw, YUV422)

24-bit (RGB, YUV444) N/A N/A 8.5** 19 19 19 19

*In Mode 10 16-bit, the FL3-U3-88S2C supports a maximumsize of 11 MP (for example, 4000 x2750 or 3666 x 3000) **In Mode 10 24-bit, the FL3-U3-88S2C supports a maximumsize of 7.4 MP (for example, 4000 x1860 or 2480 x 3000)

4000 x

3000

11 13 13 19 19 19 19

N/A 10* 13 19 19 19 19

4000 x

2750

4000 x

1860

1280 x

960

640 x 480 320 x 240 160 x 120

5.4 Video Format, Mode, and Frame Rate Settings

The following settings control the video format and mode of the camera.

Frame Rate—This provides control over the frame rate of the camera. When this feature is in auto mode, exposure time is limited by the frame rate value dynamically, which is determined by the Current Frame Rate. When this feature is in manual mode, the actual frame interval (time between individual image acquisitions) is fixed by the frame rate value. The available frame rate range depends on the current video format and/or video mode.

This is set to OFF when the camera is operating in asynchronous trigger mode . For more information, see

Asynchronous Triggering on page 81.

Current Frame Rate—Allows the user to query and modify the current frame rate of the camera.

Current Video Mode—Allows the user to query and modify the current video mode of the camera.

Current Video Format—Allows the user to query and modify the current video format of the camera.

5.4.1 FRAME_RATE: 83Ch

Formulas for converting the fixed point (relative) values to floating point (absolute) values are not provided. Users wishing to work with real-world values should refer to Absolute Value CSRs (page

148).

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Format:

Field Bit Description

Presence_Inq [0]

Presence of this feature 0: Not Available, 1: Available

Absolute value control

Abs_Control [1]

[2-4] Reserved

One_Push [5]

ON_OFF [6]

A_M_Mode [7]

[8-19] Reserved

Value [20-31]

0: Control in the Value field, 1: Control in the Absolute value CSR.

If this bit = 1, the value in the Value field is read-only.

One push auto mode (controlled automatically only once)

Read: 0: Not in operation, 1: In operation Write: 1: Begin to work (self-cleared after operation)

If A_M_Mode = 1, this bit is ignored

Read: read a status Write: ON or OFF for this feature

0: OFF, 1: ON If this bit = 0, other fields will be read only

Read: read a current mode Write: set the mode

0: Manual, 1: Automatic

Value. A write to this value in ‘Auto’ mode will be ignored.

Related Resources

Title Link

FlyCapture SDK ExtendedShutterEx sample program ExtendedShutterEx

5.4.2 CURRENT_FRAME_RATE: 600h

Format:

Field Bit Description

Cur_V_Frm_Rate [0-2]

[3-31] Reserved.

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Current frame rate FrameRate_0 .. FrameRate_7

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5.4.3 CURRENT_VIDEO_MODE: 604h

Format:

Field Bit Description

Cur_V_Mode [0-3]

[4-31] Reserved.

Current video mode Mode_0 .. Mode_8

5.4.4 CURRENT_VIDEO_FORMAT: 608h

Format:

Field Bit Description

Cur_V_Format [0-2]

[3-31] Reserved.

Current video format Format_0 .. Format_7

5.4.5 Example: Setting a Standard Video Mode, Format and Frame Rate Using the FlyCapture API

The following FlyCapture2 code snippet sets the camera to: 640x480 Y8 at 60 FPS.

Camera.SetVideoModeandFrameRate( VIDEOMODE_640x480Y8 , FRAMERATE_60 );

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6 Image Acquisition

6.1 Global Shutter

For cameras with a global shutter sensor, for each frame all of the lines start and stop exposure at the same time. The exposure time for each line is the same. Following exposure, data readout begins. The readout time for each line is the same but the start and end times are staggered.

Some advantages of global shutter are more uniform brightness and minimal motion blur.

6.2 Rolling Shutter

For cameras with a rolling shutter sensor, for each frame each line begins exposure at an offset equal to each line's readout time. The exposure time for each line is the same, but the start and end times are staggered. Data readout for each line begins immediately following the line's exposure. The readout time for each line is the same, but the start and end times are staggered.

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One advantage of a rolling shutter is increased sensitivity. However, because exposure starts at different times throughout the frame, there are known artifacts such as skew, wobble, and partial exposure. For more information, see Rolling Shutter Artifacts on page 128.

6.3 Rolling Shutter with Global Reset

For cameras with a rolling shutter with global reset sensor, for each frame all of the lines start exposure at the same time but the end of exposure is delayed by the offset of the previous line's readout. The exposure time for each line gradually lengthens. Data readout for each line begins immediately following the line's exposure. The readout time for each line is the same, but the start and end times are staggered.

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An advantage of a rolling shutter with global reset is a reduction in image artifacts typical of rolling shutters such as skew and wobble. However, because exposure lengthens throughout the frame, there may be a gradual increase in brightness from top to bottom of an image. For more information, see Rolling Shutter Artifacts on page 128.

6.4 Asynchronous Triggering

The camera supports asynchronous triggering, which allows the start of exposure (shutter) to be initiated by an external electrical source (hardware trigger) or camera register write (software trigger).

Flea3 USB 3.0 Supported Trigger Modes

Model Mode More Information

All 0 Standard page 84

FL3-U3-13S2 FL3-U3-13Y3 FL3-U3-32S2 FL3-U3-88S2

All 15 Multishot page 85

1 Bulb page 84

Auto/one-push shutter and auto/one-push gain control is not supported in asynchronous trigger modes.

6.4.1 External Trigger Timing

The time from the external trigger firing to the start of shutter is shown below:

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Figure 6.1: External trigger timing characteristics

It is possible for users to measure this themselves by configuring one of the camera’s GPIO pins to output a strobe pulse (see Programmable Strobe Output on page 42) and connecting an oscilliscope up to the input trigger pin and the output strobe pin. The camera will strobe each time an image acquisition is triggered; the start of the strobe pulse represents the start of exposure.

6.4.2 Minimum Trigger Pulse Length

A digital signal debouncer helps to ensure that the camera does not respond to spurious electrical signals that are shorter than 16 ticks of the current pixel clock setting. This safeguard results in a minimum 16-tick delay before the camera responds to a trigger signal. The pixel clock frequency can be read from the floating point PIXEL_CLOCK_FREQ register 0x1AF0 (page 32).

6.4.3 Maximum Frame Rate in External Trigger Mode

This section only applies to Rolling Shutter models (FL3-U3-13S2 and FL3-U3-32S2).

When image capture on a rolling shutter camera is triggered by an external source, achievable frame rate is half the rate achievable in free-running mode, regardless of the rate that is specified. This difference is caused by a change in the way rolling shutter cameras operate between free-running and trigger modes.

In free-running mode, integration can occur as quickly as the camera's pixel clock allows, because by the time the bottom row of the image sensor has integrated, the top row is already read out, and is free to integrate the next image without delay.

In trigger mode, however, rolling shutter cameras begin read-out only after the entire image is integrated. The camera is not ready to receive another trigger until read-out is complete. Essentially, one frame is required for reset, and one frame for read-out. As a result, the frame rate achieved in trigger mode will be half the rate specified for free-running mode.

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6.4.4 Camera Behavior Between Triggers

When operating in external trigger mode, the camera clears charges from the sensor at the horizontal pixel clock rate determined by the current frame rate. For example, if the camera is set to 10 FPS, charges are cleared off the sensor at a horizontal pixel clock rate of 15 KHz. This action takes place following shutter integration, until the next trigger is received. At that point, the horizontal clearing operation is aborted, and a final clearing of the entire sensor is performed prior to shutter integration and transmission.

6.4.5 Changing Video Modes While Triggering

You can change the video format and mode of the camera while operating in trigger mode. Whether the new mode that is requested takes effect in the next triggered image depends on the timing of the request and the trigger mode in effect. The diagram below illustrates the relationship between triggering and changing video modes.

Figure 6.2: Relationship Between External Triggering and Video Mode Change Request

When operating in trigger mode 0 (page 84) or trigger mode 1 (page 84), video mode change requests made before point A on the diagram are honored in the next triggered image. The camera will attempt to honor a request made after point A in the next triggered image, but this attempt may or may not succeed, in which case the request is honored one triggered image later. In trigger mode 15 (page 85), change requests made after point A for any given image readout are honored only after a delay of one image.

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6.4.6 Trigger Modes

6.4.6.1 Trigger Mode 0 (“Standard External Trigger Mode”)

Trigger Mode 0 is best described as the standard external trigger mode. When the camera is put into Trigger Mode 0, the camera starts integration of the incoming light from external trigger input falling/rising edge. The Shutter valuedescribes integration time. No parameter is required. The camera can be triggered in this mode by using the GPIO pins as external trigger or by using a software trigger.

It is not possible to trigger the camera at full frame rate using Trigger Mode 0.

Figure 6.3: Trigger Mode 0 (“Standard External Trigger Mode”)

For FL3-U3-32S2 and FL3-U3-88S2 models operating in this trigger mode, exposure is controlled by the global reset feature of the sensor. This feature may reduce distortion artifacts typical of rolling shutter sensors. For more information, see Rolling Shutter Artifacts on page 128.

6.4.6.2 Trigger Mode 1 (“Bulb Shutter Mode”)

Also known as Bulb Shutter mode, the camera starts integration of the incoming light from external trigger input. Integration time is equal to low state time of the external trigger input.

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Figure 6.4: Trigger Mode 1 (“Bulb Shutter Mode”)

On FL3-U3-13Y3 a software trigger cannot be used for Trigger Mode 1.

6.4.6.3 Trigger Mode 15 (“Multi-Shot Trigger Mode”)

Trigger Mode 15 is a vendor-unique trigger mode that allows the user to fire a single hardware or software trigger and have the camera acquire and stream a predetermined number of images at the current frame rate.

The number of images to be acquired isdetermined by the Parameter field of the TRIGGER_MODE register 0x830

(page 90), which allows up to 255 images to be acquired from a single trigger. Writing a value of 0 to the parameter

field will result in an infinite number of images to be acquired, essentially allowing users to trigger the camera into a free-running mode. Once the trigger is fired, the camera will acquire N images with an exposure time equal to the value defined by the SHUTTER register, and stream the images to the host system at the current frame rate. Once this is complete, the camera can be triggered again to repeat the sequence.

Any write to the TRIGGER_MODE register 0x830 will cause the current sequence to stop.

During the capture of N images, the camera is still in an asynchronous trigger mode , rather than continuous (free-running) mode. The result of this is that the FRAME_RATE register 0x83C will be turned OFF, and the camera put into extended shutter mode. Users should therefore ensure that the maximum shutter time is limited to 1/frame_rate to get the N images captured at the current frame rate.

Related Knowledge Base Articles

Title Article

Extended shutter mode operation for DCAM-compliant PGR Imaging Products

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Figure 6.5: Trigger Mode 15 (“Multi-Shot Trigger Mode”)

FL3-U3-32S2 and FL3-U3-88S2 models operating in this trigger mode, if the number of acquired images is 1, exposure is controlled by the global reset feature of the sensor. This feature may reduce distortion artifacts typical of rolling shutter sensors. For more information, see Rolling Shutter Artifacts on page 128.

6.4.7 Example: Asynchronous Hardware Triggering (Using the Camera Registers)

The following example illustrates how to synchronize image acquisition to a trigger from an external hardware device in Trigger Mode 0 (page 84).

Determine the Default External Trigger Pin

One of the camera GPIO pins is configured as the default trigger. To determine which pin is the default input/trigger pin either:

1. See General Purpose Input/Output; or

2. Get the value of the TRIGGER_MODE register 0x830 (page 90). The Trigger_Source field (bits 8-10) is the current trigger source. For example, if the value represented by the Trigger_Source field is 0, the default trigger source is GPIO0.

For example:

0x830 = 0x80100000

8 0 1 0 0 0 0 0 Hex

1000 0000 0001 0000 0000 0000 0000 0000 B inary

0-7 8-15 16-23 24-31 Bits

This indicates that a Trigger Mode is available (bit 0 = 1) but not currently enabled (bit 6 = 0). It also indicates that GPIO0 is the default trigger pin (bits 8-10 = 0), and the default polarity of the pin is active low (bit 7 = 0), which means the camera will trigger on the falling edge of a pulse.

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Configure a Different GPIO Pin to be an External Trigger

If you wish to use a different GPIO pin as the external trigger instead of the default trigger, you will need to configure the specific pin to be an input trigger, then configure the camera to use this newly allocated trigger pin.

For example, to configure the camera to use GPIO2 as the external trigger pin:

1. Get the value of the PIO_DIRECTION register 0x11F8 (page 91) to determine the current states of each GPIO pin. For example:

0x11F8 = 0x20000000

2 0 0 0 0 0 0 0 Hex

0010 0000 0000 0000 0000 0000 0000 0000 Binary

0-7 8-15 16-23 24-31 B its

Each of the first four bits represents the current state of its associated GPIO pin: ‘0’ indicates it is a input/trigger, and ‘1’ indicates it is an output/strobe. In the example above, 0x2 = 0010 in binary, so GPIO0, GPIO1 and GPIO 3 are all configured as inputs and GPIO2 is an output.

2. To set GPIO2 in the example above to be an input/trigger, and all other GPIO pins as outputs:

0x11F8 = 0xD0000000

D 0 0 0 0 0 0 0 Hex

1101 0000 0000 0000 0000 0000 0000 0000 Binary

0-7 8-15 16-23 24-31 B its

3. Configure the camera to use GPIO2 as the external trigger source by setting bits 8-10 of the TRIGGER_MODE register (page 90). For example, for GPIO pin “2”, we set bits 8-10 to 010, which is 2 in binary):

0x830 = 0x8040000000 (assumes bits

11-31 are zero)

8 0 4 0 0 0 0 0 Hex

1000 0000 0100 0000 0000 0000 0000 0000 Binary

0-7 8-15 16-23 24-31 B its

Enable Trigger Mode

The camera must be put into Trigger Mode 0 to allow it to be externally triggered.

To do this in the FlyCap graphical user interface:

1. Open the Camera Control Dialog

2. Select the “Trigger” tab

3. Check the "Enable/disable trigger" (“Trigger On/Off” in earlier versions) checkbox

To do this by directly accessing the camera’s TRIGGER_MODE register (page 90):

1. Get register 0x830

2. Turn trigger Mode 0 ON by setting bit 6 to one (1) and setting bits 12-15 to zero (0)

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