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.
Page 3
Point Grey Flea3 USB 3.0Technical Reference
Table of Contents
1 Welcome to Flea3 USB 3.01
1.1 Flea3 USB 3.0 Specifications1
1.1.1 FL3-U3-13S2M(Mono) Imaging Performance3
1.1.2 FL3-U3-13S2C(Color) Imaging Performance4
1.1.3 FL3-U3-13Y3M(Mono) Imaging Performance5
1.1.4 FL3-U3-13E4M(Mono) Imaging Performance6
1.1.5 FL3-U3-13E4C (Color) Imaging Performance7
1.1.6 FL3-U3-32S2M(Mono) Imaging Performance8
1.1.7 FL3-U3-32S2C (Color) Imaging Performance9
1.1.8 FL3-U3-88S2C (Color) Imaging Performance10
1.1.9 Flea3 USB 3.0 Camera Comparison11
1.2 Analog-to-Digital Conversion12
1.3 Flea3 USB 3.0 Mechanical Properties13
1.3.1 Physical Description13
1.3.2 Camera Dimensions14
1.3.3 Tripod Adapter Dimensions15
1.3.4 Lens Mounting15
1.3.4.1 Back Flange Distance16
1.3.5 Dust Protection16
1.3.6 Mounting with the Case or Mounting Bracket16
1.3.7 Infrared Cut-Off Filters17
1.4 Handling Precautions and Camera Care18
1.4.1 Case Temperature and Heat Dissipation18
1.5 Camera Interface and Connectors20
1.5.1 USB3.0 Connector20
1.5.2 Interface Card20
1.5.3 Interface Cables21
1.5.4 General Purpose Input/Output (GPIO)21
2 Getting Started with Flea3 USB 3.022
2.1 Before You Install22
2.1.1 Will your system configuration support the camera?22
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
ChapterWhat 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. VideoFormats, 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)
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)
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
AppendixRegister Reference Information (page 130)
Contacting Point GreyHow 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
TitleArticle
Title of the Article
If there are further resources available, a link is provided either to an external website, or to the FlyCapture2 SDK.
Point Grey Flea3 USB 3.0Technical Reference1 Welcome toFlea3 USB 3.0
1Welcome 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.
Point Grey Flea3 USB 3.0Technical Reference1 Welcome toFlea3 USB 3.0
1.2Analog-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.
Point Grey Flea3 USB 3.0Technical Reference1 Welcome toFlea3 USB 3.0
1.3.3Tripod Adapter Dimensions
1.3.4Lens Mounting
Lenses are not included with individual cameras.
Related Knowledge Base Articles
TitleArticle
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.
Point Grey Flea3 USB 3.0Technical Reference1 Welcome toFlea3 USB 3.0
1.3.4.1Back 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.
1.3.5Dust 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
TitleArticle
Removing the IR filter from a col or camera
Selecting a lens for your camera
Knowledge Base Article 215
Knowledge Base Article 345
1.3.6Mounting 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
Thetripod mounting bracket is equipped with two (2) M3 and one (1) M2 mounting holes.
Point Grey Flea3 USB 3.0Technical Reference1 Welcome toFlea3 USB 3.0
1.3.7Infrared 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:
TypeReflective
MaterialSchott D 263 T
Physical Filter Size14 mm x 14 mm
Glass Thickness1.0 mm
Dimensional Tolerance +/-0.1 mm
Coating FiltersScott D 263 T
For more information, see Dust Protection on previous page.
Point Grey Flea3 USB 3.0Technical Reference1 Welcome toFlea3 USB 3.0
1.4Handling 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
TitleArticle
Solving probl ems with static electricity
Cleaning the imaging surface of your camera
Knowledge Base Article 42
Knowledge Base Article 66
1.4.1Case 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
Accuracy0.5°C
Range-25°C to +85°C
Resolution12 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.
Point Grey Flea3 USB 3.0Technical Reference1 Welcome toFlea3 USB 3.0
1.5Camera Interface and Connectors
1.5.1USB3.0 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
PinSignal NameDescription
1VBUSPower
2D-
3D+
4IDOTG identification
5GNDGround for power return
6MicB_SSTX-
7MicB_SSTX+
8GND_DRAINGround for SuperSpeed signal return
9MicB_SSRX-
10MicB_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 USB2.0 speed,
and maximum frame rates are adjusted accordingly based on current imaging
parameters.
Related Knowledge Base Articles
TitleArticle
USB 3.0 Frequently Asked Questions
1.5.2Interface 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).
Point Grey Flea3 USB 3.0Technical Reference1 Welcome toFlea3 USB 3.0
In order to achieve the maximum benefits of USB3.0, the camera must connect to a USB3.0 PCIe 2.0 card.
To purchase a compatible card from Point Grey, visit the Point Grey Webstore or the Products Accessories page.
1.5.3Interface 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.
1.5.4General 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).
DiagramPinFunctionDescription
1I0Opto-isolated input (default Trigger in)
2O1Opto-isolated output
3IO2Input/Output/serial transmit (TX)
4IO3Input/Output/serial receive (RX)
5GNDGround for bi-directional IO, V
6OPTO_GNDGround for opto-isolated IO pins
7V
8+3.3 VPower 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.
Point Grey Flea3 USB 3.0Technical Reference2 GettingStarted withFlea3 USB 3.0
2Getting Started with Flea3 USB 3.0
2.1Before You Install
2.1.1Will your system configuration support the camera?
Recommended System Configuration
Operating
System
Windows 7
32- or 64-bit
CPURAMVideoPortsSoftware
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)
2.1.2Do 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 GPIOconnector (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.
2.1.3Do 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 CADmodels
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.
Point Grey Flea3 USB 3.0Technical Reference2 GettingStarted withFlea3 USB 3.0
2.2Installing 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).
Point Grey Flea3 USB 3.0Technical Reference2 GettingStarted withFlea3 USB 3.0
2.3Installing 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
GPIOcan 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 GPIOconnector.
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
Point Grey Flea3 USB 3.0Technical Reference2 GettingStarted withFlea3 USB 3.0
2.4Controlling 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.
2.4.1Using 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.
2.4.2Using 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.
2.4.2.1Modes
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.
Point Grey Flea3 USB 3.0Technical Reference2 GettingStarted withFlea3 USB 3.0
One_PushON_OFFA_M_ModeState
(Self clear)
2.4.2.2Values
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: CSRMode Control Descriptions
N/A0N/A
N/A11
010
1
10
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.
2.4.2.3Using 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)
2.4.2.4Using 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
Point Grey Flea3 USB 3.0Technical Reference2 GettingStarted withFlea3 USB 3.0
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.
2.5Configuring 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.
2.5.1Configuring 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
TitleArticle
Recommended USB 3.0 System Components
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:
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
2.5.2Maximum 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).
Point Grey Flea3 USB 3.0Technical Reference3 GeneralCameraOperation
3General Camera Operation
3.1Powering 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.
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.
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.
3.1.1CAMERA_POWER: 610h
Format:
FieldBitDescription
Cam_Pwr_Ctrl[0]
[1-30]Reserved
Camera_Power_Status[31]
3.2Device 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.
Point Grey Flea3 USB 3.0Technical Reference3 GeneralCameraOperation
3.2.3SENSOR_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:
FieldBitDescription
Sensor_Type_1[0-11]tbd
Minor_Board_Rev[12-15]Internal use
Reserved[16-27]Reserved
Sensor_Type_2[28-31]tbd
3.2.4VOLTAGE: 1A50h – 1A54h
Format:
OffsetNameFieldBitDescription
Presence_Inq[0]
1A50hVOLTAGE_LO_INQ
1A54hVOLTAGE_HI_INQ[0-31]
-[1-7]Reserved
-[20-31]Reserved
3.2.5CURRENT: 1A58h – 1A5Ch
Format:
OffsetNameFieldBitDescription
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.
Point Grey Flea3 USB 3.0Technical Reference3 GeneralCameraOperation
3.2.6TEMPERATURE: 82Ch
Format:
FieldBitDescription
Presence_Inq[0]
[1-19]Reserved
Value[20-31]
3.2.7PIXEL_CLOCK_FREQ: 1AF0h
Format:
FieldBitDescription
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
3.2.8HORIZONTAL_LINE_FREQ: 1AF4h
Format:
FieldBitDescription
Horizontal_Line_Freq[0-31]Horizontal line frequency in Hz (read-only).
3.3User 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)
Point Grey Flea3 USB 3.0Technical Reference3 GeneralCameraOperation
Register NameOffset
GPIO_STRPAT_MASK_PIN_x1118h, 1128h, 1138h, 1148h
FRAME_INFO12F8h
IMAGE_POSITION008h
IMAGE_SIZE00Ch
COLOR_CODING_ID010h
UDP_PORT1F1Ch
DESTINATION_IP1F34h
3.4On-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.
Point Grey Flea3 USB 3.0Technical Reference3 GeneralCameraOperation
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.
3.4.1IMAGE_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:
FieldBitDescription
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.
3.4.2Example: 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:
Point Grey Flea3 USB 3.0Technical Reference3 GeneralCameraOperation
1. Read the current state of the IMAGE_RETRANSMITregister 634h:
Read634h 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:
Write634h 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:
Write634h C0 07 00 00
Setting bit 1 of register 634h to 1 enables transfer of buffered image data.
4. Retransmit the last image:
Write61Ch 80 00 00 00
Setting bit 0 of register 61Ch to 1 causes the last image to be retransmitted.
5. Disable buffered image transfer:
Write634h 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.
3.4.3Example: 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:
Read634h 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:
Write634h 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:
Write62Ch 80 00 00 00
Write62Ch 80 00 00 00
Write62Ch 80 00 00 00
Write62Ch 80 00 00 00
Read634hC0 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.
Point Grey Flea3 USB 3.0Technical Reference3 GeneralCameraOperation
4. Transmit two images:
Write61Ch 80 00 00 00
Write61Ch 80 00 00 00
Read634hC0 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.
3.5Non-Volatile Flash Memory
The camera has 1 MB of non-volatile memory for users to store data.
Related Knowledge Base Articles
TitleArticle
Storing data in on-camera flash memory
Knowledge Base Article 341
3.5.1DATA_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:
FieldBitDescription
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
3.5.2DATA_FLASH_DATA: 1244h
This register provides the 32-bit offset to the start of where the data is stored in the flash memory.
Point Grey Flea3 USB 3.0Technical Reference3 GeneralCameraOperation
Format:
OffsetFieldBitDescription
1244hDF_Data[0-31]32-bit offset to the start of data
3.6Camera 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.
Related Knowledge Base Articles
TitleArticle
PGR software and firmware version numbering scheme/standards
Determining the firmware version used by a PGR camera
Should I upgrade my camera firmware or software?
Knowledge Base Article 96
Knowledge Base Article 94
Knowledge Base Article 225
3.6.1Determining 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
3.6.2Upgrading 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.
3.6.3FIRMWARE_VERSION: 1F60h
This register contains the version information for the currently loaded camera firmware.
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
4Input/Output Control
4.1General 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).
Table 4.1: GPIO pin assignments (as shown looking at rear of camera)
DiagramPinFunctionDescription
1I0Opto-isolated input (default Trigger in)
2O1Opto-isolated output
3IO2Input/Output/serial transmit (TX)
4IO3Input/Output/serial receive (RX)
5GNDGround for bi-directional IO, V
6OPTO_GNDGround for opto-isolated IO pins
7V
8+3.3 VPower 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.
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 details on GPIO circuits, see GPIO Electrical Characteristics on page 59.
4.2GPIO Modes
4.2.1GPIO Mode 0: Input
When a GPIO pin is put into GPIOMode 0 it is configured to accept external trigger signals. See Serial Communication
on page 51.
4.2.2GPIO Mode 1: Output
When a GPIO pin is put into GPIOMode 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.
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
4.2.3GPIO 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.
4.2.4GPIO 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 GPIOpin in this mode can be configured to output a variable
strobe pattern. See Programmable Strobe Output below.
4.2.5GPIOMode 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.
4.3Programmable 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)
Related Knowledge Base Articles
TitleArticle
Buffering a GPIO pin strobe output signal using an optocoupler to drive external devices
GPIO strobe signal continues after isochronous image transfer stops
Setting a GPIOpin to output a strobe signal pulse pattern
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
4.3.1Synchronizing 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.
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
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.
4.3.2Example: Setting a GPIOPin 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
40000000Hex
0100 00000000 00000000 0000 00000000 Binary
0-78-1516-2324-31Bits
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:
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
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:
8E000FFFHex
1000 11100000 0000000011111111 1111Binary
0-78-1516-2324-31Bits
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:
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
4.3.3Example: Setting a GPIOPin 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.
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
OffsetNameFieldBitDescription
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_CNTSame definition as Strobe_0_Cnt
STROBE_3_CNTSame definition as Strobe_0_Cnt
Same definition as Strobe_0_
Cnt
4.3.4.2GPIO_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.
Presence of this feature
0: Not Available, 1: Available
Controls the period of the strobe pattern
Valid values: 1..16
48
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Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
FieldBitDescription
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.
4.3.4.3GPIO_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).
PinRegister
0GPIO_STRPAT_MASK_PIN_0 1118h
1GPIO_STRPAT_MASK_PIN_1 1128h
2GPIO_STRPAT_MASK_PIN_2 1138h
3GPIO_STRPAT_MASK_PIN_3 1148h
Format:
FieldBitDescription
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
4.3.4.4GPIO_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.
0: Strobe start is relative to start of integration (default)
1: Strobe start is relative to external trigger
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4.4Pulse 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.
4.4.1GPIO_CTRL_PIN: 1110h-1140h
These registers provide control over the GPIOpins.
PinRegister
0GPIO_CTRL_PIN_0 1110h
1GPIO_CTRL_PIN_1 1120h
2GPIO_CTRL_PIN_2 1130h
3GPIO_CTRL_PIN_3 1140h
Format:
FieldBitDescription
Presence_Inq[0]
[1-11]Reserved
Pin_Mode[12-15]
[16-30]
Presence of this feature
0: Not Available, 1: Available
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
FieldBitDescription
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.
These registers contain mode specific data for the GPIO pins. Units are ticks of a 1.024MHz clock.
PinRegister
0GPIO_XTRA_PIN_0 1114h
1GPIO_XTRA_PIN_1 1124h
2GPIO_XTRA_PIN_2 1134h
3GPIO_XTRA_PIN_3 1144h
Format:
FieldBitDescription
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)
4.5Serial 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.
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.
4.5.1.1Example: 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.
StepActionRegisterInput/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 Register0x70000
0x060800FF
n 0x06 = 19200bps
n 0x08 = 8bit, no parity, 1 stop
n 0xFF = 255 byte buffer
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
StepActionRegisterInput/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 Register0x700040x40000000
Get Register0x700040x40800000
0x31323334
Set Register0x70100
n ASCII = 1234
0xFF040000
Get Register0x7000C
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 Register0x7000C
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.
4.5.2Serial 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.
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
4.5.2.1Example: 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.
StepActionRegisterInput/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 Register0x700040x80000000
0x80000000
n 0x80040000 indicates a receive
data framing error, possibly due
Get Register0x70004
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 Register0x700040x80200000
Get Register0x700080x04000000
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.
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
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.
4.5.3Transmitting 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.
4.5.4Serial 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)
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
OffsetNameFieldBitDescription
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
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
OffsetNameFieldBitDescription
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.
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.
58
Page 72
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
OffsetNameFieldBitDescription
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.
4.6GPIO 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.
4.6.1GPIO0 (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.
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
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: 8.3mA
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
4.6.2GPIO1 (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 1kΩ resistor.
Point Grey Flea3 USB 3.0Technical Reference4 Input/Output Control
The following table lists several externalvoltage and resistor combinations that have been tested to work with the
opto-isolated output.
External VoltageExternal ResistorOPTO_OUT VoltageOPTO_OUT Current
3.3 V1 kΩ0.56 V2.7 mA
5 V1 kΩ0.84 V4.2 mA
12 V2.4 kΩ0.91 V4.6 mA
24 V4.7 kΩ1.07 V5.1 mA
4.6.3GPIO 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.
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
5Video Formats, Modes and Frame Rates
5.1Video 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.
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
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.
5.1.1Video Mode Descriptions
ModeModelsDescriptionFrame Rate Increase
0AllROINoNoNo
FL3-U3-13S2M
FL3-U3-13E4M
FL3-U3-32S2M
1
FL3-U3-13E4CYesYesNo
FL3-U3-13Y3M
FL3-U3-13E4C
2
FL3-U3-13E4M
FL3-U3-13S2C
4
FL3-U3-32S2C
FL3-U3-88S2C
FL3-U3-13S2C
FL3-U3-13S2M
FL3-U3-32S2C
7
FL3-U3-32S2M
FL3-U3-13E4C
FL3-U3-13E4M
FL3-U3-13S2C
FL3-U3-13S2M
8
FL3-U3-32S2C
FL3-U3-32S2M
10FL3-U3-88S2C4000 x 3000 (12 MP) resolution at 15 FPSNoNoNo
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
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 ROIsize.
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
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
2080x1552 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
15FPS. 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.
5.1.2Calculating 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:
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
5.2Pixel 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 ADCoutput, 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.
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
5.2.1Raw
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.
5.2.2Mono
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 FormatBits per Pixel
Mono 8, Raw 88
Mono 12, Raw 12, YUV 41112
Mono 16, Raw 16, YUV 42216
RGB 8, YUV 44424
5.2.3RGB
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.
5.2.4YUV
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.
YUVcan 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.
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
Related Knowledge Base Articles
TitleArticle
Understanding YUVdata formats
Knowledge Base Article 313
5.2.5Y16 (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
TitleArticle
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.
5.2.5.1DATA_DEPTH: 630h
This register allows the user to control the endianness of Y16 images.
Knowledge Base Article 170
Format:
FieldBitDescription
Data_Depth[0-7]
Little_Endian[8]
[9-31Reserved
5.2.6Y8 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
5.2.6.1BAYER_MONO_CTRL: 1050h
This register enables raw Bayer output in non-Format 7 Y8/Y16 modes, or Format 7 Mono8/Mono16 modes.
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
Format:
FieldBitDescription
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
5.3Supported 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.
5.3.1FL3-U3-13S2 Video Modes
5.3.1.1FL3-U3-13S2 Standard Formats, Modes and Frame Rates
Models: •13S2M • 13S2C
Modes3.75 FPS7.5 FPS15 FPS30 FPS60 FPS120 FPS
1280 x 960 YUV422
1280 x 960 RGB
1280 x 960 Y8
1280 x 960 Y16
•• (default)•••
••••
••••• (default)•••••••
••••••••••
5.3.1.2FL3-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 ~180MByte/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 Format1328 x 10481280 x 960640 x 480320 x 240160 x 120
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
Mode 1
Pixel Format656 x 524640 x 480320 x 240160 x 120
All Formats120120120120
Mode 7
Pixel Format1328 x 10481280 x 960640 x 480320 x 240160 x 120
All Formats6060606060
Mode 8
Pixel Format688 x 504640 x 480320 x 240160 x 120
All Formats243243243243
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 Format1328 x 10481280 x 960640 x 480320 x 240160 x 120
8-bit (Mono, Raw)120120120120120
12-bit (Mono, Raw, YUV411)97109120120120
16-bit (Mono, Raw, YUV422)7381120120120
24-bit (YUV444, RGB)4755120120120
Mode 4
Pixel Format656 x 524640 x 480320 x 240160 x 120
All Formats120120120120
Mode 7
Pixel Format1328 x 10481280 x 960640 x 480320 x 240160 x 120
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
5.3.2FL3-U3-13Y3 Video Modes
5.3.2.1FL3-U3-13Y3 Standard Formats, Modes and Frame Rates
Modes15 FPS30 FPS60 FPS
1280 x 960 Y8
1280 x 960 Y16
Modes default to highest frame rate
•••
•••
5.3.2.2FL3-U3-13Y3 Custom Formats, Modes and Frame Rates
Many USB 3.0 PCI Express Gen 2.0 motherboards limit data rates to ~180MByte/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 5.3: FL3-U3-13Y3M Custom Formats, Modes and Frame Rates
Mode 0
Pixel Format1280 x 10241280 x 960640 x 480320 x 240160 x 120
8-bit (Raw)150157301284284
16-bit (Raw)7177296284284
8-, 12-bit (Mono)8995186350350
16-bit (Mono)7177186350350
Mode 1
Pixel Format640 x 512640 x 480320 x 240160 x 120
8-bit (Raw)430450450450
16-bit (Raw)230310440440
8-, 12-, 16-bit (Mono)230230230230
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.
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
5.3.3FL3-U3-13E4 Video Modes
5.3.3.1FL3-U3-13E4 Standard Formats, Modes and Frame Rates
Models: •13E4M • 13E4C
Modes1.875 FPS3.75 FPS7.5 FPS15 FPS30 FPS60 FPS
1280 x 960 YUV422
1280 x 960 RGB
1280 x 960 Y8
1280 x 960 Y16
Modes default to highest frame rate.
••••••
•••••
•••••• •••••
• •••••••••••
5.3.3.2FL3-U3-13E4 Custom Formats, Modes and Frame Rates
Many USB 3.0 PCI Express Gen 2.0 motherboards limit data rates to ~180MByte/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 5.4: FL3-U3-13E4M Custom Formats, Modes and Frame Rates
Mode 0
Pixel Format1280 x 10241280 x 960640 x 480320 x 240160 x 120
All Formats6064124230410
Mode 1
Pixel Format640 x 512640 x 480320 x 240160 x 120
All Formats60606060
Mode 2
Pixel Format640 x 512640 x 480320 x 240160 x 120
All Formats118118118118
Mode 7
Pixel Format1280 x 10241280 x 960640 x 480320 x 240160 x 120
All Formats6060606060
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
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
5.3.4.2FL3-U3-32S2 Custom Formats, Modes and Frame Rates
Many USB 3.0 PCI Express Gen 2.0 motherboards limit data rates to ~180MByte/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 5.6: FL3-U3-32S2M Custom Formats, Modes and Frame Rates
Mode 0
Pixel Format2080 x 15521600 x 12001280 x 960640 x 480320 x 240160 x 120
8-bit (Mono)606060606060
12-bit (Mono)426060606060
16-bit (Mono, Raw)315260606060
Mode 1
Pixel Format1040 x 776640 x 480320 x 240160 x 120
All Formats60606060
Mode 7
Pixel Format2080 x 1552 1600 x 12001280 x 960640 x 480320 x 240160 x 120
All Formats151515151515
Mode 8
Pixel Format2080 x 10801280 x 960640 x 480320 x 240160 x 120
8-bit (Mono)8697182182182
12-bit (Mono)6097182182182
16-bit (Mono, Raw)4582182182182
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
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 5.7: FL3-U3-32S2C Custom Formats, Modes and Frame Rates
Mode 0
Pixel Format2080 x 1552 1600 x 12001280 x 960640 x 480320 x 240160 x 120
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
Mode 7
Pixel Format2080 x 1552 1600 x 12001280 x 960640 x 480320 x 240160 x 120
All Formats151515151515
Mode 8
Pixel Format2080 x 10801280 x 960640 x 480320 x 240160 x 120
8-bit (Mono, Raw)8697182182182
12-bit (Mono, Raw, YUV411)6097182182182
16-bit (Mono, Raw, YUV422)4581182182182
24-bit (YUV444, RGB)2955182182182
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
5.3.5FL3-U3-88S2 Video Modes
5.3.5.1FL3-U3-88S2C Standard Formats, Modes and Frame Rates
Modes1.875 FPS3.75 FPS7.5 FPS15 FPS
1600 x 1200 YUV422
1600 x 1200 RGB
1600 x 1200 Y8
1600 x 1200 Y16
Modes default to highest frame ra te
••••
••••
••••
••••
5.3.5.2FL3-U3-88S2C Custom Formats, Modes and Frame Rates
Many USB 3.0 PCI Express Gen 2.0 motherboards limit data rates to ~180MByte/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
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 5.8: FL3-U3-88S2C Custom Formats, Modes and Frame Rates
Mode 0
Pixel Format4096 x 2160 1600 x 12001280 x 960640 x 480320 x 240160 x 120
Point Grey Flea3 USB 3.0Technical Reference5VideoFormats, Modesand Frame Rates
Mode 0
Pixel Format4096 x 2160 1600 x 12001280 x 960640 x 480320 x 240160 x 120
16-bit (Mono, Raw, YUV422)122828282828
24-bit (RGB, YUV444)9*2828282828
*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 Format2048 x 10801280 x 960640 x 480320 x 240160 x 120
8-, 12-bit (Mono, Raw, YUV411)6060606060
16-bit (Mono, Raw, YUV422)4660606060
24-bit (RGB, YUV444)2855606060
Mode 10
Pixel Format
8-, 12-bit (Mono, Raw)15151519191919
12-bit (Mono, Raw,
YUV411)
16-bit (Mono, Raw,
YUV422)
24-bit (RGB, YUV444)N/AN/A8.5**19191919
*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
11131319191919
N/A10*1319191919
4000 x
2750
4000 x
1860
1280 x
960
640 x 480320 x 240 160 x 120
5.4Video 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.
5.4.1FRAME_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
Point Grey Flea3 USB 3.0Technical Reference6 ImageAcquisition
6Image Acquisition
6.1Global 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.
6.2Rolling 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.
Point Grey Flea3 USB 3.0Technical Reference6 ImageAcquisition
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.
6.3Rolling 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.
Point Grey Flea3 USB 3.0Technical Reference6 ImageAcquisition
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.
6.4Asynchronous 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
ModelModeMore Information
All0Standardpage 84
FL3-U3-13S2
FL3-U3-13Y3
FL3-U3-32S2
FL3-U3-88S2
All15Multishotpage 85
1Bulbpage 84
Auto/one-push shutter and auto/one-push gain control is not supported in
asynchronous trigger modes.
6.4.1External Trigger Timing
The time from the external trigger firing to the start of shutter is shown below:
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.
6.4.2Minimum 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).
6.4.3Maximum 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.
Point Grey Flea3 USB 3.0Technical Reference6 ImageAcquisition
6.4.4Camera 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.
6.4.5Changing 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.
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.
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.
6.4.6.2Trigger 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.
Point Grey Flea3 USB 3.0Technical Reference6 ImageAcquisition
Figure 6.4: Trigger Mode 1 (“Bulb Shutter 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.
On FL3-U3-13Y3 a software trigger cannot be used for Trigger Mode 1.
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 isdetermined 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
TitleArticle
Extended shutter mode operation for DCAM-compliant PGR Imaging Products
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.
6.4.7Example: 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
80100000Hex
10000000 0001 00000000 0000 0000 0000 B inary
0-78-1516-2324-31Bits
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.
Point Grey Flea3 USB 3.0Technical Reference6 ImageAcquisition
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
20000000Hex
0010 0000 00000000 0000 0000 0000 0000Binary
0-78-1516-2324-31B 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
D0000000Hex
1101 0000 00000000 0000 0000 0000 0000Binary
0-78-1516-2324-31B 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)
80400000Hex
1000 0000 01000000 0000 0000 0000 0000Binary
0-78-1516-2324-31B 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)