VRmagic GmbH D2 User Manual

VRmagic

D2 Intelligent Camera

User Guide

Issued August 2014

Sensor

D2 Intelligent Cameras – User Guide

Document version: 1.15
Date of issue: August 14, 2014
Applicable to: all D2 intelligent cameras, SDK release 4.1

Subject to change without notice. Errors excepted.

This document is protected by copyright. All rights reserved. No part of this
document may be reproduced or transmitted for any purpose in any form
or by any means, electronically or mechanically, without expressly written
permission by VRmagic.

Windows

®

is a registered trademark of Microsoft®.

DaVinci™ is a trademark of Texas Instruments.

VRmagic GmbH

Augustaanlage 32
68165 Mannheim
Germany

Phone [phone]
Fax [phone]

[e-mail]
www.vrmagic-imaging.com

Table of Contents

1 General Information ..........................................................6

2 Safety ..................................................................................7

3 Overview .............................................................................8

3.1 D2 Intelligent Camera Architecture ............................................................. 8

3.2 Camera Models .........................................................................................10

3.3 Connectors and Interfaces ........................................................................13

3.4 Accessories ............................................................................................... 15

4 Software Installation ......................................................16

4.1 Downloading the VRmagic Software ........................................................ 16

4.2 Installing the D2 Camera SDK ................................................................... 16

4.3 Installing the Camera Runtime and the Host SDK .................................... 18

4.4 Installing the USB to RS232 Driver ........................................................... 19

4.5 Installing a Console Application.................................................................20

5 Hardware Installation ......................................................21

5.1 Connecting External Sensor Boards .........................................................21

5.2 Connecting an External HDMI Board ........................................................ 23

5.3 Connecting the Interface Cables ............................................................... 25

5.3.1 Standard Interface Board .............................................................. 25

5.3.2 CUEO1 Pico Interface Board ........................................................27

5.3.3 Connecting Serial Console and JTAG ...........................................28

5.4 Connecting the Power Supply ................................................................... 29

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6 First Steps ........................................................................30

6.1 Setting Up the Ethernet Connection .........................................................30

6.1.1 Setting Up a Point-to-Point Connection .......................................31

6.1.2 Enabling Ethernet Support and Checking the Connection ........... 31

6.2 Accessing the Device via SSH ..................................................................32

6.3 Accessing the Device via RS232 ...............................................................34

6.4 Changing the Camera’s Default Password ................................................35

6.5 Changing the Camera’s IP Address ...........................................................35

6.6 Exchanging Files and Data ........................................................................36

6.7 Changing DSP Memory Size .....................................................................38

6.8 Changing Kernel Boot Parameters ...........................................................39

6.8.1 Partitioning Linux and Shared Memory (CMEM) .........................40

6.8.2 Changing Video Output Mode ...................................................... 41

6.9 Camserver and CamLab ............................................................................42

6.10 Accessing the Camera’s GPIOs ................................................................43

6.11 Accessing the Camera’s Temperature Sensor ..........................................43

6.12 Using Trigger and Strobe ........................................................................... 44

6.12.1 Trigger Input ..................................................................................44

6.12.2 Strobe Output ...............................................................................45

6.13 Switching the Camera On and Off ............................................................46

7 Programming Environment ............................................47

7.1 Setting Up the ARM Toolchain ..................................................................48

7.2 Setting Up the DSP Toolchain ...................................................................50

7.3 Update of an Older Development Kit ........................................................54

7.4 Running Demo Applications ...................................................................... 54

7.4.1 ARM Demos .................................................................................54

7.4.2 ARM and DSP Demos ..................................................................56

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Table of Contents

8 Firmware Update and Recovery ................................... 60

8.1 General Description ...................................................................................60

8.2 Updating via Ethernet ................................................................................ 61

8.3 Updating or Recovering via USB Update Flash Drive ...............................64

8.3.1 Generating a USB Update/Recovery Flash Drive ......................... 65

8.3.2 Manual Update ..............................................................................67

8.3.3 Automatic Update .........................................................................68

9 Appendix ...........................................................................70

9.1 Cable Plans and Pinouts ............................................................................ 70

9.1.1 VRmDC-X Interface Adapter Cable .............................................. 70

9.1.2 VRmDC-2 Service Cable ...............................................................72

9.1.3 VRmCUEO1 Pico Interface Board ................................................73

9.2 Linux Short Reference and Examples ....................................................... 76

10 Index ..................................................................................77

5D2 Intelligent Cameras – User Guide

Table of Contents

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1 General Information

This guide applies to all intelligent cameras based on the D2 intelligent camera platform
from VRmagic. Follow this guide chapter by chapter to set up and understand your
device. If a section of this document only applies to certain camera models, this is
indicated at the beginning of the respective section.

Symbols Used

This guide makes use of the following symbols and conventions:

Warning!

Indicates a situation which, if not avoided, could result in minor or moderate injury
and/or property damage or damage to the device.

Caution

Indicates a situation which, if not avoided, may result in minor damage to the
device, in malfunction of the device or in data loss.

Note

Notes provide information on special issues related to the device or provide infor­mation that will make operation of the device easier.

This headline indicates the beginning of a procedure:

1. This number indicates the first step of a certain procedure you are expected to

follow. Following steps are numbered accordingly.

f This arrow indicates an expected result of your action.

Linux commands are written in this monospaced font.

 This symbol indicates a reference to a different part of this manual or to external

documents.

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General Information

2 Safety

The declarations of conformity (as far as available or applicable), data sheets, and oper­ating instructions applicable to your product are an integral part of this document. Keep
these instructions for future use.

Intended Use

The device comprises an embedded PC with integrated camera. The device is de­signed for capturing, processing, and transmission of (image) data and analog or digital
signals.

General Safety Instructions

Installation and operation may only be carried out by trained personnel.

Faultless and safe operation of the device requires proper transport, storage, setup,
and handling.

Please refer the device to VRmagic if repairs should become necessary. Servicing is
required if the device has been damaged in any way or does not operate normally.

The camera generates heat during operation. Make sure that the camera is always
operated within the specified temperature range. If necessary, provide adequate heat
dissipation measures.

Do not subject the device to direct sunlight, wet conditions, dust, strong impacts, and
heat. Observe the ambient conditions specified in the following.

Unplug the device during lightning storms or when not in use for longer periods of time.

Do not disassemble any part of the camera, unless explicitly described in this manual.
Disassembly may cause damage and voids the product warranty.

Power Supply

Connect the device to an appropriate power supply only (5 V DC ±5%, 15W).

Ambient Conditions

Do not operate the device near a TV or radio station that radiates high powered ra­dio-frequencies. Operating temperature: 0...40°C (32...104°F). Storage temperature:

-30...80°C (-22...176°F).

ESD Prevention

Electrostatic discharges may cause serious, permanent damage to the camera. When
working with board-level cameras, always make sure that you work in an ESD pro­tected area according to international standards (IEC 61340-5-1 (2007-08)).

7D2 Intelligent Cameras – User Guide

Safety

Intelligent Components

3 Overview

3.1 D2 Intelligent Camera Architecture

The D2 intelligent cameras from VRmagic function as an embedded system. They are
equipped with a highly integrated DaVinciTM Dual-Core CPU from Texas Instruments,
which features a 300 MHz ARM9 processor and a 600 MHz digital signal processor
(DSP).

Ethernet
100 MBit

USB 2.0 Video Audio GPIO ...

Dual-Core Chip

Slave

DSP C64x+

Codecs

600 MHz

4800 MIPS

Master

ARM9

Linux

300 MHz

Interrupt Request

System Interconnection

200 MHz | 64 Bit

DDR2 RAM

166 MHz (DDR333)
256 MB
32 Bit

Image Sensor(s)

Fig. 1: Intelligent camera architecture (D2 platform)

The Linux OS runs on the ARM processor so that the DSP is completely available for
image processing tasks. Communication betwen ARM and DSP is controlled by the
DSPlink kernel module.

We recommend the Codec Engine framework from TI to the application developers
who wish to use both the ARM and the DSP for their applications.

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Overview

By default, the camera’s DDR2 memory is partitioned into three areas: the Linux mem­ory, the contiguous shared memory (CMEM), and the DSP memory. Images from the
image sensor are always written to the shared memory, where they are accessible for
both the ARM and the DSP.

Shared

Memory

DSP

Memory

Linux

Memory

256 MB RAM

DSP C64+

Codecs

ARM9

Linux

Control

CMEM

Data

Data

Data

Data

virtual
addresses

physical
addresses

variable
size

Fig. 2: Interaction of dual-core CPU and memory

The default size of the memory partitions are 96 MB for the Linux memory, 96 MB for
the shared memory, and 64 MB for the DSP memory. The size of the memory areas
can be changed if necessary ( section 6.7 and section 6.8).

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3.2 Camera Models

Single-Sensor Cameras VRmD(F)C-X

Single-sensor cameras are equipped with one image sensor. The sensor board is
mounted directly onto the camera base unit, thus forming one compact unit. Single­sensor cameras are available as board-level cameras (OEM versions), board-level
cameras with optics (COB versions) and as cameras with aluminium housing (PRO
versions).

All cameras are equipped with a sensor board, a CPU board, and an interface board.
Depending on the image sensor, the camera may be equipped with an additional FPGA
board (VRmDFC-X models).

Sensor

Front View Side View Back View

Fig. 3: Intelligent single-sensor camera (OEM) with standard interface board and FPGA board

1 Sensor board with image sensor

2 FPGA board (VRmDFC-X cameras only)

3 CPU board

4 Interface board

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Overview

Remote-Sensor Cameras VRmDC-X-E

Remote-sensor cameras consist of a base unit and an external sensor board connected
to the base unit by flex-foil cable. Remote-sensor cameras are available as board-level
cameras (OEM versions) and board-level cameras with optics (COB versions).

The base unit consists of a sensor connection board, a CPU board, and an interface
board.

Back ViewFront View Side View

Fig. 4: Base unit of intelligent remote-sensor camera with standard interface board

1 Sensor connection board (external sensor board is connected via flex-foil cable)

2 CPU board

3 Interface board

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Multi-Sensor Cameras VRmDMFC

Multi-sensor cameras consist of a base unit and up to four external sensor boards con­nected to the base unit by flex-foil cables. They are available as board-level cameras
(OEM versions) and board-level cameras with optics (COB versions).

The base unit consists of a sensor connection board, an FPGA board, a CPU board, and
an interface board.

Back ViewFront View Side View

Fig. 5: Base unit of intelligent multi-sensor camera with standard interface board

1 Sensor connection board (external sensor boards are connected via flex-foil

cables)

2 FPGA board

3 CPU board

4 Interface board

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Overview

3.3 Connectors and Interfaces

All board-level cameras (OEM and COB versions) are available with two different inter­face boards: the standard interface board and the CUEO1 pico interface board. PRO
cameras in aluminium housing are available only with the standard interface board.

• Standard interface board: This board is equipped with standard connectors, for
example an RJ45 receptacle for the Ethernet connection.

• CUEO1 pico interface board: All interfaces are available on miniature connectors
(Molex PicoBlade), thus reducing board size and weight. This board allows for
cost-effective and flexible connections.

All board-level cameras (OEM and COB versions) feature a lateral DF14-15P connector
for serial console and JTAG located on the CPU board. This connector is not accessible
in housing cameras (PRO versions).

Fig. 6: OEM camera with standard interface board

1 DF14-15P connector for serial console and JTAG on CPU board

2 Power inlet (+5 V DC, ±5%)

3 Red status LED

4 USB host connector

5 RJ45 Ethernet connector

6 Power button

7 MPE Garry Micro T connector for trigger, strobe, RS232, S-Video, GPIOs

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SPI

GPIO

USB

RGB

PWR

UARTETH

BTN

TRG

VGA

Fig. 7: OEM camera with CUEO1 pico interface board

1 DF14-15P connector for serial console and JTAG on CPU board

2 Ethernet

3 Serial port (UART)

4 SPI port

5 General porpose I/Os

6 Power inlet (+5 V DC, ±5%)

7 Trigger and strobe

8 Power button

9 RGB888 interface for connection of external HDMI output board

10 Green status LED

11 Analog video output (Composite or S -Video)

12 USB host connector

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Overview

3.4 Accessories

There are optional accessory kits for the D2 intelligent cameras containing adapters,
cables, power supply and a USB update flash drive.

VRmDC Accessory Kit 2.0

For cameras with standard interface board

1 VRmDC-2 service cable

1 VRmDC-X adapter cable

1 AC Adapter 5 V/15 W Worldwide

1 Null modem cable 3 m

1 USB-serial adapter 9-pin

1 USB update flash drive

1 S-Video cable

VRmDC Accessory Kit PICO

For cameras with pico interface board

VRmDC Accessory Kit PICO2

For cameras with pico interface board

1 VRmDC-2 service cable

1 AC Adapter 5 V/15 W Worldwide

1 Null modem cable 3 m

1 USB-serial adapter 9-pin

1 USB update flash drive

1 Picoblade-open end 2 pin

1 Picoblade-open end 3 pin

2 Picoblade-open end 4 pin

1 Picoblade-open end 6 pin

2 Picoblade-open end 8 pin

2 Picoblade-open end 10pin

1 VRmDC-2 service cable

1 AC Adapter 5 V/15 W Worldwide

1 Null modem cable 3 m

1 USB-serial adapter 9-pin

1 USB update flash drive

1 Picoblade-open end 2 pin

1 Picoblade-open end 3 pin

1 Picoblade-open end 4 pin

1 Picoblade-open end 8 pin

2 Picoblade-open end 10pin

1 Ethernet Adapter Cable VRmCUEO1

1 Ethernet Adapter Panel (RJ45)

1 USB-A Adapter Cable VRmCUEO1

1 Power Cable VRmCUEO1

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Overview

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4 Software Installation

4.1 Downloading the VRmagic Software

Downloading the software package:

1. Visit www.vrmagic.com/imaging/downloads/ .

2. Scroll down to D2 Intelligent Camera Platform.

3. Download the .zip file VRmUsbCam Distribution for Developers and keep it for

future use.

4.2 Installing the D2 Camera SDK

VRmagic D2 Camera SDK

The D2 SDK is required to develop camera applications on your host PC that will be
executed on the D2. To do so, you need to additionally set up and configure cross­compile tool chain on your host PC as described in  chapter 7.

Installing the VRmagic D2 Camera SDK:

1. To install the SDK, unzip the file you downloaded in the previous section.

f The following directories were created on your hard drive.

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Software Installation

Directory structure of the D2 SDK distribution (excerpt)

D2

development_kit VRmUsbCam DevKit for D2

demos Examples for the API usage

docs Documentation of the VRmagic camera API

include VRmagic API include files

lib VRmagic API development library

toolchains Manuals and software regarding ARM and DSP

Cross-Compilers

vm_lib VRmagic machine vision library

wrappers C++ wrapper

docs Additional documentation (cable plans and pinouts)

drivers Windows driver for the USB-serial adapter,

Windows driver for accessing ext2 partitions

firmware Binary images of the camera’s firmware (bootloader,

kernel and rootfs)

src

kernel Linux kernel sources

rootfs tar archive of the camera’s root filesystem

linux VRmUsbCam DevKit for Linux host PC (x86)

windows VRmUsbCam DevKit for Windows host PC (x86)

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4.3 Installing the Camera Runtime and the Host
SDK

VRmagic Windows/Linux PC SDK

The host PC SDK is required to develop camera applications that will be executed on
the host PC. Thus, this SDK is not required for compiling camera applications that will
be executed directly on the D2. However, the host SDK is useful to debug your camera
application on the host PC first and cross-compile it for the D2 later.

VRmagic Windows/Linux PC Camera Runtime and CamLab Application

The camera runtime enables the Linux host PC to access VRmagic cameras, for ex­ample using the VRmagic CamLab application. CamLab enables you to find, test and
configure all VRmagic cameras available on the Ethernet.

Note

The included SDK, the runtime libraries for the host PC, and the cross-compile tool­chain for ARM by Mentor Graphics are built for the x86/i386 architecture (32bit).

In order to install them on a 64 bit machine, you have to make sure that your oper­ating system supports the installation of 32 bit applications. Windows supports this
by default. On 64 bit Linux machines the support for 32 bit applications needs to
be activated by the user. Please consult the documentation of your Linux distribu­tion for more information.

Installing the camera runtime and SDK for Windows:

1. Navigate to the windows directory in the downloaded and unzipped SDK

distribution.

2. Unpack the zip file VRmUsbCam DevKit for Windows (x86)*.zip.

3. To install the SDK, run setup.exe from the directory you unzipped in step 2.

4. Follow the on-screen instructions.

f A message is displayed after successful installation. A new folder VRmagic

was created in your Windows start menu.

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Software Installation

Installing the camera runtime and SDK for Linux:

1. Navigate to the linux directory in the downloaded and unzipped SDK distribution.

2. Navigate to the x86 subdirectory.

3. To install the runtime libraries and the CamLab application, execute

sudo dpkg -i vrmagic-linux-pc-camera-runtime-*.deb .

4. To install the host PC SDK, execute

sudo dpkg -i vrmagic-linux-pc-camera-sdk-*.deb .

5. For further information read the README file in the directory

/opt/vrmagic/sdk-*/x86/development_kit.

4.4 Installing the USB to RS232 Driver

Note

You will only need the USB to RS232 adapter driver if you have a board level cam­era (OEM or COB) and a Windows computer that does not have a serial port.

The driver for Linux is already included in the kernel main line (pl2303), so your
Linux distribution should work with the USB to RS232 adapter out of the box.

Installing the USB to RS232 adapter driver:

1. Navigate to the D2/drivers/usb_to_rs232_adapter directory in the downloaded

SDK distribution.

2. Unpack the file USB_to_Serial_cable.zip.

3. To install the driver, run the included .exe file and follow the on-screen

instructions.

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4.5 Installing a Console Application

We recommend installing PuTTY for Windows computers. PuTTY is an open-source
SSH, Telnet, and serial client. The standard Windows console does not support SSH,
which is necessary to access the camera.

Note

Linux users can use the Linux terminal to access the camera using SSH. However,
we also recommend using PuTTY under Linux, because it is more convenient.

Downloading and running PuTTY (Windows):

1. Visit http://www.putty.org/ .

2. Download putty.exe.

3. No installation is necessary. Simply run putty.exe to use the console.

Downloading and running PuTTY (Ubuntu Linux):

1. Install PuTTY by executing

sudo apt-get install putty in the terminal.

2. To run PuTTY, execute

sudo putty .

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Software Installation

5 Hardware Installation

5.1 Connecting External Sensor Boards

Note

This section only applies to remote-sensor cameras and multi-sensor cameras.

Caution
Possible malfunction of camera

Observe the correct orientation of the flex-foil cable contacts as indicated in the
instructions and the drawings. Otherwise the device will not function.

Connecting the flex-foil cable(s) to the base unit:

1. Pull out the lock of the connector on the base unit ( Fig. 8 on page21).

2. Insert the flex-foil cable with the blue marker facing the board and the open con-

tacts facing you.

3. Secure the cable by pushing the lock back in.

4. Repeat steps 1 to 3 for further external sensor boards.

Multi-Sensor Base Unit

Remote-Sensor Base Unit

Fig. 8: Connecting the flex-foil cable to the base unit: contacts visible, blue marker not visible

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Connecting the flex-foil cable(s) to the sensor board(s):

1. Pull out the lock of the connector on the sensor board ( Fig. 9 on page22).

2. Insert the flex-foil cable with the blue marker facing you and the open contacts

facing towards the sensor board.

3. Secure the cable by pushing the lock back in.

4. Repeat steps 1 to 3 for further external sensor boards.

VRmMS-12

VRmS-9/12/14/16/18

Fig. 9: Connecting the flex-foil cable to the sensor board: contacts not visible, blue marker visible

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Hardware Installation

5.2 Connecting an External HDMI Board

Note

This section only applies to cameras equipped with the pico interface board
VRmCUEO1 and an optional external HDMI output board.

Warning!
Possible destruction of equipment

The camera stack and the HDMI board will be damaged should the FPC cable be
inserted with the wrong orientation while the camera is connected to power!

Observe the correct orientation of the FPC cable contacts. The visible electri­cal contacts and the label of the cable have to face the boards ( Fig. 10 on
page23).

The VRmCUEO1 pico interface board is equipped with an RGB888 interface via a 45 ­pin flexible printed circuit connector ( Fig. 7 on page 14). Use this interface to
attach the VRmagic HDMI output board to the intelligent camera. An FPC cable is
supplied.

LABEL

LABEL

LABEL

Fig. 10: Correct orientation of the flex-foil cable

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Connecting an external HDMI board:

1. Open the lock of the FPC connector on the camera interface board by flipping it

upwards ( Fig. 11 on page24).

2. Insert the FPC cable observing the correct orientation. The visible electrical con-

tacts and the label have to face the board (Fig. 10 on page23).

3. Secure the cable by pushing the lock down.

4. Proceed the same way to connect the cable to the HDMI board.

Note

The boot parameters of the camera have to be changed in order to make use of the
HDMI board. A detailed description is provided in  section 6.8.

Fig. 11: Attaching the FPC cable to the FPC connector

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Hardware Installation