Software User Manual
Contents
1. 1 General Information This guide applies to the TIM UP 19K S3 ETH module from Bluetechnix Follow this guide chapter by chapter to set up and understand your product If a section of this document only applies to certain camera parts this is indicated at the beginning of the respective section 1 1 Symbols Used This guide makes use of a few symbols and conventions 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 Warning Indicates a situation which if not avoided could result in minor or moderate injury and or property damage or damage to the device Note i Notes provide information on special issues related to the device or provide information that will make operation of the device easier Procedures A procedure always starts with a headline 1 The number indicates the step number of a certain procedure you are expected to follow Steps are numbered sequentially This sign gt indicates an expected result of your action References This symbol indicates a cross reference to a different chapter of this manual or to an external document Bluetechnix 2015 Page 6 46 EN BLUETECHNIX Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 2 Overview The document describes the necessary steps and settings to work with the TIM UP 19K S3 ETH and describes the firmware depe2. 45 MHz Framerate Hz Lens opening angle identifier OO ee a Lower 16bit of the 32bit Serial Number Higher 16bit of the 32bit Serial Number Frame Counter increments on every captured frame Bit 0 7 Cmd code 1 FPN Calibration 2 Capture dist calibration image 0 3 Capture dist calibration image 1 4 Dist calibration calculation 13 FPPN calibration of the current frequency 14 Center dist calibration calculation 15 Clear FPN calibration data 16 Clear FPPN calibration data 17 Clear dist calibration data 18 Clear lens calibration data 19 Calibrate DistOffset of the current frequency Bit 9 1 Output calibration result over image stream Amplitude threshold for valid distance data Amplitude threshold for valid distance data Bit 3 0 AEC Off 1 AEC On Calculation time for the last frame in 10f us The inverse of this value shows the maximum achievable frame rate based on the CPU load Temperature of LED Board in 0 01 C FFFF Sensor not available Temperature of Main Board in 0 01 C FFFF Sensor not available Amplitude for Linearization Function float value x 10000 Amplitude for Linearization Function float value x 10000 Time between the last two frames In 0 1 ms Distance to the calibration target mm Page 34 46 Software User Manual TIM UP 19K S3 ETH 0021 0022 0024 0026 0027 002B 002C 002D 002E 002F 0030 CalibrationExtended 0000 CmdEna
3. e kb BLUETECHNIX Embedding Ideas TIM UP 19K 93 ETH Software User Manual Version 3 A j Embedding Ideas ANAN mpeaqdini J Bluetechnix Waidhausenstra e 3 19 A 1140 Vienna AUSTRIA office bluetechnix com www bluetechnix com TIM UP 19K S3 ETH Software User Manual Document No 900 308 A Publication date April 16 2015 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 Bluetechnix Windows is a registered trademark of Microsoft Bluetechnix 2015 A d e a A BLUETECHNIX KA IN Table of Contents T Genera MOM OW EE 6 PaE OV ele EE 6 OW E E EAN E E E E E ET E N EAE N A EAE 7 SG Sie eu E 8 3T AOMORI te 8 3 1 1 Seege DEE 9 3 1 2 PRS GIS Sl WS re tsceerdistinpe EEE EEE E N E E ES 10 3 1 3 Eege 11 3 1 4 FEON El ele EE 12 3 120 CE AING oeren eocuneaceee ameesau yenme stun deans dw ose enmeene wecaec sew usacdut exdesenerenesaescueunesandt 13 31060 General RESDONSE serisini a e a ea ri 14 3 1 7 Bick 0 ee 15 S OI Aa WA OAS Sass aes nE A ii 15 33 Manual frame TO EEN 18 3 4 External Illumination Interface neenneennnnenneenernnnnnrenrrerrnrrnnrnnrrsrrrernnrenrnernntnnnrenrnnrnnrnnnreennnne 18 SE OPIO aca tepn io
4. lt of bytes to write gt lt Register Address gt XX XX 4 6 lt IP address gt lt IP port gt lt CRC32 sum gt lt CRC16 sum gt lt data to write gt Description Unique identifier start of header This document refers to version V3 0 Command code for write Ignored Ignored Bit 0 1 lgnore DataCrc32 The number of bytes to write must be a multiple of two and match length of lt Data gt in bytes Start register address for write command Ignored Ignored 4 IPv4 n 4 6 IPv6 n 16 The destination address for the response The destination port for the response Checksum over lt Data gt 2 Checksum over 60 bytes of Header 0x02 Ox3D 7 One or more 16 bit values in a stream that should be written each stored as big endian high byte first Table 3 4 Register write command frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Bluetechnix 2015 Page 10 46 BLUETECHNIX y Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 Note 2 For the CRC32 calculation the CRC 32 is used Polynom 0x04C11DB7 start value OxFFFFFFFF Please ask the Bluetechnix support for an implementation example of the CRC 32 Response frame See General Response 3 1 6 Flags Flags Description Bit O 1 Ignore DataCrc32 Table 3 5 Regist
5. Coor Pixel 1 Coor Pixel 159 Coor Pixel 159 Lowbyte of X Highbyte of X Lowbyte of X Highbyte of X Lowbyte of X Highbyte of X Coor Coor Coor Coor DK Coor Coor Pixel 19040 Pixel 19040 Pixel 19041 Pixel 19041 Pixel 19199 Pixel 19199 Lowbyte of Y Highbyte of Y Lowbyte of Y Highbyte of Y Lowbyte of Y Highbyte of Y Geet Coor Pixel 0 Coor Pixel 1 Coor Pixel 1 Coor Pixel 159 Coor Pixel 159 Lowbyte of Y Highbyte of Y Lowbyte of Y Highbyte of Y Lowbyte of Y Highbyte of Y Coor Pixel 19040 Coor Pixel 19040 Coor Pixel 19041 Coor Pixel 19041 Coor Pixel 19199 Coor Pixel 19199 Last Byte in Stream Figure 4 4 Data stream of XYZ Point Cloud 4 4 3 XYZ Point Cloud and Amplitude In this mode the XYZ point cloud and the amplitude will be transferred in progressive mode The stream starts always with pixel 0 ImageDataFormat 32 The coordinates are coded in millimeters as Int16 the amplitudes as Uint16 Bluetechnix 2015 Page 23 46 Software User Manual TIM UP 19K S3 ETH First Byte in Stream Lowbyte of X Coor Pixel 0 Lowbyte of X Coor Pixel 19040 Lowbyte of Y Coor Pixel 0 Highbyte of X Coor Pixel 0 Highbyte of X Coor Pixel 19040 Highbyte of Y Geet Za Lowbyte of X Coor Pixel 1 Lowbyte of X Coor Pixel 19041 Lowbyte of Y Coor Pixel 1 Highbyte of X Coor Pixel 1 Highbyte of X Co
6. 29 4 15 2 Bootloader default settmgds AEN 31 Ee Nl aac nate ecb ge re deri sta oe inode eee nip ct deena sea dentsets acerana pe deca Genco ous deceased eaeunbsestiechGeas 32 5 1 Demo FONG ge D ER o ROOLI DO CDON E 33 6 1 General registers cccccccssecccsseecceeeeceeeeeceueeeceeeecaueeesaueeesaueecseeessaeeessueeesaueessageessaeeessueessaees 33 6 2 More General Registers cccccccccsscccseseecseseeceeseeceueeccauecesaeeecsueeeceaeeessueeesaueessgeessasesssueessaees 37 63 Registers for GPIOS wiccxisswctdcnnsnavvndbnenedxanenmicnbuscsidaninensnicetisauatdusienacextnanctivnnaxavcndbnentdvemecwdceuunnsitsinine 38 6 4 Registers for Automatic Exposure Control 38 6 5 Registers for Filter Configuration cccccseececeeeeeceeeeeceueeeseueeceueeeceaseesaueeeseueessageessaeeesseeessaaees 39 6 6 Registers for Ethernet configuration ccccceccceececeececeeeeseeeceeecaueesaueesaeeeneeesueeseueesaeeeseeesnes 40 6 7 Registers for Temperature Management 41 P P O ere ere eer en eee eee ee eee er ee eT ee 44 TA General SUPPO EE 44 T2 eu ANG Packages serrent renren EA ARASEN AENEAN oncnmemnannd acinceeaee ewes pea aes teeaporsatectoahisextensaaee 44 7 3 Related Products ccceeccssenseecessneecseeccseesaseesaneessneensessosensaneesansecsasensessenessansessasensassanensantesas 44 o FENER OY E 45 8 1 Version Information asssssisivsnanei niniin E E E a E E E E 45 EIERE 45 9 Document Revision HIStOLY ccccccecc
7. FirmwarelnfoReg Initiate an operation Executing the following commands must be preceded by writing 0x48 7 into register CmdEnablePasswd 0x0022 OxC2AE Clear UserRegMap in flash Ox9E20 Read UserRegMap from flash Ox909A Read FactoryRegMap OxDDYE Write UserRegMap to flash Result code of the operation initiated using CmdExec 1 Success Other Error Highest and second highest byte of the MAC address stored in OTP flash Byte 3 and 2 of the MAC address stored in OTP flash Byte 1 and lowbyte of the MAC address stored in OTP flash Production year stored in OTP flash Bit O 7 Production day stored in OTP flash Bit 8 15 Production month stored in OTP flash Bit O 7 Production hour stored in OTP flash Bit 8 15 Production minute stored in OTP flash Production timezone stored in OTP flash Factor a of the illumination temperature compensation function y mm a 100000 x b 10000 x c 1000 x u Build date time Bit 14 4 Year Bit 3 0 Month Build date time Bit 9 5 Day Bit 4 0 Hour Build date time Bit 11 6 Minute Bit 5 0 Second Lower 16 bit of uptime in s Higher 16 bit of uptime in s Limit for the akf plausibility check Serial Number of the TIM module low word Serial Number of the TIM module high word Factor c of the ToF sensor temperature compensation function y mm a 100000 x b 10000 x c 1000 x u Factor b of the ToF sensor temperature compensa
8. Length high byte first HeaderData0 HeaderDatat HeaderData2 HeaderData3 CallbacklpVersion CallbacklpAddr high byte first CallbackPort high byte first Reserved 39 bytes DataCrc32 HeaderCrc16 Bluetechnix 2015 Table 3 9 Flash update flag description Format Uint16 Uint8 Uint8 Uint8 Uint8 Uint16 Uint32 Uint8 Uint8 Uint8 Uint8 Ulnt8 n Ulnt8 Uint16 Uint8 Uint32 Uint16 Value Oxatlec EHU HHG E 6 lt IP address gt lt IP port gt XX 0 lt CRC16 sum gt Description Unique identifier start of header This document refers to version V3 0 Command code for Alive message Ignored Ignored Ignored No data Ignored Ignored Ignored Ignored 4 IPv4 n 4 6 IPv6 n 16 The destination address for the response The destination port for the response Ignored No data no checksum Checksum over 60 bytes of Header 0x02 Ox3D Table 3 10 Alive command frame Page 13 46 BLUETECHNIX y Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Response frame See General Response 3 1 6 Flags Flags Description Currently no flags defined for this command Table 3 11 Alive flag description Result codes Please refer to 3 1 7 3 1 6 General
9. Reserved 0x2A Reserved Bluetechnix 2015 Value OxFFFF 0x0003 Type Uint16 Uint16 high byte first Uint16 high byte first Uint16 high byte first Uint8 Uint8 Uint16 high byte first Uint32 high byte first Uint16 high byte first Uint8 Uints Uint16 high byte first Uint16 high byte first 0x3331 Uint16 high byte first Uint16 high byte first Uint8 Description Current header version Width of the image in pixels Height of the image in pixels Nof data channels Depends on the image format Bytes per pixel of the 3D image data The content is the same as in the register ImageDataFormat Timestamp of the actual image in us Continuous frame counter On an overrun it restarts at O Typically ToF sensor temperature in C 50 Decrement this field by 50 to get the current temperature of the ToF sensor LED temperature in C 50 Decrement this field by 50 to get the current temperature of the illumination LEDs Content of the register Firmwarelnfo These magic bytes indicate that header version is 3 1 Valid since version 3 1 Integration time in us Valid since version 3 1 Modulation frequency with resolution 10 KHz e g a value of Ox1234 means frequency 46 6 MHz Valid since version 3 1 Temperature sensor 3 Baseboard Sensor in C 50 Decrement this field by 50 to get the current temperature Valid since version 3 1 Page 17 46 A E BLUETEC
10. Result codes Status Description 0 Ok 13 Invalid handle internal error 15 Illegal write The Address is not valid or the register is not write enabled 16 Illegal read The Address is not valid deprecated replaced by 17 17 Register end reached 248 Invalid Packet Nr 249 IP Version not supported 250 Length exceeds maximum filesize not enough memory for file download 251 HeaderCrc16 mismatch 252 DataCrc32 mismatch 253 Length invalid Cannot be equal 0 254 Length invalid Cannot be grater 0 255 Unknown command Table 3 13 Result code list 3 2 3D Data Interface A UDP stream delivers depth and amplitude data from the TIM UP 19K S3 ETH Each UDP packet contains a header and up to 1400 bytes of data Ethernet IP and UDP headers are not shown in Figure 3 1 UDP Packet 0 UDP Packet 1 UDP Packet n 7 g UDP Packet UDP Packet s UDP Packet Data Section Data Section Data Section 1400 Bytes j 1400 Bytes J 1400 Bytes J Kg One Image Frame UDP Stream F Figure 3 1 UDP streaming data format The following types are used in the data streaming protocol e Uint8 8 bit unsigned integer e Uint16 16 bit unsigned integer e Uint32 32 bit unsigned integer Note Values with Ox as prefix are hexadecimal values Bluetechnix 2015 Page 15 46 Software User Manual TIM UP 19K S3 ETH a BLUETECHNIX Last change 16 April 2015 Version 3 The UDP streaming is enabled by
11. TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 Y Figure 4 2 TIM UP 19K S3 ETH Default Coordinate System 4 4 Camera Data Format The camera provides up to four data channels The meaning of each data channel depends on the selected data format The factory default setting provides an array of depth data in millimeters as 16 bit unsigned Uint16 and an array of grayscale values Amplitudes also as 16bit unsigned for each pixel When changing the image data format properly a 3D XYZ coordinate set per pixel is provided Refer to chapter 4 3 for a description of the coordinate systems of the camera The image format can be selected in the register ImageDataFormat The following sections describe each of the supported formats in detail Only the data section which contains the image data of the transferred frame will be described For information about the packet format and meta data please refer to chapter 3 2 4 4 1 Distances and Amplitudes In this mode the distances and amplitudes will be transferred in progressive mode first the distance array then the amplitude array The stream starts always with pixel 0 ImageDataFormat 0 The distances are coded in millimeters as Uint16 The amplitudes are also Uint16 Bluetechnix 2015 Page 21 46 A BLUETECHNIX A Embedding Ideas Software User Manual TIM UP 19K S3 ETH First Byte in Stream Lowbyte of Highbyte of Lowbyte of Highbyte of Distance Pixel 0 Dist
12. ate atteneeetnncaniasin en gnenauesnaniesncaamer em aeamiie cae eoenasmaneeeeacts 18 g Gamed E 19 4 1 SIG DEINO E 19 4 2 Image Processing Cham 19 4 2 1 MaE EN EE 20 4 2 2 KR ET E E EE 20 4 3 Camera Coordinate Gwvstem 20 AA Camera Data FORMA E 21 4 4 1 Distances and Amplitudes A 21 E AYAFO COUN EE 22 4 4 3 XYZ Point Cloud and Amplitude a nnannnannennnennnnnnnnnornrnnrrnnrnrrrnnrenrrnnrrnrrnrernnrenernnrenernnerne 23 4 4 4 Distances and XYZ Point Cloud ENEE 24 4 4 5 X coordinate and Amplitudes EE 25 4 4 6 PIS OS er E E AE A a 25 4 5 Modulation Frequency EE 25 4 6 Frame rate and Integration Tume 25 4 7 Automatic Exposure Control WEC irinn E e a 26 4 8 Manual Frame Trigger EE 26 4 8 1 lee ee Le ccd ch recess icici ciec aurecinseree i eciseine EEEE 27 482 SOWare Moger seess hee cos RREA A RETA NE NAERAA ete deat oteateen ae eceateat oxen ueneeee 27 Bluetechnix 2015 BLUETECHNIX aoo ER deeg Te eae eee en en ee eer ee ee TN ere een ee ere ee ee ee eer 27 4 9 Over Temperature Protection cccccecccccescccseeeeceeeeeseeeeceeseeceeeeseeessaueessageesseeessueeessaeessaes 27 4 10 Communication Keep Alive ChRA 27 4 11 GPIO E 27 4 12 Save et 27 4 13 SE E di e samisena N EAE E ENa 28 Sak WEE e 0 ony ee ee ee meen ee ere ee meee ener ane er er ee eee 28 4 132 TPP UDP Settings egeege geegege ege dee Eech 28 4 14 Reset to Factory Detauht EE 28 4 15 Bootloader and Firmware Update 29 Alal 0 0 6 E Le
13. frame rate as does the number of iterations 4 2 1 1 Median Filter A 3x3 median filter can be applied Register FilterMedianConfig The number of iterations is configurable 4 2 1 2 Bilateral filter Registers FilterBilateralConfig Configuration options are or weight for radius op weight for data and number of iterations 4 2 1 3 Sliding Average Filter Register FilterSLAFconfig A sliding average filter over up to 20 frames can be applied The number of frames is configurable An increasing number of frames will not decrease the frame rate but may add blurring effects 4 2 2 Pixel invalidation The TIM UP 19K S3 ETH provides an on board check for invalid pixels If the amplitude of the reflected signal is below a threshold underexposure the distance value of the corresponding pixel will be set to OxFFFF If the amplitude is too high overexposure the distance value will be set to 0x0000 The lower and upper amplitude limit for invalidating pixels can be set by using the registers ConfidenceThresLow and ConfidenceThresHigh For inconsistent pixels due to unreliable data the distance value is set to 0x0001 4 3 Camera Coordinate System The default coordinate system starts pixel numbering in the upper left corner of the pixel array seen from the camera s point of view Also note the directions of X Y and Z coordinates In XYZ image modes Bluetechnix 2015 Page 20 46 BLUETECHNIX Software User Manual
14. unsigned for the depth value 2 byte in signed format for each coordinate 10 Optical axis coordinate either X or Z depending on AxisOrientation register 0x0045 and amp data 2 bytes in signed format 2 bytes unsigned for amp data 11 4 channels Test mode arithmetic functions with coordinates as input 2 bytes ascending index 2 bytes constant Oxbeef 2 bytes ascending squared index 2 bytes constant 0x0000 12 2 bytes depth data 0005 IntegrationTime O1F4 R W Integration Time us min 50 max 25000 0006 Devicelype 795c R Hardware specific identification Bluetechnix 2015 Page 33 46 Software User Manual TIM UP 19K S3 ETH 0008 Firmwarelnfo R 0009 ModulationFrequency O8ca R W 000A Framerate 0019 R W 000B HardwareConfiguratio 005A R W n 000C SerialNumberLowWeor R d 000D SerialNumberHighWor R d 000E FrameCounter R OOOF CalibrationCommand 0000 R W 0010 ConfidenceThresLow 012C R W 0011 ConfidenceThresHigh 3A98 R W 0019 Mode 0800 R W 001A CalculationTime R 001B LedboardTemp R 001C MainboardTemp R 001D LinearizationAmplitude 0000 R W 001E LinearizationPhaseShif 0000 R W t 001F FrameTime R 0020 RealWorldXcoordinate 0000 R W Bluetechnix 2015 BLUE TECHNIX Last change 16 April 2015 Version 3 Bit 0 5 Non Functional Revision Bit 6 10 Minor Revision Bit 11 15 Major Revision Modulation frequency index 5 MHz 5 63 MHz 6 43 MHz 1 5 MHz 9 MHz 11 25 MHz 15 MHz 22 5 MHz
15. 0 02D5 TempDevlemperatured 0000 02D6 TempDevTlemperature6 0000 02D7 TempDevTlemperature 0000 02D8 TempDevTlemperatures 0000 02D9 TempDevTemperature9 0000 02DA TempDevTemperature10 0000 02DB TempDev emperature11 0000 02DC TempDevTemperature12 0000 02DD TempDevTemperature13 0000 02DE TempDevTemperaturel4 0000 02DF TempDevTlemperature15 0000 a Uen Ue ffe e fer De Te fa U D fv fie ep D U T T ie ve v fe D e T o fe 02E0 TempDevStatus0 0000 Device specific configuration 02E1 TempDevStatus1 0000 See TempDevStatus0 02E2 TempDevStatus2 0000 See TempDevStatusO 02E3 TempDevStatus3 0000 See TempDevStatus0 02E4 TempDevStatus4 0000 See TempDevStatusO 02E5 TempDevStatus5 0000 See TempDevStatus0 02E6 TempDevStatus6 0000 See TempDevStatusO 02E7 TempDevStatus7 0000 See TempDevStatus0O 02E8 TempDevStatus8 0000 See TempDevStatusO 02E9 TempDevStatus9 0000 See TempDevStatus0 O2EA TempDevStatus10 0000 See TempDevStatusO 02EB TempDevStatus11 0000 See TempDevStatus0O O2EC TempDevStatus12 0000 See TempDevStatus0O 02ED TempDevStatus13 0000 See TempDevStatus0 O2EE TempDevStatus14 0000 See TempDevStatusO O2EF TempDevStatus15 0000 See TempDevStatus0O Table 6 7 6 8 Registers for Temperature Management Bluetechnix 2015 Page 43 46 A BLUETECHNIX BI Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 7 Support 7 1 General Support General support for products can be found at Bluetechnix sup
16. 000 R W Bit 0 6 Address Bit 7 13 Device Type 0 unconfigured 1 OWIRE LIM V1 2 OWIRE_LIM V3 3 12C_ADT74 4 12C_LIM 5 TIM Bit 14 15 Bus Nr 0291 TempDevCompConfigO 0000 R W Bit 0 7 Compensation Group 0 unconfigured 1 Illumination 2 sensor 3 Base 4 None Bit 8 15 this factor register value divided by 100 is applied to the temperature of this sensor The sum of factors of one compensation group has to be 100 0292 TempDevConfigO 0000 R W Device specific configuration of temperature device 0 LIM Bit O 1 enable PEN Bit 1 1 enable LED Segment 1 Bit 2 1 enable LED Segment 2 Bit 3 1 enable LED Segment 3 Bit 4 1 enable LED Segment A Bit 5 1 Fan manually on 0 Fan auto mode Bit 6 14 reserved Bit 15 is set by the firmware when start of configuration of the temperature device and cleared as soon as the configuration was successful 0293 TempDevSysStatus0O 0000 R W System Status of temperature device 0 Bit O Device specific status has error bits set Bit 1 11 unused Bit 12 Temperature differs strongly from average Bit 13 Temperature Plausibility Error Bit 14 Sensor IO Error Bit 15 Initialization Error 0294 TempDevBusConfig1 0000 R W See register TempDevBusConfigO 0295 TempDevCompConfig1 0000 R W See register TempDevCompConfigO 0296 TempDevConfig1 0000 R W See register TempDevConfigO Blu
17. 010F PWM100Temp 1B58 R W Temperature for PWM control in 0 01 C Creates a PWM output with duty cycle of 100 0110 IllPreheating Time 0064 RAW _ Time for illumination pre heating in us Table 6 2 General registers Note 5 This value varies from unit to unit 6 3 Registers for GPIOs Addr Register Name Default R W Description hex Value hex 00d0_ lOstate0 0000 R W Bit 0 state of IN_O only R Bit 8 state of OUT_O R W Table 6 3 Registers for GPIOs 6 4 Registers for Automatic Exposure Control Register Name Default R W Description Value hex 01A9 AecAvgWeightO 4444 R W Bit 15 12 Weight for average area 1 Bit 11 8 Weight for average area 2 Bit 7 4 Weight for average area 3 Bit 3 0 Weight for average area 4 01AA AecAvgWeight1 44CC R W Bit 15 12 Weight for average area 5 Bit 11 8 Weight for average area 6 Bit 7 4 Weight for average area 7 Bit 3 0 Weight for average area 8 01AB AecAvgWeight2 C44C R W Bit 15 12 Weight for average area 9 Bit 11 8 Weight for average area 10 Bit 7 4 Weight for average area 11 Bit 3 0 Weight for average area 12 01AC AecAvgWeight3 FC44 R W Bit 15 12 Weight for average area 13 Bit 11 8 Weight for average area 14 Bit 7 4 Weight for average area 15 Bit 3 0 Weight for average area 16 01AD AecAvgWeight4 CCC4 R W Bit 15 12 Weight for average area 17 Bit 11 8 Weight for average area 18 Bit 7 4 Weight for average area 19 B
18. 0x13 n 0x17 n 0x1B n 0Ox1F n Ox3A Ox3E 0x40 Field Preamble high byte first ProtocolVersion Command SubCommand Status Flags Length high byte first HeaderData0 high byte HeaderDatat HeaderData2 HeaderData3 lowbyte CallbacklpVersion CallbacklpAddr high byte first CallbackPort high byte first PacketNumber high byte first FileSize high byte first FileCRC32 Reserved 23 n bytes DataCrc32 HeaderCrc16 Data Bluetechnix 2015 Format Uint16 Uint8 Uint8 Uint8 Uint8 Uint16 Uint32 Uint32 Ulnt8 n Ulnt8 Uint16 Ulnt32 Ulnt32 Ulnt32 Uint8 Uint32 Uint16 bytel Value Oxa1ec 3 11 12 13 or 21 0 1or2 XX 0 lt of bytes of data gt lt Flash Address gt 4 6 lt IP address gt lt IP port gt lt current gt lt file size gt lt CRC32 sum gt XX lt CRC32 sum gt lt CRC16 sum gt lt binary loader file gt amp gt BLUE TECHNIX Last change 16 April 2015 Version 3 Table 3 7 Reset flag description Description Unique identifier start of header This document refers to version V3 0 11 Flash Bootloader 12 Flash Application 13 Flash generic file 21 Flash Lens Calibration Data If Command 13 otherwise ignored 0 Write to SPI flash 1 Write to parallel flash Ignored Bit O must be cleared and DataCrc32 must be valid The size of the data of this packet A generic file is flashed to
19. Bit 0 Bluetechnix 2015 Page 26 46 A gt BLUE TECHNIX Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 4 8 1 Hardware Trigger The camera provides an extension connector where a hardware trigger can be applied connector X1 pin 18 Please refer to Chapter 3 3 for more information Please refer to the Hardware User Manual for detailed information on the hardware trigger 4 8 2 Software Trigger In addition to the hardware trigger a software trigger is available To start a frame capturing by software set the appropriate bit bit 4 in register Mode 4 8 3 Trigger Output Every image capturing process will trigger a transition to low on the trigger output connector X1 pin 17 An additional delay for this signal can be set in register TriggerOutDelay Ox004D Please refer to the Hardware User Manual for detailed information on the trigger output 4 9 Over Temperature Protection The TIM UP 19K S3 ETH firmware has a built in monitoring for over temperature condition of the LIMs If the LIM temperature exceeds 90 C the camera will automatically stop illumination and streaming until temperature is below 90 C This limit can be adjusted in register MaxLedTemp 0x0024 4 10 Communication Keep Alive CKA The communication keep alive feature should improve a stable operation in environments where a high availability of the camera services will be needed If the CKA feature has been en
20. CallbacklpVersion Ulnt8 4 6 4 IPv4 n 4 6 IPv6 n 16 0x11 CallbacklpAddr high byte first n Ulnt8 lt IP The destination address for the address gt response Ox11 n CallbackPort high byte first Uint16 lt IP port gt The destination port for the response 0x13 n Reserved 39 n bytes 39 XX Ignored n Uints Ox3A DataCrc32 Uint32 XX Ignored 0x3E HeaderCrc16 Uint16 lt CRC16 Checksum over 60 bytes of Header sum gt 0x02 0x3D Table 3 2 Register read command frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Response frame Addr Field Format Value Description 0x00 Preamble high byte first Uint16 Oxalec Unique identifier start of header 0x02 _ ProtocolVersion Uint8 3 This document refers to version V3 0 0x03 Command Uint8 3 Command code for read 0x04 SubCommand Uint8 XX Ignore 0x05 Status Uint8 Refer to table Result code 0x06 Flags Uint16 lt flags gt Bit 0 1 lgnore DataCrc32 0x08 Length high byte first Uint32 lt of bytes read gt The number of bytes read length of lt Data gt in bytes OxOC HeaderData0 high byte Uint16 lt Register Address gt Start register address of read data HeaderData1 lowbyte OxOE MHeaderData2 Uint8 XX Ignored OxOF HeaderData3 Uint8 XX Ignored 0x10 Reserved 42 bytes Uint8 XX reserved Ox3A DataCrc32 Uint32 lt CRC32 sum gt Checksum over lt Dat
21. HNIX Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 Addr Field Type Value Description DOE CRC16 Uint16 high CRC16 checksum over the header without the byte first first two bytes and the CRC16 checksum itself addr 0x02 to addr 0x3D 0x40 Data Bytestream Various channels described by the header with ToF data Table 3 16 Image data header Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT 3 3 Manual frame triggers The default mode of the TIM UP 19K S3 ETH is video mode where the camera streams continuously with configured frame rate To use manual frame triggering you have to disable the video mode in register Mode You can either trigger a frame via e Hardware trigger The signal is sensitive to a falling edge e Software trigger See register Mode Both will trigger a frame capture on the ToF sensor as well as a transition to low on the trigger output 3 4 External Illumination Interface The modulation signals for illumination is supported on the 100pol connector X1 as single ended and differential signals Please refer to the Hardware User Manual for detailed information on the interface 3 5 GPIOs The camera features one general purpose input and one general purpose output on the 100pol connector X1 Please see the register description in chapter 4 11 for more in
22. Response Addr Field Format Value Description 0x00 Preamble high Uinti6 Oxatlec Unique identifier start of header byte first 0x02 ProtocolVersion Uint8 3 This document refers to version V3 0 0x03 Command Uint8 lt command code gt Command code of the original command sent 0x04 SubCommand Uint8 lt subcommand SubCommand code of the original code gt command sent 0x05 Status Uint8 Refer to table Result code 0x06 Flags Uinti6 lt flags gt Bit 0 1 lgnore DataCrc32 0x08 Length high byte Uint32 0 Length of lt Data gt is zero first Ale HeaderData0 Uint8 lt header data 0 gt Same as in sent command Ox0E HeaderData1 Uints lt header data 1 gt Same as in sent command Ox0E HeaderData2 Uint8 lt header data 2 gt Same as in sent command UO HeaderData3 Uints lt header data 3 gt Same as in sent command 0x10 Reserved 42 Uint8 reserved data gt Same as in sent command bytes Ox3A DataCrc32 Uint32 0 No lt Data gt present A el HeaderCrc16 Uinti6 lt CRC16 sum gt Checksum over 60 bytes of Header 0x02 0x3D Table 3 12 General Response Frame description Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Bluetechnix 2015 Page 14 46 BLUETECHNIX A E Last change 16 April 2015 Version 3 Software User Manual TIM UP 19K S3 ETH 3 1 7
23. a gt OxSE HeaderCrc16 Uint16 lt CRC16 sum gt Checksum over 60 bytes of Header 0x02 0x3D Bluetechnix 2015 Page 9 46 Software User Manual TIM UP 19K S3 ETH Addr Field 0x40 Data Format byte Value BLUE TECHNIX Last change 16 April 2015 Version 3 Description lt result data gt Result One or more 16 bit values each stored as big endian high byte first Table 3 3 Register read response frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Note 2 For the CRC32 calculation the CRC 32 is used Polynom 0x04C11DB7 start value OxFFFFFFFF Please ask the Bluetechnix support for an implementation example of the CRC 32 Result codes Please refer to 3 1 7 3 1 2 Register write Command frame Addr Field 0x00 Preamble 0x02 ProtocolVersion 0x03 Command 0x04 SubCommand 0x05 Status 0x06 Flags 0x08 Length high byte first 0x0C HeaderData0 high byte HeaderDatat1 lowbyte Ox0E HeaderData2 UO HeaderData3 0x10 CallbacklpVersion Ox11 CallbacklpAddr high byte first 0x11 n CallbackPort high byte first Ox3A DataCrc32 Ox3E HeaderCrci6 0x40 Data Format Uint16 Uint8 Uint8 Uint8 Uint8 Uint16 Uint32 Uint16 Uint8 Uint8 Ulnt8 n Ulnt8 Uint16 Uint32 Uint16 byte Value Oxalec 3 A XX XX lt flags gt
24. abled by writing a value gt 0 to the register CommKeepAliveTimeout Ox004E the host computer must periodically write the reset value OxCA82 to the register CommKeepAliveReset Ox004F If the reset value will not be written within the programmed timeout the device reboots The timeout can be set by the register CommKeepAliveTimeout by writing the timeout value in seconds This value will also be saved if the register map will be saved in flash But after a reboot the timeout check starts only after the first write of the reset value in register CommKeepAliveReset 4 11 GPIOs The TIM UP 19K S3 ETH provides 1 general purpose input connectors connector X1 Pin 57 and 1 general purpose output connectors connector X1 Pin 59 The GPIO state is mapped to register OstateO 0x00d0 see chapter 6 3 for details Please refer to the Hardware User Manual for detailed information on the GPIOs 4 12 Save Registers The entire register map can be saved into the flash using the register CmdExec It will be restored from flash after a reboot or power cycle Use this feature to save a user specific configuration Bluetechnix 2015 Page 27 46 a BLUETECHNIX Il Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 4 13 Ethernet IP Settings 4 13 1 MAC Address A dedicated Ethernet MAC address from Bluetechnix MAC address pool is assigned to each TIM UP 19K S3 ETH by factory default This MAC address is saved in
25. ance Pixel 0 Distance Pixel 1 Distance Pixel 1 Lowbyte of Highbyte of Lowbyte of Highbyte of Distance Distance Distance DREINE Pixel 19040 Pixel 19040 Pixel 19041 Pixel 19041 Lowbyte of Highbyte of Lowbyte of Highbyte of Amplitude Pixel 0 Amplitude Pixel 0 Amplitude Pixel 1 Amplitude Pixel 1 Lowbyte of Highbyte of Lowbyte of Highbyte of Amplitude Amplitude Amplitude Amplitude Pixel 19040 Pixel 19040 Pixel 19041 Pixel 19041 Last change 16 April 2015 Version 3 Lowbyte of Highbyte of Distance Distance Pixel 159 Pixel 159 Lowbyte of Highbyte of DIENE DACIE Pixel 19199 Pixel 19199 Lowbyte of Highbyte of Amplitude Amplitude Pixel 159 Pixel 159 Lowbyte of Highbyte of Amplitude Amplitude Pixel 19199 Pixel 19199 Last Byte in Stream Figure 4 3 Data stream of Distance and Amplitude data 44 2 XYZ Point Cloud In this mode the XYZ point cloud will be transferred in progressive mode first Y and Z coordinate array The stream starts always with pixel 0 ImageDataFormat 24 The coordinates are coded in millimeters as Int16 Bluetechnix 2015 the X coordinate array then the Page 22 46 A BLUETECHNIX A Embedding Ideas Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 First Byte in Stream Lowbyte of X Highbyte of X Lowbyte of X Highbyte of X SCH Lowbyte of X Highbyte of X Coor Pixel 0 Coor Pixel 0 Coor Pixel 1
26. blePasswd 0000 MaxLedTemp 2328 HorizontalFov 2 VerticalFov 2 TriggerDelay 0000 BootloaderStatus 4000 TempCompGradientLi m ApplicationVersion DistCalibGradient 4000 TempCompGradient2L im Bluetechnix 2015 R R W R W R W R W R W R W A BLUETECHNIX A Last change 16 April 2015 Version 3 Bit 0 7 Status error Idle FPN calibration Dist calib exposure Dist calib capturing img Dist calib saving img to flash Dist calib loading img from flash Dist calib calculation saving result 17 CenterDist calib loading img from flash 18 CenterDist calib calculation saving result 19 FPPN calibration 20 Erasing flash 161 Operation done 255 Generic error 254 NVM error 252 Out of memory 249 Led board failure 248 Invalid modulation frequency 246 Wrong image mode Need depth Bit 10 1 Error occurred OPA RON 9 Bit 11 1 No FPN Calibration data in NVM Bit 12 1 No FPPN Calibration data in NVM Bit 13 1 No Dist Calibration data in NVM Bit 14 1 No Lens Calibration data in NVM Bit 15 1 Temperature compensation error Set a password for critical operations 0x4877 Register map flash operations register CmdExec 0x0033 Ox5e6b Test commands register TestConfig 0x01c0 Maximum tolerable LED Board temperature 0 01 C Horizontal field of view in 0 01 Vertical field of view in 0 01 Delay between trigger assertion either software or hardware a
27. eeeeeeeeeseeeseeeseesseeseeesaeesaeesaeesaeesaeeseeseeseesetsoetseetseetseetseees 46 Bluetechnix 2015 BLUETECHNIX A E Bluetechnix 2015 All Rights Reserved The information herein is given to describe certain components and shall not be considered as a guarantee of characteristics Terms of delivery and rights of technical change reserved We hereby disclaim any warranties including but not limited to warranties of non infringement regarding circuits descriptions and charts stated herein Bluetechnix makes and you receive no warranties or conditions express implied statutory or in any communication with you Bluetechnix specifically disclaims any implied warranty of merchantability or fitness for a particular purpose Bluetechnix takes no liability for any damages and errors causing of the usage of this board The user of this board is responsible by himself for the functionality of his application He is allowed to use the board only if he has the qualification More information is found in the General Terms and Conditions AGB Information For further information on technology delivery terms and conditions and prices please contact Bluetechnix http www bluetechnix com Warning Due to technical requirements components may contain dangerous substances Bluetechnix 2015 BLUETECHNIX A E Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3
28. er write flag description Result codes Please refer to 3 1 7 3 1 3 Reset Command frame Addr Field Format Value Description 0x00 Preamble high Uint16 Oxalec Unique identifier start of header byte first 0x02 ProtocolVersion Uint8 3 This document refers to version V3 0 0x03 Command Uint8 7 Command code for reset 0x04 SubCommand Uint8 XX Ignored 0x05 Status Uint8 XX Ignored 0x06 Flags Uint16 XX Ignored 0x08 Length high byte Uint32 0 No data first Ox0C HeaderData0O Uint8 XX Ignored 0x0D HeaderDatat1 Uint8 XX Ignored Ox0E HeaderData2 Uint8 XX Ignored A ol HeaderData3 Uint8 XX Ignored 0x10 CallbacklpVersion Ulnt8 4 6 4 IPv4 n 4 6 IPv6 n 16 0x11 CallbacklpAddr n Ulnt8 lt IP The destination address for the response high byte first address gt 0x11 n CallbackPort Uint16 lt IP port gt The destination port for the response high byte first Table 3 6 Reset command frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Response frame See General Response 3 1 6 Bluetechnix 2015 Page 11 46 Software User Manual TIM UP 19K S3 ETH Flags Flags Description Currently no flags defined for this command Result codes Please refer to 3 1 7 3 1 4 Flash Update Command frame Addr 0x00 0x02 0x03 0x04 0x05 0x06 0x08 0x0C 0x10 0x11 0x11 n
29. etechnix 2015 Page 41 46 BLUETECHNIX Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 0297 TempDevSysStatus1 0000 R W See register TempDevSysStatusO 0298 TempDevBusConfig2 0000 R W See register TempDevBusConfigO 0299 TempDevCompConfig2 0000 R W See register TempDevCompConfigO 029A TempDevConfig2 0000 R W See register TempDevConfigO 029B TempDevSysStatus2 0000 R W See register TempDevSysStatusO 029C TempDevBusConfig3 0000 R W See register TempDevBusConfigO 029D TempDevCompConfig3 0000 R W See register TempDevCompConfigO 029E TempDevConfig3 0000 R W See register TempDevConfigO 029F TempDevSysStatus3 0000 R W See register TempDevSysStatusO 02A0 TempDevBusConfig4 0000 R W See register TempDevBusConfigO 02A1 TempDevCompConfig4 0000 R W See register TempDevCompConfigO 02A2 TempDevConfig4 0000 R W See register TempDevConfigO 02A3 TempDevSysStatus4 0000 R W See register TempDevSysStatusO 02A4 TempDevBusConfig5 0000 R W See register TempDevBusConfigO 02A5 TempDevCompConfig5 0000 R W See register TempDevCompConfigO 02A6 TempDevConfig5 0000 R W See register TempDevConfigO 02A7 TempDevSysStatus5 0000 R W See register TempDevSysStatusO 02A8 TempDevBusConfig6 0000 R W See register TempDevBusConfigO 02A9 TempDevCompConfig6 0000 R W See register TempDevCompConfigO O2AA_ TempDevConfig6 0000 R W See register TempDevConfigO 02AB TempDevSysStatus6 0000 R W See register TempDevSysStatusO O2AC TempDevBusConfig7 0000 R W See regi
30. factory default The TIM UP 19K S3 ETH streams to the following IP settings IP Address Multicast address 224 0 0 1 UDP port 10002 Note The UDP stream settings can be configured using the EthO_ registers As multicast is used more than one host can receive the stream within the same subnet at the same time The client has to join the appropriate multi cast group and open the port 10002 on his local network interface card NIC where the TIM UP 19K S3 ETH is connected to The receiver should receive the stream and interpret it as the following protocol description shows Note Be aware that a multicast stream may slow down your Ethernet network as the stream may be spread to all active links of switches hubs and routers The current protocol version is 1 Each image transmitted on the UDP stream is split into packets of max 1432 bytes length Each packet consists of a 32 byte packet header and up to 1400 bytes of image data section refer to Figure 3 1 Addr 0x00 0x02 0x04 0x06 0x08 0x0C 0x10 0x14 0x20 Field Version FrameCounter PacketCounter DataLength FrameSize PacketCRC32 Flags Reserved ImageData Type Uint16 high byte first Uint16 high byte first Uint16 high byte first Uint16 high byte first Uint32 high byte first Uint16 high byte first Uint32 Value 0x0001 Refer to Table 3 15 Description Protocol version Continuous frame counter On an overrun i
31. firmware Reboot Reboot Argos Run Bootloader Do what you have to do Figure 4 7 Boot sequence Bluetechnix 2015 A BLUETECHNIX J A Embedding Ideas mm S N Last change 16 April 2015 Version 3 Bootloader Wait for incoming connections Wait for incoming connections Wait for incoming connections Wait for incoming connections Firmware Set Run Bootloader Bit to inform the Bootloader Reboot Page 30 46 e BLUETECHNIX J ON Embedding Ideas MN Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 4 15 2 Bootloader default settings e IP Address 192 168 0 10 e TCP port for the control interface 10001 e MAC Address Factory default MAC address Note The bootloader doesn t use any saved register map but always factory default register settings That means that any changes in the IP Settings made for the firmware are not valid for the bootloader Bluetechnix 2015 Page 31 46 EN BLUETECHNIX DN Embedding Ideas Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 5 Software 5 1 Demo Application For the first evaluation of the camera and to evaluate different settings and configurations a NET demo application for Microsoft Windows is provided BLT ToF Suite The demo application can be downloaded from our support web site Software and documentation aN httos support bluetechnix at index ht
32. formation Bluetechnix 2015 Page 18 46 BLUETECHNIX A E Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 4 Camera Features 4 1 Basic Settings The TIM UP 19K S3 ETH comes up according to the factory default values as described in the register description section refer to chapter 6 4 2 Image Processing Chain The following flow diagram shows the image processing chain of the TIM UP 19K S3 ETH for the depth data For the amplitude data there will currently no post processing be performed Integration Image capturing Distance and amplitude Amplitude Image ready calculation Further steps performed only on depth image Apply filter x Filtering Finished Perform Polar to Cartesian Transformation XYZ Point Cloud needed N Figure 4 1 Image processing flow Bluetechnix 2015 Page 19 46 A BLUETECHNIX Zi E Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 4 2 1 Image filtering After the distance and amplitude calculation the filters are applied to the depth data The amplitude data will be left unfiltered Each of the filter provides one or more configuration parameters The iteration count for each filter can also be configured The filters can be enabled or disabled by writing the ImgProcConfig register Enabling more than one filter is possible but each added filter reduces the maximum achievable
33. gister settings by deleting the saved register map This can be done by writing a dedicated value to the register CmdEnablePasswd and CmdExec Alternatively a factory reset is executed via the Factory Default Reset Pin Connector X1 Please consult the Hardware User Manual for details It must be active for 5 seconds during boot up Bluetechnix 2015 Page 28 46 BLUETECHNIX A E Software User Manual TIM UP 19K S38 ETH Last change 16 April 2015 Version 3 4 15 Bootloader and Firmware Update The TIM UP 19K S3 ETH will be delivered with a bootloader which is capable to update the onboard firmware The communication with the bootloader will be done using dedicated UDP command frames over the control interface connection Bluetechnix provides tools for updating the TIM UP 19K S3 ETH firmware over Ethernet Please refer to our support site Bluetechnix ToF Suite Ze httos support bluetechnix at wiki TIM UP 19K S3 ETH 4 15 1 Boot Sequence After a power on or reboot the bootloader will be started The bootloader checks if a valid firmware is installed and tries to start the firmware If no application can be found the bootloader stays in bootloader mode waiting for incoming Ethernet connection Bluetechnix 2015 Page 29 46 Software User Manual TIM UP 19K S3 ETH Power on Run the bootloader Run bootloader bit set Boot butto pressed Valid firmware in flash CRC32 ok Load the
34. it 1 1 enable Average Filter Bit 2 1 enable Gauss Filter Bit 3 1 enable Bilateral Filter Bit 4 1 enable Sliding Average Bit 6 1 enable wiggling compensation Bit 7 1 enable FRPPN compensation Bit 8 1 enable ModFreq scaling Bit 9 1 enable scaling to mm Bit 11 1 enable temperature compensation Bit 12 1 enable scaling via register DistCalibGradient Ox002F Bit 13 1 enable offsets via registers DistCalibOffsetX Ox00C1 onwards Bit 14 1 enable akf plausibility check affected pixel have a distance of 1 Bit O 7 Nr of Median Iterations Bit 0 7 0 3x3 Pixel 1 5x5 Pixel Bit 8 15 Nr of iterations Bit 0 7 0 3x3 Pixel 1 5x5 Pixel Bit 8 15 Nr of iterations Bit 0 5 Sigma R factor for weighing for radius max 6 Bit 6 11 Sigma D factor for weighting for data max 6 Bit 12 15 Nr of iterations Bit 0 7 Window size Table 6 5 Register for filter configuration Bluetechnix 2015 Page 39 46 Software User Manual TIM UP 19K S3 ETH 6 6 Registers for Ethernet configuration 0240 0241 0242 0243 0244 0245 0246 0247 0248 0249 024C 024D 024E 0255 0255 Register Name EthOConfig EthOMac2 EthOMact1 EthOMac0O EthOlp0 EthOlp1 EthOSnm0O EthOSnm1 EthOGateway0 EthOGateway1 EthOUdpStreamlp0 EthOUdpStreamlp1 EthOUdpStreamPort EthOUdpConfigPort EthOUdpConfigPort Bluetechnix 2015 Defaul
35. it 3 0 Weight for average area 20 O1AE AecAvgWeight5 4444 R W Bit 15 12 Weight for average area 21 Bit 11 8 Weight for average area 22 Bit 7 4 Weight for average area 23 Bit 3 0 Weight for average area 24 O1AF AecAvgWeight6 4000 R W Bit 15 12 Weight for average area 25 01BO0 AecAmpTarget O2BC R W Auto exposure target amplitude value to which the controller is controlling to Bluetechnix 2015 Page 38 46 Software User Manual TIM UP 19K S3 ETH 01B1 AecTintStepMax 0021 R W 01B2 AecTintMax 2710 R W 01B3 AecKp 0028 R W 01B4 Aecki OOOF R W 01B5 AeckKd 0000 R W A BLUETECHNIX ek Embedding Ideas Last change 16 April 2015 Version 3 Auto exposure maximum change of integration time percentage The relative change of the integration time will be lower than this percentage Auto exposure maximum integration time the controller calculates Proportional part of the auto exposure controller in percent Integral part of the auto exposure controller in percent Differential part of the auto exposure controller in percent Table 6 4 Registers for automatic exposure control 6 5 Registers for Filter Configuration Addr Register Name Default R W hex Value hex 01E0 ImgProcConfig 7bc1 R W 01E1 FilterMedianConfig 0001 R W 01E2 FilterAverageConfig 0100 R W O1E3 _ FilterGaussConfig 0100 R W 01E4 FilterBilateralConfig 2082 R W DIER FilterSlafConfig 0005 R W Description Bit O 1 enable Median Filter B
36. itudes are coded as Uint16 4 4 6 Distances In this mode a single array with distances is transferred The stream starts always with pixel 0 ImageDataFormat 96 The distances are coded in millimeters as Uint16 4 5 Modulation Frequency The modulation frequency is set to 22 5 MHz per default Other modulation frequencies can be set using the register ModulationFrequency Be aware that this also changes the ambiguity range of the camera The following modulation frequencies can be selected Index Frequency 5 MHz 5 63 MHz 6 43 MHz 7 5 MHz 9 MHz 11 25 MHz 15 MHz 22 5 MHz 45 MHz CONOOBRWN CH Table 4 1 Pre defined modulation frequencies In the register you can either write the frequency frequency 10000 or the index as listed in Table 4 1 Ona read of the register you get the currently selected modulation frequency again in 10 kHz steps Other frequencies cannot be set 4 6 Frame rate and Integration Time The frame rate and the integration time can be set by using the registers Framerate and IntegrationTime The camera integration time is limited by hardware to 25 ms at maximum and 50 us at minimum The maximum frame rate is 30 fps but may be limited by the integration time The combination of frame rate and integration time influences the input current as well as the dissipated heat and will be characterized by the Frame rate Integration Time Product FITP which has been defined as follows 1 FITP tiy
37. ml Bluetechnix 2015 Page 32 46 A BLUETECHNIX J ON Embedding Ideas Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 6 Register Description Note Some critical registers are password protected To enable the functionality a specific value must be written to the CmdEnablePasswd register in advance to enable the functionality This should prevent from accidentally executing certain functions 6 1 General registers Addr Register Name Defaut R W Description hex Value hex 0001 Mode 0001 R W Bit 0 O Manual Mode 1 Video Mode Bit 4 1 Manual Trigger self clearing bit Bit 6 1 Clear status register Bit 8 1 Start Bootloader Start Bootloader requires writing Ox5e6b into register CmdEnablePasswd 0x0022 03 Status 0040 R Bit O 0 Application Mode 1 Bootloader Mode Bit 2 1 0ngoing Calibration Bit 3 1 LED Board temperature sensor error Bit 4 1 Main Board temperature sensor error Bit 5 1 Calibration data missing Bit 6 1 Factory Regmap was loaded 1 Bit 9 1 LED board over temperature Bit 14 1 Base Board temperature sensor error 0004 ImageDataFormat 0000 R W Bit 3 10 0 2 bytes depth data 2 bytes amp data 3 X Y Z coordinates 2 bytes in signed format for each coordinate 4 X Y Z coordinates and amp data 2 bytes in signed format for each coordinate 2 bytes unsigned for the amp value 9 depth data and X Y Z coordinates 2 byte
38. nd image capturing ms Bit 14 15 Firmware Load Counter This counter is reset by the firmware It counts the boot attempts In Bootloader mode it is used to detect a firmware load problem Factor c of the illumination temperature compensation function y mm a 100000 x b 10000 x c 1000 x u See Firmwarelnfo Ox0008 for bit description in Bootloader mode this register contains the firmware info of the flashed application Gradient of dist value interpreted as fixed comma shifted by 14 binary digits Factor b of the illumination temperature compensation function y mm a 100000 x b 10000 x c 1000 x u Page 35 46 Software User Manual TIM UP 19K S3 ETH 0032 0033 0034 0035 0036 0037 0038 0039 003A 003B 003C 003D 003E 003F 0040 0041 0042 0043 0044 004A 004B 004C CPLDversion CmdExec 0000 CmdExecResult 0000 FactoryMacAddr2 FactoryMacAddr1 FactoryMacAddrO FactoryYear FactoryMonthDay FactoryHourMinute Factory Timezone TempCompGradient3L im BuildYearMonth BuildDayHour BuildMinuteSecond UpTimeLow UpTimeHigh AkfPlausibilityCheckA mpLimit TimSerialLow TimSerialHigh TempCompGradientTi m 0032 TempCompGradient2T im TempCompGradient3T Im Bluetechnix 2015 R W R W R W R W BLUETECHNIX Last change 16 April 2015 Version 3 Version of the firmware on CPLD Bit description see
39. ndent interfaces This document applies to firmware version 1 0 0 For a hardware compatibility list please refer to our Support site Software and documentation NSS https support bluetechnix com index html Bluetechnix 2015 Page 7 46 A BLUETECHNIX DN Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 3 Interfacing The TIM UP 19K S3 ETH provides control and data interfaces via Fast Ethernet The control interface is used to set and read the configuration of the TIM UP 19K S3 ETH via a set of registers Refer to Chapter 6 for a detailed register description The data interface provides a continuous stream of the distance and amplitude values or the XYZ data depending on the configuration 3 1 Control Interface The TIM UP 19K S3 ETH can be configured using the UPD control interface For the control interface the TIM UP 19K S3 ETH is listening to the following factory default IP settings e IP Address 192 168 0 10 e Subnet mask 255 255 255 0 e Network protocol UDP UDP port 10003 Note The Ethernet IP settings can be configured using the EthO_ registers The changes become active on a device reset The TIM UP 19K S3 ETH can be configured using a dedicated set of command frames The TIM UP 19K S3 ETH answers to each command frame with a dedicated response frame The following table shows the currently supported command frames Command frame Description Register Read Used t
40. o read one or more consecutive registers Register Write Used to write one or more consecutive registers Reset Used to reset reboot the TIM UP 19K S3 ETH Flash Update Used to transfer files and updates Table 3 1 Supported command frames The following section describes each command frame and the expected answer in detail To be able to communicate with the TIM UP 19K S3 ETH the frame must be composed exactly as described The following types are used e Uint8 8 bit unsigned integer e Uint16 16 bit unsigned integer Uint32 32 bit unsigned integer Note Values with Ox as prefix are hexadecimal values Bluetechnix 2015 Page 8 46 Software User Manual TIM UP 19K S3 ETH 3 1 1 Register read Command frame gt BLUETECHNIX Last change 16 April 2015 Version 3 Addr Field Format Value Description 0x00 Preamble high byte first Uint16 Oxalec Unique identifier start of header 0x02 ProtocolVersion Uint8 3 This document refers to version V3 0 0x03 Command Uint8 3 Command code for read 0x04 SubCommand Uint8 XX Ignored 0x05 Status Uint8 XX Ignored 0x06 Flags Uint16 lt flags gt Bit 0 1 lgnore DataCrc32 0x08 Length high byte first Uint32 lt of bytes Number of bytes to read must be a to read gt multiple of two Ox0C HeaderData0 high byte Uint16 lt Register Start register address for read HeaderData1 lowbyte Address gt command Ox0E HeaderData2 Uints XX Ignored OxOF HeaderData3 Uint8 XX Ignored 0x10
41. or Pixel 19041 Highbyte of Y Coor Pixel 1 Lowbyte of Y Highbyte of Y Lowbyte of Y Highbyte of Y Coor Pixel 19040 Coor Pixel 19040 Coor Pixel 19041 Coor Pixel 19041 A BLUETECHNIX A ON Embedding Ideas Last change 16 April 2015 Version 3 Lowbyte of X Coor Pixel 159 Highbyte of X Coor Pixel 159 Lowbyte of X Highbyte of X Coor Coor Pixel 19199 Pixel 19199 Lowbyte of Y Coor Pixel 159 Highbyte of Y Coor Pixel 159 Lowbyte of Y Highbyte of Y Coor Pixel 19199 Coor Pixel 19199 Last Byte in Stream Figure 4 5 Data stream of XYZ Point Cloud and Amplitude 4 4 4 Distances and XYZ Point Cloud In this mode the distances and the XYZ point cloud will be transferred in progressive mode first the distances array then X Y and Z coordinate arrays in this order The stream starts always with pixel 0 ImageDataFormat 72 The distances are coded in millimeters as Uint16 The coordinates are coded in millimeters as Int16 Bluetechnix 2015 Page 24 46 a BLUETECHNIX Il Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 4 4 5 X coordinate and Amplitudes In this mode a single coordinate array more specifically the one belonging to the optical axis of the camera X is transferred as well as the amplitudes ImageDataFormat 80 Coordinate values are coded in millimeters as Int16 The ampl
42. pDevBusConfig13 0000 R W See register TempDevBusConfigO 02C5 TempDevCompConfig13 0000 R W See register TempDevCompConfigO 02C6 TempDevConfig13 0000 R W See register TempDevConfigO 02C7 TempDevSysStatus13 0000 R W See register TempDevSysStatusO 02C8 TempDevBusConfig14 0000 R W See register TempDevBusConfigO 02C9 TempDevCompConfig14 0000 R W See register TempDevCompConfigO O2CA TempDevConfig14 0000 R W See register TempDevConfigO 02CB TempDevSysStatus14 0000 R W See register TempDevSysStatus0 02CC TempDevBusConfig15 0000 R W See register TempDevBusConfigO Bluetechnix 2015 Page 42 46 BLUETECHNIX Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 02CD TempDevCompConfig15 0000 R W See register TempDevCompConfigO 02CE TempDevConfig15 0000 R W See register TempDevConfigO O2CF TempDevSysStatus15 0000 R W See register TempDevSysStatusO J 02D0 TempDevTemperature0 0000 Temperature of temperature device 0 see LedboardTemp 0x001B See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 See TempDevTemperature0 02D1 TempDevTemperaturet 0000 02D2 TempDevTemperature2 0000 02D3 TempDevlemperatures 0000 02D4 TempDevTemperature4 000
43. port site Support Link aN httos support bluetechnix com index html 7 2 Software Packages Software packages and software downloads are for registered customers only Software Package Ze httos support bluetechnix com index html 7 3 Related Products e IF BASIC e LIM U LED 850 Bluetechnix 2015 Page 44 46 A BLUETECHNIX J ON Embedding Ideas ZN Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 8 Firmware History 8 1 Version Information Please refer to our support site for additional information about firmware changes 8 2 Anomalies Please refer to our support site for additional information about firmware changes Bluetechnix 2015 Page 45 46 A BLUETECHNIX J ON Embedding Ideas Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 9 Document Revision History Version Date Author Description 1 2014 12 03 afro Initial Version 2 2015 03 26 MKO Corrected spelling errors corrected Control Interface tables Updated register table Coordinate system image updated 3 2015 04 10 MKO Updated Factory Default Reset description Table 9 1 Document Revision History Bluetechnix 2015 Page 46 46
44. r Ims fps A Bluetechnix 2015 Page 25 46 BLUETECHNIX A E Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 Caution Be careful in setting different integration times and frame rate combinations Not all combinations are possible Without appropriate cooling the device may be damaged Refer to the Hardware User Manual for more information Note If the Auto Exposure Control is enabled the integration time will be set automatically and the register Integration Time should not be written 4 7 Automatic Exposure Control AEC The TIM UP 19K S3 ETH provides an automatic exposure control feature which controls the integration time according to the currently observed amplitude data The AEC is disabled by default and must be enabled in the register Mode The AEC is controlled through dedicated registers which are listed in chapter 6 4 The AEC algorithm also supports weighting One may assign specific weights to each of 25 areas into which the sensor area is divided These weights are inputs to calculate the current overall amplitude Please see Figure 4 6 AEC weighing areas for an illustration Each area s weight is a Uint8 value and can range from 0 0x0 to 100 Oxf ec Pixel O Areal 2 3 4 5 Figure 4 6 AEC weighing areas 4 8 Manual Frame Trigger There are two types of manual trigger To enable the manual trigger you have to disable the video mode in register Mode
45. set3 1 R W An offset for distance values when operating at modulation frequency with index 3 00C5 DistOffset4 1 R W An offset for distance values when operating at modulation frequency with index 4 00C6 DistOffset5 1 R W An offset for distance values when operating at modulation frequency with index 5 00C7 DistOffset6 1 R W An offset for distance values when operating at modulation frequency with index 6 00C8 DistOffset7 1 R W An offset for distance values when operating at modulation frequency with index 7 00C9 DistOffset8 1 R W An offset for distance values when operating at modulation frequency with index 8 010A TempCompGradient R W Factor c of the ToF baseboard temperature Baseboard compensation function y mm a 100000 x b 10000 x c 1000 x u 010B TempCompGradient R W Factor b of the ToF baseboard temperature 2Baseboard compensation function y mm a 100000 x b 10000 x c 1000 x u 010C TempCompGradient R W Factor a of the ToF baseboard temperature 3Baseboard compensation function y mm a 100000 x b 10000 x c 1000 x u 010D BaseboardTemp R Temperature of baseboard in 0 01 C FFFF Sensor not available 010E PWM50Temp OFAO R W Temperature for PWM control in 0 01 C Creates a PWM output with duty cycle of 50 Bluetechnix 2015 Page 37 46 A BLUETECHNIX y ON Embedding Ideas Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3
46. ster TempDevBusConfigO 02AD TempDevCompConfig7 0000 R W See register TempDevCompConfigO O2AE TempDevConfig7 0000 R W See register TempDevConfigO O2AF TempDevSysStatus7 0000 R W See register TempDevSysStatusO 02BO TempDevBusConfig8 0000 R W See register TempDevBusConfigO 02B1 TempDevCompConfig8 0000 R W See register TempDevCompConfigO 02B2 TempDevConfig8 0000 R W See register TempDevConfigO 02B3 TempDevSysStatus8 0000 R W See register TempDevSysStatusO 02B4 TempDevBusConfig9 0000 R W See register TempDevBusConfigO 02B5 TempDevCompConfig9 0000 R W See register TempDevCompConfigO 02B6 TempDevConfig9 0000 R W See register TempDevConfigO 02B7 TempDevSysStatus9 0000 R W See register TempDevSysStatusO 02B8 TempDevBusConfig10 0000 R W See register TempDevBusConfigO 02B9 TempDevCompConfig10 0000 R W See register TempDevCompConfigO O2BA TempDevConfig10 0000 R W See register TempDevConfigO 02BB TempDevSysStatus10 0000 R W See register TempDevSysStatusO 02BC TempDevBusConfig1 1 0000 R W See register TempDevBusConfigO 02BD TempDevCompConfig1 1 0000 R W See register TempDevCompConfigO O2BE TempDevConfig11 0000 R W See register TempDevConfigO O2BF TempDevSysStatus1 1 0000 R W See register TempDevSysStatusO 02CO TempDevBusConfig12 0000 R W See register TempDevBusConfigO 02C1 TempDevCompConfig12 0000 R W See register TempDevCompConfigO 02C2 TempDevConfig12 0000 R W See register TempDevConfigO 02C3 TempDevSysStatus12 0000 R W See register TempDevSysStatus0 02C4 Tem
47. t Value hex 0006 ACDE 4801 0203 000A COA8 FFOO FFFF 0000 0000 0001 E000 2712 2713 2713 R W R W R W A BLUETECHNIX A ON Embedding Ideas Last change 16 April 2015 Version 3 Description Bit O 1 Enable DHCP Bit 1 1 Enable UDP streaming Bit 2 1 lgnore CRC for UDP streaming Low byte and byte 1 of MAC address default value differs in factory config Byte 2 and byte 3 of MAC address default value differs in factory config Byte 4 and high byte of MAC address default value differs in factory config Low word of IP address High word of IP address Low word of subnet mask High word of subnet mask Low word of gateway High word of gateway Low word of IP address for UDP stream High word of IP address for UDP stream Port for UDP streaming UDP port for UDP Control Interface UDP port for UDP Control Interface Table 6 6 Registers for Ethernet configuration Page 40 46 A BLUETECHNIX ON Embedding Ideas Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 6 7 Registers for Temperature Management Register Name Default Description Value hex 028F TempDevMaxlllTempOffset OOOf R W Bit 0 15 Temperature offset in C for illumination temperature devices If supported by the device the temperature threshold for security shutdown is set by using register MaxLedTemp 0x0024 added by this offset in 0 01 C 0290 TempDevBusConfigO 0
48. t restarts at 0 Actual packet The frame data must be recomposed in order of the packet Length of the image data section of the current packet Size of the image data It may be used to calculate the expected of packets for a frame CRC32 checksum over the entire packet pos 0 to pos n Optional flags Reserved for future use Image data section Table 3 14 UDP packet header Note 1 For the CRC32 calculation the CRC 32 is used Polynom 0x04C11DB7 start value OxFFFFFFFF Please ask the Bluetechnix support for an implementation example of the CRC 32 Bluetechnix 2015 Page 16 46 Software User Manual TIM UP 19K S3 ETH Flags Flags Bit O Image data Description 1 Ignore DataCrc32 d A BLUETECHNIX lt p Last change 16 April 2015 Version 3 Table 3 15 UDP packet header flag description The image data assembled out of multiple packets again consists of 64 byte image header and the image data section The format of the image data depends on the selected image format and is described in chapter 4 3 Below you can find the format of the 64 byte image header Addr Field 0x00 Reserved 0x02 HeaderVersion 0x04 ImageWidth 0x06 ImageHeight 0x08 NofChannels 0x09 BytesPerPixel Ox0A ImageFormat 0x0C Timestamp 0x10 FrameCounter 0x12 Reserved Ox1A Mainlemp 0x1B Ledlemp 0x1C FirmwareVersion 0x1E MagicV31 0x20 IntegrationTime 0x22 ModFreq 0x24 Temp3 0x25 Reserved 0x26 Reserved 0x28
49. the OTP and cannot be changed by the user The user is allowed to assign a different MAC address using the registers EthOMac0 to EthOMacz2 Be sure to make the changes persistent by saving the register map to flash using registers CmdEnablePasswd and CmdExec Then reboot or power cycle the sensor If the register map in the flash is cleared the factory default MAC address from OTP will be loaded 4 13 2 IP UDP Settings The IP Settings of the TIM UP 19K S3 ETH can be changes via the EthO_ registers A change of the IP settings IP address port subnet mask default gateway will take effect after a reboot Please see the register description for details Be sure to make the changes persistent by saving the register map to flash using registers CmdEnablePasswd and CmdExec Then reboot or power cycle the sensor To change the TIM UP 19K S3 ETH IP address follow these steps 1 Convert the IP address into its hexadecimal equivalent e g 192 168 0 55 gt OxCOA80037 2 Write the high word to register EthOlp1 Ox0245 and the low word to register EthOlpO 0x0244 3 Write the password 0x4877 to register CmdEnablePasswd 0x0022 to enable the CmdExec register 4 Write OxDDYE to register CmdExec 0x0033 to save the current register map Power cycle the TIM UP 19K S3 ETH 6 Connect to the TIM UP 19K S3 ETH using the new IP address 4 14 Reset to Factory Default The TIM UP 19K S3 ETH can be reset to the factory default re
50. this address When Flashing a Bootloader or application it is ignored 4 IPv4 n 4 6 IPv6 n 16 The destination address for the response The destination port for the response A consecutive numbering of the packets to send starting at 1 Length of the binary file to flash Cecksum over the complete binary file Ignored Checksum over lt Data gt 3 Checksum over 60 bytes of Header 0x02 0x3D The loaderfile to flash in a bytestream Table 3 8 Flash update command frame Page 12 46 Software User Manual TIM UP 19K S3 ETH A IN BLUETECHNIX A Last change 16 April 2015 Version 3 Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Note 2 For the CRC32 calculation the CRC 32 is used Polynom 0x04C11DB7 start value OxFFFFFFFF Please ask the Bluetechnix support for an implementation example of the CRC 32 Note 3 The DataCrc32 is mandatory the appropriate flag must be set to 0 Response frame See General Response 3 1 6 Flags Flags Bit O Description 1 Ignore DataCrc32 Result codes Please refer to 3 1 7 3 1 5 Keep Alive Command frame Addr 0x00 0x02 0x03 0x04 0x05 0x06 0x08 0x0C 0xOD OxOE Ox0F 0x10 0x11 0x11 n 0x13 n 0x3A Ox3E Field Preamble high byte first ProtocolVersion Command SubCommand Status Flags
51. tion function y mm a 100000 x b 10000 x c 1000 x u Factor a of the ToF sensor temperature compensation function y mm a 100000 x b 10000 x c 1000 x u Page 36 46 A BLUETECHNIX AAPA Embedding Ideas Software User Manual TIM UP 19K S3 ETH Last change 16 April 2015 Version 3 004D TriggerOutDelay R W Delay between completed sensor data readout and trigger output ms 004E CommKeepAliveTimeo R W Communication keepalive timeout s t After this timeout a watchdog reset occurs if the timeout is not reset by writing the reset value to the CommKeepAliveReset register 004F CommKeepAliveReset R W Communication keepalive write register Resets the CommKeepaAlive timeout when the value OxCA82 is written Table 6 1 General register Note 1 The number of median iterations may have an impact on the achievable frame rate The frame rate may decrease on incrementing this register Note 2 The content depends on the mounted lens and the calibration data and represents the real viewing angles 6 2 More General Registers Register Name Default Description Value hex 00C1 DistOffsetO 1 R W An offset for distance values when operating at modulation frequency with index 0 00C2 DistOffset1 1 R W An offset for distance values when operating at modulation frequency with index 1 00C3 DistOffset2 1 R W An offset for distance values when operating at modulation frequency with index 2 00C4 DistOff
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