VRmagic D2 Intelligent Camera User Guide Sensor Issued August 2014
VRmagic GmbH Augustaanlage 32 68165 Mannheim Germany Phone Fax +49 (0)621 400 416-20 +49 (0)621 400 416-99 info.imaging@vrmagic.com www.vrmagic-imaging.com 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.
Table of Contents Intelligent Components Table of Contents 1 General Information...........................................................6 2 Safety...................................................................................7 3 Overview..............................................................................8 3.1 D2 Intelligent Camera Architecture..............................................................8 3.2 Camera Models..........................................................
Intelligent Components 4 Table of Contents 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.
Table of Contents Intelligent Components 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.
Intelligent Components 1 General Information 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.
Intelligent Components Safety 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.
Intelligent Components 3 Overview 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). Image Sensor(s) DDR2 RAM Dual-Core Chip Master Slave ARM9 DSP C64x+ System Interconnection 300 MHz 200 MHz | 64 Bit Linux Interrupt Request Ethernet 100 MBit USB 2.
Intelligent Components 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. Linux Memory DSP C64+ Codecs Shared Memory CMEM 256 MB RAM Data Data Control Data Data ARM9 Linux DSP Memory variable size virtual addresses physical addresses Fig.
Intelligent Components Overview 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.
Intelligent Components 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. Front View Side View Back View Fig.
Intelligent Components Overview 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. Front View Side View Back View Fig.
Overview Intelligent Components 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.
Intelligent Components SPI PWR TRG UART Overview ETH VGA BTN GPIO USB RGB Fig.
Overview Intelligent Components 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.
Intelligent Components 4 Software Installation 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.
Intelligent Components 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 Windo
Intelligent Components Software Installation 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.
Software Installation Intelligent Components 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.
Intelligent Components Software Installation 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.
Hardware Installation 5 Intelligent Components 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 (Ü Fig.
Intelligent Components Hardware Installation Connecting the flex-foil cable(s) to the sensor board(s): 1. Pull out the lock of the connector on the sensor board (Ü 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.
Intelligent Components 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.
Intelligent Components Hardware Installation Connecting an external HDMI board: 1. Open the lock of the FPC connector on the camera interface board by flipping it upwards (Ü Fig. 11 on page 24). 2. Insert the FPC cable observing the correct orientation. The visible electrical contacts and the label have to face the board (Ü 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.
Hardware Installation Intelligent Components 5.3 Connecting the Interface Cables The minimum requirements to access the camera are a functioning Ethernet connection and a power supply. Depending on your application, you might also need the serial connection, S-Video output, trigger/strobe and I/Os. 5.3.1 Standard Interface Board Note The following instructions only apply to the standard interface board and assume that you have ordered the optional cable and adapter kit “VRmDC Eval. Acc. Kit 2.
Intelligent Components Hardware Installation Connecting RS232, S-Video output, trigger/strobe and GPIOs Note Access to the camera’s serial console is only possible using the separate DF14-15P interface on the CPU board and the service cable (Ü section 5.3.3). The RS232 interface of the MPE Garry Micro T connector described here can only be used to enable serial communication between the camera and external devices. 1. Connect the supplied interface adapter cable to the camera’s Micro-T receptacle (Ü Fig.
Hardware Installation Intelligent Components 5.3.2 CUEO1 Pico Interface Board Note The following instructions apply to the CUEO1 pico interface board only and assume that you have ordered the optional cable and adapter kit “VRmDC Eval. Acc. Kit PICO” or “VRmDC Eval. Acc. Kit PICO2” (Ü section 3.4). Refer to Ü section 9.1.3 for a pinout of the pico interface board. If your camera is equipped with the CUEO1 pico interface board, all interfaces are available via miniature connectors (Ü Fig. 7 on page 14).
Intelligent Components Hardware Installation 5.3.3 Connecting Serial Console and JTAG The connection of serial console and JTAG is only necessary for debugging and update purposes. You may skip this step for now. Connecting serial console and JTAG: Note The DF14-15P connector for serial console and JTAG is accessible on board level cameras only. OEM/COB cameras with an FPGA module (VRmDFC-X, multi-sensor cameras) are equipped with a second DF14 connector located on the FPGA board (Ü Fig. 3 on page 10).
Hardware Installation Intelligent Components 5.4 Connecting the Power Supply Use the AC power adapter PHIHONG PSA 15R-050P included in the accessory kit. Alternatively, use a power supply with +5 V DC (±5%) and at least 15 W. Connecting the camera to power: 1. Connect the power supply adapter to the AC mains. 2. Connect the power supply cable to the camera’s power inlet (Ü section 3.3). ff The camera starts to boot up. 3. Wait for the status LED to light up. ff The camera is ready to use.
Intelligent Components 6 First Steps First Steps Note Some of the Linux commands in this manual require root user rights. If you are not logged in as root, you can type sudo . The prefix sudo allows you to execute a single command with root rights after entering you Linux user password. 6.1 Setting Up the Ethernet Connection Network with DHCP Server The camera is configured to obtain an IP address from a DHCP server.
First Steps Intelligent Components 6.1.1 Setting Up a Point-to-Point Connection Note This section only applies if your network is not equipped with a DHCP server. Setting up a point-to-point Ethernet connection (Windows): 1. Configure the network interface to which the camera is connected so that an IP address and a DNS server address are obtained automatically. ff This will fail after approximately one minute. The interface will fall back to an IPv4LL address on its own.
Intelligent Components First Steps Fig. 14: Camera detected in CamLab 3. If not already the case, select your camera from the list. ff Your camera is connected to the Ethernet and ready to use. 4. If you wish to view the camera image, click Grab. 5. Leave CamLab open for the following steps. 6.2 Accessing the Device via SSH If you have found the camera in CamLab, you should be able to access the camera using an SSH connection. To do this, you can use the Linux Terminal application.
First Steps Intelligent Components Accessing the camera via SSH using PuTTY: 1. Start PuTTY on your host PC (Ü section 4.5). 2. In the Session category, choose SSH as Connection type. 3. Type in the camera’s IP address and choose Open. ff The console window is displayed and prompts login as: . 4. Login as root and enter vrmagic as password. If you changed your password, enter your new password. ff You are now connected to the camera via SSH. Fig.
Intelligent Components First Steps 6.3 Accessing the Device via RS232 For most applications it is sufficient to connect via SSH. The serial console is only recommended for debug purposes and for updates using the VRmagic update flash drive. Note The serial console connector is accessible on board level cameras only. It is not accessible on PRO cameras in aluminium housing. Requirements: The camera is connected to the host computer using the lateral DF14-15P connector (Ü section 5.3) and the service cable.
First Steps Intelligent Components 6.4 Changing the Camera’s Default Password The user name for accessing the camera is “root” and the default password is “vrmagic”. We strongly recommend changing the camera’s default password. Changing the camera’s password: 1. Access the camera using SSH (Ü section 6.2). 2. Change the password by typing the command passwd and pressing . ff You are prompted to specify the new password. 3. Enter the new passwords and press . 4.
Intelligent Components First Steps 6.6 Exchanging Files and Data For file exchange between the camera and a host computer, NFS or Samba/Windows shares can be mounted on the camera. Alternatively, you may exchange data using a USB flash drive. Mounting NFS or Samba/Windows shares on the camera: 1. Create a network share on your host computer and grant access rights to a specific user (user name and password). You will need the user data in step 4. 2. Access the camera using SSH (Ü section 6.2). 3.
First Steps Intelligent Components Mounting a USB flash drive: 1. Plug the USB flash drive into the camera’s USB host port. 2. Access the camera using SSH. 3. Change to the /dev directory by typing cd /dev . 4. List the directory contents by typing ls -l . ff The USB flash drive is probably listed as sda. ff Each partition on the USB flash drive should be listed as sda (X = partition number). 5. Create a local mount directory with mkdir, for example mkdir /mnt/usb 6.
Intelligent Components First Steps 6.7 Changing DSP Memory Size Caution Possible malfunction of DSP applications Changing the size of the DSP memory means that you will have to adapt the memory maps of all DSP servers you would like to use on this camera. If you change the size of the DSP memory partition without adapting the memory maps, DSP (demo) applications will not work anymore. 256 MB RAM 0 Linux Memory Shared Memory (CMEM) DSP Memory 96 MB 96 MB 64 MB 96 192 256 Fig.
First Steps Intelligent Components Changing the size of the DSP partition: 1. Access the camera using SSH (Ü section 6.2). 2. Navigate to the /etc/init.d/ directory by typing cd etc/init.d/ . 3. Open the module-init-tools file with the Nano text editor by typing nano module-init-tools . ff The CMEM_END variable occurs twice in the file. 4. Modify the hexadecimal CMEM_END variables to yield the desired DSP memory size and save the file. 6.
Intelligent Components First Steps 6.8.1 Partitioning Linux and Shared Memory (CMEM) By setting the start of the shared memory (Ü Fig. 17 on page 38) you can modify the size of the Linux memory and at the same time of the shared memory (CMEM). The default size of the Linux memory is 96 MB. Caution Camera cannot capture images if no shared memory is left! If you set the Linux memory to its maximum value, which is the start of the DSP memory (Ü Fig. 17 on page 38), then there is no memory left for the CMEM.
First Steps Intelligent Components 11. Reboot the camera by typing in reboot . ff The camera now boots with the new boot parameters. 6.8.2 Changing Video Output Mode The most common reason for changing the boot parameters is the selection of the video output mode, for example for connection of the optional HDMI output board to cameras with a pico interface board (VRmCUEO1). Changing the video output mode for connection of an HDMI board: 1. Access the camera using SSH (Ü section 6.2). 2.
Intelligent Components First Steps 6.9 Camserver and CamLab A process called vrmcamserver is running on the camera. It is used by the VRmagic CamLab application to allow the transmission of images and to control the camera over Ethernet. By default, the camera can be accessed from anybody running the CamLab application or a custom vrmusbcam application in the same local area network. Note Camserver is a development tool. We recommend deactivating camserver once the camera is in a production environment.
First Steps Intelligent Components 6.10 Accessing the Camera’s GPIOs You can access the GPIO pins using the gpio-sysfs interface from the Linux command line. Before you can access a GPIO, you must export it into the user space. Note You can only access and control the GPIOs described in Ü section 9.1. Accessing the camera’s GPIOs: 1. Access the camera using SSH (Ü section 6.2). 2.
Intelligent Components First Steps 6.12 Using Trigger and Strobe Depending on your interface board, the pins for trigger and strobe are located on different connectors. The following tables show the different connectors and the corresponding pinouts for trigger and strobe. If you are not sure about the type of interface board and the location of the connectors, please refer to Ü section 3.3.
Intelligent Components First Steps 3.3V...24V TriggerIn + TriggerIn – Passive Trigger Input Fig. 18: Passive Trigger Input Active Trigger Input (TTL) An LVTTL/TTL compatible signal can be fed in at the active trigger input in reference to GND. The input features an internal pull-down resistor, input current max. 1 mA. 6.12.
Intelligent Components First Steps 6.13 Switching the Camera On and Off We recommend the camera be switched off before disconnecting it from power. This allows the Linux OS to shut down properly. Switching the camera on: 1. If the camera is connected to power but switched off, press the power button on the camera’s interface board briefly to switch on the camera. ff The camera boots. When the status LED lights, the camera is ready. 1.
Intelligent Components Programming Environment 7 Programming Environment Setting up the toolchains is necessary for compiling the demo applications and for writing your own applications. In both cases, the ARM toolchain must be installed. Installation of the DSP toolchain is optional. Although the demos can be compiled by using nmake or gmake, we recommend that MS Visual Studio (at least Express) be used to work with them.
Intelligent Components Programming Environment Note The instructions provided in this chapter apply for both Windows and Linux, if not specified otherwise. 7.1 Setting Up the ARM Toolchain Caution During setup, choose an installation path without any space characters or hyphens. Space characters (e.g. “ARM toolchain”) will prevent the toolchain from working. Windows: We recommend installing the toolchain in a separate directory and not in the Windows program directories (e.g.
Programming Environment Intelligent Components 7. Add the contents of arm_toolchain_addons.zip to the respective directories in the toolchain’s installation directory. 8. Restart your command shell if it is running. 9. To test the installation open a command shell (Windows: for Example cmd.exe) and execute arm-none-linux-gnueabi-gcc . ff If the toolchain was set up correctly, the output should look like this and you can continue with Ü section 7.
Intelligent Components Programming Environment 7.2 Setting Up the DSP Toolchain Setting up the DSP toolchain is optional. However, in order to build the VRmagic DSP demos and your own C64x+ projects, you should complete the following steps. Caution During setup, choose an installation path without any space characters or hyphens. Space characters (e.g. “DSP toolchain”) will prevent the toolchain from working.
Programming Environment Intelligent Components 4. Download XDCtools 3.16.02.32 for Windows or Linux from http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/rtsc/ index.html 5. Download DSP/BIOS 5.41.03.17 for Windows (CCS4) or Linux from http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/bios/ dspbios/index.html 6. Download Codec_Engine 2.25.01.06 (with cetools) from http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/ce/ index.html 7.
Intelligent Components Programming Environment Step 4: Replacing Linux Utils: The Linux Utils, which are delivered by the Codec Engine 2.25.01.06 package have a bug in the ARM cache handling. Therefore the utils have to be replaced: 1. Delete the directory //codec_engine_2_25_01_06/cetools/packages/ti/sdo/ linuxutils 2. Download Linux Utils 2.25.02.08 from http://software-dl.ti.com/dsps/dsps_public_sw/sdo_sb/targetcontent/linuxutils/ index.html 3. Extract linuxutils_2_25_02_08.tar.
Programming Environment Intelligent Components Fig. 21: Adding PATH variables in Windows 7 3. Now add the following paths, separating each path with semicolons: \\ xdctools_3_16_02_32 \\ xdctools_3_16_02_32\bin ff Now you should be able to compile the demos from the /D2/development_kit/demos/ARM_and_DSP demos directory. Note Great sources of information about the DaVinci processor and the Codec Engine: •• http://wiki.davincidsp.
Intelligent Components Programming Environment 7.3 Update of an Older Development Kit If you have downloaded a new development kit from the VRmagic website, follow these instructions to work with the new software. Updating an older development kit: 1. Check the documentation of the new development kit (i.e. this document in a newer version). 2. Compare the toolchain components recommended in the new documentation with the ones you have installed.
Programming Environment Intelligent Components •• sdlviewer: displays the video images of the camera on the currently configured video output of the camera (S-Video, HDMI, LCD) using the SDL library. •• sdlviewer_cpp: the same as sdlviewer except that is has a C++ wrapper. •• vm_lib_demo: demonstrates the use of the VM_LIB image processing library for a simple object recognition.
Intelligent Components Programming Environment Running the ARM demos: 1. Access the camera via SSH (Ü section 6.2). 2. To run an application, type ./path/to/executable/name_of_executable If you already are in the same directory as the executable, simply type ./name_of_executable Example: to run the deviceinfo application, type ./path/to/demo_directory/ARM/deviceinfo/deviceinfo 7.4.
Programming Environment Intelligent Components Compiling the ARM and DSP demos on a host PC: The following steps assume that you have installed the ARM toolchain (Ü section 7.1) and the DSP toolchain (Ü section 7.2). 1. Adapt the paths to your toolchains and specify the intelligent camera board type (“DR1” or “DR2”) in the following files: /demo_xyz/user.bld Examples: c64p.rootDir= “d:/cam/dsp_build/TI_CGT_6_1_13”; arm.
Intelligent Components Programming Environment 4. IMPORTANT for jpegenc_demo: If you get the error std.h: No such file or directory , open the file /JPEG-Enc/packages/ti/sdo/codecs/jpegenc/idmjpge.h and change #include into #include . See Ü section 7.2 if you have not installed the JPEG Encoder yet. 5. Windows with MS Visual Studio (at least Express): Load the solution file *.sln in the respective demo directory with Visual Studio and press F7 to build the demo.
Programming Environment Intelligent Components Running the ARM/DSP demos: Note The demos will not run if you are currently accessing the camera with CamLab. 1. Access the camera via SSH (Ü section 6.2). 2. To run an application, navigate to the directory containing the respective ARM and DSP executables by typing cd path/to/executable 3. After you have navigated to the directory containing the executables, type ./name_of_executable to run the application.
Intelligent Components 8 Firmware Update and Recovery Firmware Update and Recovery 8.1 General Description You can update your camera’s firmware if a newer version is available, or you can restore the original firmware image. The procedure is basically the same for both. The firmware files can be found in the directory \D2\firmware of the VRmagic SDK. Currently there are two options to update your VRmagic camera.
Firmware Update and Recovery Intelligent Components 8.2 Updating via Ethernet Requirements •• The Ethernet updater uses the SSH protocol. Therefore it is required that an SSH server is running on the camera before the update is started. By default the Dropbear SSH server runs on every intelligent camera from VRmagic. •• The camera has to be connected to the network. Performing updates via Ethernet: 1. Download the VRmagic SDK version you wish to install from http://www.vrmagic.com/en/imaging/downloads/ .
Intelligent Components Firmware Update and Recovery 4. Edit the ./ethernet_updater/firmware/backup.txt file to specify files and directories that should not be updated or overwritten during the update process. Each line in this file represents a file or a directory on the camera, which is backed up during the update process and automatically restored into the new root file system of the camera at the end of the update process.
Firmware Update and Recovery Intelligent Components 6. Execute the VRmDC-x Ethernet Updater on the Windows or Linux command line: vrmdcethupdater.exe [options] One or more of the following options are supported: -f relative path to firmware files (default: ./firmware) -p SSH password of remote system (default: vrmagic) -q do not ask the user if he is sure about updateing -u SSH login name of remote system (default: root) Note There also is a batch file for Windows (.
Intelligent Components Firmware Update and Recovery Note If something went wrong or if you simply want to check the update process, take a look at the vrm-update-fw--.log file in the ethernet_updater/firmware directory on your PC. In addition, all messages of the vrmdcethupdater tool itself are logged into the file vrmdcethupdater.log . 8.
Firmware Update and Recovery Intelligent Components 8.3.1 Generating a USB Update/Recovery Flash Drive Note You can use any USB flash drive with a capacity of 2 GB or more, however, there can be differences between flash drives, and this may be the reason that one model works flawlessly while another does not. Therefore, it is a good idea to check a certain model before deploying the device. Requirements •• A Linux PC or a Linux virtual machine is required.
Intelligent Components Firmware Update and Recovery 6. Make sure you know the name of the Linux device file of the USB flash drive. Do not use a device file of a particular partition like /dev/sda1, instead use /dev/sda. Execute: ./make_update_stick ff After the script has finished, the USB flash drive is ready to use. Its usage is explained in the following two sections. ff The flash drive has two partitions, a FAT partition and an ext2 partition.
Firmware Update and Recovery Intelligent Components 8.3.2 Manual Update Because a serial connection via the camera’s RS232 interface is required, manual updates are possible with board-level cameras (OEM/COB). Perfoming manual updates using a USB update flash drive: 1. If you would like to specify the files and directories that shall not be updated or overwritten during the update process, edit the file backup.txt on the USB update flash drive.
Intelligent Components Firmware Update and Recovery 5. Execute vrm-update-fw.sh. ff The update procedure starts. ff A security question is displayed, which asks you if you are aware you will lose all data on the camera. Of course, the files and directories specified in step 1 will be restored after the update. 6. Answer with “yes” to continue with the update process. ff When the update is finished, the following message is displayed: Update process successfully completed.
Firmware Update and Recovery Intelligent Components 3. If you would like to specify files and directories that should not be updated or overwritten during the update process, edit the file backup.txt on the flash drive. Each line in this file represents a file or a directory on the camera, which is backed up during the update process and automatically restored into the new root file system of the camera at the end of the update process.
Intelligent Components 9 Appendix Appendix 9.1 Cable Plans and Pinouts 9.1.1 VRmDC-X Interface Adapter Cable 1 5 6 1 12 11 9 4 2 21 3 1 ... Fig. 23: Interface adapter cable for intelligent cameras 1 MPE Garry Micro-T 387-1-021-ZS0, to be plugged into camera receptacle 2 D-Sub-9, male 3 S-Video, female 4 Receptacles for 0.
Intelligent Components Appendix #2 pin 1 #3 pin #4 wire #1 pin Signal yellow 4 TTL Active Strobe Out (+5 V) gray 6 Passive Trigger In – (3...24 V) pink 7 Passive Trigger In + (3...24 V) blue 8 TTL Active Trigger In (+3.3...
Intelligent Components Appendix 9.1.2 VRmDC-2 Service Cable 2 14 1 13 15 1 5 1 6 9 Fig. 24: Service cable for intelligent cameras 1 Hirose DF14-15S-1.25C, to be plugged into camera receptacle 2 2x7 header, 2.54 mm, key on pin 6 3 D-Sub-9, male #2 pin 72 #3 pin #1 pin Signal 1 10 TMS (1.8 V level) 2 9 TRST# (1.8 V level) 3 8 TDI (1.8 V level) 4 7, 11 GND 5 6 TVD (1.8V) 6 - (no pin) 7 5 TDO (1.8V level) 8 7, 11 GND 9 3 RTCK (1.
Intelligent Components Appendix 9.1.3 VRmCUEO1 Pico Interface Board The pico interface board is equipped with miniature connectors (Molex 53398-xx71). Each connector is identified by a label on the circuit board, for example „PWR“ for the power connection. Pin 1 of each connector is located next to the connector‘s label. Note SPI PWR ETH VGA GPIO BTN TRG UART The connectors are keyed. If the plug does not go in smoothly, be sure you have not inadvertently reversed the orientation. RGB USB Fig.
Intelligent Components 1 Ethernet (ETH) USB host port (USB) Pin(s) Signal Pin(s) Signal 1 +5 V 1 +5 V 2 D- 3 D+ 4 GND 2 LINK LED 3 ACTIVITY LED 4 NC 5 RX- 6 RX+ 7 TX- 8 TX+ 1 1 Connect the LED between this pin and +5V (Pin 1). With onboard 470R series resistor.
Intelligent Components Appendix Trigger/Strobe (TRG) Serial port (UART) Pin(s) Signal Pin(s) Signal 1 +5 V 1 TX 7 2 GND 2 RX 7 3 TTL Active Trigger in 3 GND 4 TTL Active Strobe out 5 6 5 short-circuit this pin with +5 V (Pin 1) to trigger an image 6 +5 V TTL signal, max.
Intelligent Components Appendix 9.2 Linux Short Reference and Examples For a detailed Linux command reference we recommend downloading one of the readily available reference sheets available on the Internet. To view the manual page of any Linux command, type man .
Intelligent Components Index 10 Index E ESD prevention 7 Ethernet Connection 30 A Ethernet Support 31 Point-to-Point 31 Access camera 32 RS232 34 SSH 32 Accessories 15 Setup 30 Eval kit 15 External HDMI board 23, 41 ARM Toolchain 48 External sensor boards 21 B F Battery 7 File exchange 36 Firmware recovery 60 Firmware update 60 C Ethernet update 61 Cable plans 70 Cable Plans 70 Cables Interface Adapter Cable 70 Camera architecture 8 CamLab 31, 42 USB Rescue Flash Drive 64 FPGA board 10, 12
Intelligent Components Index J R JTAG 28 Remote-sensor camera 11 RGB888 interface 14 RJ45 connector 13 K RS232 34 Kernel boot parameters 39 S L Safety 7 Linux commands 76 Sensor board 10 M Serial console 28 Memory 9 CMEM size 40 DSP memory size 38 Linux memory size 40 Partitions 9, 38 Mount network share 36 Mount USB flash drive 37 Multi-sensor camera 12 N Null modem cable 15 P Password 35 Pico interface board: See Interface board Power 29 Power button 13, 14, 46 Power inlet 13, 14 Sensor
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