FLIR ADK User manual

FLIR ADK
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defined by EAR,15 CFR772, is publicly available,and therefore
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Getting Started guide for the FLIR ADK with USB, GMSL, and Ethernet Connector Options
Document Number: 102-2013-105
Version: 140
Issue Date: June 2020
FLIR Systems OEM & Emerging
6769 Hollister Avenue
Goleta, CA 93117
Phone: [phone]
www.flir.com

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Table of Contents
1Introduction.................................................................................................................................................................... 3
1.1 Revision History..................................................................................................................................................3
1.2 Reference Documents......................................................................................................................................3
1.3 SCOPE.........................................................................................................................................................................4
1.4 BACKGROUND ...................................................................................................................................................... 4
2USB –Getting Started................................................................................................................................................ 4
2.1 Connect and power the USB ADK............................................................................................................. 4
2.2 FLIR Boson GUI.................................................................................................................................................... 5
2.3 External Sync......................................................................................................................................................... 7
3Ethernet –Getting Started......................................................................................................................................7
3.1 Connecting the Boson ethernet ADK to the computer.................................................................7
3.2 Ubuntu Installation............................................................................................................................................8
3.2.1 Robot Operating System.......................................................................................................................9
3.3 Windows Installation ....................................................................................................................................10
3.4 Working with the Spinnaker API...........................................................................................................10
3.4.1 Accessing Boson Camera Feature Example...........................................................................10
3.4.2 Finding Node Names, Types and Enumeration Values................................................... 11
4GMSL –Getting Started .........................................................................................................................................12
4.1 Power Over Coax..............................................................................................................................................12
4.2 NVIDIA Drive Systems..................................................................................................................................14
4.3 Upgrading the GMSL Serializer to GMSL 2.......................................................................................15
4.4 GMSL SerDes Data Transmission...........................................................................................................15
4.5 Sending Commands to the ADK over i2C.......................................................................................... 16
4.6 Sample I2C Functions for Teensy SOC................................................................................................17
4.7 Data Format and Boson Settings for GMSL 1..................................................................................20
4.8 Interpreting the Multiplexed/ Double wide IR16 video..........................................................20
4.9 Syncing the Boson using GPIO pins of the SerDes....................................................................... 20
5ADK Latency.................................................................................................................................................................21
5.1 Microbolometer Thermal Time Constant.........................................................................................21
5.2 Progressive Video Output........................................................................................................................... 22

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5.3 ADK Video Processing Pipeline............................................................................................................... 22
5.4 USB latency.......................................................................................................................................................... 24
5.5 GMSL latency...................................................................................................................................................... 24
5.6 Ethernet latency ............................................................................................................................................... 24
6Intrinsic Camera Calibration.............................................................................................................................. 25
6.1 Building a Calibration Target................................................................................................................... 25
6.2 Running OpenCV algorithm.......................................................................................................................26
1Introduction
1.1 Revision History
Version
Date
Comments
100
05/02/2019
Initial Release
110
7/9/2019
16-bit Video + cable spec
120
10/14/2019
Ethernet Description
130
11/15/2019
GMSL Description + USB Description
140
6/15/2020
Latency, Intrinsic Calibration, Ethernet
API
1.2 Reference Documents
Ref Number
Document number
Comments
1
102-2013-40
Boson datasheet

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1.3 SCOPE
This document describes detailed instructions on the conditions and requirements for
integrating the FLIR ADK with various communications methods including USB, Ethernet,
GMSL accessory board for communication, video streaming, and hardware synchronization.
1.4 BACKGROUND
The FLIRADKprovidesa Long Waver Inferred Image (LWIR)that is 640x512pixels. It senses
thermal radiation with wavelengths of 8-14um. The output is either a 8bit or 16bit
monochrome image.
The ADK comes in three different interfaces: USB output, GMSL output, and GMSL output
with a converter for GMSL to Ethernet. The ADK also has four different lens options.
Horizontal FOV
Vertical FOV
24
19.2
32
25.6
50
40
75
60
2USB –Getting Started
The USB option for the ADK ships with a Boson connected by USB for camera power, video
and command and control, a BNC cable for external sync input, and a Mizu-P25 connector
to power the window heater.
When connected to your computer, the USB ADK shows up as two different devices. The
first is a USB Vision Camera used for streaming video. The second is a com port used for
command and control. Any webcam driver should be able to access the USB Vision camera
device (Windows10 ‘Camera’, MacOS Photobooth, and Linux Cheese application will all
stream the ADK).
2.1 Connect and power the USB ADK
1) Connect the USB cable to the computer.
2) Optional: To power the window heater, apply 12 VDC up to 0.5A to the MIZU-P25connector
(shown below) to power the heater. The heater is protected against reverse polarity so it’s
technically ok to hookit up in reverse, it willjust pull a little more power. The USB ADK
ships with a MUZU-P25pigtail. Connect the green lead of the provided cable to positive and

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the black lead to ground.
2.2 FLIR Boson GUI
An example GUI for streaming images and controlling the camera can be found here
https://www.flir.com/support-center/oem/camera-controller-gui-for-boson/
After the software is installed find the camera comport by opening Device Manager and
listing the available ports. Do this with the camera unplugged and with the camera plugged
into the computer. The port that shows up with the camera plugged in is the camera’s
comport.
With the camera’s comport known, open the BosonGUI software (icon is typically installed
on your desktop) and select the camera’s comport in the Port selection dropdown in the
lower right corner of the BosonGUI software. To start video streaming select “FLIR Video”
from the “Device Select” drop down menu on the left of the screen.

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Once connected, click the “Do FFC” button on the right of the screen. The camera should
click and the image should blink. This will confirm you have control of the camera and are
streaming video.
There are many nested menus on the left side of your screen. These give you control of the
camera. The control options of most interest for automotive customers are:
“USB Video Mode” under Image Apperance -> USB Video Mode Controls
“FFC Mode” under System -> FFC Controls. Manual mode is recommended forautomotive
applications.
“Table Switch” under System -> Dynamic Range Control. This may be need is the camera
sees a significant change in temperature.
“Save Power On Defaults” and “Restore Factory Defaults” under System -> Configuration
control.This lets youboot into a custom camera configuration.
“TFPA” under Diagnostic Tools -> Status Panel. TFPAstands for Temperature of the Focal
Plane Array. This is a measure of temperature inside the camera. On the same menu you can
check your camera software version and serial numbers.
“File Save Path” under Media Settings -> Media Configuration. These show the location of
the saved files when using the Video Capture and Take Snapshot buttons in the upper left.

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2.3 External Sync
The BNC coaxial connector on the USB ADK cable is for optional external sync. The ADK
triggers on the falling edge of a 3-12 volt signal with a minimum pulse width of 90nS. The
sync pulse should be 55-60hz even if the camera is in 30hz output mode. The camera will
need to be configured for external sync. Failure to provide sync pulses to a camera
configured for external sync may crash the camera requiring a reboot.
See the Flir Boson External Sync application note (102-2013-100-04 Rev 150) for more
information.
3Ethernet –Getting Started
The Ethernet option of the FLIRADK shipswith a GMSL connector onthe camera anda GMSL
to Ethernet Bridge that allows users to interact with the FLIR ADK using the GeniCam
protocol.
Figure 1: The FLIR ADK GMSLoption is shown on the left with the GMSL1 to Ethernet bridge shown on the right.
The Ethernet Bridge (also known and the Break Out Box or BoB) is a GeniCam GigE Vision
device. Any GeniCam driver should work. We offer the Spinnaker ADK as FLIR”s supported
GeniCam Client. While not supported we have heard that the open source Aravis driver
works as well.
Spinnaker can be downloaded from: https://www.flir.com/products/spinnaker-sdk/
3.1 Connecting the Boson ethernet ADK to the computer
1. Connect the FAKRA cable from the FLIR ADK to the GMSL –Ethernet bridge.
2. Connect the ethernet cable to a network interfacecard on the host computer.

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3. Connect the 6 pin GPIO cable to the GMSL Ethernet bridge.
4. Apply power to the 6 pin GPIO cable. Apply 8-16 VDC to the Green wire and ground on the
Black wire. The power supply should be rated for a 2 A peak current. The system is designed
to run off the 12V supply froma car battery.
a. An optional AC power supply that will run the camera and shutter but not the heater
is available at:
https://www.flir.com/products/12v-power-supply-with-6-pin-hr10-connector/
Table 1: Pin out of the GPIO pins on the Ethernet breakout box. The Colors correspond to the GPIO cable that came with the
ADK.
Color
Pin
Function
Description
Green
1
VExt
Camera Input Power
Black
2
Not Connected
-
Red
3
Not Connected
-
White
4
Not Connected
-
Blue
5
Not Connected
-
Brown
6
GND
Camera Power Ground
3.2 Ubuntu Installation
Spinnaker is available for Ubuntu 16.04 and 18.04.
1. Downloadthe appropriate version of Spinnaker SDK from
https://www.flir.com/products/spinnaker-sdk/
2. Unpackthe tar.gz file for the appropriate system architecture.
3. Follow theREADME directionsto install necessary dependenciesand thenrun theinstaller
script.
4. It’s necessary to configure the ethernet card that the Boson is plugged into. It might be
necessary to find which ethernet card the Boson is plugged into. To do this run ‘ifconfig’ with
the ethernet cable unplugged then reconnect the ethernet cable and run ‘ifconfig’ again. You
should see a change in one of the ethernet cards.
5. Now configure that ethernet card by opening the network interfaces file with your favorite
text editor.
sudo gedit /etc/network/interfaces
Add the following lines (make sure to change enp15s0 to the appropriate card name
found by running ifconfig)

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iface enp15s0 inet static
address 169.254.0.64
netmask 255.255.0.0
mtu 9000
auto enp15s0
Lastly restart the networking service to apply settings
sudo /etc/init.d/networking restart
6. The installer installs a program called SpinView. This allows you to see live feed video from
the camera. To start SpinView enter ‘spinview’ into the terminal.
7. The Linux installer also provides example programs in /usr/src/spin naker/src and full
documentation in /usr/share/doc/spinnaker-doc.
8. When SpinView is open the Boson device should be visible under the devices tab (as shown
below). Clickon the Boson device to select the camera and the click the play buttonto display
a live feed from the camera.
9. Similar to the USB GUI, spinview provides access to the Boson features in the Features tab.
Youmay need to stop streaming video to change some settings.
If you notice that some images are getting dropped or that the video feed is choppy it may
help to increase the Rx and Tx buffer size. Below is a link describing how to do that.
https://www.itechlounge.net/2015/05/linux-how-to-tune-up-receive-tx-and-
transmit-rx-buffers-on-network-interface/
3.2.1 Robot Operating System
We have an example project that uses the Ethernet ADK in the ROS framework present here.
https://github.com/flir/flir_adk_ethernet
Once the Boson is setup to run with Linux then follow the instructions in the Readme.md to
get the Boson to work with ROS.
After setup you should be able to run which will stream video on the host computer.
roslaunch flir_adk_ethernet boson.launch

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3.3 Windows Installation
Download and install the Windows version of the Spinnaker SDK here.
https://www.flir.com/products/spinnaker-sdk/
The Spinnaker SDK also comes with a software application called SpinView which will
display real time images from the Boson Camera.
3.4 Working with the Spinnaker API
When using the Ethernet BoB with the Boson camera, there is no direct access to the
camera. All communication with the camera is implemented with the Spinnaker API. When
connecting to the camera, the camera provides a list of features. The API provides a way to
access those features.
You are strongly encouraged to review, run and modify the example programs. On Linux
they are installed in /usr/src/spinnaker/src
3.4.1 Accessing Boson Camera Feature Example
This example show how to execute a manual FFC (also known as shutter) with the
Spinnaker API. This code was placed just before the ‘Begin acquiring images’ comment in
the AcquireImages function of the Acquisition.cpp Spinnaker example.
CCommandPtr ptrRunFFC = nodeMap.GetNode(“BosonRunFfc”);
if(IsAvailable(ptrRunFFC) && IsWritable(ptrRunFFC)){
cout << “Running FFC” << endl;
putRunFFC->Execute();
} else {
Cout << “Unable to access FFC” << endl;
}
In this example, we ask for the ‘BosonRunFFC’ node from the node map. Make sure that
node is available and that we can write to it. Then we execute the nodes function. This node
represents a command. Other node may represent strings, integers, floats or enumerations.

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3.4.2 Finding Node Names, Types and Enumeration Values
The above example is good, but how do you know there is a node named “BosonRunFfc”.
There are two ways to look these up.
The first is using the search features text box in spinview.
This shows a search for “ffc” which stand for Flat Field Correction which is our shuttering
process. There are three nodes that contain ‘ffc’. Note the displayed name may differ
slightly, typically in capitalization or spacing, from the name used in your code.
The formal description of the node is provide with an XML file. When you first access a
camera with spinview in Linux, it saves some files to your root directory. The file Boson-
GE-640_<serial#>_GenICam.zip describes the features of your camera. Unzipping the file
creates the file public_camxml.xml, an unformatted xml file. Use can reformat this file using:
xmllint –format public_cmaxml.xml > Boson.xml
The resulting Boson.xml file looks like this
This snip from the file shows the BosonSensorSerialNumber node. The first line defines it
as an Integer node. You would get the node with
CIntergerPtr bosonSerialNumberPtr =
nodeMap.GetNode(“BosonSensorSerialNumber”);

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The snip also shows the BosonSensorSerialNumber node might be displayed as “Boson
Sensor Serial Number” with spaces.
4GMSL –Getting Started
Figure 2: The FLIR ADK with the GMSL configuration.
The FLIRADKwith the GMSL connector allows for the longer cable lengths that are necessary
in the automotive environment. The Serializer in the ADK can be configured for GMSL 1
(trailing part number AA1) and for GMSL 2 (trailing part number AA2). Note that Serializers
configured for GMSL 1 can be field upgraded to GMSL 2.
In this document we provide examples of how to collect data from the GMSL ADK as well as
read and write I2C commands to the ADK. We have a driver for the Nvidia Drive system and
we showan example of using the Maxim MAX9296A_CSI_EVKIT to controlthe ADK.Note that
at the time of writing this GMSL 2 is still Maxim proprietary information, thus it is necessary
to contact Maxim directly to get documentation about the SerDes chips.
4.1 Power Over Coax
The FLIR ADK features a heater and a shutter that are necessary for getting the most out of
the thermal core. The heater and shutter require more power than is typically provided by
the GMSL connection on most platforms (including NVIDIA Drive and OnSemi). Many of
these systems have a way to change the power injection circuit on the compute platform or

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add an external power supply. Please contact your platform manufacturer for those
instructions.
FLIR has a recommended power injection circuit you can use to power the ADK without
modifying your compute platform using the following components from CoilCraft.
Inductors
DCR max (Ohms)
Notes
0402DF-560 (56nH)
0.061
PFL2010-471 (0.27 uH)
0.069
1812PS-103 (10 uH)
0.170
3.0 kOhm resistor in parallel
MSS1048T-104 (100uH)
0.224
2.6 kOhm resistor in parallel
Firgure 3. Power Injector Schematic and Assembled Circuit

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For further information and support on PoC including demonstration hardware, please
contact Coilcraft at [e-mail].
FLIR add the following adapters for the CoilCraft demonstration hardware.
Manufacturer
Part Number
DigiKey P/N
Amphenol RF
APH-FKJ-SMAJ (DigiKey ARF1012-ND)
Adapter Fakra –SMA
Amphenol RF
132168 (DigiKeu ACX1240-ND)
Adapter SMA Plug-Plug
Amphenol RF
135101-02-12.00 (DigiKey ACX1572-ND)
Cable, SMA Plug, R174, 12”
4.2 NVIDIA Drive Systems
FLIR provides a driver for the NVIDIA drive systems that enables the use of the FLIR ADK
with the NVIDIA stack. The FLIR driver can be downloaded here.
System
Driver
Notes
Drive PX2
https://flir.box.com/s/kls1q0ll1os462wx6b977f3xt2jd1rac
Not Supported,
requites power
injector
Pegasus
https://github.com/FLIR/ADK_GMSL_DRIVER
Sample Program:
https://github.com/FLIR/NVIDIA_IMG_CC_FLIR
Requires Power
Injector or HW
Modification
Xavier w/ D3
Engineering
GMSL SERDES
card
https://flir.box.com/s/cqbe4uqa519enox2hmoom3shamlgo5et
Sample Program:
https://github.com/FLIR/Xavier_OpenCV_Sample
Can’t shutter
while heater is
running
Follow the directions in the README.md to install the driver and get started with video
streaming.
If the NVIDIA system is setup for GMSL 2 the ADK will have to be field upgraded to GMSL 2
for our driver to work. To field upgrade the ADK to GMSL 2 see section 4.3. If you know
before hand that your system will require GMSL 2 cameras it is possible to order the ADK
configured for GMSL 2.

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4.3 Upgrading the GMSL Serializer to GMSL 2
The FLIR ADKs are by shipped in either GMSL1 or GMSL 2 mode. The GMSL 1 cameras have
the trailing partnumber AA1 or AAX andGMSL 2 cameras have the trailing part number AA2.
If the camera is in GMSL 1 mode and to be integrated on a GMSL 2 system it will be necessary
to configure the Serializer onthe ADK to use GMSL 2. This section describes how to configure
the serializer on the ADK for GMSL 2.
ADK Serializer Address: 0x84 (8-bit addressing)
Deserializer address is typically 0x90 (Depends on system / deserializer configuration)
1) Configure deserializer forGMSL1 mode (note: in step 4 if you’re not able to read back the
register from the serializer this is because the deserializer didn’t get configured forGMSL 1,
a work around to configuring the deserializer to GMSL 1 is to set the CFG pin level of CFG1
to 1. This configures the deserializer to comeup in GMSL1 with HIM enabled, this matches
the Serializer default configuration.)
des: write val 0x1F to reg 0x06
2) Turn on local I2C ACK on deserializer (Faked ACK response from the serializer)
des: write val 0x80 to reg 0xB0D
3) Turn on high immunity mode (HIM), configure HV_SRC on deserializer:
des: write val 0xE8 to reg 0xB06
4) Turn on CLINK on serializer side (forwardchannel enabled)
ser: write val 0x43 to reg 0x404
5) Turn off deserializer local I2C ACK (because we don’t need it anymore because forward
channel from serializer is now working)
des: write val 0x0 to reg 0xB0D
6) Turn on Parallel videomode on serializer (may be different forMIPI) (configures forward
channel to be run from Boson’s PCLK)
ser: write val 0xF7 to reg 0x07
7) Switchfrom CLINK mode to SEREN mode on serializer (Now running off Boson’s PCLK)
ser: write val 0x83 to reg 0x404
8) Change from GMSL1 to GMSL2 mode on serializer (welose communication to the serializer
after doing this until deserializer is convertedto GMSL2 as well) (upgrade remote side first)
ser: write val 0x91 to reg 0x06
9) Change from GMSL1 to GMSL2 mode on deserializer (LOCK willbe indicated after the link
comes back up)
des: write val 0xDF to reg 0x06
Note: The GMSL 2 configuration on serializer will be lost on power cycle, if running a GMSL
1 camera in a GMSL 2 configuration you need to implement this process each time.
4.4 GMSL SerDes Data Transmission
The Boson core of the ADK is wired to the Maxim Serializer as shown in Table 2.

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Table 2: The Boson and Maxim 9295A pin correlation.
Boson
MAX9295A
Data bit 0
D2P, Pin 19
Data bit 1
D2N, Pin 20
Data bit 2
MFP5, Pin 21
Data bit 3
MFP6, Pin 22
Data bit 4
D3P, Pin 23
Data bit 5
D3N, Pin 24
Data bit 6
D0P, Pin 25
Data bit 7
D0N, Pin 26
Vsync
MFP3, Pin 17
Hsync
MFP4, Pin 18
PCLK
MFP0, Pin 2
External
Sync
MFP7, Pin 31
4.5 Sending Commands to the ADK over i2C
Currently the Boson camera core of the ADK will only communicate via UART. The GMSL
adapter board in the ADK has an i2C to UART FIFO transceiver that will allow you to send
byte array commands to the Boson. In practice, the I2C to UART buffer limits the amount of
data you can send to the Boson at any one time to 128 bytes. The I2C to UART transceiver
has the 8-bit address 0xD8.
The standard cycle for sending I2C commands to the boson is:
1) Turn off the transmitter on the I2C to UART transceiver.
a. Write value 0x02 to register 0x09 to device0xD8.
2) Send a series of I2C commands to the FIFO buffer.
a. For each value in command byte array. Write value to register 0x00 to device 0xD8
3) Turn on the transmitter on the I2C to UART transceiver –this flushes the FIFO buffer to the
Boson.
a. Write value 0x02 to register 0x09 to device0xD8.
Note: there are example i2cWrite, i2cRead, and sendCommand functions for a teensy board
connected to the Maxim deserializer in Sample I2C Functions For Teensy SOC.
To generate the command byte arrays to send to the Boson,customers can use the rawBoson
tool provided through FLIR on GitHub at https://github.com/FLIR/rawBoson combined
with the Boson SDK documentation/Software IDD. The Software IDD describe the command

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the Boson will accept, and the rawBoson tool can packetize the message properly with a CRC
code and start and stop flag. Documentation on how the CRC code and complete bytes need
to be created and formatted will be provided at request. We recommend using this tool to
determine the corresponding byte array to send for a desired command.
UART TX and RX FIFO are both128 bytes, so large packets (like chunks of a camerafirmware
update) can overflow the FIFO if chunk size is not limited to ~64 bytes (in case the FIFO is
not cleared between two successive large messages). Most if not all SDK UART commands
do not exceed 64 bytes so this isn’t a problem in practice except for file transfer. Note it’s
possible to update the camera firmware over GMSL, it will just take a while to send all the
data over to the Boson.
Below is an example of turning the window heater on and off. Note that since the transmitter
on the I2C to UART transceiver is not turned off these commands are written directly to the
boson.
Turn Heater OFF –the heater is off by default
Set GPIO state registeron ADK side to configure heater off
write val0x01to reg 0x19 to device reg 0xD8
Configure heaterGPIO as an OUTPUT (step can be skipped if alreadydone this power cycle)
write val 0x0F to reg 0x18 to device reg 0xD8
Turn Heater ON
Set GPIO state registeron ADK side to configure heater on
write val0x09to reg 0x19 of device reg 0xD8
Configure heater GPIO as an OUTPUT
write val0x0Fto reg 0x18 of device reg 0xD8
4.6 Sample I2C Functions for Teensy SOC
Below are sample functions for i2cwrite and i2cread as well as a function to send an array
of bytes.
I2C Read and Write:
void i2cwrite(byte addy,byte reg,byte val)
{
byte err;
Wire.beginTransmission(addy);
Wire.write(reg);
Wire.write(val);
err =Wire.endTransmission();
if (err != 0){
I2Cerror =1;
}

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}
byte i2cread(byte addy,byte reg)
{
byte err;
byte res =0;
Wire.beginTransmission(addy);
Wire.write(reg);
err =Wire.endTransmission();
if (err != 0){
I2Cerror =1;
}
Wire.requestFrom((int)addy,(int)1,false);
while (Wire.available()) {// slave may send less than requested
res =Wire.read(); // receive a byte
}
return res;// send the byte
}
byte checkRXbuffer()
{
// byte addy = 0x6C;
byte reg =0x12;
return i2cread(transAdd,reg);
delay(50);
}
byte checkTXbuffer()
{
// byte addy = 0x6C;
byte reg =0x11;
return i2cread(transAdd,reg);
}
Send I2C Command Array:
byte transAdd =0x6C;// 0x6C –7bit address. 0xD8 - I2C to UART Chip 8-bit
address
void sendI2CCommandArray(byte commandBytes[], int len)
{
i2cwrite(transAdd,0x09,0x02); // disable the transmitter on transceiver
for (int i =0;i <len;i++){

FLIR ADK
Get ting Started
The information contained hereindoes not contain technology as
defined by EAR,15 CFR772, is publicly available,and therefore
not subject toEAR.
19
i2cwrite(transAdd,0x00,commandBytes[i]); // write byte to fifo buffer
register on transceiver
}
if (debug_messages){
DEBUG.print("Message queued: 0x");
DEBUG.print(checkTXbuffer(), HEX);
DEBUG.print("\n");
DEBUG.print("\nCommand Sent\n\n");
}
i2cwrite(transAdd,0x09,0x00); // enable the transmitter on transceiver.
This flushed the fifo buffer to the boson.
}
It’s also necessary to write I2C commands to the Serializer and Deserializer that are 16-bit
addressed. These are also shown here.
void i2cwrite16(byte addy,byte regH,byte regL,byte val)
{
byte err;
Wire.beginTransmission(addy);
Wire.write(regH);
Wire.write(regL);
Wire.write(val);
err =Wire.endTransmission();
if (err != 0){
I2Cerror =1;
}
}
byte i2cread16(byte addy,byte regH,byte regL)
{
byte err;
byte res =0;
Wire.beginTransmission(addy);
Wire.write(regH);
Wire.write(regL);
err =Wire.endTransmission();
if (err != 0){
I2Cerror =1;
}
Wire.requestFrom((int)addy,(int)1,false);
while (Wire.available()) {// slave may send less than requested
res =Wire.read(); // receive a byte
}
return res; // send the byte

FLIR ADK
Get ting Started
The information contained hereindoes not contain technology as
defined by EAR,15 CFR772, is publicly available,and therefore
not subject toEAR.
20
}
4.7 Data Format and Boson Settings for GMSL 1
The GMSL option for Bosoncurrentlysupports both 8-bit and 16-bit data. Of the 24-bit CMOS
output from the Boson only the lower 8-bits are physically connected to the Serializer. 8-bit
video over GMSL is available using CMOS configurable options that utilize the lower 8 bits
(0-7) of the CMOS output. This is the standard 8-bit AGC video data output from the Boson.
For 16-bit video it is necessary to configure the CMOS output to multiplex the lower 8-bits of
the CMOS output. To do this the CMOS channel must be put in IR16 video mode and then it
must be set to Multiplex or “Double wide” mode. Double wide mode is currently only
available on Boson software version 2.0.18283. GMSL ADKs will have this version already
installed. If you are buying Boson core, you may need to upgrade your camera.
4.8 Interpreting the Multiplexed/ Double wide IR16 video
The data comes across the GMSL link as a 1280 x 513 frame, where Column 1 contains the
top 8 bits of Column 1 of the VGA sensor’s first column, and Column 2 contains the bottom 8
bits of the VGA sensor’s first column.
Stitching the top and bottom bits will yield the correct values for the IR16 image. The
resultant frame should be the resolution of the sensor, 640x512, plus telemetry.
P1[15:8]
P1[7:0]
P2[15:8]
P2[7:0]
P3[15:8]
P3[7:0]
P4[15:8]
P4[7:0]
4.9 Syncing the Boson using GPIO pins of the SerDes
The Boson can be synchronized using the GPIO pins on the serializer and deserializer. For
the MAX9295A serializer used on the ADK,one must correctly set MFP7 pin for D12 disabled.
This includes doing a register write of 0x07 to register 0x0007 (It is originally set to 0xF7).
This correctly works with the priority established by Maxim to enable GP0 over D12.
For GMSL 1, the deserializer will need to have an input into the GPI pin with a pulse width of
>0.35us. The GPI pin on the deserializer will need to be linked to MFP7 on the serializer.
To establish sync with the Boson the Boson needs to be configured to One Shot mode and
External Sync Slave mode. Note that sync pulses must be applied before the Boson is
configured to External Sync Slave mode or the Boson will fault and subsequently restart. The
Boson looks at the rising edge of the incoming sync signal, and pulse width has a wide range
of accepted variability. For the GMSL deserializer the sync pulse must be a 1.8 V logic high