VRmagic GmbH D2 User manual

VRmagic
D2 Intelligent Camera
User Guide
Issued August 2014
Sensor

D2 Intelligent Cameras – User Guide
Document version: 1.15
Date of issue: August 14, 2014
Applicable to: all D2 intelligent cameras, SDK release 4.1
Subject to change without notice. Errors excepted.
This document is protected by copyright. All rights reserved. No part of this
document may be reproduced or transmitted for any purpose in any form
or by any means, electronically or mechanically, without expressly written
permission by VRmagic.
Windows®is a registered trademark of Microsoft®.
DaVinci™ is a trademark of Texas Instruments.
VRmagic GmbH
Augustaanlage 32
68165 Mannheim
Germany
Phone [phone]
Fax [phone]
[e-mail]
www.vrmagic-imaging.com

Table of Contents
1 General Information ..........................................................6
2 Safety ..................................................................................7
3 Overview.............................................................................8
3.1 D2 Intelligent Camera Architecture .............................................................8
3.2 Camera Models .........................................................................................10
3.3 Connectors and Interfaces ........................................................................ 13
3.4 Accessories ...............................................................................................15
4 Software Installation ......................................................16
4.1 Downloading the VRmagic Software ........................................................ 16
4.2 Installing the D2 Camera SDK ...................................................................16
4.3 Installing the Camera Runtime and the Host SDK ....................................18
4.4 Installing the USB to RS232 Driver ...........................................................19
4.5 Installing a Console Application.................................................................20
5 Hardware Installation......................................................21
5.1 Connecting External Sensor Boards .........................................................21
5.2 Connecting an External HDMI Board ........................................................23
5.3 Connecting the Interface Cables...............................................................25
5.3.1 Standard Interface Board..............................................................25
5.3.2 CUEO1 Pico Interface Board ........................................................27
5.3.3 Connecting Serial Console and JTAG...........................................28
5.4 Connecting the Power Supply...................................................................29
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Intelligent Components

6 First Steps ........................................................................30
6.1 Setting Up the Ethernet Connection .........................................................30
6.1.1 Setting Up a Point-to-Point Connection .......................................31
6.1.2 Enabling Ethernet Support and Checking the Connection...........31
6.2 Accessing the Device via SSH ..................................................................32
6.3 Accessing the Device via RS232...............................................................34
6.4 Changing the Camera’s Default Password................................................35
6.5 Changing the Camera’s IP Address...........................................................35
6.6 Exchanging Files and Data ........................................................................36
6.7 Changing DSP Memory Size .....................................................................38
6.8 Changing Kernel Boot Parameters ...........................................................39
6.8.1 Partitioning Linux and Shared Memory (CMEM) .........................40
6.8.2 Changing Video Output Mode...................................................... 41
6.9 Camserver and CamLab............................................................................42
6.10 Accessing the Camera’s GPIOs ................................................................43
6.11 Accessing the Camera’s Temperature Sensor..........................................43
6.12 Using Trigger and Strobe ...........................................................................44
6.12.1 Trigger Input..................................................................................44
6.12.2 Strobe Output ...............................................................................45
6.13 Switching the Camera On and Off ............................................................46
7 Programming Environment............................................47
7.1 Setting Up the ARM Toolchain..................................................................48
7.2 Setting Up the DSP Toolchain ...................................................................50
7.3 Update of an Older Development Kit ........................................................54
7.4 Running Demo Applications......................................................................54
7.4.1 ARM Demos .................................................................................54
7.4.2 ARM and DSP Demos ..................................................................56
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8 Firmware Update and Recovery ................................... 60
8.1 General Description ...................................................................................60
8.2 Updating via Ethernet ................................................................................61
8.3 Updating or Recovering via USB Update Flash Drive ...............................64
8.3.1 Generating a USB Update/Recovery Flash Drive .........................65
8.3.2 Manual Update..............................................................................67
8.3.3 Automatic Update.........................................................................68
9 Appendix...........................................................................70
9.1 Cable Plans and Pinouts ............................................................................70
9.1.1 VRmDC-X Interface Adapter Cable ..............................................70
9.1.2 VRmDC-2 Service Cable...............................................................72
9.1.3 VRmCUEO1 Pico Interface Board ................................................73
9.2 Linux Short Reference and Examples .......................................................76
10 Index..................................................................................77
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1 General Information
This guide applies to all intelligent cameras based on the D2 intelligent camera platform
from VRmagic. Follow this guide chapter by chapter to set up and understand your
device. If a section of this document only applies to certain camera models, this is
indicated at the beginning of the respective section.
Symbols Used
This guide makes use of the following symbols and conventions:
Warning!
Indicates a situation which, if not avoided, could result in minor or moderate injury
and/or property damage or damage to the device.
Caution
Indicates a situation which, if not avoided, may result in minor damage to the
device, in malfunction of the device or in data loss.
Note
Notes provide information on special issues related to the device or provide infor-
mation that will make operation of the device easier.
This headline indicates the beginning of a procedure:
1. This number indicates the first step of a certain procedure you are expected to
follow. Following steps are numbered accordingly.
fThis arrow indicates an expected result of your action.
Linux commands are written in this monospaced font.
 This symbol indicates a reference to a different part of this manual or to external
documents.
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General Information

2 Safety
The declarations of conformity (as far as available or applicable), data sheets, and oper-
ating 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 de-
signed for capturing, processing, and transmission of (image) data and analog or digital
signals.
General Safety Instructions
Installation and operation may only be carried out by trained personnel.
Faultless and safe operation of the device requires proper transport, storage, setup,
and handling.
Please refer the device to VRmagic if repairs should become necessary. Servicing is
required if the device has been damaged in any way or does not operate normally.
The camera generates heat during operation. Make sure that the camera is always
operated within the specified temperature range. If necessary, provide adequate heat
dissipation measures.
Do not subject the device to direct sunlight, wet conditions, dust, strong impacts, and
heat. Observe the ambient conditions specified in the following.
Unplug the device during lightning storms or when not in use for longer periods of time.
Do not disassemble any part of the camera, unless explicitly described in this manual.
Disassembly may cause damage and voids the product warranty.
Power Supply
Connect the device to an appropriate power supply only (5 V DC ±5%, 15W).
Ambient Conditions
Do not operate the device near a TV or radio station that radiates high powered ra-
dio-frequencies. Operating temperature: 0...40°C (32...104°F). Storage temperature:
-30...80°C (-22...176°F).
ESD Prevention
Electrostatic discharges may cause serious, permanent damage to the camera. When
working with board-level cameras, always make sure that you work in an ESD pro-
tected area according to international standards (IEC 61340-5-1 (2007-08)).
7D2 Intelligent Cameras – User Guide
Safety
Intelligent Components

3 Overview
3.1 D2 Intelligent Camera Architecture
The D2 intelligent cameras from VRmagic function as an embedded system. They are
equipped with a highly integrated DaVinciTM Dual-Core CPU from Texas Instruments,
which features a 300 MHz ARM9 processor and a 600 MHz digital signal processor
(DSP).
Ethernet
100 MBit USB 2.0 Video Audio GPIO ...
Dual-Core Chip
Slave
DSP C64x+
Codecs
600 MHz
4800 MIPS
Master
ARM9
Linux
300 MHz
Interrupt Request
System Interconnection
200 MHz | 64 Bit
DDR2 RAM
166 MHz (DDR333)
256 MB
32 Bit
Image Sensor(s)
Fig. 1: Intelligent camera architecture (D2 platform)
The Linux OS runs on the ARM processor so that the DSP is completely available for
image processing tasks. Communication betwen ARM and DSP is controlled by the
DSPlink kernel module.
We recommend the Codec Engine framework from TI to the application developers
who wish to use both the ARM and the DSP for their applications.
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Overview

By default, the camera’s DDR2 memory is partitioned into three areas: the Linux mem-
ory, the contiguous shared memory (CMEM), and the DSP memory. Images from the
image sensor are always written to the shared memory, where they are accessible for
both the ARM and the DSP.
Shared
Memory
DSP
Memory
Linux
Memory
256 MB RAM
DSP C64+
Codecs
ARM9
Linux Control
CMEM
Data Data
Data
Data
virtual
addresses
physical
addresses
variable
size
Fig. 2: Interaction of dual-core CPU and memory
The default size of the memory partitions are 96 MB for the Linux memory, 96 MB for
the shared memory, and 64 MB for the DSP memory. The size of the memory areas
can be changed if necessary (section 6.7 and section 6.8).
9D2 Intelligent Cameras – User Guide
Overview
Intelligent Components

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. Single-
sensor cameras are available as board-level cameras (OEM versions), board-level
cameras with optics (COB versions) and as cameras with aluminium housing (PRO
versions).
All cameras are equipped with a sensor board, a CPU board, and an interface board.
Depending on the image sensor, the camera may be equipped with an additional FPGA
board (VRmDFC-X models).
Sensor
Front View Side View Back View
Fig. 3: Intelligent single-sensor camera (OEM) with standard interface board and FPGA board
1 Sensor board with image sensor
2 FPGA board (VRmDFC-X cameras only)
3 CPU board
4 Interface board
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Overview