VRmagic GmbH D2 User's Guide

VRmagicD2 Intelligent CameraUser GuideIssued August 2014Sensor

3.2 Camera ModelsSingle-Sensor Cameras VRmD(F)C-XSingle-sensor cameras are equipped with one image sensor. The sensor board is mounted directly onto

Remote-Sensor Cameras VRmDC-X-ERemote-sensor cameras consist of a base unit and an external sensor board connected to the base unit by flex-foil cable.

Multi-Sensor Cameras VRmDMFCMulti-sensor cameras consist of a base unit and up to four external sensor boards con-nected to the base unit by flex-foil

3.3 Connectors and InterfacesAll board-level cameras (OEM and COB versions) are available with two different inter-face boards: the standard interfac

SPIGPIOUSBRGBPWRUARTETHBTNTRGVGAFig. 7: OEM camera with CUEO1 pico interface board1 DF14-15P connector for serial console and JTAG on CPU board2 E

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

4 Software Installation4.1 Downloading the VRmagic SoftwareDownloading the software package:1. Visit www.vrmagic.com/imaging/downloads/ .2. Scroll

Directory structure of the D2 SDK distribution (excerpt)D2development_kit VRmUsbCam DevKit for D2demos Examples for the API usagedocs Documentation of

4.3 Installing the Camera Runtime and the Host SDKVRmagic Windows/Linux PC SDKThe host PC SDK is required to develop camera applications that will be

Installing the camera runtime and SDK for Linux:1. Navigate to the linux directory in the downloaded and unzipped SDK distribution.2. Navigate to th

D2 Intelligent Cameras – User GuideDocument version: 1.15 Date of issue: August 14, 2014 Applicable to: all D2 intelligent cameras, SDK release 4.1Sub

4.5 Installing a Console ApplicationWe recommend installing PuTTY for Windows computers. PuTTY is an open-source SSH, Telnet, and serial client. The

5 Hardware Installation5.1 Connecting External Sensor BoardsNoteThis section only applies to remote-sensor cameras and multi-sensor cameras.CautionP

Connecting the flex-foil cable(s) to the sensor board(s): 1. Pull out the lock of the connector on the sensor board ( Fig. 9 on page22).2. Insert t

5.2 Connecting an External HDMI BoardNoteThis section only applies to cameras equipped with the pico interface board VRmCUEO1 and an optional extern

Connecting an external HDMI board:1. Open the lock of the FPC connector on the camera interface board by flipping it upwards ( Fig. 11 on page24).2.

5.3 Connecting the Interface CablesThe minimum requirements to access the camera are a functioning Ethernet connec-tion and a power supply. Depending

Connecting RS232, S-Video output, trigger/strobe and GPIOsNoteAccess to the camera’s serial console is only possible using the separate DF14-15P inter

5.3.2 CUEO1 Pico Interface BoardNoteThe following instructions apply to the CUEO1 pico interface board only and as-sume that you have ordered the opt

5.3.3 Connecting Serial Console and JTAGThe connection of serial console and JTAG is only necessary for debugging and update purposes. You may skip t

5.4 Connecting the Power SupplyUse the AC power adapter PHIHONG PSA 15R-050P included in the accessory kit. Alternatively, use a power supply with +5

Table of Contents1 General Information ...62 Safety ...

6 First StepsNoteSome of the Linux commands in this manual require root user rights. If you are not logged in as root, you can type sudo <command&

6.1.1 Setting Up a Point-to-Point ConnectionNoteThis section only applies if your network is not equipped with a DHCP server.Setting up a point-to-po

Fig. 14: Camera detected in CamLab3. If not already the case, select your camera from the list. f Your camera is connected to the Ethernet and ready

Accessing the camera via SSH using PuTTY:1. Start PuTTY on your host PC ( section 4.5).2. In the Session category, choose SSH as Connection type. 3

6.3 Accessing the Device via RS232For most applications it is sufficient to connect via SSH. The serial console is only recommended for debug purposes

6.4 Changing the Camera’s Default PasswordThe user name for accessing the camera is “root” and the default password is “vrma-gic”. We strongly recomm

6.6 Exchanging Files and DataFor file exchange between the camera and a host computer, NFS or Samba/Windows shares can be mounted on the camera. Alter

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

6.7 Changing DSP Memory SizeCautionPossible malfunction of DSP applicationsChanging the size of the DSP memory means that you will have to adapt the

Changing the size of the DSP partition:1. Access the camera using SSH ( section 6.2).2. Navigate to the /etc/init.d/ directory by typing cd etc/ini

6 First Steps ...306.1 Setting Up the Ethernet Connection ...

6.8.1 Partitioning Linux and Shared Memory (CMEM)By setting the start of the shared memory ( Fig. 17 on page 38) you can modify the size of the Linu

11. Reboot the camera by typing in reboot . f The camera now boots with the new boot parameters.6.8.2 Changing Video Output ModeThe most common reas

6.9 Camserver and CamLabA process called vrmcamserver is running on the camera. It is used by the VRmagic CamLab application to allow the transmissio

6.10 Accessing the Camera’s GPIOsYou can access the GPIO pins using the gpio-sysfs interface from the Linux command line. Before you can access a GPIO

6.12 Using Trigger and StrobeDepending on your interface board, the pins for trigger and strobe are located on dif-ferent connectors. The following ta

3.3V...24VTriggerIn +TriggerIn –Passive Trigger InputFig. 18: Passive Trigger InputActive Trigger Input (TTL)An LVTTL/TTL compatible signal can be fed

6.13 Switching the Camera On and OffWe recommend the camera be switched off before disconnecting it from power. This allows the Linux OS to shut down

7 Programming EnvironmentSetting up the toolchains is necessary for compiling the demo applications and for writing your own applications. In both ca

NoteThe instructions provided in this chapter apply for both Windows and Linux, if not specified otherwise.7.1 Setting Up the ARM ToolchainCautionDuri

7. Add the contents of arm_toolchain_addons.zip to the respective directories in the toolchain’s installation directory.8. Restart your command shel

8 Firmware Update and Recovery ... 608.1 General Description ...

7.2 Setting Up the DSP ToolchainSetting up the DSP toolchain is optional. However, in order to build the VRmagic DSP demos and your own C64x+ project

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.html5. Down

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. Theref

Fig. 21: Adding PATH variables in Windows 73. Now add the following paths, separating each path with semicolons: \<your-path-to>\xdctools_3_16

7.3 Update of an Older Development KitIf you have downloaded a new development kit from the VRmagic website, follow these instructions to work with t

• 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

Running the ARM demos:1. Access the camera via SSH ( section 6.2).2. To run an application, type ./path/to/executable/name_of_executable If you al

Compiling the ARM and DSP demos on a host PC:The following steps assume that you have installed the ARM toolchain ( section 7.1) and the DSP toolchai

4. IMPORTANT for jpegenc_demo: If you get the error std.h: No such file or directory , open the file <your-path-to>/JPEG-Enc/packages/ti/sdo/

Running the ARM/DSP demos:NoteThe demos will not run if you are currently accessing the camera with CamLab.1. Access the camera via SSH ( section 6.

1 General InformationThis guide applies to all intelligent cameras based on the D2 intelligent camera platform from VRmagic. Follow this guide chapte

8 Firmware Update and Recovery8.1 General DescriptionYou can update your camera’s firmware if a newer version is available, or you can restore the or

8.2 Updating via EthernetRequirements • The Ethernet updater uses the SSH protocol. Therefore it is required that an SSH server is running on the cam

4. Edit the ./ethernet_updater/firmware/backup.txt file to specify files and direc-tories that should not be updated or overwritten during the update pr

6. Execute the VRmDC-x Ethernet Updater on the Windows or Linux command line: vrmdcethupdater.exe [options] <ip_of_camera> One or more of the

NoteIf something went wrong or if you simply want to check the update process, take a look at the vrm-update-fw-<group_id>-<serial_no>.log

8.3.1 Generating a USB Update/Recovery Flash DriveNoteYou can use any USB flash drive with a capacity of 2 GB or more, however, there can be differenc

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, inste

8.3.2 Manual UpdateBecause a serial connection via the camera’s RS232 interface is required, manual up-dates are possible with board-level cameras (O

5. Execute v r m-up d ate-fw.sh. f The update procedure starts. f A security question is displayed, which asks you if you are aware you will lose al

3. If you would like to specify files and directories that should not be updated or over-written during the update process, edit the file backup.txt on

2 SafetyThe declarations of conformity (as far as available or applicable), data sheets, and oper-ating instructions applicable to your product are a

9 Appendix9.1 Cable Plans and Pinouts9.1.1 VRmDC-X Interface Adapter Cable1 56 91 1112 21...1324Fig. 23: Interface adapter cable for intelligent ca

#2 pin #3 pin #4 wire #1 pin Signalyellow 4 TTL Active Strobe Out (+5 V)gray 6 Passive Trigger In– (3...24 V)pink 7 Passive Trigger In + (3...24 V)bl

9.1.2 VRmDC-2 Service Cable1142131151 56 9Fig. 24: Service cable for intelligent cameras1 Hirose DF14-15S-1.25C, to be plugged into camera receptac

9.1.3 VRmCUEO1 Pico Interface BoardThe pico interface board is equipped with miniature connectors (Molex 53398-xx71). Each connector is identified by

Ethernet (ETH) USB host port (USB)Pin(s) Signal Pin(s) Signal1 +5 V 1 +5 V2 LINK LED 12 D-3 ACTIVITY LED 13 D+4 NC 4 GND5 RX-6 RX+7 TX-8 TX+1 Conne

Trigger/Strobe (TRG) Serial port (UART)Pin(s) Signal Pin(s) Signal1 +5 V 1 TX 72 GND 2 RX 73 TTL Active Trigger in 53 GND4 TTL Active Strobe out 6

9.2 Linux Short Reference and ExamplesFor a detailed Linux command reference we recommend downloading one of the read-ily available reference sheets

10 IndexAAccess camera 32RS232 34SSH 32Accessories 15ARM Toolchain 48BBattery 7CCable plans 70Cable Plans 70CablesInterface Adapter Cable 7

JJTAG 28KKernel boot parameters 39LLinux commands 76MMemory 9CMEM size 40DSP memory size 38Linux memory size 40Partitions 9, 38Mount network s

3 Overview3.1 D2 Intelligent Camera ArchitectureThe D2 intelligent cameras from VRmagic function as an embedded system. They are equipped with a hig

VRmagic GmbHAugustaanlage 3268165 MannheimGermanyPhone +49 621 400 416-20Fax +49 621 400 [email protected] ©

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. Imag