© BECOM Systems 2020
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Software User Manual - Argos3D - P33x
Last change: 29 June 2020/Version 10
3
Interfacing
The Argos3D - P33x provides control and data interfaces via Gigabit-Ethernet.
The control interface is used to set and read the configuration of the Argos3D - P33x via a set of registers. Refer to
chapter 6 for a detailed register description.
The data interface provides a continuous stream of ToF (and color) data depending on the configuration.
Note
BECOM Systems provides an abstraction of control and data interfaces by means of the
BltTofApi
. If you use this API, you need not be familiar with control and data interface in detail.
Refer to chapter 7.1 for the
BltTofApi
.
3.1
Control Interface
The Argos3D - P33x can be configured using a TCP/IP connection. For the control interface the Argos3D - P33x is
listening to the following factory default IP settings:
•
IP-Address
: 192.168.0.10
•
Subnet mask
: 255.255.255.0
•
Network protocol
: TCP
•
TCP port
: 10001
Note
The Ethernet IP settings can be configured using the
Eth0_
registers. The changes become active
on writing register
Eth0Gateway1
.
Once a TCP connection has been established the Argos3D - P33x can be configured using a dedicated set of
command frames. The camera 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 to read one or more consecutive registers
Register Write
Used to write one or more consecutive registers
Reset
Used to reset/reboot the Argos3D - P33x
Flash Update
Used to either update the firmware or the boot loader
Alive
Used to keep the TCP control connection alive. If no command is sent for 10 seconds, the
camera closes the control interface connection and waits for a new incoming connection
request.
