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Software User Manual - Argos 3D-P320

Last change: 2 February 2016

Version 0.14

© Bluetechnix 2016

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Lowbyte of

Distance (Pixel 0)

Highbyte of

Distance (Pixel 0)

Lowbyte of

Distance (Pixel 1)

Highbyte of

Distance (Pixel 1)

Lowbyte of

Distance

(Pixel 159)

Highbyte of

Distance

(Pixel 159)

Lowbyte of

Distance

(Pixel 19040)

Highbyte of

Distance

(Pixel 19040)

Lowbyte of

Distance

(Pixel 19041)

Highbyte of

Distance

(Pixel 19041)

Lowbyte of

Distance

(Pixel 19199)

Highbyte of

Distance

(Pixel 19199)

Lowbyte of

Amplitude (Pixel 0)

Highbyte of

Amplitude (Pixel 0)

Lowbyte of

Amplitude (Pixel 1)

Highbyte of

Amplitude (Pixel 1)

Lowbyte of

Amplitude

(Pixel 159)

Highbyte of

Amplitude

(Pixel 159)

Lowbyte of

Amplitude

(Pixel 19040)

Highbyte of

Amplitude

(Pixel 19040)

Lowbyte of

Amplitude

(Pixel 19041)

Highbyte of

Amplitude

(Pixel 19041)

Lowbyte of

Amplitude

(Pixel 19199)

Highbyte of

Amplitude

(Pixel 19199)

First Byte in Stream

Last Byte in Stream

Confidence Pixel 0

(1 Byte)

Confidence Pixel 1

(1 Byte)

Confidence Pixel 2

(1 Byte)

Confidence Pixel 3

(1 Byte)

Confidence Pixel

318 (1 Byte)

Confidence Pixel

319 (1 Byte)

Confidence Pixel

18880 (1 Byte)

Confidence Pixel

18881 (1 Byte)

Confidence Pixel

18882 (1 Byte)

Confidence Pixel

18883 (1 Byte)

Confidence Pixel

19198 (1 Byte)

Confidence Pixel

19199 (1 Byte)

Figure 8: Data stream of Distances, Amplitudes, and Confidences

4.6.13

Distances, Amplitudes, Confidences, and Color

In this mode distances and amplitudes from the ToF sensor, confidence values, as well as the color sensor
image will be transferred in progressive mode, first the distance array (channel 0), then the amplitude array
(channel 1), then the confidence array (channel 2), then the color sensor data (channel 3). The stream starts
always with pixel #0.

The

distances

are coded in

millimeters

as

Uint16

, the

amplitudes

also as

Uint16

. The confidence values

are in

Uint8

format. The

color

sensor pixels are coded in

RGB565

(raw) or

JPEG

compressed format.

The resolution, format, and frame rate of the color sensor are set via register

ColorStreamParams

.

Channel 3 (which carries the color data) may have zero length, if no color data is available for the current
frame. In this case, fields

ColorSensorWidth

,

ColorSensorHeight

, and

ColorSensorLength

of the frame

header are set to zero (refer to section 3.2.2).

In the case the color data is transferred in JPEG format, frame header field

ColorSensorLength

contains the

length of the JPEG-compressed image in bytes.

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Summary of Contents for Argos 3D-P320

Page 1: ...Argos 3D P320 Software User Manual Version 14 ...

Page 2: ... Publication date February 2 2016 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 Bluetechnix Windows is a registered trademark of Microsoft ...

Page 3: ...me Header 20 3 3 Color Sensor RTP Stream 22 3 3 1 Web Server 23 3 4 Manual frame triggers 23 3 5 External Illumination Interface 23 3 6 GPIOs 23 3 7 Status Indicator LED 23 3 8 PoE power control 24 3 9 Secure Shell SSH Login 24 3 9 1 Change default password 24 3 10 Debug UART 25 4 Camera Features 26 4 1 Basic Settings 26 4 2 ToF Image Processing Chain 26 4 3 ToF Image Filters 27 4 3 1 Median Filte...

Page 4: ... Test mode 37 4 6 11 Raw Distances and Amplitudes 37 4 6 12 Distance Amplitudes and Confidences 37 4 6 13 Distances Amplitudes Confidences and Color 38 4 6 14 Color 39 4 7 ToF Modulation Frequency 39 4 8 Frame Rate and Integration Time 39 4 9 Sequencing 40 4 10 Illumination Pre Heating 40 4 11 Distance Offset Calibration 40 4 12 ToF Automatic Exposure Control AEC 41 4 13 Manual Frame Trigger 42 4 ...

Page 5: ...nation Preheating 53 5 7 Registers for Automatic Exposure Control 54 5 8 Registers for Test Commands 55 5 9 Registers for Device Update 55 5 10 Registers for Filter Configuration 55 5 11 Registers for Advanced Image Processing 56 5 12 Registers for Ethernet configuration 56 6 Firmware History 59 6 1 Version Information 59 6 2 Anomalies 62 7 Software 63 7 1 BltTofApi 63 7 2 MATLAB SDK 63 7 3 BltTof...

Page 6: ...r in any communication with you Bluetechnix specifically disclaims any implied warranty of merchantability or fitness for a particular purpose Bluetechnix takes no liability for any damages and errors causing of the usage of this board The user of this board is responsible by himself for the functionality of his application He is allowed to use the board only if he has the qualification More infor...

Page 7: ...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 information that will make operation of the device easier Procedures A procedure alwa...

Page 8: ...he document describes the necessary steps and settings to work with the Argos 3D P320 and describes the firmware dependent interfaces This document applies to firmware version 0 12 0 For a hardware compatibility list please refer to our support site Software and documentation https support bluetechnix at index html ...

Page 9: ... 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 Argos can be configured using a dedicated set of command frames The Argos answers to each command frame with a dedicated response frame The following table shows the currently supported command frames...

Page 10: ... to read Must be a multiple of two The length divided by two represents the of registers to read 0x0C RegisterAddress Uint16 high byte first Register Address Start register address for read command 0x0E HeaderData2 Uint8 Ignored 0x0F HeaderData3 Uint8 Ignored 0x10 Reserved 42 bytes Uint8 Ignored 0x3A DataCrc32 Uint32 high byte first 0x0 No data present after header 0x3E HeaderCrc16 Uint16 high byt...

Page 11: ...One or more 16 bit values Table 3 3 Register read response frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Note 2 For the CRC32 calculation the CRC 32 is used Polynom 0x04C11DB7 start value 0xFFFFFFFF Please ask the Bluetechnix support for an implementation example of the CRC...

Page 12: ...hecksum Checksum over 60 bytes of Header 0x02 0x3D 1 0x40 Data Uint16 high byte first for each register value data to write One or more 16 bit values in a stream that should be written Table 3 6 Register write command frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Note 2 For...

Page 13: ...ption 0x00 Preamble Uint16 high byte first 0xA1EC Unique identifier start of header 0x02 ProtocolVersion Uint8 0x03 This document refers to version V3 0 0x03 Command Uint8 0x07 Command code for reset 0x04 SubCommand Uint8 Ignored 0x05 Status Uint8 Ignored 0x06 Flags Uint16 Refer to table Optional flags 0x08 Length Uint32 high byte first 0x0 No Data present 0x0C HeaderData0 Uint8 Ignored 0x0D Heade...

Page 14: ... header 0x3E HeaderCrc16 Uint16 high byte first CRC16 checksum Checksum over 60 bytes of Header 0x02 0x3D 1 Table 3 10 Reset response frame Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Flags Flags Description Currently no flags defined for this command Table 3 11 Reset flag desc...

Page 15: ... example of the CRC CCITT Note 2 For the CRC32 calculation the CRC 32 is used Polynom 0x04C11DB7 start value 0xFFFFFFFF Please ask the Bluetechnix support for an implementation example of the CRC 32 Note 3 The DataCrc32 is mandatory the appropriate flag must be set to 0 Response frame Addr Field Type Value Description 0x00 Preamble Uint16 high byte first 0xA1EC Unique identifier start of header 0x...

Page 16: ...nt refers to protocol version V3 0 0x03 Command Uint8 0x8D Read intrinsic ToF sensor calibration file 0x8E Read intrinsic color sensor calibration file 0x8F Read extrinsic calibration file 0x04 SubCommand Uint8 Ignored 0x05 Status Uint8 Ignored 0x06 Flags Uint16 Refer to table Optional flags 3 0x08 Length Uint32 high byte first of bytes to write The size of the binary file to flash 0x0C FlashAddre...

Page 17: ...de 0x06 Flags Uint16 Refer to table Optional flags 0x08 Length Uint32 high byte first 0x0 No Data present 0x0C HeaderData0 Uint8 Ignored 0x0D HeaderData1 Uint8 Ignored 0x0E HeaderData2 Uint8 Ignored 0x0F HeaderData3 Uint8 Ignored 0x10 Reserved 42 bytes Uint8 Ignored 0x3A DataCrc32 Uint32 high byte first 0x0 No data present after header 0x3E HeaderCrc16 Uint16 high byte first CRC16 checksum Checksu...

Page 18: ... Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT Response frame Addr Field Type Value Description 0x00 Preamble Uint16 high byte first 0xA1EC Unique identifier start of header 0x02 ProtocolVersion Uint8 0x03 This document refers to protocol version V3 0 0x03 Command Uint8 0xFE Command code for Alive message 0x04 SubCommand Uint8 Indica...

Page 19: ...1400 Bytes 1400 Bytes Figure 3 1 UDP streaming data format The following types are used in the data streaming protocol Uint8 8 bit unsigned integer Uint16 16 bit unsigned integer Uint32 32 bit unsigned integer Note Values with 0x as prefix are hexadecimal values The UDP streaming is enabled by factory default The Argos streams to the following IP settings IP Address Multicast address 224 0 0 1 UDP...

Page 20: ... of the packet 0x06 DataLength Uint16 high byte first Length of the image data section of the current packet 0x08 FrameSize Uint32 high byte first Size of the image data It may be used to calculate the expected of packets for a frame 0x0C PacketCRC32 Uint16 high byte first CRC32 checksum over the entire packet pos 0 to pos n 1 0x10 Flags Uint32 Refer to Table 3 24 Optional flags 0x14 Reserved Rese...

Page 21: ...emperature in C 50 Decrement this field by 50 to get the current TIM temperature A value of 0xFF means sensor error 0x1B LEDtemp Uint8 LIM Light Module Temperature in C 50 Decrement this field by 50 to get the current LIM temperature A value of 0xFF means sensor error 0x1C FirmwareVersion Uint16 high byte first Content of the register FirmwareInfo 0x1E Magic Uint16 high byte first 0x3331 or 0xCC32...

Page 22: ...thout the first two bytes and the CRC16 checksum itself addr 0x02 to addr 0x3D 1 Table 3 25 Frame header Note 1 For the CRC16 calculation the CRC CCITT is used Polynom 0x1021 start value 0 Please ask the Bluetechnix support for an implementation example of the CRC CCITT 3 3 Color Sensor RTP Stream A UDP based RTP stream with video data from the CMOS color image sensor is available in different res...

Page 23: ...nal is sensitive to a falling edge or Software trigger See register Mode0 Both will trigger the capturing of as many sequences on the ToF sensor as is configured in register NofSequ as well as a transition to low on the trigger output If color data is transferred via the data interface the color sensor operates at either 15 or 30 frames per second in the background depending on register settings i...

Page 24: ... Table 3 26 Supported power supplies Note 1 PoE mode does not allow for any illumination so there is no reasonable usage of the camera with this power supply The power is limited by limiting the max allowed FITP Frame rate Integration Time Product i e by limiting either the frame rate or the integration time or both Please see chapter 4 8 for details The detected PoE class can be overridden by mea...

Page 25: ... appropriate driver installed in your OS for the FTDI FT234 device Windows OS Device Driver Download http www ftdichip com Drivers VCP htm Most Linux distributions come with an appropriate driver and create a device node dev ttyUSB dynamically Additionally one needs a serial terminal emulator e g Minicom or C Kermit for Linux or TeraTerm for Windows OS The emulator has to be configured with the fo...

Page 26: ... as described in the register description chapter refer to chapter 6 Each camera has been pre configured with a factory default register map 4 2 ToF Image Processing Chain The following flow diagram shows the image processing chain of the Argos for the ToF sensor data Filters can be applied individually to distance and amplitude data XYZ point cloud data is calculated from distance data on demand ...

Page 27: ...ormation Corrections Wiggling FPPN Distance Offset Temperature Combine HDR Raw distance N Y Y N N Y Figure 4 1 Image processing flow 4 3 ToF Image Filters After the distance and amplitude calculation filters can be applied to the distance and amplitude data Each of the filters provides one or more configuration parameters The iteration count for each filter can also be configured The filters can b...

Page 28: ...ilter can be applied Register FilterMedianConfig The number of iterations is configurable 4 3 2 Bilateral filter Registers FilterBilateralConfig FilterBilateralConfig2 Configuration options are R Width of range kernel S Width of spatial kernel number of iterations and window size 4 3 3 Average filter Registers FilterAverageConfig Note Currently this filter supports only a filter size of 2 4 3 4 Sl...

Page 29: ...resHigh Invalid pixels The Argos 3D P320 features an additional amplitude check called ACF auto correlation function Plausibility Check It detects inconsistent pixels e g in case of fast movement in the scene 4 4 1 1 Distance values If the amplitude of the reflected signal is below a threshold underexposure the distance value of the appropriate pixel will be set to 0xFFFF If the amplitude is too h...

Page 30: ...dulation frequencies of the 2 sequences ImgProcAdvanced bit 0 To enable combine mode 4 5 Camera Coordinate System The default coordinate system starts pixel numbering in the upper left corner of the pixel array seen from the camera s point of view Also note the directions of X Y and Z coordinates In XYZ image modes X Y Z Figure 4 2 Argos 3D P320 Default Coordinate System Note If you are working wi...

Page 31: ...phase data 0 90 180 270 as 16 bit unsigned Uint16 values Resolution is always 160x120 pixels Color sensor data in RGB565 format 16 bits per pixel The resolution is set via register ColorStreamParams The format is depicted in Table 4 1 Note that from one color value B0 G0 and R0 are the least significant bits B4 G5 and R4 are the most significant bits Color sensor data in JPEG format The resolution...

Page 32: ...First Byte in Stream Last Byte in Stream Figure 4 3 Data stream of Distance and Amplitude data 4 6 2 Distances Amplitudes and Color In this mode distances and amplitudes from the ToF sensor as well as the color sensor image will be transferred in progressive mode first the distance array channel 0 then the amplitude array channel 1 then the color sensor data channel 2 The stream starts always with...

Page 33: ...B565 Low Byte Last Pixel first row RGB565 High Byte Last Pixel first row RGB565 Low Byte 1st pixel last row RGB565 High Byte 1st pixel last row RGB565 Low Byte 2nd pixel last row RGB565 High Byte 2nd pixel last row RGB565 Low Byte Last Pixel RGB565 High Byte Last Pixel Figure 4 4 Data stream of Distance Amplitude RGB565 Color data 4 6 3 Distances and Color In this mode distances from the ToF senso...

Page 34: ... High Byte Pixel 0 RGB565 Low Byte Pixel 1 RGB565 Low Byte Pixel 1 RGB565 Low Byte Last Pixel first row RGB565 High Byte Last Pixel first row RGB565 Low Byte 1st pixel last row RGB565 High Byte 1st pixel last row RGB565 Low Byte 2nd pixel last row RGB565 High Byte 2nd pixel last row RGB565 Low Byte Last Pixel RGB565 High Byte Last Pixel First Byte in Stream Last Byte in Stream Figure 4 5 Data stre...

Page 35: ...l 19041 Highbyte of Y Coor Pixel 19041 Lowbyte of Y Coor Pixel 19199 Highbyte of Y Coor Pixel 19199 First Byte in Stream Last Byte in Stream Lowbyte of Z Coor Pixel 0 Highbyte of Z Coor Pixel 0 Lowbyte of Z Coor Pixel 1 Highbyte of Z Coor Pixel 1 Lowbyte of Z Coor Pixel 159 Highbyte of Z Coor Pixel 159 Lowbyte of Z Coor Pixel 19040 Highbyte of Z Coor Pixel 19040 Lowbyte of Z Coor Pixel 19041 Highb...

Page 36: ...owbyte of Z Coor Pixel 1 Highbyte of Z Coor Pixel 1 Lowbyte of Z Coor Pixel 159 Highbyte of Z Coor Pixel 159 Lowbyte of Z Coor Pixel 19040 Highbyte of Z Coor Pixel 19040 Lowbyte of Z Coor Pixel 19041 Highbyte of Z Coor Pixel 19041 Lowbyte of Z Coor Pixel 19199 Highbyte of Z Coor Pixel 19199 Lowbyte of Amplitude Pixel 0 Highbyte of Amplitude Pixel 0 Lowbyte of Amplitude Pixel 1 Highbyte of Amplitud...

Page 37: ...el 1 Uint16 value always constant 0xbeef Channel 2 Uint16 value Pixel Index 2 Channel 3 Uint16 value always constant 0x0000 4 6 11 Raw Distances and Amplitudes In this mode raw distance values are transferred in channel 0 and amplitude values are transferred in channel 1 Raw distance values are forwarded as retrieved from the TIM No conversion to millimeters and no corrections are performed on the...

Page 38: ...te Confidence Pixel 18881 1 Byte Confidence Pixel 18882 1 Byte Confidence Pixel 18883 1 Byte Confidence Pixel 19198 1 Byte Confidence Pixel 19199 1 Byte Figure 8 Data stream of Distances Amplitudes and Confidences 4 6 13 Distances Amplitudes Confidences and Color In this mode distances and amplitudes from the ToF sensor confidence values as well as the color sensor image will be transferred in pro...

Page 39: ...e selected Index Frequency 0 5 MHz 1 7 5 MHz 2 10 MHz 3 15 MHz 4 20 MHz 5 25 MHz 6 30 MHz Table 4 2 Pre defined modulation frequencies The register can be written with the frequency in 10 kHz steps frequency in Hz 10000 or the index On a register read the currently selected modulation frequency again in 10 kHz steps is returned Other frequencies between 5 MHz and 30 MHz can be set as well but as t...

Page 40: ...ion frequency If the camera s video mode is disabled see register Mode0 and the camera is manually triggered each trigger will generate as many sequences as currently configured The number of sequences can be configured in register NofSequ For sequence 0 use registers IntegrationTime and ModulationFrequency to set integration time and modulation frequency respectively For sequence 1 use registers ...

Page 41: ...mplitude in the center of the image and increase decrease the IntegrationTime until the amplitude is about 3000 5000 in the center 5 Measure the real distance in millimeters from the camera to the white target Write this value into register RealWorldXCoordinate 6 Write decimal value 19 into register CalibrationCommand and wait until the CalibStatus register Bits 0 7 read decimal value 161 finished...

Page 42: ...3 2 Software Trigger In addition to the hardware trigger a software trigger is available To start a frame capturing by software set the appropriate bit Bit 4 in register Mode0 4 13 3 ToF Snapshot Function The camera features a snapshot function which produces exactly one frame with averaged distance and optionally amplitude data per snapshot request The camera s video mode must be disabled no cont...

Page 43: ...ng with data from the ToF sensor Select an appropriate mode in register ImageDataFormat Select resolution data format RGB565 or JPEG compressed and frame rate of the color sensor in register ColorStreamParams 2 UDP Color Sensor Stream Send color data with the data streaming protocol but independent from ToF sensor data A separate destination IP address and destination UDP port can be configured 3 ...

Page 44: ...packet header contains a 32 bit timestamp value RTP uses a clock rate of 90 kHz i e this timestamp increments by 90000 each second The Argos 3D P320 uses the same internal time base for this RTP timestamp and for the data stream timestamps which are part of the frame header see chapter 3 2 This is required for the receiver in order to relate each received RTP frame and ToF frame on a time line Not...

Page 45: ...oaded 4 17 2 IP TCP UDP Settings The IP Settings of the Argos can be changes via the Eth0_ registers A change of the IP settings IP address subnet mask default gateway will take effect on writing the latter one Port settings will take effect immediately UDP destination IP addresses will take effect immediately Please see the register description for details To make the changes persistent the regis...

Page 46: ...cates detected errors mainly in the Status register Bit 3 Indicates a temperature measurement error on at least one LIM The bit is automatically cleared if the error disappears Bit 4 Indicates a temperature measurement error on the TIM The bit is automatically cleared if the error disappears Bit 5 Indicates that calibration data are missing refer to CalibStatus and CalibStatus2 Bit 8 There were er...

Page 47: ...5 1 Calibration data missing Bit 6 1 Factory Regmap was loaded Bit 8 1 Previous firmware version was restored Bit 9 1 LIM over temperature Bit 10 1 Frame rate or integration time was limited due to PoE constraints Bit 11 1 Error condition reported by one of the LIMs see registers Lim1Status and Lim2Status for details Bit 13 1 Color sensor stream error Bit 14 1 Base board temperature sensor error B...

Page 48: ...d code 13 FPPN calibration for the current modulation frequency Exactly one sequence must be configured in register NofSequ 16 Clear FPPN calibration data for the current modulation frequency Always takes modulation frequency of first sequence 19 Calibrate DistOffset for the current modulation frequency Exactly one sequence must be configured in register NofSequ 0010 ConfidenceThresLow 012C R W Am...

Page 49: ...mm a 100000 x b 10000 x c 1000 x 0030 TempCompGradient2Lim R W Factor b of the illumination temperature compensation function y mm a 100000 x b 10000 x c 1000 x 0032 TimVersion R Version of the firmware on the TIM Bit 0 5 Non Functional Revision Bit 6 10 Minor Revision Bit 11 15 Major Revision 0033 CmdExec 0000 R W Initiate an operation 0xC2AE Clear RegMap in flash 0x9E20 Read RegMap from flash 0x...

Page 50: ...in 10 MHz steps 0047 RgbLedColor 0000 R W RGB565 color value of RGB LED 0048 Lim1Status 0000 R Status word of LIM 1 or external illumination Bits 0 4 Overcurrent on LED segments 0 4 Bits 8 12 Open load on LED segments 0 4 Bit 14 Temperature sensor error Bit 15 Could not read status word communication failure 0049 Lim2Status 0000 R Status word of LIM 2 Bit description see register Lim1Status 004A T...

Page 51: ...eam Bit 4 6 Color sensor resolution 0 QCIF 176x144 1 QVGA 320x240 2 VGA 640x480 3 NTSC 720x480 4 PAL 720x576 5 XGA 1024x768 6 720P 1280x720 7 1080P 1920x1080 Bit 8 Color sensor frame rate 0 15 fps 1 30 fps Bit 13 RTP stream format 0 H 264 in RTP video 1 Raw in RTP video YCbCr 4 2 0 00E1 ColorSensorControl 0003 R W Bit 0 1 AEC AGC enabled Bit 1 1 AWB enabled 00E2 ColorSensorExposure 0132 R W Exposu...

Page 52: ...es when operating at modulation frequency with index 6 30 MHz 0100 UserDefined0 0 R W For any purpose 0101 UserDefined1 0 R W For any purpose 0102 UserDefined2 0 R W For any purpose 0103 UserDefined3 0 R W For any purpose 0104 UserDefined4 0 R W For any purpose 0105 UserDefined5 0 R W For any purpose 0106 UserDefined6 0 R W For any purpose 0107 UserDefined7 0 R W For any purpose 0108 UserDefined8 ...

Page 53: ... set via register IntegrationTime 0128 ModFreqSeq1 07D0 R W Modulation frequency to be used for recording sequence 1 Modulation frequency index 0 5 MHz 1 7 5 MHz 2 10 MHz 3 15 MHz 4 20 MHz 5 25 MHz 6 30 Mhz or a modulation frequency in multiples of 10kHz NOTE Sequence 0 modulation frequency is set via register ModulationFrequency Table 5 5 Registers for Sequencing 5 6 Registers for Illumination Pr...

Page 54: ...it 11 8 Weight for average area 10 Bit 7 4 Weight for average area 11 Bit 3 0 Weight for average area 12 01AC AecAvgWeight3 FC44 R W Bit 15 12 Weight for average area 13 Bit 11 8 Weight for average area 14 Bit 7 4 Weight for average area 15 Bit 3 0 Weight for average area 16 01AD AecAvgWeight4 CCC4 R W Bit 15 12 Weight for average area 17 Bit 11 8 Weight for average area 18 Bit 7 4 Weight for aver...

Page 55: ...0022 Table 5 8 Registers for Test Commands 5 9 Registers for Device Update Addr hex Register Name Default Value hex R W Description 01D1 FileUpdateStatus 0000 R 0 idle 3 out_of_memory 6 file crc error 8 erasing flash 9 flashing 11 erasing failed 12 flashing failed 14 update success 16 header version conflict 18 wrong fw identifier 20 data inconsistent 21 in progress 255 protocol violation 01D9 Mat...

Page 56: ... Bit 0 5 Square size Window size square size x square size 01E7 FilterFrameAverageConfig 0002 R W Bit 0 7 Number of Frames 01E9 ImgProcConfig2 0000 R W Bit 0 1 enable Median Filter for Amplitude Image Bit 1 1 enable Bilateral Filter for Amplitude Image Bit 2 1 enable Sliding Average Filter for Amplitude Image Bit 3 1 enable FrameAverage Filter for Amplitude Image Bit 10 of register ImgProcConfig m...

Page 57: ...y Writing this register will update the network configuration with new IP address subnet mask and gateway 024B Eth0TcpCtrlPort 2711 R W Port for TCP control interface 024C Eth0UdpStreamIp0 0001 R W Low word of IP address for UDP stream Writing this register has no immediate effect 024D Eth0UdpStreamIp1 E000 R W High word of IP address for UDP stream Writing this register will update the network co...

Page 58: ...tream address 0254 Eth0Udp2dStreamPort 2714 R W UDP port for 2D video stream 0256 Eth0UdpColorStreamIp0 0001 R W Low word of destination IP address for Color sensor UDP data stream 0257 Eth0UdpColorStreamIp1 E000 R W High word of destination IP address for Color sensor UDP data stream 0258 Eth0UdpColorStreamPort 2716 R W UDP port for Color sensor UDP data stream Table 5 11 Registers for Ethernet c...

Page 59: ...raw stream in 3rd channel See register ImageDataFormat Feature Request Color sensor Implement YUV420 over RTP mode See register ColorStreamParams Feature Request Read vertical and horizontal FOV register values from lens calibration file instead of calculating them See registers HorizontalFOV and VerticalFOV Feature Missing Temperature compensation for ToF sensor required See registers TempCompGra...

Page 60: ... LED for PoE power supply 0 5 0 X Grade Jul 2015 Add sequencing support up to 2 individual ToF sequences processed sequentially See chapters 4 9 registers 5 5 Add configurable illumination pre heating per sequence New registers IllPreheatingTime IllPreheatingTimeSeq1 See chapter 4 10 Add JPEG compression for color sensor data See register ColorStreamParams See chapter 3 2 2 for updated image heade...

Page 61: ...formats Chapters 4 6 12 4 6 13 5 1 Add a combine function which combines frames from 2 sequences with probably different integration times and or modulation frequencies into 1 frame with higher confidence and more accurate distances Chapters 4 4 3 5 11 Add plausibility check for TIM and base board temperature sensor values Don t report an error on register map deletion if no register map is curren...

Page 62: ...tion 0 2 2 2014 11 13 Factory default reset resets DistOffsetX registers to zero Offset calibration must be executed for each modulation frequency 0 3 1 2014 11 13 If your Argos 3D P320 was delivered with firmware version 0 2 2 originally factory default reset resets DistOffsetX registers to zero Please contact Bluetechnix support for instructions how to configure factory default settings 0 3 1 20...

Page 63: ...i to get information and to download the SDK Bluetechnix Time of Flight API https support bluetechnix at wiki Section Software 7 2 MATLAB SDK MATLAB SDK for ToF products BltTofApi Matlab SDK The MATLAB SDK is able to access the BltTofApi interface and will therefore be compatible with any device with an existing library implementing the BltTofApi Bluetechnix Time of Flight API Matlab SDK https sup...

Page 64: ...lable for registered customers only Please contact Bluetechnix support if you do not yet have an account Software Download Portal https support bluetechnix at software 8 3 Related Products TIMµP 19kS3 Spartan 6 LIMU LED 850 8 4 Camera Development Package The camera offers the possibility to bring your own application onto the Argos 3D P320 The Argos 3D P320 is based on an embedded ARM Linux system...

Page 65: ... 15 JPEG format for color data Added chapters 4 6 11 4 9 4 10 4 21 5 5 5 6 Updated chapter 4 12 with a comment on sequencing Updated registers 0x0003 0x0004 and 0x000F in chapter 5 1 Updated register 0x00E0 in chapter 5 3 Added new register 0x0110 to chapter 5 4 Updated register 0x01E0 description in chapter 5 10 Added register 0x01E9 to chapter 5 10 Added firmware changes from 0 4 2 to 0 5 0 vers...

Page 66: ...11 2015 11 05 Updated chapter 4 6 12 Added register descriptions to chapter 5 11 Added firmware V0 9 0 description to chapter 6 1 12 2015 11 05 Updated chapter 6 1 for new firmware V0 9 1 Added anomaly to chapter 6 2 13 2015 11 05 Updated chapter 3 7 Added chapter 4 15 3 Updated DeviceInfo and RgbLedColor in chapter 5 1 Added register descriptions to chapter 5 3 Added Revision description to chapt...

Page 67: ...0 Coordinate System 31 D Data Formats 32 Data Interface 20 Debug UART 26 Distance Offset Calibration 41 Document Revision History 67 E Error Indication 47 Ethernet Settings 46 58 F Factory Default 46 Filter 28 Bilateral 29 Distance Pixel Invalidation 30 Frame Average 29 Median 29 Registers 57 Sliding Average 29 Firmware Recovery 47 Firmware Update 46 57 Firmware Version 9 50 Frame header 21 Frame ...

Page 68: ...e heating 41 55 R Register Map All Registers 49 Delete 46 Save 46 S Sequencing 41 55 Serial terminal 26 Session Description Protocol 24 Snapshot Function 43 67 Software 65 SSH 25 Support 66 T Temperature compensation 30 Test Commands 56 Image mode 38 Time Stamp Frame Header 22 RTP Stream 45 ToF Flash 24 U UDP data format 20 UDP Streaming header 21 V Version History 61 W Web Server 24 ...

Page 69: ...er write flag description 13 Table 3 9 Reset command frame 13 Table 3 10 Reset response frame 14 Table 3 11 Reset flag description 14 Table 3 12 Flash update command frame 15 Table 3 13 Flash update response frame 15 Table 3 14 Flash update subcommand description 16 Table 3 15 Flash update flag description 16 Table 3 16 Flash update command frame 16 Table 3 17 Flash update response frame 17 Table ...

Page 70: ... 54 Table 5 7 Registers for automatic exposure control 55 Table 5 8 Registers for Test Commands 55 Table 5 9 Registers for device update 55 Table 5 10 Register for filter configuration 56 Table 5 11 Registers for Ethernet configuration 58 Table 6 1 Overview Argos 3D P320 firmware changes 62 Table 6 2 Firmware anomalies 62 Table 9 1 Revision history 66 ...

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