FastVision FastCamera13 Operation & User’s Manual

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All rights reserved. This document, in whole or in part, may not be copied, photocopied, reproduced, translated, or reduced to any other electronic medium or machine-readable form without the express written consent of FastVision, LLC. FastVision makes no warranty for the use of its products, assumes no responsibility for any error, which may appear in this document, and makes no commitment to update the information contained herein. FastVision, LLC. retains the right to make changes to this manual at any time without notice. Document Name: FastCamer13 User’s Manual Document Number: 30002-50013 Revision History: 1.0 January 20,2003 1.1 March 26,2003 1.2 March 30,2003 1.3 April 9, 2003 Trademarks: FastVision is a registered trademark of FastVision, LLC.. Channel Link is a trademark of National Semiconductor. 3M is a trademark of 3M Company MS DOS is a registered trademark of Microsoft Corporation SelectRAM is a trademark of Xilinx Inc. Solaris is a trademark of Sun Microsystems Inc. Unix is a registered trademark of Sun Microsystems Inc. Virtex is a trademark of Xilinx Inc. Windows, Windows 95, Windows 98, Windows 2000, Windows NT, and Windows XP are trademarks of Microsoft All trademarks are the property of their respective holders. FastVision, LLC. 131 Daniel Webster Highway, #529 Nashua, NH 03060 USA Telephone: 603-891-4317 Fax: 603-891-1881 Web Site: http://www.fast-vision.com/ Email: [email protected], or [email protected]

Copyright Notice …………………………………………………………………………………..3 Table of Contents ………………………………………………………………………………... 5 1. INTRODUCTION .................................................................................................................7 2. FEATURES AND SPECIFICATIONS FASTCAMERA 13..................................................7 3. POWER REQUIREMENTS ...............................................................................................11 4. TIMING ..............................................................................................................................11 5. TRIGGER MODES ............................................................................................................11 6. CAMERA DATA FLOW ....................................................................................................13 7. THE STANDARD CAMERA FUNCTIONALITY ...............................................................13 8. EXPOSURE CONTROL....................................................................................................13 9. PIXEL GAIN AND OFFSET ..............................................................................................15 10. MEMORY OPTION (MEM?)..............................................................................................15 11. LOOKUP TABLE OPTION (LUT?)...................................................................................16 12. DATA FORMAT FUNNEL.................................................................................................16 13. INTERNAL CAMERA MEMORY ......................................................................................17 14. USB CAMERA OPTION ...................................................................................................22 15. CAMERA CONTROL PROGRAM ....................................................................................23 16. APPLICATION ENVIRONMENTS ....................................................................................24 17. TROUBLESHOOTING ......................................................................................................28 18. FASTVISION TECHNICAL SUPPORT.............................................................................29

enable it to do real-time processing. Thus it is what one would term a “smart” camera. The standard programming that is supplied with the base camera forms the basis of the most used and demanded function for data processing. It is expected that each customer may wish to customize this programming for its use. This can be achieved by purchasing additional IP from FastVision or in-house development. Inquires or discussions are always welcome 2. FEATURES AND SPECIFICATIONS FASTCAMERA 13 The block diagram below shows the major subsystems in the camera. The camera is designed to support many different applications by customization of the programmable logic in the camera. FastVision or the Customer can customize the size and content of the FPGAs and memory in the camera to contain many different features, processing algorithms, and storage schemes. This manual discusses the ‘Standard’ version of the cameras. Customization of the FPGAs, in the camera, requires significant support from FastVision, please contact FastVision for a quote, for the development tools and support. 1.3 MPixel CMOS Sensor XC2VX000 FPGA 1-8 Million Gates Camera Control LVDS Link Receivers (CC1-4) (Async Serial) 66 MHz Channel Link Driver 66 MHz Channel Link Driver (Optional) 128-1000MB DDRAM 200 MHz Three 85 MHz Channel Link Drivers FPGA Boot Flash Memory Controller FPGA Power Supply 2-4 MB SRAM CC1 CC2 CC3 CC4 • The FastCamera13 uses a 1280H x 1024V (1.3 megapixel) CMOS digital image sensor capable of 500 frames/second operation at full resolution • 1280H x 1024V image resolution

• 500+ frames per second, progressive-scan • At full resolution, frame rate can go up to 500,000 fps at 1 x 1280pixels • Monochrome or color (Bayer Pattern) • Ten (10) parallel output ports • Photobit® TrueColorTM Image Fidelity • On-chip TrueBit® Noise Cancellation • On-chip 10-bit analog-to-digital converters • FPGA and memory-based configurable interface formats and onboard processing • Supported by a full range of software tools • Binning in order to achieve increased sensitivity at full frame rates • Optional SRAM for ultra fast processing • Optional additional DDRAM and increased FPGA size for additional processing capability • Trigger-able global electronic shutter (sync./async. modes) • C holder mount (F with adaptor) 2.1 IMAGE SENSOR SPECIFICATIONS: • Uses Micron Imaging's MI-MV13 sensor • 1280 x 1024 x 8 bits @ 500 fps (10 bits 400 fps) • 15.36 mm x 12.29 mm active area • 12-micron square active pixels • 40% Fill Factor • Monochrome or color (Bayer Pattern) • On-chip Noise Cancellation • Dynamic range 59 db • Monochrome: 1000 bits per lux-second @ 550 nm • Shutter 99.9% efficiency

counts) 2.3 Physical Specifications 12.7mm 0 ref 39.5m m 74.0mm 0 ref 7mm 132mm 12.7mm 7mm 0 ref 0 ref 39.5mm 79.0mm J3 J2 P2 FastCamera13 Front View FASTCAMERA13 CASE AND MOUNTING DIMENSIONS FastCamera13 Side View FastCamera13 Back Panel FastCamera13 Bottom View

Pin Function 1 Ground 2 +5 Volts 3 Ground 4 Reserved for application dependent I/O 5 Ground 6 +5 Volts 7 Reserved for application dependent I/O 8 Ground 9 +5 Volts 10 Reserved for application dependent I/O 11 +5 Volts 12 Reserved for application dependent I/O 2.4.2 Data Connector J2 Pin Signal Pin Signal 1 Ground 14 Ground 2 CL1_TXOUT0N 15 CL1_TXOUT0P 3 CL1_TXOUT1N 16 CL1_TXOUT1P 4 CL1_TXOUT2N 17 CL1_TXOUT2P 5 CL1_TXCLKOUTN 18 CL1_TXCLKOUTP 6 CL1_TXOUT3N 19 CL1_TXOUT3P 7 SERTCP 20 SERTCN 8 CC1N 21 SERTFGP 9 CC2P 22 CC1P 10 CC3N 23 CC2N 11 CC4P 24 CC3P 12 SERTFGN 25 CC4N 13 Ground 26 Ground 2.4.3 Data Connector J3 Pin Signal Pin Signal 1 Ground 14 Ground 2 CL2_TXOUT0N 15 CL2_TXOUT0P 3 CL2_TXOUT1N 16 CL2_TXOUT1P 4 CL2_TXOUT2N 17 CL2_TXOUT2P 5 CL2_TXCLKOUTN 18 CL2_TXCLKOUTP 6 CL2_TXOUT3N 19 CL2_TXOUT3P 7 Application Specific I/O (P) 20 Application Specific I/O (N) 8 CL3_TXOUT0N 21 CL3_TXOUT0P 9 CL3_TXOUT1N 22 CL3_TXOUT1P 10 CL3_TXOUT2N 23 CL3_TXOUT2P 11 CL3_TXCLKOUTN 24 CL3_TXCLKOUTP 12 CL3_TXOUT3N 25 CL3_TXOUT3P

10 Watts typical. Low noise +5 Volt input recommended. Internally the camera has high frequency switching supplies that convert the 5 volt input to 3.3, 2.5 and 1.8 volts. 4. TIMING � Camera Clock is configurable from 25 to 85 MHz depending on the application. � Pixel data is valid when LVAL, FVAL and DVAL are true. � Minimum two clocks LVAL and FVAL inactive between lines and frames. � CC4 reserved for application specific needs. 5. TRIGGER MODES Trigger modes are selected by serial commands. Free Running, camera generates frames without triggers. CC1 Positive edge triggered. CC1 When active, expose, falling edge reads out the sensor. Sensor readout can be in parallel with exposure. The camera can be read out with 1,2, or 3 camera links, the serial port (for the really patient), or via the USB port. Only image data from the selected ROI is sent. The camera can be configured to read out when the image is taken, to read out from memory on serial command or the CC2 positive edge. Data formats supported: Mode Camera Link Format MSB -------------------------------- LSB Read Out Mode 0 CL1_A[7:0] Single tap 8 bits (Basic) (default) 1 CL1_B[1:0],CL1_A[7:0] Single tap 10 bits (Basic) 2 CL1_A[7:0] even pixels (0,2,...) CL1_B[7:0] odd pixels (1,3,...) Two Taps 8 bits (Basic) 3 CL1_B[1:0],CL1_A[7:0] even CL1_B[5:4],CL1_C[7:0] odd Two Taps 10 bits (Basic) 4 CL1_A[7:0] Red, Y CL1_B[7:0] Green, U CL1_C[7:0] Blue, V Three Taps 8 bits (Color) (Basic) 5 CL1_B[1:0],CL1_A[7:0] Red, Y CL1_B[5:4],CL1_C[7:0] Green, U CL2_D[1:0],CL2_C[7:0] Blue, V Three Taps 10 bits (Color) (Medium) 6 CL1_B[7:0],CL1_A[7:0] CL1_A[4:0] Red, U CL1_B[2:0],CL1_A[7:5] Green, Y CL1_B[7:3] Blue V One tap 16 Bits RGB565 (Basic)

CL1_B[7:0] pixels 4*n+1 CL1_C[7:0] pixels 4*n+2 CL2_A[7:0] pixels 4*n+3 Four Taps 8 bits (Medium) 8 CL1_B[1:0],CL1_A[7:0] 4*n+0 CL1_B[5:4],CL1_C[7:0] 4*n+1 CL2_C[1:0],CL2_B[7:0] 4*n+2 CL2_C[4:5],CL2_A[7:0] 4*n+3 Four Taps 10 bits (Medium) 9 CL1_A[7:0] pixels 5*n+0 CL1_B[7:0] pixels 5*n+1 CL1_C[7:0] pixels 5*n+2 CL2_A[7:0] pixels 5*n+3 CL2_B[7:0] pixels 5*n+4 Five Taps 8 bits (Medium) 10 CL1_B[1:0],CL1_A[7:0] 5*n+0 CL1_B[5:4],CL1_C[7:0] 5*n+1 CL2_C[1:0],CL2_B[7:0] 5*n+2 CL2_C[4:5],CL2_A[7:0] 5*n+3 CL3_C[1:0],CL3_B[7:0] 5*n+4 Five Taps 10 bits (Full) 11 CL1_A[7:0] R even CL1_B[7:0] G even CL1_C[7:0] B even CL2_A[7:0] R odd CL2_B[7:0] G odd CL2_C[7:0] B odd Six Taps 8 bits (Color) (Medium) 12 CL1_B[1:0],CL1_A[7:0] R even CL1_B[5:4],CL1_C[7:0] G even CL2_C[1:0],CL2_B[7:0] B even CL2_C[4:5],CL2_A[7:0] R odd CL3_C[1:0],CL3_B[7:0] G odd CL3_C[5:4],CL3_A[7:0] B odd Six Taps 10 bits (Color) (Full) 13 CL1_A[7:0] 8*n+0 CL1_B[7:0] 8*n+1 CL1_C[7:0] 8*n+2 CL2_A[7:0] 8*n+3 CL2_B[7:0] 8*n+4 CL2_C[7:0] 8*n+5 CL3_A[7:0] 8*n+6 CL3_B[7:0] 8*n+7 Eight Taps 8 bits (Full) 14 CL1_B[1:0],CL1_A[7:0] 8*n+0 CL1_B[5:4],CL1_C[7:0] 8*n+1 CL2_B[1:0],CL2_A[7:0] 8*n+2 CL2_B[5:4],CL2_C[7:0] 8*n+3 CL3_B[1:0],CL3_A[7:0] 8*n+4 CL3_B[5:4],CL3_C[7:0] 8*n+5 CL2_FVAL,CL2_LVAL,CL2_SP,CL1_SP, CL1_B[7:6],CL1_B[3:2] 8*n+6 CL3_FVAL,CL3_LVAL,CL1_DVAL,CL3_SP , CL2_B[7:6],CL2_B[3:2] 8*n+7 Eight Taps 10 bits (Full) 254 NA Use Serial Port 255 NA Use USB Other modes are possible with custom FPGA configurations purchased from FastVision or developed in-house.

Sensor 128-1000MB DDR Memory SRAM LUT By Pixel Gain & Offset Data Format Funnel Camera Links Mem LUT Exposure Control CC1 CC2 CC3 Read Memory Serial Settings DDR Tables Clear Memory Or Stop Filling Trigger Frame Capture ROI Serial Settings Frame Rate And Exposure Serial Settings DDR Memory can be organized as a FIFO or as a circular buffer. CC3 is used to clear the memory (FIFO) or stop filling the memory (circular buffer). CC2 is used to read the top most image from memory (FIFO) or to read the oldest non-read image from memory (Circular buffer). The LUT converts the input pixels (10 Bits) to the output pixel size (8 or 10 Bits). These tables can also be used to improve the linearity of the sensor, or to set the gamma of the camera. DDR Memory can be used for image averaging. In this mode Images are summed into a 32 bit per pixel buffers, which can be read out at any time (CC2) and/or cleared (CC3).CC1,CC2, and CC3 can be replaced by Serial Commands, or can be always enabled or disabled, for free running operation. 7. THE STANDARD CAMERA FUNCTIONALITY The ‘Standard’ Camera is a set of FPGAs designed to support most of the typical uses of the camera. It is a good starting point for modifications. This design is copyrighted IP from FastVision and forms the reference design, which is available from FastVision for use only with the FastCamera13. 8. EXPOSURE CONTROL The frame rate and exposure can be controlled in several ways. � Free Running Mode � CC1 positive(or negative) edge triggered � CC1 exposure control (positive or negative level triggered)

acquires images without further outside control. Frame readout occurs as fast as the selected output format can support. In CC1 edge triggered mode the camera is triggered by the selected edge polarity to expose for the time selected by the serial setting. Each edge of the CC1 input will cause the acquisition of an image. If CC1 is toggled faster then the exposure and readout rate allows, the additional triggers are ignored. Frame readout may overlap exposure. The FastCamera 13 has both a rolling shutter and a full frame shutter. The shutter speed granularity is approximately 2 microseconds. Finer resolutions are possible by lengthening the line time, and slowing down the line rate. The shortest supported exposure time is 2 microseconds. In CC1 level triggered mode the exposure is set by the active time of the CC1 input. When CC1 is asserted (programmable level high or low) the sensor is reset and integration begins. When CC1 is de-asserted the sensor is read out. 8.1 Rolling shutter The FastCamera 13 supports rolling shutter mode. The rolling shutter allows the camera to operate faster, by resetting each line a programmable delay (the exposure time) before it is read out. This CMOS sensor use photo diodes as the active elements of the sensor. When an exposure is started the diodes are emptied out by a reset process, which clears all the stored charge from each diode. This reset process starts the exposure for a particular pixel. After the exposure is complete, the charge in the photo diode is read out to an amplifier and converter section in the sensor. This readout process also resets the charge in the diode. All the pixels in a line are readout and reset, or just reset at the same time. The rolling reset process takes advantage of the readout process to set the exposure. When the sensor is read out each line in turn is dumped into the converters to read out all the pixels in a line. The sensor contains separate amplifiers and converters for each column in the sensor (for the FastCamera 13 that is 1280 converters!). At the same time a line is read out and reset from the sensor, a different line can be reset. By selecting the line to be reset, to be a line to be read out and reset in the near future, the exposure time is set to the number of line times between the current line, and the future line being reset. While this process allows exposure to occur while frame data is being read out, it is at a price. If your light source is continuous, you will see a compression or extension of a moving object that moves in the opposite or same direction as the readout. Typically this compression is only apparent at very high frame speeds, and / or object speeds. If your light source is a flash the compression will not occur as you can make sure all the lines are exposing, before the flash. The fastest a line can be read out from the sensors is in the time it takes for the converters to convert the charge from the photodiodes, into digital values. In the MV13 sensor this is 132 clocks. In the standard camera the sensor clock rate is 66.66 MHz, this means the fastest the lines can be sampled is 1.98 microseconds per line. During this time a full line can be read out in the FastCamera 13 (1280 pixels). (Strictly speaking the converter time is 128 clocks, but there are additional overheads in reading out the line which brings this time to 132, please see the data sheets for the sensors for the details.) The sensor can not be read out faster than 1.98 microseconds per line. 8.2 Full Frame shutter The sensor in the FastCamera13 allows an additional mode of operation, which is the Full Frame shutter. During the last half of a line readout cycle, the whole sensor can be reset, and integration started. During the last half of a following line (at least one) the whole sensor can stop integration. When integration is stopped the charge stored in the photodiodes is transferred to an array of storage elements, for eventual readout of the

speeds are thus fixed at multiples of the line readout rate or 1.98 microseconds, or longer if the line time is increased. Further the shortest shutter speed is 1.98 microseconds. 8.3 Shutter Speeds The granularity of the shutter speed at the highest readout rate possible is 1.98 microseconds. This is not the whole story though. You may lengthen the line time by programming the clocks per line register (see serial command 0x04 below). By slowing down the line rate, you can dial the shutter speed (at the cost of maximum frame rate), to any time above 132 clocks. So to get a shutter speed of 3.0 microseconds you would set the clocks per line to 200 clocks. The highest full frame readout rate would be, 325 frames per second. 9. PIXEL GAIN AND OFFSET The offset and gain of each pixel can be calibrated by setting the pixel gain and offset arrays in the DDR memory of the camera. It is a good idea to do this as the large number of converters, need to be calibrated for best results. Note: only the pixels in the selected ROI are processed (see serial commands 0x02 and 0x03). The offset table is set by taking several images with no light input, averaging them and uploading them to the offset (or dark field) table. These values are subtracted from the sensor pixel values (clipped so less than zero values are zero), before applying the gain table values. The gain table values are obtained by taking a defocused image of a uniform object, with enough light to get to 75% of saturation at most on the brightest point in the image. Using the resulting image gain values are computed (in the simplest case the pixel values and the ratio with 75% of full scale (191 (8 bit) or 768 (10 bits)) determines the gain.) Note: It is assumed that you are trying for a uniformly lit field of view (i.e. a Flat Field). It is important that you have as nearly as is practical, a uniform field of light, as large or small gain values can introduce significant artifacts in your images. The gain table contains 8 bit values, which are formatted unsigned 1.7 format, that is one binary digit followed by 7 fractional digits. This makes the range of gains 1.992 down to 0.00390625. The equation for the pixel gain and offset is: CP[i,j] = Saturate((2*Gain[i,j]/256)* Clip (P[i,j] – Offset[i,j])) CP = Corrected Pixel P = Raw sensor Pixel Clip = 0 if P[i,j]-Offset[i,j] is negative, otherwise its P[i,j]-Offset[i,j]. Saturate = FullScale if its input is greater than or equal to FullScale, other wise it is it’s input alue. FullScale = 255 for 8 bit pixels 1023 for 10 bit pixels. 10. MEMORY OPTION (MEM?) The camera has 120 MB (or more) memory, which can be used to store images, and do averaging. Each mode of operation is explained in the following sections. If the memory option is enabled, then sensor data goes to memory instead down stream.

In this mode memory is used as a first in first out memory (FIFO). The memory fills with images, until it is full, and then stops filling. At any time the user may request an image from the FIFO with CC2, or via a serial command. This will make room for a new image, which will be filled as soon as one is collected. This mode is typically used by systems that can accept images in bursts, but can not accept a continuous stream of images. For example your system might take 8 images very fast and then read them out at a slower rate (via a single camera link for example), your average frame rate is slow, but your peak rate is high. If the host activates CC2 (or sends the serial command), it can cause the next image to be read out when it comes in (pre-trigger the readout). 10.2 Circular buffer memory mode In this mode the memory is used as a circular buffer. Each time an image is presented to the memory it is stored over-writing the oldest image in the buffer. When CC2 goes active (or via a serial command), the filling operation stops, after a selected number of frames are added to the memory buffer (delayed trigger). After the memory image collection stops, each time CC2 toggles (or by serial command) the oldest remaining image is sent to the host. After the first CC2 is sent the host may send the next CC2 right away it does not have to wait for the filling to finish. Each image will be sent to the host as it becomes available. After the memory is full the camera will not accept any more images until it is read out or reset via CC3 (or serial command). If the host is draining images as fast as they are coming in the image capture will never stop. A reset (CC3) is required to re-arm the trigger and delay process. 10.3 Image summing memory mode In this mode the memory is divided up into buffers the size of the selected ROI, but with 32 bit values. Each time an image is added to memory, it is added to the current average buffer. When a programmed count of images is exceeded, the system advances to the next buffer. When all the buffers are full, the system stops until it is read out (CC2) or reset (CC3). Note: as each buffer is read out (CC2) it is reset. If the host reads out the buffers faster than they are collected, image collection will not stop. For example you can program the camera to total 10 images in each buffer, before passing it to the host. The host triggers the readout via CC2 (or serial command). The CC2 trigger may be sent at any time, the camera will provide a total buffer when it becomes available. 11. LOOKUP TABLE OPTION If the lookup table option is enabled, the image data from up stream is passed through a lookup table. This applies a point transformation to each pixel value, producing 10 bit results, from the 8 or 10 bit input. 32 Bit totals bi-pass the block. (Or better you should not enable this block if you are doing image totaling, as it will only operate on the lower 10 bits of the total.) 12. DATA FORMAT FUNNEL The data format funnel takes the image data and parcels it out the camera links (or USB) as selected by the Format Funnel mode. If 8 bit data is selected the upper 8 bits of each pixel is sent. (Note if you don’t like that use the LUT to change this behavior). 32 Bit data total buffers are sent as 8 bit data in little endian (that is least significant byte first).

The camera contains at least 128 MB of internal memory which can be expanded to 1000 MB, which can be used to FIFO the input images, to allow burst exposure, and slow readout operation. Only the image data in the selected ROI is stored. A serial command or the positive edge of CC3 can be used to clear FIFO memory. In addition the Camera contains LUTs for conversion from 8 to 10 bit data which can be uploaded via the serial port. 13.1 Serial Commands The following text will discuss the command and control commands to and from the FastCamera40 via the Serial Interface. For those commands that have multiple bytes of data associated with them the protocol would be: ….. In this example the command was 0x01 for configure DAC’s the 3 bytes of length are necessary to accommodate being able to program the DATA FPGA via the Serial Interface. In this instance the length would total 32 bytes. 32 bytes of data would follow. The receiving machine will not go back to its idle state until 32 bytes of data are transferred across the serial interface. The following table lists the commands and their encoding: 13.2 0x00 Serial Command Use this to reset the serial interface. If you send zero over and over until the camera sends a ‘?’ (0x3f) you will be back in sync without effecting the camera state. 13.3 0x01 ADC settings Serial Command If you need to adjust the control voltages of the sensor, then use this command. Note: FastVision does NOT support using this command, if you change these values from the factory values, the sensor will not work right and your image quality will be poor. So if you don’t know what your doing don’t mess with this. If you mess with this, just power off the camera and power it on again, and you will be out of trouble. 13.4 0x02 and 0x03 ROI Serial Commands These commands set the start and end line (0x02) and the starting and ending column 0x03) of the sensor, read out and defines the size of the image. If you want the highest possible frame rate, keep the last column in your ROI less than 2048 (40). This is not an issue on the FastCamera13. 13.5 0x04 Line Length Serial Command This sets the number of pixel clocks per line. If you are using the full sensor on the FastCamera40 this must be greater than or equal to 153, or 132 on the FastCamera13. Set this to larger values to slow the data rate from the camera or to get finer control of the exposure.

This is the exposure time in pixel clocks. For the standard camera this is 1/66.66 MHz steps or 15 ns steps. (Sorry it’s too hard to divide in the camera.) This must be greater than the line time (that is the content of register 0x04). Default value is 1,066,666 (16 msec). 13.7 0x06 Exposure delay Serial Command This sets the frame rate. The exposure time plus the exposure delay is the frame rate. This is only used in free running mode. Set to 5,600,000 by default (10 frames per second). Note: Frame Rate = 1.0 / (15ns * (reg(5)+reg(6))) 13.8 0x07 Readout Image Serial Command This command simulates an activation of CC2. See above for it’s effect, but it mostly causes a stored image to be sent to the host. 13.9 0x08 Reset Memory Serial Command This command simulates an activation of CC3. See above for it’s effects, but it mostly erases or resets the image memory. 13.10 0x09 Set Data Funnel mode Serial Command This sets the Data-Readout-Mode, see the section above, for the values. 13.11 0x10 Trigger Image Capture Serial Command This simulates an activation of CC1. See above for it’s effect, but it mostly just causes an image to be taken from the sensor, and sent to the host, or memory. 13.12 0x20 Set Trigger Mode Serial Command This allows you set the trigger mode (CC1), the options are free run, CC1 edge or CC1 level. See the section on exposure above. 13.13 0x30 Write Flash Memory Serial Command This allows the user to data to flash memory. This command is disabled in the standard camera. The Flash memory holds the FPGA programs, and other values needed to make the camera operate. Should you wish to store some data in the Flash there is room. For more details contact FastVision. 13.14 0x31 Read Flash Memory Serial Command This allows the user to read back what is in flash in the camera. This command is not disabled, so if you like read it out. If you want to understand its content please contact FastVision for details. 13.15 0x40 Load the Data FPGA Serial Command This command allows custom FPGA code to be uploaded to the camera. In situations where a user has more than one set of IP for use with the camera this command can be used to upload the FPGA. Note this can take 5 minutes via the serial port at 115K baud.

See the table below for additional serial commands. Table 1 Serial Command Encoding Encoding Length Description 0x00 NA Single byte command indicating to reset the serial protocol 0x01 32 Command to modify the outputs of the DAC’s Byte Description 1 VREF1[7:0] 2 VREF1[9:8] 3 VLN2[7:0] 4 VLN2[9:8] 5 VREF2[7:0] 6 VREF2[9:8] 7 VTEST[7:0] 8 VTEST[9:8] 9 VREF3[7:0] 10 VREF3[9:8] 11 VBIAS1[7:0] 12 VBIAS1[9:8] 13 VREF4[7:0] 14 VREF4[9:8] 15 VBIAS2[7:0] 16 VBIAS2[9:8] 17 VLN1[7:0] 18 VLN1[9:8] 19 VBIAS3[7:0] 20 VBIAS3[9:8] 21 VLP[7:0] 22 VLP[9:8] 23 VBIAS4[7:0] 24 VBIAS4[9:8] 25 VCLAMP3[7:0] 26 VCLAMP3[9:8] 27 0x00 28 0x00 29 VRST_PIX[7:0] 30 VRST_PIX[9:8] 31 0x00 32 0x00 0x02 4 ROI Starting/Ending Sensor Line 1 Start[7:0] 2 Start[11:8] 3 End[7:0] 4 End[11:8]

1 Start 2 End 0x04 2 Readout Rate (clocks per row read) 1 Rate[7:0] 2 Rate[15:8]

1 Exposure[7:0] 2 Exposure[15:8] 3 Exposure[23:16] 4 Exposure[31:24] 0x06 4 Exposure Delay in Pixel Clocks 1 Exposure Delay[7:0] 2 Exposure Delay[15:8] 3 Exposure Delay[23:16] 4 Exposure Delay[31:24] 0x07 1 Read out image from FIFO if any. Can be sent ahead of time, which will cause image readout to occur when camera is triggered. If data byte = 0, image readout will occur as soon as an image is ready. 0x08 0 Clear FIFO Memory 0x09 1 Set Read out mode (See section above) 0x10 0 Trigger Image collection 0x11 2 Trigger delay (circular buffer mode) 16 bits in frames 0x12 1 Serial Baud rate select 0=9600 1=115200 0x20 2 Trigger Mode 1 Bit 0:1:2:3 Trigger Mask 1 = Trigger 0= Ignore 2 mode 0 = free run 1 = cc1 positive edge 2 = cc1 exposure control 0x30 268 Write FLASH 1 Page Address[7:0] 2 Page Address[10:8] 3 Byte Address[7:0] 4 Byte Address[8] 5 Data Byte[1] . . . 268 Data Byte[264] 0x31 4 Read FLASH Page 1 Page Address[7:0] 2 Page Address[10:8] 3 Byte Address[7:0] 4 Byte Address[8] Data Coming out on SERTFG

1 Data Byte[1] . . . 510324 Data Byte[510324] 0x80 NA Byte 1 Read back Command Data on SERTFG 0x00 Cal Values from Sensor 0x01 DAC Values (From Uploaded values) 0x02 Sensor ROI Values 0x03 Serial Number 0x04 Manufacture Date 0x05 Part Number Table 2 Serial Response Encoding 14. USB CAMERA OPTION All cameras are shipped with a USB interface for control and readout of the camera. This allows the camera to be operated with or without a framegrabber, and helps diagnose system problems when a framegrabber is being used. A camera control program comes with the camera, which uses the serial port supported by the framegrabber, if it supports the standard Camera Link DLL, or may be used with the USB port in situations where the camera link serial port is not available, or too slow. In order to use this option you must be using an operating system that supports USB, and have the correct drivers installed. Currently this is supported under Windows and Linux only. The USB port may also be used to obtain image data from the camera, you may select full images or an ROI to reduce the image rate. The camera supports USB 2.0, which provides up to about 40 MBytes/sec transfer rates. You will probably get less, it depends on your computer; typically the transfer rate is more than 30 Mbytes/sec. Encoding Length Description 0x00 1 Alive (every 10 Sec) 0x01 1 Triggered (Time permitting) 0x02 1 Camera hardware problem 0x3F 1 Command Refused or Error 0x3B 1 Acknowledge / done

The Camera Control Program provides a GUI interface that allows you to send and receive control data and images from the camera. Below is an example dialog from the Windows version.

need to operate the camera with a PC. 16.1 USB operation In this mode of operation you will need the following items: � The Camera and a lens � A power supply for the camera. � A USB cable � FastVision supplied USB software for your OS. � All of the above can be supplied to you by FastVision. The software (item #4) provides two forms of access to the camera, via a library (DLL, or ActiveX control under Windows, linkable library under other operating systems), and via the supplied application called FastViewer. 16.1.5 The hardware connections are: Camera Power Supply Lens Computer USB Cable

USB Device In Camera Your Software Library, DLL Or ActiveX Control Operating System Provided USB Drivers FastVision Provided USB Device Driver FastVision FastViewer Software Library, DLL Or ActiveX Control 16.2 Using a FastVision supplied framegrabber In this mode of operation you will need the following items, which can all be supplied by FastVision. � The Camera and a lens � A power supply for the camera � One or more Camera Link cables � FastVision supplied framegrabber � FastVision supplied framegrabber software.

Camera Lens Your Computer Power Supply FastVision Provided Frame Grabber 1 or 2 Camera Link Cables 16.2.2 The software connections are: Camera Serial And Channel Link Devices Driver For FastVision Frame Grabber DLL, Library or ActiveX Control For FastVision Frame Grabber Your Software Camera Control Program FastVision Application Program Like FastViewer

In this mode of operation you will need the following items: � The Camera and a lens � A power supply for the camera. � One or more Camera Link cables. � Your third-party framegrabber. � AIA compliant software for your framegrabber. � FastVision supplied camera control program. 16.3.1 The hardware connections are: Camera Lens Your Computer Power Supply Third Party Provided Frame Grabber 1 or 2 Camera Link Cables

Camera Serial And Channel Link Devices Driver for Your Frame Grabber DLL or Library For Your Frame Grabber Your Software Camera Link Standard DLL FastVision Camera Control Application This will only work if your framegrabber supports the Camera Link standard serial interface protocol, and your framegrabber vendor has provided the needed DLL. Otherwise you will have to send commands to the camera in the way specified by your framegrabber vendor. 17. TROUBLESHOOTING There are several things you can try before you call FastVision Technical Support for help. _____ Make sure the computer is plugged in. Make sure the power source is on. _____ Go back over the hardware installation to make sure that the system is properly installed. _____ Go back over the software installation to make sure you have installed all necessary software. _____ Run the Installation User Test to verify correct installation of both hardware and software. _____ Run the user-diagnostics test for your main board to make sure it’s working properly. _____ Insert the FastVision CD-ROM and check the various Release Notes to see if there is any information relevant to the problem you are experiencing.

18. FASTVISION TECHNICAL SUPPORT FastVision offers technical support to any licensed user during the normal business hours of 9 a.m. to 5 p.m. EST. We offer assistance on all aspects of camera installation and operation. 18.1 Contacting Technical Support To speak with a Technical Support Representative on the telephone, call the number below and ask for Technical Support: Telephone: 603-891-4317 If you would rather FAX a written description of the problem, make sure you address the FAX to Technical Support and send it to: Fax: 603-891-1881 You can email a description of the problem to [email protected] 18.2 Returning Products for Repair or Replacements Our first concern is that you be pleased with your FastVision products. If, after trying everything you can do yourself, and after contacting FastVision Technical Support, you feel your hardware or software is not functioning properly, you can return the product to FastVision for service or replacement. Service or replacement may be covered by your warranty, depending upon your warranty. The first step is to call FastVision and request a “Return Materials Authorization” (RMA) number. This is the number assigned both to your returning product and to all records of your communications with Technical Support. When a FastVision technician receives your returned hardware or software he will match its RMA number to the on-file information you have given us, so he can solve the problem you’ve cited. When calling for an RMA number, please have the following information ready: _____ Serial numbers and descriptions of product(s) being shipped back _____ A listing including revision numbers for all software, libraries, applications, daughter cards, etc. _____ A clear and detailed description of the problem and when it occurs _____ Exact code that will cause the failure _____ A description of any environmental condition that can cause the problem

when your product arrives at FastVision. Put the camera inside its anti-static protective bags. Then pack the product(s) securely in the original shipping materials, if possible, and ship to: FastVision, LLC. 71 Spit Brook Rd, Suite 210 Nashua, NH 03060 USA Clearly mark the outside of your package: Attention RMA #XXX Remember to include your return address and the name and number of the person who should be contacted if we have questions. 18.3 Reporting Bugs We at FastVision are continually improving our products to ensure the success of your projects. In addition to ongoing improvements, every FastVision product is put through extensive and varied testing. Even so, occasionally situations can come up in the fields that were not encountered during our testing at FastVision. If you encounter a software or hardware problem or anomaly, please contact us immediately for assistance. If a fix is not available right away, often we can devise a work-around that allows you to move forward with your project while we continue to work on the problem you’ve encountered. It is important that we are able to reproduce your error in an isolated test case. You can help if you create a stand-alone code module that is isolated from your application and yet clearly demonstrates the anomaly or flaw. Describe the error that occurs with the particular code module and email the file to us at: [email protected] We will compile and run the module to track down the anomaly you’ve found. If you do not have Internet access, or if it is inconvenient for you to get to access, copy the code to a disk, describe the error, and mail the disk to Technical Support at the FastVision address below. If the code is small enough, you can also FAX the code module to us as indicated below. If you are faxing the code, write everything large and legibly and remember to include your description of the error. When you are describing a software problem, include revision numbers of all associated software. For documentation errors, photocopy the passages in question, mark on the page the number and title of the manual, and either FAX or mail the photocopy to FastVision.

we have questions. FastVision, LLC. 131 Daniel Webster Highway #529 Nashua, NH 03060 USA Telephone: 603-891-4317 FAX: 603-891-1881 Web site: http://www.fast-vision.com/ Electronic Mail: [email protected] [email protected]