AVT Marlin Technical Manual For CCD models with serial numbers: xx/yy-6zzzzzzz and all CMOS models V2.4.
Legal notice For customers in the U.S.A. This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a residential environment.
Contents Contacting Allied Vision Technologies ................................................... 8 Introduction ............................................................................................................ 9 Document history .......................................................................................................... 9 Manual overview........................................................................................................... 13 Conventions used in this manual....
Control and video data signals........................................................................................ 52 Inputs .................................................................................................................... 52 Triggers.............................................................................................................. 52 Input/output pin control........................................................................................... 53 IO_INP_CTRL 1-2 ......
Color interpolation and correction................................................................................. Color interpolation (BAYER demosaicing) ................................................................... Color correction ..................................................................................................... Why color correction .......................................................................................... Color correction in AVT cameras .........................
MARLIN F-201B / MARLIN F-201C .................................................................................. MARLIN F-131B (NIR)/ MARLIN F-131C .......................................................................... Area of interest (AOI) ................................................................................................. Autofunction AOI ................................................................................................... Frame rates........................................
Maximum resolution ............................................................................................... Time base ............................................................................................................. Extended shutter.................................................................................................... Test images ........................................................................................................... Sequence control........................
Contacting Allied Vision Technologies Contacting Allied Vision Technologies Info • Technical information: support@alliedvisiontec.com phone (for Germany): +49 (0)36428 677-270 phone (for USA): +1 978-225-2030 outside Germany/USA: Please check the link for your local dealer. http://www.alliedvisiontec.com/partner.html • Ordering and commercial information: customer-care@alliedvisiontec.
Introduction Introduction This MARLIN Technical Manual describes in depth the technical specifications, dimensions, all camera features (IIDC standard and AVT smart features) and their registers, trigger features, all video and color formats, bandwidth and frame rate calculation. For information on hardware installation, safety warnings, pin assignments on I/O connectors and 1394b connectors read the Hardware Installation Guide. Note Please read through this manual carefully.
Introduction Version Date Remarks continued from last page 2.2.0 26.02.
Introduction Version Date Remarks continued from last page 2.4.0 15.08.08 Added Format_7 Mode_3 (full binning) in Table 13: Specification MARLIN F-201B/C on page 31 Corrected frame rate for Format_7 Mode_3 (full binning) in Table 62: Video fixed formats Marlin F-201B / F-201C on page 145ff.
Introduction Version Date Remarks continued from last page 2.4.0 15.08.08 [continued] [continued] • • • • • • • • • Moved detailed description of the camera interfaces (FireWire, I/O connector), ordering numbers and operating instructions to the Hardware Installation Guide.
Introduction Version Date Remarks continued from last page 2.4.0 15.08.08 [continued] [continued] Added detailed level values of I/Os in Chapter Camera I/O connector pin assignment on page 49. Added little endian vs. big endian byte order in Chapter GPDATA_BUFFER on page 235 Added RoHS in Chapter Declarations of conformity on page 18 Listed shutter speed with offset in Chapter Specifications on page 21ff.
Introduction • • • • • • • • • Chapter Camera interfaces on page 48 describes in detail the inputs/ outputs of the cameras (incl. Trigger features). For a general description of the interfaces (FireWire and I/O connector) see Hardware Installation Guide. Chapter Description of the data path on page 65 describes in detail IIDC conform as well as AVT-specific camera features. Chapter Controlling image capture on page 113 describes trigger modi, exposure time, one-shot/multi-shot/ISO_Enable features.
Introduction Symbols Note This symbol highlights important information. L Caution a www Ý This symbol highlights important instructions. You have to follow these instructions to avoid malfunctions. This symbol highlights URLs for further information. The URL itself is shown in blue Color. Example: http://www.alliedvisiontec.
Introduction Before operation We place the highest demands for quality on our cameras. Target group This Technical Manual is the guide to detailed technical information of the camera and is written for experts. Getting started For a quick guide how to get started read Hardware Installation Guide first. Note L Note L Caution a Note L www Ý Note L Please read through this manual carefully before operating the camera.
MARLIN cameras MARLIN cameras Marlin With Marlin cameras, entry into the world of digital image processing is simpler and more cost-effective than ever before. Entry-level model With the new Marlin, Allied Vision Technologies presents a whole series of attractive digital camera entry-level models of the FireWire™ type. Price-performance These products offer an unequalled price-performance relationship and make the decision to switch from using analogue to digital technology easier than ever before.
Declarations of conformity Declarations of conformity Allied Vision Technologies declares under its sole responsibility that the following products Category Name Model Name Digital Camera (IEEE 1394) MARLIN F-033B MARLIN F-033C MARLIN F-046B MARLIN F-046C MARLIN F-080B MARLIN F-080C MARLIN F-145B2 MARLIN F-145C2 MARLIN F-146B MARLIN F-146C MARLIN F-201B MARLIN F-201C MARLIN F-131B MARLIN F-131C Table 3: Model names to which this declaration relates is in conformity with the following standard(s) or oth
Filter and lenses Filter and lenses The following illustration shows the spectral transmission of the IR cut filter: Figure 1: Spectral transmission of Jenofilt 217 Camera lenses AVT offers different lenses from a variety of manufacturers. The following table lists selected image formats depending on camera type, distance and the focal length of the lens. Focal length Marlin F-033/046/145/146 Distance = 0.5 m Distance = 1 m 4.8 mm 0.5 m x 0.67 m 1.0 m x 1.33 m 8 mm 0.3 m x 0.4 m 0.6 m x 0.
Filter and lenses Focal length Marlin F-080 Distance = 0.5 m Distance = 1 m 4.8 mm 0.375 m x 0.5 m 0.75 m x 1 m 8 mm 0.22 m x 0.29 m 0.44 m x 0.58 m 12 mm 0.145 m x 0.19 m 0.29 m x 0.38 m 16 mm 11 cm x 14.7 cm 22 cm x 29.4 cm 25 mm 6.9 cm x 9.2 cm 13.8c m x 18.4 cm 35 mm 4.8 cm x 6.4 cm 9.6 cm x 12.8 cm 50 mm 3.3 cm x 4.4 cm 6.6 cm x 8.8 cm Table 5: Focal length vs. field of view (Marlin F-080) Focal length Marlin F-131 Distance = 0.5 m Distance = 1 m 4.8 mm 0.7 m x 0.93 m 1.
Specifications Specifications Note For information on bit/pixel and byte/pixel for each color mode see Table 78: ByteDepth on page 166. L MARLIN F-033B/C Feature Specification Image device Type 1/2 (diag. 8 mm) progressive scan SONY CCD ICX-414AL/AQ with HAD microlens Chip size 7.48 mm x 6.15 mm Cell size 9.9 µm x 9.9 µm Picture size (max.) 656 x 494 pixels (Format_7 Mode_0) Lens mount C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 8.
Specifications Feature Specification Power requirements DC 8 V - 36 V via IEEE 1394 cable or 12-pin HIROSE Power consumption Typical < 3 watt (@ 12 V DC) Dimensions 72 mm x 44 mm x 29 mm (L x W x H); incl. connectors, without tripod and lens Mass <120 g (without lens) Operating temperature + 5 °C ... + 45 °C Storage temperature -10 °C ...
Specifications MARLIN F-046B/C Feature Specification Image device Type 1/2 (diag. 8 mm) progressive scan SONY CCD ICX-415AL/AQ with HAD microlens Chip size 7.48 mm x 6.15 mm Cell size 8.3 µm x 8.3 µm Picture size (max.) 780 x 582 (Format_7 Mode_0) Lens mount C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 8.2 mm ADC 12 bit Color modes Only color: Raw8, RGB8, YUV422, YUV411 Frame rates 3.75 fps; 7.5 fps; 15 fps; 30 fps; up to 52.
Specifications Feature Specification On request Host adapter card, angled head, locking IEEE 1394 cable Software packages API (FirePackage, Direct FirePackage, Fire4Linux) Table 9: Specification MARLIN F-046B/C Note L The design and specifications for the products described above may change without notice. MARLIN Technical Manual V2.4.
Specifications MARLIN F-080B/C (-30 fps*) * Variant: F-080-30 fps only This variant offers higher speed at a slight expense in image quality. Feature Specification Image device Type 1/3 (diag. 6 mm) progressive scan SONY CCD ICX-204AL/AK with HAD microlens Chip size 5.8 mm x 4.92 mm Cell size 4.65 µm x 4.65 µm Picture size (max.) 1032 x 778 (Format_7 Mode_0) Lens mount C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 8.
Specifications Feature Specification Standard accessories b/w and color: IR cut filter Optional accessories b/w: IR cut filter, IR pass filter color: protection glass On request Host adapter card, angled head, locking IEEE 1394 cable Software packages API (FirePackage, Direct FirePackage, Fire4Linux) Table 10: Specification MARLIN F-080B/C Note L The design and specifications for the products described above may change without notice. MARLIN Technical Manual V2.4.
Specifications MARLIN F-145B2/C2 Feature Specification Image device Type 1/2 (diag. 8 mm) progressive scan SONY CCD ICX-205AL/AK with HAD microlens Chip size 7.6 mm x 6.2 mm Cell size 4.65 µm x 4.65 µm Picture size (max.) 1392 x 1040 pixels (Format_7 Mode_0) Lens mount C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 8.2 mm ADC 12 bit Color modes Only color: Raw8, RGB8, YUV422, YUV411 Frame rates 3.75 fps; 7.
Specifications Feature Specification Optional accessories b/w: IR cut filter, IR pass filter color: protection glass On request Host adapter card, angled head, locking IEEE 1394 cable Software packages API (FirePackage, Direct FirePackage, Fire4Linux) Table 11: Specification MARLIN F-145B2/C2 Note L The design and specifications for the products described above may change without notice. MARLIN Technical Manual V2.4.
Specifications MARLIN F-146B/C Feature Specification Image device Type 1/2 (diag. 8 mm) progressive scan SONY CCD ICX-267AL/AK with HAD microlens Chip size 7.6 mm x 6.2 mm Cell size 4.65 µm x 4.65 µm Picture size (max.) 1392 x 1040 pixels (Format_7 Mode_0) Lens mount C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 8.2 mm ADC 12 bit Color modes Only color: Raw8, RGB8, YUV422, YUV411 Frame rates 3.75 fps, 7.5 fps, 15 fps Up to 17.
Specifications Feature Specification On request Host adapter card, angled head, locking IEEE 1394 cable Software packages API (FirePackage, Direct FirePackage, Fire4Linux) Table 12: Specification MARLIN F-146B/C Note L The design and specifications for the products described above may change without notice. MARLIN Technical Manual V2.4.
Specifications MARLIN F-201B/C Feature Specification Image device Type 1/1.8 (diag. 9 mm) progressive scan SONY CCD ICX274AL/AQ with HAD microlens Chip size 8.5 mm x 6.8 mm Cell size 4.40 µm x 4.40 µm Picture size (max.) 1628 x 1236 (Format_7 Mode_0) Lens mount C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 8.2 mm ADC 12 bit Color modes Only color: Raw8, RGB8, YUV422, YUV411 Frame rates 3.75 fps; 7.5 fps Up to 12.
Specifications Feature Specification Optional accessories b/w: IR cut filter, IR pass filter color: protection glass On request Host adapter card, angled head, locking IEEE 1394 cable Software packages API (FirePackage, Direct FirePackage, Fire4Linux) Table 13: Specification MARLIN F-201B/C Note L The design and specifications for the products described above may change without notice. MARLIN Technical Manual V2.4.
Specifications MARLIN F-131B/C (NIR) Feature Specification Image device Type 2/3 (diag. 11 mm) global shutter FillFactory CMOS sensor IBIS5B/IBIS5B NIR Chip size 8.6 mm x 6.9 mm Cell size 6.7 µm x 6.7 µm Picture size (max.) 1280 x 1024 pixels (Format_7 Mode_0) Lens mount C-Mount: 17.526 mm (in air); Ø 25.4 mm (32 tpi) mechanical flange back to filter distance: 8.2 mm ADC 10 bit Color modes Only color: Raw8, RGB8, YUV422, YUV411 Frame rates 3.75 fps; 7.
Specifications Feature Specification Standard accessories b/w and color: IR cut filter Marlin F-131BNIR only: ASG (protection glass) Optional accessories b/w: IR cut filter, IR pass filter color: protection glass On request Host adapter card, angled head, locking IEEE 1394 cable Software packages API (FirePackage, Direct FirePackage, Fire4Linux) Table 14: Specification MARLIN F-131B/C (NIR) Note L The design and specifications for the products described above may change without notice.
Specifications Spectral sensitivity Figure 2: Spectral sensitivity of Marlin F-033B without cut filter and optics Figure 3: Spectral sensitivity of Marlin F-033C without cut filter and optics MARLIN Technical Manual V2.4.
Specifications Figure 4: Spectral sensitivity of Marlin F-046B without cut filter and optics Figure 5: Spectral sensitivity of Marlin F-046C without cut filter and optics MARLIN Technical Manual V2.4.
Specifications Figure 6: Spectral sensitivity of Marlin F-080B without cut filter and optics Figure 7: Spectral sensitivity of Marlin F-080C without cut filter and optics MARLIN Technical Manual V2.4.
Specifications Figure 8: Spectral sensitivity of Marlin F-145B2 without cut filter and optics Figure 9: Spectral sensitivity of Marlin F-145C2 without cut filter and optics MARLIN Technical Manual V2.4.
Specifications Figure 10: Spectral sensitivity of Marlin F-146B without cut filter and optics Figure 11: Spectral sensitivity of Marlin F-146C without cut filter and optics MARLIN Technical Manual V2.4.
Specifications Figure 12: Spectral sensitivity of Marlin F-201B without cut filter and optics Figure 13: Spectral sensitivity of Marlin F-201C without cut filter and optics MARLIN Technical Manual V2.4.
Specifications Figure 14: Spectral sensitivity of Marlin F-131B (with IBIS5B as standard) / Marlin F-131B NIR (with IBIS5B NIR as standard) without cut filter and optics Figure 15: Spectral sensitivity of Marlin F-131C without cut filter and optics MARLIN Technical Manual V2.4.
Camera dimensions Camera dimensions Note For information on sensor position accuracy: L (sensor shift x/y, optical back focal length z and sensor rotation α) see Chapter Sensor position accuracy of AVT cameras on page 237. MARLIN standard housing ☺ Body size: 72 mm x 44 mm x 29 mm (L x W x H) Mass: 120 g (without lens) Figure 16: Camera dimensions MARLIN Technical Manual V2.4.
Camera dimensions Tripod adapter Figure 17: Tripod dimensions MARLIN Technical Manual V2.4.
Camera dimensions MARLIN W90 This version has the sensor tilted by 90 degrees clockwise, so that it views upwards. ☺ Figure 18: MARLIN W90 MARLIN Technical Manual V2.4.
Camera dimensions MARLIN W90 S90 This version has the sensor tilted by 90 degrees clockwise, so that it views upwards and additionally rotated by 90 degrees clockwise. ☺ Figure 19: MARLIN W90 S90 MARLIN Technical Manual V2.4.
Camera dimensions MARLIN W270 This version has the sensor tilted by 270 degrees clockwise, so that it views downwards. ☺ Consult your dealer, if you have inquiries for this version. Figure 20: MARLIN W270 MARLIN Technical Manual V2.4.
Camera dimensions MARLIN W270 S90 This version has the sensor tilted by 270 degrees clockwise, so that it views downwards. Additionally the sensor is tilted by 90 degrees clockwise. ☺ Figure 21: MARLIN W270 S90 MARLIN Technical Manual V2.4.
Camera interfaces Camera interfaces This chapter gives you detailed information on status LEDs, inputs and outputs, trigger features and transmission of data packets. Note L For a detailed description of the camera interfaces (FireWire, I/O connector), ordering numbers and operating instructions see the Hardware Installation Guide. Read all Notes and Cautions in the Hardware Installation Guide, before using any interfaces.
Camera interfaces Camera I/O connector pin assignment Pin Signal Direction Level Description 1 External GND GND for RS232 and ext. power External ground for RS232 and external power 2 External Power (CCD models only) +8 ... +36 V DC Power supply 3 4 9 1 2 10 3 11 4 8 12 5 7 Camera In 1 In Uin(high) = 2 V...UinVCC Camera Input 1 Uin(low) = 0 V...0.
Camera interfaces Status LEDs Status LEDs green yellow Figure 24: Position of Status LEDs Status LED green The green LED (power) indicates that the camera is being supplied with sufficient voltage and is ready for operation.
Camera interfaces Blink codes are used to signal warnings or error states: Class S1 Error code S2 Warning 1 blink DCAM 2 blinks MISC 3 blinks FPGA Boot error FPGA 4 blinks Stack 5 blinks 1-5 blinks Stack setup 1 blink Stack start 2 blinks No FLASH object 1 blink No DCAM object 1 blink Register mapping 2 blinks VMode_ERROR_STATUS 1 blink FORMAT_7_ERROR_1 2 blinks FORMAT_7_ERROR_2 3 blinks Table 17: Error Codes The longer OFF-time of 3.5 sec.
Camera interfaces Control and video data signals The inputs and outputs of the camera can be configured by software. The different modes are described below. Inputs Note For a general description of the inputs and warnings see the Hardware Installation Guide, Chapter MARLIN input description. L The optical coupler inverts all input signals. Polarity is controlled via the IO_INP_CTRL1..2 register.
Camera interfaces Input/output pin control All input and output signals running over the camera I/O connector are controlled by an advanced feature register. Register Name Field Bit Description 0xF1000300 IO_INP_CTRL1 Presence_Inq [0] Indicates presence of this feature (read only) --- [1..6] Polarity [7] 0: low active 1: high active --- [8..10] Reserved InputMode [11..15] Mode see Table 19: Input routing on page 53 0xF1000304 IO_INP_CTRL2 --- [16..
Camera interfaces Trigger delay Since firmware version 2.03, the cameras feature various ways to delay image capture based on external trigger. With IIDC V1.31 there is a standard CSR at Register F0F00534/834h to control a delay up to FFFh x timebase value. The following table explains the inquiry register and the meaning of the various bits.
Camera interfaces Register Name Field Bit Description 0xF0F00834 TRIGGER_DELAY Presence_Inq [0] Presence of this feature: 0: N/A 1:Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR. If this bit=1 the value in the value field has to be ignored. --- [2..5] Reserved ON_OFF [6] Write ON or OFF this feature ON=1 Read: Status of the feature OFF=0 --- [7..19] Reserved Value [20..
Camera interfaces Note • L • Switching trigger delay to ON also switches external Trigger_Mode_0 to ON. This feature works with external Trigger_Mode_0 only. Outputs T Note L For a general description of the outputs and warnings see the Hardware Installation Guide, Chapter MARLIN output description. Output features are configured by software. Any signal can be placed on any output.
Camera interfaces Output mode selectable via software Polarity selectable via software Operation state read IntEna FVal Opto- Busy Operation state read Output signal Coupler Figure 26: Output block diagram MARLIN Technical Manual V2.4.
Camera interfaces IO_OUTP_CTRL 1-2 The outputs (Output mode, Polarity) are controlled via two advanced feature registers (see Table 24: Advanced register: Output control on page 58). The Polarity field determines whether the output is inverted or not. The output mode can be viewed in the table below. The current status of the output can be queried and set via the PinState. From firmware 2.03 onwards it is possible to read back the status of an output pin regardless of the output mode.
Camera interfaces Output modes ID Mode Default 0x00 Off 0x01 Output state follows PinState bit Using this mode, the Polarity bit has to be set to 0 (not inverted). This is necessary for an error free display of the output status. 0x02 Integration enable 0x03 Reserved 0x04 Reserved 0x05 Reserved 0x06 FrameValid 0x07 Busy 0x08 Follow corresponding input (Inp1 Q Out1, Inp2 Q Out2, …) 0x09..0x0F Reserved 0x10..
Camera interfaces Figure 27: Output Impulse Diagram Note The signals can be inverted. L Caution a Firing a new trigger while IntEna is still active can result in image corruption due to double exposure occurring. MARLIN Technical Manual V2.4.
Camera interfaces Note • L • Note that trigger delay in fact delays the image capture whereas the IntEna_Delay only delays the leading edge of the IntEna output signal but does not delay the image capture. As mentioned before, it is possible to set the outputs by software. Doing so, the achievable maximum frequency is strongly dependent on individual software capabilities. As a rule of thumb, the camera itself will limit the toggle frequency to not more than 700 Hz.
Camera interfaces Field Description data_length Number of bytes in the data field tg Tag field shall be set to zero channel Isochronous channel number, as programmed in the iso_channel field of the cam_sta_ctrl register tCode Transaction code shall be set to the isochronous data block packet tCode sy Synchronization value (sync bit) This is one single bit. It indicates the start of a new frame.
Camera interfaces Figure 30: Y8 and Y16 format: Source: IIDC V1.3 MARLIN Technical Manual V2.4.
Camera interfaces Figure 31: Data structure: Source: IIDC V1.3 MARLIN Technical Manual V2.4.
Description of the data path Description of the data path Block diagrams of the cameras The following diagrams illustrate the data flow and the bit resolution of image data after being read from the CCD or CMOS sensor chip in the camera. The individual blocks are described in more detail in the following paragraphs. For sensor data see Chapter Specifications on page 21. Black and white cameras Horizontal Mirror 10 bit * Is 10/16 bit when Mono16 mode is active.
Sensor P 1 P 3 B2 G2 8 Bit 10 Bit FrameMemory CCD: 12 Bit 8 Bit 8 Bit 10 Bit RAW-Mode MUX Horizontal Mirror Shading Correction 8 Bit 10 Bit 10 Bit Horizontal Masking LUT IEEE-1394 Interface 1394a 10 Bit (LUT off) 8 Bit (LUT on) Params Camera Control CCD: 12 Bit HiRose I/O RS232 Multiple Color Operations (RGB->YUV, Hue, Saturation) 8/10 Bit* Graphics Overlay White Balance Camera Control A D C Auto-Data Sharpness P 2 B1 R2 G4 G1 G3 Analog Offset Test-Pattern R1 De-B
Description of the data path IBIS5A multiple slope (High Dynamic Range mode) The MARLIN F-131 sensor has a high dynamic range of about 60 dB. This can be extended to almost 100 dB by switching to a special mode. This mode is called dual (in the case of rolling shutter) or multiple slope mode (in the case of global shutter). The following diagram, taken from FillFactory's application notes, explains the functionality.
Description of the data path This dual slope reset pulse resets the analogue signal of the pixels below the dual slope reset level to this level. After the reset, the analogue signal starts to decrease with the same slope as before (pink P3 and yellow P4 lines). This introduces a knee-point in the exposure function.
Description of the data path Example Adjust image so that the dark areas are well displayed. Calculate the used shutter time. Activate HDR mode. Assuming shutter time to be 40 ms = 40,000 µs: • Kneepoint_1 = 10 % * 40,000 µs = 4,000 µs = 0xFA0 • Kneepoint_2 = 5 % * 40,000 µs = 2,000 µs = 0x7D0 • Kneepoint_3 = 2.
Description of the data path White balance Marlin color cameras have both manual and automatic white balance. White balance is applied so that non-colored image parts are displayed non-colored. White balance does not use the so called PxGA® (Pixel Gain Amplifier) of the analog front end (AFE) but a digital representation in the FPGA in order to modify the gain of the two channels with lower output by +9.5 dB (in 106 steps) relative to the channel with highest output.
Description of the data path Register Name Field Bit 0xF0F0080C WHITE_BALANCE Presence_Inq [0] Description Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit=1, the value in the Value field will be ignored. - [2..
Description of the data path Figure 37: U/V slider range One-push automatic white balance Note Configuration L To configure this feature in control and status register (CSR): See Table 29: White balance register on page 71. The camera automatically generates frames, based on the current settings of all registers (GAIN, OFFSET, SHUTTER, etc.). For white balance, in total 6 frames are processed and a grid of at least 300 samples is equally spread over the work area.
Description of the data path Automatic white balance can also be enabled by using an external trigger. However, if there is a pause of >10 seconds between capturing individual frames this process is aborted. The following flow diagram illustrates the automatic white balance sequence.
Description of the data path Note L If the adjustment fails and the work area size and/or position becomes invalid this feature is automatically switched off make sure to read back the ON_OFF flag if this feature doesn't work as expected. Within this area, the R-G-B component values of the samples are added and used as actual values for the feedback. The following drawing illustrates the AUTOFNC_AOI settings in greater detail.
Description of the data path Auto shutter In combination with auto white balance, all Marlin CCD models and CMOS models are equipped with auto shutter feature. When enabled, the auto shutter adjusts the shutter within the default shutter limits or within those set in advanced register F1000360h in order to reach the reference brightness set in auto exposure register. Note L Target grey level parameter in SmartView corresponds to Auto_exposure register 0xF0F00804 (IIDC).
Description of the data path To configure this feature in control and status register (CSR): Register Name Field Bit Description 0xF0F0081C SHUTTER Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit= 1 the value in the Value field will be ignored. --- [2..
Description of the data path Note • L • • Values can only be changed within the limits of shutter CSR. Changes in auto exposure register only have an effect when auto shutter is enabled. Auto exposure limits are: 50..205 (SmartView Ctrl1 tab: Target grey level) When both auto shutter and auto gain are enabled, priority is given to increasing shutter when brightness decreases. This is done to achieve the best image quality with lowest noise.
Description of the data path Auto gain In combination with auto white balance, all Marlin CCD models are equipped with auto gain feature. When enabled auto gain adjusts the gain within the default gain limits (see Table 33: Manual gain range of the various Marlin types on page 80) or within the limits set in advanced register F1000370h in order to reach the brightness set in auto exposure register as reference.
Description of the data path Register Name Field Bit Description 0xF0F00804 AUTO_EXPOSURE Presence_Inq [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the value field 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored --- [2..
Description of the data path Note • L • • • Values can only be changed within the limits of gain CSR. Changes in auto exposure register only have an effect when auto gain is active. Auto exposure limits are 50..205. (SmartView Ctrl1 tab: Target grey level) Auto gain is not possible with CMOS models due to coarse gain settings. Manual gain Marlin cameras are equipped with a gain setting, allowing the gain to be manually adjusted on the fly by means of a simple command register write.
Description of the data path Note • L • Setting the gain does not change the offset (black value) for CCD models. Setting the gain changes the offset (black value) for CMOS models. This is due to the lack of black clamping circuitry in sensor. The IIDC register brightness at offset 800h is used for this purpose.
Description of the data path Look-up table (LUT) and gamma function The AVT Marlin camera provides one user-defined look-up table (LUT). The use of this LUT allows any function (in the form Output = F(Input)) to be stored in the camera's RAM and to apply it on the individual pixels of an image at run-time. The address lines of the RAM are connected to the incoming digital data, these in turn point to the values of functions which are calculated offline, e.g. with a spreadsheet program.
Description of the data path Note • L • • • • The input value is the most significant 10-bit value from the digitizer. The gamma LUT of the CCD models outputs the most significant 8 bit as shown above. As gamma correction for the CCD models is also implemented via the look-up table, it is not possible to use a different LUT when gamma correction is enabled. With all CCD models, the user LUT will be overwritten when Gamma is enabled and vice versa.
Description of the data path Shading correction Shading correction is used to compensate for non-homogeneities caused by lighting or optical characteristics within specified ranges. To correct a frame, a multiplier from 1...2 is calculated for each pixel in 1/256 steps: this allows for shading to be compensated by up to 50 %. Besides generating shading data off-line and downloading it to the camera, the camera allows correction data to be generated automatically in the camera itself.
Description of the data path Automatic generation of correction data Requirements Shading correction compensates for non-homogeneities by giving all pixels the same gray value as the brightest pixel. This means that only the background must be visible and the brightest pixel has a gray value of less than 255 when automatic generation of shading data is started. It may be necessary to use a neutral white reference, e.g. a piece of paper, instead of the real image.
Description of the data path Note Configuration L To configure this feature in an advanced register: See Table 108: Advanced register: Shading on page 214. Note L • • The maximum value of GRAB_COUNT depends on the type of camera and the number of frame buffers that exist. GRAB_COUNT is also automatically corrected to the power of two. The SHDG_CTRL register should not be queried at very short intervals. This is because each query delays the generation of the shading image.
Description of the data path Figure 44: Generation of shading image MARLIN Technical Manual V2.4.
Description of the data path Note • L • • • • The calculation of shading data is always carried out at the current resolution setting. If the AOI is later larger than the window in which correction data was calculated, none of the pixels lying outside are corrected. For Format_7 mode, it is advisable to generate the shading image in the largest displayable frame format. This ensures that any smaller AOIs are completely covered by the shading correction.
Description of the data path Loading a shading image out of the camera GPDATA_BUFFER is used to load a shading image out of the camera. Because the size of a shading image is larger than GPDATA_BUFFER, input must be handled in several steps: It is recommended that block reads are used to read a block of n bytes with one command out of the GPDATA_BUFFER. With firmware 3.03 it is possible to read quadlets directly out of the buffer, but this takes much more time.
Description of the data path Loading a shading image into the camera GPDATA_BUFFER is used to load a shading image into the camera. Because the size of a shading image is larger than GPDATA_BUFFER, input must be handled in several steps: It is recommended that block writes are used to write a block of n bytes with one command into the GPDATA_BUFFER. With firmware 3.03 it is possible to write quadlets directly into the buffer, but this takes much more time.
Description of the data path DSNU & blemish correction (MARLIN F-131B only) In order to further reduce the dark signal non uniformity (DSNU) of the CMOS sensor to levels similar to CCD sensors, the MARLIN F-131B is equipped with a special DSNU reduction function, extending the shading correction. The DSNU function applies an additive correction to every pixel in order to equalize the dark level of the pixels.
Description of the data path Figure 49: Histogram with blemish correction Note L • • • • For maximum efficiency, perform a new DSNU correction every time the shutter, gain or offset settings are changed. Generate the image by closing the lens to eliminate image information. DSNU correction feature is not available for the Marlin F-131C. The FPN correction in former releases of the Marlin F-131 worked different and is replaced by the DSNU correction.
Description of the data path Horizontal mirror function All Marlin cameras are equipped with an electronic mirror function, which mirrors pixels from the left side of the image to the right side and vice versa. The mirror is centered to the actual FOV center and can be combined with all image manipulation functions, like binning, shading and DSNU. This function is especially useful when the camera is looking at objects with the help of a mirror or in certain microscopy applications.
Description of the data path Binning (only Marlin CCD b/w models) 2 x binning Definition Binning is the process of combining neighboring pixels while being read out from the CCD chip. Note Only Marlin CCD equipped b/w cameras have this feature.
Description of the data path Vertical binning Vertical binning increases the light sensitivity of the camera by a factor of two by adding together the values of two adjoining vertical pixels output as a single pixel. At the same time this normally improves signal to noise separation by about 2 dB. Format_7 Mode_2 By default use Format_7 Mode_2 for 2 x vertical binning. This reduces vertical resolution, depending on the model.
Description of the data path Horizontal binning Definition In horizontal binning adjacent horizontal pixels in a line are combined in pairs. 2 x horizontal binning: 2 pixel signals from 2 horizontal neighboring pixels are combined. Light sensitivity Horizontal resolution Format_7 Mode_1 This means that in horizontal binning the light sensitivity of the camera is also increased by a factor of two (6 dB). Signal to noise separation improves by approx. 3 dB.
Description of the data path 2 x full binning If horizontal and vertical binning are combined, every 4 pixels are consolidated into a single pixel. At first two horizontal pixels are put together and then combined vertically. Light sensitivity Resolution Format_7 Mode_3 This increases light sensitivity by a total of a factor of 4 and at the same time signal to noise separation is improved by about 6 dB. Resolution is reduced, depending on the model. Resolution is reduced, depending on the model.
Description of the data path Sub-sampling (MARLIN F-131B/C, MARLIN F-146C and MARLIN F-201C) What is sub-sampling? Definition Sub-sampling is the process of skipping neighboring pixels (with the same color) while being read out from the CMOS or CCD chip. Which Marlin models have sub-sampling? • • All CMOS equipped Marlin models, both color and b/w have this feature (FW > 2.03). The CCD models Marlin F-146C and Marlin F-201C are also equipped with this mode, acting as a preview mode.
Description of the data path 1 out of 2 Figure 54: Horizontal sub-sampling 1 out of 2 (b/w) 2 out of 4 Figure 55: Horizontal sub-sampling 2 out of 4 (color) Note L The image appears horizontally compressed in this mode and no longer exhibits a true aspect ratio. MARLIN Technical Manual V2.4.
Description of the data path Format_7 Mode_2 Only MF-131B/C: By default use Format_7 Mode_2 for • b/w cameras: 1 out of 2 vertical sub-sampling • color cameras: 2 out of 4 vertical sub-sampling 1 out of 2 Figure 56: Vertical sub-sampling (b/w) MARLIN Technical Manual V2.4.
Description of the data path 2 out of 4 Figure 57: Vertical sub-sampling (color) Note L Format_7 Mode_3 The image appears vertically compressed in this mode and does no longer show true aspect ratio. By default use Format_7 Mode_3 for • only Marlin F-131B: • only Marlin F-131C/146C/201C): 1 out of 2 H+V sub-sampling 2 out of 4 H+V sub-sampling 1 out of 2 H+V sub-sampling (only Marlin F-131B) Figure 58: 1 out of 2 H+V sub-sampling (b/w) MARLIN Technical Manual V2.4.
Description of the data path 2 out of 4 H+V sub-sampling (only Marlin F-131C/146C/201C) Figure 59: 2 out of 4 H+V sub-sampling (color) Note L Changing sub-sampling modes involve the generation of new shading reference images due to a change in the image size. MARLIN Technical Manual V2.4.
Description of the data path Parameter update timing MARLIN cameras show the following timing behavior: • Frame rate or transfer rate is always constant (precondition: shutter < transfer time) • The delay from shutter update until the change takes place: up to 3 frames. Figure 60: MARLIN update timing on page 103 demonstrates this behavior. It shows that the camera receives a shutter update command while the sensor is currently integrating (Sync is low) with shutter setting 400.
Description of the data path Sharpness All Marlin color models are equipped with a two-step sharpness control, applying a discreet horizontal high pass in the green channel as shown in the next three line profiles. Figure 61: Sharpness: left: 0, middle: 1, right: 2 Note Configuration L To configure this feature in feature control register: See Table 94: Feature control register on page 195.
Description of the data path RAW-mode is accessible via Color_Mode Mono8, RAW8 and via Format_7 Mode_1. Note L If the PC does not perform BAYER to RGB post-processing the b/w image will be superimposed with a checkerboard pattern. Color interpolation (BAYER demosaicing) In color interpolation a red, green or blue value is determined for each pixel.
Description of the data path Color correction Why color correction The spectral response of a CCD is different of those of an output device or the human eye. This is the reason for the fact that perfect color reproduction is not possible. In each Marlin camera there is a factory setting for the color correction coefficients, see Chapter GretagMacbeth ColorChecker on page 106. Color correction is needed to eliminate the overlap in the color channels.
Description of the data path Note Configuration L To configure this feature in an advanced register: See Table 119: Advanced register: Color correction on page 223. Color-correction coefficients cannot be changed. Color conversion (RGB YUV) The conversion from RGB to YUV is made using the following formulae: Y = 0.3 × R + 0.59 × G + 0.11 × B U = – 0.169 × R – 0.33 × G + 0.498 × B + 128 V = 0.498 × R – 0.420 × G – 0.
Description of the data path Note Configuration L To configure this feature in feature control register: See Table 94: Feature control register on page 195. Serial interface With FW > 2.03, all Marlin cameras are equipped with the SIO (serial input/ output) feature as described in IIDC V1.31. This means that the Marlin’s serial interface which is used for firmware upgrades can further be used as a general RS232 interface.
Description of the data path To configure this feature in access control register (CSR): Offset Name Field Bit Description 000h SERIAL_MODE_REG Baud_Rate [0..7] Baud rate setting WR: Set baud rate RD: Read baud rate 0: 300 bps 1: 600 bps 2: 1200 bps 3: 2400 bps 4: 4800 bps 5: 9600 bps 6: 19200 bps 7: 38400 bps 8: 57600 bps 9: 115200 bps 10: 230400 bps Other values reserved Char_Length [8..
Description of the data path Offset Name 0004h Field Bit Description SERIAL_CONTROL_REG RE [0] Receive enable RD: Current status WR: 0: Disable 1: Enable TE [1] Transmit enable RD: Current status WR: 0: disable 1: Enable --- [2..
Description of the data path Offset Name Field Bit Description 008h RECEIVE_BUFFER_ STATUS_CONTRL RBUF_ST [0..7] SIO receive buffer status RD: Number of bytes pending in receive buffer WR: Ignored RBUF_CNT [8..15] SIO receive buffer control WR: Number of bytes to be read from the receive FIFO RD: Number of bytes left for readout from the receive FIFO --- [16..31] Reserved TBUF_ST [0..7] SIO output buffer status RD: Space left in TX buffer WR: Ignored TBUF_CNT [8..
Description of the data path To read data: 1. Query RDRD flag (buffer ready?) and write the number of bytes the host wants to read to RBUF_CNT. 2. Read the number of bytes pending in the receive buffer RBUF_ST (more data in the buffer than the host wanted to read?) and the number of bytes left for reading from the receive FIFO in RBUF_CNT (host wanted to read more data than were in the buffer?). 3. Read received characters from SIO_DATA_REGISTER, beginning at char 0. 4.
Controlling image capture Controlling image capture Shutter modes The cameras support the SHUTTER_MODES specified in IIDC V1.3. For all models this shutter is a global shutter; meaning that all pixels are exposed to the light at the same moment and for the same time span. Continuous mode In continuous modes the shutter is opened shortly before the vertical reset happens, thus acting in a frame-synchronous way.
Controlling image capture External Trigger input, as applied at input pin, trigger falling edge External Trigger input, after inverting opto coupler Shutter register value External Trigger input, as applied at input pin External Trigger input, after inv. Opto. Integration Time Figure 63: Trigger_mode_0 and 1 MARLIN Technical Manual V2.4.
Controlling image capture Bulk trigger (Trigger_Mode_15) Trigger_Mode_15 is a bulk trigger, combining one external trigger event with continuous or one-shot or multi-shot internal trigger. It is an extension to the IIDC trigger modes. One external trigger event can be used to trigger a multitude of internal image intakes. This is especially useful for: • Grabbing exactly one image based on the first external trigger.
Controlling image capture The functionality is controlled via bit [6] and bitgroup [12-15] of the IIDC register: Register Name Field Bit Description [0] Presence of this feature: 0: N/A 1: Available Abs_Control [1] Absolute value control O: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit = 1 the value in the Value field has to be ignored. --- [2..
Controlling image capture The screenshots below illustrate the use of Trigger_Mode_15 on a register level: • Line #1switches continuous mode off, leaving viewer in listen mode. • Line #2 prepares 830h register for external trigger and Mode_15. Left = continuous Middle = one-shot Right = multi-shot Line #3 switches camera back to continuous mode. Only one image is grabbed precisely with the first external trigger.
Controlling image capture Trigger delay As already mentioned earlier, since firmware version 2.03, Marlin cameras feature various ways to delay image capture based on external trigger. With IIDC V1.31 there is a standard CSR at Register F0F00534/834h to control a delay up to FFFh x timebase value. The following table explains the inquiry register and the meaning of the various bits.
Controlling image capture Name 0xF0F00834 Field Bit Description [0] Presence of this feature: 0:N/A 1:Available Abs_Control [1] Absolute value control O: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit = 1, the value in the Value field has to be ignored --- [2..5] Reserved ON_OFF [6] Write: ON or OFF this feature Read: read a status 0: OFF 1: ON If this bit = 0, other fields will be read only. --- [7..19] Reserved Value [20..
Controlling image capture The advanced register allows to delay the start of the integration by max. 221 µs, which is max. 2.1 s after a trigger edge was detected. Note • L • Switching trigger delay to ON also switches external Trigger_Mode_0 to ON. This feature works with external Trigger_Mode_0 only.
Controlling image capture Exposure time offset Camera model Exposure time offset Marlin F-033 12 µs Marlin F-046 12 µs Marlin F-080 30 µs Marlin F-080-30fps 17 µs Marlin F-145 26 µs Marlin F-146 26 µs Marlin F-201 39 µs Marlin F-131 < 1 µs Table 43: Camera-specific minimum exposure time Minimum exposure time Camera model Minimum exposure time Effective min. exp. time = Min. exp.
Controlling image capture The minimum adjustable exposure time set by register is 20 µs. minimum exposure time of a Marlin F-033 is then: 20 µs + 12 µs = 32 µs The real Extended shutter The exposure time for long-term integration of up to 67 seconds can be extended via the advanced register: EXTENDED_SHUTTER Register Name Field Bit Description 0xF100020C EXTD_SHUTTER Presence_Inq [0] Indicates presence of this feature (read only) --- [1.. 5] Reserved ExpTime [6..
Controlling image capture One-shot Marlin cameras can record an image by setting the one-shot bit in the 61Ch register. This bit is automatically cleared after the image is captured. If the camera is placed in Iso_Enable mode (see Chapter ISO_Enable / Free-Run on page 125), this flag is ignored. If one-shot mode is combined with the external trigger, the one-shot command is used to arm it. The following screenshot shows the sequence of commands needed to put the camera into this mode.
Controlling image capture Microcontroller-Sync is an internal signal. It is generated by the microcontroller to initiate a trigger. This can either be a direct trigger or a release for ExSync if the camera is externally triggered. End of exposure to first packet on the bus After the exposure, the CCD or CMOS sensor is read out; some data is written into the FRAME_BUFFER before being transmitted to the bus. The time from the end of exposure to the start of transport on the bus is: 500 µs ± 62.
Controlling image capture Multi-Shot Setting multi-shot and entering a quantity of images in Count_Number in the 61Ch register enables the camera to record a specified number of images. The number is indicated in bits 16 to 31. If the camera is put into Iso_Enable mode (see Chapter ISO_Enable / Free-Run on page 125), this flag is ignored and deleted automatically once all the images have been recorded.
Controlling image capture The following screenshot shows an example of broadcast commands sent with the Firedemo example of FirePackage (version 1V51 or newer): Figure 68: Broadcast one-shot • • Line 1 shows the broadcast command, which stops all cameras connected to the same IEEE 1394 bus. It is generated by holding the Shift key down while clicking on Write. Line 2 generates a broadcast one-shot in the same way, which forces all connected cameras to simultaneously grab one image.
Controlling image capture CCD For the CCDs the uncertainty time delay before the start of exposure depends on the state of the sensor. A distinction is made as follows: FVal is active the sensor is reading out, the camera is busy In this case the camera must not change horizontal timing so that the trigger event is synchronized with the current horizontal clock. This introduces a max. uncertainty which is equivalent to the line time.
Controlling image capture Frame memory and deferred image transport An image is normally captured and transported in consecutive steps. The image is taken, read out from the sensor, digitized and sent over the 1394 bus. Deferred image transport As all Marlin cameras are equipped with built in image memory, this order of events can be paused or delayed by using the deferred image transport feature. Marlin cameras are equipped with 8 MB of RAM.
Controlling image capture HoldImg mode By setting the HoldImg flag, transport of the image over the 1394 bus is stopped completely. All captured images are stored in the internal ImageFiFo. The camera reports the maximum possible number of images in the FiFoSize variable. Note • L • • • • • Pay attention to the maximum number of images that can be stored in FIFO. If you capture more images than the number in FIFOSize, the oldest images are overwritten.
Controlling image capture FastCapture Note This mode can be activated only in Format_7. L By setting FastCapture to false, the maximum frame rate both for image acquisition and read out is associated with the packet size set in the BYTE_PER_PACKET register. The lower this value is, the lower the attainable frame rate is. By setting FastCapture to true, all images are recorded at the highest possible frame rate, i.e.
Controlling image capture Mode this registers can be modified... All modes Cur_V_Mode, Cur_V_Format, ISO_Channel, ISO_Speed, Brightness, White_Balance (color cameras only), Shutter, Gain, look-up table, TestImage Fixed modes only Cur_V_Frm_Rate Format_7 only Image_Position, Image_Size, Color_Coding_ID, Byte_Per_Packet Table 50: Registers to be modified within a sequence Note Sequence mode requires not only FW 3.
Controlling image capture Register Name Field Bit Description 0xF1000224 SEQUENCE_PARAM --- [0..4] Reserved ApplyParameters [5] Apply settings to selected image of sequence; auto-reset IncImageNo [6] Increment ImageNo after ApplyParameters has finished --- [7..23] Reserved ImageNo [24..31] Number of image within a sequence Table 51: Advanced register: Sequence mode MARLIN Technical Manual V2.4.
Controlling image capture The following flow diagram shows how to set up a sequence: Set SEQUENCE_CTRL ON_OFF flag to true (1) Set SeqLength to desired length (<=MaxLength) Set ImageNo = 0 in SEQUENCE_PARAM Assign image parameters in the corresp.
Controlling image capture Points to pay attention to when working with a sequence Note • L • • • • • If more images are recorded than defined in SeqLength, the settings for the last image remain in effect. If sequence mode is cancelled, the camera can use the FIFO for other tasks. For this reason, a sequence must be loaded back into the camera after sequence mode has been cancelled. To repeat the sequence, stop the camera and send the multi-shot or IsoEnable command again.
Controlling image capture Changing the parameters within a sequence To change the parameter set for one image, it is not necessary to modify the settings for the entire sequence. The image can simply be selected via the ImageNo field and it is then possible to change the corresponding IIDC V1.3 registers.
Controlling image capture Secure image signature (SIS) SIS: Definition Secure image signature (SIS) is the synonym for data, which is inserted into an image to improve or check image integrity. With the new firmware V3.03, all CCD Marlin models can insert • Time stamp (1394 bus cycle time at the beginning of integration) • Trigger counter (external trigger seen only) • Frame counter (frames read out of the sensor) into a selectable line position within the image.
Video formats, modes and bandwidth Video formats, modes and bandwidth The different Marlin models support different video formats, modes and frame rates. These formats and modes are standardized in the IIDC (formerly DCAM) specification. Resolutions smaller than the generic sensor resolution are generated from the center of the sensor and without binning. Note • L • The maximum frame rates can only be achieved with shutter settings lower than 1/framerate.
Video formats, modes and bandwidth MARLIN F-033B/ MARLIN F-033C Format Mode Resolution 0 Color mode 0 160 x 120 YUV444 1 320 x 240 YUV422 2 640 x 480 YUV411 3 640 x 480 4 60 fps 30 fps x 15 fps 7.5 fps 3.75 fps x x x x YUV422 x x x x 640 x 480 RGB8 x x x x 5 640 x 480 Mono8 x x* x x* x x* x x* 6 640 x 480 Mono16 x x x x x x* 1.
Video formats, modes and bandwidth MARLIN F-046B/ MARLIN F-046C Format Mode Resolution 0 Color mode 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 0 160 x 120 YUV444 1 320 x 240 YUV422 x x x x 2 640 x 480 YUV411 x x x x 3 640 x 480 YUV422 x x x x 4 640 x 480 RGB8 x x x x 5 640 x 480 Mono8 x x* x x* x x* x x* 6 640 x 480 Mono16 x x x x x x* 1.
Video formats, modes and bandwidth MARLIN F-080B/ MARLIN F-080C (-30 fps) Format Mode Resolution 0 1 Color mode 60 fps 30 fps 15 fps 7.5 fps 3.
Video formats, modes and bandwidth MARLIN F-145B2/ MARLIN F-145C2 Format Mode Resolution 0 1 2 Color mode 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution 0 1 7 2 3 Color mode Maximal S400 frame rates for Format_7 modes 1392 x 1040 Mono8 Mono16 10 fps 10 fps 1392 x 1038 YUV411 YUV422 RGB8 RAW8 10 fps 10 fps 7.
Video formats, modes and bandwidth MARLIN F-146B / MARLIN F-146C Format Mode Resolution 0 1 2 Color mode 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution 0 1 7 2 3 Color mode Maximal S400 frame rates for Format_7 modes 1392 x 1040 Mono8 Mono16 17.43 fps 11.32 fps 1392 x 1038 YUV411 YUV422 RGB8 RAW8 15.1 fps 11.3 fps 7.55 fps 17.47 fps 696 x 1040 17.43 fps H-binning 17.43 fps H-binning Mono8 Mono16 1392 x 1040 Mono8 (RAW) 17.43 fps 1392 x 520 Mono16 22.6 fps V-binning 696 x 518 YUV411 YUV422 RGB8 RAW8 17.51 fps 17.47 fps 17.51 fps 17.
Video formats, modes and bandwidth MARLIN F-201B / MARLIN F-201C Format Mode Resolution 0 1 2 Color mode 0 160 x 120 YUV444 1 320 x 240 YUV422 2 640 x 480 3 60 fps 30 fps x 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution 0 1 7 2 3 Color mode Maximal S400 frame rates for Format_7 modes 1628 x 1236 Mono8 Mono16 12.48 fps 8.14 fps 1628 x 1234 YUV411 YUV422 RGB8 RAW8 10.87 fps 8.15 fps 5.43 fps 12.52 fps 812 x 1236 12.48 fps H-binning 12.48 fps H-binning Mono8 Mono16 1628 x 1236 Mono8 (RAW) 12.48 fps 1628 x 618 Mono8 Mono16 22.35 fps V-binning 16.26 fps V-binning 812 x 616 YUV411 YUV422 RGB8 RAW8 12.54 fps 12.54 fps 12.54 fps 12.
Video formats, modes and bandwidth MARLIN F-131B (NIR)/ MARLIN F-131C Format Mode Resolution 0 1 2 Color mode 60 fps 30 fps 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution 0 1 7 2 3 4 Color mode Maximal S400 frame rates for Format_7 modes 1280 x 1024 Mono8 25 fps* 1280 x 1020 YUV411 YUV422 17 fps* 12 fps* 640 x 1024 Mono8 48 fps* H-sub-sampling 640 x 1020 YUV411 YUV422 33 fps* 25 fps* 1280 x 512 Mono8 50 fps* V-sub-sampling 1280 x 508 YUV411 YUV422 33 fps* 25 fps* 640 x 512 Mono8 94 fps* H+V sub-sampling 640 x 508 YUV411 YUV422 64 fps* 50 fps* 1280 x 1024 Mono8 25 fps* Table 65: Video F
Video formats, modes and bandwidth Area of interest (AOI) The camera’s image sensor has a defined resolution. This indicates the maximum number of lines and pixels per line that the recorded image may have. However, often only a certain section of the entire image is of interest. The amount of data to be transferred can be decreased by limiting the image to a section when reading it out from the camera. At a lower vertical resolution the sensor can be read out faster and thus the frame rate is increased.
Video formats, modes and bandwidth Figure 72: Area of Interest (AOI) Note • L • The left position + width and the upper position + height may not exceed the maximum resolution of the sensor. The coordinates for width and height must be divisible by 4.
Video formats, modes and bandwidth Autofunction AOI Use this feature to select the image area (work area) on which the following autofunctions work: • Auto shutter • Auto gain • Auto white balance In the following screenshot you can see an example of the autofunction AOI: Work area Figure 73: Example of autofunction AOI (Show work area is on) Note Autofunction AOI is independent from Format_7 AOI settings.
Video formats, modes and bandwidth Note L To configure this feature in an advanced register see Table 117: Advanced register: Autofunction AOI on page 222. Frame rates An IEEE 1394 camera requires bandwidth to transport images. The IEEE 1394a bus has very large bandwidth of at least 32 Mbyte/s for transferring (isochronously) image data. Per cycle up to 4096 bytes (or around 1000 quadlets = 4 bytes @ 400 Mbit/s) can thus be transmitted.
Video formats, modes and bandwidth Format Mode Resolution 60 fps 0 160 x 120 YUV444 24 bit/pixel 1 320 x 240 YUV422 16 bit/pixel 2 640 x 480 YUV411 12 bit/pixel 3 640 x 480 YUV422 16 bit/pixel 0 4 640 x 480 RGB 24 bit/pixel 5 640 x 480 (Mono8) 8 bit/pixel 6 4H 2560p 640q 640 x 480 Y (Mono16) 16 bit/pixel 7 30 fps 15 fps 7.5 fps 3.
Video formats, modes and bandwidth Format Mode Resolution 0 800 x 600 YUV422 60 fps 16 bit/pixel 1 30 fps 15 fps 7.5 fps 3.
Video formats, modes and bandwidth Format Mode Resolution 60 fps 0 1280 x 960 YUV422 30 fps 16 bit/pixel 1 15 fps 7.5 fps 3.
Video formats, modes and bandwidth The frame rates in video modes 0 to 2 are specified and set fixed by IIDC V1.3. Frame rates Format_7 In video Format_7 frame rates are no longer fixed but can be varied dynamically by the parameters described below. Note L • • Different values apply for the different sensors. Frame rates may be further limited by longer shutter times and/or bandwidth limitation from the IEEE 1394 bus.
Video formats, modes and bandwidth MARLIN F-033: AOI frame rates 1 frame rate = ----------------------------------------------------------------------------------------------T Ch arg eTrans + T Dummy + T Dump + T Scan 1 frame rate = -------------------------------------------------------------------------------------------------------------------------------------------------------------------------30μs + 68.5µs + ( 494 – AO_HEIGHT ) ⋅ 3.45µs + AOI_HEIGHT ⋅ 27.
Video formats, modes and bandwidth MARLIN F-046: AOI frame rates 1 frame rate = ----------------------------------------------------------------------------------------------T Ch arg eTrans + T Dummy + T Dump + T Scan 1 frame rate = -------------------------------------------------------------------------------------------------------------------------------------------------------------------31µs + 88µs + ( 582 – AOI_HEIGHT ) ⋅ 4.15µs + AOI_HEIGHT ⋅ 32.
Video formats, modes and bandwidth MARLIN F-080: AOI frame rates 1 frame rate = ----------------------------------------------------------------------------------------------T Ch arg eTrans + T Dummy + T Dump + T Scan 1 frame rate = -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------71.93µs + 129.48µs + ( 779 – AOI_HEIGHT ) ⋅ 8.24µs + AOI_HEIGHT ⋅ 63.
Video formats, modes and bandwidth AOI height Frame rate / fps Tframe / ms 470 30.69 32.58 460 31.22 32.03 450 31.77 31.48 240 50.31 19.88 120 75.48 13.25 110 78.76 12.70 100 82.34 12.14 90 86.27 11.59 80 90.58 11.04 70 95.35 10.49 60 100.66 9.93 Table 72: Frame rates MARLIN F-080 as function of AOI height MARLIN Technical Manual V2.4.
Video formats, modes and bandwidth MARLIN F-080-30 fps: AOI frame rates 1 frame rate = ----------------------------------------------------------------------------------------------T Ch arg eTrans + T Dummy + T Dump + T Scan 1 frame rate = -----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------47.96µs + 86.32µs + ( 779 – AOI_HEIGHT ) ⋅ 5.5µs + AOI_HEIGHT ⋅ 42.
Video formats, modes and bandwidth MARLIN F-145: AOI frame rates 1 frame rate = ----------------------------------------------------------------------------------------------T Ch arg eTrans + T Dummy + T Dump + T Scan 1 frame rate = ----------------------------------------------------------------------------------------------------------------------------------------------------------------------------105µs + 288µs + ( 1040 – AOI_HEIGHT ) ⋅ 19.6µs + AOI_HEIGHT ⋅ 92.
Video formats, modes and bandwidth MARLIN F-146: AOI frame rates 1 frame rate = ----------------------------------------------------------------------------------------------T Ch arg eTrans + T Dummy + T Dump + T Scan 1 frame rate = -------------------------------------------------------------------------------------------------------------------------------------------------------------254µs + ( 1040 – AOI_HEIGHT ) ⋅ 11.80µs + AOI_HEIGHT ⋅ 54.
Video formats, modes and bandwidth MARLIN F-201: AOI frame rates 1 frame rate = ----------------------------------------------------------------------------------------------T Ch arg eTrans + T Dummy + T Dump + T Scan 1 frame rate = -------------------------------------------------------------------------------------------------------------------------------------------------------217μs + ( 1236 – AOI_HEIGHT ) ⋅ 7.4μs + AOI_HEIGHT ⋅ 64.
Video formats, modes and bandwidth MARLIN F-131: AOI frame rates This model uses a CMOS sensor with global shutter. As mentioned earlier for the non pipelined global shutter, the integration time must be added to the readout time to define the maximum frame rate. The next table gives an example: (it assumes full horizontal width and an integration time of 1 ms). Read note in Chapter Video formats, modes and bandwidth on page 137.
How does bandwidth affect the frame rate? How does bandwidth affect the frame rate? In some modes the IEEE 1394a bus limits the attainable frame rate. According to the 1394a specification on isochronous transfer, the largest data payload size of 4096 bytes per 125 µs cycle is possible with bandwidth of 400 Mbit/s. In addition, because of a limitation in an IEEE 1394 module (GP2Lynx), only a maximum number of 4095 packets per frame are allowed.
How does bandwidth affect the frame rate? Example formula for the b/w camera Mono16, 1392 x 1040, 15 fps desired BYTE_PER_PACKET = 15 × 1392 × 1040 × 2 × 125µs = 5428 > 4096 4096 ⇒ frame rate reachable ≈ ------------------------------------------------------------ = 11.32 1392 × 1040 × 2 × 125µs Formula 14: Example max. frame rate calculation MARLIN Technical Manual V2.4.
How does bandwidth affect the frame rate? Test images Loading test images FirePackage Fire4Linux 1. Start SmartView. 1. Start cc1394 viewer. 2. Click the Edit settings button. 2. In Adjustments menu click on Picture Control. 3. Click Adv1 tab. 3. Click Main tab. 4. In combo box Test images choose Image 1 or another test image. 4. Activate Test image check box on. 5. In combo box Test images choose Image 1 or another test image.
How does bandwidth affect the frame rate? Gray value = ( x + y )MOD256 ( 8-bit mode ) Formula 15: Calculating the gray value Test images for color cameras The color cameras have the following test images: YUV422 mode Figure 82: Color test image MARLIN Technical Manual V2.4.
How does bandwidth affect the frame rate? Mono8 (raw data) Figure 83: Bayer-coded test image The color camera outputs Bayer-coded raw data in Mono8 instead of (as described in IIDC V1.3) a real Y signal. Note L The first pixel of the image is always the red pixel from the sensor. (Mirror must be switched off.) MARLIN Technical Manual V2.4.
Configuration of the camera Configuration of the camera All camera settings are made by writing specific values into the corresponding registers. This applies to: • values for general operating states such as video formats and modes, exposure times, etc. • extended features of the camera that are turned on and off and controlled via corresponding registers (so-called advanced registers).
Configuration of the camera Every register is 32 bit (big endian) and implemented as follows (MSB = Most Significant Bit; LSB = Least Significant Bit): Far left Bit Bit Bit 0 1 2 ... MSB Bit Bit 30 31 LSB Table 80: 32-bit register Example This requires, for example, that to enable ISO_Enabled mode (see Chapter ISO_Enable / Free-Run on page 125), (bit 0 in register 614h), the value 80000000 h must be written in the corresponding register. MARLIN Technical Manual V2.4.
Configuration of the camera Figure 84: Configuration of the camera Sample program The following sample code in C shows how the register is set for frame rate, video mode/format and trigger mode using the FireCtrl DLL from the FirePackage API.
Configuration of the camera Configuration ROM The information in the Configuration ROM is needed to identify the node, its capabilities and which drivers are required. The base address for the configuration ROM for all registers is FFFF F0000000h.
Configuration of the camera To compute the effective start address of the node unique ID leaf currAddr = node unique ID leaf address destAddr = address of directory entry addrOffset = value of directory entry destAddr = currAddr + (4 x addrOffset) = 420h + (4 x 000002h) = 428h Table 82: Computing effective start address 420h + 000002 x 4 = 428h Offset Node unique ID leaf 0-7 8-15 16-23 24-31 428h 00 02 CA 71 ....CRC 42Ch 00 0A 47 01 ….
Configuration of the camera Offset 0-7 8-15 16-23 24-31 444h 00 03 7F 89 Unit dependent info 448h 40 3C 00 00 44Ch 81 00 00 02 450h 82 00 00 06 Table 85: Config ROM And finally, the entry with key 40 (448h in this case) provides the offset for the camera control register: FFFF F0000000h + 3C0000h x 4 = FFFF F0F00000h The base address of the camera control register is thus: FFFF F0F00000h The offset entered in the table always refers to the base address of F0F00000h.
Configuration of the camera Implemented registers (IIDC V1.3) The following tables show how standard registers from IIDC V1.3 are implemented in the camera: • Base address is F0F00000h • Differences and explanations can be found in the Description column. Camera initialize register Offset Name Description 000h INITIALIZE Assert MSB = 1 for Init.
Configuration of the camera Inquiry register for video mode Offset Name Field Bit Description 180h V_MODE_INQ Mode_0 [0] 160 x 120 YUV444 (Format_0) Mode _1 [1] 320 x 240 YUV422 Mode _2 [2] 640 x 480 YUV411 Mode _3 [3] 640 x 480 YUV422 Mode _4 [4] 640 x 480 RGB Mode _5 [5] 640 x 480 Mono8 Mode _6 [6] 640 x 480 Mono16 Mode _X [7] Reserved --- [8..
Configuration of the camera Offset Name Field Bit Description 19Ch V_MODE_INQ Mode_0 [0] Format_7 Mode_0 (Format_7) Mode _1 [1] Format_7 Mode_1 Mode _2 [2] Format_7 Mode_2 Mode _3 [3] Format_7 Mode_3 Mode _4 [4] Format_7 Mode_4 Mode _5 [5] Format_7 Mode_5 Mode _6 [6] Format_7 Mode_6 Mode _7 [7] Format_7 Mode_7 --- [8..
Configuration of the camera Offset Name Field Bit Description 208h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_0, Mode_2) FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.5 fps FrameRate _3 [3] 15 fps FrameRate _4 [4] 30 fps FrameRate _5 [5] 60 fps FrameRate _6 [6] 120 fps (IIDC V1.31) FrameRate _7 [7] 240 fps (IIDC V1.31) --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_0, Mode_3) FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 214h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_0, Mode_5) FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.5 fps FrameRate _3 [3] 15 fps FrameRate _4 [4] 30 fps FrameRate _5 [5] 60 fps FrameRate _6 [6] 120 fps (IIDC V1.31) FrameRate _7 [7] 240 fps (IIDC V1.31) --- [8..31] Reserved (zero) (Format_0, Mode_6) [0] 1.875 fps FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 224h V_RATE_INQ FrameRate_0 [0] Reserved (Format_1, Mode_1) FrameRate _1 [1] Reserved FrameRate _2 [2] 7.5 fps FrameRate _3 [3] 15 fps FrameRate _4 [4] 30 fps FrameRate _5 [5] 60 fps FrameRate _6 [6] 120 fps (IIDC V1.31) FrameRate _7 [7] 240 fps (IIDC V1.31) --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] Reserved (Format_1, Mode_2) FrameRate _1 [1] Reserved FrameRate _2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 230h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_1, Mode_4) FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.5 fps FrameRate _3 [3] 15 fps FrameRate _4 [4] 30 fps FrameRate _5 [5] 60 fps FrameRate _6 [6] 120 fps (IIDC V1.31) FrameRate _7 [7] 240 fps (IIDC V1.31) --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_1, Mode_5) FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 23Ch V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_1, Mode_7) FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.5 fps FrameRate _3 [3] 15 fps FrameRate _4 [4] 30 fps FrameRate _5 [5] 60 fps FrameRate _6 [6] 120 fps (IIDC V1.31) FrameRate _7 [7] Reserved --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_0) FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 248h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_2) FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.5 fps FrameRate _3 [3] 15 fps FrameRate _4 [4] 30 fps FrameRate _5 [5] 60 fps FrameRate _6 [6] 120 fps (IIDC V1.31) FrameRate _7 [7] Reserved --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_3) FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.
Configuration of the camera Offset Name Field Bit Description 254h V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_5) FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.5 fps FrameRate _3 [3] 15 fps FrameRate _4 [4] 30 fps FrameRate _5 [5] 60 fps FrameRate _6 [6] Reserved FrameRate _7 [7] Reserved --- [8..31] Reserved (zero) V_RATE_INQ FrameRate_0 [0] 1.875 fps (Format_2, Mode_6) FrameRate _1 [1] 3.75 fps FrameRate _2 [2] 7.
Configuration of the camera Offset 2E0h 2E4h 2E8h 2ECh 2F0h 2F4h 2F8h 2FCh Name Field V-CSR_INQ_7_0 V-CSR_INQ_7_1 V-CSR_INQ_7_2 V-CSR_INQ_7_3 V-CSR_INQ_7_4 V-CSR_INQ_7_5 V-CSR_INQ_7_6 V-CSR_INQ_7_7 Bit Description [0..31] CSR_quadlet offset for Format_7 Mode_0 [0..31] CSR_quadlet offset for Format_7 Mode_1 [0..31] CSR_quadlet offset for Format_7 Mode_2 [0..31] CSR_quadlet offset for Format_7 Mode_3 [0..31] CSR_quadlet offset for Format_7 Mode_4 [0..
Configuration of the camera Inquiry register for basic function Offset Name Field Bit Description 400h BASIC_FUNC_INQ Advanced_Feature_Inq [0] Inquiry for advanced features (Vendor unique Features) [1] Inquiry for existence of Vmode_Error_Status register Feature_Control_Error_Status_Inq [2] Inquiry for existence of Feature_Control_Error_Status Opt_Func_CSR_Inq [3] Inquiry for Opt_Func_CSR --- [4..7] Reserved 1394b_mode_Capability [8] Inquiry for 1394b_mode_Capability --- [9..
Configuration of the camera Inquiry register for feature presence Offset Name Field Bit Description 404h FEATURE_HI_INQ Brightness [0] Brightness control Auto_Exposure [1] Auto_Exposure control Sharpness [2] Sharpness control White_Balance [3] White balance control Hue [4] Hue control Saturation [5] Saturation control Gamma [6] Gamma control Shutter [7] Shutter control Gain [8] Gain control Iris [9] Iris control Focus [10] Focus control Temperature [11] Temperature
Configuration of the camera Offset Name Field Bit Description 410h .. Reserved Address error on access 47Fh 480h Advanced_Feature_Inq Advanced_Feature_Quadlet_Offset [0..31] Quadlet offset of the advanced feature CSR's from the base address of initial register space (Vendor unique) This register is the offset for the Access_Control_Register and thus the base address for Advanced Features. Access_Control_Register does not prevent access to advanced features.
Configuration of the camera Inquiry register for feature elements Register Name 0xF0F00500 BRIGHTNESS_INQUIRY Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) Abs_Control_Inq [1] Capability of control with absolute value --- [2] Reserved One_Push_Inq [3] One Push auto mode (controlled automatically by the camera once) Readout_Inq [4] Capability of reading out the value of this feature ON_OFF [5] Capability of switching this feature ON and OFF Aut
Configuration of the camera Register Name Field Bit Description 530h TRIGGER_INQ Presence_Inq [0] Indicates presence of this feature (read only) Abs_Control_Inq [1] Capability of control with absolute value - [2..3 Reserved Readout_Inq [4] Capability of reading out the value of this feature ON_OFF [5] Capability of switching this feature ON and OFF Polarity_Inq [6] Capability of changing the polarity of the rigger input --- [7..15] Reserved 534h 538 ..
Configuration of the camera Register Name Field Bit Description 580h ZOOM_INQ Always 0 584h PAN_INQ Always 0 588h TILT_INQ Always 0 58Ch OPTICAL_FILTER_INQ Always 0 Reserved for other FEATURE_LO_INQ Always 0 590 .. 5BCh 5C0h CAPTURE_SIZE_INQ Always 0 5C4h CAPTURE_QUALITY_INQ Always 0 Reserved for other FEATURE_LO_INQ Always 0 5C8h .. 5FCh 600h CUR-V-Frm_RATE/Revision Bits [0..2] for the frame rate 604h CUR-V-MODE Bits [0..
Configuration of the camera Inquiry register for absolute value CSR offset address Offset Name Notes 700h ABS_CSR_HI_INQ_0 Always 0 704h ABS_CSR_HI_INQ_1 Always 0 708h ABS_CSR_HI_INQ_2 Always 0 70Ch ABS_CSR_HI_INQ_3 Always 0 710h ABS_CSR_HI_INQ_4 Always 0 714h ABS_CSR_HI_INQ_5 Always 0 718h ABS_CSR_HI_INQ_6 Always 0 71Ch ABS_CSR_HI_INQ_7 Always 0 720h ABS_CSR_HI_INQ_8 Always 0 724h ABS_CSR_HI_INQ_9 Always 0 728h ABS_CSR_HI_INQ_10 Always 0 72Ch ABS_CSR_HI_INQ_11 Always
Configuration of the camera Status and control register for feature The OnePush feature, WHITE_BALANCE, is currently implemented. If this flag is set, the feature becomes immediately active, even if no images are being input (see Chapter One-push automatic white balance on page 72).
Configuration of the camera Offset Name 804h AUTO-EXPOSURE Field Bit Description See above Note: Target grey level parameter in SmartView corresponds to Auto_exposure register 0xF0F00804 (IIDC). 808h SHARPNESS See above Table 94: Feature control register MARLIN Technical Manual V2.4.
Configuration of the camera Offset Name Field Bit Description 80Ch WHITE-BALANCE Presence_Inq [0] Presence of this feature 0: N/A 1: Available Always 0 for Mono Abs_Control [1] Absolute value control 0: Control with value in the Value field 1: Control with value in the Absolute value CSR If this bit = 1, value in the Value field is ignored.
Configuration of the camera Offset Name 810h HUE Field Bit Description See above Always 0 for Mono 814h SATURATION See above Always 0 for Mono 818h GAMMA See above 81Ch SHUTTER see Advanced Feature Timebase 820h GAIN See above 824h IRIS Always 0 828h FOCUS Always 0 82Ch TEMPERATURE Always 0 830h TRIGGER-MODE Can be effected via Advanced Feature IO_INP_CTRLx.
Configuration of the camera Feature control error status register Offset Name Notes 640h Feature_Control_Error_Status_HI always 0 644h Feature_Control_Error_Status_LO always 0 Table 95: Feature control error register Video mode control and status registers for Format_7 Quadlet offset Format_7 Mode_0 The quadlet offset to the base address for Format_7 Mode_0, which can be read out at F0F002E0h (according to Table 89: Frame rate inquiry register on page 179) gives 003C2000h.
Configuration of the camera Offset Name Notes 040h PACKET_PARA_INQ See note 044h BYTE_PER_PACKET According to IIDC V1.3 Table 96: Format_7 control and status register Note • L • • • • For all modes in Format_7, ErrorFlag_1 and ErrorFlag_2 are refreshed on each access to the Format_7 register. Contrary to IIDC V1.3, registers relevant to Format_7 are refreshed on each access. The Setting_1 bit is automatically cleared after each access.
Configuration of the camera Advanced features (AVT-specific) The camera has a variety of extended features going beyond the possibilities described in IIDC V1.3. The following chapter summarizes all available advanced features in ascending register order. Note L This chapter is a reference guide for advanced registers and does not explain the advanced features itself.
Configuration of the camera Register Register name Description 0XF1000260 DEFERRED_TRANS See Table 109: Advanced register: Deferred image transport on page 215 0XF1000270 FRAMEINFO See Table 110: Frame information register on page 216 0XF1000274 FRAMECOUNTER See FRMCNT_STAMP 0XF1000280 HDR_CONTROL MARLIN F-131x only 0XF1000284 KNEEPOINT_1 0XF1000288 KNEEPOINT_2 See Table 111: High dynamic range configuration register on page 217 0XF100028C KNEEPOINT_3 0XF1000290 DSNU_CONTROL MARLIN
Configuration of the camera Register Register name Description 0XF1000400 TRIGGER_DELAY See Table 120: Advanced register: Trigger Delay on page 223 0XF1000410 MIRROR_IMAGE MARLIN/OSCAR series only See Table 121: Advanced register: Mirror on page 224 0XF1000510 SOFT_RESET See Table 122: Advanced register: Soft reset on page 224 0XF1000550 USER_PROFILE See Table 128: Advanced register: User profiles on page 231 0XF1000600 TIMESTAMP aka secure image signature (SIS) See Table 123: Advanced reg
Configuration of the camera Version information inquiry The presence of each of the following features can be queried by the 0 bit of the corresponding register. Register Name Field Bit Description F1000010 VERSION_INFO1 µC type ID [0..15] Reserved µC version [16..31] Bcd-coded vers.# [0..31] Reserved Camera type ID [0..15] See Table 99: Camera type ID list on page 204 FPGA version [16..31] Bcd-coded vers.# [0..
Configuration of the camera ID Camera type 16 MF145C2 17 MF131B 18 MF131C 19 MF145B2-15fps 20 MF145C2-15fps 21 M2F033B 22 M2F033C 23 M2F046B 24 M2F046C 25 M2F080B 26 M2F080C 27 M2F145B2 28 M2F145C2 31 M2F145B2-15fps 32 M2F145C2-15fps 38 OF320C 40 OF510C 42 OF810C 43 M2F080B-30fps 44 M2F080C-30fps 45 M2F145B2-ASM 46 MM2F145C2-ASM 47 M2F201B 48 M2F201C 49 M2F146B 50 M2F146C Table 99: Camera type ID list Note L • MARLINs with serial numbers beginning wi
Configuration of the camera Advanced feature inquiry This register indicates with a named bit if a feature is present or not. If a feature is marked as not present the associated register space might not be available and read/write errors may occur. Note L Ignore unnamed bits in the following table: these bits might be set or not.
Configuration of the camera Register Name Field Bit Description 0xF1000044 ADV_INQ_2 Input_1 [0] Input_2 [1] --- [2] Reserved --- [3..7] Reserved Output_1 [8] Output_2 [9] --- [10] Reserved --- [11..15] Reserved IntEnaDelay [16] --- [17] Reserved --- [18..31] Reserved 0xF1000048 ADV_INQ_3 --- [0..31] Reserved 0xF100004C ADV_INQ_4 --- [0..
Configuration of the camera Time base Corresponding to IIDC, exposure time is set via a 12-bit value in the corresponding register (SHUTTER_INQ [51Ch] and SHUTTER [81Ch]). This means that a value in the range of 1 to 4095 can be entered. Marlin cameras use a time-base which is multiplied by the shutter register value. This multiplier is configured as the time base via the TIMEBASE register.
Configuration of the camera ID Timebase [µs] 0 1 1 2 2 5 3 10 4 20 5 50 6 100 7 200 8 500 9 1000 Default value Table 103: Timebase ID Note L The ABSOLUTE VALUE CSR register, introduced in IIDC V1.3, is not implemented. MARLIN Technical Manual V2.4.
Configuration of the camera Extended shutter The exposure time for long-term integration of up to 67 sec. can be entered with µs-precision via the EXTENDED_SHUTTER register. Register Name Field Bit Description 0xF100020C EXTD_SHUTTER Presence_Inq [0] Indicates presence of this feature (read only) --- [1.. 5] Reserved ExpTime [6..31] Exposure time in µs Table 104: Advanced register: Extended shutter The longest exposure time, 3FFFFFFh, corresponds to 67.11 sec.
Configuration of the camera Test images Bits 8-14 indicate which test images are saved. Setting bits 28-31 activates or deactivates existing test images. • auto gain • auto shutter • auto white balance Register Name Field Bit Description 0xF1000210 TEST_IMAGE Presence_Inq [0] Indicates presence of this feature (read only) --- [1..
Configuration of the camera Sequence control It is possible to make certain settings for a sequence of images beforehand by using this register. Register Name Field Bit Description 0xF1000220 SEQUENCE_CTRL Presence_Inq [0] Indicates presence of this feature (read only) --- [1..4] Reserved AutoRewind [5] ON_OFF [6] Enable/Disable this feature --- [7..15] Reserved MaxLength [16..23] Maximum possible length of a sequence (read only) SeqLength [24..
Configuration of the camera Look-up tables (LUT) Load the look-up tables to be used into the camera and choose the look-up table number via the LutNo field. Now you can activate the chosen LUT via the LUT_CTRL register. The LUT_INFO register indicates how many LUTs the camera can store and shows the maximum size of the individual LUTs. The possible values for LutNo are 0..n-1, whereas n can be determined by reading the field NumOfLuts of the LUT_INFO register.
Configuration of the camera Shading correction Owing to technical circumstances, the interaction of recorded objects with one another, optical effects and lighting non-homogeneities may occur in the images. Because these effects are normally not desired, they should be eliminated as far as possible in subsequent image editing. The camera has automatic shading correction to do this. Provided that a shading image is present in the camera, the on/off bit can be used to enable shading correction.
Configuration of the camera Register Name Field Bit Description 0xF1000258 SHDG_INFO Presence_Inq [0] Indicates presence of this feature (read only) --- [1..7] Reserved MaxImageSize [8..31] Maximum shading image size (in bytes) Table 108: Advanced register: Shading Deferred image transport Using the register, the sequence of recording and the transfer of the images can be paused. Setting HoldImg prevents transfer of the image. The images are stored in ImageFIFO.
Configuration of the camera Frame information This register can be used to double-check the number of images received by the host computer against the number of images which were transmitted by the camera. The camera increments this counter with every FrameValid signal. This is a mirror of the frame counter information found at 0xF1000610.
Configuration of the camera High dynamic range mode (MARLIN F-131B/C only) The CMOS sensor of the MARLIN F-131 offers a special mode by which various nonlinearity points, the so-called knee points, can be freely adjusted. This enables the high dynamic range of the sensor to be compressed into 8 bit, preserving interesting details of the image. This mode is also known as multiple slope (dual slope).
Configuration of the camera DSNU control The table below shows the advanced register map, required to control this functionality. Register Name Field Bit Description 0xF1000290 DSNU_CONTROL Presence_Inq [0] Indicates presence of this feature (read only) ComputeError [1] tbd --- [2..
Configuration of the camera Having generated the correction data it is possible to separately control the blemish pixel correction with the help of the following register: Register Name 0xF1000294 Field Bit Description BLEMISH_CONTROL Presence_Inq [0] Indicates presence of this feature (read only) ComputeError [1] see DSNU_CONTROL --- [2..
Configuration of the camera Delayed Integration Enable (IntEna) A delay time between initiating exposure on the sensor and the activation edge of the IntEna signal can be set using this register. The on/off flag activates/deactivates integration delay. The time can be set in µs in DelayTime. Note • • L Please note that only one edge is delayed. If IntEna_Out is used to control an exposure, it is possible to have a variation in brightness or to precisely time a flash.
Configuration of the camera Auto shutter control The table below illustrates the advanced register for auto shutter control. The purpose of this register is to limit the range within which auto shutter operates. Register Name Field Bit Description 0xF1000360 AUTOSHUTTER_CTRL Presence_Inq [0] Indicates presence of this feature (read only) --- [1..31] Reserved 0xF1000364 AUTOSHUTTER_LO Min Value [0..31] Minimum value 0xF1000368 AUTOSHUTTER_HI Max Value [0..
Configuration of the camera Autofunction AOI AUTOFNC_AOI affects the auto shutter, auto gain and auto white balance features and is independent of the Format7 AOI settings. If this feature is switched off the work area position and size follow the current active image size. As a reference it uses a grid of at least 300 samples equally spread over the area of interest or a fraction of it. The position and size of the control area (Auto_Function_AOI) can be set via the following advanced registers.
Configuration of the camera E.g. if the active image size is 640 x 480 pixel the camera accepts a maximum of 640 x 512 pixel as the auto function AOI work area (if the control area position is 0:0). Another case is for outdoor applications: the sky will be excluded from the generation of the reference levels. Color correction Register Name 0xF10003A0 COLOR_CORR Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..
Configuration of the camera Note Trigger delay works with external trigger modes only. L Mirror image The table below illustrates the advanced register for Mirror image. Register Name 0xF1000410 MIRROR_IMAGE Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ON_OFF [6] Mirror image on/off 1: on 0: off Default: off --- [7..
Configuration of the camera Note L When SOFT_RESET has been defined, the camera will respond to further read or write requests but will not process them. Secure image signature (SIS) Definition Secure image signature (SIS) is the synonym for data, which is inserted into an image to improve or check image integrity. With the new firmware V3.
Configuration of the camera Register Name 0xF1000600 TIMESTAMP Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) --- [1..5] Reserved ON_OFF [6] SIS (time stamp) on/off --- [7] Reserved Format_0_Inq [8] Presence of Format_0 0: n/a 1: available --- [9] Reserved --- [10] Reserved --- [11] Reserved --- [12] Reserved --- [13..15] Write as 0. Reserved LinePos [16..
Configuration of the camera Note SIS outside the visible image area: L For certain Format_7 modes the image frame transported may contain padding (filling) data at the end of the transported frame. Setting LinePos=HeightOfImage places the stamp in this padding data area, outside the visible area (invisible SIS). If the transported image frame does not contain any padding data the camera will not relocate the SIS to the visible area automatically (no SIS).
Configuration of the camera Advanced register: frame counter The frame counter feature is controlled by the following advanced feature register: Register Name 0xF1000610 FRMCNT_STAMP 0xF1000614 FRMCNT Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) Reset [1] Reset frame counter --- [2..5] Reserved ON_OFF [6] SIS (time stamp) on/off --- [7] Reserved --- [8..15] Reserved LinePos [16..31] Line position of SIS (time stamp) [0..
Configuration of the camera Advanced register: trigger counter The trigger counter feature is controlled by the following advanced feature register: Register Name 0xF1000620 TRGCNT_STAMP 0xF1000624 TRGCNT Field Bit Description Presence_Inq [0] Indicates presence of this feature (read only) Reset [1] Reset trigger counter --- [2..5] Reserved ON_OFF [6] SIS (time stamp) on/off --- [7] Reserved --- [8..15] Reserved LinePos [16..31] Line position of SIS (time stamp) [0..
Configuration of the camera Where to find time stamp, frame counter and trigger counter in the image Time stamp 1 2 3 4 ⎫ ⎬ ⎭ ⎫ ⎬ ⎭ Trigger counter 5 6 7 8 9 10 11 12 .. .. . . ⎫ ⎬ ⎭ Output line of image Frame counter Bytes Figure 86: SIS in the image MARLIN Technical Manual V2.4.
Configuration of the camera User profiles Definition Within the IIDC specification user profiles are called memory channels. Often they are called user sets. In fact these are different expressions for the following: storing camera settings into a non-volatile memory inside the camera. With firmware 3.03 (MARLIN CCD) and firmware 3.45 (MARLIN CMOS) cameras, can store up to three user profiles (plus the factory default) nonvolatile in the camera.
Configuration of the camera Store Restore Set default Factory default Note • L • The default profile is the profile that is loaded on power-up or an INITIALIZE command. A save or load operation delays the response of the camera until the operation is completed. At a time only one operation can be performed. To store the current camera settings into a profile: 1. Write the desired ProfileID with the SaveProfile flag set. 2. Read back the register and check the ErrorCode field.
Configuration of the camera Reset of error codes The ErrorCode field is set to zero on the next write access. You may also reset the ErrorCode • by writing 00000000h to the USER_PROFILE register. Note • L • • • • A profile save operation automatically disables capturing of images. A profile save or restore operation is an uninterruptable (atomic) operation – the write response (of the asynchronous write cycle) will be sent after completion of the operation.
Configuration of the camera Stored settings The following table shows the settings stored inside a profile: Standard registers Standard registers (Format_7) Advanced registers Cur_V_Frm_Rate Cur_V_Mode Cur_V_Format ISO_Channel ISO_Speed BRIGHTNESS AUTO_EXPOSURE (Target grey level) SHARPNESS WHITE_BALANCE (+ auto on/off) HUE (+ hue on) SATURATION (+ saturation on) GAMMA (+ gamma on) SHUTTER (+ auto on/off) GAIN TRIGGER_MODE TRIGGER_DELAY ABS_GAIN ABS_TRIGGER_DELAY IMAGE_POSITION (AOI) IMAGE_SIZE (AOI) C
Configuration of the camera GPDATA_BUFFER GPDATA_BUFFER is a register that regulates the exchange of data between camera and host for programming the LUT and the upload/download of the shading image. GPDATA_INFO GPDATA_BUFFER Register Buffer size query indicates the actual storage range Name 0xF1000FFC GPDATA_INFO Field Bit Description --- [0..15] Reserved BufferSize [16..
Firmware update Firmware update Firmware updates can be carried out without opening the camera. You need: • Programming cable E 1000666 • Software AVTCamProg • PC or laptop with serial interface (RS 232) • Documentation for firmware update Note L Caution a Note Please make sure that the new Marlin firmware matches with the serial numbering. This means Marlins with serial numbers xx/yy-6zzzzzzz need different firmware than Marlins with other serial numbers.
Appendix Appendix Sensor position accuracy of AVT cameras camera body pixel area pixel area sensor case A sensor case R y camera body Y D N x M I AVT Guppy Series Automated mechanical alignment of sensor into camera front module. (lens mount front flange) Reference points: Sensor: Center of pixel area (photo sensitive cells). Camera: Center of camera front flange (outer case edges). Accuracy: E L I Method of Positioning: x/y: z: R D: +/- 0.
Index Index Numbers 0xF0F00830 (bulk trigger) ........................116 0xF1000208 (time base) ..........................208 0xF100020C (extended shutter).................210 0xF1000210 (test images) ........................211 0xF1000220 (sequence control).................212 0xF1000220 (sequence mode) ...................131 0xF1000240 (LUT)...................................213 0xF1000250 (shading) .............................214 0xF1000260 (deferred image transport)......
Index correction data .................................. 85 amplification........................................... 70 analog color signal................................... 70 Analog Devices ........................................ 70 AOI..................................................88, 149 correction data .................................. 88 Area of Interest (AOI) .............................222 area of interest (AOI) .........................88, 151 Asynchronous broadcast.........................
Index camera dimensions................................... 42 camera interfaces..................................... 48 Camera lenses.......................................... 19 cameras block diagram .................................... 65 MARLIN............................................. 17 Camera_Status_Register ...........................171 CDS........................................................ 70 CE.......................................................... 18 channel ..........................
Index formula............................................120 longest ............................................122 long-term integration ........................122 minimum..........................................122 ExpTime (Field).......................................122 EXTD_SHUTTER........................................210 extended shutter ....................................122 advanced register ..............................122 FireDemo..........................................210 FireView .....
Index GRAB_COUNT...................................... 85, 86 H hardware trigger ................................55, 119 HDR mode............................................... 69 HDR_CONTROL .................................... 68, 69 High dynamic range configuration register ......................... 68 High Dynamic Range mode ........................ 67 Histogram blemish correction.............................. 92 HoldImg field ................................................129 flag ..................
Index IO_OUTP_CTRL2 ....................................... 58 isochronous blocks ................................... 62 isochronous channel number ..................... 62 Isochronous data block packet format ......... 61 isochronous data packets .......................... 61 IsoEnable ..............................................134 white balance .................................... 72 ISO_Enable ............................................125 ISO_Enable mode ....................................
Index multiple slope ......................................... 67 multiple slope mode ................................. 67 Multi-Shot .............................................125 multi-shot ......................................125, 134 external trigger .................................125 MVTEC .................................................... 84 N No DCAM object ....................................... 51 No FLASH object ...................................... 51 Node_Id ...........................
Index rolling shutter ........................................126 dual slope ......................................... 67 RS232 .................................................... 49 serial interface..................................236 RxD_RS232.............................................. 49 S saturation offset ..............................................107 scan....................................................... 17 secure image signature (SIS) advanced registers.............................
Index user profile.......................................234 strobe flash............................................. 56 styles ..................................................... 14 sub-sampling........................................... 98 brightness ......................................... 98 definition.......................................... 98 sy (sync bit)....................................... 61, 62 symbols ............................................. 14, 15 sync bit (sy)....................
Index Tripod adapter......................................... 43 Tripod dimensions.................................... 43 true partial scan ...................................... 17 U UNIT_POSITION_INQ................................149 UNIT_SIZE_INQ.......................................149 user profile stored settings..................................234 user profiles ...........................................231 error code ........................................232 User profiles (advanced register) .
