AVT Marlin Technical Manual For CCD models with serial numbers: xx/yy-6zzzzzzz and all CMOS models Allied Vision Technologies GmbH Taschenweg 2a D-07646 Stadtroda / Germany
Before operation We place the highest demands for quality on our cameras. This technical manual is the guide to the installation and setting up of the camera for operation. This version 1.3 of the technical manual applies to Marlins, having serial numbers starting with 6 after the – eg. Xx/yy-6zzzzzzz and all CMOS versions, regardless of S/N. For CCD Marlins with different serial numbers the previous version 1.2 of the technical manual applies.
Safety instructions Allied Vision Technologies GmbH 02/2005 All rights reserved. Managing Director: Mr. Frank Grube Tax-ID: DE 184383113 Copyright Support: Taschenweg 2A D-07646 Stadtroda, Germany Tel.: +49/36428/6770 Fax: +49/36428/677-28 email: info@alliedvisiontec.com All texts, pictures and graphics are protected by copyright and other laws protecting intellectual property. It is not permitted to copy or modify them for trade use or transfer, nor may they be used on web sites.
Safety instructions Contents 1 Safety instructions ...................................................................................... 9 1.1 Environmental conditions....................................................................................... 10 2 3 4 Marlin types and highlights........................................................................ 11 System components................................................................................... 12 Specifications ...................
Safety instructions 8.5 8.6 8.7 8.8 8.16 Auto gain .............................................................................................................62 Setting the brightness (black level or offset) .............................................................65 Auto shutter .........................................................................................................65 Lookup table (LUT) and Gamma function...................................................................67 8.8.
Safety instructions 10.7 Frame rates ........................................................................................................116 10.7.1 MF-033 ..................................................................................................120 10.7.2 MF-046 ..................................................................................................121 10.7.3 MF-080 ..................................................................................................122 10.7.
Safety instructions 12.4.23 13 14 15 Soft Reset ............................................................................................ 170 Firmware update ..................................................................................... 171 Declarations of conformity....................................................................... 172 Index .....................................................................................................
Safety instructions Conventions used in this manual To give this manual an easily understood layout and to emphasize important information, the following typographical styles and symbols are used: Styles Style Courier upper case italics parentheses and/or blue Function Programs, inputs, etc. Register Modes, fields Links Example “Input” REGISTER Mode (Link) Symbols: This symbol highlights important instructions that malfunctions.
Safety instructions 1 Safety instructions There are no switches or parts inside the camera that require adjustment. The guarantee becomes void upon opening the camera casing. If the product is disassembled, reworked or repaired by other than a recommended service person, AVT or its suppliers will take no responsibility for the subsequent performance or quality of the camera. The camera does NOT generate dangerous voltages internally.
Safety instructions 1.1 Environmental conditions Ambient temperature: when camera in use: when being stored : + 5° C ... + 45° C - 10° C ...
Marlin types and highlights 2 Marlin types and highlights With Marlin cameras, entry into the world of digital image processing is simpler and more costeffective than ever before. With the new MARLIN, Allied Vision Technologies presents a whole series of attractive digital camera entry-level models of the FireWire ™type. These products offer an unequalled price-performance relationship and make the decision to switch from using analogue to digital technology easier that ever before.
System components 3 System components The following system components are included with each camera:: AVT Marlin 4.5m 1394 standard cable Jenofilt 217 IR cut filter (built in) 4.
System components To demonstrate the properties of the camera, all examples in this manual are based on the “FirePackage” OHCI API software and the “SmartView” application. These utilities can be obtained from Allied Vision Technologies. A free version of “SmartView” is available for download at www.alliedvisiontec.com. The camera also works with all IIDC (formerly DCAM) compatible IEEE 1394 programs and image processing libraries. AVT offers different lenses from a variety of manufacturers.
Specifications 4 Specifications 4.1 MF-033B Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Data Path Frame rates Gain Control Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 1/2 " (diag. 8 mm) type progressive scan SONY IT CCD 656 (H) x 494 (V) C-mount: 17.
Specifications 4.2 MF-033C Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Color Modes Data Path Frame rates Gain Control Color Control White Balance Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 1/2 " (diag.
Specifications 4.3 MF-046B Specification Image device 1/2 " (diag. 8 mm) type progressive scan SONY IT CCD Effective Picture Elements 780 (H) x 582 (V) Lens Mount C-mount: 17.526 mm (in air); ∅ 25.4 mm (32 T.P.I.) Mechanical Flange Back to filter distance: 8.2 mm Picture Sizes 640 x 480 pixels (Format_0); 780 x 582 (Format_7 Mode_0); 388 x 582 (Format_7 Mode_1); 780 x 290 (Format_7 Mode_2); 388 x 290 (Format_7 Mode_3) Cell Size 8.3 µm x 8.3 µm ADC 12 Bit Data Path 8/10 Bit Frame rates 3.75 Hz; 7.
Specifications 4.4 MF-046C Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Color Modes Data Path Frame rates Gain Control Color Control White Balance Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 1/2 " (diag.
Specifications 4.5 MF-080B (-30 fps*) Specification Image device 1/3 " (diag. 6 mm) type progressive scan SONY IT CCD Effective Picture Elements 1032 (H) x 778 (V) Lens Mount C-mount: 17.526 mm (in air); ∅ 25.4 mm (32 T.P.I.) Mechanical Flange Back to filter distance: 8.2 mm, CS-mount on demand Picture Sizes 1024 x 768 pixels (Format_1) supporting all smaller fixed formats; 1032 x 778 (Format_7 Mode_0) 516 x 778 (Format_7 Mode_1); 1032 x 388 (Format_7 Mode_2); 516 x 388 (Format_7 Mode_3) Cell Size 4.
Specifications 4.6 MF-080C (-30 fps*) Specification Image device 1/3 " (diag. 6 mm) type progressive scan SONY IT CCD Effective Picture Elements 1032 (H) x 778 (V)@Raw8; 1032 (H) x 776 (V)@YUV Lens Mount C-mount: 17.526 mm (in air); ∅ 25.4 mm (32 T.P.I.) Mechanical Flange Back to filter distance: 8.2 mm, CS-mount on demand Picture Sizes 1024 x 768 pixels (Format_1 ) supporting all smaller fixed formats; 1032 x 776 (Format_7 Mode_0); 1032 x 778 (Format_7 Mode_1); Cell Size 4.65 µm x 4.
Specifications 4.7 MF-145B2 Specification Image device 1/2 " (diag. 8 mm) type progressive scan SONY IT CCD Effective Picture Elements 1392 (H) x 1040 (V) Lens Mount C-mount: 17.526 mm (in air); ∅ 25.4 mm (32 T.P.I.) Mechanical Flange Back to filter distance: 8.2 mm Picture Sizes Up to 1280 x 960 pixels (Format_2), supporting all smaller fixed formats; 1392 x 1040 pixels (Format_7 Mode_0); 696 x 1040 (Format_7 Mode_1); 1392 x 520 (Format_7 Mode_2); 696 x 520 (Format_7 Mode_3) Cell Size 4.65 µm x 4.
Specifications 4.8 MF-145C2 Specification Image device 1/2 " (diag. 8 mm) Type progressive scan SONY IT CCD Effective Picture Elements 1392 (H) x 1040 (V)@Raw8; 1392 (H) x 1036 (V)@YUV Lens Mount C-mount: 17.526 mm (in air); ∅ 25.4 mm (32 T.P.I.) Mechanical Flange Back to filter distance: 8.2 mm Picture Sizes Up to 1280 x 960 pixels (Format_2 ) supporting all smaller fixed formats; 1392 x 1036 (Format_7 Mode_0); 1392 x 1040 (Format_7 Mode_1) Cell Size 4.65 µm x 4.
Specifications 4.9 F-131B Specification Image device 2/3 " (diag. 11 mm) Type global shutter CMOS sensor Effective Picture Elements 1280 (H) x 1024 (V) Lens Mount C-mount: 17.526 mm (in air); ∅ 25.4 mm (32 T.P.I.) Mechanical Flange Back to filter distance: 8.
Specifications 4.10 F-131C Specification Image device Effective Picture Elements Lens Mount Picture Sizes Cell Size ADC Data Path Frame rates Gain Control White Balance Shutter Speed External Trigger Shutter Internal FIFO-Memory # Look Up Tables Smart Functions Transfer Rate Digital Interface Power Requirements Power Consumption Dimensions Mass Operating Temperature Storage Temperature Regulations Options 2/3 " (diag. 11 mm) Type global shutter CMOS sensor 1280 (H) x 1024 (V) C-mount: 17.
Specifications 4.11 Spectral sensitivity Figure 2: Spectral sensitivity of MF-033B without cut filter and optics.
Specifications Figure 4: Spectral sensitivity of MF-046B without cut filter and optics. Figure 5: Spectral sensitivity of MF-046C without cut filter and optics.
Specifications Figure 6: Spectral sensitivity of MF-080B without cut filter and optics Figure 7: Spectral sensitivity of MF-080C without cut filter and optics.
Specifications Figure 8: Spectral sensitivity of MF-145B2 without cut filter and optics Figure 9: Spectral sensitivity of MF-145C2 without cut filter and optics MARLIN Technical Manual Page 27
Specifications Figure 10: Spectral sensitivity of MF-131B without cut filter and optics Figure 11: Spectral sensitivity of MF-131C without cut filter and optics MARLIN Technical Manual Page 28
Quick start 5 Quick start To attach an IEEE-1394 camera to a PC or laptop, the target machine must be equipped with an IEEE-1394 port and have the appropriate driver and software installed. This IEEE-1394 port is already present in many modern PCs and laptops. Should this not be the case, you can upgrade by installing one or more IEEE-1394 ports in the form of a card for the PCI slot, or as a PC card (PCMCIA) for the PC card slot. AVT offers a wide range of adaptors for different requirements.
Camera dimensions 6 Camera dimensions 6.
Camera dimensions 6.2 Marlin W90 This version has the sensor tilted by 90 degrees clockwise, so that it views upwards.
Camera dimensions 6.3 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. .
Camera dimensions 6.4 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.
Camera dimensions 6.5 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.
Camera dimensions 6.
Camera interfaces 7 Camera interfaces In addition to the two status LEDs, there are two jacks located at the rear of the camera. The 12-pin HiRose plug provides different control inputs and output lines. The IEEE-1394 connector with lock mechanism provides access to the IEEE-1394 bus and thus makes it possible to control the camera and output frames. Figure 19: Rear view of camera 7.
Camera interfaces 7.2 HiRose jack pin assignment The HiRose plug is also designed for industrial use and in addition to providing access to the inputs and outputs on the camera, it also provides a serial interface for e.g. the firmware update. The following diagram shows the pinning as viewed in pin direction. AVT supplies suitable I/O cables at different lengths (up to 10m) upon request.
Camera interfaces 7.3 Status LEDs On LED The green power LED indicates that the camera is being supplied with sufficient voltage and is ready for operation.
Camera interfaces 7.4 Operating the camera: Power for the camera is supplied either via the FireWire™ bus or the HiRose conector’s pin 2 (CCD-models only). The input voltage must be within the following range: Vcc min.: +8 V Vcc max.: +36 V An input voltage of 12 V is recommended to make most efficient use of the camera. As mentioned above for the CCD-models: The HiRose connector supplies power via a diode to the camera.
Camera interfaces The inputs can be connected directly to +5 V. If a higher voltage is used, an external resistor must be placed in series. Use @+12 V a 820 Ω and @+24 V a 2.2 kΩ resistor. Voltages above +45 V may damage the optical coupler The optical coupler inverts all input signals. Polarity is controlled via the IO_INP_CTRL1..2 register.
Camera interfaces 7.5.1.1 Triggers All inputs configured as triggers are linked by AND. If several inputs are being used as triggers, a high signal must be present on all inputs in order to generate a trigger signal. The polarity for each signal can be set separately via the inverting inputs. The camera must be set to "external triggering" to trigger image capture by the trigger signal. All input and output signals running over the HiRose plug are controlled by an advanced feature register.
Camera interfaces 7.5.1.2 Trigger delay Since firmware version 2.03, the cameras feature various ways to delay image capture based on external trigger. With 1V31 of IIDC spec. there is a standard CSR at Register F0F00534/834h to control a delay up to FFFh * timebase value. The following table explains the Inquiry register and the meaning of the various bits.
Camera interfaces Register 0xF0F00834 Name TRIGGER_DELAY Field Presence_Inq Bit [0] Abs_Control [1] ON_OFF Value [2..5] [6] [7..19] [20..
Camera interfaces 7.5.2 Outputs The camera has 2 non-inverting outputs with open emitters. These are shown in the following diagram: Max. emitter current 500 mA Max. collector emitter voltage 45 V Voltage above +45 V may damage the optical coupler. The output connection is different to the AVT Dolphin series to achieve higher output swing.
Camera interfaces Output function Output polarity IntEna FVal Opto- Busy Output signal coupler Output state Figure 25: Output block diagram IO_OUTP_CTRL 1-2 The outputs are controlled via two advanced feature registers. The Polarity flag determines whether the output is active low (0) or active high (1). The output mode can be viewed in the table below. The current status of the output can be queried and set via the PinState flag. From firmware 2.
Camera interfaces Output mode ID 0x00 0x01 0x02 Mode Off Output state follows ‘PinState’ bit Integration enable 0x04 0x05 0x06 0x07 0x08 reserved reserved FrameValid Busy Follow corresponding input (Inp1 • Out1, Inp2 • Out2, …) reserved reserved 0x09..0x0F 0x10..
Camera interfaces The following diagram illustrates the dependencies of the various output signals. Figure 26: Output Impulse Diagram Note that the polarity of the signals can be changed. Firing a new trigger while IntEna is still active can result in image corruption due to double exposure occurring. 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.
Camera interfaces 7.6 Pixel data Pixel data are transmitted as isochronous data packets in accordance with the 1394 interface described in IIDC v. 1.3. The first packet of a frame is identified by the “1” in the sync bit (sy) of the packet header. Table 24: Isochronous data block packet format: Source: IIDC v. 1.3 specification The video data for each pixel are outputted in either 8or 10-bit format. Each pixel has a range of 256 or 1024 shades of gray.
Camera interfaces Table 26: Y8 and Y16 format: Source: IIDC v. 1.3 specification Table 27: Data structure: Source: IIDC v. 1.
Description of the data path 8 Description of the data path 8.1 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.
Description of the data path 8.1.
Description of the data path 8.1.
Description of the data path 8.2 Sensor The Marlin family is equipped with various sensor types and resolutions. Both CCD and CMOS types are available in color and monochrome. The following table provides an overview: Model Techn.
Description of the data path 8.2.1 IBIS5A multiple slope (High Dynamic Range mode) The MF-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 It is important to notice that pixel signals above the dual slope reset level will be left unaffected (green P1 and green P2). The Marlin F131 offers up to three knee-points when in global shutter mode. This functionality is controlled via the following registers.
Description of the data path The figure below, taken from the sensor’s data sheet, illustrates the nonlinear behavior of the photo response curve in dual slope mode.
Description of the data path 8.3 White balance The 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 +9.5dB (in 106 steps) relative to the channel with highest output.
Description of the data path Register 0xF0F0080C Name WHITE_BALANCE Field Presence_Inq Bit [0] Abs_Control [1] One_Push [2..4] [5] ON_OFF [6] A_M_MODE [7] U/B_Value [8..19] V/R_Value [20..
Description of the data path 8.3.1 One Push automatic white balance It is activated by setting the “One Push” bit in the WHITE_BALANCE register (see WHITEBALANCE). The camera automatically generates frames, based on the current settings of all registers (GAIN, OFFSET, SHUTTER, etc.). For white balance, in total six frames are processed and a grid of at least 300 samples is equally spread over the work area. This area can be the field of view or a subset of it.
Description of the data path Finally, the calculated correction values can be read from the WHITE_BALANCE register 80Ch. 8.3.2 Automatic white balance There is also an Auto white balance feature realized, which continuously optimizes the color characteristics of the image. 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.
Description of the data path 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 8.4 Manual gain As shown in figure 29, all 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. The following ranges can be used when manually setting the gain for the analog video signal: Type Range B/W CCD-cameras 0 ... 680 Color CCD-cameras 0 ...
Description of the data path One_Push ON_OFF [6] A_M_MODE [7] Value Register 0xF0F00804 Name AUTO_EXPOSURE [2..4] [5] [8..19] [20..31] Field Presence_Inq Bit [0] Abs_Control [1] One_Push [2..
Description of the data path ON_OFF [6] A_M_MODE [7] Value [8..19] [20..31] Write ON or OFF this feature, ON=1 Read: Status of the feature; OFF=0 Set bit high for Auto feature Read for Mode; 0= MANUAL; 1= AUTO reserved Read/Write Value; this field is ignored when writing the value in Auto or OFF mode; if readout capability is not available reading this field has no meaning Table 34: Gain and Auto_Exposure CSR The table below illustrates the advanced auto gain control register.
Description of the data path 8.6 Setting the brightness (black level or offset) It is possible to set the black level in the camera within the following ranges: CCD-models: 0...+16 gray values (@ 8 bit). Increments are in 1/16 LSB (@ 8 bit). CMOS-model: 0 … +127 (@ 8 bit) The formula for gain and offset setting is: Y`= G*Y+Offset Setting the gain does not change the offset (black value) for CCD models. Setting the gain changes the offset (black value) for CMOS models.
Description of the data path ON_OFF [6] A_M_MODE [7] - [8..19] Read: Status of the feature: Bit high: WIP, Bit low: Ready Write ON or OFF this feature, ON=1 Read: Status of the feature; OFF=0 Set bit high for Auto feature Read for Mode; 0= MANUAL; 1= AUTO reserved Table 36: Shutter CSR The table below illustrates the advanced register for auto shutter control. The purpose of this register is to limit the range within auto shutter is working.
Description of the data path 8.8 Lookup table (LUT) and Gamma function The AVT Marlin camera provides one user-defined lookup table (LUT). The use of this LUT allows any function (in the form Output = F(Input)T 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 With all CCD models, the user LUT will be overridden when Gamma is enabled. CMOS models have the gamma function built in the sensor, so that it wont be overridden. LUT content is volatile. 8.8.1 Loading a LUT into the camera Loading the LUT is carried out through the data exchange buffer called GPDATA_BUFFER. As this buffer can hold a maximum of 2 kB, and a complete LUT at 1024 x 8 bit is 1 kB, programming can take place in a one block write step.
Description of the data path The table below describes the registers required. Register 0xF1000240 0xF1000244 0xF1000248 Name LUT_CTRL LUT_MEM_CTRL LUT_INFO Field Presence_Inq Bit [0] --ON_OFF [1..5] [6] --LutNo [7..25] [26..31] Presence_Inq [0] --EnableMemWR [1..4] [5] --AccessLutNo AddrOffset Presence_Inq [6..7] [8..15] [16..31] [0] --NumOfLuts [1..7] [8..15] MaxLutSize [16..31] Description Indicates presence of this feature (read only). Enable/Disable this feature.
Description of the data path 8.9 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 After this, a search is made for the brightest pixel in the mean value frame. A factor is then calculated for each pixel to be multiplied by, giving it the gray value of the brightest pixel. All of these multipliers are saved in a “shading reference image“. The time required for this process depends on the number of frames to be calculated. Correction alone can compensate for shading by up to 50 % and relies on 10 bit pixel data to avoid the generation of missing codes.
Description of the data path The table below describes the registers required. Register 0xF1000250 0xF1000254 0xF1000258 Name SHDG_CTRL SHDG_MEM_CTRL SHDG_INFO Field Presence_Inq Bit [0] BuildError --ShowImage [1] [2..3] [4] BuildImage [5] ON_OFF Busy --GrabCount Presence_Inq [6] [7] [8..23] [24..31] [0] --EnableMemWR [1..4] [5] EnableMemRD [6] --AddrOffset Presence_Inq [7] [8..31] [0] --MaxImageSize [1..7] [8..31] Description Indicates presence of this feature (read only).
Description of the data path The following pictures illustrate the sequence of commands for generating the shading image. The correction sequence controlled via “Directcontrol” uses the average of 16 frames (10H) to calculate the correction frame. The top picture shows the input image (with lens out of focus). The bottom picture shows the shading corrected output image (unfocused lens).
Description of the data path Shading correction can be combined with the Image mirror, binning and gamma functionality (CCD models only). Using shading correction in combination with the gamma feature on the CMOS models may lead to improper results. After the lens has been focused again the image below will be seen, but now with a considerably more uniform gradient. This is also made apparent in the graph on the right.
Description of the data path 8.9.2 Loading a shading image into the camera GPDATA_BUFFER is used to load a shading image into the camera.
Description of the data path 8.9.3 Loading a shading image out of the camera GPDATA_BUFFER is used to load a shading image out of the camera.
Description of the data path 8.10 DSNU & blemish correction (MF-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 progress --LoadData [8] [9] ZeroData [10] --GrabCount [11..23] [24..31] load factory DSNU correction data zero DSNU correction data Number of images Table 40: Register for controlling DSNU correction Having generated the correction data it is possible to separately control the blemish pixel correction with the help of the following register: Register 0x1000294 Name BLEMISH_CONTROL Field Presence_Inq Bit [0] ComputeError [1] --ShowImage [2..
Description of the data path The effect of the additional blemish correction can be demonstrated with the next screenshot. Not only is the spread now smaller, there are also no pixels above a considerably lower grey level (U at. app. 96 in this case). Figure 44: Histogram with blemish correction 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.
Description of the data path 8.11 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 8.12 Binning (CCD b/w models) Binning is the process of combining neighboring pixels while being read out from the CCD chip. All CCD equipped b/w Marlin models have this feature. Binning is used primarily for 3 reasons: A reduction in the number of pixels and thus the amount of data while retaining the original image area angle, an increase in the frame rate (vertical binning only), an improvement in the signal to noise ratio of the image.
Description of the data path This reduces vertical resolution, depending on the model. If vertical binning is activated the image may appear to be over-exposed and must be corrected. Use Format_7 Mode_2 to activate vertical binning. The image appears vertically compressed in this mode and does no longer show true aspect ratio. 8.12.2 Horizontal binning In horizontal binning adjacent horizontal pixels in a line are combined in pairs.
Description of the data path 8.13 Sub-sampling (CMOS) Sub-sampling is the process of skipping neighboring pixels (with the same color) while being read out from the CMOS chip. All CMOS equipped Marlin models, both color and b/w have this feature (FW > 2.03). Sub-sampling is used primarily for 2 reasons: A reduction in the number of pixels and thus the amount of data while retaining the original image area angle, an increase in the frame rate.
Description of the data path Use Format_7 Mode_3 to activate h+v sub-sampling. The different sub-sampling patterns are shown below. Figure 51: H+V subsampling B/W; right: Color Changing sub-sampling modes involve the generation of new shading reference images due to a change in the image size. 8.14 Sharpness All 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.
Description of the data path 8.15 Color interpolation and correction The color sensors capture the color information via so called primary color (R-G-B) filters placed over the individual pixels in a ”BAYER mosaic” layout. An effective Bayer -> RGB color interpolation already takes place in all Marlin color version cameras. Before converting to the YUV format, color correction is done after Bayer demosaicing. Color processing can be bypassed by using the so called RAW image transfer.
Description of the data path 8.15.2 Color correction Color correction is performed on all color CCD models before YUV conversion and mapped via a matrix as follows. red * = Crr ⋅ red + Cgr ⋅ green + Cbr ⋅ blue green * = Crg ⋅ red + Cgg ⋅ green + Cbg ⋅ blue blue * = Crb ⋅ red + Cgb ⋅ green + Cbb ⋅ blue Sensor specific coefficients Cxy are scientifically generated to ensure that GretagMacbeth™ ColorChecker®-colors are displayed with highest color fidelity and color balance.
Description of the data path 8.16 Serial interface With FW > 2.03, all Marlin cameras are equipped with the SIO (serial input/output) feature as described in IIDC 1v31. This means that the Marlin’s serial interface which is used for firmware upgrades can further be used as a general RS232 interface. Data written to a specific address in the IEEE-1394 address range will be sent through the serial interface.
Description of the data path 0004h SERIAL_CONTROL_REG SERIAL_STATUS_REG MARLIN Technical Manual Page 88 RD: Get stop bit setting 0: 1; 1: 1.5; 2: 2 [20..23] Reserved Buffer_Size_Inq [24..31] Buffer Size (RD only) This field indicates the maximum size of receive/transmit data buffer If this field is 1, Buffer_Status_Control and SIO_Data_Reg. Char 1-3 should be ignored 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 008h 00Ch 010h .. 0FFh 100h RBUF_ST [15..31] [0..7] RBUF_CNT [8..15] TBUF_ST [16..31] [0..7] TBUF_CNT [8..15] - [16..31] SIO_DATA_REGISTER CHAR_0 [0..
Description of the data path Reading data requires the following series of actions: • • • • Query RDRD flag (buffer ready?) and write the number of bytes the host wants to read to RBUF_CNT. 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 (more data the host wanted to read than were in the buffer?).
Controlling image capture 9 Controlling image capture 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. In continuous modes the shutter is opened shortly before the vertical reset happens, thus acting in a frame-synchronous way.
Controlling image capture Trigger_Mode_15 is a bulk trigger, combining one external trigger event with continuous or oneshot or multishot 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: Exactly grabbing one image based on the first external trigger. Filling the camera’s internal image buffer with one external trigger without overriding images.
Controlling image capture Trigger_Polarity Trigger_Source Trigger_Value Trigger_Mode Parameter [7] If Polarity_Inq = 1: W: 0 for low active input; 1 for high active input If Polarity_Inq = 0: Read only [8..10] Select trigger source ID from trigger source ID_Inq. [11] Trigger input raw signal value (read only) [12..15] Trigger_Mode (0-15) [16..19] Reserved [20..
Controlling image capture 9.1.1 Trigger delay As already mentioned earlier, since firmware version 2.03, the cameras feature various ways to delay image capture based on external trigger. With 1V31 of IIDC spec. there is a standard CSR at Register F0F00534/834h to control a delay up to FFFh * timebase value. The following table explains the Inquiry register and the meaning of the various bits.
Controlling image capture ON_OFF Value [2..5] [6] [7..19] [20..31] 1: Control with value in the absolute value CSR If this bit= 1 the value in the value field has to be ignored Reserved Write ON or OFF this feature, ON=1 Read: Status of the feature; OFF=0 Reserved Value Table 46: Trigger Delay CSR In addition, the cameras have an advanced register which allows to even more precisely delay the image capture after receiving a hardware trigger.
Controlling image capture 9.2 Exposure time The exposure (shutter) time for continuous mode and Trigger_Mode_0 is based on the following formula: Shutter register value x timebase + offset The register value is the value set in the corresponding IIDC register (SHUTTER [81Ch]). This number is in the range between 1 and 4095. The shutter register value is multiplied by the time base register value (see TIMEBASE). The default value here is set to 20 µs.
Controlling image capture 9.3 One-Shot The camera can record an image by setting the “OneShot 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 ISO_Enable / Free-Run), this flag is ignored. If OneShot mode is combined with the external trigger, the “OneShot” 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 9.3.2 End of exposure to first packet on the bus After the exposure, the CCD or CMOSsensor 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: 500µs ± 62.5µs This time ‘jitters’ with the cycle time of the bus (125µs). Figure 58: Data flow and timing after end of exposure 9.
Controlling image capture Multi-Shot can also be combined with the external trigger in order to grab a certain number of images based on an external trigger. This is especially helpful in combination with the so called Deferred_Mode to limit the amount of grabbed images to the FIFO size. 9.5 ISO_Enable / Free-Run Setting the MSB (bit 0) in the 614h register (ISO_ENA) puts the camera into ISO_Enable mode or Continuous_Shot. The camera captures an infinite series of images.
Controlling image capture 9.7 Jitter at start of exposure The following chapter discusses the latency time which exists for all CCD-models when either a hardware or software trigger is generated, until the actual image exposure starts. Owing to the well-known fact that an Interline Transfer CCD-sensor has both a light sensitive area and a separate storage area, it is common to interleave image exposure of a new frame and output that of the previous one.
Controlling image capture 9.8 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. 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. The table below shows how many frames can be stored by each model.
Controlling image capture 9.8.1 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. 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 The following screenshot displays the sequence of commands needed to work with deferred mode. ……………………….Stop continuous mode of camera …………………….Check pres. of deferred mode and FiFo size (Dh= 13 fr.) …………………….Switch deferred mode on …………………….Do first One_shot …………………….Do second One_shot …………………….Check that two images are in FiFo …………………….Read out the first image of FiFo …………………….Check how many images are left in FiFo …………………….Read out the second image of FiFo ……………………….
Controlling image capture 9.9 Sequence mode Generally all AVT Marlin cameras enable certain image settings to be modified on the fly, e.g. gain and shutter can be changed by the host computer by writing into the gain and shutter register even while the camera is running. An uncertainty of one or two images remains because normally the host does not know (especially with external trigger) when the next image will arrive.
Controlling image capture How is sequence mode implemented? There is a FIFO (first in first out) memory for each of the IIDC v. 1.3 registers listed above. The depth of each FIFO is fixed to 32(dez) complete sets. Functionality is controlled by the following advanced registers. Register 0xF1000220 0xF1000224 Name SEQUENCE_CTRL SEQUENCE_PARAM Field Presence_Inq Bit [0] --AutoRewind ON_OFF [1..4] [5] [6] --MaxLength [7..15] [16..23] SeqLength [24..31] --ApplyParameters [0..
Controlling image capture The following flow diagram shows how to set up a sequence. Figure 61: Sequence mode flow diagram During sequencing, the camera obtains the required parameters, image by image, from the corresponding FIFOs (e.g. information for exposure time).
Controlling image capture Points to pay attention to when working with a sequence: 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 “MultiShot” or “IsoEnable” command again. Each of these two commands resets the sequence.
Controlling image capture Points to pay attention to when changing the parameters: If the ApplyParameters flag is used when setting the parameters, all not-configured values are set to default values. As changing a sequence normally affects only the value of a specific register, and all other registers should not be changed, the ApplyParameters flag may not be used here. The values stored for individual images can no longer be read. If the camera is switched into sequence mode, the changes to the IIDC v.
Video formats, modes and bandwidth 10 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. The maximum frame rates can only be achieved with shutter settings lower than 1/framerate.
Video formats, modes and bandwidth 10.2 MF-046B/ MF-046C Format 0 7 Mode Resolution 0 1 2 3 4 5 6 160 x 120 320 x 240 640 x 480 640 x 480 640 x 480 640 x 480 640 x 480 0 780 x 580 MONO8 780 x 580 YUV 388 x 580 MONO8 780 x 582 MONO8 (RAW) 780 x 288 MONO8 388 x 288 MONO8 1 2 3 60 fps YUV444 YUV422 YUV411 YUV422 RGB8 MONO8 MONO16 30 fps x x x x x* x 15 fps x x x x x* x 7.5 fps x x x x x* x 3.
Video formats, modes and bandwidth 10.
Video formats, modes and bandwidth 10.4 MF-145B/ MF-145C Format Mode Resolution 0 0 1 2 3 4 5 6 160 x 120 320 x 240 640 x 480 640 x 480 640 x 480 640 x 480 640 x 480 1 0 1 2 3 4 5 6 7 800 x 600 800 x 600 800 x 600 1024 x 768 1024 x 768 1024 x 768 800 x 600 1024 x 768 0 1 2 3 4 5 6 7 2 0 0 1 7 2 3 60 fps 30 fps YUV444 YUV422 YUV411 YUV422 RGB8 MONO 8 MONO 16 15 fps 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth 10.
Video formats, modes and bandwidth 10.6 Area of interest (AOI) The image sensor on the camera 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.
Video formats, modes and bandwidth 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. In addition to the Area of Interest, some other parameters have an effect on the maximum frame rate: the time for reading the image from the sensor and transporting it into the FRAME_BUFFER the time for transferring the image over the FireWire™ bus the length of the exposure time.
Video formats, modes and bandwidth 10.7 Frame rates An IEEE-1394 camera requires bandwidth to transport images. The IEEE-1394a bus has very large bandwidth of at least 32 MB/s for transferring (isochronously) image data. Per cycle up to 4096 bytes (or around 1000 quadlets = 4 bytes) can thus be transmitted. Depending on the video format settings and the configured frame rate, the camera requires a certain percentage of maximum available bandwidth.
Video formats, modes and bandwidth Format Mode Resolution 30 fps 15 fps 7.5 fps 3.
Video formats, modes and bandwidth Format Mode Resolution 60 fps 1 1280 x 960 YUV (4:2:2) 16 bit/pixel 1280 x 960 RGB 24 bit/pixel 2 1280 x 960 Y (MONO8) 8 bit/pixel 0 4 1600 x 1200 YUV(4:2:2) 16 bit/pixel 1600 x 1200 RGB 24 bit/pixel 5 1600 x 1200 Y (MONO) 8 bit/pixel 3 2 6 7 30 fps 1280 x 960 Y (MONO16) 16 bit/pixel 1600 x 1200Y(MONO16) 16 bit/pixel 15 fps 2H 2560p 640q 5/2H 4000p 1000q 7.5 fps 3.75 fps 1.
Video formats, modes and bandwidth In video Format_7 frame rates are no longer fixed but can be varied dynamically by the parameters described below.
Video formats, modes and bandwidth 10.7.1 MF-033 Different parameters apply for the different models. fps = 1 TCh arg eTrans + TDummy + TDump + TScan fps = 1 30 µs + 68.5µs + (494 − AOI _ HEIGHT ) ⋅ 3.45µs + AOI _ HEIGHT ⋅ 27.
Video formats, modes and bandwidth 10.7.2 MF-046 fps = fps = 1 TCh arg eTrans + TDummy + TDump + TScan 1 31µs + 88µs + (582 − AOI _ HEIGHT ) ⋅ 4.15µs + AOI _ HEIGHT ⋅ 32.
Video formats, modes and bandwidth 10.7.3 MF-080 fps = fps = 1 TCh arg eTrans + TDummy + TDump + TScan 1 71.93µs + 129.48µs + (779 − AOI _ HEIGHT ) ⋅ 8.24 µs + AOI _ HEIGHT ⋅ 63.
Video formats, modes and bandwidth 10.7.4 MF-080-30 fps fps = fps = 1 TCh arg eTrans + TDummy + TDump + TScan 1 47.96 µs + 86.32 µs + (779 − AOI _ HEIGHT ) ⋅ 5.5µs + AOI _ HEIGHT ⋅ 42.
Video formats, modes and bandwidth 10.7.5 fps = fps = MF-145 1 TCh arg eTrans + T Dummy + T Dump + TScan 1 105µs + 288µs + (1040 − AOI _ HEIGHT ) ⋅19.6 µs + AOI _ HEIGHT ⋅ 92.
Video formats, modes and bandwidth 10.7.6 MF-131 This model uses a CMOS sensor with global shutter. As mentioned earlier for the 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). Limiting the field of view in both vertical as well as horizontal direction gives a proportional increase in speed.
How does bandwidth affect the frame rate? 11 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 Mb/s. In addition, because of a limitation in an IEEE1394 module (GP2Lynx), only a maximum number of 4095 packets per frame are allowed.
How does bandwidth affect the frame rate? 11.1 Test images The b/w cameras have two test images that look the same. Both images show a gray bar running diagonally. One test image is static, the other moves upwards by 1 pixel/frame.
How does bandwidth affect the frame rate? Mono8 (raw data): Figure 66: Bayer-coded test image The color camera outputs Bayer-coded raw data in Mono8 instead of – as described in IIDC v. 1.3 – a real Y signal. The first pixel of the image is always the red pixel from the sensor.
Configuration of the camera 12 Configuration of the camera All camera settings are made by writing specific values into the corresponding registers. This applies to both values for general operating states such as video formats and modes, exposure times, etc. and to all extended features of the camera that are turned on and off and controlled via corresponding registers. 12.
Configuration of the camera Figure 68: 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 12.2 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 The entry with key 8D in the root directory (420h in this case) provides the offset for the unique ID leaf node as follows: 420h + 000002 * 4 = 428h Offset 0-7 8-15 16-23 24-31 Node unique ID leaf 428h 00 02 CA 71 42Ch 00 0A 47 01 430h 00 00 Serial number The entry with key D1 in the root directory (424h in this case) provides the offset for the unit directory as follows: 424h + 000004 * 4 = 434h Offset 0-7 8-15 Unit directory 16-23 24-31 434h 00 03 93
Configuration of the camera 448h 40 3C 00 00 44Ch 81 00 00 02 450h 82 00 00 06 Unit dependent info Table 69: ConfigRom cont. And finally, the entry with key 40 (448h in this case) provides the offset for the camera control register: FFFF F0000000h + 3C0000h * 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 12.3 Implemented registers The following tables show how standard registers from IIDC v. 1.3 are implemented in the camera. Base address is F0F00000h. Differences and explanations can be found in the third column. 12.3.1 Offset 000h Camera initialize register Name INITIALIZE Notes Assert MSB = 1 for Init. Table 70: Camera initialize register 12.3.
Configuration of the camera 188h 18Ch … 197h 198h 19Ch Mode _5 Mode _6 Mode _7 Mode_0 V_MODE_INQ (Format_2) [5] [6] [7] [8..31] [0] 1024 x 768 MONO8 800 x 600 MONO16 1024 x 768 MONO16 Reserved (zero) 1280 x 960 YUV 4:2:2 Mode _1 [1] Mode _2 [2] Mode _3 [3] Mode _4 [4] Mode _5 [5] Mode _6 [6] Mode _7 [7] [8..31] Reserved for other V_MODE_INQ_x for Format_x.
Configuration of the camera 12.3.4 Offset 200h 204h 208h 20Ch Inquiry register for video frame rate and base address Name V_RATE_INQ (Format_0, Mode_0) V_RATE_INQ (Format_0, Mode_1) V_RATE_INQ (Format_0, Mode_2) V_RATE_INQ (Format_0, Mode_3) MARLIN Technical Manual Page 136 Field FrameRate_0 Bit [0] Description Reserved FrameRate _1 FrameRate _2 FrameRate _3 FrameRate _4 FrameRate _5 FrameRate _6 FrameRate _7 FrameRate_0 [1] [2] [3] [4] [5] [6] [7] [8..31] [0] Reserved 7.
Configuration of the camera Offset 210h 214h 218h 21Ch … 21Fh 220h Name V_RATE_INQ (Format_0, Mode_4) Bit [0] Description 1.875 fps FrameRate _1 FrameRate _2 FrameRate _3 FrameRate _4 FrameRate _5 FrameRate _6 FrameRate _7 FrameRate_0 [1] [2] [3] [4] [5] [6] [7] [8..31] [0] 3.75 fps 7.5 fps 15 fps 30 fps 60 fps 120 fps (v1.31) 240 fps (v1.31) Reserved (zero) 1.
Configuration of the camera Offset 224h 228h 22Ch 230h 234h Name V_RATE_INQ (Format_1, Mode_1) V_RATE_INQ (Format_1, Mode_2) V_RATE_INQ (Format_1, Mode_3) V_RATE_INQ (Format_1, Mode_4) V_RATE_INQ (Format_1, Mode_5) MARLIN Technical Manual Page 138 Field FrameRate_0 Bit [0] Description Reserved FrameRate _1 FrameRate _2 FrameRate _3 FrameRate _4 FrameRate _5 FrameRate _6 FrameRate _7 FrameRate_0 [1] [2] [3] [4] [5] [6] [7] [8..31] [0] Reserved 7.5 fps 15 fps 30 fps 60 fps 120 fps (v1.
Configuration of the camera Offset 238h 23Ch 240h 244h Name V_RATE_INQ (Format_1, Mode_6) V_RATE_INQ (Format_1, Mode_7) V_RATE_INQ (Format_2, Mode_0) V_RATE_INQ (Format_2, Mode_1) Field FrameRate _3 FrameRate _4 FrameRate _5 FrameRate _6 FrameRate _7 FrameRate_0 Bit [3] [4] [5] [6] [7] [8..31] [0] Description 15 fps 30 fps 60 fps 120 fps (v1.31) 240 fps (v1.31) Reserved (zero) 1.
Configuration of the camera Offset 248h 24Ch 250h 254h 258h Name V_RATE_INQ (Format_2, Mode_2) V_RATE_INQ (Format_2, Mode_3) V_RATE_INQ (Format_2, Mode_4) V_RATE_INQ (Format_2, Mode_5) V_RATE_INQ (Format_2, Mode_6) MARLIN Technical Manual Page 140 FrameRate _7 Field FrameRate_0 [7] [8..31] Bit [0] Reserved Reserved (zero) Description 1.875 fps FrameRate _1 FrameRate _2 FrameRate _3 FrameRate _4 FrameRate _5 FrameRate _6 FrameRate _7 FrameRate_0 [1] [2] [3] [4] [5] [6] [7] [8..31] [0] 3.
Configuration of the camera Offset 25Ch 260h … 2BFh 2C0h 2C4h .. 2DFh 2E0h FrameRate _2 FrameRate _3 FrameRate _4 FrameRate _5 FrameRate _6 FrameRate _7 Field FrameRate_0 [2] [3] [4] [5] [6] [7] [8..31] Bit [0] 7.5 fps 15 fps 30 fps 60 fps Reserved Reserved Reserved (zero) Description 1.875 fps FrameRate _1 FrameRate _2 FrameRate _3 FrameRate _4 FrameRate _5 FrameRate _6 FrameRate _7 Reserved V_RATE_INQ_y_x (for other Format_y, Mode_x) [1] [2] [3] [4] [5] [6] [7] [8..31] 3.75 fps 7.
Configuration of the camera 12.3.5 Inquiry register for basic function Offset Name Field 400h BASIC_FUNC_INQ Bit Advanced_Feature_Inq [0] Vmode_Error_Status_Inq [1] Feature_Control_Error_Status_Inq [2] Opt_Func_CSR_Inq [3] [4..
Configuration of the camera White_Shading Frame_Rate 408h FEATURE_LO_INQ Zoom Pan Tilt Optical_Filter Capture_Size Capture_Quality 40Ch OPT_FUNCTION_INQ PIO SIO Strobe_out Reserved [14] White_Shading Control [15] Frame_Rate Control [16..31] Reserved [0] Zoom Control [1] Pan Control [2] Tilt Control [3] Optical_Filter Control [4..15] Reserved [16] Capture_Size for Format_6 [17] Capture_Quality for Format_6 [16..
Configuration of the camera 484h PIO_Control_CSR_Inq PIO_Control_Quadlet_Offset [0..31] 488h SIO_Control_CSR_Inq SIO_Control_Quadlet_Offset [0..31] Strobe_Output_Quadlet_Offset [0..
Configuration of the camera 12.3.
Configuration of the camera Offset 530h Name TRIGGER_INQ Field Presence_Inq Abs_Control_Inq Readout_Inq Bit [0] [1] [2..3 [4] ON_OFF [5] Polarity_Inq [6] [7..15] Trigger_Mode0_Inq [16] Trigger_Mode1_Inq [17] Trigger_Mode2_Inq [18] Trigger_Mode3_Inq [19] Offset 534h Name TRIGGER_DELAY_INQUIRY Field Presence_Inq Abs_Control_Inq MARLIN Technical Manual Page 146 [20..
Configuration of the camera 538..57Ch 580h 584h 588h 58Ch 590 .. 5BCh 5C0h 5C4h 5C8h .. 5FCh 600h 604h 608h 60Ch ZOOM_INQ PAN_INQ TILT_INQ OPTICAL_FILTER_INQ Reserved for other FEATURE_LO_INQ One_Push_Inq [2] [3] Readout_Inq [4] ON_OFF [5] Auto_Inq [6] Manual_Inq [7] Min_Value [8..19] Max_Value [20..
Configuration of the camera 610h 614h 618h 61Ch 620h 624 628h Camera_Power ISO_EN/Continuous_Shot Memory_Save One_Shot, Multi_Shot, Count Number Mem_Save_Ch Cur_Mem_Ch Vmode_Error_Status always 0 Bit 0: 1 for Cont. Shot; 0 for stop always 0 See text always 0 always 0 Error in combination of Format/Mode/ISO Speed: Bit(0): No error; Bit(0)=1: error Table 76: Feature elements inquiry register 12.3.8 Offset 700h 704h 708h 70Ch 710h 714h 718h 71Ch 720h 724h 728h 72Ch 730h 734 ..
Configuration of the camera 12.3.9 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 One Push automatic white balance). Offset 800h 804h 808h 80Ch Name BRIGHTNESS AUTO-EXPOSURE SHARPNESS WHITE-BALANCE 810h HUE 814h SATURATION 818h 81Ch 820h 824h 828h 82Ch 830h GAMMA SHUTTER GAIN IRIS FOCUS TEMPERATURE TRIGGER-MODE 834h ..
Configuration of the camera 12.3.10 Feature control error status register Offset 640h 644h Name Feature_Control_Error_Status_HI Feature_Control_Error_Status_LO Notes always 0 always 0 Table 79: Feature control error register 12.3.11 Video mode control and status registers for Format_7 The offset to the base address is in V-CSR_INQ_7_x. The offset 100h must be added for Mode 1, 200h for Mode 2 200h and 300h for Mode 3.
Configuration of the camera 12.4 Advanced features The camera has a variety of extended features going beyond the possibilities described in IIDC v. 1.3. The following chapter summarizes all available advanced features in ascending register order.
Configuration of the camera 0XF1000400 0XF1000410 0XF1000414 0XF1000510 0XF1000FFC 0XF1001000 TRIGGER_DELAY MIRROR_IMAGE MNR SOFT_RESET GPDATA_INFO GPDATA_BUFFER Marlin/Oscar series only Table 81: Advanced Registers Summary Advanced features should always be activated before accessing them. Currently all registers can be written without being activated. This makes it easier to operate the camera using “Directcontrol”. AVT reserves the right to require activation in future versions of the software.
Configuration of the camera 12.4.1 Version information inquiry The presence of each of the following features can be queried by the “0” bit of the corresponding register. Register F1000010 Name VERSION_INFO1 Field µC type ID µC version F1000014 F1000018 VERSION_INFO3 Camera type ID FPGA version F100001C Bit [0..15] [16..31] [0..31] [0..15] [16..31] [0..31] Description Reserved Bcd-coded vers.# Reserved See below Bcd-coded vers.
Configuration of the camera 12.4.2 Advanced feature inquiry Register 0xF1000040 Name ADV_INQ_1 0xF1000044 ADV_INQ_2 0xF1000048 0xF100004C ADV_INQ_3 ADV_INQ_4 Field MaxResolution TimeBase ExtdShutter TestImage FrameInfo Sequences VersionInfo Lookup Tables Shading DeferredTrans HDR mode DSNU Blemish correction TriggerDelay Misc.
Configuration of the camera Register 0xF1000200 Name Field MAX_RESOLUTION MaxHeight Bit [0..15] Description Sensor height (rd only) [16..31] Sensor width (rd only) MaxWidth Table 85: Max. resolution inquiry register 12.4.4 Timebase 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.
Configuration of the camera 12.4.5 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 0xF100020C Name EXTD_SHUTTER Field Presence_Inq Bit [0] --ExpTime [1.. 5] [6..31] Description Indicates presence of this feature (read only) Exposure time in µs Table 88: Extended shutter configuration register The longest exposure time, 3FFFFFFh, corresponds to 67.11 sec.
Configuration of the camera 12.4.6 Test images Bits 8-14 indicate which test images are saved. Setting bits “28-31” activates or deactivates existing test images. Register 0xF1000210 Name TEST_IMAGE Field Presence_Inq Bit [0] --Image_Inq_1 [1..7 [8] Image_Inq_2 [9] Image_Inq_3 [10] Image_Inq_4 [11] Image_Inq_5 [12] Image_Inq_6 [13] Image_Inq_7 [14] --TestImage_ID [15..27] [28..
Configuration of the camera 12.4.7 Sequence control It is possible to make certain settings for a sequence of images beforehand by using this register. Register 0xF1000220 0xF1000224 Name SEQUENCE_CTRL SEQUENCE_PARAM Field Presence_Inq Bit [0] --AutoRewind ON_OFF [1..4] [5] [6] --MaxLength [7..15] [16..23] SeqLength [24..31] --ApplyParameters [0..4] [5] IncImageNo [6] --ImageNo [7..23] [24..
Configuration of the camera 12.4.8 Lookup tables (LUT) The LUT_CTRL register activates this feature and enables certain LUTs. The LUT_INFO register indicates how many LUTs the camera can store and the maximum size of the individual LUTs. Register 0xF1000240 0xF1000244 0xF1000248 Name LUT_CTRL LUT_MEM_CTRL LUT_INFO Field Presence_Inq Bit [0] --ON_OFF [1..5] [6] --LutNo [7..25] [26..31] Presence_Inq [0] --EnableMemWR [1..4] [5] --AccessLutNo AddrOffset Presence_Inq [6..7] [8..15] [16..
Configuration of the camera 12.4.9 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 0xF1000250 0xF1000254 0xF1000258 Name SHDG_CTRL SHDG_MEM_CTRL SHDG_INFO Field Presence_Inq Bit [0] BuildError --ShowImage [1] [2..3] [4] BuildImage [5] ON_OFF Busy --GrabCount Presence_Inq [6] [7] [8..23] [24..31] [0] --EnableMemWR [1..4] [5] EnableMemRD [6] --AddrOffset Presence_Inq [7] [8..31] [0] --MaxImageSize [1..7] [8..
Configuration of the camera 12.4.10 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. The images indicated by NumOfImages are sent by setting the “SendImage” bit. When “FastCapture” is set (in Format_7 only), images are recorded at the highest possible frame rate.
Configuration of the camera 12.4.12 High dynamic range mode (MF-131B/C only) The CMOS sensor of the MF-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 --LoadData [8] [9] ZeroData [10] --GrabCount [11..23] [24..31] load factory DSNU correction data zero DSNU correction data Number of images Table 96: Register for controlling DSNU correction Having generated the correction data it is possible to separately control the blemish pixel correction with the help of the following register: Register 0xF1000294 Name BLEMISH_CONTROL Field Presence_Inq ComputeError --ShowImage Page 164 [0] [1] [2..
Configuration of the camera 12.4.14 Input/output pin control All input and output signals running over the HiRose plug are controlled by this register. Register 0xF1000300 0xF1000304 Name IO_INP_CTRL1 IO_INP_CTRL2 Field Presence_Inq Bit [0] --Polarity [1..6] [7] --InputMode --PinState [8..10] [11..15] [16..
Configuration of the camera IO_OUTP_CTRL 1-2 The Polarity flag determines whether the output is low active (0) or high active (1). The output mode can be seen in the following table. The current status of the output and be queried and set via the PinState flag. Register 0xF1000320 0xF1000324 Name IO_OUTP_CTRL1 IO_OUTP_CTRL2 Field Presence_Inq Bit [0] --Polarity [1..6] [7] --Output mode --PinState [8..10] [11..15] [16..
Configuration of the camera 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. Figure 69: Delayed integration timing Register 0xF1000340 Name Field IO_INTENA_DELAY Presence_Inq Bit [0] Description Indicates presence of this feature (read only) --ON_OFF [1..5] [6] --DELAY_TIME [7..11] [12..
Configuration of the camera 12.4.17 Auto gain The table below illustrates the advanced auto gain control register. Register 0xF1000370 Name AUTOGAIN_CTRL Field Presence_Inq MAXVALUE Max Value Min value MAXVALUE Bit [0] Description Indicates presence of this feature (read only) [1..3] [4..15] Max value [16..19] [20..31] Min value Table 104: Advanced register for auto gain control 12.4.
Configuration of the camera 12.4.19 Color correction Color correction can also be switched off in YUV mode with the help of the following register. Register Name 0xF10003A0 COLOR_CORR Field Bit Description Marlin C-type CCD cameras only: Write: 02000000h to switch Color correction OFF Write: 00000000h to switch Color correction ON (Default) Table 106: Color correction 12.4.20 Trigger delay Register 0xF1000400 Name TRIGGER_DELAY Field Presence_Inq Bit [0] --ON_OFF --DelayTime [1..5] [6] [7..
Configuration of the camera 12.4.22 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 0xF1000FFC Buffer size query indicates the actual storage range Name GPDATA_INFO Field --BufferSize Bit Description [0..15] [16..
Firmware update 13 Firmware update Firmware updates are possible without opening the camera. You need: • • • • Programming cable E 1000666 Software “AVTCamProg” PC or laptop with serial Interface (RS 232) Documentation for firmware update 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. Any mixture may result in an nonfunctional or even damaged camera.
Declarations of conformity 14 Declarations of conformity MARLIN Technical Manual Page 172
Declarations of conformity MARLIN Technical Manual Page 173
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Declarations of conformity MARLIN Technical Manual Page 175
Declarations of conformity MARLIN Technical Manual Page 176
Declarations of conformity MARLIN Technical Manual Page 177
Declarations of conformity MARLIN Technical Manual Page 178
Declarations of conformity MARLIN Technical Manual Page 179
Declarations of conformity MARLIN Technical Manual Page 180
Declarations of conformity MARLIN Technical Manual Page 181
Index 15 Index Advanced Feature Inquiry 153, 154 Advanced features 143, 149, 151 Area of Interest 104, 114, 115 Asynchronous broadcast 99 Bandwidth 109, 116, 118, 126 BAYER demosaicing 85 Binning 81, 82 Black value 62, 65 Brightness 65 Bus_Id 129 Busy Signal 44 Color correction 85, 86 Color information 85 Corrected image 71 Correction data 70, 73 Cycle delay 39 Data packets 48 Data path 50 Data payload size 126 Deferred image transport 101 Deferred Image Transport 162 Environmental conditions 10 Error st
Index Input/Output pin control 41, 45, 165, 166 Inputs 8, 36, 37, 39, 40, 41, 59, 165 IntEna signal 44, 166 Interpolation 85 ISO_Enable 97, 98, 99, 107, 129 Jitter 100 LEDs 36, 38 Lookup tables (LUTs) 67, 68, 69, 159, 170 MaxResolution 154 Multi-Shot 98 Node_Id 129 Offset 62, 65, 96, 133, 150 OneShot 97 Output mode 45, 46, 166 Outputs 15, 36, 37, 39, 44 Power 39 RBG to YUV 86 rolling shutter 100 Sequence 104, 105, 107, 108 Sequence control 158 Sequence mode 104, 105, 106, 107, 108 Shading correction 70, 16
