Marlin Technical Manual For CCD models with serial numbers: xx/yy-6zzzzzzz and all CMOS models V2.7.
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 ...................................................................................8 Introduction .............................................................................................................9 Document history ........................................................................................................... 9 Manual overview...........................................................................................................
Status LED yellow ..................................................................................................... Control and video data signals ........................................................................................ Inputs.................................................................................................................... Triggers ............................................................................................................. Input/output pin control .....
Sharpness ................................................................................................................... 99 Color interpolation and correction ................................................................................... 99 Color interpolation (BAYER demosaicing)..................................................................... 100 Color correction ...................................................................................................... 101 Why color correction....
ISO_Enable / Free-Run ................................................................................................. 149 Asynchronous broadcast ............................................................................................... 149 Jitter at start of exposure .............................................................................................. 150 Frame memory and deferred image transport.....................................................................
Advanced feature inquiry .......................................................................................... 199 Maximum resolution ................................................................................................ 201 Time base .............................................................................................................. 202 Extended shutter..................................................................................................... 203 Test images .............
Contacting Allied Vision Contacting Allied Vision Connect with Allied Vision colleagues by function: www.alliedvision.com/en/contact Find an Allied Vision office or distributor: www.alliedvision.com/en/about-us/where-we-are.html E-mail: info@alliedvision.com (for commercial and general inquiries) support@alliedvision.
Introduction Introduction This Marlin Technical Manual describes in depth the technical specifications, dimensions, all camera features (IIDC standard and Allied Vision 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 1394 Installation Manual. Note Please read through this manual carefully.
Introduction Version Date Remarks continued from previous page V2.2.0 26.02.
Introduction Version Date Remarks continued from previous page V2.4.0 15.08.2008 Added Format_7 Mode_3 (full binning) in Table 8: Specification Marlin F-201B/C on page 28 Corrected frame rate for Format_7 Mode_3 (full binning) in Table 46: Video fixed formats Marlin F-201B / F-201C on page 116 Restructuring of Marlin Technical Manual: • • • • • • Added Contacting Allied Vision on page 8 Added Chapter Manual overview Restructured Chapter Marlin types and highlights to Chapter Marlin cameras .
Introduction Version Date Remarks continued from previous page V2.4.0 15.08.2008 [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 previous page V2.4.0 15.08.2008 [continued] [continued] Added detailed level values of I/Os in Chapter Camera I/O connector pin assignment . Added little endian vs.
Introduction Version Date Remarks continued from previous page V2.5.0 23.02.
Introduction Version Date Remarks continued from previous page V2.7.0 09.03.
Introduction • • • • • • • • • • Chapter Camera dimensions provides CAD drawings of standard housing (copper and GOF) models, tripod adapter, available angled head models, cross sections of CS-Mount and C-Mount. Chapter Camera interfaces 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 1394 Installation Manual.
Introduction Symbols Note This symbol highlights important information. Caution www 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.alliedvision.
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 1394 Installation Manual first. Note Caution Note Note Please read through this manual carefully before operating the camera. For information on Allied Vision accessories and software read 1394 Installation Manual.
Introduction www For downloads see: Software (Vimba and all other software): http://www.alliedvision.com/en/support/software-downloads Firmware: http://www.alliedvision.com/en/support/firmware Technical documentation (overview page): http://www.alliedvision.com/en/support/technical-documentation Technical papers (appnotes, white papers) and knowledge base: http://www.alliedvision.com/en/support/technical-papersknowledge-base Marlin Technical Manual V.2.7.
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 Marlin, Allied Vision presents a whole series of attractive digital camera entry-level models of the FireWire™ type. Image applications Allied Vision can provide users with a range of products that meet almost all the requirements of a very wide range of image applications.
Conformity Conformity Allied Vision Technologies declares under its sole responsibility that all standard cameras of the Marlin family to which this declaration relates are in conformity with the following standard(s) or other normative document(s): • CE, following the provisions of 2004/108/EG directive • FCC Part 15 Class B RoHS (2011/65/EU) • CE • WEEE CE We declare, under our sole responsibility, that the previously described Marlin cameras conform to the directives of the CE.
Specifications Specifications Note For information on bit/pixel and byte/pixel for each color mode see Table 77: ByteDepth on page 160. Maximum protrusion means the distance from lens flange to the glass filter in the camera. Marlin Technical Manual V.2.7.
Specifications Marlin F-033B/C Feature Specification Image device Type 1/2 (diag. 8 mm) progressive scan SONY CCD ICX-414AL/AQ with HAD microlens Effective chip size 6.5 mm x 4.9 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: 8.2 mm ADC 12 bit Color modes Only color: Raw8, RGB8, YUV422, YUV411 Frame rates 3.75 fps; 7.
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 Effective chip size 6.5 mm x 4.8 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 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 Effective chip size 4.8 mm x 3.6 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 Marlin F-145B2/C2 Feature Specification Image device Type 1/2 (diag. 8 mm) progressive scan SONY CCD ICX-205AL/AK with HAD microlens Effective chip size 6.5 mm x 4.8 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 Marlin F-146B/C Feature Specification Image device Type 1/2 (diag. 8 mm) progressive scan SONY CCD ICX-267AL/AK with HAD microlens Effective chip size 6.5 mm x 4.8 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 Marlin F-201B/C Feature Specification Image device Type 1/1.8 (diag. 9 mm) progressive scan SONY CCD ICX274AL/AQ w/ HAD microlens Effective chip size 7.2 mm x 5.4 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 Marlin F-131B (b/w also: NIR) Feature Specification Image device Type 2/3 (diag. 11 mm) global shutter FillFactory CMOS sensor b/w: IBIS5B/IBIS5B NIR Effective 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 --- Frame rates 3.75 fps; 7.
Specifications Spectral sensitivity Note All measurements were done without protection glass / without filter. The uncertainty in measurement of the QE values is 10%. This is mainly due to: • • Manufacturing tolerance of the sensor Uncertainties in the measuring apparatus itself Marlin Technical Manual V.2.7.
Specifications 40% 35% Quantum Efficiency 30% 25% 20% 15% 10% 5% 0% 400 500 600 700 Wavelength [nm] 800 900 1000 Figure 1: Spectral sensitivity of Marlin F-033B without cut filter and optics Red Green 500 550 Wavelength [nm] Blue 35% 30% Quantum Efficiency 25% 20% 15% 10% 5% 0% 400 450 600 650 700 Figure 2: Spectral sensitivity of Marlin F-033C without cut filter and optics Marlin Technical Manual V.2.7.
Specifications 45% 40% Quantum Efficiency 35% 30% 25% 20% 15% 10% 5% 0% 400 500 600 700 Wavelength [nm] 800 900 1000 Figure 3: Spectral sensitivity of Marlin F-046B without cut filter and optics Red Green 500 550 Wavelength [nm] Blue 35% 30% Quantum Efficiency 25% 20% 15% 10% 5% 0% 400 450 600 650 700 Figure 4: Spectral sensitivity of Marlin F-046C without cut filter and optics Marlin Technical Manual V.2.7.
Specifications 45% 40% Quantum Efficiency 35% 30% 25% 20% 15% 10% 5% 0% 400 500 600 700 Wavelength [nm] 800 900 1000 Figure 5: Spectral sensitivity of Marlin F-080B without cut filter and optics Red Green 500 550 Wavelength [nm] Blue 35% 30% Quantum Efficiency 25% 20% 15% 10% 5% 0% 400 450 600 650 700 Figure 6: Spectral sensitivity of Marlin F-080C without cut filter and optics Marlin Technical Manual V.2.7.
Specifications 40% 35% Quantum Efficiency 30% 25% 20% 15% 10% 5% 0% 400 500 600 700 Wavelength [nm] 800 900 1000 Figure 7: Spectral sensitivity of Marlin F-145B2 without cut filter and optics Red Green 500 550 Wavelength [nm] Blue 40% 35% Quantum Efficiency 30% 25% 20% 15% 10% 5% 0% 400 450 600 650 700 Figure 8: Spectral sensitivity of Marlin F-145C2 without cut filter and optics Marlin Technical Manual V.2.7.
Specifications 50% 45% Quantum Efficiency 40% 35% 30% 25% 20% 15% 10% 5% 0% 400 500 600 700 Wavelength [nm] 800 900 1000 Figure 9: Spectral sensitivity of Marlin F-146B without cut filter and optics Red Green Blue 35% Quantum Efficiency 30% 25% 20% 15% 10% 5% 0% 400 450 500 550 Wavelength [nm] 600 650 700 Figure 10: Spectral sensitivity of Marlin F-146C without cut filter and optics Marlin Technical Manual V.2.7.
Specifications 50% 45% Quantum Efficiency 40% 35% 30% 25% 20% 15% 10% 5% 0% 400 500 600 700 Wavelength [nm] 800 900 1000 Figure 11: Spectral sensitivity of Marlin F-201B without cut filter and optics Red Green 500 550 Wavelength [nm] Blue 40% 35% Quantum Efficiency 30% 25% 20% 15% 10% 5% 0% 400 450 600 650 700 Figure 12: Spectral sensitivity of Marlin F-201C without cut filter and optics Marlin Technical Manual V.2.7.
Camera dimensions Camera dimensions Note For information on sensor position accuracy: (sensor shift x/y, optical back focal length z and sensor rotation ) see Chapter Sensor position accuracy of Marlin cameras on page 227. Marlin standard housing Body size: 72 mm x 44 mm x 29 mm (L x W x H) Mass: 120 g (without lens) Figure 13: Camera dimensions Marlin Technical Manual V.2.7.
Camera dimensions Tripod adapter Figure 14: Tripod dimensions Marlin Technical Manual V.2.7.
Camera dimensions Marlin W90 This version has the sensor tilted by 90 degrees clockwise, so that it views upwards. Figure 15: Marlin W90 Marlin Technical Manual V.2.7.
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 16: Marlin W90 S90 Marlin Technical Manual V.2.7.
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 17: Marlin W270 Marlin Technical Manual V.2.7.
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 18: Marlin W270 S90 Marlin Technical Manual V.2.7.
Filter and lenses Filter and lenses The following illustration shows the spectral transmission of the IR cut filter: Figure 19: Spectral transmission of Jenofilt 217 Camera lenses Allied Vision 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.
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 11: 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.
Camera interfaces Camera interfaces This chapter gives you detailed information on status LEDs, inputs and outputs, trigger features and transmission of data packets. Note For a detailed description of the camera interfaces (FireWire, I/O connector), ordering numbers and operating instructions see the 1394 Installation Manual. Read all Notes and Cautions in the 1394 Installation Manual, 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. External ground for RS232 power 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 22: 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: Warning 1 blink Class S1 Error code S2 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 16: 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 1394 Installation Manual, Chapter Marlin input description. 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 18: Input routing on page 50 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 Outputs T Note For a general description of the outputs and warnings see the 1394 Installation Manual, Chapter Marlin output description. Output features are configured by software. Any signal can be placed on any output. The main features of output signals are described below: Signal Description IntEna (Integration Enable) signal This signal displays the time in which exposure was made. By using a register this output can be delayed by up to 1.05 seconds.
Camera interfaces IO_OUTP_CTRL 1-2 The outputs (Output mode, Polarity) are controlled via two advanced feature registers (see Table 23: Advanced register: Output control on page 54). 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 Out1, Inp2 Out2, …) 0x09..0x0F Reserved 0x10..
Camera interfaces External Trigger Input, falling edge Trigger_Mode_0 Delay set by register Trigger_Delay + offset Integration_Enable (IntEna) Delay set by register IntEna_Delay IntEna delayed Frame_Valid (Fval) Busy Figure 25: Output Impulse Diagram Note The signals can be inverted. Caution Firing a new trigger while IntEna is still active can result in missing image. Marlin Technical Manual V.2.7.
Camera interfaces Note • • 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 28: Y8 and Y16 format: Source: IIDC V1.3 Figure 29: Data structure: Source: IIDC V1.3 Marlin Technical Manual V.2.7.
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 22.
Description of the data path Color cameras CCD: Integrated in Analog Front End (AFE) CMOS: Integrated in the sensor (ADC: 10 bit) Gain Sensor Offset Analog Analog White Balance A D C CCD: 12 Bit CCD: 12 Bit LUT 10 Bit Horizontal Mirror 10 Bit Horizontal Masking 8 Bit IEEE-1394 Interface 10 Bit (LUT off) 8 Bit (LUT on) Test-Pattern Shading Correction Camera Control Auto-Data De-Bayering R1 G1 R2 G2 G3 B1 G4 B2 P 1 P 2 P 3 FrameMemory 8 Bit 8/10 Bit* Graphics Overlay 10 Bit
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 introduces a knee-point in the exposure function. If the dual slope reset pulse is placed at the end of the integration time (90% for instance), the analogue signal which would have normally reached the saturation level is no longer saturated at read out. This effect increases the optical dynamic range of the sensor. It is important to notice that pixel signals above the dual slope reset level will be left unaffected (green P1 and green P2).
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 There are two types of white balance: • one-push white balance: white balance is done only once (not continuously) • auto white balance (AWB): continuously optimizes the color characteristics of the image Marlin color cameras have both one-push white balance and auto white balance. White balance is applied so that non-colored image parts are displayed non-colored.
Description of the data path The analog color signal, coming in pulse amplitude modulation from the sensor is in the form of the BAYER™ color pattern sequence. It is initially processed in the CDS (correlated double sampler) then bypasses the PxGA before further amplification and digitization. From the user's point, the white balance settings are made in register 80Ch of IIDC V1.3. This register is described in more detail below.
Description of the data path The values in the U/B_Value field produce changes from green to blue; the V/ R_Value field from green to red as illustrated below. Figure 35: U/V slider range One-push white balance Note Configuration To configure this feature in control and status register (CSR): See Table 28: White balance register on page 66. The camera automatically generates frames, based on the current settings of all registers (GAIN, OFFSET, SHUTTER, etc.).
Description of the data path The following flow diagram illustrates one-push white balance sequence. Pause image capture Capture image via One_shot Repeat steps six times Calculate and set correction values Restart image capture if necessary Figure 36: One-push white balance sequence Finally, the calculated correction values can be read from the WHITE_BALANCE register 80Ch. Auto white balance (AWB) The auto white balance feature continuously optimizes the color characteristics of the image.
Description of the data path Note Configuration To set position and size of the control area (Auto_Function_AOI) in an advanced register: see Table 116: Advanced register: Autofunction AOI on page 214. AUTOFNC_AOI affects the auto shutter, auto gain and auto white balance features and is independent of the Format_7 AOI settings. If this feature is switched off the work area position and size follow the current active image size.
Description of the data path The algorithm is based on the assumption that the R-G-B component sums of the samples shall be equal, i.e., it assumes that the mean of the sampled grid pixels is to be monochrome. Auto shutter In combination with auto white balance, all Marlin CCD models and CMOS models are equipped with auto shutter feature.
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 • • • 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 (SmartViewCtrl1 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 32: Manual gain range of the various Marlin types on page 75) 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 • • • • 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. (SmartViewCtrl1 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 • • 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 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 • • • • • 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 To configure this feature in an advanced register: See Table 107: Advanced register: Shading on page 207. Note • • 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 42: Generation of shading image Marlin Technical Manual V.2.7.
Description of the data path Note • • • • • 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 47: Histogram with blemish correction Note • • • • 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. 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 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. Horizontal resolution is lowered, depending on the model.
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 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, 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 52: Horizontal sub-sampling 1 out of 2 (b/w) 2 out of 4 Figure 53: Horizontal sub-sampling 2 out of 4 (color) Note The image appears horizontally compressed in this mode and no longer exhibits a true aspect ratio. Marlin Technical Manual V.2.7.
Description of the data path Format_7 Mode_2 Only MF-131B: 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 54: Vertical sub-sampling (b/w) Marlin Technical Manual V.2.7.
Description of the data path 2 out of 4 Figure 55: Vertical sub-sampling (color) Note The image appears vertically compressed in this mode and does no longer show true aspect ratio. Format_7 Mode_3 By default use Format_7 Mode_3 for • only Marlin F-131B: • only Marlin F-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 56: 1 out of 2 H+V sub-sampling (b/w) Marlin Technical Manual V.2.7.
Description of the data path 2 out of 4 H+V sub-sampling (only Marlin F-146C/201C) Figure 57: 2 out of 4 H+V sub-sampling (color) Note Changing sub-sampling modes involve the generation of new shading reference images due to a change in the image size. Marlin Technical Manual V.2.7.
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 58: Marlin update timing on page 98 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 59: Sharpness: left: 0, middle: 1, right: 2 Note Configuration To configure this feature in feature control register: See Table 93: Feature control register on page 189.
Description of the data path Note 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 101. Color correction is needed to eliminate the overlap in the color channels.
Description of the data path Note Configuration To configure this feature in an advanced register: See Table 118: Advanced register: Color correction on page 215. 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 To configure this feature in feature control register: See Table 93: Feature control register on page 189. 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 3. Read received characters from SIO_DATA_REGISTER, beginning at char 0. 4. To input more characters, repeat from step 1. To write data: 1. Query TDRD flag (buffer ready?) and write the number of bytes to send (copied from SIO register to transmit FIFO) to TBUF_CNT. 2.
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 • • 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 15 fps 7.5 fps 3.75 fps x 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 15 fps 7.5 fps 3.75 fps x 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) Format Mode Resolution 0 1 2 Color mode 0 160 x 120 YUV444 1 320 x 240 YUV422 2 640 x 480 YUV411 3 640 x 480 YUV422 4 640 x 480 RGB 5 640 x 480 Mono8 6 640 x 480 Mono16 0 800 x 600 YUV422 1 800 x 600 RGB 2 800 x 600 Mono8 3 1024 x 768 YUV422 4 1024 x 768 RGB 5 1024 x 768 Mono8 6 800 x 600 Mono16 7 1024 x 768 Mono16 0 1280 x 960 YUV422 1 1280 x 960 RGB 2 1280 x 960 Mono8 3 1600 x 1200 YUV422 4
Video formats, modes and bandwidth Format Mode Resolution 7 Color mode Maximal S400 frame rates for Format_7 modes 0 1280 x 1024 Mono8 25 fps* 1 640 x 1024 Mono8 48 fps* H-sub-sampling 2 1280 x 512 Mono8 50 fps* V-sub-sampling 3 640 x 512 Mono8 94 fps* H+V sub-sampling Table 49: Video Format_7 default modes Marlin F-131B (NIR) *: With minimum shutter; increasing shutter will decrease max. frame frequency proportionally due to global shutter principle.
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 61: Area of Interest (AOI) Note • • 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 62: 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 To configure this feature in an advanced register see Table 116: Advanced register: Autofunction AOI on page 214. 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 3.75 fps 1.
Video formats, modes and bandwidth Format Mode Resolution 60 fps 30 fps 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 • • 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 = --------------------------------------------------------------------------------------------------------------------------------------------------------------30s + 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 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 56: Frame rates Marlin F-080 as function of AOI height Marlin Technical Manual V.2.7.
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 = ---------------------------------------------------------------------------------------------------------------------------------------------217s + 1236 – AOI_HEIGHT 7.4s + 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 108.
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 70: Trigger_mode_0 and 1 Marlin Technical Manual V.2.7.
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 Note • • 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 68: Camera-specific exposure time offset 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. The real minimum exposure time of a Marlin F-033 is then: 20 μs + 12 μs = 32 μs 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 149), 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 149), 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 75: 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 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. The line time depends on the sensor used and therefore can vary from model to model.
Controlling image capture Model Memory Size Marlin F-033 17 frames Marlin F-046 13 frames Marlin F-080 7 frames Marlin F-131 4 frames Marlin F-145 3 frames Marlin F-146 3 frames Marlin F-201 2 frames Table 74: FIFO memory size Deferred image transport is especially useful for multi-camera applications: Assuming several cameras acquire images concurrently. These are stored in the built-in image memory of every camera.
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 ....
Controlling image capture Sequence mode Generally all 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 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..
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 • • • • • • 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.
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 Test images Loading test images FirePackage Fire4Linux 1. Start SmartView. 1. Start cc1394 viewer. 2. Click the Edit settings button. 2.
How does bandwidth affect the frame rate? Figure 79: Gray bar test image Marlin Technical Manual V.2.7.
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 80: Color test image Marlin Technical Manual V.2.7.
How does bandwidth affect the frame rate? Mono8 (raw data) Figure 81: 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 The first pixel of the image is always the red pixel from the sensor. (Mirror must be switched off.) Marlin Technical Manual V.2.7.
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 79: 32-bit register Example This requires, for example, that to enable ISO_Enabled mode (see Chapter ISO_Enable / Free-Run on page 149), (bit 0 in register 614h), the value 80000000 h must be written in the corresponding register. Marlin Technical Manual V.2.7.
Configuration of the camera Figure 82: 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 81: 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 Unit dependent info Offset 0-7 8-15 16-23 24-31 444h 00 03 7F 89 448h 40 3C 00 00 44Ch 81 00 00 02 450h 82 00 00 06 Table 84: 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 Vmode_Error_Status_Inq 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..
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 5C0h CAPTURE_SIZE_INQ Always 0 5C4h CAPTURE_QUALITY_INQ Always 0 Reserved for other FEATURE_LO_INQ Always 0 590 .. 5BCh 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 white balance on page 67).
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 93: Feature control register Marlin Technical Manual V.2.7.
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 94: 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 88: Frame rate inquiry register on page 173) 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 95: Format_7 control and status register Note • • • • • 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 Register Register name Description 0xF1000200 MAX_RESOLUTION See Table 100: Advanced register: Maximum resolution inquiry on page 201 0xF1000208 TIMEBASE See Table 101: Advanced register: Time base on page 202 0xF100020C EXTD_SHUTTER See Table 103: Advanced register: Extended shutter on page 203 0xF1000210 TEST_IMAGE See Table 104: Advanced register: Test image on page 204 0xF1000220 SEQUENCE_CTRL except Marlin F-131B 0xF1000224 SEQUENCE_PARAM See Table 76: A
Configuration of the camera Register Register name Description 0xF1000320 IO_OUTP_CTRL1 0xF1000324 IO_OUTP_CTRL2 See Table 23: Advanced register: Output control on page 54 0xF1000328 IO_OUTP_CTRL3 Dolphin series only 0xF1000340 IO_INTENA_DELAY See Table 113: Advanced register: Delayed Integration Enable (IntEna) on page 212 0xF1000360 AUTOSHUTTER_CTRL Marlin/Oscar series only 0xF1000364 AUTOSHUTTER_LO 0xF1000368 AUTOSHUTTER_HI See Table 114: Advanced register: Auto shutter control on p
Configuration of the camera Note Advanced features should always be activated before accessing them. Note • • Currently all registers can be written without being activated. This makes it easier to operate the camera using Directcontrol. Allied Vision reserves the right to require activation in future versions of the software. Version information inquiry The presence of each of the following features can be queried by the 0 bit of the corresponding register.
Configuration of the camera ID Camera type 6 F145c-1 7 F201b-1 8 F201c-1 9 MF033B 10 MF033C 11 MF046B 12 MF046C 13 MF080B 14 MF080C 15 MF145B2 16 MF145C2 17 MF131B 18 --- 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 Table 98: Camera t
Configuration of the camera ID Camera type 47 M2F201B 48 M2F201C 49 M2F146B 50 M2F146C Table 98: Camera type ID list Note • Marlins with serial numbers beginning with 6xx identify itself as M2F… 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.
Configuration of the camera Register Name Field Bit 0xF1000040 ADV_INQ_1 MaxResolution [0] TimeBase [1] ExtdShutter [2] TestImage [3] FrameInfo [4] Sequences [5] VersionInfo [6] --- [7] Look-up tables [8] Shading [9] DeferredTrans [10] HDR mode [11] Marlin F-131B only DSNU [12] Marlin F-131B only Blemish correction [13] Marlin F-131B only TriggerDelay [14] Misc. features [15] Soft Reset [16] High SNR [17] Color correction [18] User profiles [19] --- [20..
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] 6 100 7 200 8 500 9 1000 Table 102: Timebase ID Note The ABSOLUTE VALUE CSR register, introduced in IIDC V1.3, is not implemented. 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..
Configuration of the camera • • 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 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..31] Length of the sequence 0xF1000224 SEQUENCE_PARAM --- [0..
Configuration of the camera Register Name Field Bit Description 0xF1000244 LUT_MEM_CTRL Presence_Inq [0] Indicates presence of this feature (read only) --- [1..4] Reserved EnableMemWR [5] Enable write access --- [6..7] Reserved AccessLutNo [8..15] AddrOffset [16..31] byte Presence_Inq [0] Indicates presence of this feature (read only) --- [1..7] Reserved NumOfLuts [8..15] Maximum number of look-up tables MaxLutSize [16..
Configuration of the camera Register Name Field Bit Description 0xF1000250 SHDG_CTRL Presence_Inq [0] Indicates presence of this feature (read only) BuildError [1] Could not built shading image --- [2..3] Reserved ShowImage [4] Show shading data as image BuildImage [5] Build a new shading image ON_OFF [6] Shading on/off Busy [7] Build in progress --- [8..23] Reserved GrabCount [24..
Configuration of the camera Register Name Field Bit Description 0xF1000260 DEFERRED_TRANS Presence_Inq [0] Indicates presence of this feature (read only) --- [1..4] Reserved SendImage [5] Send NumOfImages now (auto reset) HoldImg [6] Enable/Disable deferred transport mode FastCapture [7] Enable/disable fast capture mode --- [8..15] Reserved FiFoSize [16..23] Size of FIFO in number of images (read only) NumOfImages [24..
Configuration of the camera High dynamic range mode (Marlin F-131B 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] ON: Error on computing DSNU correction, e.g. sequence mode active (read only) OFF: No Error --- [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 • • 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. 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 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 Enabling this feature, time stamp data will be inserted into any captured image. The size of the time stamp depends on the selected time stamp format. The LinePos field indicates at which line the stamp will be inserted. Enter a • positive value from 0..HeightOfImage to specify a position relative to the top of the image. LinePos=0 specifies the very first image line. • negative value from -1..-HeightOfImage to specify a position relative to the bottom of the image.
Configuration of the camera Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 Cycle offset 12 bit Bit 16 17 18 19 20 21 22 23 13 14 15 Cycle count ... 24 25 26 ...
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 84: SIS in the image User profiles Definition Within the IIDC specification user profiles are called memory channels. Often they are called user sets.
Configuration of the camera In general this advanced register is a wrapper around the standard memory channel registers with some extensions. In order to query the number of available user profiles please check the Memory_Channel field of the BASIC_FUNC_INQ register at offset 0x400 (see IIDC V1.3x for details). The ProfileID is equivalent to the memory channel number and specifies the profile number to store settings to or to restore settings from.
Configuration of the camera ErrorCode # Description 0x07 Loading LUT data failed 0x08 Storing LUT data failed Table 128: User profile: Error codes 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 • • • • • A profile save operation automatically disables capturing of images.
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)
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 Buffer size query GPDATA_BUFFER indicates the actual storage range Register 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 Caution 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 Marlin cameras camera body pixel area pixel area y camera body D sensor case sensor case x Figure 85: Sensor position accuracy Criteria Subject Method of Positioning Reference Points Accuracy Properties Optical alignment of the photo sensitive sensor area into the camera front module (lens mount front flange) Sensor Center of the pixel area (photo sensitive cells) Camera Center of the lens mount x/y +/- 0.
Index Numbers 0xF0F00830 (bulk trigger).........................140 0xF1000208 (time base) ...........................202 0xF100020C (extended shutter) .................203 0xF1000210 (test images).........................204 0xF1000220 (sequence control) .................205 0xF1000220 (sequence mode) ...................155 0xF1000240 (LUT) ...................................205 0xF1000250 (shading) .............................207 0xF1000260 (deferred image transport).......
Index limits................................................ 72 target grey level ............................ 72, 75 Auto Exposure (CSR register) ...................... 74 auto gain ........................................... 72, 73 Auto gain control (advanced register)..........213 auto shutter .................................. 69, 70, 72 auto shutter control advanced register ..............................213 Auto shutter control (advanced register)......213 auto white balance external trigger ........
Index channel .................................................. 58 color camera block diagram .................................... 61 Color correction .......................... 99, 101, 215 color correction (advanced register)............215 Color Correction (Field) ............................200 Color correction (Field).............................200 color information ..................................... 99 Color interpolation ..................................100 Com (LED state) ....................
Index inactive..................................... 146, 203 register............................................203 trigger mode .....................................137 Extended shutter (advanced register) ..........203 EXTENDED_SHUTTER.................................146 External GND ........................................... 46 external trigger........................................ 49 F FastCapture bandwidth ........................................153 deferred image transport.....................
Index High Dynamic Range mode ......................... 62 Histogram blemish correction .............................. 87 HoldImg field ................................................152 flag .................................................152 mode...............................................152 set ..................................................207 HoldImg (Field) ......................................208 Horizontal binning ................................... 91 horizontal mirror function..........
Index Multi-shot ........................................149 One-shot ..........................................147 J jitter .............................................. 148, 150 at exposure start................................151 K knee-point .............................................. 63 Kneepoint1 ............................................. 63 Kneepoint2 ............................................. 63 Kneepoint3 ............................................. 63 KneePoints (Field) .............
Index No FLASH object ....................................... 48 Node_Id ................................................165 nonlinear photo response .......................... 64 non-uniform illumination........................... 79 NumOfLuts .............................................205 general ............................................. 49 registers ........................................... 54 set by software ................................... 57 OutVCC ........................................
Index scan....................................................... 20 secure image signature (SIS) advanced registers .............................217 definition .........................................159 scenarios..........................................159 sensor positioning ........................................ 37 Sensor position accuracy...........................227 sequence BAYER color pattern............................. 66 commands for generating shading image . 81 correction .................
Index T tag field.................................................. 58 target grey level corresponds to Auto_exposure .............190 Target grey level (auto exposure)............ 72, 75 Target grey level (SmartView) corresponds to auto exposure................ 70 tCode ..................................................... 58 test image..............................................161 Bayer-coded .....................................164 b/w cameras .....................................161 color ..........
Index User profiles (advanced register) ................221 user sets ................................................221 U/B_Value (Field)..................................... 66 U/V slider range ....................................... 67 V valid values AF_AREA_SIZE...................................214 Vendor unique Features ............................182 Version information (advanced register) ......197 Vertical binning ....................................... 90 vertical binning SNR ..................
