SRV-1 Blackfin Camera


Surveyor SVS (stereo vision system)

        

This page contains technical specs and links to the drivers, firmware and applications used with the SRV-1 Blackfin Camera. If you don't find what you are looking for on this page, try Surveyor Robotics Journal or Surveyor Robotics Forum

• Specifications
• Schematics and Drawings
• Reference Documents
• SRV-1 Blackfin Camera Firmware
• Blackfin Compiler and Debugger Toolchains
• SRV-1 Java Console
• SRV-1 Python console
• 3rd Party Software Support
• Example Projects
• Common Configuration / Troubleshooting Issues
• Ordering Information

• 500MHz Analog Devices Blackfin BF537 Processor (1000 integer MIPS)
• 32MB SDRAM, 4MB SPI Flash
• JTAG (tested with section5 ICEbear USB-JTAG)
• SPI Flash and UART boot mode select
• External I/O Header (32-pin - 16 x 2 x 0.1")
  • 3.3V Input - 145mA total draw at 500MHz, including camera
  • Board dimensions - 50 mm x 60 mm (2.0" x 2.6"), 36g (1.25 oz) including camera module
  • 2 UARTS - tested at up to 2.5Mbps with CTS/RTS flow control
  • 4 Timers (2 share pins with UART1)
  • SPI - 2 slave select, 1 master select
  • I2C
  • 16 GPIO
  • "S-32 expansion bus" header will support stacking of expansion boards
  • RoHS compliant
  
  
• Omnivision OV9655 1.3 Megapixel Sensor
  • AA Format Module (32-pin header - 16 x 2 x 0.1")
  • Interchangeable Lens - M12 P=0.5 format (12mm diameter, 0.5mm thread pitch). Standard lens is 3.6mm f2.0 (90-deg), optional 2.2mm f2.5 (120-deg)
  • Camera header on production board is 90-degree female (vs straight female header shown in top left photo) - 90-degree expansion connector available to place camera parallel with processor board
  • RoHS compliant
  
  
• Radio/Motor Control Module
  • WiFi communication via Lantronix Matchport WLAN 802.11g radio
  • u.fl connector to external antenna
  • On-board 3.3V high efficiency switching regulator (Recom R-783.3-1.0) for battery input (4.75 - 18.0 VDC)
  • Dual H-bridge motor driver (Fairchild FAN8200) with 1000mA capacity per motor
  • 2 switching transistor drivers with 100mA capacity for laser range pointers
  • Board dimensions - 50 mm x 65 mm (2.0" x 2.6"), 10g (0.4 oz)
  • Mounts to SRV-1 Blackfin Camera via 32-pin external i/o header ("S-32 expansion bus")
  • RoHS compliant
  
  
• Stereo Vision System
  • Two SRV-1 Blackfin Cameras separated by 10.75 cm (4.25")
  • Interprocessor communications via SPI bus (64MHz)
  • WiFi communication via Lantronix Matchport WLAN 802.11g radio w/onboard 3dB dipole antenna
  • On-board 3.3V high efficiency switching regulator (Recom R-783.3-1.0) for battery input (4.75 - 18.0 VDC)
  • Headers for 8 servos (5V supply provided)
  • Dual H-bridge motor driver (Fairchild FAN8200) with 1000mA capacity per motor
  • Two switching transistor drivers with 100mA capacity for lights and laser pointers
  • Low battery detect circuit
  • Headers for 8 servos (5V regulator provided)
  • Extended pin headers for full access to S-32 expansion bus of both processors
  • Board dimensions - 60 mm x 150 mm (2.5" x 6.0"), 140g (5 oz)
  • 1" x 2" mounting hole pattern for compatibility with SRV-1 robot base (dual and quad motor versions)
  • RoHS compliant
  
  
• Default Firmware
  • Full-speed frame capture direct to SDRAM at 1280x1024, 640x480, 320x256 or 160x128 pixel resolutions
  • JPEG (Motion JPEG) compression
  • Basic image processing - histogram, pixel sampling, mean, frame difference, blob, scan, count, find
  • Motor control for PWM (H-bridge) and PPM (servo) interfaces
  • Built-in interpreters for Small C or Lisp languages for autonomous operation
  • Real-Time-Clock (milliseconds since reset), internal timer resolution to 10 nanoseconds
  • Direct control of I2C and SPI devices
  • In-Application-Programming (IAP) of flash memory
  • XMODEM protocol for reliable file transfer
  • Direct support for up to 4 Maxbotics ultrasound rangers
  • Compiled with GNU Blackfin Toolchain (bfin-elf-gcc) found below
  • Can be replaced by u-boot / uClinux found below

• SRV-1 Blackfin Camera Schematic (204kB)
  
  
• OV9655 Camera Module Schematic (136kB)
  
  
• Combo Matchport / Motor Driver  EAGLE Files:  bfin-radiomotor-v2.sch   bfin-radiomotor-v2.brd
  
  
• Stereo Vision System  EAGLE 5 Files:  bfin-stereo-v2.sch   bfin-stereo-v2.brd
  
  
• SRV-1X IMU/GPS/SD expansion board
  
  
• S-32 expansion bus pin assignments
  
  
• Legacy Boards
  • Matchport/XBee Radio Module    EAGLE Files:  bfin-radio-v2.sch    bfin-radio-v2.brd
  • Motor Control    EAGLE Files:  bfin-motor-v2.sch    bfin-motor-v2.brd
  • Wiport Radio Module        EAGLE Files:  bfin-wiport-v1.sch   bfin-wiport-v1.brd

• Analog Devices Blackfin BF537 Processor Data Sheet (2.4MB)
  
  
• Blackfin Hardware Reference Manual (4.7MB)
  
  
• Blackfin Programmer Reference Manual (3.4MB)
  
  
• Omnivision OV9655 Data Sheet (664kB)
  
  
• Lantronix Matchport User Guide (1.4MB)

• latest SRV-1 Blackfin firmware release - srv-blackfin-112608.zip
        Release notes
        Click here for forum discussion
  
  
• SVN archive for SRV-1 firmware
  From the command-line,
        svn co http://srv.transterpreter.org/
  will check out the entire repository. To get only the trunk,
        svn co http://srv.transterpreter.org/srv-blackfin/trunk
  
  
• SRV_protocol for Blackfin (command set for latest firmware)
  
  
• u-boot.ldr - 115kbps boot loader and console
  
  
• srv1 uclinux test image with Python (3MB) - 56kbps u-boot + console  ....   release notes
  

• Linux GNU bfin-elf Blackfin toolchain 2008R1.5_RC14 - install as root from / (creates full path /opt/uClinux...)
  • blackfin-toolchain-08r1.5-14.i386.tar.bz2
  • blackfin-toolchain-elf-gcc-4.1-08r1.5-14.i386.tar.bz2
  • blackfin-toolchain-gcc-3.4-addon-08r1.5-14.i386.tar.bz2
  
  
• Windows GNU bfin-elf Blackfin toolchain - click on blackfin-toolchain-win32-2008R1.5.exe
  
  
• nc111nt.zip (104kb) - Netcat ("nc") for Windows - used as a simple terminal program instead of telnet
  
  
• TeraTerm terminal program for Windows - works well for firmware uploads
  
  
• section5.ch ICEbear JTAG debug tools (use 1.11beta)

• SRV1Console.zip (780kb) - last updated 20-Apr-2008 for SRV-1 Blackfin
  
• SRV1Console and SRV-1 robot Setup Instructions
  
• SRV1Console.java source code - compile with
  "javac -classpath .:ImageButton:RXTXcomm.jar:wstreamd_embed.jar: SRV1Console.java"
      and note that this is GPL open source, so modifications and extensions are meant to be shared !
  
  
• SRV1Test.java - new test console source code
  SRV1Test.jar - precompiled class files
         SRV1Test is described here -
         http://www.surveyor.com/cgi-bin/robot_journal2.cgi/2008/06/12#166
         http://www.surveyor.com/cgi-bin/robot_journal2.cgi/2008/06/12#167
  
  compile with
  "javac SRV1Test.java"
  
  run precompiled version (SRV1Test.jar) with
  "java -cp SRV1Test.jar SRV1Test"
  
  command line options:
  • -remote_addr (SRV-1 IP address - default is 169.254.0.10)
  • -remote_port (SRV-1 port - default is 10001)
  • -local_port (host computer port - default is 10001)
  • -protocol (TCP or UDP - default is TCP)
  • -archive (capture all frames to named directory)
  here's a command line example that overrides all defaults:
  "java -cp SRV1Test.jar SRV1Test -remote_addr 192.168.0.15 -remote_port 10002 -local_port 10002 -protocol UDP"

• download pySRV1Console-122907.zip
  
  If you don't already have Python installed on your system, or if you are running a version prior to 2.4, you should download the Python installer from http://www.python.org/download/. On systems that already have Python installed, the only additional module you may need to install is pySerial, which is downloaded from http://pyserial.sourceforge.net.
  
  Once you have Python installed, the console is started with:
  
        python pySRV1Console.py -srv_host xxx.xxx.xxx.xxx -srv_port 10001
             (insert correct SRV-1 IP address)
  
  Once pySRV1Console is running, the main console page is accessed via your browser at:
  
        http://localhost:8888/view.html
  
  Please note that this initial release does not yet support the firmware upload, user flash editor, or image processing functions, but these are in development. Corrections and contributions to this codebase are most welcome !

• Roborealm - http://www.roborealm.com/help/Surveyor_SRV1.php
• Microsoft Robotics Studio - http://www.surveyor.com/MSRS.html
• Transterpreter / Occam-Pi - http://www.transterpreter.org
• Matlab - http://www.swarthmore.edu/NatSci/mhsieh1/Courses/E28/
• C++ Console - http://agents.sci.brooklyn.cuny.edu/robotics.edu/bcsoftware.php
• RoboBrain Console for OS/X - http://www.voxatec.com/
• Webots - http://www.cyberbotics.com/

• societyofrobots.com Axon + Blackfin tutorial
• YARB 1.0 (Yet Another Robotic Blimp)
• SRV-1 Transterpreter
• Swarthmore College E28/CPSC82 Course: Mobile Robotics
• Brooklyn College robotics.edu - CIS1.5: Introduction to programming using C++
• Lynxmotion Tri-Track
• Coaxial Rotor UAV (almost flies)
• AscTec X-3D Quad Rotor UAV
• SRV-1 Blackfin Wireless Mobile Robot

• Configuring Matchport module via serial
• Restoring SRV-1 Blackfin flash firmware
• Compiling SRV-1 Blackfin firmware on Windows
• Executing C-programs using onboard interpreter
• uClinux Install Basics
• Updating Matchport firmware
• 2.5Mbps Matchport / Blackfin Configuration
• Adding ultrasonic ranging modules
• Adding I2C compass

• The SRV-1 Blackfin Camera and expansion cards are now available for direct order through http://surveyor-corporation.stores.yahoo.net/.
  
  
• Complete SRV-1 robots are available for order through our partner Inertia Labs. Robots and robot controllers are available through existing resellers Trossen Robotics (US), Active Robots (UK), Pitotech (Taiwan), noDNA (Germany), NetSpectrum (China), Robotics World (Singapore), Energid (India) and eshopen.com (Italy)
  
  
• We do accept purchase orders from educational institutions (applying a 10% discount). Orders should be directed to Surveyor Corporation, 1771 La Lomita Way, San Luis Obispo, California 93401, fax: +1.309.285.6192, email: support@surveyor.com