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Surveyor SRV-1 Blackfin Camera



SRV-1 Blackfin Camera


SRV-1 Blackfin Camera with Radio/Motor Board


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
  • 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 OV7725 VGA low-light sensor or 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 (OV9655 only), 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 C interpreter for scripting and 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 or Sharp IR rangers, Locosys or uBlox5 GPS, Honeywell HMC6352 or HMC5843 compass, ST LIS3LV02DQ tilt sensor, Analog Devices AD7998 8-channel A/D
    • Compiled with GNU Blackfin Toolchain (bfin-elf-gcc) found below
    • Can be replaced by u-boot / uClinux found below


Schematics and Drawings


Reference Documents


SRV-1 Blackfin Camera Firmware (GPL Open Source)


Blackfin Compiler and Debugger Toolchains (GPL Open Source)


SRV-1 Java Console (GPL Open Source)

There are now two consoles - SRV1Console and SRV1Test ...


Additional SRV-1 control consoles and interface libraries


Example Projects


Common Configuration / Troubleshooting Issues


Ordering Information
Last Updated - 2 July 2010 21:50 gmt
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