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)
- Linux GNU bfin-elf Blackfin toolchain 2008R1.5_RC14 - install as root from / (creates full path /opt/uClinux...)
- Windows GNU bfin-elf Blackfin toolchain - click on blackfin-toolchain-win32-2008R1.5.exe
Important: During installation, you will see the following message:
---------------------------
ADI Blackfin Toolchain 2008R1.5 Setup
---------------------------
Your system does not appear to have LibUsb-Win32 installed.
You need to have this installed if you wish to use USB based JTAG tools.
Do you wish to install LibUsb-Win32?
---------------------------
Yes No
---------------------------
Select "No". This LibUsb-Win32 is not required, and if installed, will cause major problems with your system's USB.
- TeraTerm Pro terminal program for Windows - works very well for firmware uploads from Windows
- MinGW GCC make.exe - in case your windows system doesn't have make.exe for building firmware. You only need to install GNU Make, or you can install the entire MinGW GCC build environment.
- section5.ch ICEbear JTAG debug tools (use 1.11beta)
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
- 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), UCRobotics(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
Last Updated - 2 July 2010 21:50 gmt
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