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-500MHz
Analog Devices Blackfin BF537 Processor -Omnivision OV9655 1.3 Megapixel Sensor -Radio/Motor Control Module
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
Up to 600MHz high performance Blackfin processor Two 16-bit MACs (Multiply-accumulate), two 40-bit ALUs, four 8-bit video ALUs, 40-bit shifter RISC-like register and instruction model for ease of programming and compiler-friendly support Advanced debug, trace, and performance monitoring 0.8V to 1.2V core VDD with on-chip voltage regulation 2.5 V and 3.3 V-compliant I/O with specific 5 V-tolerant pins (PJ4 and TWI pins SDA, SCL)
SRAM/cache instruction SRAM data SRAM/cache additional dedicated data SRAM scratchpad SRAM
External memory controller with glueless support for SDRAM and asynchronous 8-bit and 16-bit memories Flexible booting options from external flash, SPI and TWI memory or from SPI, TWI, and UART host devices Memory management unit providing memory protection
IEEE 802.3-compliant 10/100 Ethernet MAC Controller area network (CAN) 2.0B interface Parallel peripheral interface (PPI), supporting ITU-R 656 video data formats Two dual-channel, full-duplex synchronous serial ports (SPORTs), supporting eight stereo I2S channels 12 peripheral DMAs, 2 mastered by the Ethernet MAC Two memory-to-memory DMAs with external request lines Event handler with 32 interrupt inputs
Serial peripheral interface (SPI)-compatible Two UARTs with IrDA support Two-wire interface (TWI) controller Eight 32-bit timer/counters with PWM support Real-time clock (RTC) and watchdog timer 32-bit core timer 48 general-purpose I/Os (GPIOs), 8 with high current drivers On-chip PLL capable of 1 to 63 frequency multiplication Debug/JTAG interface
Blackfin processors combine a dual-MAC state-of-the-art signal processing engine, the advantages of a clean, orthogonal RISClike microprocessor instruction set, and single-instruction, multiple-data (SIMD) multimedia capabilities into a single instruction-set architecture. low power and low voltage combining industry-standard interfaces with a high performance signal processing core
Power Supply Core 1,8 V +-10% Analog 2,45 - 3,0 V I/O 1,7 - 3,3 V 90 mW typical (15 fps SXGA YUV format) Standby <20uA Temperature -30C to +70C Stable image 0C to 50C
Output Formats
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
embedded device server provides a network-enabling solution based on the IEEE 802.11b/g combines a processor, memory, 802.11b/g transceiver, and 921 Kbps (maximum) serial ports includes an operating system, an embedded web server, and a full TCP/IP protocol stack.
Wired Equivalent Privacy WEP (RC4 encryption algorithm, 64-bit or 104-bit key) Wireless Protected Access WPA (Temporal Key Integrity Protocol - TKIP) 802.11i/WPA2-Personal models with and without AES encryption
Capabilities
Communication between TCP and UDP to serial Wireless interface (802.11b/g) with protection Wired Ethernet-to-wireless bridging
host connected to the MatchPort b/g over a wired Ethernet interface to be accessible over a wireless network.
Two serial channels; up to 921 Kbps data rate Email notification of configurable alarms and events Upgradeable firmware Simple Network Management Protocol (SNMP) monitoring Connection to devices through a TCP or UDP data channel to computers or to another device server Web server allowing presentation of custom content and easy configuration through the browser Contains eight programmable I/O pins used to monitor or control attached devices.
Support
ARP, UDP, TCP, ICMP, Telnet, TFTP, AutoIP, DHCP, HTTP, and SNMP for network communications and management. TCP, UDP, and Telnet for connections to the serial ports. TFTP for firmware and web page updates. IP for addressing, routing, and data block handling over the network. UDP for typical datagram applications in which devices interact with other devices without maintaining a pointto-point connection. SMTP for email transmission.
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 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 rangers, Locosys GPS and Honeywell HMC6352 compass Compiled with GNU Blackfin Toolchain (bfin-elf-gcc) found below Can be replaced by u-boot / uClinux found below
zopakuje pkaz a ped nm pole znak #, nebo pole ## nsledovan del odpovd Pkazy lze poslat pes terminlov program s TCP / telnetem jako je netcat, telnet Pi zapnut robot pole odpov, jako kdyby dostal pkaz V vype verzi firmware Po zapnut je nutn pokat asi 2 s, ne bude robot schopn pijmat pkazy Popis pkaz na http://www.surveyor.com/SRV_protocol_020609.ht ml
Firmware
Nejvce
Obsahuje
'P'
Little C interpret
'Q'
Firmware
Pkazy
obrazu
'vbc' - 'vb' hled oblast s barvami meujcmi s barvami v promnn 'c', vrac souadnice obdlnku ohraniujcho oblast a poet pixel hledan barvy, me vrtit a 16 oblast 'vccy1y2u1u2v1v2' - nastav barvu v promnn 'c' 'vh' spot histogram 'vm' spot prmrnou hodnotu barev Y, U a V 'vpxxxxyyyy' vrt hodnotu pixelu danho souadnicem xxx a yyy 'vrc' vrt hodnotu barev v promnn 'c' 'vzx' nuluje barvy v promnn x (1-4), pro x=0 nuluje vechny barvy
Firmware
Pkazy
neuronov st
'np' ulo nov vzorek 'nd' zobraz uloen vzorek 'ni' inicializuje s s nhodnmi vahami 'nt' trnuje s z uloenho vzorku 'nx' testuje s se zkuebnm vzorkem 'ng' vezme vzorek pouitm oblasti dan "vb" 'nb' meuje vzorek proti oblasti dan "vb"
Java konzole
Lze sthnout na http://www.surveyor.com/ Jednoduch a rychl oven funknosti Po konfiguraci MatchPortu pes webov prohle
upraven konfiguranho souboru konzole (adresa a port robota) je mon se k robotovi pes ni pipojit Lze nastavit vzhled a poet tlatek a jak pkaz maj robotovi poslat
Zobrazuje video z robota Obsahuje webov server
button.12=buttons/laser.png command.12=6C
umoujc pstup k
C++ konzole
Lze
sthnout na http://agents.sci.brooklyn.cuny.edu/robotics .edu/bcsoftware.php Sama o sob nezobrazuje video, um ukldat obrzky na disk Vyuitelnj pro programovn autonomnho chovn robota Implementuje komunikan rozhran k robotovi, funkce jako setVideoMode(int mode) nad poslnm pkaz robotovi