ADIS17001AMLZ/DEV - ANALOG DEVICES

ADIS1700x Vision-Sensing Camera Module User Guide

(includes ADIS17001 and ADIS17002)

Revision 1.0, October 2017

Part Number

82-100136-01

Analog Devices, Inc.

One Technology Way

Norwood, MA 02062-9106

without prior, express written consent from Analog Devices, Inc.

Disclaimer

Analog Devices, Inc. reserves the right to change this product without prior notice. Information furnished by Ana-

log Devices is believed to be accurate and reliable. However, no responsibility is assumed by Analog Devices for its

use; nor for any infringement of patents or other rights of third parties which may result from its use. No license is

granted by implication or otherwise under the patent rights of Analog Devices, Inc.

Trademark and Service Mark Notice

The Analog Devices logo, Blackfin, Blackfin+, SHARC, SHARC+, CrossCore, VisualDSP++, EZ-KIT, EZ-Extend-

er, and EngineerZone are registered trademarks of Analog Devices, Inc.

All other brand and product names are trademarks or service marks of their respective owners.

ADIS1700x Vision-Sensing Camera Module User Guide ii

Contents

Preface

Product Overview .......................................................................................................................................... 1–1

Purpose of This Manual................................................................................................................................. 1–1

Intended Audience.........................................................................................................................................1–2

Technical Support.......................................................................................................................................... 1–2

Product Information...................................................................................................................................... 1–3

Analog Devices Website..............................................................................................................................1–3

EngineerZone ............................................................................................................................................. 1–3

Notation Conventions ................................................................................................................................... 1–3

ADIS1700x Functional Description

SNAP Framework Overview .......................................................................................................................... 2–1

System Overview ........................................................................................................................................... 2–1

Block Diagram...............................................................................................................................................2–2

Using the ADIS1700x

Evaluation System Contents .......................................................................................................................... 3–1

Default Configuration ................................................................................................................................... 3–1

Board Installation .......................................................................................................................................... 3–2

Installation

Install the SNAP Sensor Library ................................................................................................................... 4–1

Install the ADI WinUSB Driver ................................................................................................................... 4–1

Uninstall SNAP Sensor Library ....................................................................................................................4–2

Create a Win32 Project ................................................................................................................................. 4–2

Demo Applications

SnapSensorLibrary ........................................................................................................................................5–1

GetFirmwareVersions.................................................................................................................................. 5–1

ADIS1700x Vision-Sensing Camera Module User Guide iii

GetDeviceInfo ............................................................................................................................................ 5–2

GetDeviceStatus ......................................................................................................................................... 5–2

UpdateApplicationFirmware....................................................................................................................... 5–2

UpdateBootloaderFirmware........................................................................................................................ 5–2

CreateRestorePoint..................................................................................................................................... 5–2

RecoverRestorePoint................................................................................................................................... 5–3

ContinuousVideoRecorder ......................................................................................................................... 5–3

RandomFrameVideoRecorder ..................................................................................................................... 5–3

CaptureLoop .............................................................................................................................................. 5–3

MultiSensorCaptureLoop ........................................................................................................................... 5–3

UserCaptureLoop ....................................................................................................................................... 5–4

ADIS1700xAPIConsole.............................................................................................................................. 5–4

ADIS1700xGetConfig................................................................................................................................ 5–4

ADIS1700xCaptureLoop............................................................................................................................ 5–4

ADIS1700xMultiSensorCaptureLoop......................................................................................................... 5–4

ADIS1700xUserCaptureLoop..................................................................................................................... 5–5

SNAP Development Libraries........................................................................................................................ 5–5

SnapCoreLib............................................................................................................................................... 5–5

SnapCoreImgProcLib ................................................................................................................................. 5–5

SnapImageDisplayLib................................................................................................................................. 5–5

SnapSensorConnectionLib.......................................................................................................................... 5–6

SnapADIS1700xConnectionLib ................................................................................................................. 5–6

Snap ........................................................................................................................................................... 5–6

SnapADIS1700x......................................................................................................................................... 5–6

ADIS1700x Demo Application...................................................................................................................... 5–6

User Interface .............................................................................................................................................5–7

Connecting to the Device ...........................................................................................................................5–7

Open a Connection.................................................................................................................................5–7

Close a Connection ................................................................................................................................. 5–8

Operating Modes........................................................................................................................................ 5–8

iv ADIS1700x Vision-Sensing Camera Module User Guide

Smart Camera Mode ............................................................................................................................... 5–8

Configuration Mode................................................................................................................................ 5–8

Bootloader Mode..................................................................................................................................... 5–9

ADVS200x Luminance Image .................................................................................................................... 5–9

Displayed Image Enhancement ............................................................................................................... 5–9

Displayed Image Negation .................................................................................................................... 5–10

Image Histogram................................................................................................................................... 5–10

Configuring the ADVS200x ..................................................................................................................... 5–12

Modifying ADVS200x Parameters......................................................................................................... 5–12

Setting the Defaut ADVS200x Parameters ......................................................................................... 5–13

Saving and Loading ADVS200x Parameters .......................................................................................... 5–15

Load the ADVS200x Parameters ........................................................................................................ 5–15

Save the ADVS200x Parameters ......................................................................................................... 5–16

Accelerometer Axis Measurement ............................................................................................................ 5–17

Graphical Display.................................................................................................................................. 5–17

Tab Display ........................................................................................................................................... 5–18

Modifying IMU Parameters...................................................................................................................... 5–19

Updating Firmware...................................................................................................................................5–20

Update Bootloader Firmware................................................................................................................. 5–21

Update Application Firmware................................................................................................................5–21

Recovering from a Restore Point ........................................................................................................ 5–22

Device Re-programmer Application............................................................................................................. 5–22

Re-program the Device............................................................................................................................. 5–22

ImgSeqFile Viewer Application....................................................................................................................5–23

NamedValueFile Viewer Application............................................................................................................ 5–23

ADVS200x Demo Application..................................................................................................................... 5–23

ADVS200x Parameters Editor Application................................................................................................... 5–24

ADIS1700x Library

Device Discovery and Initialization................................................................................................................ 6–1

DiscoverFrameworkDevices ........................................................................................................................ 6–1

ADIS1700x Vision-Sensing Camera Module User Guide v

CreateADIS1700xApplication .................................................................................................................... 6–1

Connect...................................................................................................................................................... 6–2

Disconnect ................................................................................................................................................. 6–2

Ping............................................................................................................................................................ 6–2

GetSoftwareVersion .................................................................................................................................... 6–2

Application Level Data................................................................................................................................... 6–2

GetLedStatus .............................................................................................................................................. 6–3

SetLedStatus ............................................................................................................................................... 6–3

IMU Service ..................................................................................................................................................6–3

GetConfiguration ....................................................................................................................................... 6–3

GetMeasurements....................................................................................................................................... 6–4

ADVS200x Camera Service............................................................................................................................ 6–5

GetADVS200xRegisters.............................................................................................................................. 6–5

SetADVS200xRegisters............................................................................................................................... 6–5

GetADVS200xLut ...................................................................................................................................... 6–5

SetADVS200xLut ....................................................................................................................................... 6–6

GetLuminanceImage .................................................................................................................................. 6–6

Communication Protocol

Architecture Description................................................................................................................................7–2

Transport Layer ..........................................................................................................................................7–2

Message Layer............................................................................................................................................. 7–3

Operational Modes..................................................................................................................................... 7–5

Bootloader Firmware ..................................................................................................................................... 7–6

Bootloader Messages................................................................................................................................... 7–7

Reset ....................................................................................................................................................... 7–8

Module SW Version ................................................................................................................................ 7–8

Get Device Status .................................................................................................................................... 7–9

Get Device Info.....................................................................................................................................7–10

Set Device Info...................................................................................................................................... 7–12

Get Sections Info................................................................................................................................... 7–13

vi ADIS1700x Vision-Sensing Camera Module User Guide

Clear Sections........................................................................................................................................7–14

Read Section.......................................................................................................................................... 7–15

Write Section......................................................................................................................................... 7–16

Validate Section..................................................................................................................................... 7–17

Create/Recover Restore Point ................................................................................................................ 7–18

Application Firmware .................................................................................................................................. 7–19

Main Application Messages ...................................................................................................................... 7–19

Get Mode .............................................................................................................................................. 7–21

Set Mode............................................................................................................................................... 7–22

Store/Restore Parameters to Flash .........................................................................................................7–23

Get Production Parameters ................................................................................................................... 7–24

Set Production Parameters .................................................................................................................... 7–25

Get Time............................................................................................................................................... 7–26

Set Time................................................................................................................................................ 7–27

Get LED Mode .....................................................................................................................................7–28

Set LED Mode ...................................................................................................................................... 7–30

Get ADC Reading................................................................................................................................. 7–32

Get Processor Register........................................................................................................................... 7–33

Set Processor Register............................................................................................................................ 7–34

External Memory Test ........................................................................................................................... 7–35

Debug Message ..................................................................................................................................... 7–36

Camera Module Messages......................................................................................................................... 7–37

Get Luminance Image ........................................................................................................................... 7–38

Set Luminance Image ............................................................................................................................ 7–40

Get ADVS200x Tuning Parameters ....................................................................................................... 7–42

Set ADVS200x Tuning Parameters ........................................................................................................ 7–43

Get ADVS200x LUT............................................................................................................................. 7–44

Set ADVS200x LUT.............................................................................................................................. 7–45

Self Test................................................................................................................................................. 7–46

IMU Module Messages............................................................................................................................. 7–49

Get Measurements................................................................................................................................. 7–49

Get Configuration................................................................................................................................. 7–52

ADIS1700x Vision-Sensing Camera Module User Guide vii

Set Configuration.................................................................................................................................. 7–53

Get Parameters......................................................................................................................................7–55

Set Parameters....................................................................................................................................... 7–57

Storage Module Messages ......................................................................................................................... 7–58

Get Device Info.....................................................................................................................................7–59

Clear Sections........................................................................................................................................7–60

Read Section.......................................................................................................................................... 7–61

Write Section......................................................................................................................................... 7–62

Validate Section..................................................................................................................................... 7–63

Get Log Data Summary ........................................................................................................................ 7–65

Get Log Data ........................................................................................................................................7–66

Clear Log Data......................................................................................................................................7–69

Appendix A

Error Messages............................................................................................................................................... 8–2

viii ADIS1700x Vision-Sensing Camera Module User Guide

1 Preface

Thank you for purchasing the Analog Devices, Inc. ADIS1700x Vision-Sensing Camera Module development kit.

The ADIS1700x is a low-power vision-sensing camera module in a small form factor for interfacing to USB 2.0

HOST-compliant devices including single board computers. It includes a tri-axial accelerometer for image stabiliza-

tion, tilt and impact detection. The ADIS1700x combines industry-leading logarithmic sensitive video imaging

technology with digital signal processing and an accelerometer that optimizes video performance.

The ADSP-BF707 processor is a member of the Blackfin® family of products. The Blackfin+ processor combines a

dual-MAC 16-bit state-of-the-art signal processing engine, the advantages of a clean, orthogonal RISC-like micro-

processor instruction set, and single-instruction, multiple-data (SIMD) multimedia capabilities into a single instruc-

tion-set architecture. New enhancements to the Blackfin+® core add 32-bit MAC and 16-bit complex MAC sup-

port, cache enhancements, branch prediction and other instruction set improvements—all while maintaining in-

struction set compatibility to previous Blackfin products.

The ADIS1700x Vision-Sensing Camera Module development kit is shipped with all of the necessary hardware -

you can start the evaluation immediately. The package contains the standalone evaluation board, an interposer board

to enable connection through a standard USB connector, USB cable, a 67 ° FOV and 110° HFOV lenses, a single-

user license of CrossCore Embedded Studio, and an ICE-1000 emulator for debugging.

Product Overview

The ADIS1700x features:

•Analog Devices ADSP-BF707 processor

•USB 2.0 compliant interface

•10kV ESD interface

•Analog Devices ADVS200x low-power monochrome QVGA imager with logarithmic sensitivity

Purpose of This Manual

This manual provides instructions for installing hardware and software associated with the ADIS1700x Vision-Sens-

ing Camera Module. It describes the SNAP Framework used on the Blackfin low-power imaging platform and dem-

onstrates the use of the camera applications.

Preface

ADIS1700x Vision-Sensing Camera Module User Guide 1–1

Intended Audience

The primary audience for this manual is a programmer who is familiar with the Analog Devices Blackfin+ ADSP-

BF70x processor and ADVS200x imager.

For additional information about the Analog Devices camera module, see the ADIS17001/ADIS17002 Low Power,

Small Form Factor Vision-Sensing Camera Module Data Sheet.

Other applicable documentation for the ADIS17001/ADIS17002 includes:

•ADSP-BF70x Blackfin+ Processor Hardware Reference

•ADSP-BF70x Blackfin+ Processor Programming Reference

•ADVS200x Demo User Guide

Technical Support

You can reach Analog Devices processors and Embedded Vision Sensing technical support in the following ways:

•Post your questions in the Embedded Vision Sensing support community at EngineerZone ®:

http://ez.analog.com/community/embedded-vision-sensing

•Submit your questions to technical support directly at:

http://www.analog.com/support

•E-mail your questions about processors, DSPs, and tools development software from CrossCore Embedded Stu-

dio® or VisualDSP++®.

If using CrossCore Embedded Studio or VisualDSP++ choose Help > Email Support. This creates an e-mail to

processor.tools.support@analog.com and automatically attaches your CrossCore Embedded Studio or Visu-

alDSP++ version information and license.dat file.

•E-mail your questions about processors and processor applications to:

processor.tools.support@analog.com

processor.china@analog.com

•Contact your Analog Devices sales office or authorized distributor. Locate one at:

http://www.analog.com/adi-sales

•Send questions by mail to:

Analog Devices, Inc.

One Technology Way

P.O. Box 9106

Intended Audience

1–2 ADIS1700x Vision-Sensing Camera Module User Guide

Norwood, MA 02062-9106

USA

Product Information

Product information can be obtained from the Analog Devices website.

Analog Devices Website

The Analog Devices website, http://www.analog.com, provides information about a broad range of products - ana-

log integrated circuits, amplifiers, converters, and digital signal processors.

To access a complete technical library for each processor family, go to http://www.analog.com/processors/techni-

cal_library. The manuals selection opens a list of current manuals related to the product as well as a link to the

previous revisions of the manuals. When locating your manual title, note a possible errata check mark next to the

title that leads to the current correction report against the manual.

Also note, MyAnalog.com is a free feature of the Analog Devices website that allows customization of a web page to

display only the latest information about products you are interested in. You can choose to receive weekly e-mail

notifications containing updates to the web pages that meet your interests, including documentation errata against

all manuals. MyAnalog.com provides access to books, application notes, data sheets, code examples, and more.

Visit MyAnalog.com to sign up. If you are a registered user, just log on. Your user name is your e-mail address.

EngineerZone

EngineerZone is a technical support forum from Analog Devices, Inc. It allows you direct access to ADI technical

support engineers. You can search FAQs and technical information to get quick answers to your embedded process-

ing and DSP design questions.

Use EngineerZone to connect with other DSP developers who face similar design challenges. You can also use this

open forum to share knowledge and collaborate with the ADI support team and your peers. Visit http://

ez.analog.com to sign up.

Notation Conventions

Text conventions used in this manual are identified and described as follows. Additional conventions, which apply

only to specific chapters, may appear throughout this document.

Example Description

File > Close Titles in bold style indicate the location of an item within the CrossCore Embed-

ded Studio IDE’s menu system (for example, the Close command appears on the

File menu).

Product Information

ADIS1700x Vision-Sensing Camera Module User Guide 1–3

Example Description

{this | that} Alternative required items in syntax descriptions appear within curly brackets and

separated by vertical bars; read the example as this or that. One or the other

is required.

[this | that] Optional items in syntax descriptions appear within brackets and separated by

vertical bars; read the example as an optional this or that.

[this, …] Optional item lists in syntax descriptions appear within brackets delimited by

commas and terminated with an ellipsis; read the example as an optional comma-

separated list of this.

.SECTION Commands, directives, keywords, and feature names are in text with letter

gothic font.

filename Non-keyword placeholders appear in text with letter gothic font and italic

style format.

NOTE: NOTE: For correct operation, ..

A note provides supplementary information on a related topic.

CAUTION: CAUTION: Incorrect device operation may result if ...

CAUTION: Device damage may result if ...

A caution identifies conditions or inappropriate usage of the product that could

lead to undesirable results or product damage.

ATTENTION: ATTENTION: Injury to device users may result if ...

A warning identifies conditions or inappropriate usage of the product that could

lead to conditions that are potentially hazardous for devices users.

Notation Conventions

1–4 ADIS1700x Vision-Sensing Camera Module User Guide

2 ADIS1700x Functional Description

This chapter describes how the ADIS1700x interfaces with functional blocks and the SNAP Framework.

SNAP Framework Overview

The SNAP Framework is a set of libraries that enable the user to quickly develop applications for the Blackfin pro-

cessor. It contains functionality for configuring and accessing lower level drivers (such as SPI, EPPI, TWI, etc.) as

well as provides functionality for higher level services. It also contains functionality to communicate with the host

using a defined protocol. The source code is available upon request. It is targeted to be compiled and linked with the

SNAP framework and to be run on the ADIS1700x board. Features include continuous image capture from

ADVS200x sensor and configuration of ADVS200x sensor.

The ADVS200x camera sensor is configured to produce the monochrome video at 10 frames per second. Frame rate

can be changed using the ADIS1700x SNAP sensor library and application. The video captured from ADVS200x

camera sensor on the ADIS1700x platform can be analysed by the suitable application. The SNAP framework con-

nects to the GUI running on the host PC through a control interface and protocol on USB. Its streams the captured

video data real time on the USB interface.

System Overview

The SNAP Framework block diagram is shown in ADIS1700x Software System Block Diagram. The software pack-

age includes the SNAP Framework (drivers, services) library built in C/C++ and assembly sources. Sample applica-

tions and associated documents are provided with the package.

ADIS1700x Functional Description

ADIS1700x Vision-Sensing Camera Module User Guide 2–1

SNAP SENSOR

WITH CAMERA

ICE 2000/

ICE1000

Host Libraries and

Application

I2C SPI

SPI

EPPI

ACCELEROMETER 32MB SPI FLASH

MEMORY

USB CLD

USB

LIBRARY

PC WITH USB PORTS

SNAP Framework

LP-DDR

MEMORY

APPLICATION

Figure 2-1: ADIS1700x Software System Block Diagram

Block Diagram

The ADIS1700x Block Diagram shows the functional blocks of the ADIS1700x Vision-Sensing Camera Module.

USBBLACKFIN ADSP-BF707

BOOT FLASH

POWER

MANAGEMENT

LENS

ADVS200x

IMAGER

LPDDR SRAM

10KV

ESD

USB

2.0

ACCELEROMETER

Figure 2-2: ADIS1700x Block Diagram

Block Diagram

2–2 ADIS1700x Vision-Sensing Camera Module User Guide

3 Using the ADIS1700x

This chapter provides information for getting starting with the ADIS1700x evaluation kit.

Evaluation System Contents

The ADIS1700x evaluation system consists of the following items:

•ADIS1700x Vision-Sensing Camera Module

•Micro USB Interposer board

•USB cable

•Demo applications for functional/performance evaluation. (Download from http://www.analog.com/

adis17001).

•Vision Software Framework and host API libraries. (Download from http://www.analog.com/adis17001).

•ICE-1000 USB-based JTAG Emulator

•CrossCore Embedded Studio – Perpetual License (restricted use for ADIS1700x)

•67° FOV and 110° HFOV Lenses

Contact the vendor where you purchased the evaluation board or contact Analog Devices, Inc if any item is missing.

Default Configuration

The ADIS1700x is designed to run as a standalone unit.

When removing the ADIS1700x board from the package, handle the board carefully to avoid the discharge of static

electricity, which can damage some components.

CAUTION:

ESD (electrostatic discharge) sensitive device. Charged devices and circuit boards can dis-

charge without detection. Although this product features patented or proprietary protection circuitry,

Using the ADIS1700x

ADIS1700x Vision-Sensing Camera Module User Guide 3–1

damage can occur on devices subjected to high energy ESD. Therefore, proper ESD precautions

should be taken to avoid performance degradation or loss of functionality.

Board Installation

Complete the following steps to set up the hardware.

1. Connect the ADIS1700x board from the adapter shown in the ADIS1700x Evaluation Board to a USB port of

a PC using the supplied USB cable.

2. Optionally, connect the ICE-1000 or ICE-2000 to the JTAG connection and the other end to a USB port of a

PC. This step is required for debugging using CCES.

Figure 3-1: ADIS1700x Evaluation Board

Board Installation

3–2 ADIS1700x Vision-Sensing Camera Module User Guide

4 Installation

This chapter describes how to the install the SNAP Sensor library and create a Win32 project.

Install the SNAP Sensor Library

Install the following components on the target PC:

•Visual C+ Redistributable for Visual Studio 2015. (Download from https://www.microsoft.com.)

•Microsoft .NET framework 4.5.2. (Download from https://www.microsoft.com.)

Complete the following steps to install the SnapSensorLibrary.

1. Run the installer SnapSensorLibrary_Demo.msi.

NOTE: If a previous version of the application already exists on the PC, it must be uninstalled first.

See the Uninstall SNAP Sensor Library section.

2. Follow the instructions of the installer.

The applications are installed under Analog Devices >SnapSensorLibrary>

Install the ADI WinUSB Driver

The ADI WinUSB driver must be installed so that the application can communicate with a device running the the

SNAP Framework over the USB.

Complete the following steps to install the ADI WinUSB driver.

1. Connect the device to the PC through the USB port.

Windows starts searching for the driver.

2. Stop the automatic search and select the option for manually locating the driver.

3. Point to the driver folder (C:\Analog Devices\SnapSensorLibrary\Drivers\ADI WinUSB).

Installation

ADIS1700x Vision-Sensing Camera Module User Guide 4–1

Uninstall SNAP Sensor Library

Complete the following steps to uninstall the SNAP Sensor library application.

1. Run the Windows Control Panel.

2. Select Uninstall or change a Program.

3. Select the item (for example, SnapSensorLibrary (Development)) and click Uninstall

4. Follow the instructions of the uninstaller.

Create a Win32 Project

•Ensure that Visual Studio 2015 (or later) is installed.

•Ensure that the SnapSensorLibrary development edition is installed

Complete the following steps to create a Visual Studio project.

1. In Visual Studio create a new project (or add a new project to an existing solution) of type Visual C++ Win32

Console application.

2. Disable the precompiled header and Security Development Lifecycle (SDL) checks.

3. Click Finish.

4. Delete the stdafx.h from the header files and stdafx.cpp from the source files.

5. Remove the default .cpp file created for the project.

6. Add the required .cpp files to the project being built. The files are available in Code Samples (<<installed

directory>>\SnapSensorLibrary\Lib\CodeSamples). Create the corresponding console application .exe file

(for example, GetDeviceStatus.cpp).

a. Right click projects. Select Add > Existing Item and then select the required .cpp files from the code

Samples.

7. Add the include files

a. Add the respective .h file (for example, DeviceStatus.h) to the Header Files option available in the

project.

b. Right click Header Files. Select Add > Existing Item and then select the required .h files from the code

Samples.

8. Modify the C/C++ settings in the project properties. Copy and paste $(SnapSensorLibrary_LibPath) Include to

Additional Include Directories.

Uninstall SNAP Sensor Library

4–2 ADIS1700x Vision-Sensing Camera Module User Guide

9. Modify the project properties to link to the library files. In the Linker settings, copy and paste $(SnapSensorLi-

brary_LibPath) Include to Additional Include Directories. In the Linker settings, Additional Dependencies must

have at least SnapCoreLib.lib and can also contain one or more of the following libraries depending

upon the application to be built:

a. SnapSensorConnectionLib.lib — if communication with a Blip-Mini or ADIS1700x is re-

quired .

b. SnapCoreImgProcLib.lib — if image processing functionality is required

c. SnapADIS1700xConnectionLib.lib — if communication with a ADIS1700x is required

NOTE: Use namespaces SnapSensor and SnapSensor::SensorConnection when communicating

with a Blip-Mini or ADIS1700x

Build the project and confirm that the expected output appears on the console.

Create a Win32 Project

ADIS1700x Vision-Sensing Camera Module User Guide 4–3

5 Demo Applications

The ADIS1700x Vision-Sensing Camera Module demo and development packages are supported by the following

applications:

•ADVS200x Demo Application – an application that demonstrates the capability of the ADVS200x sensor. See

the ADVS200x Demo User Guide for details.

•ADIS1700x Demo Application – an interface to interact with the ADIS1700x device.

•Device Re-programmer Application – an application that allows the user to reprogram a device through the

USB.

•ImgSeqFile Viewer Application – an application that allows the user to open a video file (ImgSeqFile) and

browse its contents. This application is available only with the development installer.

•NamedValueFile Viewer Application – application that allows the user to open a named value file (such as the

parameters file) and browse its contents. This application is available only with the development installer.

•ADVS200x Parameters Editor Application – an application that allows the user to edit the ADVS200x configu-

ration parameter and read and write the ADVS200x parameters to a file. This application is available only with

the development installer.

SnapSensorLibrary

The SnapSensorLibrary enables the user to develop applications to communicate with the ADIS1700x unit

over the USB from a Linux or Windows host. This includes functionality for updating firmware, creating and cap-

turing video and downloading device info.

NOTE: The shortcuts to the installed console applications are available in the Windows Program Menu under

AnalogDevices > SnapSensorLibrary vx.x.x.

Code Samples

The source code for all of the console applications is provided.

GetFirmwareVersions

GetFirmwareVersions is a console application that has the following features:

Demo Applications

ADIS1700x Vision-Sensing Camera Module User Guide 5–1

•Connects to a device running the SNAP Framework

•Downloads and displays the device bootloader firmware version

•Downloads and displays the device application firmware versions

GetDeviceInfo

GetDeviceInfo is a console application that has the following features:

•Connects to a device running the SNAP Framework

•Downloads and displays the device information

GetDeviceStatus

GetDeviceStatus is a console application that has the following features:

•Connects to a device running the SNAP Framework

•Downloads and displays the current mode of the firmware

•Downloads and displays the current version of the firmware

•Downloads and displays the device status

UpdateApplicationFirmware

UpdateApplicationFirmware is a console application that has the following features:

•Connects to a device running the SNAP Framework

•Reads a user-supplied application firmware file

•Updates the application firmware in the device and stores it to flash

•Downloads and displays the version of the application firmware

UpdateBootloaderFirmware

UpdateBootloaderFirmware is a console application that has the following features:

•Connects to a device running the SNAP Framework

•Reads a user-supplied bootloader firmware file

•Updates the bootloader firmware in the device and stores it to flash

•Downloads and displays the version of the bootloader firmware

CreateRestorePoint

CreateRestorePoint is a console application that has the following features:

SnapSensorLibrary

5–2 ADIS1700x Vision-Sensing Camera Module User Guide

•Connects to a device running the SNAP Framework

•Copies the current application firmware and data into the restore point section of the flash

RecoverRestorePoint

RecoverRestorePoint is a console application that has the following features:

•Connects to a device running the SNAP Framework

•Copies the current application firmware and data from the restore point section of the flash

ContinuousVideoRecorder

ContinuousVideoRecorder is a console application that has the following features:

•Connects to a device running the SNAP Framework

•Creates an image sequence (video) file with the user-supplied name

•Continuously captures image data from the ADVS200x sensor on the device

•Saves each captured frame into the image sequence file

RandomFrameVideoRecorder

RandomFrameVideoRecorder is a console application that has the following features:

•Connects to a device running the SNAP Framework

•Creates an image sequence (video) file with the user-supplied name

•Whenever the user hits a key, it captures an image from the ADVS200x sensor on the device and saves it to the

image sequence file

CaptureLoop

CaptureLoop is a console application that has the following features:

•Connects to a device running the SNAP Framework

•Continuously downloads the image data from the ADVS200x sensor in a loop that runs in a separate thread

NOTE: This console application is only available with the development installer.

MultiSensorCaptureLoop

MultiSensorCaptureLoop is a console application that has the following features:

•Connects to up to three devices in parallel running the SNAP Framework

•Continuously downloads the image data from each of the ADVS200x sensors in loops that run in separate

threads

SnapSensorLibrary

ADIS1700x Vision-Sensing Camera Module User Guide 5–3

NOTE: This console application is only available with the development installer.

UserCaptureLoop

UserCaptureLoop is a console application that has the following features:

•Connects to a device running the SNAP Framework

•Continuously downloads the image data from each of the ADVS200x sensors in a loop running in the main

program thread

NOTE: This console application is only available with the development installer.

ADIS1700xAPIConsole

ADIS1700xAPIConsole is a console application that demonstrates the interface to an ADIS1700x device.

NOTE: This console application is only available with the development installer.

ADIS1700xGetConfig

ADIS1700xGetConfig is a console application that has the following features:

•Connects to a device running the ADIS1700x application firmware

•Downloads and displays the production parameters

•Downloads and displays the LED status

•Downloads and displays the IMU configuration

•Downloads and displays the ADC readings

NOTE: This console application is only available with the development installer.

ADIS1700xCaptureLoop

ADIS1700xCaptureLoop is a console application that has the following features:

•Connects to a device running the ADIS1700x application firmware

•Continuously downloads the image data and IMU data from the ADIS1700x in a loop that runs in a separate

thread

NOTE: This console application is only available with the development installer.

ADIS1700xMultiSensorCaptureLoop

ADIS1700xMultiSensorCaptureLoop is a console application that has the following features:

•Connects to up to three devices in parallel running the ADIS1700x application firmware

SnapSensorLibrary

5–4 ADIS1700x Vision-Sensing Camera Module User Guide

•Continuously downloads the image data and IMU data from each of the ADIS1700x in loops that run in sepa-

rate threads

NOTE: This console application is only available with the development installer.

ADIS1700xUserCaptureLoop

ADIS1700xUserCaptureLoop is a console application that has the following features:

•Connects to a device running the ADIS1700x application firmware

•Continuously downloads the image data and IMU data from the ADIS1700x in a loop running in the main

program thread

NOTE: This console application is only available with the development installer.

SNAP Development Libraries

The SNAP development libraries are available for application development in the C++ (Windows or Linux) and

in .Net (Windows). The following libraries are included:

•SnapCoreLib

•SnapCoreImgProcLib

•SnapImageDisplayProcLib

•SnapSensorConnectionLib

•SnapADIS1700xConnectionLib

•Snap

•SnapADIS1700x

SnapCoreLib

The SnapCoreLib library is used to manage memory, define images, strings and vectors, provide mathmatical

operations and handle files. See the SnapSensorLibrary for details.

SnapCoreImgProcLib

The SnapCoreImgProcLib library is used to create image regions, calibrate the camera and process images. See

the SnapSensorLibrary for details.

SnapImageDisplayLib

The SnapImageDisplayLib library is used to convert and save images.

The library includes the following functionality:

SnapSensorLibrary

ADIS1700x Vision-Sensing Camera Module User Guide 5–5

•Converts 10-bit images to 8-bit display images with or without image enhancement

•Saves images into bitmap files

SnapSensorConnectionLib

The SnapSensorConnectionLib library is used to connect and communicate with a device and read or write

to the flash storage on the device.

The library includes the following functionality:

•Discovers and connects to devices that are running the SNAP Sensor Framework

•Communicates with the firmware running in a device that uses the SNAP Sensor Framework

•Communicate with the ADVS200x sensor service on the device to get images and adjust the ADVS200x pa-

rameters

•Reads from and writes to the flash storage on a device that uses the SNAP Sensor Framework

SnapADIS1700xConnectionLib

The SnapADIS1700xConnectionLib library is used to connect and communicate with a device.

The library includes the following functionality:

•Discovers and connects to devices that are running the SNAP Sensor Framework and ADIS1700x application

firmware

•Communicates with the ADIS1700x firmware running in a device that uses the SNAP Sensor Framework

•Communicates with the IMU (accelerometer) in a device that uses the Snap Sensor Framework, allowing pa-

rameter adjustment and data reading

Snap

The Snap library provides various user controls and classes to build Windows UI applications.

SnapADIS1700x

The SnapADIS1700x library provides various user controls and classes to build Windows UI applications.

ADIS1700x Demo Application

The ADIS1700x Demo application is a UI application (part of the SNAP Framework) that provides a user-

friendly interface to interact with the ADIS1700x device. The application has the following features:

•Configures the device, such as adjusting parameters

•Displays live view of device output such as the luminance image and IMU measurements

•Records videos

SNAP Development Libraries

5–6 ADIS1700x Vision-Sensing Camera Module User Guide

•Updates the firmware of the device

User Interface

The User Interface figure shows the different sections of the user interface.

Figure 5-1: User Interface

Connecting to the Device

The following sections describe the steps to connect to the ADIS1700x.

•Open a Connection

•Close a Connection

Open a Connection

Complete the following steps to open a connection.

1. Connect the ADIS1700x unit to the PC through the USB port.

ADIS1700x Demo Application

ADIS1700x Vision-Sensing Camera Module User Guide 5–7

2. From the User Interface Main Menu select Image source>Open>ADIS1700x on USB....

The application starts a discovery process to find all the devices connected to the PC. A list of connected devi-

ces is displayed.

3. Select the device in the list and click Select.

Close a Connection

Complete the following step to close a connection.

1. From the User Interface Main Menu select Image source>Close.

Operating Modes

The User Interface Control Panel allows the user to change modes. The ADIS1700x device operates in one of four

modes: Bootloader (Bootldr), Configuration (Config), Smart Camera (Smart Cam) and Sensor.

Smart Camera Mode

Smart Camera mode is the default mode. In this mode, the ADIS1700x device is continuously acquiring luminance

images from the ADVS200x sensor and measurements from the IMU accelerometer. The data is polled by the PC

application and displayed.

Configuration Mode

In configuration mode, the ADIS1700x device does not collect any image from the ADVS200x or any measure-

ments from the IMU. This mode is used by the PC application to allow the user to:

•Set up the ADVS200x parameters

•Set up the IMU parameters

•Set the time on the unit

Connecting to the Device

5–8 ADIS1700x Vision-Sensing Camera Module User Guide

Bootloader Mode

In bootloader mode, a “bootloader” firmware starts running on the ADIS1700x device. The ADVS200x sensor and

IMU are not accessed. This mode is used by the PC application to allow the user to upload new firmware.

ADVS200x Luminance Image

The ADIS1700x delivers luminance images captured from the on-board ADVS200x sensor. The image has the fol-

lowing properties:

•Image size is QVGA (320 x 240 pixel)

•Each pixel is a 10-bit value (ranging from 0 to 1023), where 0 is the brightest pixel and 1023 is the darkest

pixel

•The pixel value is proportional to the log of the light intensity. The value is an indicator of the time the pixel

requires to reach a reference voltage

In Smart Camera mode, ADIS1700x Demo application continuously polls for the luminance image. The applica-

tion displays the image in the User Interface Main Display Panel under the Luminance tab.

Displayed Image Enhancement

The Image Enhancement figures show the effect of enhancement on an image of a building.

Table 5-1: Image Enhancement

Image Without Enhancement Image With Enhancement

Operating Modes

ADIS1700x Vision-Sensing Camera Module User Guide 5–9

Displayed Image Negation

The luminance image has a value of 0 for the brightest pixel and a value of 1023 for the darkest pixel. Luminance

value is an indicator of the time for the pixel to reach a reference voltage. A pixel exposed to a bright light reaches

the reference voltage in a shorter period of time and therefore its value is small. A pixel exposed to a dim light reach-

es the reference voltage in a longer period of time and therefore its value is large.

It is possible to negate the pixel values for displaying. So, a 0 value pixel is displayed bright and a 1023 value pixel is

displayed dark.

The Image Negation figures show the effect of negation on an image of a building.

Table 5-2: Image Negation

Image Without Negation Image With Negation

Image Histogram

In the User Interface Main Menu under the Luminance tab, select the Hist. option to display a histogram of the

image.

A histogram is computed and updated for each new image displayed. The histogram is displayed below the image as

shown in the Histogram Example figure. The horizontal axis shows the pixel values. The vertical axis shows the

number of pixels with a value.

ADVS200x Luminance Image

5–10 ADIS1700x Vision-Sensing Camera Module User Guide

Figure 5-2: Histogram Example

Using Spread

It is possible to select a window in the histogram for displaying the image. Edit the Spread parameters to modify a

window. The width of the window is defined by the Spread Bits value. The position of the window in the histogram

is defined by the Spread Min value.

For example:

•If Spread Bits is set to 7, the window width is 27 (for example, 128)

•If the Spread Min is set to 154, so the window position is at 154

As a result, the histogram window starts at 154 and ends at 281. In the displayed image all pixels below 154 and

above 281 are clipped. The Histogram Using Spread image shows the modified image and histogram.

ADVS200x Luminance Image

ADIS1700x Vision-Sensing Camera Module User Guide 5–11

Figure 5-3: Histogram Using Spread

Configuring the ADVS200x

The following tasks are associated with configuring the ADVS200x:

•Modifying ADVS200x Parameters

•Saving and Loading ADVS200x Parameters

Modifying ADVS200x Parameters

The following steps describe how to edit the ADVS200x parameters.

1. Select Configuration mode.

NOTE: Switching modes can take a few seconds.

ADIS1700x Demo Application

5–12 ADIS1700x Vision-Sensing Camera Module User Guide

2. In the configuration panel select the Commisioning and Parameters tab.

3. Select the ADVS200x tab.

4. Modify the parameters, as required.

5. Click Upload icon to upload the ADVS200x parameters to the ADIS1700x device.

6. Click Yes when requested to save the data on the device flash.

7. Select Smart Camera mode

Setting the Defaut ADVS200x Parameters

The following steps describe how to set the default ADVS200x parameters.

1. Select Configuration mode.

NOTE: Switching modes can take a few seconds.

Modifying ADVS200x Parameters

ADIS1700x Vision-Sensing Camera Module User Guide 5–13

2. In the configuration panel select the Commissioning and Parameters tab.

3. Select the ADVS200x tab.

4. Click Set default ADVS200x.

5. Click Upload to upload the ADVS200x parameters to the ADIS1700x device.

Modifying ADVS200x Parameters

5–14 ADIS1700x Vision-Sensing Camera Module User Guide

6. Click Yes when requested to save the data on the ADIS1700x device flash.

7. Select Smart Camera mode.

Saving and Loading ADVS200x Parameters

Complete the following steps to save the ADVS200x parameters to a file:

1. Load the ADVS200x Parameters from a file

2. Save the ADVS200x Parameters to a file

Load the ADVS200x Parameters

Complete the following steps to load the ADVS200x parameters to a file:

1. Select Configuration mode.

NOTE: Switching modes can take a few seconds.

2. In the configuration panel select the Commissioning and Parameters tab.

3. Click the Load from file icon.

Configuring the ADVS200x

ADIS1700x Vision-Sensing Camera Module User Guide 5–15

4. Click Upload to upload the ADVS200x parameters to the device.

5. Click Yes when requested to save the data on the device flash.

6. Select Smart Camera mode.

Save the ADVS200x Parameters

Complete the following steps to save the ADVS200x parameters to a file:

1. Select Configuration mode.

NOTE: Switching modes can take a few seconds.

2. In the configuration panel select the Commissioning and Parameters tab.

Saving and Loading ADVS200x Parameters

5–16 ADIS1700x Vision-Sensing Camera Module User Guide

3. Select the ADVS200x tab.

4. Click the Save to file icon.

5. Select Smart Camera mode.

Accelerometer Axis Measurement

The ADIS1700x delivers axis measurements from the on-board accelerometer. Measurements are collected at a pre-

defined sample rate and then down-sampled by averaging before making them available to the host application.

In the Smart Camera mode, the ADIS1700x Demo application continuously polls for these measurements and dis-

plays them in the User Interface Main Menu under the Measurements tab.

Graphical Display

The measurements are displayed as a graph when the Graph option is selected. The graph is updated each time the

measurements are polled by the ADIS1700x Demo application. The Graphical Display figure shows a graph of the

accelerometer axis measurements. The vertical axis of the graph changes when the display is refreshed. To view a

fixed range, select the Fixed range option.

ADIS1700x Demo Application

ADIS1700x Vision-Sensing Camera Module User Guide 5–17

Figure 5-4: Graphical Display

Tab Display

The measurements are displayed as a table of values when the Graph option is unselected. The table is updated each

time the measurements are polled by the ADIS1700x Demo application.

Accelerometer Axis Measurement

5–18 ADIS1700x Vision-Sensing Camera Module User Guide

Figure 5-5: Tabular Display

Modifying IMU Parameters

The following steps describe how to edit the IMU configuration parameters.

1. Select Configuration mode.

NOTE: Switching modes can take a few seconds.

2. In the configuration panel select the Commissioning and Parameters tab.

ADIS1700x Demo Application

ADIS1700x Vision-Sensing Camera Module User Guide 5–19

3. Select the IMU tab.

4. Modify the parameters, as required.

a. Choose the Accelerometer tab to edit the accelerometer offsets, ranges and filter values.

5. Click Upload to upload the IMU parameters to the ADIS1700x device.

6. Click Yes when requested to save the data on the ADIS1700x device flash.

7. Select Smart Camera mode

Updating Firmware

There are two tasks associated with updating the firmware stored in the device flash storage:

•Update Bootloader Firmware

•Update Application Firmware

When the device powers up, the bootloader firmware is loaded into memory and starts running. The bootloader

firmware then looks for the application firmware in the flash storage. It loads it into memory and starts running it.

When the bootloader firmware is running, the application mode is Bootloader.

When the application firmware is running, the application mode is Configuration, Sensor or Smart Camera.

To update the bootloader or application firmware, switch to the Bootloader mode (the bootloader firmware is run-

ning).

ADIS1700x Demo Application

5–20 ADIS1700x Vision-Sensing Camera Module User Guide

Update Bootloader Firmware

The following steps describe how to update the bootloader firmware.

1. Select Bootloader mode.

2. Select the Firmware tab.

3. Click Update bootloader.

4. Select the firmware file (for example, ADIS1700x_Bootloader_vXX.ldr for ADIS1700x).

Update Application Firmware

The following steps describe how to update the application firmware.

1. Select Bootloader mode.

2. Select the Firmware tab.

3. Click Update application firmware.

Updating Firmware

ADIS1700x Vision-Sensing Camera Module User Guide 5–21

4. Select the firmware file (for example, ADIS1700x_application_vxx.ldr for ADIS1700x).

Recovering from a Restore Point

Complete the following steps to recover the original firmware application and its associated data.

1. Select Bootloader mode.

2. Select the Firmware tab.

3. Click Restore factory firmware.

Device Re-programmer Application

The Device Re-programmer application is a UI application that allows the user to reprogram a device

through the USB. This application works with the Blip-Mini and ADIS1700x devices. The application has the fol-

lowing features:

•Installs the bootloader firmware

•Installs the application firmware

•Installs the ADVS200x parameters

•Erases all data (logging, processing parameters, commissioning data, etc.)

Re-program the Device

Complete the following steps to reprogram the ADIS1700x camera module.

1. Disconnect all ADIS1700x or Blip-Mini devices from the PC.

2. Launch the Device Re-programmer demo.

3. Select the Programmer tab

Update Application Firmware

5–22 ADIS1700x Vision-Sensing Camera Module User Guide

4. Click ADIS1700x for the Device type.

CAUTION: Select the correct device type. Otherwise, the device could be re-programmed incor-

rectly and may become unusable without re-programming through a JTAG connector.

5. Click Continue.

Device discovery begins.

6. Plug in the device during the discover process.

Once the device is plugged-in, the device is automatically discovered and re-programmed.

7. Wait for the device re-programming to be completed. This can take several minutes.

8. Remove the device.

ImgSeqFile Viewer Application

The ImgSeqFile Viewer application is a UI application that allows the user to open a video file

(ImgSeqFile) and browse its contents. This application is available only with the development installer.

NamedValueFile Viewer Application

The NamedViewerFile Viewer application is a UI application that allows the user to open a named value

file (such as the parameters file) and browse its contents. It also allows exporting of the content in various formats

such as JSON and BSON. This application is available only with the development installer.

ADVS200x Demo Application

The ADVS200x Demo application is a UI application that demonstrates the capability of the ADVS200x sensor.

It provides a user-friendly interface to interact with a device that has an on-board ADVS200x sensor and is running

the SNAP Framework (for example, the ADIS1700x). The application has the following features:

•Configures the device, such as adjusting ADVS200x parameters

•Displays live device output such as the luminance image

•Computes and displays motion and occlusion

•Demonstrates conversion between image and world coordinates (camera calibration)

•Records and plays back videos

•Updates the firmware of the device

The ADVS200x Demo application communicates with the device using the SNAP Sensor library. A fully docu-

mented API of this library for .Net (Windows) and C++ (Windows and Linux) is available.

See the ADVS200x Demo User Guide for more information.

ImgSeqFile Viewer Application

ADIS1700x Vision-Sensing Camera Module User Guide 5–23

ADVS200x Parameters Editor Application

The ADVS200x Parameters Editor application is a UI application that allows the user to:

•Edit the ADVS200x configuration parameters

•Read and write the ADVS200x parameters to a file

This application does not require that the device be connected to run.

This application is available only with the development installer.

ADVS200x Parameters Editor Application

5–24 ADIS1700x Vision-Sensing Camera Module User Guide

6 ADIS1700x Library

The ADIS1700x library is used to communicate between the host computer and the ADIS1700x. The library con-

sists of APIs for the following functions:

•Device Discovery and Initialization — Discover and connect to devices that are running the SNAP Framework

and ADIS1700x application firmware

•Application Level Data — Communicate with the ADIS1700x application firmware running in a device using

the SNAP Framework

•IMU Service — Communicate with the IMU in a device that uses the SNAP Framework, adjust parameters

and read data

•ADVS200x Camera Service — Communicate with the ADVS200x sensor

For details, see the Communication Protocol.

Device Discovery and Initialization

The APIs defined in this section are for device discovery and initialization.

DiscoverFrameworkDevices

Discovers devices connected to the SBC and returns an array discovered devices

Class

FrameworkConnectionFactory

Returns

An array of FrameworkDevice objects, each representing a unique ADIS1700x device connected to the SBC

CreateADIS1700xApplication

Creates an instance of ADIS1700x Application object that allows communication to the ADIS1700x device

Class

ADIS1700x Library

ADIS1700x Vision-Sensing Camera Module User Guide 6–1

ADIS1700xConnectionFactory

Parameters

The FrameworkDevice objects found in discovery process

Connect

Establishes a communication channel to the ADIS1700x device

Class

ADIS1700xApplication

Disconnect

Closes the communication channel to the ADIS1700x device

Class

ADIS1700xApplication

Ping

The host sends a Ping message to the ADIS1700x device to check if the communication is alive. The device sends

back an Acknowledge (ACK) message.

Class

ADIS1700xApplication

GetSoftwareVersion

Returns the firmware version of the ADIS1700x application

Class

ADIS1700xApplication

Returns

The firmware version: ReleaseType, MajorVersion, MinorVersion, Build

Application Level Data

The APIs defined in this section are used for application level data.

Device Discovery and Initialization

6–2 ADIS1700x Vision-Sensing Camera Module User Guide

GetLedStatus

Returns the status of the on-board LEDs

Class

ADIS1700xApplication

Returns

Led status of LEDs present

Parameters

An array LedStatus structures. Each LedStatus object represents the status of one LED and consists of the:

•LED ID

•LED Mode (0 = OFF, 1 = ON)

SetLedStatus

Sets the status of the on-board LEDs

Class

ADIS1700xApplication

Parameters

An array LedStatus structures. Each LedStatus object represents the status of one LED and consists of the:

•LED ID

•LED Mode (0 = OFF, 1 = ON)

IMU Service

The APIs defined in this section are used for serving the IMU.

GetConfiguration

Returns the IMU configuration settings

Class

ADIS1700xImuModule

Returns

•Accelerometer sampling rate (32-bit integer representing milliHertz)

Application Level Data

ADIS1700x Vision-Sensing Camera Module User Guide 6–3

NOTE: Measurements are collected from the accelerometer at a higher rate (1KHz) and the data is

downsampled to the configuration value. Currently, this value is 100Hz.

•Accelerometer X-axis range: (32-bit integer value representing mg)

•Accelerometer Y-axis range

•Accelerometer Z-axis range

•Accelerometer temperature range

GetMeasurements

Returns the accelerometer measurements

Class

ADIS1700xImuModule

Parameters

The number of measurements (last n) to return

NOTE: Maximum 1000

Flags

Flags indicating if the following should be returned:

•Timestamp for each measurement

•Accelerometer X-axis range: (32-bit integer value representing mg)

•Accelerometer Y-axis range

•Accelerometer Z-axis range

Returns

The number of measurements returned

•A 32-bit id of the last measurement.

NOTE: The measurement is downsampled from the actual rate of reading the accelerometer. Each time

a downsample measurement is computed, its ID is incremented and the measurement is tagged

with a time.

•Time stamp of the last measurement:

•A 16-bit days

•A 32-bit time-of-day (in resolution of 0.1ms)

•An array of 32-bit time-of-day tags for each measurement returned (if requested)

IMU Service

6–4 ADIS1700x Vision-Sensing Camera Module User Guide

•An array of 16-bit accelerometer X measurements (if requested)

•An array of 16-bit accelerometer Y measurements (if requested)

•An array of 16-bit accelerometer Z measurements (if requested)

ADVS200x Camera Service

The APIs defined in this section are used for servicing the camera.

GetADVS200xRegisters

Returns the values of the ADVS200x imager registers

Class

CameraModule

Parameters

The IADVS200x registers interface to an object containing ADVS200x imager register values

Returns

The register values are filled up in the object

SetADVS200xRegisters

Sets the values of the ADVS200x imager registers

Class

CameraModule

Parameters

The IADVS200x registers interface to an object containing ADVS200x imager register values

GetADVS200xLut

Returns the values of the ADVS200x imager look-up table

Class

CameraModule

Parameters

The IADVS200x LUT interface to an object containing ADVS200x imager LUT values

Returns

ADVS200x Camera Service

ADIS1700x Vision-Sensing Camera Module User Guide 6–5

The LUT values are filled up in the object

SetADVS200xLut

Sets the values of the ADVS200x imager look-up table

Class

CameraModule

Parameters

The IADVS200x Lut interface to an object containing ADVS200x imager LUT values

GetLuminanceImage

Returns the last captured luminance image

Class

CameraModule

Returns

A 32-bit id (frame index) of the last captured image

NOTE: The frame index is incremented each time the processor receives a new image from the

ADVS200x imager

•Time stamp of the last measurement:

•A 16-bit days

•A 32-bit time-of-day (in resolution of 0.1ms)

The time stamp is computed as the halfway point during the integration period of the image.

•The image interface to an object containing a 320x240 10-bit luminance image

ADVS200x Camera Service

6–6 ADIS1700x Vision-Sensing Camera Module User Guide

7 Communication Protocol

The ADIS1700x communication protocol, also known as the SNAP Protocol, provides the interface between the

ADVS200x imager and the host PC. The protocol can be used to integrate other sensors and modules. It is part of

the ecosystem available to develop embedded applications built around the ADVS200x sensor. The development

system consists of two nested layers:

•The SNAP Framework - an embedded library (on the ADIS1700x)

•The SnapSensorLibrary and ADIS1700x library (on the host)

The SNAP Framework offers a set of services and drivers to quickly evaluate products and rapidly prototype their

applications.

One of the key features is that the SNAP Framework library can grant to every high-level embedded module (serv-

ice) a connection to a host PC. A host PC application can establish and manage this connection using the tools

provided by the SNAP Sensor library and ADIS1700x library. This connection implements the SNAP protocol.

The SNAP Framework library can be used in all the stages of the development including:

•Product evaluation: sensor data quality can be evaluated and the customer can rapidly check the sensors fit their

needs.

•Prototyping: the application can be developed on a host PC and demonstrated live using data from the device.

Data can be captured for different scenarios and stored into scenario capture files that the developer can then

playback on the host PC for non-regression, alternate algorithms comparisons, and performance evaluation.

•Product development: the code is ported to the device and it can be tested inverting the data flow (playing back

the sensors data library on the device).

Firmware

The device firmware usually consists of two packages:

•Bootloader Firmware

•Application Firmware

Communication Protocol

ADIS1700x Vision-Sensing Camera Module User Guide 7–1

Architecture Description

The SNAP protocol uses a master/slave architecture. Messages from the master to the slave are called commands;

messages from the slave to the master are called responses.

The communication sequence is always initiated by the master. The master sends a command; the slave acknowledg-

es the command and then sends the response. The sequence is terminated by the master which acknowledges the

response. Each sequence must be completed before the next sequence can start. Commands and responses have a

header and payload structure as shown in the Header + Payload Structure table .

Table 7-1: Header + Payload Structure

Header_L1 Payload_L1

Header_L2 Payload_L2

The payload can encapsulate another header + payload structure. In this case, there are two levels (layers). The first

layer is always present and is known as the transport layer. A second layer, known as the message layer, is foreseen only

for commands and responses whose content type is message. The second layer is defined as the message layer.

The following two requirements apply:

1. Fields shall be word aligned. Bytes can be packed. 16-bit fields shall be 16-bit word aligned and 32-bit fields

shall be 32-bit word aligned.

2. Endianness is little endian (as for BF70x family and intel PCs)

These two requirements permit easier message handling when the client (generally, the embedded processor) and the

host (generally, the PC) have the same endianness. In this case, the entire data structure can be copied to or from the

message payload buffer when respectively writing or reading messages.

Transport Layer

The transport layer is the header of the first level. It is identical for commands and responses.

Commands and responses consist of four types:

•Ping

•ACK (acknowledge)

•NACK (not acknowledged)

•Message

Ping, ACK and NACK do not have a payload. The entire protocol is based on content type 5 (Type Message) which

has a payload. The payload of a command or response of type message encapsulates a new message with its own

header and payload.

Architecture Description

7–2 ADIS1700x Vision-Sensing Camera Module User Guide

The Ping, ACK and NACK messages are sent to the host once the transport layer has been decoded and verified by

the device. The verification is based only on the consistency of the two error-detecting codes (the last two fields in

the header).

Table 7-2: Transport Layer Header

Field Name Type Notes

PlatformId U2 Set to 0x3254

PacketId U2 Incremented at every new command.

PacketSize U4 Header + payload size

ContentType U1 One of four possible values :

Ping – 0x00

ACK – 0x01

NACK – 0x02

TYPE_MESSAGE – 0x05

HeaderChecksum U1 LSByte of the two’s complement sum of all the

header bytes

PacketChecksum U2 Fletcher’s checksum on the full message (header +

payload)

Message Layer

The message layer encapsulates a header + payload structure. The header format is similar for commands and re-

sponses. However, the response header has an additional field to report the result.

Table 7-3: Message Layer Header - Command

Field Name Type Notes

Module ID U1

Reserved1 U1 Set to 0

Command ID U2

Version U4 Version of the command ID

Reserved2 U4 Set to 0

Payload Size U4

Reserved3 U4 Set to 0

Table 7-4: Message Layer Header - Response

Field Name Type Notes

Module ID U1

Reserved1 U1 Set to 0

Architecture Description

ADIS1700x Vision-Sensing Camera Module User Guide 7–3

Table 7-4: Message Layer Header - Response (Continued)

Field Name Type Notes

Response ID U2 Identical to the respective command

Version U4 Version of the response ID

Reserved2 U4 Set to 0

Payload Size U4

Result Status U4

In the firmware architecture, the protocol handling is distributed. Every module is responsible for its messages. The

module ID gives the communication module a way to dispatch messages to each module.

The Module Identifiers table shows the recipient modules and identifiers.

Table 7-5: Module Identifiers

Module ID Target Module

0x00 Reserved

0x01 Main Application / Bootloader

0x02 Processing Module

0x10 Camera (SNAP Framework)

0x12 IMU (SNAP Framework)

0x40 Storage Module (SNAP Framework)

The header fields include:

•Module ID — the module to which the command is redirected or the source of the response.

•Reserved — a part of the header reserved for module-specific data. For example, when multiple cameras exist in

the camera module, it can be used for the unit ID.

•Command ID — Contains the ID of the command. IDs from 0 to 0xF are reserved as shown in the Reserved

Command IDs table.

•Version — version of the software. Refer to this field when the payload of the message has changed and is not

applicable to older software versions.

•Payload Size — The payload size can be computed starting from the full payload size available in the transport

layer header (but this redundancy can avoid lot of coding mistake issues).

•Result Status — Response-specific error code. The Reserved Results Status table shows the codes that are re-

served.

Architecture Description

7–4 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-6: Reserved Command IDs

Command ID Description

0x00 Factory Reset

0x01 Reset

0x02 Reserved

0x03 Module SW Version

0x04 to 0xF Reserved

Table 7-7: Reserved Results Status

Module ID Reserved Result Status Notes

0x00 OK

0x01 Module ID Not Present

0x02 Invalid Version

0x03 Invalid Payload Payload size or structure is invalid

0x04 Command Failed

0x05 Invalid Command ID Command ID does not exist

0x06 Command Unavailable Command unavailable in the current state or

mode.

For example, trying to change IMU parame-

ters while the sensor is in configuration mode

generates a Command Unavailable message.

0x07 to 0xF Reserved

Operational Modes

Some of the commands require the device to be in a specific operational state (mode). The application defines the

operational states. For the ADIS1700x application, the operational states are:

•Configuration Mode

•SmartCamera Mode

•Sensor Mode

The Bootloader application has only one operational state: Bootloader. The mode can be read or modified with the

Get/Set Mode commands.

In general, commands devoted to tuning parameters or non-volatile data storage require that the device be in Con-

figuration mode. Commands concerned with sensor measurements require the device to be in Smart Camera or Sen-

sor Mode.

Architecture Description

ADIS1700x Vision-Sensing Camera Module User Guide 7–5

When the device cannot execute a command due to an invalid mode, a response with the Result Status field

set to 0x06 Command Unavailable is sent to the host.

BOOTLOADER

MODE

CONFIGURATION

SENSOR

MODE

SMART CAMERA

MODE

Boot Failed

Application

No message ever received

Boot never tried

Last message received 1 min ago

Boot tried 10 min ago

Bootloader

Set Mode

Boot

Set Mode

Reset

Set Mode

Boot Succeeded

Figure 7-1: ADIS1700x Operating Modes

Bootloader Firmware

The Bootloader firmware is software that is not meant to change during the life of the product.The bootloader is

run after a power cycle or hardware reset. It listens to the main communication link (for example, the USB) for a

short interval (usually 10s). If no message is received, it launches the application, when a valid application is present.

If not, it waits indefinitely for a host command.

The main features of the bootloader are:

Bootloader Firmware

7–6 ADIS1700x Vision-Sensing Camera Module User Guide

•Allows the user to upgrade the factory application firmware with a new firmware (in this case, the factory firm-

ware is not deleted but used as backup).

•Restores the factory application firmware if something goes wrong during the upgrade

•Allow a window to control the device during startup. If there are problems with the factory application firm-

ware or upgrade application firmware, there is always few seconds after power cycle where the user can regain

control of the device and upload new software.

Bootloader Messages

The bootloader module implements the commands shown in the Bootloader Commands table. Any command other

than Reset sets the bootloader into service mode. When in service mode, the bootloader waits 10 minutes for a

new command before trying to launch the application firmware.

Table 7-8: Bootloader Commands

ID Command Notes

0x01 Reset Resets the device.

0x02 Reserved

0x03 Module SW Version

0x09 Get Device Status

0x10 Get Device Info Returns information like device serial number (unique de-

vice identification), product name and manufacturer.

0x11 Get Mode Always returns 0x10 bootloader mode(for uniformity and

coherence with the application).

0x12 Set Mode Set to a mode different from 0x10 bootloader to boot the

current firmware (usually the default mode of the applica-

tion to boot).

0x14 Set Device Info

0x20 Get Sections Info

0x21 Clear Sections

0x22 Read Section

0x23 Write Section

0x24 Validate Section

0x2A Create/Recover Restore Point

0xFF00 Debug Message

Any command other than Reset delays the attempt to launch the most updated application firmware by 1 minute.

Code Upload

When uploading a new code, the host shall:

Bootloader Firmware

ADIS1700x Vision-Sensing Camera Module User Guide 7–7

1. Clear the associated section (Clear Sections)

2. Upload the data (use multiple Write Sections)

3. Validate the section (Validate Section)

Reset

The bootloader software triggers a hardware reset; the device boots from FLASH (first sector).

C++ API:

SnapSensor::SensorConnection::ApplicationModule::Reset()

Table 7-9: Reset Header - Command

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x01

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Reserved3 U4 0

Table 7-10: Reset Header - Response

Field Name Type Notes

Module ID U1 0

Reserved1 U1 0

Command ID U2 0x01

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Result Status U4 0

Module SW Version

The SW Version command returns the software version of the module.

C++ API:

void

SnapSensor::SensorConnection::ApplicationModule::GetSoftwareVersion(

FrameworkModuleVersion *version)

Bootloader Messages

7–8 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-11: SW Version Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x03

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Reserved3 U4 0

Table 7-12: SW Version Response- Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x03

Version U4 1

Reserved2 U4 0

Payload Size U4 4

Result Status U4 0

Table 7-13: SWVersion Payload Response

Field Name Type Notes

Release Type U1 0 – production

1 – beta

2 – development; No debug information

3 – development – Has debug information

Major SW Version U1

Minor SW Version U1

Build U1

Get Device Status

The Get Device Status message provides information about software name and version and useful information for

diagnostic like device status, error counts and last error message.

C++ API:

void SnapSensor::SensorConnection::ApplicationModule::

GetDeviceStatus(DeviceStatus *deviceStatus)

Bootloader Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–9

Table 7-14: Get Device Status Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x09

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Reserved3 U4 0

Table 7-15: Get Device Status Response- Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x09

Version U4 1

Reserved2 U4 0

Payload Size U4 76

Result Status U4 0

Table 7-16: Get Device Status Payload - Response

Field Name Type Notes

Product ID U4 See Appendix A

Product Name U32 See Appendix A

SW Version U24 Same format as Module SW Version command

Current State U2 Reserved for future use

Errors Count U2

Last Error Message U32 See Appendix A

Get Device Info

The Get Device Info message returns device information such as device serial number (unique device identification),

device name and manufacturer, and user-defined metadata.

C++ API:

void SnapSensor::SensorConnection::ApplicationModule::

GetDeviceInfo(DeviceInfo *deviceInfo)

Bootloader Messages

7–10 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-17: Get Device Info Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x10

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Reserved3 U4 0

Table 7-18: Get Device Info Response - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x10

Version U4 1

Reserved2 U4 0

Payload Size U4 116 + N

Result Status U4 0

Table 7-19: Get Device Info Response - Payload

Field Name Type Notes

Unique ID U16 Unique identifier

Manufacturer ID U4 Manufacturer unique identifier. See Appendix A.

Manufacturer Name U32 Manufacturer name. See Appendix A.

Device ID U4 Device unique identifier. See Appendix A.

Device Name U32 Device name. See Appendix A.

HW Version U16

Metadata Length U4 Data length N; N ≤ 2048

Type U4

Version U4

Data U1 x N

Bootloader Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–11

Set Device Info

The Set Device Info message is used to save to a persistent memory (generally FLASH) information such as device

serial number (unique device identification), device name and manufacturer, and user-defined metadata.

C++ API:

void SnapSensor::SensorConnection::ApplicationModule::

SetDeviceInfo(DeviceInfo *deviceInfo)

Table 7-20: Set Device Info Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x14

Version U4 1

Reserved2 U4 0

Payload Size U4 116 + N

Reserved3 U4 0

Table 7-21: Set Device Info Command - Payload

Field Name Type Notes

Unique ID U16 Unique identifier

Manufacturer ID U4 Manufacturer unique identifier

Manufacturer Name U32 Manufacturer name

Device ID U4 Device unique identifier

Device Name U32 Device name

HW Version U16

Metadata Length U4 Data length N; N ≤ 2048

Type U4

Version U4

Data U1 x N

Table 7-22: Set Device Info Response - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Bootloader Messages

7–12 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-22: Set Device Info Response - Header (Continued)

Field Name Type Notes

Command ID U2 0x14

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Result Status U4 0

Get Sections Info

The Get Sections Info command returns a list of the sections in the non-volatile computer storage medium with its

size and offset.

Table 7-23: Get Sections Info Command - Header

Field Name Type Notes

Module ID U1 1 – Bootloader module

0x40– Storage module

Reserved1 U1 NV storage medium ID

Command ID U2 0x20

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Table 7-24: Get Sections Info Response - Header

Field Name Type Notes

Module ID U1 1 – Bootloader module

0x40– Storage module

Reserved1 U1 NV storage medium ID

Command ID U2 0x20

Version U4 1

Reserved2 U4 0

Payload Size U4 N × 4 × 5 + 8

Result Status U4 0

Bootloader Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–13

Table 7-25: Get Sections Info Response - Payload

Field Name Type Notes

Sector Length U4 Length of the smaller erasable area in the storage

medium in bytes. Offsets and sizes are expressed in

terms of sectors.

Num Sections U4 N

× N ID U4 Section data

Offset [Sectors] U4

Size [Sectors] U4

Free Size [Sectors] U4

Version U4

Clear Sections

The Clear Sections command sends a request to clear the sections specified in a list.

Table 7-26: Clear Section Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 NV storage medium ID

Command ID U2 0x21

Version U4 1

Reserved2 U4 0

Payload Size U4 4 + 4 × N

Table 7-27: Clear Sections Command - Payload

Field Name Type Notes

Num Sections U4 N

× N ID (*1)IDs of sections that are cleared

*1 The number of sections that are cleared can be larger than the ones indicated in the message. The objective of the bootloader is to

preserve integrity. For example, clearing the boot section clears up all the sections.

Table 7-28: Clear Sections Response- Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 NV Storage medium ID

Command ID U2 0x21

Bootloader Messages

7–14 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-28: Clear Sections Response- Header (Continued)

Field Name Type Notes

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Result Status U4 0

Read Section

Reads a section. Offset and size are expected to be expressed in sectors. The sector size is provided by the Get Sec-

tions Info message.

Table 7-29: Read Section Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 NV Storage medium ID

Command ID U2 0x22

Version U4 1

Reserved2 U4 0

Payload Size U4 12

Table 7-30: Read Section Command - Payload

Field Name Type Notes

Section ID U4 Section ID to read

Offset [sectors] U4 Relative offset with respect to the section start

Size [sectors] U1 N

Table 7-31: Read Section Response- Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 NV storage medium ID

Command ID U2 0x22

Version U4 1

Reserved2 U4 0

Payload Size U4 12 + Size

Result Status U4 0

Bootloader Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–15

Table 7-32: Read Section Response - Payload

Field Name Type Notes

Offset [sectors] U4

Num Sections U4 N; where N cannot exceed 8

M Data U1 M = N × Sector Size

Write Section

The Write Section command writes a section. Each response returns the data that was read back after the write oper-

ation (cache disabled). Whenever the bootloader receives a Write Section command, it first invalidates the

section and then starts writing. The section is validated after a successful reception of the Validate Section com-

mand. Offset and size are expected to be expressed in sectors. The sector size is provided by Get Sections Info mes-

sage.

Table 7-33: Write Section Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 NV storage medium ID

Command ID U2 0x23

Version U4 1

Reserved2 U4 0

Payload Size U4 12 + Size

Table 7-34: Write Section Command - Payload

Field Name Type Notes

Section ID U4 Section ID to write

Offset U4 Relative offset with respect to the section start

Size U4 N

× N Data U1

Table 7-35: Write Section Response- Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 NV storage medium ID

Command ID U2 0x23

Version U4 1

Reserved2 U4 0

Bootloader Messages

7–16 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-35: Write Section Response- Header (Continued)

Field Name Type Notes

Payload Size U4 12 + Size

Result Status U4 0

Table 7-36: Write Section Response - Payload

Field Name Type Notes

Section ID U4

Offset [sectors] U4

Size [sectors] U1 Number of sectors N; where N cannot exceed 8

× M U1 M ≤ N × Sector size. The missing bytes are inter-

preted as zero.

Validate Section

The Validate Section command contains the content size, version, and CRC of the section. The following rules ap-

ply:

•It is applicable to all sections except the data section

•It is applicable only to invalid sections (cleared using the clear section command)

•If the verification of the CRC on the expected memory size within the section passes, then all the remaining

bytes are set to 0. The version and size are stored in the table of the section and the section is declared valid.

•For code sections, the Content Version is the software version

Table 7-37: Validate Section Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 NV Storage medium ID

Command ID U2 0x24

Version U4 1

Reserved2 U4 0

Payload Size U4 16

Table 7-38: Validate Section Command - Payload

Field Name Type Notes

Section ID U4 Section ID to validate

Size [sectors] U4

Bootloader Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–17

Table 7-38: Validate Section Command - Payload (Continued)

Field Name Type Notes

Content Version U4

CRC U4

Table 7-39: Validate Section Response- Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 NV storage medium ID

Command ID U2 0x24

Version U4 1

Reserved2 U4 0

Payload Size U4 4

Result Status U4 0

Table 7-40: Validate Section Response - Payload

Field Name Type Notes

Computed CRC U4

Create/Recover Restore Point

A restore point consists of a “code plus data” bundle; an application code plus its initialization data.

The application can have one or more restore points (only one in the current implementation). When only one re-

store point is available, create a restore point of the factory configuration (application code and initialization data

saved during production). When the product must be commissioned, create a restore point after commissioning.

The benefit of the restore point is to create the possibility, at any time, to revert to a previous software / configura-

tion when either the update or the initialization data modification failed.

C++ API:

void

SnapSensor::SensorConnection::ApplicationModule::CreateRestorePoint(

unsigned int RestorePointID)

void

SnapSensor::SensorConnection::ApplicationModule::RecoverRestorePoint(

unsigned int RestorePointID)

Bootloader Messages

7–18 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-41: Create/Recover Restore Point Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x2A

Version U4 1

Reserved2 U4 0

Payload Size U4 2

Reserved3 U4 0

Table 7-42: Create/Recover Restore Point Command - Payload

Field Name Type Notes

Create/Recover U1 1 – Create

2 – Recover

Restore Point ID U1 0 - N

Table 7-43: Create/Recover Restore Point Response - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x2A

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Result Status U4

Application Firmware

The application firmware implements the functionality required by the customer product. The simplest applications

interface the sensors and upload the sensor data to a host PC or data router using a link (USB, UART, Network).

The most complex applications also perform some processing (edge processing in the IOT terminology) and upload

processed data to a host PC.

Main Application Messages

The main application module implements the commands shown in the Main Application Messages table. The avail-

ability column indicates the applicable modes for the message.

Application Firmware

ADIS1700x Vision-Sensing Camera Module User Guide 7–19

Table 7-44: Main Application Messages

ID Command Notes Availability

0x01 Reset Device is reset All modes

0x02 Reserved

0x03 Module SW Version Equivalent to the bootloader

command.

All modes

0x10 Get Device Info Equivalent to the bootloader

command.

All modes

0x11 Get Mode Requests the framework mode All modes

0x12 Set Mode Sets the framework mode All modes

0x15 Store/Restore Parameters to Flash The framework initiates a pro-

cedure to store all the module

parameters to the primary stor-

age device.

Configuration mode

0x16 Get Production Parameters All modes

0x17 Set Production Parameters Configuration mode

0x20 Get Sections Info Equivalent to the bootloader

command.

Configuration mode

0x21 Clear Sections Equivalent to the bootloader

command.

Configuration mode

0x22 Read Section Equivalent to the bootloader

command.

Configuration mode

0x23 Write Section Equivalent to the bootloader

command.

Configuration mode

0x24 Validate Section Equivalent to the bootloader

command.

Configuration mode

0x2A Create/Recover Restore Point Equivalent to the bootloader

command.

0x40 Get Time Requests the local time All modes

0x41 Set Time Sets the local time All modes

0x60 Get LED Mode Returns the mode of the board

LEDs

All modes

0x61 Set LED Mode Sets the mode of the board

LEDs

All modes

0x70 Get ADC Reading Configuration mode

0x100 Get Processor Register Configuration mode

0x101 Set Processor Register Configuration mode

0x102 External Memory Test Configuration mode

Application Firmware

7–20 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-44: Main Application Messages (Continued)

ID Command Notes Availability

0xFF00 Debug Message Debug message to test the ca-

pability of the firmware to re-

cover from software and hard-

ware errors.

All modes (only on the development de-

bug version of the software)

Get Mode

The Get Mode command requests the application mode. The default mode is Smart Camera mode.

C++ API:

void SnapSensor::SensorConnection::ApplicationModule::GetMode (SNAP_UINT32

*modeId)

Table 7-45: Get Mode Header - Command

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x11

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Reserved3 U4

Table 7-46: Get Mode Header - Response

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x11

Version U4 1

Reserved2 U4 0

Payload Size U4 4

Result Status U4 0

Main Application Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–21

Table 7-47: Get Mode Response - Payload

Field Name Type Notes

Mode U4 0 – Sensor Mode

1– Configuration Mode

2 – Smart Camera Mode

Set Mode

The Set Mode command sets the application mode. In some conditions, the operating mode cannot be set (for ex-

ample, because the mode does not exist or because of a pending operation). The reason is always coded in the result

status. The default mode is Smart Camera mode.

C++ API:

void SnapSensor::SensorConnection::ApplicationModule::SetMode (SNAP_UINT32

modeId)

Table 7-48: Set Mode Header - Command

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x12

Version U4 1

Reserved2 U4 0

Payload Size U4 4

Reserved3 U4

Table 7-49: Set Mode Command - Payload

Field Name Type Notes

Mode U4 0 – Sensor Mode

1 – Configuration Mode

2 – Smart Camera Mode

Table 7-50: Set Mode Header - Response

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x12

Main Application Messages

7–22 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-50: Set Mode Header - Response (Continued)

Field Name Type Notes

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Result Status U4 0 – mode was successfully changed

0x20 – invalid mode (for example, production

modes normally do not implement the smart cam-

era mode)

0x30 – mode could not be changed because of a

pending operation (for example, uploading

the .dll)

Store/Restore Parameters to Flash

The StoreParametersToFlash() and RestoreParametersFromFlash() commands are active in

configuration mode. The commands have two purposes:

•Avoid continuous access of the data storage device during the tuning operations

•Confirm or abort changes

These commands shall be sent to the framework to confirm or abort changes by storing to the storage device or

restoring from the storage device.

C++ API:

void

SnapSensor::SensorConnection::ApplicationModule::StoreParametersToFlash()

void

SnapSensor::SensorConnection::ApplicationModule::

RestoreParametersFromFlash()

Table 7-51: Store/Restore Parameters to Flash Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x15

Version U4 1

Reserved2 U4 0

Payload Size U4 1

Main Application Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–23

Table 7-51: Store/Restore Parameters to Flash Command - Header (Continued)

Field Name Type Notes

Reserved3 U4 0

Table 7-52: Store/Restore Parameters to Flash Command - Payload

Field Name Type Notes

Store/Restore U1 1 – Store

2 – Restore

Table 7-53: Store/Restore Parameters to Flash Response - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x15

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Result Status U4 0 – Successful

1 – Invalid Version

Get Production Parameters

The Get Production Parameters command returns the FLASH information related to:

•Board ID

•Lens type

•Lens center offset

Lens center offset is computed by subtracting the lens center coordinates from the image center. The X axis of the

image is parallel to the image rows and its direction is from left to right. The Y axis of the image is parallel to the

image columns and its direction is from top to bottom.

C++ API:

void

SnapSensor::SensorConnection::ADIS1700xApplication::

GetProductionParameters (ADIS1700xProductionParameters

*productionParameters)

Main Application Messages

7–24 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-54: Get Production Parameters Command - Header

Field Name Bytes Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x16

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Reserved3 U4

Table 7-55: Get Production Parameters Response - Header

Field Name Bytes Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x16

Version U4 1

Reserved2 U4 0

Payload Size U4 N

Result Status U4 0

Table 7-56: Get Production Parameters Response - Payload

Field Name Type Notes

Board ID U4

Lens SKU U8

Lens Offset X I1 Offset in pixels

Lens Offset Y I1 Offset in pixels

Set Production Parameters

The Set Production Parameters command is used to store to the FLASH information related to:

•Board ID

•Lens type

•Lens center offset

Lens center offset is computed by subtracting the lens center coordinates from the image center. The X axis of the

image is parallel to the image rows and its direction is from left to right. The Y axis of the image is parallel to the

image columns and its direction is from top to bottom.

Main Application Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–25

C++ API:

void

SnapSensor::SensorConnection::ADIS1700xApplication::

SetProductionParameters (ADIS1700xProductionParameters

*productionParameters)

Table 7-57: Set Production Parameters Command - Header

Field Name Bytes Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x17

Version U4 1

Reserved2 U4 0

Payload Size U4 18

Reserved3 U4

Table 7-58: Set Production Parameters Response - Header

Field Name Bytes Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x17

Version U4 1

Reserved2 U4 0

Payload Size U4 N

Result Status U4 0

Table 7-59: Set Production Parameters Response - Payload

Field Name Type Notes

Board ID U4

Lens SKU U8

Lens Offset X I1 Offset in pixels

Lens Offset Y I1 Offset in pixels

Get Time

The Get Time command requests the local time. The time is provided as the number of seconds elapsed since Janu-

ary 1, 2000. When this number of seconds is expressed using an unsigned 32 bit, the number overflows in 2135.

Main Application Messages

7–26 ADIS1700x Vision-Sensing Camera Module User Guide

C++ API:

void SnapSensor::SensorConnection::ApplicationModule::GetTime ( TimeSpan *

sinceY2000 )

Table 7-60: Get Time Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x40

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Reserved3 U4

Table 7-61: Get Time Response - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x40

Version U4 1

Reserved2 U4 0

Payload Size U4 8

Result Status U4 0

Table 7-62: Get Time Response - Payload

Field Name Type Notes

SecondsSince Y2000 U4 Seconds since 1/1/2000 at 00:00:00

Milliseconds U4

Set Time

The Set Time command sets the local time. The time is provided as the number of seconds elapsed since January 1,

2000. When this number of seconds is expressed using an unsigned 32 bit, the number overflows in 2135.

C++ API:

void SnapSensor::SensorConnection::ApplicationModule::SetTime ( TimeSpan

const * sinceY2000 )

Main Application Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–27

Table 7-63: Set Time Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x41

Version U4 1

Reserved2 U4 0

Payload Size U4 8

Reserved3 U4

Table 7-64: Set Time Command - Payload

Field Name Type Notes

SecondsSince Y2000 U4 Seconds since 1/1/2000 at 00:00:00

Milliseconds U4

Table 7-65: Set Time Response - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x41

Version U4 1

Reserved2 U4 0

Payload Size U4 1

Result Status U4 0 if the time was successfully changed

Get LED Mode

The Get LED Mode command returns the mode of the board LEDs. Several modes can be configured. Multiple

LEDs can be configured with one single message. See the Table 7-66 LED States table.

The Get LED Mode reports the current LED mode, the LED state and the LED light state.

The device firmware sets LEDs to on or off by switching the LED state. The host can read bit 6 of the Mode field

in the Get LEDs Mode response to know the current LED state. But, the host cannot change the bit. The host can

change the LED light state by overriding the LED state using modes 2 to 4.

When the mode is nominal fixed or nominal blinking, the LED light state is equal to the LED state (the LED is

driven by the device).

Main Application Messages

7–28 ADIS1700x Vision-Sensing Camera Module User Guide

C++ API:

void

SnapSensor::SensorConnection::ADIS1700xApplication::GetLedStatus(

LedStatus * ledStatus, SNAP_UINT16 statusCount, SNAP_UINT16 *

receivedStatusCount)

Table 7-66: LED States

INPUT OUTPUT

LED State

Device R/W

Host Read only

Mode Light State Note

0 Off 0: Nominal 0 Off Led is off

1 On 0: Nominal 1 On Led is on

0 Off 1: Nominal blinking 0 Off Led is off

1 On 1: Nominal blinking 1 On Led is blinking

N/A 2: Override always off 0 Off Led is off

N/A 3: Override always on 1 On Led is on

N/A 4: Override always blinking 1 On Led is blinking

Table 7-67: Get LED Mode Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x60

Version U4 1

Reserved2 U4 0

Payload Size U4 2

Reserved3 U4 0

Table 7-68: Get LED Mode Command - Payload

Field Name Type Notes

Num LEDs U2 N = 1– 32

LEDS IDs N×U1

Main Application Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–29

Table 7-69: Get LED Mode Response - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x60

Version U4 1

Reserved2 U4 0

Payload Size U4 2 + 2 × N

Result Status U4 0x40 – Invalid LED ID

Table 7-70: Get LED Mode Response - Payload

Field Name Type Notes

Num LEDs U2 N = 1– 32

N× LED ID U1 0 – 255

Mode U1 Bits 0 (LSB) to 2 are for the mode

0 : Nominal (fixed light) when on

1 : Blinking when on

2 : Always off (override )

3 : Always on (override)

4 : Always blinking (override)

Bit 6 – Led state is on

Bit 7 (MSB) – Led light on/blinks

Table 7-71: LED ID Description

LED Name ID Notes

Status LEDs 0

Set LED Mode

The Set LED command sets the mode of the board LEDs. Several different modes can be configured. Multiple

LEDs can be configured with one single message. See the Table 7-66 LED States table.

The device firmware sets LEDs to on or off by switching the LED state. The host can read bit 6 of the Mode field

in the Get LEDs Mode response to know the current LED state. But, the host cannot change the bit. The host can

change the LED light state by overriding the LED state using modes 2 to 4.

When the mode is nominal fixed or nominal blinking, the LED light state is equal to the LED state (the LED is

driven by the device).

Main Application Messages

7–30 ADIS1700x Vision-Sensing Camera Module User Guide

C++ API:

void SnapSensor::SensorConnection::ADIS1700xApplication::SetLedStatus

(LedStatus * ledStatus, SNAP_UINT16 statusCount)

Table 7-72: Set LED Mode Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x61

Version U4 1

Reserved2 U4 0

Payload Size U4 2

Reserved3 U4 0

Table 7-73: Set LED Mode Command - Payload

Field Name Type Notes

Num LEDs U2 N = 1– 32

LEDS IDs N×U1

Table 7-74: Set LED Mode Response - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x61

Version U4 1

Reserved2 U4 0

Payload Size U4 2 + 2 × N

Result Status U4 0x40 – Invalid LED ID

Table 7-75: Set LED Mode Response - Payload

Field Name Type Notes

Num LEDs U2 N = 1– 32

Main Application Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–31

Table 7-75: Set LED Mode Response - Payload (Continued)

Field Name Type Notes

N× LED ID U1 0 – 255

Mode U1 Bits 0 (LSB) to 2 are for the mode

0 : Nominal (fixed light) when on

1 : Blinking when on

2 : Always off (override )

3 : Always on (override)

4 : Always blinking (override)

Bit 6 – Led state is on

Bit 7 (MSB) – Led light on/blinks

Get ADC Reading

The Get ADC Reading command returns voltage readings on specified ADC channels.

C++ API:

void

SnapSensor::SensorConnection::ADIS1700xApplication::GetAdcReading(

AdcReading *readings, SNAP_UINT16 channelCount, SNAP_UINT16

*receivedChannelCount)

Table 7-76: Get ADC Reading Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x70

Version U4 1

Reserved2 U4 0

Payload Size U4 2 × N + 2

Reserved3 U4 0

Table 7-77: Get ADC Reading Command - Payload

Field Name Type Notes

Num Channels U2 N ≤ 4

Channel ID N × U2

Main Application Messages

7–32 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-78: Get ADC Reading Response - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x70

Version U4 1

Reserved2 U4 0

Payload Size U4 2 × N + 2

Result Status U4 0x20 Invalid Channel ID

Table 7-79: Get ADC Reading Response - Payload

Field Name Type Notes

Number of Channels U2 N, number of channels to read (N ≤ 4)

N × Reading ID U2 Channel ID

Value U2 Voltage in mV

Get Processor Register

The Get Processor Register command returns the values of a list of processor registers. An address identifies each

Table 7-80: Get Processor Register Command - Header

Field Name Type Value

Module ID U1 0x01

Reserved1 U1 0

Command ID U2 0x100

Version U4 1

Reserved2 U4 0

Payload Size U4 4 + 8N

Reserved3 U4

Table 7-81: Get Processor Register Command - Payload

Field Name Type Value Notes

Number of Registers to Read U4 N N ≤ 32

× N Register Address U4 The value field is disregarded.

Value U4

Main Application Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–33

Table 7-82: Get Processor Register Response - Header

Field Name Type Value Notes

Module ID U1 0x01

Reserved1 U1 0

Command ID U2 0x100

Version U4 1

Reserved2 U4 0

Payload Size U4 4 +8N

Result Status U4 0 if the registers are successfully read

Table 7-83: Get Processor Register Response - Payload

Field Name Type Value Notes

Number of Registers U4 N N ≤ 32

× N Register Address U4 N is the number of registers to read.

Value U4

Set Processor Register

The Set Processor Register command sets the value of a list of memory mapped processor registers.

WARNING: Improper usage of this command can damage the processor or devices connected to it.

Table 7-84: Set Processor Register Command - Header

Field Name Type Value

Module ID U1 0x01

Reserved1 U1 0

Command ID U2 0x101

Version U4 1

Reserved2 U4 0

Payload Size U4 8N + 4

Reserved3 U4

Table 7-85: Set Processor Register Command - Payload

Field Name Type Value Notes

Number of Registers U4 N N ≤ 32

× N Register Address U4 N is the number of registers to be read.

Value U4

Main Application Messages

7–34 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-86: Set Processor Register Response - Header

Field Name Type Value Notes

Module ID U1 0x01

Reserved1 U1 0

Command ID U2 0x101

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Result Status U4 0 if the registers have been successfully written

External Memory Test

The External Memory Test command performs a memory test and returns the status of the test.

Table 7-87: External Memory Test Command - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0x102

Version U4 1

Reserved2 U4 0

Payload Size U4 2

Reserved3 U4 0

Table 7-88: External Memory Test Command - Payload

Field Name Type Notes

Memory Type U1 1 LPDDR

2 FLASH

Test Type U1 1 Data Bus Test

2 Address Bus Test

3 Device Test

Table 7-89: External Memory Test Response - Header

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Main Application Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–35

Table 7-89: External Memory Test Response - Header (Continued)

Field Name Type Notes

Command ID U2 0x102

Version U4 1

Reserved2 U4 0

Payload Size U4 8

Result Status U4 0

Table 7-90: External Memory Test Response - Payload

Field Name Type Notes

Memory Type U2 1 LPDDR

2 FLASH

Test Type U1 1 Data Bus Test

2 Address Bus Test

3 Device Test

Test Result U2 0 if the test is successful

Failure Info U4

Debug Message

The Debug Message command injects errors into the application to test its capability to recover. This command is

available only in the debug versions of the software.

Table 7-91: Debug Message Header - Command

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0xFF00

Version U4 1

Reserved2 U4 0

Payload Size U4 4

Reserved3 U4 0

Table 7-92: Debug Message Command - Payload

Field Name Type Notes

Command Code U4 See the Table 7-94 Debug Message Command

Codes table

Main Application Messages

7–36 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-93: Debug Message Header - Response

Field Name Type Notes

Module ID U1 1

Reserved1 U1 0

Command ID U2 0xFF00

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Reserved3 U4 0

Table 7-94: Debug Message Command Codes

Command Code Name Notes

0 Infinite Loop When the firmware receives this command, it starts an infinite loop

waiting for the watchdog to expire and reset the device.

1 Camera Failure Forces a camera failure. The application resets and restarts the cam-

era.

2 IMU Failure Forces an IMU failure. The application resets and restarts the IMU.

Camera Module Messages

The camera module implements the messages shown in the Camera Module Commands table.

Table 7-95: Camera Module Commands

ID Command Notes Availability

0x03 Module SW Version Equivalent to the bootloader command All modes

0x11 Get Luminance Image Returns an image from the camera All modes

0x12 Set Luminance Image Sets the image in the camera.

The camera is halted. After this time im-

ages are provided through the data link.

To exit from this mode, a reset command

must be sent to the camera module.

Sensor Mode

0x20 Get ADVS200x Tuning Parameters Returns the parameter values of the

ADVS200x imager

Configuration mode

0x21 Set ADVS200x Tuning Parameters Sets the parameter values of the

ADVS200x imager

Configuration mode

0x22 Get ADVS200x LUT Returns the values of the look-up table Configuration mode

0x23 Set ADVS200x LUT Sets the values of the look-up table Configuration mode

0x80 Self Test Configuration mode

Application Firmware

ADIS1700x Vision-Sensing Camera Module User Guide 7–37

Get Luminance Image

This message is used to get the image from the camera module. The image is received in chunks. The size of the

chunks and the number of necessary chunks is determined by the client (the camera module in the framework). The

image must to be packed. The number of chunks to request is indicated by the total chunks field in the response.

The upload sequence can be restarted at any time by sending a new Get Luminance Image command with the

chunk index set to 1. When not in Sensor mode, the host must quickly request the remaining chunks to avoid data

corruption. In Smart Camera mode and in Configuration mode, sending a Get Luminance Image command with

chunk index set to 1 initiates a new capture.

The response timeout for this command must be set to two times the inverse of the frame rate.

Every chunk must contain an integer number of pixels. However, the size of the last chunk can be different. The

chunk size must indicate the size of the transmitted chunk. Image is transmitted first row first.

There are two versions of this message that are implemented. The first version is the legacy one, the second is the

new one which includes a time tag.

C++ API:

void SnapSensor::SensorConnection::CameraModule::GetLuminanceImage (Image

dstImage, SNAP_UINT32 *frameIndex, TimeSpan *frameTime)

Table 7-96: Get Luminance Image Command - Header

Field Name Type Notes

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x11

Version U4 1

Reserved2 U4 0

Payload Size U4 2

Reserved3 U4 0

Table 7-97: Get Luminance Image Command - Payload

Field Name Type Notes

Chunk Index U4 1 – Total Chunks

Table 7-98: Get Luminance Image Response - Header

Field Name Type Notes

Module ID U1 0x10

Reserved1 U1 0

Camera Module Messages

7–38 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-98: Get Luminance Image Response - Header (Continued)

Field Name Type Notes

Command ID U2 0x11

Version U4 1

Reserved2 U4 0

Payload Size U4 N + 17

Result Status U4 0x20 –Timeout. The buffer is no longer available.

(The buffer overwritten by the camera while

downloading the image).

0x30 – Invalid chunk index

Table 7-99: Get Luminance Image Response - Payload

Field Name Type Notes

Frame Index U4

Image Width U2 Size of each row in pixels.

Image Height U2 Number of rows in the final image

Chunk Size U4 N in bytes

Chunk Index U2

Total Chunks U2

Bits per Pixel U1

× N Data U1

Table 7-100: Get Luminance Image Command - Header (V2)

Field Name Type Notes

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x11

Version U4 2

Reserved2 U4 0

Payload Size U4 2

Reserved3 U4 0

Table 7-101: Get Luminance Image Command - Payload (V2)

Field Name Type Notes

Chunk Index U4 1 – Total Chunks

Camera Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–39

Table 7-102: Get Luminance Image Response - Header (V2)

Field Name Type Notes

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x11

Version U4 2

Reserved2 U4 0

Payload Size U4 N + 17

Result Status U4 0x20 –Timeout. The buffer is no longer available.

(The buffer overwritten by the camera while

downloading the image).

0x30 – Invalid chunk index

Table 7-103: Get Luminance Image Response - Payload (V2)

Field Name Type Notes

Frame Index U4

Reserved U2

DaysSince2000 U2 0..65535 (2000 … 2179)

Time of Day U4 0…86400s with a resolution of 0.1 ms

Image Width U2 Size of each row in pixels.

Image Height U2 Number of rows in the final image

Chunk Size U4 N in bytes

Chunk Index U2

Total Chunks U2

Bits per Pixel U1

× N Data U1

Set Luminance Image

This command is used to set the image in the camera module. Once the message is received, the camera module

switches to virtual camera mode. From this moment new images can only come from the host through this com-

mand. To exit from virtual camera mode, reset the module.

The image size must match the image size expected by the application. The image is transmitted in chunks. The

image must be packed. Every chunk must contain an integer number of pixels. But, the size of the last chunk can be

different. The chunk size must indicate the size of the transmitted chunk.

Camera Module Messages

7–40 ADIS1700x Vision-Sensing Camera Module User Guide

C++ API:

void SnapSensor::SensorConnection::CameraModule::SetLuminanceImage(Image

srcImage, SNAP_INT32 srcBitsPerPixel, SNAP_UINT32 srcFrameIndex)

Table 7-104: Set Luminance Image Command - Header

Field Name Type Notes

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x12

Version U4 1

Reserved2 U4 0

Payload Size U4 N + 17

Reserved3 U4

Table 7-105: Set Luminance Image Command - Payload

Field Name Type Notes

Frame Index U4

Image Width U2 Size of each row in pixels

Image Height U2 Number of rows in the final image

Chunk Size U4 N in bytes

Chunk Index U2

Total Chunks U2

Bits per Pixel U1

× N Data U1

Table 7-106: Set Luminance Image Response - Header

Field Name Type Notes

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x12

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Camera Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–41

Table 7-106: Set Luminance Image Response - Header (Continued)

Field Name Type Notes

Result Status U4 0x20 – Invalid image size. (The image size must

match the image size expected by the application).

If this is not the case, the device flags the error and

ignores the message content.

0x30 – Unexpected chunk index. (This error is

caused by a missing index). A chunk index of 0 in-

dicates that the host wants to restart the image up-

loading. This operation is valid and no error is

flagged.

Get ADVS200x Tuning Parameters

This command is sent to read the values of ADVS200x imager parameters. The IDs of the parameters to be read are

sent in the command payload. The command and response payloads have a similar structure.

C++ API:

void SnapSensor::SensorConnection::CameraModule:: GetADVS200xParameters

(IADVS200xRegisters *dstADVS200xRegisters, IADVS200xLut *dstADVS200xLut)

Table 7-107: Get Tuning Parameters Command - Header

Field Name Type Value

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x20

Version U4 1

Reserved2 U4 0

Payload Size U4 4 + 8N

Reserved3 U4

Table 7-108: Get Tuning Parameters Command - Payload

Field Name Type Value Notes

Num of Parameters U4 N

x N Param ID U4 N is the number of parameters to read.

The parameter value is disregarded. The parame-

ter ID contains the ID of the parameters to read.

The last parameter ID is the null parameter (Pa-

rameter ID = 0xFFFF) which is used as a termina-

tor.

Value U4

Camera Module Messages

7–42 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-109: Get Tuning Parameters Response- Header

Field Name Type Value Notes

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x20

Version U4 1

Reserved2 U4 0

Payload Size U4 4 +8N

Result Status U4 0 0 if the parameters have been successfully read

Table 7-110: Get Tuning Parameters Response - Payload

Field Name Type Value Notes

Number of Parameters U4 N

× N Param ID U4 N is the number of parameters read.

The last parameter is the terminator.

Value U4

Set ADVS200x Tuning Parameters

The Set ADVS200x Tuning Parameters command sets the parameter values for the ADVS200x imager. The IDs of

the parameters and their respective values are sent in the command payload. The response does not have a payload.

C++ API:

void SnapSensor::SensorConnection::CameraModule:: SetADVS200xParameters

(IADVS200xRegisters *srcADVS200xRegisters, IADVS200xLut *srcADVS200xLut)

Table 7-111: Set Tuning Parameters Command - Header

Field Name Type Value

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x21

Version U4 1

Reserved2 U4 0

Payload Size U4 8N + 4

Reserved3

Camera Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–43

Table 7-112: Get Tuning Parameters Command - Payload

Field Name Type Value Notes

Num of Parameters U4 N

x N Param ID U4 N is the number of parameters to read.

Each byte octet is a couple of 32-bit integers rep-

resenting the parameter ID and its value. The last

octet is the null parameter (Parameter ID =

0xFFFF) which is used as a terminator.

Value U4

Table 7-113: Get Tuning Parameters Response- Header

Field Name Type Value Notes

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x21

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Result Status U4 0 if the parameters have been successfully read

Get ADVS200x LUT

The Get ADVS200x LUT command reads the values of the ADVS200x lookup table.

C++ API:

void SnapSensor::SensorConnection::CameraModule:: GetADVS200xLut

(IADVS200xLut *dstADVS200xLut)

Table 7-114: Get ADVS200x LUT Command - Header

Field Name Type Value

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x22

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Camera Module Messages

7–44 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-115: Get ADVS200x LUT Response - Header

Field Name Type Value Notes

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x22

Version U4 1

Reserved2 U4 0

Payload Size U4 4x1024

Result Status U4 0 if the LUT has been successfully

read

Table 7-116: Get ADVS200x LUT Response - Payload

Field Name Type Notes

Lookup Table U4x1024 The 1024 values of the lookup table

Set ADVS200x LUT

The SetADVS200xLUT command writes the values of the ADVS200x lookup table.

C++ API:

void SnapSensor::SensorConnection::CameraModule:: SetADVS200xLut

(IADVS200xLut *srcADVS200xLut)

Table 7-117: Set ADVS200x LUT Command - Header

Field Name Type Value

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x23

Version U4 1

Reserved2 U4 0

Payload Size U4 4 x 1024

Table 7-118: Set ADVS200x LUT Command - Payload

Field Name Type Value Notes

Lookup table U4 x 1024

Camera Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–45

Table 7-119: Set ADVS200x LUT Response- Header

Field Name Type Value Notes

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x23

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Result Status U4 0 if the LUT has been successfully

set.

Self Test

The Self Test command runs the defined sequence of electrical tests. The response reports availability and result of

each test.

The Self Test ID Descriptions table specifies the available self tests.

Self Test ID Descriptions

Test ID Test Name Description Result Type Notes

1 ADVS200x Reset Modifies the first and last entry

of the LUT.

Resets the ADVS200x.

Reads the same two entries and

verifies that they match the de-

fault ADVS200x LUT values.

Result: Pass(0)/Fail(1)

Result Value: 0

2 PPI Port Uses the ADVS200x PPI test

mode. Verifies that each of the

13 pins of the PPI port can be

set to 0 or 1 while all the other

pins are set to the complemen-

tary value. This requires 26

tests.

Result: Pass(0)/Fail( n)

Result Value:

Test word that failed if

any.

n > 0 is the subtest which failed

if any.

(n-1)%13 gives the pin which

failed where PPI pins 0..9 are

the data pins while pins 10..12

are H.Sync V.Sync and F.Sync.

If n <= 13 (resp. n > 13) the

test failed to set the failed pin

to 1 (resp. to 0) while all the

other PPI pins where set to 0

(resp. to 1).

Camera Module Messages

7–46 ADIS1700x Vision-Sensing Camera Module User Guide

Test ID Test Name Description Result Type Notes

3 Trig NIRQ

LED Configures the LED

pin.

Triggers an image capture.

Trigger pin test passes if an im-

age is receive through PPI.

Verifies that the host processor

receives an interrupt on the

GPIO connected to NIRQ at

the end of the image transfer.

The LED pin test passes if the

LED pin goes high for the en-

tire duration of the exposure

and Is low otherwise.

Result: Pass(0)/Fail(1)

Result Value:

(LSB) Trigger P/F (1/0)

Bit 1 NIRQ Available

Bit 2 NIRQ P/F (1/0)

Bit 3 LED Available

Bit 4 LED P/F (1/0)

Test is unavailable if trigger pin

is not connected.

Test passes if the test for the

available pins passes.

6 GPIO 0 Subtest 1 : Tries to set this

GPIO to 0 while setting all the

other available GPIOs to 1

Subtest 2 : Tries to set this

GPIO to 1 while setting all the

other available GPIOs to 0

Result: Pass(0)/Fail( n)

Result Value: Test word

that failed if any.

n > 0 is the subtest which failed

if any.

7 GPIO 1 Same as GPIO 0 Result: Pass(0)/Fail( n)

Result Value: Test word

that failed if any.

n > 0 is the subtest which failed

if any.

8 GPIO 2 Same as GPIO 0 Result: Pass(0)/Fail( n)

Result Value: Test word

that failed if any.

n > 0 is the subtest which failed

if any.

9 GPIO 3 Same as GPIO 0 Result: Pass(0)/Fail( n)

Result Value: Test word

that failed if any.

n > 0 is the subtest which failed

if any.

10 PPI_DValid Configures the GPIO connec-

ted to the PPI_DVALID signal

as an interrupt source.

Subtest 1 : Sets an all zeros

word in the PPI FIFO and ena-

bles the PPI output. Checks

that an interrupt has been re-

ceived.

Subtest 2 : Sets a 0x1FFF word

in the PPI FIFO and enables

the PPI output. Checks that an

interrupt has been received.

Result: Pass(0)/Fail( n)

Result Value: Test word

that failed if any.

n > 0 is the subtest which failed

if any.

Camera Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–47

Table 7-120: Self Test Command - Header

Field Name Type Value

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x80

Version U4 1

Reserved2 U4 0

Payload Size U4 4 x N

Table 7-121: Self Test Command - Payload

Field Name Type Value Notes

Test Count U4 N N ≤ 8

x N Test ID U1 1 - 10 Same test ID can be specified multiple

times but is executed only once

Table 7-122: Self Test Response- Header

Field Name Type Value Notes

Module ID U1 0x10

Reserved1 U1 0

Command ID U2 0x80

Version U4 1

Reserved2 U4 0

Payload Size U4 4 + 4N

Result Status U4 0 – all the tests passed

0x20 – one of the tests failed

Table 7-123: Self Test Response - Payload

Field Name Type Value Notes

Test Count U4 N

x N Test ID U1

Test Re-

sult

U1 0xFF – test not available

Result

Value

Camera Module Messages

7–48 ADIS1700x Vision-Sensing Camera Module User Guide

IMU Module Messages

The IMU module implements the messages shown in the IMU Module Messages table.

Table 7-124: IMU Module Messages

ID Command Description Availabilty

0x11 Get Measurements Retrieves IMU sample measurements

from the IMU module

Sensor/Smart Camera mode

0x15 Get Temperature For future use. (Sensor/Smart Camera

mode)

0x20 Get Configuration Retrieve the IMU configuration in-

cluding the number of available axis,

the measurement rate and the range

for each axis

All modes

0x21 Set Configuration Configuration mode

0x24 Get Parameters Reads the IMU parameter values Configuration mode

0x25 Set Parameters Writes the IMU parameter values Configuration mode

Get Measurements

The GetMeasurements message is used to retrieve IMU sample measurements from the IMU module.

The sample format field allows the user to define the structure of the measurement sample. Attempts to request an

axis that is not present returns in an invalid format in the results status field of response message. In case of invalid

format, the response message returns no samples but the sample format field indicates the measurements that are

available.

There are two possible ways to arrange the data:

•Structure – a matrix arrangement where all the data in the same row belongs to the same epoch and the matrix

is transmitted row-wise, first row first.

•Vectors – a matrix arrangement where all the data in the same row are homogeneous (for example, the first row

contains the accelerometer X axis measurements). The vectors arrangement is the transpose of the structure ar-

rangement.

The user can request an arbitrary number of samples using the homonymous field. The response message can return

a smaller number of samples when the number indicated in the command exceeds the number of available measure-

ments. When this happens, no error is reported in the result status of the response message. The number of samples

field indicates the effective number of measurements in the message.

C++ API:

void SnapSensor::SensorConnection::ImuModule::GetMeasurements (SNAP_UINT16

measurementCount, SNAP_UINT32 *timeTag, SNAP_INT32 *accelerometerX,

SNAP_INT32 *accelerometerY, SNAP_INT32 *accelerometerZ, SNAP_UINT16

Application Firmware

ADIS1700x Vision-Sensing Camera Module User Guide 7–49

*returnedMeasurementCount, SNAP_UINT16 *lastMeasurementId, TimeSpan

*lastMeasurementTime)

Table 7-125: Get Measurements Command - Header

Field Name Type Notes

Module ID U1 0x12

Reserved1 U1 0

Command ID U2 0x11

Version U4 2

Reserved2 U4 0

Payload Size U4 4

Result U4 0

Table 7-126: Get Measurements Command - Payload

Field Name Type Notes

Format U2 See the Table 7-129 Get Measurement Format ta-

ble

Number of Samples U2 1– 1000

Table 7-127: Get Measurements Response - Header

Field Name Type Notes

Module ID U1 0x12

Reserved1 U1 0

Command ID U2 0x11

Version U4 2

Reserved2 U4 0

Payload Size U4 12 + N × M × 2 + M × 4

Result Status U4 0x50 – Invalid Format

Table 7-128: Get Measurements Response - Payload

Field Name Type Notes

Format U2 See the Table 7-129 Get Measurement Format ta-

ble

Number of Samples U2 N = 0 – 1000

Last Meas. ID U2 0 – 65535

DaysSince2000 U2 0 – 65535 (years 2000 to 2179)

IMU Module Messages

7–50 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-128: Get Measurements Response - Payload (Continued)

Field Name Type Notes

Time Of Day U4 0 – 86400s with resolution 0.1 ms

IMU Measurements N × M See theTable 7-129 Get Measurement Format ta-

ble.

M = size of requested data. Acceleration and angu-

lar rates are two bytes long while the time tag field

is four bytes long. Data are sorted oldest first.

Table 7-129: Get Measurement Format

Bit Field Name Bit Notes

Time Tag 0 Set to 1 when the measurement is required

Accelerometer X 1 Set to 1 when the measurement is required

Accelerometer Y 2 Set to 1 when the measurement is required

Accelerometer Z 3 Set to 1 when the measurement is required

Structure/Vectors 15 (MSB) Set to 1 when structure format is desired.

(See the Structure Format Example).

Set to 0 when vectors format is desired.

(See the Vector Format Example).

Structure Format Example

The following code example show the IMU measurement using the structure format for:

Bitfield = 1+2+4+(1<<15)

ImuMeasurements = {

TimeTag[0],

Accelerometer X[0],

Accelerometer Y[0],

……

TimeTag[N-1],

Accelerometer X[N-1],

Accelerometer Y[N-1],

};

Vector Format Example

The following code example show the IMU measurement using the vector format for:

Bitfield = 1+2+4+(1<<15)

ImuMeasurements = {

IMU Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–51

TimeTag[0],

……

TimeTag[N-1],

Accelerometer X[0],

……

Accelerometer X[N-1],

Accelerometer Y[0],

……

Accelerometer Y[N-1],

};

Get Configuration

The Get Configuration command is used to retrieve the IMU configuration. In particular, the command gets the

number of available axes, the measurement rate, the range for each axis.

C++ API:

void SnapSensor::SensorConnection::ImuModule::

GetConfiguration(ImuConfiguration *imuConfiguration)

Table 7-130: Get Configuration Command - Header

Field Name Type Notes

Module ID U1 0x12

Reserved1 U1 0

Command ID U2 0x20

Version U4 3

Reserved2 U4 0

Payload Size U4 0

Reserved3 U4 0

Table 7-131: Get Configuration Response- Header

Field Name Type Notes

Module ID U1 0x12

Reserved1 U1 0

Command ID U2 0x20

Version U4 3

Reserved2 U4 0

Payload Size U4 88

Result Status U4 0

IMU Module Messages

7–52 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-132: Get Configuration Response - Payload

Field Name Type Notes

Accelerometer Sampling Rate U4 Milli Hertz resolution (mHz)

Accelerometer X axis U4 Nominal Range (mg)

Returns 0 if the measurement is not available

Accelerometer Y axis U4 Nominal Range (mg)

Returns 0 if the measurement is not available

Accelerometer Z axis U4 Nominal Range (mg)

Returns 0 if the measurement is not available

Set Configuration

The Set Configuration command stores the IMU configuration. Information provided for non-existing IMU axes is

ignored. The configuration is stored in the device non-volatile memory.

If the user fails to provide an available nominal range, the device software will adjust it to the closest available nomi-

nal range.

C++ API:

void SnapSensor::SensorConnection::ImuModule::

SetConfiguration(ImuConfiguration *imuConfiguration)

Table 7-133: Set Configuration Command - Header

Field Name Type Notes

Module ID U1 0x12

Reserved1 U1 0

Command ID U2 0x21

Version U4 3

Reserved2 U4 0

Payload Size U4 88

Reserved3 U4 0

Table 7-134: Set Configuration Command - Payload

Field Name Type Notes

Accelerometer Sampling Rate U4 Milli Hertz resolution (mHz)

Temperature Sampling Rate U4 Reserved for future use.

Accelerometer Nominal Range U2 (g)

IMU Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–53

Table 7-134: Set Configuration Command - Payload (Continued)

Field Name Type Notes

Accelerometer X axis Range U4 Calibrated range (mg)

Returns 0 if the measurement is not available

Accelerometer X axis Offset I4 Offset (ug)

Returns 0 if the measurement is not available or

was not set.

Accelerometer Y axis U4 Calibrated range (mg)

Returns 0 if the measurement is not available

Accelerometer Y axis Offset I4 Offset (ug)

Returns 0 if the measurement is not available or

was not set.

Accelerometer Z axis U4 Calibrated range (mg)

Returns 0 if the measurement is not available

Accelerometer Z axis Offset I4 Offset (ug)

Returns 0 if the measurement is not available or

was not set.

Accelerometer Lower Cut-off Fre-

quency

U4 Milli Hertz resolution (mHz)

Accelerometer Upper Cut-off Fre-

quency

U4 Milli Hertz resolution (mHz)

Accelerometer Temperature Range I2 Min = 0.1 °C; 0 if not available

Max = 0.1 °C; 0 if not available

Table 7-135: Set Configuration Response- Header

Field Name Type Notes

Module ID U1 0x12

Reserved1 U1 0

Command ID U2 0x21

Version U4 3

Reserved2 U4 0

Payload Size U4 88

Result Status U4 0

Table 7-136: Set Configuration Response - Payload

Field Name Type Notes

U4 Milli Hertz resolution (mHz)

IMU Module Messages

7–54 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-136: Set Configuration Response - Payload (Continued)

Field Name Type Notes

Accelerometer Sampling Rate

Temperature Sampling Rate U4 Reserved for future use.

Accelerometer Nominal Range U2 (g)

Accelerometer X axis Nominal Range U4 True range (mg)

Returns 0 if the measurement is not available

Accelerometer X axis Offset I4 Offset (ug)

Returns 0 if the measurement is not available or

was not set.

Accelerometer Y axis U4 Calibrated range (mg)

Returns 0 if the measurement is not available

Accelerometer Y axis Offset I4 Offset (ug)

Returns 0 if the measurement is not available or

was not set.

Accelerometer Z axis U4 Calibrated range (mg)

Returns 0 if the measurement is not available

Accelerometer Z axis Offset I4 Offset (ug)

Returns 0 if the measurement is not available or

was not set.

Accelerometer Lower Cut-off Fre-

quency

U4 Milli Hertz resolution (mHz)

Accelerometer Upper Cut-off Fre-

quency

U4 Milli Hertz resolution (mHz)

Accelerometer Temperature Range I2 Min = 0.1 °C; 0 if not available

Max = 0.1 °C; 0 if not available

Get Parameters

The Get Parameters command is sent to read the values of a group of registers for the IMU. The ID of the register

to read is sent in the command payload. The command and response payload have similar structures. The meaning

of ID is specific to the IMU; it can be a 32-bit address for memory-mapped registers or an entry ID inside a prede-

fined table of registers.

Table 7-137: Get Parameters Command - Header

Field Name Type Value Notes

Module ID U1 0x12

Reserved1 U1 0

IMU Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–55

Table 7-137: Get Parameters Command - Header (Continued)

Field Name Type Value Notes

Command ID U2 0x24

Version U4 1

Reserved2 U4 0

Payload Size U4 4 + 8N

Reserved3 U4

Table 7-138: Get Parameters Command - Payload

Field Name Type Value Notes

Number of Parameters U4 N N ≤ 32

x N Parameter ID U4 N is the number of parameters to read.

The parameter value is disregarded. The parame-

ter ID contains the ID of the parameters to read.

Value U4

Table 7-139: Get Parameters Response - Header

Field Name Type Value Notes

Module ID U1 0x12

Reserved1 U1 0

Command ID U2 0x24

Version U4 1

Reserved2 U4 0

Payload Size U4 4 +8N

Result Status U4 0 if the parameters are successfully read

Table 7-140: Get Parameters Response - Payload

Field Name Type Value Notes

Number of Parameters U4 N N ≤ 32

× N Parameter ID U4 N is the number of parameters read.

The last parameter is the terminator.

Value U4

Table 7-141: Register IDs

Name Name R/W Reset Value Num Bits

0x10000000 DEVID R 11100101 8

0x1000001D THRESH_TAP R/W 00000000 8

IMU Module Messages

7–56 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-141: Register IDs (Continued)

Name Name R/W Reset Value Num Bits

0x1000001E OFSX R/W 00000000 8

0x1000001F OFSY R/W 00000000 8

0x10000020 OFSZ R/W 00000000 8

0x10000021 DUR R/W 00000000 8

0x10000022 Latent R/W 00000000 8

0x10000023 Window R/W 00000000 8

0x10000024 THRESH_ACT R/W 00000000 8

0x10000025 THRESH_INACT R/W 00000000 8

0x10000026 TIME_INACT R/W 00000000 8

0x10000027 ACT_INACT_CTL R/W 00000000 8

0x10000028 THRESH_FF R/W 00000000 8

0x10000029 TIME_FF R/W 00000000 8

0x1000002A TAP_AXES R/W 00000000 8

0x1000002B ACT_TAP_STATUS R 00000000 8

0x1000002C BW_RATE R/W 00001010 8

0x1000002D POWER_CTL R/W 00000000 8

0x1000002E INT_ENABLE R/W 00000000 8

0x1000002F INT_MAP R/W 00000000 8

0x10000030 INT_SOURCE R 00000010 8

0x10000031 DATA_FORMAT R/W 00000000 8

0x10000032 DATAX R 00000000 16

0x10000034 DATAY R 00000000 16

0x10000036 DATAZ R 00000000 16

0x10000038 FIFO_CTL R/W 00000000 8

0x10000039 FIFO_STATUS R 00000000 8

Set Parameters

The Set Parameters command is used to set the values of custom parameters for the IMU sensor. The IDs of the

parameters and their respective values are sent in the command payload. The response does not have a payload.

Table 7-142: Set Parameters Command - Header

Field Name Type Value

U1 0x12

IMU Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–57

Table 7-142: Set Parameters Command - Header (Continued)

Field Name Type Value

Module ID

Reserved1 U1 0

Command ID U2 0x25

Version U4 1

Reserved2 U4 0

Payload Size U4 8N + 4

Reserved3 U4

Table 7-143: Set Parameters Command - Payload

Field Name Type Value Notes

Number of Parameters U4 N N ≤ 32

× N Parameter ID U4 N is the number of parameters to be read.

Each byte octet is a couple of 32-bit integers rep-

resenting the parameter ID and its value.

Value U4

Table 7-144: Set Parameters Response - Header

Field Name Type Value Notes

Module ID U1 0x12

Reserved1 U1 0

Command ID U2 0x25

Version U4 1

Reserved2 U4 0

Payload Size U4 4 +8N

Result Status U4 0 if the parameters have been successfully written

Storage Module Messages

The storage module implements the commands shown in the Storage Commands table.

Table 7-145: Storage Commands

ID Command Notes Availability

0x03 Module SW Version Equivalent to the bootloader com-

mand

All modes

0x10 Get Device Info Returns information related to the

non-volatile storage device

All modes

Application Firmware

7–58 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-145: Storage Commands (Continued)

ID Command Notes Availability

0x20 Get Sections Info Equivalent to the bootloader com-

mand

All modes

0x21 Clear Sections Equivalent to the bootloader com-

mand

Configuration mode/Bootloader mode

0x22 Read Section Equivalent to the bootloader com-

mand

Configuration mode/Bootloader mode

0x23 Write Section Equivalent to the bootloader com-

mand

Configuration mode/Bootloader mode

0x24 Validate Section Equivalent to the bootloader com-

mand

Configuration mode/Bootloader mode

0x31 Get Log Data Summary All modes

0x32 Get Log Data All modes

0x33 Clear Log Data Configuration mode

Get Device Info

The Get Device Info command returns device information such as device serial number (unique device identifica-

tion), device name and manufacturer, and user-defined metadata.

C++ API:

void

SnapSensor::SensorConnection::StorageModule::GetFlashDeviceInfo(

FlashDeviceInfo *deviceInfo)

Table 7-146: Get Device Info Command - Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 0

Command ID U2 0x10

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Reserved3 U4 0

Storage Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–59

Table 7-147: Get Device Info Response - Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 0

Command ID U2 0x10

Version U4 1

Reserved2 U4 0

Payload Size U4 24

Result Status U4 0

Table 7-148: Get Device Info Response - Payload

Field Name Type Notes

Unique ID 16xU8 Unique identifier

Manufacturer ID U32 Manufacturer unique identifier. See Appendix A

Device ID U32 Device unique identifier. See Appendix A

Clear Sections

The Clear Sections command sends a request to clear the sections specified in a list.

C++ API:

void SnapSensor::SensorConnection::StorageModule::ClearSection

(SNAP_UINT32 sectionId)

Table 7-149: Clear Section Command - Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 NV storage medium ID

Command ID U2 0x21

Version U4 1

Reserved2 U4 0

Payload Size U4 4 + 4 × N

Table 7-150: Clear Sections Command - Payload

Field Name Type Notes

Num Sections U4 N

× N ID (*1)IDs of sections that are cleared

Storage Module Messages

7–60 ADIS1700x Vision-Sensing Camera Module User Guide

*1 The number of sections that are cleared can be larger than the ones indicated in the message. The objective of the bootloader is to

preserve integrity. For example, clearing the boot section clears up all the sections.

Table 7-151: Clear Sections Response- Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 NV Storage medium ID

Command ID U2 0x21

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Result Status U4 0

Read Section

Reads a section. Offset and size are expected to be expressed in sectors. The sector size is provided by the Get Sec-

tions Info message.

C++ API:

void SnapSensor::SensorConnection::StorageModule::ReadSection (void

*dstBuf, SNAP_UINT32 dstLengthBytes, SNAP_UINT32 srcSectionId, SNAP_UINT32

srcOffsetSectors, SNAP_UINT32 srcSectorLengthBytes)

Table 7-152: Read Section Command - Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 NV Storage medium ID

Command ID U2 0x22

Version U4 1

Reserved2 U4 0

Payload Size U4 12

Table 7-153: Read Section Command - Payload

Field Name Type Notes

Section ID U4 Section ID to read

Offset [sectors] U4 Relative offset with respect to the section start

Size [sectors] U1 N

Storage Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–61

Table 7-154: Read Section Response- Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 NV storage medium ID

Command ID U2 0x22

Version U4 1

Reserved2 U4 0

Payload Size U4 12 + Size

Result Status U4 0

Table 7-155: Read Section Response - Payload

Field Name Type Notes

Offset [sectors] U4

Num Sections U4 N; where N cannot exceed 8

M Data U1 M = N × Sector Size

Write Section

The Write Section command writes a section. Each response returns the data that was read back after the write oper-

ation (cache disabled). Whenever the bootloader receives a Write Section command, it first invalidates the

section and then starts writing. The section is validated after a successful reception of the Validate Section com-

mand. Offset and size are expected to be expressed in sectors. The sector size is provided by Get Sections Info mes-

sage.

C++ API:

void SnapSensor::SensorConnection::StorageModule::WriteSection (void

*srcBuf, SNAP_UINT32 srcLengthBytes, SNAP_UINT32 dstSectionId, SNAP_UINT32

dstSectorOffset, SNAP_UINT32 dstSectorLengthBytes)

Table 7-156: Write Section Command - Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 NV storage medium ID

Command ID U2 0x23

Version U4 1

Reserved2 U4 0

Payload Size U4 4108

Storage Module Messages

7–62 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-157: Write Section Command - Payload

Field Name Type Notes

Section ID U4 Section ID to write

Offset U4 Relative offset with respect to the section start

Size U4 N

× N Data U1

Table 7-158: Write Section Response- Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 NV storage medium ID

Command ID U2 0x23

Version U4 1

Reserved2 U4 0

Payload Size U4 12 + Size

Result Status U4 0

Table 7-159: Write Section Response - Payload

Field Name Type Notes

Section ID U4

Offset [sectors] U4

Size [sectors] U1 Number of sectors N; where N cannot exceed 8

× M U1 M ≤ N × Sector size. The missing bytes are inter-

preted as zero.

Validate Section

The Validate Section command contains the content size, version, and CRC of the section. The following rules ap-

ply:

•It is applicable to all sections except the data section

•It is applicable only to invalid sections (cleared using the clear section command)

•If the verification of the CRC on the expected memory size within the section passes, then all the remaining

bytes are set to 0. The version and size are stored in the table of the section and the section is declared valid.

•For code sections, the Content Version is the software version

Storage Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–63

C++ API:

void SnapSensor::SensorConnection::StorageModule::WriteSection (void

SnapSensor::SensorConnection::StorageModule::ValidateSection (SNAP_UINT32

sectionId, FrameworkModuleVersion contentVersion, void *data, SNAP_UINT32

dataLength, SNAP_UINT32 sectorLength)

Table 7-160: Validate Section Command - Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 NV Storage medium ID

Command ID U2 0x24

Version U4 1

Reserved2 U4 0

Payload Size U4 16

Table 7-161: Validate Section Command - Payload

Field Name Type Notes

Section ID U4 Section ID to validate

Size [sectors] U4

Content Version U4

CRC U4

Table 7-162: Validate Section Response- Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 NV storage medium ID

Command ID U2 0x24

Version U4 1

Reserved2 U4 0

Payload Size U4 4

Result Status U4 0

Table 7-163: Validate Section Response - Payload

Field Name Type Notes

Computed CRC U4

Storage Module Messages

7–64 ADIS1700x Vision-Sensing Camera Module User Guide

Get Log Data Summary

This command requests the summary of the data currently logged on the device whose sequence ID is greater or

equal than the command parameter “start index”. The data returned are (the following data are computed by the

device by taking into account only logged items with sequence ID greater than the command parameter start index):

•Start Index : the first valid logged item sequence ID greater than the command parameter start index

•Total Logged Items

•Space Left : space left in bytes (zero after the first data logging buffer rollover)

•Logged Types Count: count of how many types of logged items are currently logged.

•Count of logged items for each type.

Table 7-164: Get Log Data Summary Command - Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 0

Command ID U2 0x31

Version U4 1

Reserved2 U4 0

Payload Size U4 4

Result Status U4 0

Table 7-165: Get Log Data Summary Command - Payload

Field Name Type Notes

Start Index U4

Table 7-166: Get Log Data Summary Response - Payload

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 0

Command ID U2 0x31

Version U4 1

Reserved2 U4 0

Payload Size U4 16 + N × 4

Result Status U4 0

Storage Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–65

Table 7-167: Get Log Data Summary Response - Payload

Field Name Type Notes

Start Index U4

Total Logged Items U4

Space Left U4 Expressed in bytes

Logged Type Count U4 N

× N Type ID U1

Count U3 Number of logged items of type TypeID

Get Log Data

The Get Log Data command requests the content of a certain number of items of the desired types starting at a

specific index. The desired types are the ones included in the required types list. The device replies by trying to fit

the content of the indicated number of items or as many as possible in the output buffer in the same order in which

they were logged. The logged item content is always preceded by a header containing type, total size, sequence ID,

offset and chunk size. Each new header is 32-bit aligned. The offset and chunk size are needed whenever the logged

item cannot fit into the communication buffer. Otherwise, they are set respectively to 0 and total size.

Use the following procedure to download all the logged items of the desired types consists:

1. Send a first command with start index 0, offset 0, Num Items equal to a big number (for example 231). Flag

the desired types in the Types Filter Mask.

2. If the response indicates a number or remaining items greater than zero, send a new command. But, set the

Start Index and Offset to the values indicated in the response by next index and next offset.

3. Repeat until the number of remaining items indicated in the response Remaining Items field is zero.

Whenever the response Next Offset field is not zero, the last logged item content could not fit inside the

output buffer. For example, suppose that the log index is set to the type and size shown in the Example Device

Log Buffer Content table and the buffer size is 50kb..

Table 7-168: Example Device Log Buffer

Content

Seq ID Type Size

101 1 1kB

102 2 45kB

103 10 80kB

104 1 1kB

If the user requests to download all the logged data, the sequence of commands and responses is shown in the Exam-

ple Command and Example Response tables. The size of the headers when computing the offsets is ignored in this

example.

Storage Module Messages

7–66 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-169: Example Command

# Start Index Offset Items Count

1 0 0 1e9

2 103 3kB 2

3 103 53kB 2

Table 7-170: Example Response

# Start Index Items Count Rem. Items Next Index Next Offset Notes

1 100 4 2 103 3kB

2 103 1 2 103 53kB *1

3 0 2 0 0 0

*1 The response contains the second chunk of item 103. Also chunks are preceded by a header, in this case: type 10, total size 80kB,

sequence ID 103, offset 3kB and chunk size 50 kB (for the sake of simplicity we ignore in this example the size of the logged items

headers when computing the offsets).

Table 7-171: Get Log Data Command - Header

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 0

Command ID U2 0x32

Version U4 1

Reserved2 U4 0

Payload Size U4 13 + N *1

Reserved3 U4

*1 If the field Num of Types is set to 255, then N is 0, no Type ID list shall be added.

Table 7-172: Get Log Data Command - Payload

Field Name Type Notes

Start Index U4

Offset U4 Start offset into the content of the

logged item at index Start

Index

Num Items U4 Maximum number of items to re-

turn

Storage Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–67

Table 7-172: Get Log Data Command - Payload (Continued)

Field Name Type Notes

Num of Types U1 N. Required types list count.

When set to 255 the following list

shall not be added to the com-

mand.

N2 × Type ID U1 Required types list item [0..254].

Type ID 255 codes the invalid

type.

Table 7-173: Get Log Data Response - Payload

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 0

Command ID U2 0x32

Version U4 1

Reserved2 U4 0

Payload Size U4 where Li is the chuck size

Result Status U4 0

Table 7-174: Get Log Data Response - Payload

Field Name Type Notes

Start Index U4

Items Count U4 N

Remaining Items U4 [0..10]*1

Next Index U4

Next Offset U4

× N Type ID U1

Total Size U3

Sequence ID U4

Offset U4

Chunk Size U4 Let Li be the chuck size

Storage Module Messages

7–68 ADIS1700x Vision-Sensing Camera Module User Guide

Table 7-174: Get Log Data Response - Payload (Continued)

Field Name Type Notes

Logged Item Data U1 × M Padding for 32-bit alignment is required for all the items except the last one.

Mi = ceil(Li/4) × 4

*1 This field does not return the exact number of remaining items because this operation is generally time consuming. If the number of

remaining items is more than 10, it returns 10.

Clear Log Data

The Clear Log Data command clears the log event buffer.

Table 7-175: Clear Log Data Header - Command

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 0

Command ID U2 0x33

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Reserved3 U4

Table 7-176: Clear Log Data Header - Response

Field Name Type Notes

Module ID U1 0x40

Reserved1 U1 0

Command ID U2 0x33

Version U4 1

Reserved2 U4 0

Payload Size U4 0

Result Status U4 0 – Success

Storage Module Messages

ADIS1700x Vision-Sensing Camera Module User Guide 7–69

8 Appendix A

The following tables describe the device, manufacturer, product and software IDs used in the ADIS1700x commu-

nication protocol.

Table 8-1: Device Identification

Device ID Device Name Notes

0 BlipMini

1 Blip

2 ADIS1700x

3 Boost

4 EagleEye

5 LGA_CAV S2 Opcom Tester

6:127 Reserved

Table 8-2: Software Identification

Software Type ID Software Type Name Notes

0 Bootloader

1 Camera Camera Application

2 Occupancy HR

3 Parking Occupancy

4 S2Tester

5:127 Reserved

Table 8-3: Manufacturer Identification

Manufacturer Type ID Manufacturer Name Notes

0 Analog Devices

1 SDataWay

Appendix A

ADIS1700x Vision-Sensing Camera Module User Guide 8–1

Product Identification

The product ID and name are a combination of the software type ID and device ID .

PRODUCT_ID = (SOFTWARE_TYPE_ID + (DEVICE_ID << 8))

PRODUCT_NAME = DEVICE_NAME + ”_” + SOFTWARE_TYPE_NAME

For example, for the ADIS1700x Camera application where:

•Software Type ID = 1

•Device ID = 2

•Device Name = ADIS1700x

•Software Type Name = Camera

The PRODUCT_ID = 512 and the PRODUCT_NAME = "ADIS1700x-Camera"

Error Messages

The messages shown in the Error Messages table are reported in the Last Error Message field of the Get

Device Status response.

Table 8-4: Error Messages

Error String Description Applicable Module

FW not valid, max

launches exc.

Bootloader has expired the maximum number of attempts to

launch (boot) an unvalidated application. The application cannot

launch. The bootloader tries to recover a restore point, if any are

available. If a restore point is not available, the bootloader waits for

the user to update a new firmware.

Bootloader

No valid firmware No valid firmware is present in the “Current Application Firm-

ware” section

Bootloader

WD RST on Current

App. FW

A watchdog reset caused the last system reset. It is likely that the

watchdog was caused by the firmware loaded in the Current Appli-

cation Firmware” section

Bootloader

Camera Failure. Resetting

camera

Camera service failed to initialize or to start/stop the camera or to

set/get registers or LUT.

All except bootloader

Error Messages

8–2 ADIS1700x Vision-Sensing Camera Module User Guide