MityCAM Solutions – Vision Development Kit
FEATURES
High Performance MityDSP-L138F
CPU
-
TI OMAP-L138
-
Xilinx Spartan 6 FPGA
Vision Sensor Boards Supported
-
0.3MP Monochrome
-
0.3MP Color
-
1.0MP Monochrome
-
5.0MP Monochrome
-
5.0MP Color
Video Capture
Image Analysis
Linux and HMI (Qt)
Expansion
UART Header (RS232 or RS485)
WQVGA LCD Interface
4 Status LED’s
4-Pin GPIO Header
Overview
APPLICATIONS
Machine Vision
Quality Control
Semiconductor Inspection
Image Processing (DSP and FPGA)
Digital Interfaces
DVI Video Output
10/100 Mbit Ethernet Interface
Audio Output
USB Host and OTG
CAN Bus Interface
SD/MMC Card Socket
Additional Hardware
AC to DC 12V Adapter
Tripod for Camera
Pre-Loaded SD card
Camera Lens
Ethernet and Serial Cables
The Vision Development Kit (VDK) by Critical Link is a complete hardware and
software framework designed to accelerate the development of vision applications. The
framework offers both a Xilinx Spartan 6 FPGA and a TI OMAP-L138 dual core
processor, and is based on Critical Link’s production-ready MityDSP-L138F System on
Module (SoM).
Figure 1 - Vision Development Kit
1
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Critical Link, LLC
PHONE 315.425.4045
6712 Brooklawn Parkway FAX
315.425.4048
Syracuse, NY 13211
www.CriticalLink.com
MityCAM Solutions – Vision Development Kit
The system is designed to route raw video data from the CCD sensor board into the
MityDSP-L138F. The FPGA captures the input data and performs optional user defined
algorithm(s) on the video data, then routes the data to the DSP core of the OMAP-L138
processor via the UPP interface.
The DSP can then performs additional processing and notifies the ARM core that the
final processed video data (or results if no final video data is required) is available via a
DSPLINK shared memory interface. The ARM accepts the data and updates the local
frame buffer with the needed results using a Qt drawing framework. Figure 2 shows a
system block diagram for the Xilinx FPGA and DSP and ARM cores (TI OMAP-L138).
Industrial I/O Board with Industrial Camera Expansion Board
MITYDSP-L138F
Spartan 6 LX16
FPGA
ALGOR 1
DATA
UPP
APTINA
SENSOR
J5
J
7
0
0
UPP
Scatter /
Gather
DMA
engine
OMAP-L138
674X+ CORE
ALGOR 1
HS
LV
CLK
ALGOR 3
ASYNC
FIFO
ALGOR 2
FIFO
16
ALGOR 2
ALGOR 3
ALGOR N
DVI
TFP710
EMIFA
Control Logic
Control Logic
Results
ALGOR N
DSPLINK
Qt Control Application
Compile
Time
Routing
Logic
LCDC
CTLR
LCD
J
1
0
4
Linux
Frame Buffer
OMAP-L138
ARM 9 Core
Figure 2 – System Block Diagram for FPGA, DSP, and ARM
This document covers the following topics:
Major system components: Sensor, FPGA, DSP, and ARM
Hardware Design Information
Key interfaces
Development tools
Getting started
Examples
Included Components and Ordering information
2
Critical Link, LLC
PHONE 315.425.4045
6712 Brooklawn Parkway FAX
315.425.4048
Syracuse, NY 13211
www.CriticalLink.com
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MityCAM Solutions – Vision Development Kit
Figure 3 shows the key subcomponents and interfaces for the VDK.
Vision
Sensor
Card
Also Available:
MTM001: 1280x1024
MT9P031: 2592 x 1944
Flash
256 MB NAND
8 MB NOR
DDR 2
128 MB
C or CS
Mount Lens
USB
2.0
USB
1.1
Ethernet
10/100
UART
Power In
Figure 3 - System Block Diagram for FPGA / DSP / ARM
Major System Components
Sensor
The development kit comes standard with Aptina’s monochrome Wide VGA sensor
(MT9V032). This sensor supports a resolution of 752 x 480 pixels and comes with a
mount that accepts either a C or CS mount lens. A T0412 FICS-3 4mm F1.2 Lens is
included as the standard lends. In addition to the Wide VGA sensor, both the MTM001
(1280x1024 pixels) and MT9P031 (2592x1944) are also available. The MT9V032 and
MT9P031 sensors are available in either monochrome or color format and the MTM001
is monochrome only -- please see ‘Ordering Information’ section for more details.
Finally, custom sensor options are also available --please contact Critical Link for
additional details.
The sensor card connects directly to the Industrial Camera Expansion (80-000322) board
through a 26-pin cable (included). This is an expansion board which is mounted beneath
a Critical Link Industrial IO Development Kit through its three 50-pin expansion headers.
Please see Table 1 - Vision Development Kit HW Design File Locations section in this
document for datasheet information on both of these boards.
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Critical Link, LLC
PHONE 315.425.4045
6712 Brooklawn Parkway FAX
315.425.4048
Syracuse, NY 13211
www.CriticalLink.com
I2C
SPI
MT9V032
W VGA
(752 x 480)
Xilinx
Spartan 6
XCSLX16
ARM9 CPU
456 MHz
6748 DSP
456 MHz
SATA
FPGA
OMAP-L138
SD
LCD
Industrial
Camera
Expansion
Board
(80-000322)
Industrial I/O Board
MityDSP-L138F
DVI
MityCAM Solutions – Vision Development Kit
FPGA
A Xilinx Spartan 6 XCSLX16 FPGA is the first part of the processing chain. It receives
sensor data and performs any time-critical functions best suited for the FPGA (vs.
software). The FPGA is architected to receive sensor data and make it available for the
algorithm processing blocks (see Figure 2). Once FPGA processing is completed, the
pixel data is transmitted to the OMAP-L138 over the UPP port.
Examples of functions which may be performed in the FPGA include:
Color Space Conversion
Edge detection
Convolution
Custom processing blocks
The VDK contains instructions on adding your own custom algorithms to our provided
base FPGA design. This information is provided in the “VDK Algorithm Addition.pdf”
document which is included on the VDK DVD.
DSP
Texas Instrument’s ‘C674x core (part of the OMAP-L138) provides the DSP processing
function. The VDK framework in the OMAP receives the pixel data from the UPP port
and makes it available to one or more processing elements (see Figure 2). A number of
processing elements can be combined to make up the final desired processing. Once
processing is completed, pixel data are presented to DSPLink for transport to the ARM
processor.
TI ‘C64x image processing library -- provided in source form -- includes numerous
processing functions which are well suited for image processing. Table 2 shows a
summary of the available functions. The Vision Development contains instructions on
adding your own additional algorithms to our provided DSP reference design. This
information is provided in the “VDK Algorithm Addition.pdf” document which is
included on the VDK DVD.
Summary of TI’s ‘C64x Image Processing Functions
Boundary and Perimeter Detection
Median Filtering
Dilation and Erosion
Pixel Expansion
Edge Detection
Forward and Reverse DCT
Thresholding
Motion Estimation
Color Space Conversion
MPEG-2 Variable Length Encoding
Convolution
Quantization
Correlation
Wavelet Processing
Error Diffusion
Background Subtraction
Additional information on Texas Instruments TMS320C64x Image Processing library:
http://focus.ti.com/docs/toolsw/folders/print/sprc094.html
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Critical Link, LLC
PHONE 315.425.4045
6712 Brooklawn Parkway FAX
315.425.4048
Syracuse, NY 13211
www.CriticalLink.com
MityCAM Solutions – Vision Development Kit
ARM
The 456 MHz ARM9 runs Linux (Open Embedded Angstrom distribution) and is
responsible for all embedded computing type tasks, such as managing a GUI,
communication stacks, and file system. A robust GUI is available via Qt, and both
Ethernet and USB communication stacks are available in addition to all standard Linux
facilities and tools.
The VDK contains instructions on modifying the provided QT GUI reference design.
This information is provided in the “VDK Algorithm Addition.pdf” document which is
included on the VDK DVD.
5
Sy
Critical Link, LLC
PHONE 315.425.4045
6712 Brooklawn Parkway FAX
315.425.4048
Syracuse, NY 13211
www.CriticalLink.com
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