Blue Technix Sentis-ToF-M100 Bedienungsanleitung

Sentis-ToF-

M100

Getting Started

Programming

Version 1

Bluetechnix GmbH

Waidhausenstraße 3/19

A-1140 Vienna

AUSTRIA

office@bluetechnix.com

www.bluetechnix.com

Sentis-ToF-M100 –Getting Started Programming

Document No.: 900-308 / A

Publication date: July 18, 2013

Subject to change without notice. Errors excepted.

transmitted for any purpose in any form or by any means, electronically or mechanically, without expressly

written permission by Bluetechnix GmbH.

Windows is a registered trademark of Microsoft.

Table of Contents

1General Information ................................................................................................................ 4

1.1 Symbols Used .................................................................................................................. 4

2Introduction ............................................................................................................................ 5

2.1 Installing VDSP++............................................................................................................. 5

2.2 Plugging the JTAG device ................................................................................................. 5

2.3 Creating a Session ........................................................................................................... 6

3Programming with VDSP++ ..................................................................................................... 9

3.1 Flashing Applications with Bootloader ............................................................................... 9

3.2 Linker Description File (*.ldf).............................................................................................. 9

3.3 Programming with JTAG Device........................................................................................ 9

3.4 Flashing applications with JTAG-device............................................................................. 9

3.4.1 Using the VDSP++ Flash Programmer ........................................................................ 9

4Sentis-ToF-M100 VDSP++ Project......................................................................................... 11

4.1 Project Structure ............................................................................................................ 11

4.1.1 Dependencies ......................................................................................................... 11

4.1.2 Components and Data Flow ..................................................................................... 12

4.2 Features and Functions .................................................................................................. 12

4.2.1 Program Flow .......................................................................................................... 12

4.2.2 Buffer Management ................................................................................................. 16

4.2.3 Register Access ...................................................................................................... 18

4.3 Customizing streams ...................................................................................................... 19

4.4 Start Here: User Thread .................................................................................................. 19

4.5 Threading ...................................................................................................................... 21

4.6 Semaphore .................................................................................................................... 23

4.7 Mutex ............................................................................................................................ 24

5Recommended Documents ................................................................................................... 26

6Appendix.............................................................................................................................. 27

6.1 Supporta........................................................................................................................ 27

6.1.1 General Supp ort ...................................................................................................... 27

6.2 Software Packages ........................................................................................................ 27

6.3 Related Products ........................................................................................................... 27

7Document Revision History ................................................................................................... 28

8Index.................................................................................................................................... 29

The information herein is given to describe certain components and shall not be considered as a guarantee

of characteristics.

Terms of delivery and rights of technical change reserved.

We hereby disclaim any warranties, including but not limited to warranties of non-infringement, regarding

circuits, descriptions and charts stated herein.

Bluetechnix makes and you receive no warranties or conditions, express, implied, statutory or in any

communication with you. Bluetechnix specifically disclaims any implied warranty of merchantability or fitness

for a particular purpose.

Bluetechnix takes no liability for any damages and errors causing of the usage of this board. The user of this

board is responsible by himself for the functionality of his application. He is allowed to use the board only if

he has the qualification. More information is found in the General Terms and Conditions (AGB).

Information

For further information on technology, delivery terms and conditions and prices please contact Bluetechnix

(http://www.bluetechnix.com).

Warning

Due to technical requirements components may contain dangerous substances.

Getting Started Programming - Sentis-ToF-M100 Last change: 18 July 2013

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1General Information

This guide applies to the Sentis-ToF-M100 camera platform from Bluetechnix GmbH. Follow this guide

chapter by chapter to set up and understand your product.

1.1 Symbols Used

This guide makes use of a few symbols and conventions:

Warning

Indicates a situation which, if not avoided, could result in minor or moderate injury and/or

property damage or damage to the device.

Caution

Indicates a situation which, if not avoided, may result in minor damage to the device, in

malfunction of the device or in data loss.

Note

Notes provide information on special issues related to the device or provide information that will

make operation of the device easier.

Procedures

A procedure always starts with a headline

1. The number indicates the step number of a certain procedure you are expected to

follow. Steps are numbered sequentially.

This sign indicates an expected result of your action.

References

This symbol indicates a cross reference to a different chapter of this manual or to an

external document.

Getting Started Programming - Sentis-ToF-M100 Last change: 18 July 2013

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2Introduction

2.1 Installing VDSP++

Please download VDSP++ and update 10 from the Analog Devices website.

Get your copy of VDSP++ at

http://www.analog.com

Install both the program and the update. For further information refer to the documentation contained in the

VDSP++ download.

2.2 Plugging the JTAG device

In order to connect your computer with the Sentis over JTAG an adapter is needed.

Figure 1: JTAG adapter for Sentis-ToF-M100

Figure 2: Sentis-ToF-M100 with JTAG adapter

Getting Started Programming - Sentis-ToF-M100 Last change: 18 July 2013

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Caution

Please be alert and connect the JTAG adapter in the proper way, shown in Figure 2.

2.3 Creating a Session

In order to open a debug session to the Sentis-ToF-M100 follow following steps:

1. Connect the Sentis with power and JTAG.

2. Connect the JTAG to your pc.

3. In VDSP++ click on ‘Session’-> ‘New Session’The session wizard opens (Figure 3).

Figure 3: Session creation wizard

4. Select ADSP-BF561 and click ‘Next’

Getting Started Programming - Sentis-ToF-M100 Last change: 18 July 2013

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Figure 4: Session creation wizard

5. When asked for the connection type, select ‘Emulator’ (Figure 4) and click ‘Next’.

Figure 5: Session creation wizard

6. The platform used depends on your JTAG device. Please select the one you have purchased and

click ‘Finish’ (Figure 5) the session wizard closes and the device is already connected.

7. Now click on ‘Settings’ -> ‘Target Options’

Getting Started Programming - Sentis-ToF-M100 Last change: 18 July 2013

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Figure 6: Session target options

8. As target options we recommend configuring everything like in Figure 6.

9. For a better performance, click on ‘Settings’ -> ‘JTAG Frequency Selection’ and choose a higher

frequency.

10. Lastly click on ‘Settings’ -> ‘Session’ the session settings open up.

Figure 7: Session settings

11. Check the checkbox besides ‘Enable customizations’ and select the file in your support package:

‘Sentis-ToF-M100_development_package\prj\BLT\tof\firmware\sentis-tof-m100_bsp\vdsp\common\sentis-tof-

m100-custom.xml’ (Figure 7).

12. After the required reconnection you are finished and ready.

Getting Started Programming - Sentis-ToF-M100 Last change: 18 July 2013

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3Programming with VDSP++

VDSP++ is a development and debug platform for the Blackfin processors provided by Analog Devices. The

following section describes how you can use VDSP++ to start developing and executing the first examples.

You can develop projects and download the executable via a JTAG. You have full control over the Blackfin

processor and full debug capabilities. Refer to the Compiler and Linker Manuals and the User Guides from

Analog Devices to learn more about developing projects.

3.1 Flashing Applications with Bootloader

The Sentis-ToF-M100 is delivered with a Bootloader which is able to flash a loader file onto the onboard SPI-

flash module. Please read the User Manual to understand the process of updating your device via its

configuration interface. Once a firmware is flashed it can be loaded and executed by restarting your Sentis.

3.2 Linker Description File (*.ldf)

The linker description file included in the Sentis-ToF-M100 development kit is tailored for this product and

should only be modified if necessary.

3.3 Programming with JTAG Device

If you have a JTAG device from Analog Devices you can just download the executable with the load

command of VDSP++. Refer to the VDSP++ documentation for further information.

3.4 Flashing applications with JTAG-device

Caution

If you flash your application via VDSP++ and JTAG, the Bootloader is overwritten.

To be able to flash an application first off all you have to create a loader file of your project. Refer to the

“VDSP++ Linker and Loader Manual” to see how to create loader files that can be booted by the Blackfin

processor.

If you have sections in the SDRAM that have to be initialized during the boot process you have to use an

initialisation file. This initialisation function sets up the SDRAM controller prior to boot the application. As the

SDRAM settings depend on the used type, it is important to use the initialisation file delivered by Bluetechnix.

The project in the support package should already include ‘ Sentis-ToF-M100_InitCode_V1.0.0.dxe’ as

initialisation file in the loader settings.

3.4.1 Using the VDSP++ Flash Programmer

Once connected to your Sentis via JTAG, open the Flash Programming Tool by selecting “ToolsFlash

Programmer” from the VDSP++ menu.

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