Technical Application Notes
Click an item to read from the list below.

Technical Application Notes


 

 

Transitioning from the Grasshopper to the Grasshopper2 FireWire

Transitioning from the Grasshopper to the Grasshopper2 FireWire Camera
Technical Application Note TAN2011001
Revised May 24, 2012

 

Subject

Technical Application Note (TAN2011001): Transitioning from the Grasshopper to the Grasshopper2 FireWire Camera

10372

Applicable Product(s)

  • GRAS (all models)
  • GS2-FW

 

Application Note Description

The fully redesigned Grasshopper2 FireWire camera is the next generation version of the high performance Grasshopper. Housed in the same form factor as the Grasshopper, the Grasshopper2 offers several new features, including improved frame rates, optimized imaging performance and extended shutter Format_7 modes, enhanced opto-isolated GPIO, and conformance to version 1.32 of the Instrumentation & Industrial Digital Camera (IIDC) specification.

The purpose of this Technical Application Note is to:

  1. Outline the primary similarities and differences between the two cameras; and
  2. Offer suggestions and pointers to end users for migrating their custom applications from the Grasshopper to the Grasshopper2.

For customers upgrading from a Grasshopper camera, Point Grey strongly encourages putting the Grasshopper2 through a full requalification process.

For users migrating from the Grasshopper to the Grasshopper2 Gigabit Ethernet camera, see Transitioning from the Grasshopper to the Grasshopper2 GigE.

 

General Considerations

Other Reference Documentation

Other useful sources of information regarding specific features of the Applicable Product(s) include:

  • Grasshopper Getting Started Manual
  • Grasshopper2 Getting Started Manual
  • Grasshopper and Grasshopper2 GS2-FW Technical Reference Manuals

Testing Tools

To configure and test the information presented in this TAN:

  1. Connect the camera’s GPIO pins to an oscilloscope or external trigger source. By connecting the appropriate GPIO pins to an external trigger source or oscilloscope, you can observe the differences in general purpose input/output capability of the Applicable Product(s). Consult your camera’s Technical Reference or Getting Started manual for:
    1. GPIO connector pin layouts; and
    2. GPIO electrical characteristics
  1. Download the FlyCapture SDK.  The SDK includes numerous example programs that demonstrate various camera features. Specific examples that relate to this TAN include CustomImageEx, AsyncTriggerEx and SaveImageToFlashEx.
  1. Access the camera’s register space. The easiest way to try this is using the FlyCap demo software included with the FlyCapture SDK. For register definitions and individual bit descriptions, please refer to the Point Grey Digital Camera Register Reference or your camera’s Technical Reference manual.

 

Mechanics

The Grasshopper and Grasshopper2 share the same form factor and general mechanical properties.

Description

Grasshopper

Grasshopper2

IR cut filter properties

The infrared cut-off filter used with color versions of the cameras is the same and has the same transmittance properties.

GPIO connector

Hirose HR25 8 pin connector

CCD sensor placement on PCB

The chip and lens holder mounting holes are centered relative to the four corner mounting holes.

Overall dimensions

Industry standard 44mm x 29mm x 58mm (excluding lens holder and 1394/GPIO connector)

Lens holder

C-mount

Case description

Black zinc (casted) with black aluminum top and Point Grey logo

Mass

104g (excluding including optics)

Tripod mounting bracket

Secured by four (4) M2x2mm screws

Meets ISO and ASA standards

Included free of charge with every camera

Mounting holes

Three (3) M3x2.5mm holes on the bottom face

Four (4) M2x2mm holes on the bottom face (for mounting bracket)

Two (2) M2 holes on the top face

Removable glass / IR filter system

BW models: protective dust glass between sensor and optics

COL models: IR filter between sensor and optics

Glass / IR filter screwed into place to allow easy removal

Development kit

Includes cable, 1394 interface card,

software CD and Getting Started

Manual.

Includes cable, 1394 interface card, software CD.

Getting Started Manual available for download.

GPIO Properties

Pin

Grasshopper

Grasshopper2

GPIO0 (Pin 1)

Bi-directional input/output

Default direction: input

Default function: trigger

Drive strength: 10 mA at 30 V

Opto-isolated input
(+3.3 V to +30 V)
Direction: input

Default function: trigger in

Input delay time: 4 μs

GPIO1 (Pin 2)

Bi-directional input/output

Default direction: output

Drive strength: 10 mA at 30 V

Opto-isolated open collector output

(+3.3V to +30V)

Direction: output

Default function: strobe

Drive strength: 25 mA at 30 V

GPIO2 (Pin 3)

Bi-directional input/output

Default direction: output

Drive strength: 10 mA at 30 V

Bi-directional input/output

Default direction: output

Drive strength: 25 mA at 30 V

GPIO3 (Pin 4)

Bi-directional input/output

Default direction: input

Drive strength: 10 mA at 30 V

Bi-directional input/output

Default direction: input

Drive strength: 25 mA at 30 V

GND (Pin 5)

Ground pin for all pins

Ground pin for bi-directional IO, Vext, +3.3 V

GND (Pin 6)

Ground pin for all pins

Ground pin for opto-isolated IO pins

VEXT  (Pin 7)

Power camera externally

+3.3V (Pin 8)

Power external circuitry up to a total of 150 mA.

Other Hardware and Electronics

Description

Grasshopper

Grasshopper2

CCD imaging sensors

640x480 Kodak KAI-0340

648x488 Sony ICX414

1384x1032 Sony ICX267

1384x1036 Sony ICX285

1624x1224 Sony ICX274

2448x2048 Sony ICX625

1384x1036 Sony ICX285

IEEE-1394 interface

9-pin IEEE-1394b (800Mb/s)

Connector flush with case

Secure jack screw connector

Power consumption

Less than 2.5 W

A/D converter

Analog Devices, 14-bit resolution

Temperature Sensor

On-board; accessible via control and status registers (CSRs)

On-board; accessible via control and status registers (CSRs)

Voltage Sensor

Current Sensor

None

LED Behavior

Same

Firmware

This section does not address the significant number of firmware enhancements that have been added in the Grasshopper2, but focuses on functional differences between the two cameras that could affect integration of the Grasshopper2 in existing Grasshopper-based applications. Users are encouraged to download the documents listed in Section 1.4.1: Other Reference Documentation for assistance with terms, camera specifications, and register definitions.

Many default startup (power-up) parameters, such as resolution, frame rate, gain, and shutter, have changed in the Grasshopper2. The memory channels on the Grasshopper2 can be used for creating new default settings.

Point Grey cannot predict if or how all of the following differences may affect user applications. This section provides recommendations on how to address some of the most obvious differences in functionality.

Format_7

Description

Grasshopper

Grasshopper2

Max Frame Rate at Max Resolution

15 FPS (ICX285)

30 FPS (ICX285)

Pixel Formats

Mono8, Mono16, Raw8, Raw16, YUV411, YUV422, YUV444, RGB8

Mono8, Mono12, Mono16, Raw8, Raw12, Raw16, YUV411, YUV422, YUV444, RGB8

Modes

Mode_0

Region of interest only

Region of interest only; yields fastest frame rates

Mode_1

2X vertical binning and 2X horizontal subsampling; values are aggregated and averaged; limited or no increase in intensity

2X vertical binning and 2X horizontal 

subsampling (monochrome models) or 2X vertical and 2x horizontal subsampling (color models); values are aggregated without averaging; increased intensity, improved SNR.

Mode_2

2X vertical binning; values are aggregated and averaged, with limited or no increase in intensity

Not available

Mode_3

Region of interest only

2X horizontal and 2X vertical additive binning, in monochrome pixel formats only. CCD gain amplifier is disabled, resulting in reduced dark current. ROI is not available. Mode_3 uses a slower pixel clock and does not support overlapping exposure with readout of the previous image. Frame rates are compromised in this mode in favor of higher extended shutter times.

Mode_4

Not available

2X vertical binning and 2X horizontal subsampling; increased frame rate; available on color models only

Mode_8

Not available

Similar to Mode_3, except no binning is performed. Images can be outputted in all supported pixel formats.

Control and Status Registers (CSRs)

Description

Grasshopper

Grasshopper2

Redefined Registers

LUT

1A40h – 1A44h

Point Grey implementation

80000h – 80048h

IIDC v1.32 implementation

XMIT_FAILURE 12FCh

No presence bit

Presence bit

FRAME_INFO 12F8h

No inquiry bits for each embedded information type

Inquiry bits for each information  type

New Registers

Y16 Endianness

Controlled using IMAGE_DATA_FORMAT 1048h

DATA_DEPTH 630h

IIDC v1.32 implementation

Mirror Image

MIRROR_IMAGE_CTRL 1054h

Y8 or Y16 Grayscale or Raw Bayer Output

BAYER_MONO_CTRL 1050h

Current Sensor Access

None

CURRENT 1A58h – 1A5Ch

Other Firmware Changes

Description

Grasshopper

Grasshopper2

IIDC Version

1.31

1.32

Color processing

Color models output greyscale information when run in standard (Format_0 or Format_1) Y8/Y16 modes. The conversion from raw Bayer information to greyscale is done on-board the camera.

On color models, conversion

from raw Bayer information to

greyscale is done on-board the

camera.

Lookup Table

11-bit to 9-bit mapping

Three (3) LUT’s for RGB

9-bit to 9-bit mapping

Two (2) banks, each containing three (3) channels for RGB

Trigger Modes

IIDC modes 0, 1, 3, 14, 15: Supported on all models

IIDC modes 4, 5:  Supported on 03S2 and 08S2 only

IIDC modes 0, 1, 3, 4, 5, 14, 15

Extended Shutter Times

> 10 s

Up to 330 s

(Format_7 Mode_3 and Format_7 Mode_8)

Memory Channels

Two (2) channels for user-defined configuration sets; one (1) channel for restoring to factory default settings

Frame Buffer

32 MB for temporary image storage and re-transmission

Non-Volatile Flash Memory

512 KB for data storage

Pixel Clocks

Two (2) or more settings; may change with format/mode change

Max two (2) settings; will change only when setting to Format_7 Mode_3 or Format_7 Mode_8.

Software Support

Description

Grasshopper

Grasshopper2

FlyCapture 2.x Applications

Supported

Supported

FlyCapture 1.x Applications

Supported

FlyCap Demo GUI does not support new IIDC 1.32 video formats and other new features.

New features are supported in the API.