The CMUcam1 Vision Sensor
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The CMUcam1 Vision Sensor
Downloads
The CMUcam user's manual v2.00 for firmware v1.12 is available in PDF form. It contains a parts list, board schematic and software protocol description. Manuals for older versions of the firmware can be found here: v1.11 , v1.1 , v1.0. If you decide to experiment with changing the camera register settings you might also be interested in downloading the OV6620 Camera Manual (local mirror) from Omnivision. Building the Board The easiest way to build your own CMUcam is to order a kit from one of the two companies that have been licensed to sell kits: Acroname and Seattle Robotics. If you purchase a kit from one of these companies the SX28 comes pre-programmed so you do not have to download the HEX file or flash it into the processor. If you are building it yourself from scratch, you will need to download this HEX code file (containing the latest firmware v1.12) to program the SX28 chip. This is the code which implements the functionality and the serial protocol described in the manual. You can obtain the SX-Key downloader application from Parallax Inc. Older versions of the firmware can be found here: v1.11, v1.1, v1.0. NOTE: Anyone who wishes to use CMUcam for commercial purposes must contact us to secure a royalty-based license agreement. Java Interface Programs We have an open source Java program that you can download to interface with and test your CMUcam. This interface program allows you to track objects, analyze data and grab complete CMUcam images. Here are screenshots of this interface. This is a zipped JAVA project written for Linux. This is the beta version of a new GUI that auto-detects your OS. It runs under unix systems that support serial IO as if it were a file (such as Linux), as well as Windows 95/98/2000/NT/XP. We recommend using at least a Pentium 2 400mHz running Java 1.2.2 or higher. To see examples of C code for the Cerebellum microprocessor and the BotBall handyboard communicating with the CMucam, go to this web page. Here is CMUcam Java interface code written by Burak Bayramli and used by the University of Utah CS class for Robotics. This code employs the JavaCom API instead of our JNI interface to speak to CMUcam out the serial port. Here is a high resolution jpeg of the current CMUcam Schematic (board version 1.23). Firmware Source Code If you want the CMUcam firmware source code for hobby purposes, email us at cmucam@cs.cmu.edu and introduce yourself! If you are a company and are interested in using the CMUcam system commercially, contact us for licensing details. Before asking about the source code you might be interested in downloading the SX28 Processor Manual (local mirror) from Ubicom. |
