FFC-4p hardware synchronization

thebambuproject · Apr 25, 2023

How to control GPIO with C++ API? I´m talking about this part:

config.board.gpio[6] = dai.BoardConfig.GPIO(dai.BoardConfig.GPIO.OUTPUT, dai.BoardConfig.GPIO.Level.HIGH)

Thanks!

erik · Apr 25, 2023

thebambuproject Would it not be the same? C++/Python API should be 1:1, as Python just has bindings over.

thebambuproject · Apr 25, 2023

Sorry but its not trivial to me

dai::Device device(pipeline);
dai::Device::Config c = pipeline.getDeviceConfig();
c.board.gpio[6] = dai::BoardConfig::GPIO(dai::BoardConfig::GPIO::OUTPUT, dai::BoardConfig::GPIO::Level::HIGH);

Can somebody point me, its ok? config seems to be private… Thanks

jakaskerl · Apr 25, 2023

Hi thebambuproject

I'd change it to:

dai::Device device(pipeline);
dai::Device::Config c = pipeline.getDeviceConfig();
c.board.gpio[6] = dai::BoardConfig::GPIO(dai::BoardConfig::GPIO::Direction::OUTPUT, dai::BoardConfig::GPIO::Level::HIGH);

Otherwise it looks good (i'm not familiar with c++).

Hope it works,
Jaka

Aaiyangsky · Mar 16, 2024

@Luxonis-Alex Hi, I also tried to sync 4 cameras in FFC-4P, but only camera B and camera C synced successfully anyway.The camera uses a UC-788 module with Arducam OV9282 and the FSIN signal is Connect correctly.

Here's my code

#include "depthai/depthai.hpp"
#include <chrono>
#include <opencv2/opencv.hpp>
#include <time.h>
#include <iostream>
#include <thread>

int main()
{
    // Create pipeline
    dai::Pipeline pipeline;

    // Define sources and outputs
    // cam_a
    auto camA = pipeline.create<dai::node::MonoCamera>();
    camA->setBoardSocket(dai::CameraBoardSocket::CAM_A);
    camA->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
    camA->setFps(30);
    camA->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::OUTPUT);

    auto AOut = pipeline.create<dai::node::XLinkOut>();
    AOut->setStreamName("CAM_A");
    camA->out.link(AOut->input);

    // cam_d
    auto camD = pipeline.create<dai::node::MonoCamera>();
    camD->setBoardSocket(dai::CameraBoardSocket::CAM_D);
    camD->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
    camD->setFps(30);
    camD->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::INPUT);

    auto DOut = pipeline.create<dai::node::XLinkOut>();
    DOut->setStreamName("CAM_D");
    camD->out.link(DOut->input);

    // cam_b
    auto camB = pipeline.create<dai::node::MonoCamera>();
    camB->setBoardSocket(dai::CameraBoardSocket::CAM_B);
    camB->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
    camB->setFps(30);
    camB->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::INPUT);

    auto BOut = pipeline.create<dai::node::XLinkOut>();
    BOut->setStreamName("CAM_B");
    camB->out.link(BOut->input);

    // cam_c
    // auto camC = pipeline.create<dai::node::MonoCamera>();
    // camC->setBoardSocket(dai::CameraBoardSocket::CAM_C);
    // camC->setResolution(dai::MonoCameraProperties::SensorResolution::THE_400_P);
    // camC->initialControl.setFrameSyncMode(dai::CameraControl::FrameSyncMode::INPUT);

    // auto COut = pipeline.create<dai::node::XLinkOut>();
    // COut->setStreamName("CAM_C");
    // camC->out.link(COut->input);

    dai::BoardConfig Config = pipeline.getBoardConfig();
    Config.gpio[6] = dai::BoardConfig::GPIO(dai::BoardConfig::GPIO::OUTPUT, dai::BoardConfig::GPIO::Level::HIGH);
    pipeline.setBoardConfig(Config);

    dai::Device device(pipeline);

    auto lastTime = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
    auto currTime = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();

    cv::Mat AMat, BMat, CMat, DMat;
    cv::Mat ADMat, BCMat;

    auto imageA = device.getOutputQueue("CAM_A", 1, false);
    auto imageB = device.getOutputQueue("CAM_B", 1, false);
    // auto imageC = device.getOutputQueue("CAM_C", 1, false);
    auto imageD = device.getOutputQueue("CAM_D", 1, false);

    while (true)
    {
        auto A = imageA->get<dai::ImgFrame>();
        auto B = imageB->get<dai::ImgFrame>();
        // auto C = imageC->get<dai::ImgFrame>();
        auto D = imageD->get<dai::ImgFrame>();

        AMat = A->getCvFrame();
        BMat = B->getCvFrame();
        // CMat = C->getCvFrame();
        DMat = D->getCvFrame();

        auto tsA = A->getTimestampDevice();
        auto tsB = B->getTimestampDevice();
        // auto tsC = C->getTimestampDevice();
        auto tsD = D->getTimestampDevice();

        auto timeDifference = tsA - tsB;
        auto timeDifferenceUs = std::chrono::duration_cast<std::chrono::microseconds>(timeDifference).count();
        std::cout << "Time difference between messages is: " << std::abs(timeDifferenceUs / 1000.0) << " ms" << std::endl;

        // timeDifference = tsC - tsB;
        // timeDifferenceUs = std::chrono::duration_cast<std::chrono::microseconds>(timeDifference).count();
        // std::cout << "Time difference between messages is: " << std::abs(timeDifferenceUs / 1000.0) << " ms" << std::endl;

        timeDifference = tsD - tsB;
        timeDifferenceUs = std::chrono::duration_cast<std::chrono::microseconds>(timeDifference).count();
        std::cout << "Time difference between messages is: " << std::abs(timeDifferenceUs / 1000.0) << " ms" << std::endl;

        currTime = std::chrono::duration_cast<std::chrono::nanoseconds>(std::chrono::system_clock::now().time_since_epoch()).count();
        auto Ts = currTime - lastTime;
        std::cout << "read 1 count;Ts = " << Ts / (1000.0f) << "us" << std::endl;
        lastTime = currTime;

        int key = cv::waitKey(1);
        if (key == 'q')
        {
            break;
        }
    }
    return 0;
}

The result is as follows

Time difference between messages is: 15.496 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 31927.5us
Time difference between messages is: 15.681 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33455.4us
Time difference between messages is: 15.866 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33237us
Time difference between messages is: 16.052 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33648.6us
Time difference between messages is: 16.237 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 32952.1us
Time difference between messages is: 16.422 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33447.5us
Time difference between messages is: 16.608 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33302.4us
Time difference between messages is: 16.793 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 24855.3us
Time difference between messages is: 16.978 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 41743.3us
Time difference between messages is: 17.163 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 24911.8us
Time difference between messages is: 17.349 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33330.5us
Time difference between messages is: 17.534 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 31817.8us
Time difference between messages is: 17.719 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33400.9us
Time difference between messages is: 17.905 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33321.5us
Time difference between messages is: 18.09 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33280.4us
Time difference between messages is: 18.275 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33403.9us
Time difference between messages is: 18.461 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33301.3us
Time difference between messages is: 18.646 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33319us
Time difference between messages is: 18.831 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33308.3us
Time difference between messages is: 19.017 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33329.3us
Time difference between messages is: 19.202 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33298.9us
Time difference between messages is: 19.387 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33434.2us
Time difference between messages is: 19.572 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33381.4us
Time difference between messages is: 19.758 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33206.2us
Time difference between messages is: 19.943 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33371.4us
Time difference between messages is: 20.128 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33273.5us
Time difference between messages is: 20.314 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33521.1us
Time difference between messages is: 20.499 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33146.4us
Time difference between messages is: 20.684 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33411.6us
Time difference between messages is: 20.87 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33324us
Time difference between messages is: 21.055 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33303.9us
Time difference between messages is: 21.24 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33418us
Time difference between messages is: 21.426 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33243.8us
Time difference between messages is: 21.611 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33410.5us
Time difference between messages is: 21.796 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33277.6us
Time difference between messages is: 21.982 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33358.2us
Time difference between messages is: 22.167 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33361us
Time difference between messages is: 22.352 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33288.1us
Time difference between messages is: 22.538 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33337.2us
Time difference between messages is: 22.723 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33390.5us
Time difference between messages is: 22.908 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33347.6us
Time difference between messages is: 23.093 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33334.9us
Time difference between messages is: 23.279 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33339.1us
Time difference between messages is: 23.464 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33334.2us
Time difference between messages is: 23.65 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33329.7us
Time difference between messages is: 23.835 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33344.9us
Time difference between messages is: 24.02 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33313.7us
Time difference between messages is: 24.205 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33297.9us
Time difference between messages is: 24.391 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33415.8us
Time difference between messages is: 24.576 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33307.8us
Time difference between messages is: 24.761 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33351.2us
Time difference between messages is: 24.947 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33301.3us
Time difference between messages is: 25.132 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33319.4us
Time difference between messages is: 25.317 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33356.4us
Time difference between messages is: 25.503 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33454us
Time difference between messages is: 25.688 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33218.8us
Time difference between messages is: 25.873 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33299.1us
Time difference between messages is: 26.058 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33346.6us
Time difference between messages is: 26.244 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33337.1us
Time difference between messages is: 26.429 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33527.1us
Time difference between messages is: 26.614 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33177us
Time difference between messages is: 26.8 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33389us
Time difference between messages is: 26.985 ms
Time difference between messages is: 22.579 ms
read 1 count;Ts = 33325.2us

erik · Mar 16, 2024

@aiyangsky could you share some photo of the wiring as well?

Aaiyangsky · Mar 18, 2024

erik

Of course, a schematic diagram of the line connection (orange cable from FSIN to XVS):

Below is the FSIN signal (blue to CAM_A, yellow is CAM_B

jakaskerl · Mar 18, 2024

Hi @aiyangsky
Try setting the OUTPUT mode to the CAM_B and the rest to INPUT.

Change gpio6 to gpio42 on R7.

dai::Device device(pipeline);
dai::Device::Config c = pipeline.getDeviceConfig();
c.board.gpio[42] = dai::BoardConfig::GPIO(dai::BoardConfig::GPIO::Direction::OUTPUT, dai::BoardConfig::GPIO::Level::HIGH);

Thanks,
Jaka

Aaiyangsky · Mar 19, 2024

jakaskerl Thanks for the suggestion. But I tried this way and he didn't improve.

erik · Mar 20, 2024

@aiyangsky the scoped signal doesn't look correct - it starts at 1V (should be 0v?) and goes to 1.8V. Is this a measurement error?

Aaiyangsky · Mar 21, 2024

erik I double-checked today that this is indeed not a measurement error.

Aaiyangsky · Mar 21, 2024

erik Is this reference voltage change caused by the FFC module? Or camera？What can I do to investigate this problem?