Version Variations

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Ver. A11

New Camera Support

From A11, PCIe-GL26 supports

• AC-IMX390

• AC-AR0233

• AC-IMX490

• TierIV C1 [link]

Configurable Framesync FPS

TierIV C1 supports 30 FPS and 20 FPS modes. The 20 FPS mode provides a straightforward approach for sensor fusion with LiDAR with 10Hz or 20Hz rotation speed.

Configurable Framesync Phase Shift

• Mode 0: 6x ports triggered simultaneously

• Mode 1: Divide into 3x framesync groups

  1. Group A (Port 0, Port 1): Phase shift with +33.33% framesync period

  2. Group B (Port 2, Port 3): Phase shift with +0% framesync period

  3. Group C (Port 4, Port 5): Phase shift with +66.67% framesync period

Auto GPS PPS input Alignment

The framesync will automatically align with GPS PPS input once GPS PPS input is supplied. If there is no GPS PPS input, MCU will generate framesync with its internal clock. The jitter between GPS PPS and framesync is within 100ns.

Mode 0: 6x ports triggered simultaneously

Mode 1: Divide into 3x framesync groups

< 100ns Latency

GPS PPS Pass-Through

The GPS PPS input will pipe into /dev/pps0 automatically

New Camera Configuration File (data.cfg)

CAM_MODEL="AC-IMX390"  #Options: AC-IMX390, AC-AR0233, TierIV-C1, AC-IMX490 

DETECTED_CAM="0 1 2 3 4 5"

TRIGGER_MODE="MCU" #Options: FREERUN, MCU    

MCU_FPS="30" #Options: 30, 20   
# MCU_FPS="30" applied to AC-IMX390, AC-AR0233, TierIV-C1, AC-IMX490 
# MCU_FPS="20" only applied to TierIV-C1 

MCU_MODE="M0" #Options: M0, M1  
# M0: All camera ports triggered simuteneuously
# M1: 
    # Port 0, Port 1: Phase shift with +33.33% framesync period
    # Port 2, Port 3: Phase shift with +0% framesync period
    # Port 4, Port 5 (next to the terminal block): Phase shift with +66.67% framesync period 

VIDEO_ENCODE="RAW" #Options: RAW, H264

VIDEO_STREAMING="HOST" #Options: STANDALONE, HOST

Upgrade from A10 to A11

Please RMA your PCIe-GL26 back to us to upgrade hardware, firmware, and software.

Demo Clips

A Example of using 20FPS with Phase Shift for Sensor Fusion

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Ver. A10 (ES2)

The first mass production batch.

• Camera Support

  • AC-IMX390

  • AC-AR0233

• Support MCU triggered framesync

• Update to 8-pin terminal block

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ES1

• The frame sync accuracy will be improved in ES2. In ES1, our selected cameras (although they are equipped with external frame sync firmware) will operate in the freerun mode.

• We will improve the gap between FAKRA connectors in ES2. In ES1, please find FAKRA cables with smaller headers, i.e., 9~10 mm.

  • Our 7M FAKRA cable, FK-FF-CABLE-7M, meets this requirement.

  • However, the 15M FARKA cable, FK-FF-CABLE-15M, is too wide due to the 11.2 mm width.

• In ES2, we will support FAKRA connectors up to 10.8 mm in width.

• For the same reason, on the PCIe bracket side, we will reduce the 10-pin terminal block to an 8-pin terminal block. The isolated DO will be removed in ES2. The following interface of ES1 remains in ES2:

  • 1x isolated CAN 2.0

  • 1x RS232

  • 1x GPS PPS input