Release/fw1.10.x

CalibrationRoutines/MCC/mcc_with_iVA.md

@@ -2,7 +2,7 @@
 
 Motion Camera Calibration is a camera calibration software provided by ifm based on an ifm specific checkerboard that estimates the rotational parameters of the camera head with respect to the user coordinate system.
 
-This application is available free of charge and included in the embedded O3R firmware (`version >= 1.1.30`) and the GUI ifm Vision Assistant (`version >= 2.7.6`). To use this application, users must install the ifmVisionAssistant tool, which can be downloaded [here](https://www.ifm.com/us/en/product/OVP800?tab=documents). To get started with the ifmVisionAssistant, please refer to this [documentation](index_iVA.md).
+This application is available free of charge and included in the embedded O3R firmware (`version >= 1.1.30`) and the GUI ifm Vision Assistant (`version >= 2.7.6`). To use this application, users must install the ifmVisionAssistant tool, which can be downloaded [here](https://www.ifm.com/us/en/product/OVP800?tab=documents). To get started with the ifmVisionAssistant, please refer to this [documentation](../../SoftwareInterfaces/iVA/index_iVA.md).
 
 ## Pre-requisites
 

CompatibilityMatrix/compatibility_matrix.md

@@ -10,7 +10,7 @@
  | OVP800 <br> M04239             | O3R222 <br> 03R225             | FW 1.0.14  | 1.2.6         | 2.6.14             |
 
 :::{note}
-- Other combinations of versions than the ones listed in the table above could work but are not officially supported by ifm. [See table below](#suggested-hardware)
+- Other combinations of versions than the ones listed in the table above could work but are not officially supported by ifm. [See table below](#recommended-hardware)
 - Newer API versions are aimed to be backward compatible. Please verify via the API release notes and changelog.
 :::
 

Firmware/ReleaseNotes/FW_1.10.x/FW_1.10.x_release_notes.md

@@ -0,0 +1,73 @@
+# Firmware 1.10.13 release notes
+The following release note provides an overview of the features of the **Firmware 1.10.13** version.
+
+The firmware update file for the OVP81x devices is available on [ifm.com](https://www.ifm.com).
+
+## Compatibility
+### Previous releases
+The previous version is v1.4.30.
+
+### Compatible software versions
+This firmware release works with the following software package versions.
+
+| Software                 | Version  |
+| ------------------------ | -------- |
+| ifmVisionAssistant       | >= 2.9.9 |
+| ifm3d library            | 1.5.3    |
+| ifm3d-ros ROS(1) wrapper | >= 1.1.2 |
+| ifm3d-ros2 ROS2 wrapper  | >= 1.2.0 |
+
+### Compatible processing platforms
+:::{warning}
+FW 1.10.13 does not support the OVP80x family at the moment.
+**Do not update an OVP80x with this firmware. Such a FW update will fail, and the device will reboot to the previous FW version installed.**
+:::
+
+This firmware release can be applied to the following ifm video processing platforms:
+
+| Article | Description                                                                 |
+| ------- | --------------------------------------------------------------------------- |
+| OVP810  | Series product with TX2-NX NVIDIA board.                                    |
+| OVP811  | Series product with TX2-NX NVIDIA board, including an ODS license.          |
+| OVP812  | Series product with TX2-NX NVIDIA board, including a PDS license.          |
+| OVP813  | Series product with TX2-NX NVIDIA board, including ODS and PDS licenses.   |
+
+### Supported camera articles
+This firmware release supports the following ifm camera articles:
+
+| Camera Article | Description                                                 |
+| -------------- | ----------------------------------------------------------- |
+| O3R222         | 3D: 38k 224x172, 60°x45° IP50 <br> 2D: 1280x800, 127°x80° |
+| O3R225         | 3D: 38k 224x172, 105°x78° IP50 <br> 2D: 1280x800, 127°x80° |
+
+## Base device
+### Changed
+- The default `channelValue` for 3D port number X [0..5] is changed to 2*X.
+- The L4T kernel version is updated to r32.7.5.
+
+## ODS application
+### Added
+- **Diagnostics for decalibrated camera ports:** A new error, `ERROR_ODSAPP_CAMERA_DECALIBRATED`, is raised if any active camera port is likely to be decalibrated. In this case, the camera calibration should be verified.
+- A new parameter, `rangeOfInterest`, allows users to define the maximum range of vision in meters (in robot coordinates). This setting directly impacts the grid shape, which is always square with each dimension containing (`rangeOfInterest`/0.05) × 2 cells at the default resolution of 5 cm.
+- ODS supports polygons on the zone interface, allowing for the definition of both convex and concave shapes.
+- A preset feature is implemented where the user can load a predefined zone configuration.
+
+### Changed
+- The maximum number of points to define a zone is increased from 6 to 16.
+- The ODS diagnosis sources are now attached to the specific camera port rather than the overall ODS application, for the following diagnostic messages:
+  - `ERROR_ODSAPP_FOV_INSUFFICIENT_FOR_NEGATIVE_OBSTACLES`
+  - `ERROR_ODSAPP_CAMERA_DECALIBRATED`
+  - `ERROR_ODSAPP_EXTR_DI_CALIB_IMPLAUSIBLE`
+  - `ERROR_ODSAPP_VO_EXTR_DI_CALIB_IMPLAUSIBLE`
+- A maximum of one ODS instance is allowed. It is expected to use a single ODS application, which is always in `RUN` mode, and to switch the `activePorts` to change which cameras are used.
+- The conditions for raising the `ERROR_ODSAPP_VO_EXTR_DI_CALIB_IMPLAUSIBLE` diagnostic message were relaxed.
+
+### Known issues
+- The diagnostics activated by the ODS application during the `RUN` state will not be deactivated when the application is set to the `CONF` or `IDLE` state.
+- If the negative obstacle feature is enabled, it may happen that the diagnostic message `ERROR_ODSAPP_FOV_INSUFFICIENT_FOR_NEGATIVE_OBSTACLES` is raised even thought the field of view conditions are fulfilled. In this case, negative obstacles will not be properly detected. To fix this, the application should be set to `CONF`, and then to `RUN` again.
+
+## PDS application
+
+- A new Pick and Drop System (PDS) application is added. This is a new feature with firmware 1.10.13. Refer to [the PDS documentation](../../../PDS/index_pds.md) for an overview of the available features.
+
+

Firmware/ReleaseNotes/index.md

@@ -5,6 +5,7 @@ Release notes for firmware version 0.16.23 and lower are available upon request.
 :::
 
 :::{toctree}
+OVP81x: version 1.10.x <FW_1.10.x/FW_1.10.x_release_notes>
 OVP81x: version 1.4.30 <FW_1.4.x/index>
 OVP81x: version 1.1.41 <FW_1.1.41/FW_1.1.41_Release_Notes>
 OVP80x: version 1.4.32 <FW_1.4.32/FW_1.4.32_release_notes>

Firmware/fw_update.md

@@ -39,15 +39,19 @@ In the instructions below, we expect that the user extracted the downloaded ZIP
 - Select the file and the update process will start.
 - Once the update is complete, the device will reboot.
 
-### With the ifm3d API or the web interface
 
-#### Reboot to recovery
-When the starting firmware is version 1.0.0 and above, a reboot to recovery state is necessary to perform an update.
+:::{note}
+The firmware update using the iVA Linux AppImage may fail on the first attempt, causing the VPU to remain in recovery mode.
+If this happens, refer to [the instructions below](#rebooting-to-productive-mode) to reboot to productive mode, using the ifm3d API.
+:::
+### With the ifm3d API
+
+In the instructions below, replace `<path/to/firmware_image.swu>` with the path to the firmware file you downloaded from [ifm.com](https://www.ifm.com/).
 
 :::::{tabs}
 ::::{group-tab} CLI
 ```bash
-$ ifm3d reboot --recovery
+$ ifm3d swupdate --file=<path/to/firmware_image.swu>
 ```
 ::::
 ::::{group-tab} c++
@@ -57,11 +61,10 @@ $ ifm3d reboot --recovery
 ...
 auto o3r = std::make_shared<ifm3d::O3R>();
 auto sw = std::make_shared<ifm3d::SWUpdater>(o3r);
-sw->RebootToRecovery();
-if (sw->WaitForRecovery()) {
-    std::cout << "System in recovery mode" << std::endl;
+if (sw->FlashFirmware("<path/to/firmware_image.swu>")){
+    sw->WaitForProductive();
+    std::cout << "System ready!" << std::endl;
 }
-...
 ```
 ::::
 ::::{group-tab} Python
@@ -70,50 +73,6 @@ from ifm3dpy.swupdater import SWUpdater
 from ifm3dpy.device import O3R
 o3r = O3R()
 sw = SWUpdater(o3r)
-sw.reboot_to_recovery()
-if sw.wait_for_recovery():
-    print("System in recovery mode)
-```
-::::
-:::::
-
-:::{note}
-If you happen to be stuck in recovery mode, the device will not be "ping-able." To reboot to productive, you have two options:
-- You can update the system again. If the update is successful, the system will reboot to productive, or,
-- You can use the ifm3d API to reboot to productive without updating. With the command line interface, you can use `ifm3d swupdate -r`. In Python you can use the [`reboot_to_productive` function](https://api.ifm3d.com/stable/_autosummary/ifm3dpy.swupdater.SWUpdater.html#ifm3dpy.swupdater.SWUpdater.reboot_to_productive) and in C++ the [`RebootToProductive` function](https://api.ifm3d.com/stable/cpp_api/classifm3d_1_1SWUpdater.html#a5ed7d927b9ff35a6808394345bdced8e).
-:::
-
-#### With the web interface
-
-Once the device is in recovery mode (see section above), you can open the web interface:
-
-1. Open [http://192.168.0.69:8080/](http://192.168.0.69:8080/) in web browser. The `SWUpdate` web interface is shown.
-2. Drag and drop the `*.swu` firmware file into the `software update`-window. The upload procedure starts.
-
-The system will automatically reboot in productive mode. The web interface will not be available anymore (it is only available in recovery mode).
-
-#### With ifm3d
-
-Once the device is in recovery mode, you can use ifm3d to update the firmware.
-In the instructions below, replace `<path/to/firmware_image.swu>` with the path to the firmware file you downloaded from [ifm.com](https://www.ifm.com/).
-The code below is continued from the "reboot to recovery" section.
-
-:::::{tabs}
-::::{group-tab} CLI
-```bash
-$ ifm3d swupdate --file=<path/to/firmware_image.swu>
-```
-::::
-::::{group-tab} c++
-```cpp
-if (sw->FlashFirmware("<path/to/firmware_image.swu>")){
-    sw->WaitForProductive();
-    std::cout << "System ready!" << std::endl;
-}
-```
-::::
-::::{group-tab} Python
-```python
 if sw.flash_firmware('<path/to/firmware_image.swu>'):
     sw.wait_for_productive()
     print("System ready!")
@@ -146,6 +105,11 @@ o3r.get(["/device/swVersion/firmware"])
 ::::
 :::::
 
+#### Rebooting to productive mode
+If you happen to be stuck in recovery mode, the device will not be "ping-able." To reboot to productive, you have two options:
+- You can update the system again. If the update is successful, the system will reboot to productive, or,
+- You can use the ifm3d API to reboot to productive without updating. With the command line interface, you can use `ifm3d swupdate -r`. In Python you can use the [`reboot_to_productive` function](https://api.ifm3d.com/stable/_autosummary/ifm3dpy.swupdater.SWUpdater.html#ifm3dpy.swupdater.SWUpdater.reboot_to_productive) and in C++ the [`RebootToProductive` function](https://api.ifm3d.com/stable/cpp_api/classifm3d_1_1SWUpdater.html#a5ed7d927b9ff35a6808394345bdced8e).
+
 #### The full example script
 
 We provide a full Python script to help you update the firmware using the API. You can find this script [in the `ifm3d-examples` repository](https://github.com/ifm/ifm3d-examples/blob/main/ovp8xx/python/ovp8xxexamples/core/fw_update_utils.py).

GettingStarted/index_sw_stack.md

@@ -5,7 +5,7 @@ Multiple software stacks are available: pick your favorite one below and follow
 
 :::{toctree}
 :maxdepth: 1
-ifmVisionAssistant <ifmVisionAssistant/index_iVA>
+ifmVisionAssistant <../SoftwareInterfaces/iVA/index_iVA>
 Python <https://api.ifm3d.com/html/examples/index.html>
 C++ <https://api.ifm3d.com/html/examples/index.html>
 :::