Scanlab RTC 5 PC Interface Board - set_mcbsp_matrix; set_mcbsp_matrix_list

RTC
®
5 PC Interface Board
Rev. 1.9 e
10 Commands And Functions
454
innovators for industry
Ctrl Command set_mcbsp_matrix
Function activates matrix correction for online positioning via the McBSP interface.
Call
set_mcbsp_matrix()
Comments • For online positioning, see page 165.
• Matrix corrections can’t be used in conjunction with offset and/or rotation corrections.
Any such already-activated options will get deactivated by set_mcbsp_matrix. Subse-
quent activation of other options (via set_mcbsp_x, set_mcbsp_y or set_mcbsp_rot)
will deactivate the matrix option.
• The following restrictions apply to the matrix coefficients transferred over the McBSP
interface (as with set_matrix):
The allowed value range for matrix coefficients is [–50 … +50];
transferred coefficients exceeding this range will be ignored.
• You must individually supply as input value M
in
to the McBSP interface each matrix coef-
ficient Mij of the transformation matrix M
T
as a normalized integer with associated
indices i and j as follows:
M
in
= ( integer( Mij * 2
24
) << 2 ) + ( i << 1 ) + j
with M
T
= { M00, M01, M10, M11 } = { m
11
, m
12
, m
21
, m
22
}
Conversely, the RTC
®
5 determines a coefficient from the input value as follows:
M
T
[ M
in
& 0x3 ] = ( M
in
>> 2 ) / 2
24
• You must separately fetch each transferred matrix coefficient via apply_mcbsp or
apply_mcbsp_list. We recommend fetching the first coefficient with
at_once = 0 and
only the last one with
at_once > 0.
• The coefficients get transferred to internal memory location 1 and can be checked there
by querying with
read_mcbsp(1) .
• The McBSP interface can’t be simultaneously used for both online positioning and
Processing-on-the-fly applications (see page 166).
RTC
®
4  RTC
®
5 new command
Version info Available beginning with version DLL 533, OUT 534, RBF 524
References set_mcbsp_matrix_list
Undelayed
Short
List Command
set_mcbsp_matrix_list
Function same as set_mcbsp_matrix (see above), but a list command
Call set_mcbsp_matrix_list()
Comments • See set_mcbsp_matrix.
RTC
®
4  RTC
®
5 new command
Version info Available beginning with version DLL 533, OUT 534, RBF 524
References set_mcbsp_matrix