RTC6 boards
Doc. Rev. 1.0.21 en-US
10 RTC6 Commands
326
Ctrl Command apply_mcbsp
Function Queries the most recent values fully transmitted over the McBSP interface for
“Local Online Positioning“ and defines offset and/or rotation matrix M
R
or general
transformation matrix M
T
for subsequent coordinate transformations.
Call
apply_mcbsp( HeadNo, at_once )
Parameters
HeadNo
Number of the scan head connector.
As an unsigned 32-bit value.
= 1: The definition only affects the first scan head connector.
= 2: The definition only affects the second scan head connector.
= 0, 3: The definition affects both scan head connectors.
Only the two least significant bits are evaluated.
at_once
Determines when the defined transformation becomes effective.
As an unsigned 32-bit value.
= 0: The new total transformation (total matrix and offset) is only
calculated and applied to the current position when the next
list command is executed.
= 1: The new total transformation is calculated immediately (or before the
next list command if currently BUSY list execution status or
INTERNAL-BUSY list execution status is set) and applied to the current
position.
= 2: The new total transformation (total matrix and offset) is only
calculated and applied to the current position when the next
jump_abs, jump_rel, goto_xy or goto_xyz is executed.
> 2: Like
at_once
= 2.
Comments • Data acquisition by the McBSP interface for “Local Online Positioning“ must be
activated in advance by set_mcbsp_x, set_mcbsp_y and/or set_mcbsp_rot or
set_mcbsp_matrix (or with the corresponding list commands). Depending on the
configuration, apply_mcbsp only defines (as with set_offset) an x offset and/or
y offset or also (as with set_angle) a rotation matrix or (as with set_matrix) a general
matrix operation (see Chapter 8.3.1 ”“Local Online Positioning“”, page 228). As with
the commands described in Chapter 8.2 ”Coordinate Transformations”, page 224, the
parameter
at_once
determines when the newly defined total transformation becomes
effective.
• Transformations previously defined by set_angle, set_offset or set_matrix get
overwritten by apply_mcbsp. In contrast, transformations and focus shifts previously
defined by set_scale or set_defocus and z offsets defined by set_offset_xyz is
continued to be taken into account, when the total transformation gets recalculated.
• Any new definitions made with set_angle, se
t_offset or se
t_matrix overwrite
coordinate transformations defined by the McBSP interface.
• The McBSP interface ignores the first FrameSync signal after a load_program_file or
mcbsp_init. That is, data provided is not transmitted, see Section ”RTC6 PCIe Board as
Receiver”, page 85.
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