RTC6 boards
Doc. Rev. 1.0.21 en-US
10 RTC6 Commands
693
Ctrl Command set_mcbsp_matrix
Function Activates matrix correction for “Local Online Positioning“ by the McBSP interface.
Call
set_mcbsp_matrix()
Comments • For “Local Online Positioning“, see Chapter 8.3.1 ”“Local Online Positioning“”,
page 228.
• Matrix corrections cannot be used in conjunction with offset and/or rotation
corrections. Any such already-activated options gets deactivated by
set_mcbsp_matrix. Subsequent activation of other options (by set_mcbsp_x,
set_mcbsp_y or set_mcbsp_rot) deactivates the matrix correction.
• 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 are ignored.
• You must individually supply as input value M
in
to the McBSP interface each matrix
coefficient 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 RTC6 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 by 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 cannot be simultaneously used for an Online Positioning and
Processing-on-the-fly applications.
See also Section ”Notes”, page 230.
RTC4RTC6 New command.
RTC5RTC6 Unchanged functionality.
Version info Available as of DLL 600, OUT 600, RBF 600.
References set_mcbsp_matrix_list
To Next Page
Loading...