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PCI 200 KHz High Speed Interface User`s Manual

1. 6 1 9 Pin Power and Signal Connector PI x B 4000 Wire Red Black Orange Brown Yellow Blue Green Purple Not Used VD GJ Ch tn d Go A ra Function Direction Power 5V 5 6V Out Ground Heater Power 5V 4 5 7V Heater Power Return Temperature 0 5 V Range Frequency Signal Ambient light signal 0 5 V Amplitude signal 0 5 V Laser Control 0 5V Table 3 P1 Power and Signal Connector Wiring 6 2 Power and Signal Connector Description The line descriptions for P1 are the same as the descriptions of the power and signal lines in the AR4000 Power and Signal Cable Wire Description section Pins 1 4 supply sensor power and sensor heater power and ground lines The remaining lines are inputs for the signals from the AR4000 sensor Pins 5 7 and 8 are the inputs for the analog signals with 2K impedance Pin 6 is the input for the range frequency signal that is transmitted by the dedicated coaxial cable Figure 15 P1 9 pin connector with 200 KHz range frequency cable 6 3 25 Pin I O Connector P2 P2 includes general purpose input lines a sample start stop control line quadrature encoder input lines and power for encoders or other applications There are two configurations one for a User s Manual 200 KHz PCI HSIF 3 Acuity Laser Measurement single ended encoder and one for an index pulse and one for a differential encoder and index pulse 6 3 1 P2 Pin Descriptions Single Ended Encoder Below is
2. 8 5 HSIFOPENPORT OPEN A COM PORT TO COMMUNICATE WITH AN AR4000 SENSOR eene 50 8 6 HSIFPURGEPORT PURGE pop EEN 50 8 7 HSIFSENDSTR SEND SERIAL DATA TO THE AR4000 SENSOR sess 51 SAMPLE FORMA TS cC 52 9 1 RAW SAMPLE FORMAT HSIF SAMPLE cee esee nennen nenne enne nen E E EESE nente nnne trennen 52 9 2 PROCESSED SAMPLE FORMAT HSIF PROC SAMPLE eerte nennen emen en rennen 54 INTERFACE INSTALLATION AND CHECKOUT eere essen enses ense tn suns ta senten status es esta ses en 55 10 1 DIAGNOSTICS e 55 User s Manual 200 KHz PCI HSIF 2 Acuity Laser Measurement 1 AccuRange PCI High Speed Interface HSIF Card 1 1 General Description The AccuRange PCI High Speed Interface PCI HSIF is an interface computer board that takes samples from the AR4000 optical rangefinder Samples come over the bus in a 16 byte format that includes a 32 bit range value two 32 bit encoder values and a 32 bit status value that includes signal strength ambient light sensor internal temperature and general purpose input bits These inputs along with external enable disable control of sampling allow precise synchronization with external events The interface board operates by measuring the range dependent frequency output of the AR4000 To use the AR4000 sensor with HSIF card the current loop option must not be installed in the sensor The sensor frequen
3. The valid max range should be set to a value between 2 and 650 inches Second you can set whether to run the program on one or multiple CPUs The number of CPU cores the program will utilize is specified as 0 for multiple CPU cores or 1 for a single CPU core This option is useful for some multiprocessor multi core CPUs that have trouble keeping up with the sensor PCI bandwidth requirements when in multiprocessor multi core mode distance serialport 1 8 gt boardnumber 0 4 sampling period 5 9999999 microseconds calibration filename num samples to average num line to print max range 2 to 650 inches default 650 CPUs 0 all CPUs default 1 1 CPU only As an example of using distance make a local copy of the CD s examples bin directory on your hard disk This directory contains distance exe and hsif dll Next copy the calibration file lookuphs from CD s calibration to this directory Open a Windows Command Prompt Window User s Manual 200 KHz PCI HSIF 13 Acuity Laser Measurement and change to the directory you created Next enter the following line which assumes the AccuRange is connected to COMI and that there is a single HSIF card installed distance 1 0 100 lookuphs 10000 500 This command line configures the sampling period to 100us the number of samples to average per output line to 1 000 and the number of output lines to print before exiting to 500 Note that the program ca
4. Buffer Overflow Indicator Input 3 Motor 1 Encoder Index Input 1 Motor 2 Encoder Index Input 2 Sample Count 0 15 8 bit Sensor Internal Temperature 8 bit Ambient Light Sample 8 bit Amplitude Sample encoderl 32 bit Motor 1 Encoder Position encoder2 32 bit Motor 2 Encoder Position range 32 bit Encoded Range Table 6 HSIF SAMPLE status Status consists of the following sub fields Hardware Buffer overflow indicator 1 bit indicating whether a HSIF card L1 FIFO buffer overflow occurred and 1 or more samples were lost just prior to the first sample in which the flag is set Once an overflow occurs this bit will stay set until a HsifClearOverflow HsifClearSampleBuffer or HsifResetBoard command is given or a power cycle occurs Samples with the overflow flag set may contain inaccurate range data and should be discarded Since the overflow flag is stored with the buffered data resetting the flag will not become evident in the data until the data in the buffer has been read or the buffer has been cleared with a board reset command Note that if the buffer is full when the HsifClearOverflow command is given it will simply be set again immediately Inputs 1 2 3 Three general purpose input lines CMOS logic levels These may be used to determine the exact times of external events relative to the samples taken Inputs 1 and 2 are set on the positive rising edge of signals input to these pins After the ne
5. Figure 9 Search Options for Driver Choose the selection that will read from your CD ROM drive and click Next User s Manual 200 KHz PCI HSIF 9 Acuit Laser Measurement y Found New Hardware Wizard Please wait while the wizard searches Figure 10 Search for Driver This window appears while the system searches for the PCI driver Hardware Installation Figure 11 Windows Logo Testing This window confirms the hardware driver selection Click Continue Anyway User s Manual 200 KHz PCI HSIF 10 For oy y Found New Hardware Wizard Completing the Found New Hardware Wizard The wizard has finished installing the software for a AR 4000 PCI Adapter Driver Click Finish to close the wizard lt Back Cancel Figure 12 Completing Driver Installation When the hardware installation has completed click Finish User s Manual 200 KHz PCI HSIF 11 Acuity Laser Measurement 3 Included Software 3 1 CD Directory Tree The HSIF product includes a CD with the following contents install driver installation files Mil dynamic link library DLL files docs API and Users Guide examples bin precompiled programs and DLL built under Windows XP examples distance example distance project and source code examples hsiftest example hsiftest project and source code examples rt_cap example rt_cap project and source code examples utilities serial interface and DLL utilities
6. For Windows Vista run msconfig exe This will launch the System Configuration window shown below User s Manual 200 KHz PCI HSIF 20 Acuity Laser Measurement Lj System Configuration Microsoft Windows Vista C Windows Current OS Default OS Set as default Delete Boot options Safe boot No GUI boot Minimal Boot log Alternate shell Base video Active Directory repair OS boot information Make all boot settings Network letwor Figure 13 Windows Vista System Configuration Click Advanced options to show the BOOT Advanced Options window BOOT Advanced Options V Baud rate 115200 Figure 14 BOOT Advanced Options H User s Manual 200 KHz PCI HSIF 21 Ac uity Laser Measurement Check Number of processors and select from the list box Click OK to close the window and then click OK to close the System Configuration window The next time you reboot the Vista machine it will run on a single CPU 4 Sensor Configuration and Sample Rate When using the HSIF card all configurations of the AR4000 are done via the serial port just as it would be when using the sensor without the HSIF card The communication path is one way only from the AR4000 to the HSIF card the sensor cannot be configured through the HSIF card Therefore the serial port must be used to communicate configuration data to the AR4000 The sample rate of the interface is co
7. HANDLE hsifCard HANDLE comHandle DWORD range DWORD samplePeriod hsifCard The HSIF card s number from the above function comHandle Handle to a comport range Max measurement range default is 650 inches samplePeriod Period between samples in microseconds Returns HSIF SUCCESS Read up to numSampl1es successfully HSIF WARN COM Sample period updated internally but an invalid com handle was specified and thus no serial communication with the AR4000 was attempted HSIF FAIL Read failure Bad HANDLE or card not responding User s Manual 200 KHz PCI HSIF 46 Acuit y Laser Measurement 8 Serial I O Utilities The Serial I O Utilities comprise a set of functions for accessing the AR4000 sensor through the serial port These functions are used internally by the HSIF Library for setting the resolution and range of the AR4000 sensor if the address of an open COMMINFO struct is passed to the HsifOpen routine when opening access to the card or during a call to HsifSetSamplePeriod 8 1 HsifAsciiReadLine Read a line of ASCII characters from the AR4000 sensor Read a line of characters from the AR4000 sensor when the sensor is configured for ASCII output mode unsigned int HsifAsciiReadLine COMMINFO pCommInfo char buf unsigned int nMaxLength BOOL crlf int timeout pCommInfo pointer to a COMMINFO struct where relevant com port information is stored buf storage space for characters read f
8. Interface in a bus slot connect the sensor to the HSIF board and to a serial port on the computer Be sure that power is being supplied to the AR4000 sensor If the sensor s LED does not come on check the connection of the sensor to the interface The serial connection to the sensor may be tested separately using a program such as the Windows terminal to observe sensor output and send commands If the sensor does not respond to serial communications check the serial port connection After installing the board and connecting the AR4000 sensor run the hsiftest example supplied with the board following the instructions at the beginning of this manual Acuity Laser Measurement User s Manual 200 KHz PCI HSIF 55 If the motor control option is not installed the encoder tests will not succeed If you have not connected the input lines and external sample control line to 0 5 volt signals the tests of those lines will not succeed All other tests should succeed If one or more of the HSIF card tests fail check that the serial port the sensor is connected to is the port number you have given to the hsiftest software Also check that the AR4000 sensor s serial port is configured for 9600 baud If the sensor stability tests fail check that the laser comes on during those tests and that the sensor is pointed a white target 1 to 2 yards from the sensor User s Manual 200 KHz PCI HSIF 56 Acuity Laser Measurement
9. a table of pin descriptions for a PCI HSIF card with Single Ended Encoders See section 1 4 3 2 for Differential Encoders Top Row Bottom Row Function Direction i Function Direction Motor 2 Control Out Motor 1 Control Out Motor 2 Return Out Motor Power Ground Motor Power Supply In Motor 1 Return Out Ground Laser Control Out 5V Power 100 mA Out 5V Power 100mA Out Ground Motor 2 Encoder Ch A In Ground Motor 2 Encoder Ch B In Ground Motor 1 Encoder Ch A In Ground Motor 1 Encoder Ch B In Ground Ground Ground General Purpose Input 1 Encoder 1 Index Pulse In Start Stop Sample Ctrl In General Purpose Input 3 In General Purpose Input 2 Encoder 2 Index Pulse In Table 4 P2 Single Ended I O Connector Pin 1 Motor 2 Control If used motor 2 should be connected between this pin and pin 2 The output voltage level is varied as commanded to control the variable voltage motor User s Manual 200 KHz PCI HSIF 24 Acuity Laser Measurement Pin 2 Motor 2 Return If used motor 2 should be connected between this pin and pin 1 Pin 3 Motor Power The external power supply for the motors should be applied to this line at 12 to 15 Volts depending on the motor used The line may draw up to 2 amps Pin 4 Ground May be used as ground for encoders or other hardware powered by 5V on pins 5 and 18 Pin 5 5V power output Primarily intended as power for the motor 1 encoder but it may be used to drive other
10. calibration calibration files for sensor and HSIF PCI card 3 2 Demonstration Programs Three demonstration programs with C source code which run under Windows 2000 XP are supplied with the AccuRange High Speed Interface hsiftest distance and rt_cap The programs were compiled with Microsoft Visual C 6 0 under Windows XP and tested with Windows 2000 XP and Vista 3 2 1 hsiftest hsiftest is a command line program built from the project hsiftest located in directory examples hsiftest on the CD hsiftest exercises all off the features of the HSIF card The program requires three command line arguments and can accept an optional one The required arguments are the serial port number the AccuRange is connected to 1 8 the HSIF card the AccuRange is connected to 0 4 and the calibration filename An optional argument can be added to specify whether to run the program on multiple CPU cores 0 or a single CPU core 1 This option is useful for some multiprocessor multi core CPUs that have trouble keeping up with the sensor PCI bandwidth requirements when run in multiprocessor multi core mode hsiftest is called by entering the following command line where required parameters are denoted as lt required parameter gt and optional parameters are denoted as optional parameter hsiftest lt serialport 1 8 lt boardnumber 0 4 gt lt calibration filename gt CPUs 0 all CPUs default 1 1 CPU only Acuity Laser
11. calibration file temperature ambient light and amplitude measurements caltemp is a 32 bit floating point calibrated temperature that represents the AR4000 hardware temperature in degrees Fahrenheit turns is a 16 bit unsigned value that represents the number of complete revolutions of motor 1 since the last time the counter was reset count is a 16 bit unsigned value that represents the number of counts that the motor 1 encoder has counted since the last complete revolution count increments from 0 to 1 encoder counts per revolution as the motor turns turns2 is a 16 bit unsigned value that represents the number of complete revolutions of motor 2 since the last time the counter was reset Acuity Laser Measurement User s Manual 200 KHz PCI HSIF 17 count2 is a 16 bit unsigned value that represents the number of counts that the motor 2 encoder has counted since the last complete revolution count2 increments from 0 to 1 encoder counts per revolution as the motor turns ambient is an 8 bit unsigned value that represents the background light illumination present when the sample was recorded amplitude is an 8 bit unsigned value that represents the amplitude of the reflected laser pulse status is an 8 bit unsigned value that contains the fields described in Table 1 Description Sticky bit set if the HSIF card L1 FIFO overflows This indicates the driver is not reading samples fast enough from the card INPUT3 Mo
12. cap raw 2 cfg If the processor has any trouble keeping up with short sampling periods such as 5 microseconds a buffer overflow may occur in the HSIF card or the driver The HSIF buffer is known as the L1 FIFO buffer and the driver buffer is known as the L2 FIFO buffer If the program outputs an L1 FIFO overflow error and a multiprocessor multi core machine is in use set the parameter on line 15 of configuration file raw 2 cfg to 1 This will run rt cap on a single CPU It that does not clear the problem see Section 3 3 to boot the computer with a single core If an L2 FIFO buffer overflow error occurs the program is not requesting samples quickly enough from the driver To fix this set the buffer size to a larger value such as 30 000 Also minimize disk write accesses by turning off the option to write the raw file to disk This is done by setting line 16 of the configuration file to 0 User s Manual 200 KHz PCI HSIF 19 Acuit y Laser Measurement 3 3 Maximizing Sampling Performance Some multiprocessor multi core CPU systems cannot achieve the maximum 200 KHz sampling rate because background processes compete for CPU utilization Also some multiprocessor multi core systems cannot achieve the maximum sampling rate because the cores compete for memory and PCI bus bandwidth For best results multitasking should be kept to a minimum when sampling However many system background processes cannot be disabled Therefore each example bo
13. coaxial cable attaches to the AR400 back panel at the mating BNC connector If the system is ordered with an AC power supply the coaxial cable is routed outside of the power supply while the dark grey power and signal cable will be routed through the AC power supply box i Figure 16 Cabling of AR4000 with 200 KHz capability User s Manual 200 KHz PCI HSIF 32 Acuity Laser Measurement 7 HSIF Library The AR4000 PCI HSIF card is accessed from user applications via bett dll which is a dynamic link library DLL This section describes the application program interface API exported by hsif dll For examples of how the API is used see the source code included on the CD 7 1 Sampling Architecture The examples included on the CD demonstrate the necessary sequence of function calls required to configure and enable the AR4000 and HSIF card for capturing samples The AR4000 HSIF card stores samples on the HSIF card in a buffer known as the L1 FIFO These samples are read from the card by the driver and stored in the driver s much larger buffer known as the L2 FIFO User applications read samples from the L2 FIFO Each time 2 048 samples have been stored in the L1 FIFO the HSIF card issues an interrupt to the driver The driver then reads 2 048 samples out of the L1 FIFO and stores them in the L2 FIFO These samples are then available to be read by the user application At slow sampling rates the delay between interrupts and hence ne
14. or more of the samples Read failure Possible bad HANDLE or card not responding typedef struct USHORT status double anglel double angle2 double distance double caltemp double ambient double amplitude BOOL timeout User s Manual 200 KHz PCI HSIF 42 FIFO and encoder index latches motor 1 angle from offset in radians motor 2 angle from offset in radians calibrated distance in inches calibrated temperature ambient light reflected signal strength sample measurement timeout Acuity Laser Measurement DWORD rawRange uncalibrated range HSIF PROC SAMPLE Notes A timeout will be set if no range reading from the AR4000 was detected before the sample period expires This can occur if the range output cable from the ARA000 is disconnected or the target is beyond the maximum range 7 18 HsifResetBoard Reset PCI HSIF card This function performs a hardware reset of the PCI HSIF card After calling this function all initialization and sampling configuration setup must be performed again HSIF RESULT HsifResetBoard HSIF HANDLE hsifCard Returns HSIF SUCCESS the HSIF card was successfully reset HSIF FAIL the HSIF card reset failed 7 19 HsifSamplingDisable Sampling disable Disable sampling of range data from the AR4000 sensor HSIF RESULT HsifSamplingDisable HSIF HANDLE hsifCard Returns HSIF SUCCESS Sampling disabled successfully HSIF FAIL Sampling disable
15. 29 Acuity Laser Measurement Pin 13 General purpose input bit 2 Motor 2 index pulse input Positive input of motor 2 index pulse differential pair or general purpose input 2 This may be used to sample external signals The value of the bit will is included in the sampled data stream This may be used to sample motor encoder index pulses or other events in order to synchronize the sample data with the event The signal is latched high so that any high signal of 100 nanoseconds or longer during a sample interval will appear as a high level the following sample This is intended for use with encoder index pulses Pin 14 Motor 1 Control If used motor 1 should be connected between this pin and pin 14 The output voltage level is varied as commanded to control the variable voltage motor Pin 15 Motor Power Ground The external power supply ground for the motors should be connected to this pin Pin 16 Motor 1 Ground If used motor 2 should be connected between this pin and pin 16 Pin 17 Laser Control A 0 5V signal used to turn the laser on or off Pin 18 5V power Primarily intended as power for the motor 2 encoder but it may be used to drive other hardware up to 100 milliamps maximum Pin 19 Motor 2 Encoder Channel A Positive input of motor 2 encoder channel A differential pair If the motor control option is installed on the board this input is decoded with pin 20 as a quadrature encoder signal from motor 2 The in
16. 3 HsifSetMotorPower Set motor power Set power for motors 1 and 2 The powers may be set from 0 to 255 corresponding to the range of zero power to maximum power HSIF RESULT HsifSetMotorPower HSIF HANDLE hsifCard DWORD motorNum DWORD power motorNum 1 or 2 are valid motor numbers Power 0 off to 255 maximum power Returns HSIF SUCCESS Set the motor power successfully HSIF FAIL Failed to set the motor power 7 24 HsifSetPollMode Set poll mode This function configures the driver to use polling mode to retrieve samples from the HSIF card This is useful for slow sampling rates In interrupt mode samples are offloaded into the L2 FIFO from the HSIF card when 2 048 samples have been captured into the L1 FIFO Interrupt mode is best suited for fast sampling rates because it requires less processor overhead than polling mode When polling mode is enabled all available samples are transferred from the L1 FIFO to the L2 FIFO whenever the user calls Hsi fGetBufferedSamples orHsifDataAvailable HSIF RESULT HsifSetPollMode HSIF HANDLE hsifCard BOOL mode mode TRUE enable polling mode FALSE enable interrupt mode Returns HSIF SUCCESS Poll mode was successfully set HSIF FAIL Failed setting poll mode User s Manual 200 KHz PCI HSIF 45 TA Cuity 7 25 HsifSetSamplePeriod Set sample period and maximum range Set the sample period and maximum range for the HSIF card HSIF RESULT HsifSetSamplePeriod HSIF
17. Acuity Laser Measurement AccuRange 200 KHz High Speed Interface PCI Formats User s Manual Rev 7 2 For use with AccuRange HSIF PCI 200 KHz version August 8 2007 Acuity A product line of Schmitt Measurement Systems Inc 2765 NW Nicolai St Portland OR 97210 www acuitylaser com PCI HSIF User s Manual Rev 8 07 Acuity Laser Measurement Limited Warranty Acuity a division of Schmitt Measurement Systems Inc makes the following limited warranties These limited warranties extend to the original purchaser and to no other purchaser or transferee Limited One Year Parts and Labor Warranty Acuity warrants this product and its parts against defects in materials or workmanship for a period of one year after the date of original retail purchase During this period Acuity will at its option repair or replace a defective product or part without charge to you Warranty Conditions The above LIMITED WARRANTIES are subject to the following conditions 1 Warranties extend only to products manufactured by Acuity 2 Warranties extend only to defects in materials or workmanship as limited above Warranties extend only to defects which occur during normal use and do not extend to damage to products or parts which results from alteration repair modification faulty installation or service by anyone other than an authorized Acuity service center damage to products or parts caused by accident abuse misuse or mainten
18. Heres 39 7 14 HSIFLASERON LASER ON e feces ste rt rto eet rores v e eode ree alto ee Fed eee rare vet sta ecdesterbiasstedeasees 39 7 15 HSIFLOADCALIBRATIONDATA LOAD CALIBRATION FILE eese enne enne enne enne 40 7 16 HSIFOPEN OPEN COMMUNICATIONS WITH THE CARD 41 7 17 HSIFPROCESSSAMPLES PROCESS SAMPLES eese nennen enne enne nnne eere nennen nennen nenne 42 7 18 HSIFRESETBOARD RESET PCI HSIF Capnm eene ennemi nennen nenne enne nennen 43 7 19 HSIFSAMPLINGDISABLE SAMPLING DISARLE eene enne ennt nnne nennen nenne 43 7 20 HSIFSAMPLINGENABLE SAMPLING ENABLE esent ennemi neen enne nre sentete ene te nnne ne enne 43 7 21 HSIFSAMPLINGMODEINIT SAMPLING MODE INITIALUIZATION eerte enne nennen nnns 44 7 22 HSIFSETCALVALUE SET THE HSIF CALIBRATION VALUE sees 44 Acuity Laser Measurement User s Manual 200 KHz PCI HSIF 1 7 23 HSIFSETMOTORPOWER SET MOTOR POWER 45 7 24 HSIFSETPOLLMODE SET POLL MODE sss enne enne ener enne 45 7 25 HSIFSETSAMPLEPERIOD SET SAMPLE PERIOD AND MAXIMUM RAMOE eene nennen 46 SERIAL VO UL VU EO RE 47 8 1 HSIFASCIIREADLINE READ A LINE OF ASCII CHARACTERS FROM THE AR4000 SENSOR 47 8 2 HSIFASCIIREAD READ ASCII CHARACTERS FROM THE AR4000 grNSOR eere 48 8 3 HSIFBINARYREADBYTES READ BINARY DATA BYTES FROM THE AR4000 SENSOR eee 49 8 4 HSIFCLOSEPORT CLOSE COM PORT 49
19. Measurement Pin 15 Motor Power Ground The external power supply ground for the motors should be connected to this pin Pin 16 Motor 1 Ground If used motor 2 should be connected between this pin and pin 16 Pin 17 Laser Control A 0 5V signal used to turn the laser on or off Pin 18 5V power Primarily intended as power for the motor 2 encoder but it may be used to drive other hardware up to 100 milliamps maximum Pin 19 Motor 2 Encoder Channel A If the motor control option is installed on the board this input is decoded with pin 20 as a quadrature encoder signal from motor 2 The input should be a TTL level signal and may switch at up to 1 5 MHz The encoder positions are converted to 8 bit position values that ate included in the data stream Each transition of pins 19 or 20 causes an up or down count in the position so each quadrature cycle is effectively multiplied by 4 for the best possible resolution Pin 20 Motor 2 Encoder Channel B If the motor control option is installed on the board this input is decoded with pin 19 asa quadrature encoder signal from motor 2 The input should be a TTL level signal and may switch at up to 1 5 MHz Pin 21 Motor 1 Encoder Channel A If the motor control option is installed on the board this input is decoded with pin 22 as a quadrature encoder signal from motor 1 The input should be a TTL level signal and may switch at up to 1 5 MHz The encoder positions are converted to 8
20. Measurement User s Manual 200 KHz PCI HSIF 12 As an example of using hsiftest make a local copy of the CD s examples bin directory on your hard disk This directory contains hsiftest exe and hsif dll Next copy the calibration file lookuphs from CD s calibration to this directory Open a Windows Command Prompt Window and change to the directory you created Next enter the following line which assumes the AccuRange is connected to COMI and that there is a single HSIF card installed hsiftest 1 0 lookuphs Once hsiftest is started follow the instructions on the screen If any of the sampling tests fail run the program on a single CPU by entering the following command hsiftest 1 0 lookuphs 1 3 2 2 distance distance is a command line program built from the project distance located in directory examples distance on the CD included with the PCI HSIF card distance samples target distances using the HSIF card averages the distances and prints them to a console window The program requires six arguments and can accept two optional ones The required arguments are the serial port number the AccuRange is connected to 1 8 the HSIF card the AccuRange is connected to 0 4 the sampling period in microseconds the calibration filename the number of samples to average per print out and number of lines to print before the program ends Two optional arguments are also allowed First you can specify the maximum range the sensor
21. OPYRIGHT 2007 ACUITY A DIVISION OF SCHMITT MEASUREMENT Acuity Laser Measurement User s Manual 200 KHz PCI HSIF lii TABLE OF CONTENTS 1 ACCURANGE PCI HIGH SPEED INTERFACE HSIF CARD eee eee esee essen een ense naso n stone enata 3 1 1 GENERAT TEE TEEN uin BM NC E ITE 3 2 HSIF CARD INSTALLATION eeeeee eere erento nenne ense ease ense ta seta seta seta sete sess se Dose toss sane tas sas e ease en etas e tassa sna 4 2 1 WINDOWS 2000 DRIVER DNSTALLATION eene enne nennen entente en terrens ente ntenns entente sentent ense 4 2 2 WINDOWS XP DRIVER INSTALLATION csssscssscssscecscsssssecsscessseecsecssnessneeesssescsesesssesonseessssscneeesnssesseesssees 8 3 INCLUDED SOFTWARE o Y 12 3 1 CDDIRECTORY TREE nete bate dirt mU tet ck E Ir beads Eu TEE 12 3 2 DEMONSTRATION PROGRAMS enne nennen entente intern e ieedit inienn iei niani tinii 12 PNE UI b is eee RE E E E E E E EE E aR E E o EE T E a Ea 12 KEE 13 3 2 3 VE SCOP E HH 14 3 2 3 1 Configuration LEE 14 3 2 9 2 Post processed Output it EES 16 3 2 3 3 BROW EE 18 3 2 3 4 rt Cap Example 3 os eso eR EIS EE EEN 19 3 3 MAXIMIZING SAMPLING PERFORMANCE nennen trennen tret nr en eret enne enne nnnn tren 20 4 SENSOR CONFIGURATION AND SAMPLE RATE e eere sees estne ee ee tn sta sos states sns tn sess eaae taa een 22 5 MOTOR POWER
22. The AR4000 PCI High Speed Interface can be ordered with either single ended or differential encoders If you are using your own motor and encoder with a line scanner application you must specify which encoder type you will be using with your PCI HSIF Acuity Laser Measurement User s Manual 200 KHz PCI HSIF 3 2 HSIF Card Installation The PCI HSIF card is compatible with Windows 2000 XP and Vista While the PC is turned off install the card into an available PCI bus slot 2 1 Windows 2000 driver installation When you turn on the PC the following dialog box appears ound New Hardware Wizard E S Welcome to the Found New Hg Hardware Wizard This wizard helps you install a device driver for a hardware device To continue click Next Back Next gt Cancel Figure 1 Found New Hardware Click Next Then the next dialog box appears e User s Manual 200 KHz PCI HSIF 4 Acuity Laser Measurement Found New Hardware Wizard f Install Hardware Device Drivers KE device driver is a software program that enables a hardware device to work with ey an operating system This wizard will complete the installation for this device oy PCI Device device driver is a software program that makes a hardware device work Windows needs driver files for your new device To locate driver files and complete the installation click Next What do you want the wizard to do Search for a suitable
23. ags pCommInfo pointer to a COMMINFO struct where relevant com port information is stored flags Possible settings PURGE TX clear transmit buffer PURGE RX clear receive buffer These values can be bitwise OR d for simultaneous operation i e PURGE TX PURGE RX Returns TRUE Purge was successful FALSE Purge failed User s Manual 200 KHz PCI HSIF 50 Acuity Laser Measurement 8 7 HsifSendStr Send serial data to the AR4000 sensor Send a string of characters to the AR4000 sensor BOOL HsifSendStr COMMINFO pCommInfo char str pCommInfo pointer to a COMMINFO struct where relevant com port information is stored Str null terminated string of characters to transmit to the AR4000 sensor Returns TRUE String was transmitted successfully FALSE String transmit failed User s Manual 200 KHz PCI HSIF a Acuity Laser Measurement 9 Sample Formats The interface board collects 16 byte samples in a sequential stream which are read as samples with function HsifGetBufferedSamples If an HSIF card L1 FIFO buffer overflow occurs the board will always drop complete samples so that synchronization is not lost Similarly if the user application does not retrieve samples fast enough from the driver and an L2 FIFO buffer overflow occurs complete samples will be dropped and synchronization will not be lost If HsifClearSampleBuffer is called these ove
24. al command L 7 14 HsifLaserOn Laser on Enable the laser HSIF RESULT HsifLaserOn HSIF HANDLE hsifCard Returns HSIF SUCCESS Laser on output successfully set HSIF FAIL Laser on output set failed Note 38 Acuity Laser Measurement User s Manual 200 KHz PCI HSIF The current AR4000 sensors do not read this output from the PCI HSIF card To turn the laser on use the serial command H 7 15 HsifLoadCalibrationData Load calibration file Load calibration file for the sensor card pair This file is shipped with each AR4000 and PCI HSIF card set The calibration file is used by HsifProcessSamples for generating calibrated distance measurements BOOL HsifLoadCalibrationData HSIF HANDLE hsifCard LPCSTR filename filename name location for calibration file Returns HSIF SUCCESS Read successfully HSIF FAIL File not found or File corrupted User s Manual 200 KHz PCI HSIF 40 Acuit y Laser Measurement 7 16 HsifOpen Open communications with the card Open communication with a PCI HSIF card HSIF HANDLE HsifOpen DWORD hsifNum DWORD comHandle hsifNum Open communication with a PCI HSIF card hsifNum is a number 0 4 denoting the card number assignment If hsifNum is 0 the first available HSIF device is returned as enumerated by Windows comHandle fa serial port is dedicated to the AR4000 sensor a handle to the opened COM device can be included here The AR4000 will enable the PWM outp
25. ance mishandling misapplication or damage caused by acts of God 3 You must retain your bill of sale or provide other proof of purchase 4 Any replacement parts furnished at no cost to the purchaser in fulfillment of this warranty are warranted only for the unexpired portion of the original warranty ALL WARRANTIES REQUIRED TO BE IMPLIED BY STATE LAW ARE EXPRESSLY LIMITED TO THE DURATION OF THE LIMITED WARRANTIES SET FORTH ABOVE Some states do not allow limitations on how long an implied warranty lasts so the above limitation may not apply to you WITH THE EXCEPTION OF ANY WARRANTIES REQUIRED TO BE IMPLIED BY STATE LAW AS HEREBY LIMITED THE FOREGOING EXPRESS WARRANTY IS EXCLUSIVE AND IN LIEU OF ALL OTHER WARRANTIES IN NO EVENT SHALL ACUITY BE LIABLE FOR SPECIAL INCIDENTAL CONSEQUENTIAL OR PUNITIVE DAMAGES INCLUDING WITHOUT LIMITATION INJURY OR DAMAGE TO PERSONS OR OTHER PROPERTY INCONVENIENCE LOSS OF GOODWILL LOST PROFITS OR REVENUE LOSS OF USE OF THIS PRODUCT OR ANY ASSOCIATED EQUIPMENT COST OF SUBSTITUTIVE EQUIPMENT DOWNTIME COSTS OR CLAIMS OF ANY PARTY DEALING WITH PURCHASER FOR SUCH DAMAGES RESULTING FROM THE USE OF THIS PRODUCT OR FROM DEFECTS IN THIS PRODUCT OR ARISING FROM BREACH OF WARRANTY OR CONTRACT NEGLIGENCE OR ANY OTHER LEGAL THEORY Some states do not allow the exclusion or limitation of incidental or consequential damages so the above limitation may not apply to you User s Manual 200 KHz PCI HSIF ii Acu
26. ature encoder signal from motor 1 The input should be a TTL level signal and may switch at up to 1 5 MHz Pin 23 General Purpose Input 1 Encoder 1 Index Pulse Negative input of motor 1 index pulse differential pair or general purpose input 1 See pin 24 for functional description Pin 24 General purpose input bit 1 Motor 1 index pulse input Positive input of motor 1 index pulse differential pair or general purpose input 1 This may be used to sample external signals The value of the bit will is included in the sampled data stream This may be used to sample motor encoder index pulses or other events in order to synchronize the sample data with the event The signal is latched high so that any high signal of 100 nanoseconds or longer during a sample interval will appear as a high level the following sample This is intended for use with encoder index pulses Pin 25 General purpose input bit 3 This may be used to sample external signals The value of the bit will be inverted and inserted into the sample data stream This may be used to sample events in order to synchronize the sample data with the event User s Manual 200 KHz PCI HSIF 31 Acuity Laser Measurement 6 4 BNC Connector on AR4000 back panel AR4000 laser rangefinders used with the 200 KHz PCI HSIF card have a special hardware configuration The high speed range frequency signal is transmitted on a dedicated coaxial cable to minimize the effects of interference This
27. bit position values that are included in the data stream Each transition of pins 21 or 22 causes an up or down count in the position so each quadrature cycle is effectively multiplied by 4 for the best possible resolution Pin 22 Motor 1 Encoder Channel B If the motor control option is installed on the board this input is decoded with pin 21 asa quadrature encoder signal from motor 1 The input should be a TTL level signal and may switch at up to 1 5 MHz Pin 23 Ground User s Manual 200 KHz PCI HSIF 26 Acuity Laser Measurement May be used as ground for encoders or other hardware powered by 5V on pins 5 and 18 Pin 24 General purpose input bit 1 Motor 1 index pulse input This may be used to sample external signals The value of the bit is included in the sampled data stream This pin is intended to sample motor encoder index pulses or other events to synchronize the sample data with the event The signal is latched high so that any high signal of 100 nanoseconds or longer during a sample interval will appear as a high level following sample This is intended for use with encoder index pulses Pin 25 General purpose input bit 3 This may be used to sample external signals The value of the bit will be inverted and inserted into the sample data stream This may be used to sample events in order to synchronize the sample data with the event User s Manual 200 KHz PCI HSIF 27 Acuity Laser Measurement 6 3 2 P2 Pin Descri
28. cy output is divided down by the HSIF card and the resulting signal is measured with a resolution of 125 ps The sample rate of the interface is controlled by the sample rate configuration of the AR4000 device and the HSIF card The maximum sample rate is 200 KHz The raw data collected by the HSIF card is not scaled or calibrated in any way This output is used to create calibrated distance output using software modules and tables supplied with the interface or though user written algorithms The data can be used to calculate distance as each sample is collected although the more typical application will collect a batch of samples and post process them to create distance readings from the entire group after high speed collection is finished Data is collected in a buffered streaming mode Other features of the interface include memory buffer indicators for the number of samples available external sample start stop control and three general purpose input bits that allow synchronous recording of events while sampling The board comes standard with power control circuitry for two small motors This is not full servo control but it allows motor power to be programmed If the motors have encoders the encoders may be sampled with the sensor data to provide position information in the sample stream in scanning systems Each motor can be driven with up to 2 amps at 12 to 15 volts Power for the DC level controlled motors must be supplied to the board
29. driver for my device recommended Display a list of the known drivers for this device so that can choose a specific driver lt Back Cancel Figure 2 Install Hardware Device Choose Search for a suitable driver for my device and click Next The following box appears Found New Hardware Wizard Locate Driver Files st Where do you want Windows to search for driver files ey Search for driver files for the following hardware device p PCI Device The wizard searches for suitable drivers in its driver database on your computer and in any of the following optional search locations that you specify To start the search click Next If you are searching on a floppy disk or CD ROM drive insert the floppy disk or CD before clicking Next Optional search locations Floppy disk drives Je CD ROM drives Specify a location Microsoft Windows Update lt Back Cancel Figure 3 Search for PCI Device Driver Choose CD ROM drives and make sure that the AccuRange PCI High Speed Interface installation CD ROM is loaded into the CD ROM drive prior to clicking Next The following box appears Acuit User s Manual 200 KHz PCI HSIF 5 amp EUER y Found New Hardware Wizard Driver Files Search Results x The wizard has finished searching for driver files for your hardware device ey The wizard found a driver for the following device e PCI Device Windows found a driver for this device T
30. e 22 6 TWO ES BANK OKT 23 6 1 9 PIN POWER AND SIGNAL CONNECTOR Pl 23 6 2 POWER AND SIGNAL CONNECTOR DESCRIPTION eese nennen nennen rennen ener teen tren 23 6 3 25 PIN VO CONNECTOR P2 eene cei easet p ae er PEEL E 23 6 3 1 P2 Pin Descriptions Single Ended Encoder eee eene 24 6 3 2 P2 Pin Descriptions Differential Encoders eee eee enne etre 28 6 4 BNC CONNECTOR ON AR4000 BACK PANEL eese nennen enne entente etre n tnnt en nennen nennen nns 32 Teo HSIFLIBRARY o M 33 7 1 SAMPLING ARCHITECTURE pereue serae norne EE e ei E ERA treten ENE deene 33 7 2 HSIFCALIBRATE CALIBRATE HSIF CARD 34 7 3 HSIFCALIBRATEENCODER CALIBRATE ENCODER enne eene enne etre niente rennen etre 34 7 4 HSIFCLEARENCODER CLEAR MOTOR POSITION ENCODER ACCUMULATOR eren 34 7 5 HSIFCLEARL OVERFLOWFLAG CLEAR L1 FIFO OVERFLOW ELAO nennen 35 7 6 HSIFCLEARSAMPLEBUFFER CLEAR SAMPLE BUFFER eese rennen enne nennen 35 Se HSIFCLOSE CLOSING ACCESS TO THE CARD 36 7 8 HSIFDATAAVAILABLE GET NUMBER OF SAMPLES ANVAILARLE ener 36 7 9 HSIFDLLINIT INITIALIZE THE LIBRARY EE 37 7 10 HSIFGETBUFFEREDSAMPLES GET BUFFERED SAMPLES esee enne nennen enne 37 7 11 HSIFGETCALV ALUE GET THE HSIF CALIBRATION VALUE eene enne ennt 38 7 12 HSIFGETOVERFLOWSTATUS GET OVERFLOW STATU 38 7 13 HSIFLASEROFF LASER OFF Eed ENEE NEE ENEE Ee rtr t EE
31. ed to first line of file 1 HSIF PCI card number installed 5 Sampling period us 5 us gt 200kHz sampling rate 6 Max range in inches 30000 Buffer size for storing samples 2000000 Number of samples to capture User s Manual 200 KHz PCI HSIF 14 Acuity Laser Measurement 190 Motor power 1 0 255 190 Motor power 2 0 255 4096 Motor 1 pulses per revolution 4096 Motor 2 pulses per revolution l ookuphs Calibration file place in same directory as capture executable v2 data Outuput capture data filename A raw extension is automatically appended 5000 Delay in ms before acquisition starts allow motor speed to stabilize 0 Force process to run on 1 CPU Set to 1 to use 1 CPU else 0 to use multiple CPUs 0 Set to 1 to save raw file else 0 This option is used by rt cap only Line 1 specifies the version number of the input configuration file It should be set to 2 Line 2 specifies the com port that the AccuRange sensor is connected to For instance specifying 1 will use COMI Line 3 specifies the HSIF card installed in the system This parameter can be set to 1 because currently only one installed HSIF card is supported Line 4 specifies the sampling period in microseconds This can be set from 5 to 9999999 microseconds Line 5 specifies the maximum range the target will be from the sensor This can be set from 2 to 650 inches Line 6 specifies the maximum buffer size used for requesting sample
32. failed 7 200 HsifSamplingEnable Sampling enable Enable sampling of range data from the AR4000 sensor This function must be called after HsifClearSampleBuffer since that function automatically disables sampling after clearing the sample buffers HSIF RESULT HsifSamplingEnable HSIF HANDLE hsifCard Acuity User s Manual 200 KHz PCI HSIF 43 IE Returns HSIF SUCCESS Sampling enabled successfully HSIF FAIL Sampling enable failed 7 201 HsifSamplingModelnit Sampling mode initialization Set HSIF card to sampling mode This must be done after a call to HsifCalibrate to initialize the card for capturing samples HSIF RESULT HsifSamplingModeInit HSIF HANDLE hsifCard Returns HSIF SUCCESS sampling mode entered successfully HSIF FAIL unable to enter sampling mode 7 22 HsifSetCalValue Set the HSIF calibration value Sets the calibration value used by HsifProcessSamples to convert the encoded raw range value into an absolute distance This function should be used with the value returned by HsifGetCalValue as its argument when post processing samples HSIF RESULT HsifSetCalValue HSIF HANDLE hsifCard int calValue calVal calibration value the HSIF card uses to process encoded raw range samples into absolute distances Returns HSIF SUCCESS Set the calibration value successfully HSIF FAIL Failed to set the calibration value User s Manual 200 KHz PCI HSIF 44 Acuity Laser Measurement 7 2
33. gned value that indicates the HSIF card number used cal_file 256 is a 256 byte array of signed 8 bit values that contains the calibration filename as a NULL terminated string Normally this field contains ookuphs Following this each post processed sample is recorded as a packed structure uint32 rawRange raw range after conversion from encoded raw value to an absolute value float distance calbrated distance float caltemp I calibrated temperature degrees F uintl6 turnsl I counted from encoder reset uintl6 countl I encoder counts from encoder zero mark modulo counts revoluti on uintl6 turns2 I counted from encoder reset uint16 count2 II encoder counts from encoder zero mark modulo counts revoluti on ui nt 8 ambi ent background illumination same as HSIF SAMPLE ui nt 8 amplitude reflected signal strength same as HSIF SAMPLE ui nt 8 status FIFO and encoder index latches same as HSIF SAMPLE ti merout uint8 timeout TDC timeout while measuring range sample invalid rawRange is a 32 bit unsigned integer that represents an uncalibrated truncated distance to the target in arbitrary units This value is an absolute distance generated from the encoded raw range This distance along with the ambient amplitude and temperature could be used to generate a calibrated lookup table distance is a 32 bit floating point calibrated distance that is generated from the encoded raw range based on the
34. har buf unsigned int nMaxLength int timeout pCommInfo pointer to a COMMINFO struct where relevant com port information is stored buf storage space for characters read from the AR4000 sensor nMaxLength maximum number of characters that can be put in the buf storage space timeout Number of milliseconds to wait before returning from the call if no data is detected Returns number of bytes read If read was successful BINARY TIMEOUT If read times out 8 4 HsifClosePort Close com port Close com port BOOL HsifClosePort COMMINFO pCommInfo pCommInfo pointer to a COMMINFO struct where relevant com port information is stored Returns TRUE Com port close was successful FALSE Com port close failed User s Manual 200 KHz PCI HSIF 49 Acuit y Laser Measurement 8 5 HsifOpenPort Open a com port to communicate with an AR4000 sensor Open a com port at the baud rate specified BOOL HsifOpenPort COMMINFO pCommInfo int baudrate int Portnum pCommInfo pointer to a COMMINFO struct where relevant com port information is stored baudrate baud rate the sensor is configured for Normally this is 9600 Portnum com port number to open Returns TRUE Com port was successfully opened FALSE Com port open failed 8 6 HsifPurgePort Purge port Clear out pending transmit and receive data BOOL HsifPurgePort COMMINFO pCommInfo int fl
35. hardware up to 100 mA maximum Pins 6 10 Ground May be used as ground for encoders or other hardware powered by 5V on pins 5 and 18 Pin 11 Ground May be used as ground for encoders or other hardware powered by 5V on pins 5 and 18 Pin 12 Start Stop Sample Control Input When high this input enables sampling and samples will be taken until the on board buffer is full When pulled low sampling will stop Samples are always completed so that a full 8 byte sample is always buffered This line is pulled up with an on board 10Kohm resistor so sampling is enabled when the input is left open The first sample following resumption of sampling after stopping the sampling will not contain valid data and must be read and discarded Pin 13 General purpose input bit 2 Motor 2 index pulse input This may be used to sample external signals The value of the bit is included in the sampled data stream This pin is intended to sample motor encoder index pulses or other events to synchronize the sample data with the event The signal is latched high so that any high signal of 100 nanoseconds or longer during a sample interval will appear as a high level following sample This is intended for use with encoder index pulses Pin 14 Motor 1 Control If used motor 1 should be connected between this pin and pin 14 The output voltage level is varied as commanded to control the variable voltage motor User s Manual 200 KHz PCI HSIF 25 Acuity Laser
36. he HSIF card or waits until numSamples have been received if wait is set to TRUE The number of samples read is returned in numRead HSIF RESULT HsifGetBufferedSamples HSIF HANDLE hsifCard HSIF SAMPLE sampleBuf DWORD numSamples DWORD numRead BOOL wait sampleBuf numSamples numRead wait Returns HSIF SUCCESS HSIF OVERFLOW HSIF FAIL User s Manual 200 KHz PCI HSIF Storage buffer for the retrieved samples The number of samples to read from the card The actual number of samples read When TRUE the function will block until numSamples have been read from the card When FALSE the function will return immediately with 0 to numSamples in the sampleBuf as indicated by numRead Read up to numSamples successfully L2 FIFO overflow occurred samples lost Read failure Bad HANDLE or card not responding 3 Acuity Laser Measurement Sample Contents HSIF SAMPLE is defined as follows typedef struct DWORD status index latches temp ambient amplitude and other status info DWORD encoderl motor 1 position DWORD encoder2 motor 2 position DWORD range uncalibrated range measurement HSIF SAMPLE 7 11 HsifGetCalValue Get the HSIF calibration value Read the calibration value from the HSIF card that is used for converting the encoded raw range value into an absolute distance This function can be used for post processing raw samples on slower CPU systems The value returned by thi
37. ity Laser Measurement Procedures for Obtaining Warranty Service 1 Contact your Acuity distributor or call Acuity to obtain a return merchandise authorization RMA number within the applicable warranty period Acuity will not accept any returned product without an RMA number 2 Ship the product to Acuity postage prepaid together with your bill of sale or other proof of purchase Include your name address and description of the problem s Print the RMA number you have obtained on the outside of the package This device complies with part 15 of the FCC Rules Operation is subject to the following two conditions 1 This device may not cause harmful interference and 2 this device must accept any interference received including interference that may cause undesired operation Note This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this device in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at their own expense C
38. motor encoder 1 if the motor control option is installed and a motor encoder is attached to the P2 motor 1 encoder inputs The position will wrap to 0 on the 2 count encoder2 32 bit unsigned sample of the position of motor encoder 2 if the motor control option is installed and a motor encoder is attached to the P2 motor 2 encoder inputs The position will wrap to 0 on the 2 count range 32 bit encoded range value which must be processed through HsifProcessSamples to generate an absolute range value and calibrated range value The absolute range value is proportional to the distance to the object being ranged within the uncalibrated linearity of the AR4000 9 2 Processed sample format HSIF PROC SAMPLE The processed sample returned via a call to HsifProcessSamples is shown below typedef struct USHORT status First 16 bits of HSIF SAMPLE status double anglel Motor 1 angle in radians double angle2 Motor 2 angle in radians double distance Calibrated distance double caltemp Calibrated temperature degrees F double ambient Background illumination same as HSIF SAMPLE double amplitude Reflected signal strength BOOL timeout Range measurement timeout DWORD rawRange raw range before calibration lookup HSIF PROC SAMPLE status 16 bit unsigned value that repeats bits 15 0 of the status register described in the HSIF SAMPLE data structure above anglel 64 bit do
39. n be terminated early by hitting the Q or ESC key Also if you see any overflow errors printed to the screen while the program executes add the option to run the program on a single CPU core as follows distance 1 0 100 lookuphs 10000 500 1 To specify a maximum distance of 400 inches you would enter distance 1 0 100 lookuphs 10000 500 1 400 Note that the last two optional command line arguments can be specified in any order 3 2 3 rt cap rt cap is a command line program built from the project rt cap located in directory examples rt_cap on the CD rt cap is a real time capture utility that captures raw samples from the HSIF card post processes them and writes the post processed samples to a data file Unlike the previous two examples all of the configuration options are specified in a separate input configuration file The program is run from the command line with the configuration filename as its argument The program can be terminated early by hitting the Q or ESC key rt cap lt raw cfg gt 3 2 3 1 Configuration file The configuration file raw cfg is a text file that specifies one configuration parameter per line There is an example configuration file raw 2 cfg included in the examples bin directory of the CD that covers version 2 of the configuration file This file listing of row 2 cfg and a line by line description is presented below 2 Configuration file version 2 1 Set COM port sensor is connect
40. ncoder Encoder 1 or 2 offset Encoder count offset countsPerRev Number of counts per revolution Returns HSIF SUCCESS Calibrated the encoders successfully HSIF FAIL Failed to calibrate the encoders 7 4 HsifClearEncoder Clear motor position encoder accumulator Clear either one or both encoders immediately or the next time the index pulse comes around Acuity Laser Measurement User s Manual 200 KHz PCI HSIF 34 HSIF RESULT HsifClearEncoder HSIF HANDLE hsifCard DWORD encoderMask BOOL withIndex encoderMask Set to the following value to select which encoder will be cleared ENCODER clear encoder 1 ENCODER2 clear encoder 2 ENCODER1 ENCODER2 clear both encoders withIndex Set to the following value to select when the encoder will be cleared TRUE clear the encoder when the index pulse is set FALSE clear the encoder immediately Returns HSIF SUCCESS Set the motor power successfully HSIF_FAIL Failed to set the motor power 7 5 HsifClearL1OverflowFlag Clear L1 FIFO overflow flag This clears the hardware L1 FIFO overflow flag This routine is automatically called by HsifClearSampleBuffer HSIF RESULT HsifClearLlOverflowFlag HSIF HANDLE hsifCard Returns HSIF SUCCESS L1 FIFO flag was successfully cleared HSIF FAIL Failed to clear L1 FIFO flag 7 6 HsifClearSampleBuffer Clear sample buffer Disables sampling clears all samples that have been buffered into hardware a
41. nd software and clears the L1 and L2 FIFO overflow flags HSIF RESULT HsifClearSampleBuf fer Acuity Laser Measurement User s Manual 200 KHz PCI HSIF 35 HSIF HANDLE hsifCard Returns HSIF SUCCESS Samples cleared successfully HSIF FAIL Sample clear failed 7 7 HsifClose Closing access to the card Close the application s access to the PCI HSIF card Calling the card with an invalid handle is not destructive HSIF RESULT HsifClose HSIF HANDLE hsifCard Returns HSIF SUCCESS the HSIF card closed successfully and the resources are freed HSIF FAIL the HSIF card failed to close because the specified card was not open 7 8 HsifDataAvailable Get number of samples available Return the number of samples available to be read HSIF RESULT HsifDataAvailable HSIF HANDLE hsifCard DWORD numSamplesAvailable numSamplesAvailable The number of samples available is returned through this pointer Returns HSIF SUCCESS Accessed number of samples available successfully HSIF FAIL Could not access number of samples available User s Manual 200 KHz PCI HSIF 36 Acuit y Laser Measurement 7 9 HsifDllInit Initialize the library Initialize the library before using any of its functions BOOL HsifDllInit Returns TRUE FALSE library initialization successful library failed to initialize 7 10 HsifGetBufferedSamples Get Buffered Samples This function gets up to numSamples samples from t
42. ntrolled by a 26 bit register in the HSIF card that is clocked at 40 MHz The minimum sampling period that can be set is 5 microseconds The maximum sample period is 1 6 seconds 5 Motor Power The HSIF card has two motor power control and encoder reading channels Each motor may be set to one of 256 software controlled power levels via commands to the board If the motors have quadrature encoders that are connected to the encoder inputs two 32 bit encoder counts will be inserted into the data stream giving the position of each motor If the encoders provide index pulses these can be applied to two of the general purpose input lines and used to determine the absolute positions of the motors See the description of the 25 pin I O connector for encoder connection details If motors are to be driven by the power amplifier on the board the motors and motor power must be connected to P2 Motor 1 should be connected between pins 14 and 16 and motor 2 between pins 1 and 2 A separate power supply is required to drive the motors Connect the motor power supply to pin 3 and the power supply ground to pin 15 User s Manual 200 KHz PCI HSIF 22 Acuity Laser Measurement 6 I O Connectors There are three connectors on the HSIF card The 9 pin connector P1 supplies power and receives signals from the AR4000 sensor The 25 pin connector P2 is used for powering the motors reading the motor encoders general purpose inputs and sample control input
43. o install the driver Windows found click Next e install ar inf lt Back Cancel Figure 4 Found Device Driver Windows found the appropriate driver on the e drive Click Next Digital Signature Not Found x The Microsoft digital signature affirms that software has been tested with Windows and that the software has not been altered since it was tested The software you are about to install does not contain a Microsoft digital signature Therefore there is no guarantee that this software works correctly with Windows 4R4000 PCI Adapter Driver eee oe eee If you want to search for Microsoft digitally signed software visit the Windows Update Web site at http windowsupdate microsoft com to see if one is available Do you want to continue the installation Yes No More Info Figure 5 Digital Signature The driver should be successfully installed Click Yes User s Manual 200 KHz PCI HSIF 6 A cuit Laser Measurement y ound New Hardware Wizard F Completing the Found New Hardware Wizard M AR4000 PCI Adapter Driver Windows has finished installing the software for this device To close this wizard click Finish lt Back Cancel Figure 6 Device Driver Installation Complete Installation is complete Click Finish Acuit User s Manual 200 KHz PCI HSIF 7 are yv Rm y 2 2 Windows XP driver installation Be sure the installation CD ROM is in the drive and
44. or encoders or other hardware powered by 5V on pins 5 and 18 Pin 5 5V power output Primarily intended as power for the motor 1 encoder but it may be used to drive other hardware up to 100 mA maximum Pin 6 Motor 2 Encoder Ch A Negative input of motor 2 encoder channel A differential pair See pin 19 for functional description Pin 7 Motor 2 Encoder Ch B Negative input of motor 2 encoder channel B differential pair See pin 20 for functional description Pin 8 Motor 1 Encoder Ch A Negative input of motor 1 encoder channel A differential pair See pin 21 for functional description Pin 9 Motor 1 Encoder Ch B Negative input of motor 1 encoder channel B differential pair See pin 22 for functional description Pin 11 General Purpose Input 2 Encoder 2 Index Pulse Negative input of motor 2 index pulse differential pair or general purpose input 2 See pin 13 for functional description Pin 12 Start Stop Sample Control Input When high this input enables sampling and samples will be taken until the on board buffer is full When pulled low sampling will stop Samples are always completed so that a full 8 byte sample is always buffered This line is pulled up with an on board 10Kohm resistor so sampling is enabled when the input is left open The first sample following resumption of sampling after stopping the sampling will not contain valid data and must be read and discarded User s Manual 200 KHz PCI HSIF
45. osts its priority to Above Normal before it starts sampling This ensures background processes are preempted by the example when new distance samples become available For multiprocessor multi core systems competition for the memory and PCI bus can be reduced by ensuring the examples run on only a single CPU However when multi tasking even this option may not be enough to ensure the HSIF card does not overflow its buffers and loose samples Therefore to ensure that only one CPU has access to the memory and PCI bus the computer can be booted in single CPU mode To do this on a Windows 2000 or XP machine add the option numproc 1 to the end of the boot configuration line in the boot ini file This file is located in the root directory of the boot disk normally C boot ini This file is a hidden system file and you will need to make it visible by making system files visible and making hidden files visible in the Explorer Folder View options An example boot ini is shown below with the boot option XP One CPU added boot loader timeout 30 default multi 0 disk 0 rdisk 0 partition 1 WINDOWS operating systems multi 0 disk 0 rdisk 0 partition 1 WINDOWS Microsoft Windows XP Professional fastdetect multi 0 disk 0 rdisk 0 partition 1 WINDOWS XP One CPU fastdetect numproc 1 The next time you boot the Windows 2000 XP machine Windows will ask you to select a boot option Select the XP One CPU boot option
46. ptions Differential Encoders Below is a table of pin descriptions for a PCI HSIF card with Differential Encoders Top Row Bottom Row Function Direction Pin Function Direction Motor 2 Control Out Motor 1 Control Out Motor 2 Return Out Motor Power Ground Motor Power Supply In Motor 1 Return Out Ground Laser Control Out 5V Power 100 mA Out 5V Power 100 mA Out Motor 2 Encoder Ch A In Motor 2 Encoder Ch A In Motor 2 Encoder Ch B In Motor 2 Encoder Ch B In Motor 1 Encoder Ch A In Motor 1 Encoder Ch A In Motor 1 Encoder Ch B In Motor 1 Encoder Ch B In Ground General Purpose Input 1 In Encoder 1 Index Pulse General Purpose Input 2 In Encoder 2 Index Pulse General Purpose Input 1 Encoder Index Pulse In Start Stop Sample Ctrl In General Purpose Input3 In General Purpose Input 2 Encoder 2 Index Pulse In Pin 1 Motor 2 Control If used motor 2 should be connected between this pin and pin 2 The output voltage level is varied as commanded to control the variable voltage motor Pin 2 Motor 2 Return If used motor 2 should be connected between this pin and pin 1 User s Manual 200 KHz PCI HSIF 28 Acuity Laser Measurement Table 5 P2 Differential I O Connector Pin 3 Motor Power The external power supply for the motors should be applied to this line at 12 to 15 Volts depending on the motor used The line may draw up to 2 amps Pin 4 Ground May be used as ground f
47. put should be a TTL level signal and may switch at up to 1 5 MHz The encoder positions are converted to 8 bit position values that ate included in the data stream Each transition of pins 19 or 20 causes an up or down count in the position so each quadrature cycle is effectively multiplied by 4 for the best possible resolution Pin 20 Motor 2 Encoder Channel B Positive input of Motor 2 encoder channel B differential pair If the motor control option is installed on the board this input is decoded with pin 19 as a quadrature encoder signal from motor 2 The input should be a TTL level signal and may switch at up to 1 5 MHz User s Manual 200 KHz PCI HSIF 30 Acuity Laser Measurement Pin 21 Motor 1 Encoder Channel A Positive input of motor 1 encoder channel A differential pair If the motor control option is installed on the board this input is decoded with pin 22 as a quadrature encoder signal from motor 1 The input should be a TTL level signal and may switch at up to 1 5 MHz The encoder positions are converted to 8 bit position values that are included in the data stream Each transition of pins 21 or 22 causes an up or down count in the position so each quadrature cycle is effectively multiplied by 4 for the best possible resolution Pin 22 Motor 1 Encoder Channel B Positive input of motor 1 encoder channel B differential pair If the motor control option is installed on the board this input is decoded with pin 21 as a quadr
48. rates when multiple cores compete for the memory and PCI bus When sample loss is detected an error message is output to the console Line 16 specifies whether to output both the post processed samples and the raw samples or just the post processed samples Because it requires twice as many disk write accesses to create both files samples could be lost at high sampling rates To prevent this it is recommended to set this value to 0 so that only the post processed samples are written to disk Setting this value to 1 will write both raw and post processed samples to disk 3 2 3 2 Post processed Output The post processed output is a binary file that consists of two sections First is a header that describes the sampling conditions when the post processed file was created Following that is the array of recorded samples All of the binary data elements are stored in little endian Intel format The header is a packed structure which consists of the following ui nt32 version Il Version of file produced by post proc uint32 samp period I sampling period in us used in post process uint32 max range I inches i e 650 used in post process uint32 buf size buffer size in RAM for samples i e 30000 max uint32 num samples number of samples to capture uint32 encoder ppr 2 Encoder 1 and 2 pulses per revolution int32 cal val I calibration value used in post process uint8 motor power 2 Motor 1 and 2 power
49. rflow conditions will be cleared In general the values for amplitude and ambient light level will correspond closely to the values from the 4000 s serial interface with the ASCII format serial data being 4 times the HSIF values for amplitude and ambient light However the values will not match exactly and the calibration software supplied for use with the HSIF card must be used with the values obtained from the HSIF card not serial data The temperature and range have different scale factors from the serial data and must be scaled using algorithms found in the software supplied with the interface The raw samples gathered through HsifGetBufferedSamples must to be processed via acallto HsifProcessSamples to convert the encoded raw range values into absolute distances and calibrated distances Both the raw sample data format HSIF SAMPLE and the processed sample data format HSIF PROC SAMPLE are described below 9 1 Raw sample format HSIF SAMPLE The data structure that contains each sample returned by a call to HsifGetBufferedSamples is typedef struct DWORD status FIFO stat inputs temp amb amp DWORD encoderl Motor 1 encoder counts DWORD encoder2 Motor 2 encoder counts DWORD range Encoded raw range HSIF_SAMPLE Each elements of the HSIF SAMPLE data structure is described in Table 6 User s Manual 200 KHz PCI HSIF 52 Acuity Laser Measurement Element Description status Hardware
50. rom the AR4000 sensor nMaxLength maximum number of characters that can be put in the buf storage space erlf TRUE read a carriage return line feed pair as the end of line indicator FALSE read a line feed as the end of line indicator This should be set to TRUE for AR4000 sensor timeout Number of milliseconds to wait before returning from the call if no data is detected Returns number of bytes read ASCIL TIMEOUT User s Manual 200 KHz PCI HSIF If read was successful If read times out Acuity 8 2 HsifAsciiRead Read ASCII characters from the AR4000 sensor Reads numBytes characters from the AR4000 sensor into buf when the sensor is configured for ASCII output mode unsigned int HsifAsciiRead COMMINFO pCommInfo char buf int numBytes pCommlinfo pointer to a COMMINFO struct where relevant com port information is stored buf storage space for characters read from the AR4000 sensor numBytes maximum number of characters that can be put in the buf storage space Returns number of bytes read If read was successful ASCII TIMEOUT If read times out User s Manual 200 KHz PCI HSIF 48 Acuit y Laser Measurement 6 3 HsifBinaryReadBytes Read binary data bytes from the AR4000 sensor Reads up to nMaxLength data bytes into buf from the AR4000 sensor when it is configured in binary output mode unsigned int HsifBinaryReadBytes COMMINFO pCommInfo c
51. s from the driver This can be set from 1 to 30 000 For fast sampling rates this should be set to 30 000 Line 7 specifies the number of samples to save to the hard disk before exiting Line 8 specifies the motor power 1 It can take a value from 0 off to 255 max power Line 9 specifies the motor power 2 It can take a value from 0 off to 255 max power Line 10 specifies the motor 1 encoder counts per revolution The high resolution encoders that come with the AR4000 line scanner have 4096 counts per revolution Line 11 specifies the motor 2 encoder counts per revolution Line 12 specifies the calibration file used for post processing the samples from encoded raw distances to calibrated output distances Line 13 specifies the base name of the output files generated by the program For instance if v2 data is specified the program will produce an output file v2 data prc that contains the post processed samples and optionally v2 data raw that contains the raw samples Line 14 specifies the amount of delay in milliseconds between when the motor power is applied and the data capture begins This allows the motors to achieve a constant angular velocity before sampling starts User s Manual 200 KHz PCI HSIF 15 Acuity Laser Measurement Line 15 specifies whether to run the rt cap utility on multiple CPUs or a single CPU core This is sometimes useful for some multiprocessor multi core systems that loose samples at faster sampling
52. s function is intended to be loaded into the HSIF DLL via HsifSetCalValue and the sampling configuration set via HsifSetSamplePeriod Afterwards Hsi fProcessSamples can be called to process the raw samples into calibrated distance samples HSIF RESULT HsifGetCalValue HSIF HANDLE hsifCard int calVal calVal calibration value the HSIF card uses to convert encoded raw range samples into absolute distances The calibration value is returned via this pointer Returns HSIF SUCCESS Retrieved the calibration value successfully HSIF FAIL Failed to retrieve the calibration value 7 12 HsifGetOverflowStatus Get overflow status Return the L2 FIFO overflow status If the overflow status is TRUE the application isn t reading samples out of the driver buffer fast enough User s Manual 200 KHz PCI HSIF 38 Acuity Laser Measurement HSIF RESULT HsifGetOverflowStatus HSIF HANDLE hsifCard BOOL overflowStatus overflowStatus Logical and of the hardware and software overflow status Returns HSIF SUCCESS Returned the overflow status successfully HSIF FAIL Failed to return the overflow status 7 13 HsifLaserOff Laser off Disable the laser HSIF RESULT HsifLaserOff HSIF HANDLE hsifCard Returns HSIF SUCCESS Laser on output successfully set HSIF FAIL Laser on output set failed Note The current AR4000 sensors do not read this output from the PCI HSIF card To turn the laser off use the seri
53. settings uint8 comport II comport used to communicate with AR4000 uint8 card num PCI card number generally ints cal file 256 II Zero terminated calibration file used in post process version is a 32 bit unsigned value that indicates the version number of the post processed sample file This field allows for backwards compatibility if the file format changes in the future samp period is a 32 bit unsigned value that indicates the sampling period in microseconds max range is a 32 bit unsigned value that indicates the maximum range the sensor was configured for buf size is a 32 bit unsigned value that indicates the buffer size used to retrieve samples from the HSIF driver num samples is a 32 bit unsigned value that indicates the number of post processed samples the file contains following the header encoder ppr 2 is an array of two 32 bit unsigned values that indicate motor 1 and 2 encoder pulses counts per revolution User s Manual 200 KHz PCI HSIF 16 Acuity Laser Measurement cal val is a 32 bit signed value that indicates the HSIF calibration value recorded when the samples were taken This value is required to calculate an absolute range value from the encoded raw range motor power 2 is an array of two 8 bit unsigned values that indicate motor 1 and 2 power settings comport is an 8 bit unsigned value that indicates the serial port used to communicate with the AR4000 card_num is an 8 bit unsi
54. ss uint8 motor power 2 Motor 1 and 2 power settings uint8 comport I comport used to communicate with AR4000 uint8 card num PCI card number generally 1 i nt8 cal file 256 Il Zero terminated calibration file used in post process User s Manual 200 KHz PCI HSIF 18 Acuity Laser Measurement The header is identical to the one detailed in 3 2 3 2 Post processed Output Following this each raw sample is recorded as a packed structure t32 status I FIFO and encoder index latches temp amb amp uint32 encoderl Motor encoder 1 counts t32 II Motor encoder 2 counts t32 EOE ncoded range reading encoder2 range These fields are described in Table 2 DWord Contents 0 Hardware Buffer Overflow Indicator Input 3 Motor 1 Encoder Index Input 1 Motor 2 Encoder Index Input 2 Sample Count 0 15 8 bit Sensor Internal Temperature 8 bit Ambient Light Sample 8 bit Amplitude Sample 32 bit Motor 1 Encoder Position 32 bit Motor 2 Encoder Position 32 bit Encoded Raw Range Table 2 Sample Data Format 3 2 3 4 rt cap Example As an example of using rt cap make a local copy of the CD s examples bin directory on your hard disk This directory contains rt cap exe hsif dll and raw 2 cfg Next copy the calibration file lookuphs from CD s calibration to this directory Open a Windows Command Prompt Window and change to the directory you created Next enter the following line rt
55. tor 1 index pulse when used with an encoder with an index pulse Otherwise general purpose INPUTI Motor 2 index pulse when used with an encoder with an index pulse Otherwise general purpose INPUT2 Sequential 4 bit count that increments with each sample and wraps to zero Used internally by HSIF driver for determining the number of residual samples available in the HSIF card L1 FIFO Table 1 Status Bits timeout an 8 bit unsigned value that indicates that a range reading was not taken during this sample period if its value is non zero If the value is zero a successful measurement was made A timeout can occur if the target distance is outside of the maximum range or if the 9 pin AR4000 I O connector cable is damaged or not connected properly to the HSIF card 3 2 3 3 Raw Output The optional raw output file consists of two sections First is a header that describes the contents of the file Second is an array of raw samples The header is a packed structure which consists of the following ui nt32 version I Version of file produced by raw cap uint32 samp period I sampling period in us used in post process uint32 max range I inches i e 650 used in post process uint32 buf size II buffer size in RAM for samples i e 30000 max 65000 uint32 num samples number of samples to capture uint32 encoder ppr 2 Encoder 1 and 2 pulses per revolution int32 cal val I calibration value used in post proce
56. turn on the power to the PC Welcome to the Found New Hardware Wizard This wizard helps you install a device driver for a hardware device To continue click Next lt Back Next gt Cancel Figure 7 Found New Hardware Click Next The following dialog box appears User s Manual 200 KHz PCI HSIF 8 Acuity Laser Measurement Found New Hardware Wizard Welcome to the Found New Hardware Wizard This wizard helps you install software for PCI Device If your hardware came with an installation CD E or floppy disk insert it now What do you want the wizard to do Click Next to continue lt Back Cancel Figure 8 Device Driver Location Choose Install from a list or specific location Advanced and click Next The following window appears Found New Hardware Wizard E Please choose your search and installation options ost Y Search for the best driver in these locations Use the check boxes below to limit or expand the default search which includes local paths and removable media The best driver found will be installed IV Search removable media floppy CD ROM Include this location in the search o Ke Browse C Don t search will choose the driver to install Choose this option to select the device driver from a list Windows does not guarantee that the driver you choose will be the best match for your hardware lt Back Cancel
57. uble that indicates motorl s angle in radians minus the offset set via HsifSetEncoderCalibration User s Manual 200 KHz PCI HSIF 54 Acuity Laser Measurement angle2 64 bit double that indicates motor 2 s angle in radians minus the offset set via HsifSetEncoderCalibration distance 64 bit calibrated target distance calculated via the lookup calibration table temperature ambient and amplitude readings This is the value that should normally be used as an indication of target distance caltemp 64 bit temperature in degrees Fahrenheit ambient 64 bit value indicating the background illumination amplitude 64 bit value indicating the reflected signal strength timeout 32 bit value that indicates the distance measurement timed out When this value is non zero the distance sample should be ignored rawRange 32 bit unsigned encoded raw range value that is converted via the calibration value into an absolute distance value 10 Interface Installation and Checkout To install the AR4000 PCI High Speed Interface board first install the computer drivers from the supplied CD according to the directions in section 2 When complete physically install the PCI board into an available PCI slot in your computer Attach the AR4000 Power and Signal cable to the 9 pin connector P1 Turn on the computer power Check out the operation of the AR4000 as described in the Initial Checkout section 10 1 Diagnostics Install the PCI High Speed
58. ut and set the sample period and maximum range to their default values Returns HSIF HANDLE handle 0 4 to hsifCard resource HSIF INVALID HANDLE invalid or null handle User s Manual 200 KHz PCI HSIF 41 ACUI cuity 7 17 HsifProcessSamples Process samples Generates calibrated range measurements from raw samples collected via HsifGetBufferedSamples using the calibration file and calibration value determined through HsifCalibrate This function also checks the L1 FIFO overflow status bit in each raw sample to determine if an L1 FIFO overflow occurred If so the driver is not retrieving samples fast enough from the HSIF card If you will be post processing samples saved to disk during an earlier capture session HsifSetSamplePeriod and HsifSetCalValue must be called before HsifProcessSamples These functions will restore the sampling environment HSIF RESULT HsifProcessSamples HSIF HANDLE hsifCard HSIF SAMPLE sampleBuf HSIF PROC SAMPLE procSampleBuf DWORD numSamples HSIF SAMPLE sampleBuf Returns HSIF PROC SAMPLE HSIF SUCCESS HSIF OVERFLOW HSIF FAIL Results Format HsifProcessSamples contains results in the following format procSampleBuf DWORD numSamples samples retrieved from HsifGetBufferedSamples call buffer to store results after processing samples Number of samples to process Processed numSamples successfully Hardware L1 FIFO overflow bit was set in one
59. w samples may be too long for an application Therefore the HSIF driver may be configured for polling mode In this mode the driver empties the L1 FIFO into the L2 FIFO each time the user application attempts to read samples or check the number of samples available Enabling polling has the downside that it requires more CPU processing Therefore polling at high sampling rates may lead to L1 FIFO and L2 FIFO overflows It is recommended to only use polling with long sampling periods such as 20 microseconds or greater Acuity Laser Measurement User s Manual 200 KHz PCI HSIF 33 7 2 HsifCalibrate Calibrate HSIF card The PCI HSIF card must be calibrated to ensure accurate range readings in a given environment This must be performed at least once after calling HsifOpen Calibrations should be performed periodically if the environmental conditions the HSIF card experiences vary The procedure takes several seconds to perform HSIF RESULT HsifCalibrate HSIF HANDLE hsifCard Returns HSIF SUCCESS Card was calibrated successfully HSIF FAIL Failed to calibrate the card 7 3 HsifCalibrateEncoder Calibrate encoder Calibrate the encoders to return the proper angle in radians based on an offset and the number of counts per revolution The motor angle is calculated as 2 x encoderCount offset countsPerRev HSIF RESULT HsifCalibrateEncoder HSIF HANDLE hsifCard DWORD encoder DWORD offset DWORD countsPerRev e
60. xt sample is written the inputs are automatically cleared Input 3 is a general purpose level sensed input Motor 1 2 Encoder Index Indicates when a motor has completed a revolution When Inputs 1 and 2 are used to indicate motor encoder index they will be unavailable for use as general purpose inputs Sample Count 0 15 This is a modulo 16 count that is incremented each time a new sample is stored in the L1 FIFO This count is used internally by the HSIF driver to determine the number of samples available in the hardware buffer for retrieval when polling mode is enabled Sensor Internal temperature 8 bit sample of the AR4000 internal temperature The temperature is sampled in the first 5 microseconds of the data sample interval User s Manual 200 KHz PCI HSIF 53 Acuity Laser Measurement Ambient Light 8 bit sample of the AR4000 ambient light output The sample represents the ambient or background light sensed by the detector It will also register the light transmitted by the sensor so changing range signal strengths will affect this reading somewhat The ambient light sample is taken in the first 5 microseconds of the data sample interval Amplitude 8 bit sample of the AR4000 logarithmic signal strength output The sample represents the amplitude of the modulated signal sensed by the detector The amplitude sample is taken in the first 5 microseconds of the data sample interval encoder1 32 bit unsigned sample of the position of

PCI 200 KHz High Speed Interface User`s Manual

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