Macros
#define	ndi3D(p, ph, mode) ndiCommand((p),"3D:%02X%d",(ph),(mode))

#define	ndiBEEP(p, n) ndiCommand((p),"BEEP:%i",(n))

#define	ndiCOMM(p, baud, dps, h) ndiCommand((p),"COMM:%d%03d%d",(baud),(dps),(h))

#define	ndiDSTART(p) ndiCommand((p),"DSTART:")

#define	ndiDSTOP(p) ndiCommand((p),"DSTOP:")

#define	ndiGX(p, mode) ndiCommand((p),"GX:%04X",(mode))

#define	ndiINIT(p) ndiCommand((p),"INIT:")

#define	ndiIRATE(p, rate) ndiCommand((p),"IRATE:%d",(rate))

#define	ndiIRCHK(p, mode) ndiCommand((p),"IRCHK:%04X",(mode))

#define	ndiIRED(p, ph, sig) ndiCommand((p),"IRED:%02X%08X",(ph),(sig))

#define	ndiIRINIT(p) ndiCommand((p),"IRINIT:")

#define	ndiLED(p, ph, led, s) ndiCommand((p),"LED:%02X%d%c",(ph),(led),(s))

#define	ndiPDIS(p, ph) ndiCommand((p),"PDIS:%02X",(ph))

#define	ndiPENA(p, ph, mode) ndiCommand((p),"PENA:%02X%c",(ph),(mode))

#define	ndiPFSEL(p, ph, tf) ndiCommand((p),"PFSEL:%02X%02X",(ph),(tf))

#define	ndiPHF(p, ph) ndiCommand((p),"PHF:%02X",(ph))

#define	ndiPHINF(p, ph, format) ndiCommand((p),"PHINF:%02X%04X",(ph),(format))

#define	ndiPHRQ(p, num, sys, tool, port, chan) ndiCommand((p),"PHRQ:%-8.8s%1.1s%1.1s%2.2s%2.2s",(num),(sys),(tool),(port),(chan))

#define	ndiPHSR(p, mode) ndiCommand((p),"PHSR:%02X",(mode))

#define	ndiPINIT(p, ph) ndiCommand((p),"PINIT:%02X",(ph))

#define	ndiPPRD(p, ph, addr) ndiCommand((p),"PPRD:%02X%04X",(ph),(addr))

#define	ndiPPWR(p, ph, a, x) ndiCommand((p),"PPWR:%02X%04X%.128s",(ph),(a),(x))

#define	ndiPSEL(p, ph, id) ndiCommand((p),"PSEL:%02X%s",(ph),(id))

#define	ndiPSOUT(p, ph, a, b, c) ndiCommand((p),"PSOUT:%02X%c%c%c",(ph),(a),(b),(c))

#define	ndiPSRCH(p, ph) ndiCommand((p),"PSRCH:%02X",(ph))

#define	ndiPSTAT(p, format) ndiCommand((p),"PSTAT:%04X",(format))

#define	ndiPURD(p, ph, addr) ndiCommand((p),"PURD:%02X%04X",(ph),(addr))

#define	ndiPUWR(p, ph, a, x) ndiCommand((p),"PPWR:%02X%04X%.128s",(ph),(a),(x))

#define	ndiPVCLR(p, port) ndiCommand((p),"PVCLR:%c",(port))

#define	ndiPVTIP(p, port, tip, np) ndiCommand((p),"PVTIP:%c%d%d",(port),(tip),(np))

#define	ndiPVWR(p, ph, a, x) ndiCommand((p),"PVWR:%02X%04X%.128s",(ph),(a),(x))

#define	ndiRESET(p) ndiCommand((p),NULL)

#define	ndiSFLIST(p, mode) ndiCommand((p),"SFLIST:%02X",(mode))

#define	ndiSSTAT(p, format) ndiCommand((p),"SSTAT:%04X",(format))

#define	ndiTCTST(p, ph) ndiCommand((p),"TCTST:%02X",(ph))

#define	ndiTSTART(p) ndiCommand((p),"TSTART:")

#define	ndiTSTOP(p) ndiCommand((p),"TSTOP:")

#define	ndiTTCFG(p, ph) ndiCommand((p),"TTCFG:%02X",(ph))

#define	ndiTX(p, mode) ndiCommand((p),"TX:%04X",(mode))

#define	ndiVER(p, n) ndiCommand((p),"VER:%d",(n))

#define	ndiVSEL(p, n) ndiCommand((p),"VSEL:%d",(n))

Functions
int	ndiPVWRFromFile (ndicapi pol, int ph, char filename)

Detailed Description

These are a set of macros that send commands to the device via ndiCommand().

The ndiGetError() function can be used to determine whether an error occurred.

The return value is a terminated string containing the reply from the device with the CRC and final carriage return chopped off.

Macro Definition Documentation

#define ndi3D	(	p,
		ph,
		mode
	)	ndiCommand((p),"3D:%02X%d",(ph),(mode))

Get the 3D position and an error value for a single marker on a tool. The mode should be set to 1 or 3. This command is only available in diagnostic mode.

Parameters

ph	valid port handle in the range 0x01 to 0xFF
mode	see NDI documentation

The IRED command should be used to set up a marker firing signature before this command is called.

#define ndiBEEP	(	p,
		n
	)	ndiCommand((p),"BEEP:%i",(n))

Cause the device to beep.

Parameters

n	the number of times to beep, an integer between 1 and 9

A reply of "0" means that the device is already beeping and cannot service this beep request.

This command can be used in tracking mode.

#define ndiCOMM	(	p,
		baud,
		dps,
		h
	)	ndiCommand((p),"COMM:%d%03d%d",(baud),(dps),(h))

Change the device communication parameters. The host parameters will automatically be adjusted to match. If the specified baud rate is not supported by the serial port, then the error code will be set to NDI_BAD_COMM and the device will have to be reset before communication can continue. Most modern UNIX systems accept all baud rates except 14400, and Windows systems support all baud rates.

Parameters

baud	one of NDI_9600, NDI_14400, NDI_19200, NDI_38400, NDI_57600, NDI_115200
dps	should usually be NDI_8N1, the most common mode
h	one of NDI_HANDSHAKE or NDI_NOHANDSHAKE

#define ndiDSTART ( p ) ndiCommand((p),"DSTART:")

Put the device into diagnostic mode. This must be done prior to executing the IRCHK() command. Diagnostic mode is only useful on the POLARIS

#define ndiDSTOP ( p ) ndiCommand((p),"DSTOP:")

Take the device out of diagnostic mode.

#define ndiGX	(	p,
		mode
	)	ndiCommand((p),"GX:%04X",(mode))

Request tracking information from the system. This command is only available in tracking mode. Please note that this command has been deprecated in favor of the TX command.

Parameters

mode

a reply mode containing the following bits:

NDI_XFORMS_AND_STATUS 0x0001 - transforms and status
NDI_ADDITIONAL_INFO 0x0002 - additional tool transform info
NDI_SINGLE_STRAY 0x0004 - stray active marker reporting
NDI_FRAME_NUMBER 0x0008 - frame number for each tool
NDI_PASSIVE 0x8000 - include information for ports 'A', 'B', 'C'
NDI_PASSIVE_EXTRA 0x2000 - with NDI_PASSIVE, ports 'A' to 'I'
NDI_PASSIVE_STRAY 0x1000 - stray passive marker reporting

The GX command with the appropriate reply mode is used to update the data that is returned by the following functions:

#define ndiINIT ( p ) ndiCommand((p),"INIT:")

Initialize the device. The device must be initialized before any other commands are sent.

#define ndiIRATE	(	p,
		rate
	)	ndiCommand((p),"IRATE:%d",(rate))

Set the POLARIS infrared firing rate to 20 Hz = 0, 30 Hz = 1, 20 Hz = 2

#define ndiIRCHK	(	p,
		mode
	)	ndiCommand((p),"IRCHK:%04X",(mode))

Check for sources of environmental infrared. This command is only valid in diagnostic mode after an IRINIT command.

Parameters

mode	reply mode bits: NDI_DETECTED 0x0001 - return '1' if IR detected, else '0' NDI_SOURCES 0x0002 - locations of up to 20 sources per camera

The IRCHK command is used to update the information returned by the ndiGetIRCHKDetected() and ndiGetIRCHKSourceXY() functions.

#define ndiIRED	(	p,
		ph,
		sig
	)	ndiCommand((p),"IRED:%02X%08X",(ph),(sig))

Set the infrared firing signature for the specified port. This command is only available in diagnostic mode.

Parameters

ph	valid port handle in the range 0x01 to 0xFF
sig	a 32-bit integer whose bits specify what IREDS to fire

#define ndiIRINIT ( p ) ndiCommand((p),"IRINIT:")

Initialize the diagnostic environmental infrared checking system. This command must be called prior to using the IRCHK command.

#define ndiLED	(	p,
		ph,
		led,
		s
	)	ndiCommand((p),"LED:%02X%d%c",(ph),(led),(s))

Set a tool LED to a particular state.

Parameters

ph	valid port handle in the range 0x01 to 0xFF
led	an integer between 1 and 3
state	desired state: NDI_BLANK 'B', NDI_FLASH 'F' or NDI_SOLID 'S'

This command can be used in tracking mode.

#define ndiPDIS	(	p,
		ph
	)	ndiCommand((p),"PDIS:%02X",(ph))

Disable transform reporting on the specified port handle.

Parameters

ph	valid port handle in the range 0x01 to 0xFF

#define ndiPENA	(	p,
		ph,
		mode
	)	ndiCommand((p),"PENA:%02X%c",(ph),(mode))

Enable transform reporting on the specified port handle.

Parameters

ph	valid port handle in the range 0x01 to 0xFF
mode	one of NDI_STATIC 'S', NDI_DYNAMIC 'D' or NDI_BUTTON_BOX 'B'

#define ndiPFSEL	(	p,
		ph,
		tf
	)	ndiCommand((p),"PFSEL:%02X%02X",(ph),(tf))

Specify a POLARIS tool faces to use for tracking

Parameters

ph	valid port handle in the range 0x01 to 0xFF
tf	tool face mask in the range 0x01 to 0xFF

#define ndiPHF	(	p,
		ph
	)	ndiCommand((p),"PHF:%02X",(ph))

Free the specified port handle.

Parameters

ph	valid port handle in the range 0x01 to 0xFF

#define ndiPHINF	(	p,
		ph,
		format
	)	ndiCommand((p),"PHINF:%02X%04X",(ph),(format))

Ask the device for information about a tool handle.

Parameters

format

a reply format mode composed of the following bits:

NDI_BASIC 0x0001 - get port status and basic tool information
NDI_TESTING 0x0002 - get current test for active tools
NDI_PART_NUMBER 0x0004 - get a 20 character part number
NDI_ACCESSORIES 0x0008 - get a summary of the tool accessories
NDI_MARKER_TYPE 0x0010 - get the tool marker type
NDI_PORT_LOCATION 0x0020 - get the physical port location
NDI_GPIO_STATUS 0x0040 - get AURORA GPIO status

The use of the PHINF command with the appropriate reply format updates the information returned by the following commands:

int ndiGetPHINFPortStatus(ndicapi *pol)
int ndiGetPHINFToolInfo(ndicapi *pol, char information[30])
unsigned long ndiGetPHINFCurrentTest(ndicapi *pol)
int ndiGetPHINFAccessories(ndicapi *pol)
int ndiGetPHINFMarkerType(ndicapi *pol)

This command is not available during tracking mode.

#define ndiPHRQ	(	p,
		num,
		sys,
		tool,
		port,
		chan
	)	ndiCommand((p),"PHRQ:%-8.8s%1.1s%1.1s%2.2s%2.2s",(num),(sys),(tool),(port),(chan))

Requeset a port handle given specific tool criteria.

Parameters

num	8-digit device number or wildcard "********"
sys	system type TIU "0" or AURORA SCU "1" or wildcard "*"
tool	wired "0" or wireless "1" or wildcard "*"
port	wired "01" to "10", wireless "0A" to "0I" or wildcard "**"
chan	AURORA tool channel "00" or "01" or wildcard "**"

The use of the PHRQ command updates the information returned by the following commands:

int ndiGetPHRQHandle(ndicapi *pol)

#define ndiPHSR	(	p,
		mode
	)	ndiCommand((p),"PHSR:%02X",(mode))

List the port handles.

Parameters

mode	the reply mode: NDI_ALL_HANDLES 0x00 - return all handles NDI_STALE_HANDLES 0x01 - only handles waiting to be freed NDI_UNINITIALIZED_HANDLES 0x02 - handles needing initialization NDI_UNENABLED_HANDLES 0x03 - handles needing enabling NDI_ENABLED_HANDLES 0x04 - handles that are enabled

The use of the PHSR command with the appropriate reply format updates the information returned by the following commands:

This command is not available during tracking mode.

#define ndiPINIT	(	p,
		ph
	)	ndiCommand((p),"PINIT:%02X",(ph))

Initialize the tool on the specified port handle.

Parameters

ph	valid port handle in the range 0x01 to 0xFF

#define ndiPPRD	(	p,
		ph,
		addr
	)	ndiCommand((p),"PPRD:%02X%04X",(ph),(addr))

Read the tool SROM. Use ndiHexDecode() to convert reply to binary.

#define ndiPPWR	(	p,
		ph,
		a,
		x
	)	ndiCommand((p),"PPWR:%02X%04X%.128s",(ph),(a),(x))

Write the tool SROM. Use ndiHexEncode() to convert data to a hex string.

#define ndiPSEL	(	p,
		ph,
		id
	)	ndiCommand((p),"PSEL:%02X%s",(ph),(id))

Select an SROM target by ID.

#define ndiPSOUT	(	p,
		ph,
		a,
		b,
		c
	)	ndiCommand((p),"PSOUT:%02X%c%c%c",(ph),(a),(b),(c))

Set the three GPIO wire states for an AURORA tool. The states available are 'N' (no change), 'S' (solid on), 'P' (pulse) and 'O' (off).

Parameters

ph	valid port handle in the range 0x01 to 0xFF
a	GPIO 1 state
b	GPIO 2 state
c	GPIO 3 state

#define ndiPSRCH	(	p,
		ph
	)	ndiCommand((p),"PSRCH:%02X",(ph))

Search for available SROM targets.

#define ndiPSTAT	(	p,
		format
	)	ndiCommand((p),"PSTAT:%04X",(format))

Ask for information about the tool ports. This command has been deprecated in favor of the PHINF command.

Parameters

format

a reply format mode composed of the following bits:

NDI_BASIC 0x0001 - get port status and basic tool information
NDI_TESTING 0x0002 - get current test for active tools
NDI_PART_NUMBER 0x0004 - get a 20 character part number
NDI_ACCESSORIES 0x0008 - get a summary of the tool accessories
NDI_MARKER_TYPE 0x0010 - get the tool marker type
NDI_PASSIVE 0x8000 - include information for ports 'A', 'B', 'C'
NDI_PASSIVE_EXTRA 0x2000 - with NDI_PASSIVE, ports 'A' to 'I'

The use of the PSTAT command with the appropriate reply format updates the information returned by the following commands:

int ndiGetPSTATPortStatus(ndicapi *pol, int port)
int ndiGetPSTATToolInfo(ndicapi *pol, int port, char information[30])
unsigned long ndiGetPSTATCurrentTest(ndicapi *pol, int port)
int ndiGetPSTATAccessories(ndicapi *pol, int port)
int ndiGetPSTATMarkerType(ndicapi *pol, int port)

This command is not available during tracking mode.

#define ndiPURD	(	p,
		ph,
		addr
	)	ndiCommand((p),"PURD:%02X%04X",(ph),(addr))

Read the user part of the tool SROM. Use ndiHexDecode() convert reply.

#define ndiPUWR	(	p,
		ph,
		a,
		x
	)	ndiCommand((p),"PPWR:%02X%04X%.128s",(ph),(a),(x))

Write the user part of the tool SROM. Use ndiHexEncode() to convert data.

#define ndiPVCLR	(	p,
		port
	)	ndiCommand((p),"PVCLR:%c",(port))

Clear the virtual SROM for the specified port. For a passive tool, this is equivalent to unplugging the tool. This command has been deprecated in favor of PHF.

Parameters

port	one of '1', '2', '3' or 'A' to 'I'

#define ndiPVTIP	(	p,
		port,
		tip,
		np
	)	ndiCommand((p),"PVTIP:%c%d%d",(port),(tip),(np))

Set the virtual TOOL IN PORT and non-POLARIS tool signals for this port. This command has been deprecated in favor of PHRQ.

Parameters

port	one of '1', '2', '3' or 'A' to 'I'
tip	one of 0 (no tool in port) or 1 (tool in port)
type	one of 0 (non-POLARIS tool) or 1 (POLARIS tool)

#define ndiPVWR	(	p,
		ph,
		a,
		x
	)	ndiCommand((p),"PVWR:%02X%04X%.128s",(ph),(a),(x))

Write to a virtual SROM address on the specified port handle. The ndiPVWRFromFile() function provides a more convenient means of uploading tool descriptions.

Parameters

ph	valid port handle in the range 0x01 to 0xFF
a	an address between 0x0000 and 0x07C0
x	64-byte data array encoded as a 128-character hexidecimal string

The ndiHexEncode() function can be used to encode the data into hexidecimal.

#define ndiRESET ( p ) ndiCommand((p),NULL)

Send a serial break to reset the device. If the reset was not successful, the error code will be set to NDI_RESET_FAIL.

#define ndiSFLIST	(	p,
		mode
	)	ndiCommand((p),"SFLIST:%02X",(mode))

Get a feature list for this device.

Parameters

mode

the desired reply mode

0x00 - 32-bit feature summary encoded as 8 hexidecimal digits
0x01 - the number of active tool ports as a single digit
0x02 - the number of passive tool ports as a single digit
0x03 - list of volumes available (see NDI documentation)
0x04 - the number of ports that support tool-in-port current sensing

The feature summary bits are defined as follow:

0x00000001 - active tool ports are available
0x00000002 - passive tool ports are available
0x00000004 - multiple volumes are available
0x00000008 - tool-in-port current sensing is available

#define ndiSSTAT	(	p,
		format
	)	ndiCommand((p),"SSTAT:%04X",(format))

Request status information from the device.

Parameters

format

a reply format mode composed of the following bits:

NDI_CONTROL 0x0001 - control processor information
NDI_SENSORS 0x0002 - sensor processors
NDI_TIU 0x0004 - TIU processor

The use of the SSTAT command with the appropriate reply format updates the information returned by the following commands:

This command is not available during tracking mode.

#define ndiTCTST	(	p,
		ph
	)	ndiCommand((p),"TCTST:%02X",(ph))

Perform a current test on this port.

#define ndiTSTART ( p ) ndiCommand((p),"TSTART:")

Put the device into tracking mode.

#define ndiTSTOP ( p ) ndiCommand((p),"TSTOP:")

Take the device out of tracking mode.

#define ndiTTCFG	(	p,
		ph
	)	ndiCommand((p),"TTCFG:%02X",(ph))

Set default tool configuration prior to testing.

#define ndiTX	(	p,
		mode
	)	ndiCommand((p),"TX:%04X",(mode))

Request tracking information from the device. This command is only available in tracking mode.

Parameters

mode	a reply mode containing the following bits: NDI_XFORMS_AND_STATUS 0x0001 - transforms and status NDI_ADDITIONAL_INFO 0x0002 - additional tool transform info NDI_SINGLE_STRAY 0x0004 - stray active marker reporting NDI_PASSIVE_STRAY 0x1000 - stray passive marker reporting

The TX command with the appropriate reply mode is used to update the data that is returned by the following functions:

#define ndiVER	(	p,
		n
	)	ndiCommand((p),"VER:%d",(n))

Get a string that describes the device firmware version.

Parameters

n	the processor to get the firmware revision of: 0 - control firmware 1 - left sensor firmware 2 - right sensor firmware 3 - TIU firmware 4 - control firmware with enhanced versioning

#define ndiVSEL	(	p,
		n
	)	ndiCommand((p),"VSEL:%d",(n))

Select from the different calibrated operating volumes available to the device.

Parameters

n	the volume to select, see ndiSFLIST()

Function Documentation

int ndiPVWRFromFile	(	ndicapi *	pol,
		int	ph,
		char *	filename
	)

Write data from a ROM file into the virtual SROM for the specified port.

Parameters

pol	valid NDI device handle
ph	valid port handle in the range 0x01 to 0xFF
filename	file to read the SROM data from

Returns: NDI_OKAY if the write was successful

If the return value is not NDI_OKAY but ndiGetError() returns NDI_OKAY, then the ROM file could not be read and no information was written to the device.

This function uses the PVWR command to write the SROM. The total size of the virtual SROM is 1024 bytes. If the file is shorter than this, then zeros will be written to the remaining space in the SROM.

Macros

Functions

Detailed Description

Macro Definition Documentation

Function Documentation