1 INTRODUCTION 7

1.1 Purpose 7

1.2 Scope 7

1.3 Reference Documents 7

1.4 Abbreviations And Acronyms 8

1.5 Stylistic Conventions 8

1.6 Naming Conventions 9

1.7 Problem Reporting/Change Request 9

2 USER'S GUIDE 11

2.1 Overview 11

2.2 Driver Functions 11

3 REFERENCE 13

3.1 Introduction 13

3.2 Functions 14

3.2.1 open 14

3.2.2 close 17

3.2.3 ioctl 18

3.2.4 acroDrv(3) 20

3.2.5 acroDevCreate(3 21

3.2.6 acroPulsebitMicrosecSet(3) 22

3.3 Ioctl control Commands 23

3.3.1 Ioctl Read I/O Commands 23

3.3.2 Ioctl Write I/O Commands 24

3.3.3 Ioctl Interrupt Commands 27

3.3.4 Ioctl General Commands 28

3.4 Logging 30

3.5 Interrupts 30

3.6 Include files 32

3.7 Tools 33

3.7.1 acroTools(1) 34

4 INSTALLATION GUIDE 36

4.1 Installation Prerequisites 36

4.1.1 Hardware Requirements 36

4.1.2 Software Requirements 36

4.2 Building the Software 36

4.3 Installation Procedure 37

4.4 Installation Verification 37

5 ERROR MESSAGES AND RECOVERY 39

5.1 Error Checking 39

5.1.1 Common Driver Errors 40

5.1.2 acro specific Errors 41

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