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📄 bintoken.h

📁 美国Delta Tau公司PMAC多轴运动控制卡的VC++示例程序
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//      CmdSingle       0x40                    // Single - nothing attached
//****************************************************************************

//****************************************************************************
//      Single 48 Bit Word Command Types - Used only in Bin Rotary
//      AND not Conditional
//****************************************************************************

#define CmdSingle0A     0x00+CmdType+CmdSingle // Command Type 0A  0101000000
#define CmdSingle0B     0x01+CmdType+CmdSingle // Command Type 0B  0101000001
#define CmdSingle1A     0x02+CmdType+CmdSingle // Command Type 1A  0101000010
#define CmdSingle1B     0x03+CmdType+CmdSingle // Command Type 1B  0101000011
#define CmdSingle1C     0x04+CmdType+CmdSingle // Command Type 1C  0101000100
#define CmdSingle1D     0x05+CmdType+CmdSingle // Command Type 1D  0101000101
#define CmdSingle1E     0x06+CmdType+CmdSingle // Command Type 1E  0101000110
#define CmdSingle1F     0x07+CmdType+CmdSingle // Command Type 1F  0101000111
#define CmdSingle2      0x08+CmdType+CmdSingle // Command Type 1F  0101001000
                                               // Spare
                                               // Remaining        0101011111


#define CmdInn          OpI+CmdType  // Command Inn = -            010000000x
#define CmdMnn          OpM+CmdType  // Command Mnn = -            010000001x
#define CmdPnn          OpP+CmdType  // Command Pnn = -            010000010x
#define CmdQnn          OpQ+CmdType  // Command Qnn = -            010000011x
                                     //****************************************************************************
                                     //      Command Types - Used only in PLCC
                                     //****************************************************************************
#define CmdLnn          OpL+CmdType  // Command Lnn =              010000101x
#define CmdFnn          OpF+CmdType  // Command Fnn =              010000110x
#define CmdSyncORMnn    0x0E+CmdType // Command Mnn |= -           010000111x

#define CmdMInn         OpMI+CmdType // Command MInn = -           010001000x
#define CmdMMnn         OpMM+CmdType // Command MMnn = -           010001001x
#define CmdMPnn         OpMP+CmdType // Command MPnn = -           010001010x

#define CmdSyncXORMnn   0x16+CmdType // Command Mnn ^= -           010001011x
#define CmdSyncANDMnn   0x18+CmdType // Command Mnn &= -           010001100x
#define CmdSyncORLnn    0x1A+CmdType // Command Lnn |= -           010001101x
#define CmdSyncXORLnn   0x1C+CmdType // Command Lnn ^= -           010001110x
#define CmdSyncANDLnn   0x1E+CmdType // Command Lnn &= -           010001111x

//***************************************************888888888*************************
// Note could convert the CmdSyncXXLnn and CmdSyncXXMnn's to CmdSyncMnn and CmdSyncLnn 
// with the OR, XOR or AND in the DATA type.
// Currently filled to the end.
//************************************************************8888888888****************

//****************************************************************************
//      Command Types - Used only in Bin Rotary
//****************************************************************************
#define CmdA_Call       0x0E+CmdType // Cmd A(- to CALL(-          010000111x
#define CmdTA_CCR       0x10+CmdType // Cmd TA(- to CCR(-          010001000x
#define CmdSyncMnn      0x12+CmdType // Cmd Mnn |=- to ==-         010001001x
                                     // Spare
                                     // Remaining        010001111x

//****************************************************************************
//     Used both in PLCC & Binary Rotary Cmd Tokens
// #define CmdIMPQExpEq    0x2+CmdExp   // Cmd IMPQ(Exp.) = Exp.   110000001x
//****************************************************************************
#define CmdIMPQExpEq    0x2+CmdExp // Cmd IMPQ(+-Exp.) = Type      110000001x
#define CmdSyncMExpEq   0x4+CmdExp // Cmd SyncM(+-Exp.) == Type    110000010x
#define CmdRETExp       0x6+CmdExp // Cmd RET+-Exp.)Type           110000011x

#define CmdIf           0x04+CmdType+OprCondType // Command If     010010010x
#define CmdWhile        0x08+CmdType+OprCondType // Cmmd While     010010100x

// DPR IF/WHILE (- is 1 token
// PLCC IF/WHILE (- is 2 tokens

//****************************************************************************
//     Used only in PLCC Cmd Tokens
//****************************************************************************
#define CmdElse         0x05+CmdType+OprCondType+CmdSingle //      0101100101
#define CmdEndi         0x06+CmdType+OprCondType+CmdSingle //      0101100110
#define CmdEndw         0x09+CmdType+OprCondType+CmdSingle //      0101101001
                                               // Spare
                                               // Remaining        0101111111
#define CmdAND          0x0A+CmdType+OprCondType           //      0100101010
#define CmdOR           0x0B+CmdType+OprCondType           //      0100101011
                                               // Spare
                                               // Remaining        0101011111

#define CmdEnaPLC       0x00+CmdType+CmdSingle // Cmd Enable PLC   0101000000
#define CmdDisPLC       0x01+CmdType+CmdSingle // Cmd Disable PLC  0101000001
#define CmdEnaPLCC      0x02+CmdType+CmdSingle // Cmd Enable PLCC  0101000010
#define CmdDisPLCC      0x03+CmdType+CmdSingle // Cmd Disable PLCC 0101000011
#define CmdCmdSend      0x04+CmdType+CmdSingle // Cmd SEND,SEND^,  0101000100
                                               // Cmd CMD
#define CmdCmdC         0x05+CmdType+CmdSingle // Cmd CMD^CHAR A-Z 0101000101
#define CmdAddress      0x06+CmdType+CmdSingle // Cmd ADDR         0101000110
#define CmdDisplayS     0x07+CmdType+CmdSingle // Cmd DISP String  0101000111
#define CmdDisplayV     0x08+CmdType+CmdSingle // Cmd DISP I,M,P,Q 0101001000
#define CmdOpenPLCC     0x09+CmdType+CmdSingle // Cmd Open PLCC    0101001001
#define CmdClose        0x0A+CmdType+CmdSingle // Cmd CLS Program  0101001010
#define CmdLvarDef      0x0B+CmdType+CmdSingle // Cmd L-var DEF    0101001011
#define CmdFvarDef      0x0C+CmdType+CmdSingle // Cmd F-var DEF    0101001100
#define CmdReturn       0x0D+CmdType+CmdSingle // Cmd Return       0101001101
#define CmdASMout       0x0E+CmdType+CmdSingle // Cmd ASM OUT      0101001110
#define CmdLMOvrly      0x0F+CmdType+CmdSingle // Cmd L&M OVERLY   0101001111
#define CmdLOCK         0x10+CmdType+CmdSingle // Cmd LOCK         0101010000
#define CmdUNLOCK       0x11+CmdType+CmdSingle // Cmd UNLOCK       0101010001
#define CmdSETPHASE     0x12+CmdType+CmdSingle // Cmd SETPHASE     0101010010
#define CmdOpenSERVO    0x13+CmdType+CmdSingle // Cmd Open SERVO   0101010011
#define CmdCOPRSERVO    0x14+CmdType+CmdSingle // Cmd CopyRegSERVO 0101010100
#define CmdOPTImize     0x15+CmdType+CmdSingle // Cmd OPTImize     0101010101
#define CmdOpenMACPLCC  0x16+CmdType+CmdSingle // Cmd Open MACPLCC 0101010110
                                               // Spare
                                               // Remaining        0101011111

//****************************************************************************
//     Bin Rotary Codes
//****************************************************************************

#define CodeA           1
#define CodeB           2
#define CodeC           3
#define CodeD           4
#define CodeE           5
#define CodeF           6
#define CodeG           7
#define CodeH           8
#define CodeI           9
#define CodeJ           10
#define CodeK           11
#define CodeL           12
#define CodeM           13
#define CodeP           16
#define CodeQ           17
#define CodeR           18
#define CodeS           19
#define CodeT           20
#define CodeU           21
#define CodeV           22
#define CodeW           23
#define CodeX           24
#define CodeY           25
#define CodeZ           26
#define CodeCall        27
#define Code0B          28

#define Code1Type0      28
#define Code1Type1      30
#define Code1InnEq      14
#define Code1MnnSync    15

#define Code1A          CodeA
#define Code1B          CodeB
#define Code1C          CodeC
#define Code1D          CodeD
#define Code1E          CodeE
#define Code1F          CodeF
#define Code1G          CodeG
#define Code1H          CodeH
#define Code1I          CodeI
#define Code1J          CodeJ
#define Code1K          CodeK
#define Code1L          CodeL
#define Code1M          CodeM
#define Code1P          CodeP
#define Code1Q          CodeQ
#define Code1R          CodeR
#define Code1S          CodeS
#define Code1T          CodeT
#define Code1U          CodeU
#define Code1V          CodeV
#define Code1W          CodeW
#define Code1X          CodeX
#define Code1Y          CodeY
#define Code1Z          CodeZ
#define Code1Call       CodeCall
#define Code10B         Code0B

#define Code2TA         0
#define Code2TS         1
#define Code2PVT        2
#define Code2TM         67
#define Code2DWELL      68
#define Code2DELAY      69
#define Code2Colen      70
#define Code2Cntrl      71
#define Code2CCR        72
#define Code2ENAPLC  0
#define Code2DISPLC  1
#define Code2ENAPLCC 2
#define Code2DISPLCC 3
#define Code2ABS  0
#define Code2INC  1
#define Code2FRAX 2
#define Code2HOME 3
#define Code2HOMEZ 6
#define Code2CIRn 0
#define Code2LINEAR 1
#define Code2NORM   2
#define Code2PSET   3
#define Code2SPLINEn 4
#define Code2STOP   5
#define Code2BSTART 6
#define Code2BSTOP  7
#define Code2WAIT   8
#define Code2RAPID  9
#define Code2CCn   10
#define Code2TSELn 11
#define Code2ADISn 12
#define Code2AROTn 13
#define Code2IDISn 14
#define Code2IROTn 15
#define Code2TINIT 16
#define Code2PRELUDE 17
#define Code2LSTART 18
#define Code2LSTOP  19
//****************************************************************************
//     Bin Rotary Expression Codes
//****************************************************************************

#define BinExpEOE  0x20
#define BinExpDOD  0x1F // Direct Data code1

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