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Between Heaven & Hell 2
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rccl158
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1987-03-02
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1KB
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41 lines
/*
* RTC Version 2.0 Author : Vincent Hayward
* MAC 2.0 School of Electrical Engineering
* Purdue University
* Dir : h
* File : cmdk.h
* Remarks : defines the low level commands circulating from the
* VAX to the LSI11.
* Usage : Included in both rtc and mac
*/
#define CMD_I NJOINTS
#define STOPP_I 0x0100
#define STOPM_I 0x0200
#define POS_I 0x0300
#define CUR_I 0x0400
#define GRAV_I 0x0500
#define CMD_A 0x000c
#define STOPP_A 0x010c
#define STOPM_A 0x020c
#define POS_A 0x030c
#define CUR_A 0x040c
#define GRAV_A 0x050c
#define CMD_G 0x000d
#define RATE_G 0x0d0d
#define ADCO_G 0x0e0d
#define HAND_G 0x0f0d
#define CMD_E 0x000e
#define STOP_E 0x010e
#define CALIB_E 0x020e
#define END_E 0x030e
#define CHKSUM 0xffff