/*
 * 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
