MPICommandType

Definition

typedef enum {
    MPICommandTypeASSIGN,
    MPICommandTypeASSIGN_FLOAT,

    MPICommandTypeBRANCH,
    MPICommandTypeBRANCH_REF,
    MPICommandTypeBRANCH_FLOAT,
    MPICommandTypeBRANCH_FLOAT_REF,
    MPICommandTypeBRANCH_EVENT,
    MPICommandTypeBRANCH_IO,

    MPICommandTypeCOMPUTE,
    MPICommandTypeCOMPUTE_REF,
    MPICommandTypeCOMPUTE_FLOAT,
    MPICommandTypeCOMPUTE_FLOAT_REF,
    MPICommandTypeCOMPUTE_IO,

    MPICommandTypeCOPY,
    MPICommandTypeDELAY,
    MPICommandTypeEVENT,
    MPICommandTypeMOTION,
 
    MPICommandTypeWAIT,
    MPICommandTypeWAIT_REF,
    MPICommandTypeWAIT_FLOAT,
    MPICommandTypeWAIT_FLOAT_REF,
    MPICommandTypeWAIT_EVENT,
    MPICommandTypeWAIT_IO,

} MPICommandType;

Description

MPICommandType is an enumeration of controller commands that can be used in a program sequence. It specifies a single instruction for the controller to execute. The CommandType also defines the command parameters that must be passed to mpiCommandCreate(...). For each MPICommandType there is a corresponding structure in the MPICommandParams{...} union. For example, when the MPICommandTypeASSIGN is specified, the assign{...} structure in MPICommandParams{...} must be filled in to specify the address and value.

Commands must be created with mpiCommandCreate(...) and then added to a sequence using mpiSequenceCommandAppend(...), mpiSequenceCommandInsert(...), or mpiSequenceCommandListSet(...). Then the command sequence can be loaded into the controller with mpiSequenceLoad(...) and started with mpiSequenceStart(...).

Element	Description	Associated MPICommandParams structure
MPICommandTypeASSIGN	Writes a constant value (long or float) into the controller's memory at the specified address.	assign
MPICommandTypeASSIGN_FLOAT	These commands assign a value to a particular controller address. MPICommandTypeASSIGN assigns a long value while MPICommandTypeASSIGN_FLOAT assigns a float value.	assign
MPICommandTypeBRANCH	These commands branch to a particular command (similar to a goto statement) if a particular comparison evaluates to TRUE. MPICommandTypeBRANCH compares a controller address to a specified constant long value. MPICommandTypeBRANCH_REF compares a controller address to a long value at a specified controller address.	branch
MPICommandTypeBRANCH_REF	Branch to a particular command if the comparison evaluates to TRUE. Compares a controller address to a long value at a specified controller address.
MPICommandTypeBRANCH_FLOAT	Compares a controller address to a specified constant float value.
MPICommandTypeBRANCH_FLOAT_REF	Compares a controller address to a float value at a specified controller address.
MPICommandTypeBRANCH_EVENT	Branch to a particular command (similar to a goto statement) if a particular event occurs or has occured.	branchEvent
MPICommandTypeBRANCH_IO	Branch to a particular command (similar to a goto statement) if a particular I/O state matches a specified condition.	branchIO
MPICommandTypeCOMPUTE	These commands perform some computation and place the result at some controller address. MPICommandTypeCOMPUTE performs a computation of some controller address and a constant long value.	compute
MPICommandTypeCOMPUTE_REF
MPICommandTypeCOMPUTE_FLOAT	Performs a computation of some controller address and a constant float value.
MPICommandTypeCOMPUTE_FLOAT_REF	Performs a computation of some controller address and a float value at a specified controller address.
MPICommandTypeCOMPUTE_IO	Performs a computation on a set of I/O bits.	computeIO
MPICommandTypeCOPY	Copies controller memory from one place to another.	copy
MPICommandTypeDELAY	Delays execution of the next command.	delay
MPICommandTypeEVENT	Generate an event.	event
MPICommandTypeMOTION	Commands a motion action. See MPICommandMotion.	motion
MPICommandTypeWAIT	These delays execution of the next command until a particular comparison evaluates to TRUE. MPICommandTypeWAIT compares a controller address to a specified constant long value. MPICommandTypeWAIT_REF Compares a controller address to a long value at a specified controller address.	wait
MPICommandTypeWAIT_REF	Compares a controller address to a long value at a specified controller address.
MPICommandTypeWAIT_FLOAT	Compares a controller address to a specified constant float value.
MPICommandTypeWAIT_FLOAT_REF	Compares a controller address to a float value at a specified controller address.
MPICommandTypeWAIT_EVENT	Delays execution of the next command until a particular event occurs.	waitEvent
MPICommandTypeWAIT_IO	Delays execution of the next command until a particular I/O state matches a specified condition.	waitIO