ev3.yml

%YAML 1.1
---

# The canonical source for this file is https://github.com/ev3dev/lmsasm/blob/master/bytecodes/data/ev3.yml
# Do not make changes to this file unless you also submit a pull request.

defines:
  OUTPUTS:
    value: 4
    desc: Number of output ports in the system
  INPUTS:
    value: 4
    desc: Number of input  ports in the system
  BUTTONS:
    value: 6
    desc: Number of buttons in the system
  LEDS:
    value: 4
    desc: Number of LEDs in the system

  LCD_WIDTH:
    value: 178
    desc: LCD horizontal pixels
  LCD_HEIGHT:
    value: 128
    desc: LCD vertical pixels
  TOPLINE_HEIGHT:
    value: 10
    desc: Top line vertical pixels
  LCD_STORE_LEVELS:
    value: 3
    desc: Store levels

  DEFAULT_VOLUME:
    value: 100
  DEFAULT_SLEEPMINUTES:
    value: 30

  # SOFTWARE

  FG_COLOR:
    value: 1
    desc:  Forground color
  BG_COLOR:
    value: 0
    desc:  Background color

  CHAIN_DEPT:
    value: 4
    desc: Number of bricks in the USB daisy chain (master + slaves)

  PATHSIZE:
    value: 84
    desc: Max path size excluding trailing forward slash including zero termination
  NAMESIZE:
    value: 32
    desc: Max name size including zero termination (must be divideable by 4)
  EXTSIZE:
    value: 5
    desc: Max extension size including dot and zero termination
  FILENAMESIZE:
    value: 120
    desc: Max filename size including path, name, extension and termination (must be divideable by 4)
  MACSIZE:
    value: 18
    desc: Max WIFI MAC size including zero termination
  IPSIZE:
    value: 16
    desc: Max WIFI IP size including zero termination
  BTADRSIZE:
    value: 13
    desc: Max bluetooth address size including zero termination

  ERR_STRING_SIZE:
    value: 32
    desc: Inclusive zero termination

  EVENT_NONE:
    value: 0
  EVENT_BT_PIN:
    value: 1
  EVENT_BT_REQ_CONF:
    value: 2

  MAX_VALID_TYPE:
    value: 101
    desc: Highest valid device type

  # FOLDERS

  MEMORY_FOLDER:
    value: "/mnt/ramdisk"
    desc: Folder for non volatile user programs/data
  PROGRAM_FOLDER:
    value: "../prjs/BrkProg_SAVE"
    desc: Folder for On Brick Programming programs
  DATALOG_FOLDER:
    value: "../prjs/BrkDL_SAVE"
    desc: Folder for On Brick Data log files
  SDCARD_FOLDER:
    value: "../prjs/SD_Card"
    desc: Folder for SD card mount
  USBSTICK_FOLDER:
    value: "../prjs/USB_Stick"
    desc: Folder for USB stick mount

  PRJS_DIR:
    value: "../prjs"
    desc: Project folder
  APPS_DIR:
    value: "../apps"
    desc: Apps folder
  TOOLS_DIR:
    value: "../tools"
    desc: Tools folder
  TMP_DIR:
    value: "../tmp"
    desc: Temporary folder

  SETTINGS_DIR:
    value: "../sys/settings"
    desc: Folder for non volatile settings

  DIR_DEEPT:
    value: 127
    desc: Max directory items allocated including "." and ".."

  # FILES USED IN APPLICATION

  LASTRUN_FILE_NAME:
    value: "lastrun"
    desc: Last run filename
  CALDATA_FILE_NAME:
    value: "caldata"
    desc: Calibration data filename

  # FILES USED IN APPS

  SLEEP_FILE_NAME:
    value: "Sleep"
    desc: File used in "Sleep" app to save status
  VOLUME_FILE_NAME:
    value: "Volume"
    desc: File used in "Volume" app to save status
  WIFI_FILE_NAME:
    value: "WiFi"
    desc: File used in "WiFi" app to save status
  BLUETOOTH_FILE_NAME:
    value: "Bluetooth"
    desc: File used in "Bluetooth" app to save status

  # EXTENSIONS

  EXT_SOUND:
    value: ".rsf"
    desc: Robot Sound File
  EXT_GRAPHICS:
    value: ".rgf"
    desc: Robot Graphics File
  EXT_BYTECODE:
    value: ".rbf"
    desc: Robot Byte code File
  EXT_TEXT:
    value: ".rtf"
    desc: Robot Text File
  EXT_DATALOG:
    value: ".rdf"
    desc: Robot Datalog File
  EXT_PROGRAM:
    value: ".rpf"
    desc: Robot Program File
  EXT_CONFIG:
    value: ".rcf"
    desc: Robot Configuration File
  EXT_ARCHIVE:
    value: ".raf"
    desc: Robot Archive File

  # NAME LENGTHs

  BRICKNAMESIZE:
    value: 120
    desc: Brick name maximal size (including zero termination)
  BTPASSKEYSIZE:
    value: 7
    desc: Bluetooth pass key size (including zero termination)
  WIFIPASSKEYSIZE:
    value: 33
    desc: WiFi pass key size (including zero termination)

  # VALID CHARACTERS

  CHARSET_NAME:
    value: 0x01
    desc: Character set allowed in brick name and raw filenames
  CHARSET_FILENAME:
    value: 0x02
    desc: Character set allowed in file names
  CHARSET_BTPASSKEY:
    value: 0x04
    desc: Character set allowed in bluetooth pass key
  CHARSET_WIFIPASSKEY:
    value: 0x08
    desc: Character set allowed in WiFi pass key
  CHARSET_WIFISSID:
    value: 0x10
    desc: Character set allowed in WiFi ssid

  # NUMBER LIMITS

  DATA8_MIN:
    value: -127
    desc: DATA8  negative limit
  DATA8_MAX:
    value: 127
    desc: DATA8  positive limit
  DATA16_MIN:
    value: -32767
    desc: DATA16 negative limit
  DATA16_MAX:
    value: 32767
    desc: DATA16 positive limit
  DATA32_MIN:
    value: -2147483647
    desc: DATA32 negative limit
  DATA32_MAX:
    value: 2147483647
    desc: DATA32 positive limit
  DATAF_MIN:
    value: -2147483647
    desc: DATAF  negative limit
  DATAF_MAX:
    value: 2147483647
    desc: DATAF  positive limit

  DATA8_NAN:
    value: 0x80
  DATA16_NAN:
    value: 0x8000
  DATA32_NAN:
    value: 0x80000000
  DATAF_NAN:
    value: 0x7FC00000

  #

  PULSE_GUI_BACKGROUND:
    value: 0x01
  PULSE_BROWSER:
    value: 0x02
  PULSE_KEY:
    value: 0x04

  # GRAPHICS

  POP3_ABS_X:
    value: 16
  POP3_ABS_Y:
    value: 50

  POP3_ABS_WARN_ICON_X:
    value: 64
  POP3_ABS_WARN_ICON_X1:
    value: 40
  POP3_ABS_WARN_ICON_X2:
    value: 72
  POP3_ABS_WARN_ICON_X3:
    value: 104
  POP3_ABS_WARN_ICON_Y:
    value: 60
  POP3_ABS_WARN_SPEC_ICON_X:
    value: 88
  POP3_ABS_WARN_SPEC_ICON_Y:
    value: 60
  POP3_ABS_WARN_TEXT_X:
    value: 80
  POP3_ABS_WARN_TEXT_Y:
    value: 68
  POP3_ABS_WARN_YES_X:
    value: 72
  POP3_ABS_WARN_YES_Y:
    value: 90
  POP3_ABS_WARN_LINE_X:
    value: 21
  POP3_ABS_WARN_LINE_Y:
    value: 89
  POP3_ABS_WARN_LINE_ENDX:
    value: 155

enums:
  TYPE: &TYPE
    desc: Type values for byte codes
    members:
      MODE_KEEP:
        desc: Mode value that won't change mode in byte codes (convenient place to define)
        value: -1
      TYPE_KEEP:
        desc: Type value that won't change type in byte codes
        value: 0
      TYPE_NXT_TOUCH:
        desc: Device is NXT touch sensor
        value: 1
      TYPE_NXT_LIGHT:
        desc: Device is NXT light sensor
        value: 2
      TYPE_NXT_SOUND:
        desc: Device is NXT sound sensor
        value: 3
      TYPE_NXT_COLOR:
        desc: Device is NXT color sensor
        value: 4
      TYPE_NXT_ULTRASONIC:
        desc: Device is NXT ultra sonic sensor
        value: 5
      TYPE_NXT_TEMPERATURE:
        desc: Device is NXT temperature sensor
        value: 6
      TYPE_TACHO:
        desc: Device is EV3/NXT tacho motor
        value: 7
      TYPE_MINITACHO:
        desc: Device is EV3 mini tacho motor
        value: 8
      TYPE_NEWTACHO:
        desc: Device is EV3 new tacho motor
        value: 9
      TYPE_TOUCH:
        desc: Device is EV3 touch sensor
        value: 16
      TYPE_COLOR:
        desc: Device is EV3 color sensor
        value: 29
      TYPE_ULTRASONIC:
        desc: Device is EV3 ultra sonic sensor
        value: 30
      TYPE_GYRO:
        desc: Device is EV3 gyro sensor
        value: 32
      TYPE_IR:
        desc: Device is EV3 IR sensor
        value: 33
      TYPE_THIRD_PARTY_START:
        value: 50
      TYPE_THIRD_PARTY_END:
        value: 98
      TYPE_ENERGYMETER:
        desc: Device is energy meter
        value: 99
      TYPE_IIC_UNKNOWN:
        desc: Device type is not known yet
        value: 100
      TYPE_NXT_TEST:
        desc: Device is a NXT ADC test sensor
        value: 101
      TYPE_NXT_IIC:
        desc: Device is NXT IIC sensor
        value: 123
      TYPE_TERMINAL:
        desc: Port is connected to a terminal
        value: 124
      TYPE_UNKNOWN:
        desc: Port not empty but type has not been determined
        value: 125
      TYPE_NONE:
        desc: Port empty or not available
        value: 126
      TYPE_ERROR:
        desc: Port not empty and type is invalid
        value: 127

  SLOT: &SLOT
    desc: Program ID's (Slots)
    members:
      GUI_SLOT:
        desc: Program slot reserved for executing the user interface
        value: 0
      USER_SLOT:
        desc: Program slot used to execute user projects, apps and tools
        value: 1
      CMD_SLOT:
        desc: Program slot used for direct commands coming from c_com
        value: 2
      TERM_SLOT:
        desc: Program slot used for direct commands coming from c_ui
        value: 3
      DEBUG_SLOT:
        desc: Program slot used to run the debug ui
        value: 4
      SLOTS:
        desc: Maximum slots supported by the VM
        value: 5
      CURRENT_SLOT:
        value: -1
        remarks: ONLY VALID IN opPROGRAM_STOP

  BUTTONTYPE: &BUTTONTYPE
    desc: Button
    members:
      NO_BUTTON:
        value: 0
      UP_BUTTON:
        value: 1
      ENTER_BUTTON:
        value: 2
      DOWN_BUTTON:
        value: 3
      RIGHT_BUTTON:
        value: 4
      LEFT_BUTTON:
        value: 5
      BACK_BUTTON:
        value: 6
      ANY_BUTTON:
        value: 7
      BUTTONTYPES:
          value: 8

  BROWSERTYPE: &BROWSERTYPE
    desc: Browser Types Avaliable
    members:
      BROWSE_FOLDERS:
        desc: Browser for folders
        value: 0
      BROWSE_FOLDS_FILES:
        desc: Browser for folders and files
        value: 1
      BROWSE_CACHE:
        desc: Browser for cached / recent files
        value: 2
      BROWSE_FILES:
        desc: Browser for files
        value: 3
      BROWSERTYPES:
        desc: Maximum browser types supported by the VM
        value: 4

  FONTTYPE: &FONTTYPE
    desc: Font Types Avaliable
    members:
      NORMAL_FONT:
        value: 0
      SMALL_FONT:
        value: 1
      LARGE_FONT:
        value: 2
      TINY_FONT:
        value: 3
      FONTTYPES:
        desc: Maximum font types supported by the VM
        value: 4

  ICONTYPE: &ICONTYPE
    desc: Icon Types Avaliable
    members:
      NORMAL_ICON:
        desc: 24x12_Files_Folders_Settings.bmp
        value: 0
      SMALL_ICON:
        value: 1
      LARGE_ICON:
        desc: 24x22_Yes_No_OFF_FILEOps.bmp
        value: 2
      MENU_ICON:
        value: 3
      ARROW_ICON:
        desc: 8x12_miniArrows.bmp
        value: 4
      ICONTYPES:
        desc: Maximum icon types supported by the VM
        value: 5

  S_ICON_NO: &S_ICON_NO
    members:
      SICON_CHARGING:
        value: 0
      SICON_BATT_4:
        value: 1
      SICON_BATT_3:
        value: 2
      SICON_BATT_2:
        value: 3
      SICON_BATT_1:
        value: 4
      SICON_BATT_0:
        value: 5
      SICON_WAIT1:
        value: 6
      SICON_WAIT2:
        value: 7
      SICON_BT_ON:
        value: 8
      SICON_BT_VISIBLE:
        value: 9
      SICON_BT_CONNECTED:
        value: 10
      SICON_BT_CONNVISIB:
        value: 11
      SICON_WIFI_3:
        value: 12
      SICON_WIFI_2:
        value: 13
      SICON_WIFI_1:
        value: 14
      SICON_WIFI_CONNECTED:
        value: 15
      SICON_USB:
        value: 21
      S_ICON_NOS:
        value: 22

  N_ICON_NO: &N_ICON_NO
    members:
      ICON_NONE:
        value: -1
      ICON_RUN:
        value: 0
      ICON_FOLDER:
        value: 1
      ICON_FOLDER2:
        value: 2
      ICON_USB:
        value: 3
      ICON_SD:
        value: 4
      ICON_SOUND:
        value: 5
      ICON_IMAGE:
        value: 6
      ICON_SETTINGS:
        value: 7
      ICON_ONOFF:
        value: 8
      ICON_SEARCH:
        value: 9
      ICON_WIFI:
        value: 10
      ICON_CONNECTIONS:
        value: 11
      ICON_ADD_HIDDEN:
        value: 12
      ICON_TRASHBIN:
        value: 13
      ICON_VISIBILITY:
        value: 14
      ICON_KEY:
        value: 15
      ICON_CONNECT:
        value: 16
      ICON_DISCONNECT:
        value: 17
      ICON_UP:
        value: 18
      ICON_DOWN:
        value: 19
      ICON_WAIT1:
        value: 20
      ICON_WAIT2:
        value: 21
      ICON_BLUETOOTH:
        value: 22
      ICON_INFO:
        value: 23
      ICON_TEXT:
        value: 24
      ICON_QUESTIONMARK:
        value: 27
      ICON_INFO_FILE:
        value: 28
      ICON_DISC:
        value: 29
      ICON_CONNECTED:
        value: 30
      ICON_OBP:
        value: 31
      ICON_OBD:
        value: 32
      ICON_OPENFOLDER:
        value: 33
      ICON_BRICK1:
        value: 34
      N_ICON_NOS:
        value: 35

  L_ICON_NO: &L_ICON_NO
    members:
      YES_NOTSEL:
        value: 0
      YES_SEL:
        value: 1
      NO_NOTSEL:
        value: 2
      NO_SEL:
        value: 3
      "OFF":
        value: 4
      WAIT_VERT:
        value: 5
      WAIT_HORZ:
        value: 6
      TO_MANUAL:
        value: 7
      WARNSIGN:
        value: 8
      WARN_BATT:
        value: 9
      WARN_POWER:
        value: 10
      WARN_TEMP:
        value: 11
      NO_USBSTICK:
        value: 12
      TO_EXECUTE:
        value: 13
      TO_BRICK:
        value: 14
      TO_SDCARD:
        value: 15
      TO_USBSTICK:
        value: 16
      TO_BLUETOOTH:
        value: 17
      TO_WIFI:
        value: 18
      TO_TRASH:
        value: 19
      TO_COPY:
        value: 20
      TO_FILE:
        value: 21
      CHAR_ERROR:
        value: 22
      COPY_ERROR:
        value: 23
      PROGRAM_ERROR:
        value: 24
      WARN_MEMORY:
        value: 27
      L_ICON_NOS:
        value: 28

  M_ICON_NO: &M_ICON_NO
    members:
      ICON_STAR:
        value: 0
      ICON_LOCKSTAR:
        value: 1
      ICON_LOCK:
        value: 2
      ICON_PC:
        value: 3
        desc: Bluetooth type PC
      ICON_PHONE:
        value: 4
        desc: Bluetooth type PHONE
      ICON_BRICK:
        value: 5
        desc: Bluetooth type BRICK
      ICON_UNKNOWN:
        value: 6
        desc: Bluetooth type UNKNOWN
      ICON_FROM_FOLDER:
        value: 7
      ICON_CHECKBOX:
        value: 8
      ICON_CHECKED:
        value: 9
      ICON_XED:
        value: 10
      M_ICON_NOS:
        value: 11

  A_ICON_NO: &A_ICON_NO
    members:
      ICON_LEFT:
        value: 1
      ICON_RIGHT:
        value: 2
      A_ICON_NOS:
        value: 3

  BTTYPE: &BTTYPE
    desc: Bluetooth Device Types
    members:
      BTTYPE_PC:
        desc: Bluetooth type PC
        value: 3
      BTTYPE_PHONE:
        desc: Bluetooth type PHONE
        value: 4
      BTTYPE_BRICK:
        desc: Bluetooth type BRICK
        value: 5
      BTTYPE_UNKNOWN:
        desc: Bluetooth type UNKNOWN
        value: 6
      BTTYPES:
        value: 7

  LEDPATTERN: &LEDPATTERN
    desc: LED Pattern
    members:
      LED_BLACK:
        value: 0
      LED_GREEN:
        value: 1
      LED_RED:
        value: 2
      LED_ORANGE:
        value: 3
      LED_GREEN_FLASH:
        value: 4
      LED_RED_FLASH:
        value: 5
      LED_ORANGE_FLASH:
        value: 6
      LED_GREEN_PULSE:
        value: 7
      LED_RED_PULSE:
        value: 8
      LED_ORANGE_PULSE:
        value: 9
      LEDPATTERNS:
        value: 10

  LEDTYPE: &LEDTYPE
    members:
      LED_ALL:
        value: 0
        desc: All LEDs
      LED_RR:
        value: 1
        desc: Right red
      LED_RG:
        value: 2
        desc: Right green
      LED_LR:
        value: 3
        desc: Left red
      LED_LG:
        value: 4
        desc: Left green

  FILETYPE: &FILETYPE
    desc: File Types Avaliable
    members:
      FILETYPE_UNKNOWN:
        value: 0x00
      TYPE_FOLDER:
        value: 0x01
      TYPE_SOUND:
        value: 0x02
      TYPE_BYTECODE:
        value: 0x03
      TYPE_GRAPHICS:
        value: 0x04
      TYPE_DATALOG:
        value: 0x05
      TYPE_PROGRAM:
        value: 0x06
      TYPE_TEXT:
        value: 0x07
      TYPE_SDCARD:
        value: 0x10
      TYPE_USBSTICK:
        value: 0x20
      FILETYPES:
        value: 0x21
      TYPE_RESTART_BROWSER:
        value: -1
      TYPE_REFRESH_BROWSER:
        value: -2

  RESULT: &RESULT
    desc: Describes result from executing functions
    members:
      OK:
        desc: No errors to report
        value: 0
      BUSY:
        desc: Busy - try again
        value: 1
      FAIL:
        desc: Something failed
        value: 2
      STOP:
        desc: Stopped
        value: 4
      START:
        desc: Start
        value: 8

  DATA_FORMAT: &DATA_FORMAT
    desc: Data formats used in device type formats
    members:
      DATA_8:
        desc: DATA8
        value: 0x00
      DATA_16:
        desc: DATA16
        value: 0x01
      DATA_32:
        desc: DATA32
        value: 0x02
      DATA_F:
        desc: DATAF
        value: 0x03
      DATA_S:
        desc: Zero terminated string
        value: 0x04
      DATA_A:
        desc: Array handle
        value: 0x05
      DATA_V:
        desc: Variable type
        value: 0x07
      DATA_PCT:
        desc: Percent
        value: 0x10
      DATA_RAW:
        desc: Raw
        value: 0x12
      DATA_SI:
        desc: SI unit
        value: 0x13
      DATA_FORMATS:
        value: 0x14

  DEL: &DEL
    desc: Delimiter codes used to define how data is separated in files
    members:
      DEL_NONE:
        desc: No delimiter at all
        value: 0
      DEL_TAB:
        desc: Use tab as delimiter
        value: 1
      DEL_SPACE:
        desc: Use space as delimiter
        value: 2
      DEL_RETURN:
        desc: Use return as delimiter
        value: 3
      DEL_COLON:
        desc: Use colon as delimiter
        value: 4
      DEL_COMMA:
        desc: Use comma as delimiter
        value: 5
      DEL_LINEFEED:
        desc: Use line feed as delimiter
        value: 6
      DEL_CRLF:
        desc: Use return+line feed as delimiter
        value: 7
      DELS:
        value: 8

  HWTYPE: &HWTYPE
    desc: Hardware Transport Layer
    members:
      HW_USB:
        value: 1
      HW_BT:
        value: 2
      HW_WIFI:
        value: 3
      HWTYPES:
        value: 4

  ENCRYPT: &ENCRYPT
    desc: Encryption Types
    members:
      ENCRYPT_NONE:
        value: 0
      ENCRYPT_WPA2:
        value: 1
      ENCRYPTS:
        value: 2
    support:
      official: true
      xtended: false
      compat: true

  LMS_ENCRYPT: &LMS_ENCRYPT
    desc: Encryption Types
    members:
      LMS_ENCRYPT_NONE:
        value: 0
        remarks: renamed from ENCRYPT_NONE
      LMS_ENCRYPT_WPA2:
        value: 1
        remarks: renamed from ENCRYPT_WPA2
      LMS_ENCRYPTS:
        value: 2
    support:
      official: false
      xtended: true
      compat: false
    remarks: renamed from ENCRYPT

  COLOR: &COLOR
    members:
      RED:
        value: 0
      GREEN:
        value: 1
      BLUE:
        value: 2
      BLANK:
        value: 3
      COLORS:
        value: 4

  NXTCOLOR: &NXTCOLOR
    desc: Constants related to color sensor value using Color sensor as color detector
    members:
      BLACKCOLOR:
        value: 1
      BLUECOLOR:
        value: 2
      GREENCOLOR:
        value: 3
      YELLOWCOLOR:
        value: 4
      REDCOLOR:
        value: 5
      WHITECOLOR:
        value: 6

  WARNING: &WARNING
    desc: Warnings
    members:
      WARNING_TEMP:
        value: 0x01
      WARNING_CURRENT:
        value: 0x02
      WARNING_VOLTAGE:
        value: 0x04
      WARNING_MEMORY:
        value: 0x08
      WARNING_DSPSTAT:
        value: 0x10
      WARNING_RAM:
        value: 0x20
      WARNING_BATTLOW:
        value: 0x40
      WARNING_BUSY:
        value: 0x80
      WARNINGS:
        value: 0x3F

  OBJSTAT: &OBJSTAT
    desc: Values used to describe an object's status
    members:
      RUNNING:
        value: 0x0010
        desc: Object code is running
      WAITING:
        value: 0x0020
        desc: Object is waiting for final trigger
      STOPPED:
        value: 0x0040
        desc: Object is stopped or not triggered yet
      HALTED:
        value: 0x0080
        desc: Object is halted because a call is in progress

  DEVCMD: &DEVCMD
    desc: Device commands used to control (UART sensors) devices
    members:
      DEVCMD_RESET:
        value: 0x11
        desc: UART device reset
      DEVCMD_FIRE:
        value: 0x11
        desc: UART device fire   (ultrasonic)
        support:
          official: true
          xtended: true
          compat: false
        remarks: Value is duplicate of DEVCMD_RESET.
      DEVCMD_CHANNEL:
        value: 0x12
        desc: UART device channel (IR seeker)
      DEVCMDS:
        value: 0x13

  CONN: &CONN
    desc: Connection types
    members:
      CONN_UNKNOWN:
        desc: Connection is fake (test)
        value: 111
      CONN_DAISYCHAIN:
        desc: Connection is daisy chained
        value: 117
      CONN_NXT_COLOR:
        desc: Connection type is NXT color sensor
        value: 118
      CONN_NXT_DUMB:
        desc: Connection type is NXT analog sensor
        value: 119
      CONN_NXT_IIC:
        desc: Connection type is NXT IIC sensor
        value: 120
      CONN_INPUT_DUMB:
        desc: >
          Connection type is LMS2012 input device with ID resistor
        value: 121
      CONN_INPUT_UART:
        desc: Connection type is LMS2012 UART sensor
        value: 122
      CONN_OUTPUT_DUMB:
        desc: >
          Connection type is LMS2012 output device with ID resistor
        value: 123
      CONN_OUTPUT_INTELLIGENT:
        desc: >
          Connection type is LMS2012 output device with communication
        value: 124
      CONN_OUTPUT_TACHO:
        desc: >
          Connection type is LMS2012 tacho motor with series ID
          resistance
        value: 125
      CONN_NONE:
        desc: Port empty or not available
        value: 126
      CONN_ERROR:
        desc: Port not empty and type is invalid
        value: 127

ops:
  # VM

  ERROR:
    desc: This code does not exist in normal program
    value: 0x00
    params: []
    remarks: Dispatch status changes to INSTRBREAK

  NOP:
    desc: This code does absolutely nothing
    value: 0x01
    params: []

  PROGRAM_STOP:
    desc: Stops specific program id slot
    value: 0x02
    params:
      -
        name: "PRGID"
        desc: Program id (GUI_SLOT = all, CURRENT_SLOT = current)
        type: PAR16
        dir: in
        enum: *SLOT
    remarks: Dispatch status changes to PRGBREAK

  PROGRAM_START:
    desc: Start program id slot
    value: 0x03
    params:
      -
        name: "PRGID"
        desc: Program id
        type: PAR16
        dir: in
        enum: *SLOT
      -
        name: "SIZE"
        desc: Size of image
        type: PAR32
        dir: in
      -
        name: "IP"
        desc: Address of image (value from opFILE(LOAD_IMAGE,..) )
        type: PAR32
        dir: in
      -
        name: "DEBUG"
        desc: Debug mode (0=normal, 1=debug, 2=don't execute)
        type: PAR8
        dir: in
    remarks: Dispatch status unchanged

  OBJECT_STOP:
    desc: Stops specific object
    value: 0x04
    params:
      -
        name: "OBJID"
        desc: Object id
        type: PAR16
        dir: in
    remarks: Dispatch status changes to STOPBREAK

  OBJECT_START:
    desc: Start specific object
    value: 0x05
    params:
      -
        name: "OBJID"
        desc: Object id
        type: PAR16
        dir: in
    remarks: Dispatch status unchanged

  OBJECT_TRIG:
    desc: Triggers object and run the object if fully triggered
    value: 0x06
    params:
      -
        name: "OBJID"
        desc: Object id
        type: PAR16
        dir: in
    remarks: Dispatch status unchanged

  OBJECT_WAIT:
    desc: Wait until object has run
    value: 0x07
    params:
      -
        name: "OBJID"
        type: PAR16
        dir: in
        desc: Object id
    remarks: Dispatch status can change to BUSYBREAK

  RETURN:
    desc: Return from byte code subroutine
    value: 0x08
    params: []
    remarks: Dispatch status changes to STOPBREAK

  CALL:
    desc: Calls byte code subroutine
    value: 0x09
    params:
      -
        name: "OBJID"
        desc: Object id
        type: PAR16
        dir: in
      -
        name: "PARAMETERS"
        desc: Number of parameters
        type: PARNO
        dir: in
    remarks: Dispatch status changes to STOPBREAK or BUSYBREAK

  OBJECT_END:
    desc: Stops current object
    value: 0x0A
    params: []
    remarks: Dispatch status changes to STOPBREAK

  SLEEP:
    desc: Breaks execution of current VMTHREAD
    value: 0x0B
    params: []
    remarks: Dispatch status changes to INSTRBREAK

  PROGRAM_INFO:
    desc: Get program data
    value: 0x0C
    params:
      -
        name: "CMD"
        desc: Specific command parameter
        type: SUBP
        dir: in
        commands:
          OBJ_STOP:
            value: 0
            params:
              -
                name: "PRGID"
                desc: Program slot number
                type: PAR16
                dir: in
                enum: *SLOT
              -
                name: "OBJID"
                desc: Object id
                type: PAR16
                dir: in

          OBJ_START:
            value: 4
            params:
              -
                name: "PRGID"
                desc: Program slot number
                type: PAR16
                dir: in
                enum: *SLOT
              -
                name: "OBJID"
                desc: Object id
                type: PAR16
                dir: in

          GET_STATUS:
            value: 22
            params:
              -
                name: "PRGID"
                desc: Program slot number
                type: PAR16
                dir: in
                enum: *SLOT
              -
                name: "DATA"
                desc: Program status
                type: PAR8
                dir: out

          GET_SPEED:
            value: 23
            params:
              -
                name: "PRGID"
                desc: Program slot number
                type: PAR16
                dir: in
                enum: *SLOT
              -
                name: "DATA"
                desc: Program speed [instr/S]
                type: PAR32
                dir: out

          GET_PRGRESULT:
            value: 24
            params:
              -
                name: "PRGID"
                desc: Program slot number
                type: PAR16
                dir: in
                enum: *SLOT
              -
                name: "DATA"
                desc: Program result [OK, BUSY, FAIL]
                type: PAR8
                dir: out

          SET_INSTR:
            desc: Set number of instructions before VMThread change
            value: 25
            params:
              -
                name: "PRGID"
                desc: Program slot number
                type: PAR16
                dir: in
                enum: *SLOT

          GET_PRGNAME:
            value: 26
            params:
              -
                name: "PRGID"
                desc: Program slot number
                type: PAR16
                dir: in
                enum: *SLOT
              -
                name: "NAME"
                desc: Program name
                type: PAR8
                dir: out
            support:
              official: false
              xtended: true
              compat: true
    remarks: Dispatch status can change to FAILBREAK

  LABEL:
    desc: This code does nothing besides marking an address to a label
    value: 0x0D
    params:
      -
        name: "NO"
        desc: Label number
        type: PARLAB
        dir: in

  PROBE:
    desc: Display globals or object locals on terminal
    value: 0x0E
    params:
      -
        name: "PRGID"
        desc: Program slot number
        type: PAR16
        dir: in
        enum: *SLOT
      -
        name: "OBJID"
        desc: Object id (zero means globals)
        type: PAR16
        dir: in
      -
        name: "OFFSET"
        desc: Offset (start from)
        type: PAR32
        dir: in
      -
        name: "SIZE"
        desc: Size (length of dump) zero means all (max 1024)
        type: PAR32
        dir: in
    remarks: Dispatch status unchanged

  DO:
    desc: Run byte code snippet
    value: 0x0F
    params:
      -
        name: "PRGID"
        desc: Program slot number
        type: PAR16
        dir: in
        enum: *SLOT
      -
        name: "IMAGE"
        desc: Address of image
        type: PAR32
        dir: in
      -
        name: "GLOBAL"
        desc: Address of global variables
        type: PAR32
        dir: in
    remarks: Dispatch status can change to BUSYBREAK

  # cMath "MATH"

  ADD8:
    desc: Add two 8-bit values DESTINATION = SOURCE1 + SOURCE2
    value: 0x10
    params:
      -
        name: "SOURCE1"
        type: PAR8
        dir: in
      -
        name: "SOURCE2"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  ADD16:
    desc: Add two 16-bit values DESTINATION = SOURCE1 + SOURCE2
    value: 0x11
    params:
      -
        name: "SOURCE1"
        type: PAR16
        dir: in
      -
        name: "SOURCE2"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  ADD32:
    desc: Add two 32-bit values DESTINATION = SOURCE1 + SOURCE2
    value: 0x12
    params:
      -
        name: "SOURCE1"
        type: PAR32
        dir: in
      -
        name: "SOURCE2"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  ADDF:
    desc: Add two floating point values DESTINATION = SOURCE1 + SOURCE2
    value: 0x13
    params:
      -
        name: "SOURCE1"
        type: PARF
        dir: in
      -
        name: "SOURCE2"
        type: PARF
        dir: in
      -
        name: "DESTINATION"
        type: PARF
        dir: out

  SUB8:
    desc: Subtract two 8 bit values DESTINATION = SOURCE1 - SOURCE2
    value: 0x14
    params:
      -
        name: "SOURCE1"
        type: PAR8
        dir: in
      -
        name: "SOURCE2"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  SUB16:
    desc: Subtract two 16 bit values DESTINATION = SOURCE1 - SOURCE2
    value: 0x15
    params:
      -
        name: "SOURCE1"
        type: PAR16
        dir: in
      -
        name: "SOURCE2"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  SUB32:
    desc: Subtract two 32 bit values DESTINATION = SOURCE1 - SOURCE2
    value: 0x16
    params:
      -
        name: "SOURCE1"
        type: PAR32
        dir: in
      -
        name: "SOURCE2"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  SUBF:
    desc: Subtract two floating point values DESTINATION = SOURCE1 - SOURCE2
    value: 0x17
    params:
      -
        name: "SOURCE1"
        type: PARF
        dir: in
      -
        name: "SOURCE2"
        type: PARF
        dir: in
      -
        name: "DESTINATION"
        type: PARF
        dir: out

  MUL8:
    desc: Multiply two 8 bit values DESTINATION = SOURCE1 * SOURCE2
    value: 0x18
    params:
      -
        name: "SOURCE1"
        type: PAR8
        dir: in
      -
        name: "SOURCE2"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  MUL16:
    desc: Multiply two 16 bit values DESTINATION = SOURCE1 * SOURCE2
    value: 0x19
    params:
      -
        name: "SOURCE1"
        type: PAR16
        dir: in
      -
        name: "SOURCE2"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  MUL32:
    desc: Multiply two 32 bit values DESTINATION = SOURCE1 * SOURCE2
    value: 0x1A
    params:
      -
        name: "SOURCE1"
        type: PAR32
        dir: in
      -
        name: "SOURCE2"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  MULF:
    desc: Multiply two floating point values DESTINATION = SOURCE1 * SOURCE2
    value: 0x1B
    params:
      -
        name: "SOURCE1"
        type: PARF
        dir: in
      -
        name: "SOURCE2"
        type: PARF
        dir: in
      -
        name: "DESTINATION"
        type: PARF
        dir: out

  DIV8:
    desc: Divide two 8 bit values DESTINATION = SOURCE1 / SOURCE2
    value: 0x1C
    params:
      -
        name: "SOURCE1"
        type: PAR8
        dir: in
      -
        name: "SOURCE2"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  DIV16:
    desc: Divide two 16 bit values DESTINATION = SOURCE1 / SOURCE2
    value: 0x1D
    params:
      -
        name: "SOURCE1"
        type: PAR16
        dir: in
      -
        name: "SOURCE2"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  DIV32:
    desc: Divide two 32 bit values DESTINATION = SOURCE1 / SOURCE2
    value: 0x1E
    params:
      -
        name: "SOURCE1"
        type: PAR32
        dir: in
      -
        name: "SOURCE2"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  DIVF:
    desc: Divide two floating point values DESTINATION = SOURCE1 / SOURCE2
    value: 0x1F
    params:
      -
        name: "SOURCE1"
        type: PARF
        dir: in
      -
        name: "SOURCE2"
        type: PARF
        dir: in
      -
        name: "DESTINATION"
        type: PARF
        dir: out


  # Logic "LOGIC"

  OR8:
    desc: Or two 8 bit values DESTINATION = SOURCE1 | SOURCE2
    value: 0x20
    params:
      -
        name: "SOURCE1"
        type: PAR8
        dir: in
      -
        name: "SOURCE2"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  OR16:
    desc: Or two 16 bit values DESTINATION = SOURCE1 | SOURCE2
    value: 0x21
    params:
      -
        name: "SOURCE1"
        type: PAR16
        dir: in
      -
        name: "SOURCE2"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  OR32:
    desc: Or two 32 bit values DESTINATION = SOURCE1 | SOURCE2
    value: 0x22
    params:
      -
        name: "SOURCE1"
        type: PAR32
        dir: in
      -
        name: "SOURCE2"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  AND8:
    desc: And two 8 bit values DESTINATION = SOURCE1 & SOURCE2
    value: 0x24
    params:
      -
        name: "SOURCE1"
        type: PAR8
        dir: in
      -
        name: "SOURCE2"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  AND16:
    desc: And two 16 bit values DESTINATION = SOURCE1 & SOURCE2
    value: 0x25
    params:
      -
        name: "SOURCE1"
        type: PAR16
        dir: in
      -
        name: "SOURCE2"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  AND32:
    desc: And two 32 bit values DESTINATION = SOURCE1 & SOURCE2
    value: 0x26
    params:
      -
        name: "SOURCE1"
        type: PAR32
        dir: in
      -
        name: "SOURCE2"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  XOR8:
    desc: Exclusive or two 8 bit values DESTINATION = SOURCE1 ^ SOURCE2
    value: 0x28
    params:
      -
        name: "SOURCE1"
        type: PAR8
        dir: in
      -
        name: "SOURCE2"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  XOR16:
    desc: Exclusive or two 16 bit values DESTINATION = SOURCE1 ^ SOURCE2
    value: 0x29
    params:
      -
        name: "SOURCE1"
        type: PAR16
        dir: in
      -
        name: "SOURCE2"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  XOR32:
    desc: Exclusive or two 32 bit values DESTINATION = SOURCE1 ^ SOURCE2
    value: 0x2A
    params:
      -
        name: "SOURCE1"
        type: PAR32
        dir: in
      -
        name: "SOURCE2"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  RL8:
    desc: Rotate left 8 bit value DESTINATION = SOURCE1 << SOURCE2
    value: 0x2C
    params:
      -
        name: "SOURCE1"
        type: PAR8
        dir: in
      -
        name: "SOURCE2"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  RL16:
    desc: Rotate left 16 bit value DESTINATION = SOURCE1 << SOURCE2
    value: 0x2D
    params:
      -
        name: "SOURCE1"
        type: PAR16
        dir: in
      -
        name: "SOURCE2"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  RL32:
    desc: Rotate left 32 bit value DESTINATION = SOURCE1 << SOURCE2
    value: 0x2E
    params:
      -
        name: "SOURCE1"
        type: PAR32
        dir: in
      -
        name: "SOURCE2"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  # cMove "MOVE"

  INIT_BYTES:
    desc: Move LENGTH number of DATA8 from BYTE STREAM to memory DESTINATION START
    value: 0x2F
    params:
      -
        name: "DESTINATION"
        desc: First element in DATA8 array to be initiated
        type: PAR8
        dir: out
      -
        name: "LENGTH"
        desc: Number of elements to initiate
        type: PAR32
        dir: in
      -
        name: "SOURCE"
        desc: First element to initiate DATA8 array with
        type: PARVALUES
        element-type: PAR8
        dir: in

  MOVE8_8:
    desc: Move 8 bit value from SOURCE to DESTINATION
    value: 0x30
    params:
      -
        name: "SOURCE"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  MOVE8_16:
    desc: Move 8 bit value from SOURCE to DESTINATION
    value: 0x31
    params:
      -
        name: "SOURCE"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  MOVE8_32:
    desc: Move 8 bit value from SOURCE to DESTINATION
    value: 0x32
    params:
      -
        name: "SOURCE"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  MOVE8_F:
    desc: Move 8 bit value from SOURCE to DESTINATION
    value: 0x33
    params:
      -
        name: "SOURCE"
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        type: PARF
        dir: out

  MOVE16_8:
    desc: Move 16 bit value from SOURCE to DESTINATION
    value: 0x34
    params:
      -
        name: "SOURCE"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  MOVE16_16:
    desc: Move 16 bit value from SOURCE to DESTINATION
    value: 0x35
    params:
      -
        name: "SOURCE"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  MOVE16_32:
    desc: Move 16 bit value from SOURCE to DESTINATION
    value: 0x36
    params:
      -
        name: "SOURCE"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  MOVE16_F:
    desc: Move 16 bit value from SOURCE to DESTINATION
    value: 0x37
    params:
      -
        name: "SOURCE"
        type: PAR16
        dir: in
      -
        name: "DESTINATION"
        type: PARF
        dir: out

  MOVE32_8:
    desc: Move 32 bit value from SOURCE to DESTINATION
    value: 0x38
    params:
      -
        name: "SOURCE"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  MOVE32_16:
    desc: Move 32 bit value from SOURCE to DESTINATION
    value: 0x39
    params:
      -
        name: "SOURCE"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  MOVE32_32:
    desc: Move 32 bit value from SOURCE to DESTINATION
    value: 0x3A
    params:
      -
        name: "SOURCE"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  MOVE32_F:
    desc: Move 32 bit value from SOURCE to DESTINATION
    value: 0x3B
    params:
      -
        name: "SOURCE"
        type: PAR32
        dir: in
      -
        name: "DESTINATION"
        type: PARF
        dir: out

  MOVEF_8:
    desc: Move floating point value from SOURCE to DESTINATION
    value: 0x3C
    params:
      -
        name: "SOURCE"
        type: PARF
        dir: in
      -
        name: "DESTINATION"
        type: PAR8
        dir: out

  MOVEF_16:
    desc: Move floating point value from SOURCE to DESTINATION
    value: 0x3D
    params:
      -
        name: "SOURCE"
        type: PARF
        dir: in
      -
        name: "DESTINATION"
        type: PAR16
        dir: out

  MOVEF_32:
    desc: Move floating point value from SOURCE to DESTINATION
    value: 0x3E
    params:
      -
        name: "SOURCE"
        type: PARF
        dir: in
      -
        name: "DESTINATION"
        type: PAR32
        dir: out

  MOVEF_F:
    desc: Move floating point value from SOURCE to DESTINATION
    value: 0x3F
    params:
      -
        name: "SOURCE"
        type: PARF
        dir: in
      -
        name: "DESTINATION"
        type: PARF
        dir: out

  # cBranch "BRANCH"

  JR:
    desc: Branch unconditionally relative
    value: 0x40
    params:
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_FALSE:
    desc: Branch relative if FLAG is FALSE (zero)
    value: 0x41
    params:
      -
        name: "FLAG"
        type: PAR8
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_TRUE:
    desc: Branch relative if FLAG is TRUE (non zero)
    value: 0x42
    params:
      -
        name: "FLAG"
        type: PAR8
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_NAN:
    desc: Branch relative if VALUE is NAN (not a number)
    value: 0x43
    params:
      -
        name: "VALUE"
        type: PARF
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  # cCompare "COMPARE"

  CP_LT8:
    desc: If LEFT is less than RIGHT - set FLAG
    value: 0x44
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_LT16:
    desc: If LEFT is less than RIGHT - set FLAG
    value: 0x45
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_LT32:
    desc: If LEFT is less than RIGHT - set FLAG
    value: 0x46
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_LTF:
    desc: If LEFT is less than RIGHT - set FLAG
    value: 0x47
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_GT8:
    desc: If LEFT is greater than RIGHT - set FLAG
    value: 0x48
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_GT16:
    desc: If LEFT is greater than RIGHT - set FLAG
    value: 0x49
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_GT32:
    desc: If LEFT is greater than RIGHT - set FLAG
    value: 0x4A
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_GTF:
    desc: If LEFT is greater than RIGHT - set FLAG
    value: 0x4B
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_EQ8:
    desc: If LEFT is equal to RIGHT - set FLAG
    value: 0x4C
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_EQ16:
    desc: If LEFT is equal to RIGHT - set FLAG
    value: 0x4D
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_EQ32:
    desc: If LEFT is equal to RIGHT - set FLAG
    value: 0x4E
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_EQF:
    desc: If LEFT is equal to RIGHT - set FLAG
    value: 0x4F
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_NEQ8:
    desc: If LEFT is not equal to RIGHT - set FLAG
    value: 0x50
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_NEQ16:
    desc: If LEFT is not equal to RIGHT - set FLAG
    value: 0x51
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_NEQ32:
    desc: If LEFT is not equal to RIGHT - set FLAG
    value: 0x52
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_NEQF:
    desc: If LEFT is not equal to RIGHT - set FLAG
    value: 0x53
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_LTEQ8:
    desc: If LEFT is less than or equal to RIGHT - set FLAG
    value: 0x54
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_LTEQ16:
    desc: If LEFT is less than or equal to RIGHT - set FLAG
    value: 0x55
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_LTEQ32:
    desc: If LEFT is less than or equal to RIGHT - set FLAG
    value: 0x56
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_LTEQF:
    desc: If LEFT is less than or equal to RIGHT - set FLAG
    value: 0x57
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_GTEQ8:
    desc: If LEFT is greater than or equal to RIGHT - set FLAG
    value: 0x58
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_GTEQ16:
    desc: If LEFT is greater than or equal to RIGHT - set FLAG
    value: 0x59
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_GTEQ32:
    desc: If LEFT is greater than or equal to RIGHT - set FLAG
    value: 0x5A
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  CP_GTEQF:
    desc: If LEFT is greater than or equal to RIGHT - set FLAG
    value: 0x5B
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "FLAG"
        type: PAR8
        dir: out

  # Select "SELECT"

  SELECT8:
    desc: If FLAG is set move SOURCE1 to RESULT else move SOURCE2 to RESULT
    value: 0x5C
    params:
      -
        name: "FLAG"
        type: PAR8
        dir: in
      -
        name: "SOURCE1"
        type: PAR8
        dir: in
      -
        name: "SOURCE2"
        type: PAR8
        dir: in
      -
        name: "RESULT"
        type: PAR8
        dir: out

  SELECT16:
    desc: If FLAG is set move SOURCE1 to RESULT else move SOURCE2 to RESULT
    value: 0x5D
    params:
      -
        name: "FLAG"
        type: PAR8
        dir: in
      -
        name: "SOURCE1"
        type: PAR16
        dir: in
      -
        name: "SOURCE2"
        type: PAR16
        dir: in
      -
        name: "RESULT"
        type: PAR16
        dir: out

  SELECT32:
    desc: If FLAG is set move SOURCE1 to RESULT else move SOURCE2 to RESULT
    value: 0x5E
    params:
      -
        name: "FLAG"
        type: PAR8
        dir: in
      -
        name: "SOURCE1"
        type: PAR32
        dir: in
      -
        name: "SOURCE2"
        type: PAR32
        dir: in
      -
        name: "RESULT"
        type: PAR32
        dir: out

  SELECTF:
    desc: If FLAG is set move SOURCE1 to RESULT else move SOURCE2 to RESULT
    value: 0x5F
    params:
      -
        name: "FLAG"
        type: PAR8
        dir: in
      -
        name: "SOURCE1"
        type: PARF
        dir: in
      -
        name: "SOURCE2"
        type: PARF
        dir: in
      -
        name: "RESULT"
        type: PARF
        dir: out

  # VM

  SYSTEM:
    desc: Executes a system command
    value: 0x60
    params:
      -
        name: "COMMAND"
        desc: Command string (HND)
        type: PARS
        dir: in
      -
        name: "STATUS"
        desc: Return status of the command
        type: PAR32
        dir: out

  PORT_CNV_OUTPUT:
    desc: Convert encoded port to Layer and Bitfield
    value: 0x61
    params:
      -
        name: "PortIn"
        desc: EncodedPortNumber
        type: PAR32
        dir: in
      -
        name: "Layer"
        desc: Layer
        type: PAR8
        dir: out
      -
        name: "Bitfield"
        desc: Bitfield
        type: PAR8
        dir: out
      -
        name: "Inverted"
        desc: yes if left/right motor are inverted (ie, C&A)
        type: PAR8
        dir: out

  PORT_CNV_INPUT:
    desc: Convert encoded port to Layer and Port
    value: 0x62
    params:
      -
        name: "PortIn"
        desc: EncodedPortNumber
        type: PAR32
        dir: in
      -
        name: "Layer"
        desc: Layer
        type: PAR8
        dir: out
      -
        name: "PortOut"
        desc: 0-index port for use with VM commands
        type: PAR8
        dir: out

  NOTE_TO_FREQ:
    desc: Convert note to tone
    value: 0x63
    params:
      -
        name: "NOTE"
        desc: Note string (HND) (e.c. "C#4")
        type: PARS
        dir: in
      -
        name: "FREQ"
        desc: Frequency [Hz]
        type: PAR16
        dir: out

  # cBranch "BRANCH"

  JR_LT8:
    desc: Branch relative OFFSET if LEFT is less than RIGHT
    value: 0x64
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_LT16:
    desc: Branch relative OFFSET if LEFT is less than RIGHT
    value: 0x65
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_LT32:
    desc: Branch relative OFFSET if LEFT is less than RIGHT
    value: 0x66
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_LTF:
    desc: Branch relative OFFSET if LEFT is less than RIGHT
    value: 0x67
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_GT8:
    desc: Branch relative OFFSET if LEFT is greater than RIGHT
    value: 0x68
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_GT16:
    desc: Branch relative OFFSET if LEFT is greater than RIGHT
    value: 0x69
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_GT32:
    desc: Branch relative OFFSET if LEFT is greater than RIGHT
    value: 0x6A
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_GTF:
    desc: Branch relative OFFSET if LEFT is greater than RIGHT
    value: 0x6B
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_EQ8:
    desc: Branch relative OFFSET if LEFT is equal to RIGHT
    value: 0x6C
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_EQ16:
    desc: Branch relative OFFSET if LEFT is equal to RIGHT
    value: 0x6D
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_EQ32:
    desc: Branch relative OFFSET if LEFT is equal to RIGHT
    value: 0x6E
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_EQF:
    desc: Branch relative OFFSET if LEFT is equal to RIGHT
    value: 0x6F
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_NEQ8:
    desc: Branch relative OFFSET if LEFT is not equal to RIGHT
    value: 0x70
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_NEQ16:
    desc: Branch relative OFFSET if LEFT is not equal to RIGHT
    value: 0x71
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_NEQ32:
    desc: Branch relative OFFSET if LEFT is not equal to RIGHT
    value: 0x72
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_NEQF:
    desc: Branch relative OFFSET if LEFT is not equal to RIGHT
    value: 0x73
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_LTEQ8:
    desc: Branch relative OFFSET if LEFT is less than or equal to RIGHT
    value: 0x74
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_LTEQ16:
    desc: Branch relative OFFSET if LEFT is less than or equal to RIGHT
    value: 0x75
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_LTEQ32:
    desc: Branch relative OFFSET if LEFT is less than or equal to RIGHT
    value: 0x76
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_LTEQF:
    desc: Branch relative OFFSET if LEFT is less than or equal to RIGHT
    value: 0x77
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_GTEQ8:
    desc: Branch relative OFFSET if LEFT is greater than or equal to RIGHT
    value: 0x78
    params:
      -
        name: "LEFT"
        type: PAR8
        dir: in
      -
        name: "RIGHT"
        type: PAR8
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_GTEQ16:
    desc: Branch relative OFFSET if LEFT is greater than or equal to RIGHT
    value: 0x79
    params:
      -
        name: "LEFT"
        type: PAR16
        dir: in
      -
        name: "RIGHT"
        type: PAR16
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_GTEQ32:
    desc: Branch relative OFFSET if LEFT is greater than or equal to RIGHT
    value: 0x7A
    params:
      -
        name: "LEFT"
        type: PAR32
        dir: in
      -
        name: "RIGHT"
        type: PAR32
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  JR_GTEQF:
    desc: Branch relative OFFSET if LEFT is greater than or equal to RIGHT
    value: 0x7B
    params:
      -
        name: "LEFT"
        type: PARF
        dir: in
      -
        name: "RIGHT"
        type: PARF
        dir: in
      -
        name: "OFFSET"
        type: PARLAB
        dir: in

  # VM

  INFO:
    desc: Info functions entry
    value: 0x7C
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          SET_ERROR:
            value: 1
            params:
              -
                name: "NUMBER"
                desc: Error number
                type: PAR8
                dir: in
          GET_ERROR:
            value: 2
            params:
              -
                name: "NUMBER"
                desc: Error number
                type: PAR8
                dir: out
          ERRORTEXT:
            desc: Convert error number to text string
            value: 3
            params:
              -
                name: "NUMBER"
                desc: Error number
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Maximal length of string returned (-1 = no check)
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: Message
                type: PARS
                dir: out
          GET_VOLUME:
            value: 4
            params:
              -
                name: "VALUE"
                desc: Volume [0..100%]
                type: PAR8
                dir: out
          SET_VOLUME:
            value: 5
            params:
              -
                name: "VALUE"
                desc: Volume [0..100%]
                type: PAR8
                dir: in
          GET_MINUTES:
            value: 6
            params:
              -
                name: "VALUE"
                desc: Minutes to sleep [0..120min] (0 = never)
                type: PAR8
                dir: out
          SET_MINUTES:
            value: 7
            params:
              -
                name: "VALUE"
                desc: Minutes to sleep [0..120min] (0 = never)
                type: PAR8
                dir: in

  STRINGS:
    desc: String function entry
    value: 0x7D
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          GET_SIZE:
            desc: Get size of string (not including zero termination)
            value: 1
            params:
              -
                name: "SOURCE1"
                desc: String variable or handle to string
                type: PARS
                dir: in
              -
                name: "SIZE"
                desc: Size
                type: PAR16
                dir: out
          ADD:
            desc: Add two strings (SOURCE1 + SOURCE2 -> DESTINATION)
            value: 2
            params:
              -
                name: "SOURCE1"
                desc: String variable or handle to string
                type: PARS
                dir: in
              -
                name: "SOURCE2"
                desc: String variable or handle to string
                type: PARS
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out
          COMPARE:
            desc: Compare two strings
            value: 3
            params:
              -
                name: "SOURCE1"
                desc: String variable or handle to string
                type: PARS
                dir: in
              -
                name: "SOURCE2"
                desc: String variable or handle to string
                type: PARS
                dir: in
              -
                name: "RESULT"
                desc: Result (0 = not equal, 1 = equal)
                type: PAR8
                dir: out
          DUPLICATE:
            desc: Duplicate a string (SOURCE1 -> DESTINATION)
            value: 5
            params:
              -
                name: "SOURCE1"
                desc: String variable or handle to string
                type: PARS
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out
          VALUE_TO_STRING:
            desc: Convert floating point value to a string (strips trailing zeroes)
            value: 6
            params:
              -
                name: "VALUE"
                desc: 'Value to write (if "nan" op to 4 dashes is returned: "----")'
                type: PARF
                dir: in
              -
                name: "FIGURES"
                desc: >
                  Total number of figures inclusive decimal point (FIGURES < 0
                  -> Left adjusted)
                type: PAR8
                dir: in
              -
                name: "DECIMALS"
                desc: Number of decimals
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out
          STRING_TO_VALUE:
            value: 7
            params:
              -
                name: "SOURCE1"
                desc: String variable or handle to string
                type: PARS
                dir: in
              -
                name: "DESTINATION"
                desc: Value
                type: PARF
                dir: out
          STRIP:
            desc: Strip a string for spaces (SOURCE1 -> DESTINATION)
            value: 8
            params:
              -
                name: "SOURCE1"
                desc: String variable or handle to string
                type: PARS
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out
          NUMBER_TO_STRING:
            desc: Convert integer value to a string
            value: 9
            params:
              -
                name: "VALUE"
                desc: Value to write
                type: PAR16
                dir: in
              -
                name: "FIGURES"
                desc: Total number of figures
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out
          SUB:
            desc: >
              Return DESTINATION: a substring from SOURCE1 that starts were
              SOURCE2 ends
            value: 10
            params:
              -
                name: "SOURCE1"
                desc: String variable or handle to string
                type: PARS
                dir: in
              -
                name: "SOURCE2"
                desc: String variable or handle to string
                type: PARS
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out
          VALUE_FORMATTED:
            desc: Convert floating point value to a formatted string
            value: 11
            params:
              -
                name: "VALUE"
                desc: Value to write
                type: PARF
                dir: in
              -
                name: "FORMAT"
                desc: Format string variable or handle to string
                type: PARS
                dir: in
              -
                name: "SIZE"
                desc: Total size of destination string
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out
          NUMBER_FORMATTED:
            desc: Convert integer number to a formatted string
            value: 12
            params:
              -
                name: "VALUE"
                desc: Number to write
                type: PAR32
                dir: in
              -
                name: "FORMAT"
                desc: Format string variable or handle to string
                type: PARS
                dir: in
              -
                name: "SIZE"
                desc: Total size of destination string
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

  MEMORY_WRITE:
    desc: Write VM memory
    value: 0x7E
    params:
      -
        name: "PRGID"
        desc: Program slot number (must be running)
        type: PAR16
        dir: in
        enum: *SLOT
      -
        name: "OBJID"
        desc: Object id (zero means globals)
        type: PAR16
        dir: in
      -
        name: "OFFSET"
        desc: Offset (start from)
        type: PAR32
        dir: in
      -
        name: "SIZE"
        desc: Size (length of array to write)
        type: PAR32
        dir: in
      -
        name: "ARRAY"
        desc: First element of DATA8 array to write
        type: PAR8
        dir: in

  MEMORY_READ:
    desc: Read VM memory
    value: 0x7F
    params:
      -
        name: "PRGID"
        desc: Program slot number (must be running)
        type: PAR16
        dir: in
        enum: *SLOT
      -
        name: "OBJID"
        desc: Object id (zero means globals)
        type: PAR16
        dir: in
      -
        name: "OFFSET"
        desc: Offset (start from)
        type: PAR32
        dir: in
      -
        name: "SIZE"
        desc: Size (length of array to read)
        type: PAR32
        dir: in
      -
        name: "ARRAY"
        desc: First element of DATA8 array to receive data
        type: PAR8
        dir: out

  # cUi "UI"

  UI_FLUSH:
    desc: User Interface flush buffers
    value: 0x80
    params: []

  UI_READ:
    desc: User Interface read
    value: 0x81
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          GET_VBATT:
            value: 1
            params:
              -
                name: "VALUE"
                desc: Battery voltage [V]
                type: PARF
                dir: out

          GET_IBATT:
            value: 2
            params:
              -
                name: "VALUE"
                desc: Battery current [A]
                type: PARF
                dir: out

          GET_OS_VERS:
            desc: Get os version string
            value: 3
            params:
              -
                name: "LENGTH"
                desc: Maximal length of string returned (-1 = no check)
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

          GET_EVENT:
            value: 4
            params:
              -
                name: "EVENT"
                type: PAR8
                dir: out

          GET_TBATT:
            value: 5
            params:
              -
                name: "VALUE"
                desc: Battery temperature rise [C]
                type: PARF
                dir: out
            remarks: >
              This returns 0 on all known hardware. The EV3 has code to estimate
              battery temperature, but it is disabled.

          GET_IINT:
            value: 6
            params:
              -
                name: "IINT"
                desc: Integrated battery current [A]
                type: PARF
                dir: out

          GET_IMOTOR:
            value: 7
            params:
              -
                name: "VALUE"
                desc: Motor current [A]
                type: PARF
                dir: out
            remarks: >
              Only pre-release EV3 hardware returns a real value. Returns 0 on
              all known devices (they lack the necessary hardware).

          GET_STRING:
            desc: Get string from terminal
            value: 8
            params:
              -
                name: "LENGTH"
                desc: Maximal length of string returned
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

          GET_HW_VERS:
            desc: Get hardware version string
            value: 9
            params:
              -
                name: "LENGTH"
                desc: Maximal length of string returned (-1 = no check)
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

          GET_FW_VERS:
            desc: Get firmware version string
            value: 10
            params:
              -
                name: "LENGTH"
                desc: Maximal length of string returned (-1 = no check)
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

          GET_FW_BUILD:
            desc: Get firmware build string
            value: 11
            params:
              -
                name: "LENGTH"
                desc: Maximal length of string returned (-1 = no check)
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

          GET_OS_BUILD:
            desc: Get os build string
            value: 12
            params:
              -
                name: "LENGTH"
                desc: Maximal length of string returned (-1 = no check)
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

          GET_ADDRESS:
            value: 13
            params:
              -
                name: "VALUE"
                desc: Address from lms_cmdin
                type: PAR32
                dir: out

          GET_CODE:
            value: 14
            params:
              -
                name: "LENGTH"
                desc: Maximal code stream length
                type: PAR32
                dir: in
              -
                name: "IMAGE"
                desc: Address of image
                type: PAR32
                dir: out
              -
                name: "GLOBAL"
                desc: Address of global variables
                type: PAR32
                dir: out
              -
                name: "FLAG"
                desc: Flag tells if image is ready
                type: PAR8
                dir: out

          KEY:
            value: 15
            params:
              -
                name: "VALUE"
                desc: Key value from lms_cmdin (0 = no key)
                type: PAR8
                dir: out

          GET_SHUTDOWN:
            value: 16
            params:
              -
                name: "FLAG"
                type: PAR8
                dir: out

          GET_WARNING:
            value: 17
            params:
              -
                name: "WARNINGS"
                type: PAR8
                dir: out
                enum: *WARNING

          GET_LBATT:
            desc: Get battery level in %
            value: 18
            params:
              -
                name: "PCT"
                desc: Battery level [0..100]
                type: PAR8
                dir: out

          TEXTBOX_READ:
            value: 21
            params:
              -
                name: "TEXT"
                type: PAR8
                dir: in
              -
                name: "SIZE"
                type: PAR32
                dir: in
              -
                name: "DEL"
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                type: PAR8
                dir: in
              -
                name: "LINE"
                type: PAR16
                dir: in
              -
                name: "DESTINATION"
                type: PAR8
                dir: in

          GET_VERSION:
            desc: Get version string
            value: 26
            params:
              -
                name: "LENGTH"
                desc: Maximal length of string returned (-1 = no check)
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

          GET_IP:
            desc: Get IP address string
            value: 27
            params:
              -
                name: "LENGTH"
                desc: Maximal length of string returned (-1 = no check)
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

          GET_POWER:
            value: 29
            params:
              -
                name: "VBATT"
                desc: Battery voltage [V]
                type: PARF
                dir: out
              -
                name: "IBATT"
                desc: Battery current [A]
                type: PARF
                dir: out
              -
                name: "IINT"
                desc: Integrated battery current [A]
                type: PARF
                dir: out
              -
                name: "IMOTOR"
                desc: Motor current [A]
                type: PARF
                dir: out
            remarks: All known hardware returns 0 for IMOTOR.

          GET_SDCARD:
            value: 30
            params:
              -
                name: "STATE"
                desc: SD card present [0..1]
                type: PAR8
                dir: out
              -
                name: "TOTAL"
                desc: Kbytes in total
                type: PAR32
                dir: out
              -
                name: "FREE"
                desc: Kbytes free
                type: PAR32
                dir: out

          GET_USBSTICK:
            value: 31
            params:
              -
                name: "STATE"
                desc: USB stick present [0..1]
                type: PAR8
                dir: out
              -
                name: "TOTAL"
                desc: Kbytes in total
                type: PAR32
                dir: out
              -
                name: "FREE"
                desc: Kbytes free
                type: PAR32
                dir: out

  UI_WRITE:
    value: 0x82
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          WRITE_FLUSH:
            value: 1
            params: []

          FLOATVALUE:
            value: 2
            params:
              -
                name: "VALUE"
                desc: Value to write
                type: PARF
                dir: in
              -
                name: "FIGURES"
                desc: Total number of figures inclusive decimal point
                type: PAR8
                dir: in
              -
                name: "DECIMALS"
                desc: Number of decimals
                type: PAR8
                dir: in

          STAMP:
            value: 3
            params:
              -
                name: "VALUE"
                type: PAR8
                dir: in

          PUT_STRING:
            value: 8
            params:
              -
                name: "STRING"
                desc: String
                type: PARS
                dir: in

          VALUE8:
            value: 9
            params:
              -
                name: "VALUE"
                desc: Value to write
                type: PAR8
                dir: in

          VALUE16:
            value: 10
            params:
              -
                name: "VALUE"
                desc: Value to write
                type: PAR16
                dir: in

          VALUE32:
            value: 11
            params:
              -
                name: "VALUE"
                desc: Value to write
                type: PAR32
                dir: in

          VALUEF:
            value: 12
            params:
              -
                name: "VALUE"
                desc: Value to write
                type: PARF
                dir: in

          ADDRESS:
            value: 13
            params:
              -
                name: "VALUE"
                type: PAR32
                dir: out

          CODE:
            value: 14
            params:
              -
                name: "ARRAY"
                desc: Address of array to write
                type: PAR32
                dir: in
              -
                name: "LENGTH"
                desc: Length of array
                type: PAR32
                dir: in

          DOWNLOAD_END:
            desc: >
              Send to brick when file down load is completed (plays sound and
              updates the UI browser)
            value: 15
            params: []

          SCREEN_BLOCK:
            desc: >
              Set or clear screen block status (if screen blocked - all
              graphical screen action are disabled)
            value: 16
            params:
              -
                name: "STATUS"
                desc: Value [0 = normal,1 = blocked]
                type: PAR8
                dir: in

          ALLOW_PULSE:
            value: 17
            params:
              -
                name: "VALUE"
                type: PAR8
                dir: in

          SET_PULSE:
            value: 18
            params:
              -
                name: "VALUE"
                type: PAR8
                dir: in

          TEXTBOX_APPEND:
            desc: Append line of text at the bottom of a text box
            value: 21
            params:
              -
                name: "TEXT"
                desc: Text box text (must be zero terminated)
                type: PARS
                dir: in
              -
                name: "SIZE"
                desc: Maximal text size (including zero termination)
                type: PAR32
                dir: in
              -
                name: "DEL"
                desc: Delimiter code
                type: PAR8
                dir: in
                enum: *DEL
              -
                name: "SOURCE"
                desc: String variable or handle to string to append
                type: PARS
                dir: in

          SET_BUSY:
            value: 22
            params:
              -
                name: "VALUE"
                desc: Value [0,1]
                type: PAR8
                dir: in

          SET_TESTPIN:
            value: 24
            params:
              -
                name: "STATE"
                desc: Value [0 = low,1 = high]
                type: PAR8
                dir: in
            remarks: >
              This was only available on pre-release EV3 hardware.

          INIT_RUN:
            desc: Start the "Mindstorms" "run" screen
            value: 25
            params: []

          UPDATE_RUN:
            value: 26
            params: []

          LED:
            value: 27
            params:
              -
                name: "PATTERN"
                desc: LED Pattern
                type: PAR8
                dir: in
                enum: *LEDPATTERN

          POWER:
            value: 29
            params:
              -
                name: "VALUE"
                desc: Value [0,1]
                type: PAR8
                dir: in

          GRAPH_SAMPLE:
            desc: >
              Update tick to scroll graph horizontally in memory when drawing
              graph in "scope" mode
            value: 30
            params: []

          TERMINAL:
            value: 31
            params:
              -
                name: "STATE"
                desc: Value [0 = Off,1 = On]
                type: PAR8
                dir: in
    remarks: Dispatch status can change to BUSYBREAK and FAILBREAK

  UI_BUTTON:
    value: 0x83
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          SHORTPRESS:
            value: 1
            params:
              -
                name: "BUTTON"
                type: PAR8
                dir: in
                enum: *BUTTONTYPE
              -
                name: "STATE"
                desc: Button has been pressed (0 = no, 1 = yes)
                type: PAR8
                dir: out

          LONGPRESS:
            value: 2
            params:
              -
                name: "BUTTON"
                type: PAR8
                dir: in
                enum: *BUTTONTYPE
              -
                name: "STATE"
                desc: Button has been pressed (0 = no, 1 = yes)
                type: PAR8
                dir: out

          WAIT_FOR_PRESS:
            value: 3
            params: []

          FLUSH:
            value: 4
            params: []

          PRESS:
            value: 5
            params:
              -
                name: "BUTTON"
                type: PAR8
                dir: in
                enum: *BUTTONTYPE

          RELEASE:
            value: 6
            params:
              -
                name: "BUTTON"
                type: PAR8
                dir: in
                enum: *BUTTONTYPE

          GET_HORZ:
            value: 7
            params:
              -
                name: "VALUE"
                desc: Horizontal arrows data (-1 = left, +1 = right, 0 = not pressed)
                type: PAR16
                dir: out

          GET_VERT:
            value: 8
            params:
              -
                name: "VALUE"
                desc: Vertical arrows data (-1 = up, +1 = down, 0 = not pressed)
                type: PAR16
                dir: out

          PRESSED:
            value: 9
            params:
              -
                name: "BUTTON"
                type: PAR8
                dir: in
                enum: *BUTTONTYPE
              -
                name: "STATE"
                desc: Button is pressed (0 = no, 1 = yes)
                type: PAR8
                dir: out

          SET_BACK_BLOCK:
            value: 10
            params:
              -
                name: "BLOCKED"
                desc: Set UI back button blocked flag (0 = not blocked, 1 = blocked)
                type: PAR8
                dir: in

          GET_BACK_BLOCK:
            value: 11
            params:
              -
                name: "BLOCKED"
                desc: Get UI back button blocked flag (0 = not blocked, 1 = blocked)
                type: PAR8
                dir: out

          TESTSHORTPRESS:
            value: 12
            params:
              -
                name: "BUTTON"
                type: PAR8
                dir: in
                enum: *BUTTONTYPE
              -
                name: "STATE"
                desc: Button has been hold down(0 = no, 1 = yes)
                type: PAR8
                dir: out

          TESTLONGPRESS:
            value: 13
            params:
              -
                name: "BUTTON"
                type: PAR8
                dir: in
                enum: *BUTTONTYPE
              -
                name: "STATE"
                desc: Button has been hold down(0 = no, 1 = yes)
                type: PAR8
                dir: out

          GET_BUMBED:
            value: 14
            params:
              -
                name: "BUTTON"
                type: PAR8
                dir: in
                enum: *BUTTONTYPE
              -
                name: "STATE"
                desc: Button has been pressed (0 = no, 1 = yes)
                type: PAR8
                dir: out
            support:
              official: true
              xtended: true
              compat: false

          GET_BUMPED:
            value: 14
            params:
              -
                name: "BUTTON"
                type: PAR8
                dir: in
                enum: *BUTTONTYPE
              -
                name: "STATE"
                desc: Button has been pressed (0 = no, 1 = yes)
                type: PAR8
                dir: out
            support:
              official: false
              xtended: false
              compat: true
            remarks: Renamed from GET_BUMBED

          GET_CLICK:
            desc: Get and clear click sound request (internal use only)
            value: 15
            params:
              -
                name: "CLICK"
                desc: Click sound request (0 = no, 1 = yes)
                type: PAR8
                dir: out

  UI_DRAW:
    desc: UI draw
    value: 0x84
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          UPDATE:
            value: 0
            params: []

          CLEAN:
            value: 1
            params: []

          PIXEL:
            value: 2
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in

          LINE:
            value: 3
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "X1"
                desc: X end [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y1"
                desc: Y end [0..LCD_HEIGHT]
                type: PAR16
                dir: in

          CIRCLE:
            value: 4
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "R"
                desc: Radius
                type: PAR16
                dir: in

          TEXT:
            value: 5
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "STRING"
                desc: Text to draw
                type: PARS
                dir: in

          ICON:
            value: 6
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "TYPE"
                desc: Icon type (pool)
                type: PAR8
                enum: *ICONTYPE
                dir: in
              -
                name: "NO"
                desc: Icon number
                type: PAR8
                dir: in

          PICTURE:
            value: 7
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "IP"
                desc: Address of picture
                type: PAR32
                dir: in

          VALUE:
            value: 8
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "VALUE"
                desc: Value to write
                type: PARF
                dir: in
              -
                name: "FIGURES"
                desc: Total number of figures inclusive decimal point
                type: PAR8
                dir: in
              -
                name: "DECIMALS"
                desc: Number of decimals
                type: PAR8
                dir: in

          FILLRECT:
            value: 9
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "X1"
                desc: X size [0..LCD_WIDTH - X0]
                type: PAR16
                dir: in
              -
                name: "Y1"
                desc: Y size [0..LCD_HEIGHT - Y0]
                type: PAR16
                dir: in

          RECT:
            value: 10
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "X1"
                desc: X size [0..LCD_WIDTH - X0]
                type: PAR16
                dir: in
              -
                name: "Y1"
                desc: Y size [0..LCD_HEIGHT - Y0]
                type: PAR16
                dir: in
            support:
              official: true
              xtended: false
              compat: false

          RECTANGLE:
            value: 10
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "X1"
                desc: X size [0..LCD_WIDTH - X0]
                type: PAR16
                dir: in
              -
                name: "Y1"
                desc: Y size [0..LCD_HEIGHT - Y0]
                type: PAR16
                dir: in
            support:
              official: false
              xtended: true
              compat: true
            remarks: renamed from RECT

          NOTIFICATION:
            value: 11
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "ICON1"
                desc: First icon
                type: PAR8
                dir: in
              -
                name: "ICON2"
                desc: Second icon
                type: PAR8
                dir: in
              -
                name: "ICON3"
                desc: Third icon
                type: PAR8
                dir: in
              -
                name: "STRING"
                desc: Notification text
                type: PARS
                dir: in
              -
                name: "STATE"
                desc: State 0 = INIT
                type: PAR8
                dir: in

          QUESTION:
            value: 12
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "ICON1"
                desc: First icon
                type: PAR8
                dir: in
              -
                name: "ICON2"
                desc: Second icon
                type: PAR8
                dir: in
              -
                name: "STRING"
                desc: Question text
                type: PARS
                dir: in
              -
                name: "STATE"
                desc: State 0 = NO, 1 = OK
                type: PAR8
                dir: in
              -
                name: "OK"
                desc: Answer 0 = NO, 1 = OK, -1 = SKIP
                type: PAR8
                dir: out

          KEYBOARD:
            value: 13
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "ICON"
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Maximal string length
                type: PAR8
                dir: in
              -
                name: "DEFAULT"
                desc: Default string (0 = none)
                type: PARS
                dir: in
              -
                name: "CHARSET"
                desc: >
                  Internal use (must be a variable initialised by a "valid
                  character set")
                type: PAR8
                dir: in
              -
                name: "STRING"
                desc: Keyboard input
                type: PARS
                dir: out

          BROWSE:
            value: 14
            params:
              -
                name: "TYPE"
                desc: Browser Types Avaliable
                type: PAR8
                dir: in
                enum: *BROWSERTYPE
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "X1"
                desc: X size [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y1"
                desc: Y size [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "LENGTH"
                desc: Maximal string length
                type: PAR8
                dir: in
              -
                name: "ITEM_TYPE"
                desc: >
                  Item type (folder, byte code file, sound file, ...)(must be a
                  zero initialised variable)
                type: PAR8
                dir: out
              -
                name: "STRING"
                desc: Selected item name
                type: PARS
                dir: out

          VERTBAR:
            value: 15
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "X1"
                desc: X size [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y1"
                desc: Y size [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "MIN"
                desc: Minimum value
                type: PAR16
                dir: in
              -
                name: "MAX"
                desc: Maximum value
                type: PAR16
                dir: in
              -
                name: "ACT"
                desc: Actual value
                type: PAR16
                dir: in

          INVERSERECT:
            value: 16
            params:
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "X1"
                desc: X size [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y1"
                desc: Y size [0..LCD_HEIGHT]
                type: PAR16
                dir: in

          SELECT_FONT:
            value: 17
            params:
              -
                name: "TYPE"
                desc: Font type [0..2] font will change to 0 when UPDATE is called
                type: PAR8
                enum: *FONTTYPE
                dir: in

          TOPLINE:
            value: 18
            params:
              -
                name: "ENABLE"
                desc: Enable top status line (0 = disabled, 1 = enabled)
                type: PAR8
                dir: in

          FILLWINDOW:
            value: 19
            params:
              -
                name: "COLOR"
                desc: >
                  Color [BG_COLOR..FG_COLOR] (Color != BG_COLOR and FG_COLOR ->
                  test pattern)
                type: PAR8
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "Y1"
                desc: X size [0..LCD_HEIGHT]
                type: PAR16
                dir: in

          SCROLL:
            value: 20
            params:
              -
                name: "Y"
                type: PAR16
                dir: in

          DOTLINE:
            value: 21
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "X1"
                desc: X end [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y1"
                desc: Y end [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "ON"
                desc: On pixels
                type: PAR16
                dir: in
              -
                name: "OFF"
                desc: Off pixels
                type: PAR16
                dir: in

          VIEW_VALUE:
            value: 22
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "VALUE"
                desc: Value to write
                type: PARF
                dir: in
              -
                name: "FIGURES"
                desc: Total number of figures inclusive decimal point
                type: PAR8
                dir: in
              -
                name: "DECIMALS"
                desc: Number of decimals
                type: PAR8
                dir: in

          VIEW_UNIT:
            value: 23
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "VALUE"
                desc: Value to write
                type: PARF
                dir: in
              -
                name: "FIGURES"
                desc: Total number of figures inclusive decimal point
                type: PAR8
                dir: in
              -
                name: "DECIMALS"
                desc: Number of decimals
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Maximal string length
                type: PAR8
                dir: in
              -
                name: "STRING"
                desc: Text to draw
                type: PARS
                dir: in

          FILLCIRCLE:
            value: 24
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "R"
                desc: Radius
                type: PAR16
                dir: in

          STORE:
            value: 25
            params:
              -
                name: "NO"
                desc: Level number
                type: PAR8
                dir: in

          RESTORE:
            value: 26
            params:
              -
                name: "NO"
                desc: Level number (N=0 -> Saved screen just before run)
                type: PAR8
                dir: in

          ICON_QUESTION:
            value: 27
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "STATE"
                desc: State 0 = INIT
                type: PAR8
                dir: in
              -
                name: "ICONS"
                desc: bitfield with icons
                type: PAR32
                dir: in

          BMPFILE:
            value: 28
            params:
              -
                name: "COLOR"
                desc: Color [BG_COLOR..FG_COLOR]
                type: PAR8
                dir: in
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "Y0"
                desc: Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in

          POPUP:
            value: 29
            params:
              -
                name: "OPEN"
                type: PAR8
                dir: in

          GRAPH_SETUP:
            value: 30
            params:
              -
                name: "X0"
                desc: X start cord [0..LCD_WIDTH]
                type: PAR16
                dir: in
              -
                name: "X1"
                desc: X size [0..LCD_WIDTH - X0]
                type: PAR16
                dir: in
              -
                name: "ITEMS"
                desc: Number of datasets in arrays
                type: PAR8
                dir: in
              -
                name: "OFFSET"
                desc: DATA16 array containing Y start cord [0..LCD_HEIGHT]
                type: PAR16
                dir: in
              -
                name: "SPAN"
                desc: >
                  DATA16 array containing Y size [0..(LCD_HEIGHT -
                  hOFFSET[])]
                type: PAR16
                dir: in
              -
                name: "MIN"
                desc: DATAF array containing min values
                type: PARF
                dir: in
              -
                name: "MAX"
                desc: DATAF array containing max values
                type: PARF
                dir: in
              -
                name: "SAMPLE"
                desc: DATAF array containing sample values
                type: PARF
                dir: in

          GRAPH_DRAW:
            value: 31
            params:
              -
                name: "VIEW"
                desc: Dataset number to view (0=all)
                type: PAR8
                dir: in
              -
                name: "ACTUAL"
                type: PARF
                dir: out
              -
                name: "LOWEST"
                type: PARF
                dir: out
              -
                name: "HIGHEST"
                type: PARF
                dir: out
              -
                name: "AVERAGE"
                type: PARF
                dir: out

          TEXTBOX:
            value: 32
            params:
              -
                name: "X0"
                type: PAR16
                dir: in
              -
                name: "Y0"
                type: PAR16
                dir: in
              -
                name: "X1"
                type: PAR16
                dir: in
              -
                name: "Y1"
                type: PAR16
                dir: in
              -
                name: "TEXT"
                type: PAR8
                dir: in
              -
                name: "SIZE"
                type: PAR32
                dir: in
              -
                name: "DEL"
                type: PAR8
                dir: in
              -
                name: "LINE"
                type: PAR16
                dir: inout
    remarks: Dispatch status can change to BUSYBREAK


  # cTimer "TIMER"
  TIMER_WAIT:
    desc: Setup timer to wait TIME mS
    value: 0x85
    params:
      -
        name: "TIME"
        desc: Time to wait [mS]
        type: PAR32
        dir: in
      -
        name: "TIMER"
        desc: Variable used for timing
        type: PAR32
        dir: in
    remarks: Dispatch status unchanged

  TIMER_READY:
    desc: Wait for timer ready (wait for timeout)
    value: 0x86
    params:
      -
        name: "TIMER"
        desc: Variable used for timing
        type: PAR32
        dir: in
    remarks: Dispatch status can change to BUSYBREAK

  TIMER_READ:
    desc: Read free running timer [mS]
    value: 0x87
    params:
      -
        name: "TIME"
        desc: Value
        type: PAR32
        dir: out
    remarks: Dispatch status unchanged

  # VM

  BP0:
    desc: Display globals or object locals on terminal
    value: 0x88
    params: []
    remarks: Removes it self when done

  BP1:
    desc: Display globals or object locals on terminal
    value: 0x89
    params: []
    remarks: Removes it self when done

  BP2:
    desc: Display globals or object locals on terminal
    value: 0x8A
    params: []
    remarks: Removes it self when done

  BP3:
    desc: Display globals or object locals on terminal
    value: 0x8B
    params: []
    remarks: Removes it self when done

  BP_SET:
    desc: Set break point in byte code program
    value: 0x8C
    params:
      -
        name: "PRGID"
        desc: Program slot number
        type: PAR16
        dir: in
        enum: *SLOT
      -
        name: "NO"
        desc: Breakpoint number [0..2] (3 = trigger out on TP4)
        type: PAR8
        dir: in
      -
        name: "ADDRESS"
        desc: Address (Offset from start of image) (0 = remove breakpoint)
        type: PAR32
        dir: in
    remarks: TP4 is only present on pre-release EV3 hardware

  MATH:
    desc: Math function entry
    value: 0x8D
    params:
      -
        name: "CMD"
        desc: Specific command parameter
        type: SUBP
        dir: in
        commands:
          EXP:
            desc: e^x            r = expf(x)
            value: 1
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          MOD:
            desc: Modulo         r = fmod(x,y)
            value: 2
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "Y"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          FLOOR:
            desc: Floor          r = floor(x)
            value: 3
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          CEIL:
            desc: Ceiling        r = ceil(x)
            value: 4
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          ROUND:
            desc: Round          r = round(x)
            value: 5
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          ABS:
            desc: Absolute       r = fabs(x)
            value: 6
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          NEGATE:
            desc: Negate         r = 0.0 - x
            value: 7
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          SQRT:
            desc: Squareroot     r = sqrt(x)
            value: 8
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          LOG:
            desc: Log            r = log10(x)
            value: 9
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          LN:
            desc: Ln             r = log(x)
            value: 10
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          SIN:
            desc: Sin (R = sinf(X))
            value: 11
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          COS:
            desc: Cos (R = cos(X))
            value: 12
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          TAN:
            desc: Tan (R = tanf(X))
            value: 13
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          ASIN:
            desc: ASin (R = asinf(X))
            value: 14
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          ACOS:
            desc: ACos (R = acos(X))
            value: 15
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          ATAN:
            desc: ATan (R = atanf(X))
            value: 16
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          MOD8:
            desc: Modulo DATA8   r = x % y
            value: 17
            params:
              -
                name: "X"
                type: PAR8
                dir: in
              -
                name: "Y"
                type: PAR8
                dir: in
              -
                name: "R"
                type: PAR8
                dir: out

          MOD16:
            desc: Modulo DATA16  r = x % y
            value: 18
            params:
              -
                name: "X"
                type: PAR16
                dir: in
              -
                name: "Y"
                type: PAR16
                dir: in
              -
                name: "R"
                type: PAR16
                dir: out

          MOD32:
            desc: Modulo DATA32  r = x % y
            value: 19
            params:
              -
                name: "X"
                type: PAR32
                dir: in
              -
                name: "Y"
                type: PAR32
                dir: in
              -
                name: "R"
                type: PAR32
                dir: out

          POW:
            desc: Exponent       r = powf(x,y)
            value: 20
            params:
              -
                name: "X"
                type: PARF
                dir: in
              -
                name: "Y"
                type: PARF
                dir: in
              -
                name: "R"
                type: PARF
                dir: out

          TRUNC:
            desc: Truncate       r = (float)((int)(x * pow(y))) / pow(y)
            value: 21
            params:
              -
                name: "X"
                desc: Value
                type: PARF
                dir: in
              -
                name: "P"
                desc: Precision [0..9]
                type: PAR8
                dir: in
              -
                name: "R"
                desc: Result
                type: PARF
                dir: out

  RANDOM:
    desc: Get random value
    value: 0x8E
    params:
      -
        name: "MIN"
        desc: Minimum value
        type: PAR16
        dir: in
      -
        name: "MAX"
        desc: Maximum value
        type: PAR16
        dir: in
      -
        name: "VALUE"
        desc: value
        type: PAR16
        dir: out

  # cTimer "TIMER"

  TIMER_READ_US:
    desc: Read free running timer [uS]
    value: 0x8F
    params:
      -
        name: "TIME"
        desc: Value
        type: PAR32
        dir: out

  # cUi "UI"

  KEEP_ALIVE:
    desc: Keep alive
    value: 0x90
    params:
      -
        name: "MINUTES"
        desc: Number of minutes before sleep
        type: PAR8
        dir: out

  # cCom "COM"

  COM_READ:
    desc: Communication read
    value: 0x91
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          COMMAND:
            value: 14
            params:
              -
                name: "LENGTH"
                desc: Maximal code stream length
                type: PAR32
                dir: in
              -
                name: "IMAGE"
                desc: Address of image
                type: PAR32
                dir: out
              -
                name: "GLOBAL"
                desc: Address of global variables
                type: PAR32
                dir: out
              -
                name: "FLAG"
                desc: Flag that tells if image is ready
                type: PAR8
                dir: out
    remarks: Dispatch status unchanged

  COM_WRITE:
    desc: Communication write
    value: 0x92
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          REPLY:
            value: 14
            params:
              -
                name: "IMAGE"
                desc: Address of image
                type: PAR32
                dir: in
              -
                name: "GLOBAL"
                desc: Address of global variables
                type: PAR32
                dir: in
              -
                name: "STATUS"
                desc: Status
                type: PAR8
                dir: in
                enum: *RESULT
    remarks: Dispatch status unchanged

  # cSound "SOUND"

  SOUND:
    value: 0x94
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          BREAK:
            value: 0
            params: []

          TONE:
            value: 1
            params:
              -
                name: "VOLUME"
                desc: Volume [0..100]
                type: PAR8
                dir: in
              -
                name: "FREQUENCY"
                desc: Frequency [Hz]
                type: PAR16
                dir: in
              -
                name: "DURATION"
                desc: Duration [mS]
                type: PAR16
                dir: in

          PLAY:
            value: 2
            params:
              -
                name: "VOLUME"
                desc: Volume [0..100]
                type: PAR8
                dir: in
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in

          REPEAT:
            value: 3
            params:
              -
                name: "VOLUME"
                desc: Volume [0..100]
                type: PAR8
                dir: in
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in

          SERVICE:
            value: 4
            params: []
    remarks: Dispatch status unchanged

  SOUND_TEST:
    desc: Test if sound busy (playing file or tone
    value: 0x95
    params:
      -
        name: "BUSY"
        desc: Sound busy flag (0 = ready, 1 = busy)
        type: PAR8
        dir: out
    remarks: Dispatch status unchanged

  SOUND_READY:
    desc: Wait for sound ready (wait until sound finished)
    value: 0x96
    params: []
    remarks: Dispatch status can change to BUSYBREAK

  # cInput "INPUT"

  INPUT_SAMPLE:
    desc: Sample devices
    value: 0x97
    params:
      -
        name: "TIME"
        desc: Sample time [mS]
        type: PAR32
        dir: in
      -
        name: "SAMPLES"
        desc: Number of samples
        type: PAR16
        dir: in
      -
        name: "INIT"
        desc: >
          DATA16 array - to start/reset buffer -> fill array with -1
          otherwise don't change
        type: PAR16
        dir: in
      -
        name: "DEVICES"
        desc: DATA8 array with devices to sample
        type: PAR8
        dir: in
      -
        name: "TYPES"
        desc: DATA8 array with types
        type: PAR8
        dir: in
      -
        name: "MODES"
        desc: DATA8 array with modes
        type: PAR8
        dir: in
      -
        name: "DATASETS"
        desc: DATA8 array with data sets
        type: PAR8
        dir: in
      -
        name: "VALUES"
        desc: DATAF array with values
        type: PARF
        dir: out

  INPUT_DEVICE_LIST:
    desc: Read all available devices on input and output(chain)
    value: 0x98
    params:
      -
          name: "LENGTH"
          desc: Maximum number of device types (normally 32)
          type: PAR8
          dir: in
      -
          name: "ARRAY"
          desc: First element of DATA8 array of types (normally 32)
          type: PAR8
          enum: *TYPE
          dir: out
      -
          name: "CHANGED"
          desc: Changed status
          type: PAR8
          dir: out

  INPUT_DEVICE:
    desc: Read information about device
    value: 0x99
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          INSERT_TYPE:
            desc: Insert type in table
            value: 1
            params:
              -
                name: "TYPEDATA"
                desc: String variable or handle to string containing type data
                type: PARS
                dir: in
              -
                name: "FORCE"
                desc: Force type insert even if present (0 = don't force, 1 = force)
                type: PAR8
                dir: in
              -
                name: "ERROR"
                desc: Error if not Third Party type (0 = no error, 1 = error or known)
                type: PAR8
                dir: out

          GET_FORMAT:
            value: 2
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "DATASETS"
                desc: Number of data sets
                type: PAR8
                dir: out
              -
                name: "FORMAT"
                desc: Format [0..3]
                type: PAR8
                dir: out
              -
                name: "MODES"
                desc: Number of modes [1..8]
                type: PAR8
                dir: out
              -
                name: "VIEWS"
                desc: Number of views [1..8]
                type: PAR8
                dir: out

          CAL_MINMAX:
            desc: >
              Apply new minimum and maximum raw value for device type to be
              used in scaling PCT and SI
            value: 3
            params:
              -
                name: "TYPE"
                desc: Device type id from typedata.rcf
                type: PAR8
                enum: *TYPE
                dir: in
              -
                name: "MODE"
                desc: Device mode [0..7]
                type: PAR8
                dir: in
              -
                name: "CAL_MIN"
                desc: 32 bit raw minimum value (Zero)
                type: PAR32
                dir: in
              -
                name: "CAL_MAX"
                desc: 32 bit raw maximum value (Full scale)
                type: PAR32
                dir: in

          CAL_DEFAULT:
            desc: >
              Apply the default minimum and maximum raw value for device type
              to be used in scaling PCT and SI
            value: 4
            params:
              -
                name: "TYPE"
                desc: Device type id from typedata.rcf
                type: PAR8
                enum: *TYPE
                dir: in
              -
                name: "MODE"
                desc: Device mode [0..7]
                type: PAR8
                dir: in

          GET_TYPEMODE:
            desc: Get device type and mode
            value: 5
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "TYPE"
                desc: Device type id from typedata.rcf
                type: PAR8
                enum: *TYPE
                dir: out
              -
                name: "MODE"
                desc: Device mode [0..7]
                type: PAR8
                dir: out

          GET_SYMBOL:
            value: 6
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Maximal length of string returned (-1 = no check)
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

          CAL_MIN:
            desc: >
              Apply new minimum raw value for device type to be used in scaling
              PCT and SI
            value: 7
            params:
              -
                name: "TYPE"
                desc: Device type id from typedata.rcf
                type: PAR8
                enum: *TYPE
                dir: in
              -
                name: "MODE"
                desc: Device mode [0..7]
                type: PAR8
                dir: in
              -
                name: "CAL_MIN"
                desc: 32 bit raw minimum value (Zero)
                type: PAR32
                dir: in

          CAL_MAX:
            desc: >
              Apply new maximum raw value for device type to be used in scaling
              PCT and SI
            value: 8
            params:
              -
                name: "TYPE"
                desc: Device type id from typedata.rcf
                type: PAR8
                enum: *TYPE
                dir: in
              -
                name: "MODE"
                desc: Device mode [0..7]
                type: PAR8
                dir: in
              -
                name: "CAL_MAX"
                desc: 32 bit SI maximum value (Full scale)
                type: PAR32
                dir: in

          SETUP:
            desc: Generic setup/read IIC sensors
            value: 9
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "REPEAT"
                desc: Repeat setup/read "REPEAT" times (0 = infinite)
                type: PAR8
                dir: in
              -
                name: "TIME"
                desc: Time between repeats [10..1000mS] (0 = 10)
                type: PAR16
                dir: in
              -
                name: "WRITE_LEN"
                desc: No of bytes to write
                type: PAR8
                dir: in
              -
                name: "WRITE_DATA"
                desc: DATA8 array of data to write
                type: PAR8
                dir: in
              -
                name: "READ_LEN"
                desc: No of bytes to read
                type: PAR8
                dir: in
              -
                name: "READ_DATA"
                desc: DATA8 array to read into
                type: PAR8
                dir: out

          CLR_ALL:
            desc: Clear all devices (e.c. counters, angle, ...)
            value: 10
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in

          GET_RAW:
            value: 11
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "VALUE"
                desc: 32 bit raw value
                type: PAR32
                dir: out

          GET_CONNECTION:
            desc: Get device connection type (for test)
            value: 12
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "CONN"
                desc: Connection type
                type: PAR8
                dir: out
                enum: *CONN

          STOP_ALL:
            desc: Stop all devices (e.c. motors, ...)
            value: 13
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in

          SET_TYPEMODE:
            desc: Set new type and mode on existing devices
            value: 14
            params:
              -
                name: "TYPE"
                desc: Existing type
                type: PAR8
                enum: *TYPE
                dir: in
              -
                name: "MODE"
                desc: Existing mode
                type: PAR8
                dir: in
              -
                name: "NEWTYPE"
                desc: New type
                type: PAR8
                enum: *TYPE
                dir: in
              -
                name: "NEWMODE"
                desc: New mode
                type: PAR8
                dir: in
              -
                name: "ERROR"
                desc: >
                  Error if not Third Party type (0 = no error, 1 = error or not
                  found)
                type: PAR8
                dir: out
            remarks: >
              if TYPE==NEWTYPE and MODE==NEWMODE -> ERROR will be 0 if exists
              and nothing is changed

          READY_IIC:
            desc: Generic setup/read IIC sensors with result
            value: 15
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "WRLNG"
                desc: No of bytes to write
                type: PAR8
                dir: in
              -
                name: "WRDATA"
                desc: DATA8 array of data to write
                type: PAR8
                dir: in
              -
                name: "RDLNG"
                desc: No of bytes to read (if negative -> byte order is reversed)
                type: PAR8
                dir: in
              -
                name: "RDDATA"
                desc: DATA8 array to read into
                type: PAR8
                dir: out
              -
                name: "RESULT"
                desc: Write/read result (OK, FAIL)
                type: PAR8
                enum: *RESULT
                dir: out

          GET_NAME:
            value: 21
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Maximal length of string returned (-1 = no check)
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

          GET_MODENAME:
            value: 22
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "MODE"
                desc: Mode
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Maximal length of string returned (-1 = no check)
                type: PAR8
                dir: in
              -
                name: "DESTINATION"
                desc: String variable or handle to string
                type: PARS
                dir: out

          SET_RAW:
            value: 23
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "TYPE"
                desc: Device type id (0 = don't change type)
                type: PAR8
                enum: *TYPE
                dir: in
              -
                name: "VALUE"
                type: PAR32
                dir: in

          GET_FIGURES:
            value: 24
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "FIGURES"
                desc: Total number of figures (inclusive decimal point and decimals)
                type: PAR8
                dir: out
              -
                name: "DECIMALS"
                desc: Number of decimals
                type: PAR8
                dir: out

          GET_CHANGES:
            value: 25
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "VALUE"
                desc: Positive changes since last clear
                type: PARF
                dir: out

          CLR_CHANGES:
            desc: Clear changes and bumps
            value: 26
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in

          READY_PCT:
            value: 27
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "TYPE"
                desc: Device type id (0 = don't change type)
                type: PAR8
                enum: *TYPE
                dir: in
              -
                name: "MODE"
                desc: Device mode [0..7] (-1 = don't change mode)
                type: PAR8
                dir: in
              -
                name: "VALUES"
                desc: Number of return values
                type: PARNO
                dir: in

          READY_RAW:
            value: 28
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "TYPE"
                desc: Device type id (0 = don't change type)
                type: PAR8
                enum: *TYPE
                dir: in
              -
                name: "MODE"
                desc: Device mode [0..7] (-1 = don't change mode)
                type: PAR8
                dir: in
              -
                name: "VALUES"
                desc: Number of return values
                type: PARNO
                dir: in

          READY_SI:
            value: 29
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "TYPE"
                desc: Device type id (0 = don't change type)
                type: PAR8
                enum: *TYPE
                dir: in
              -
                name: "MODE"
                desc: Device mode [0..7] (-1 = don't change mode)
                type: PAR8
                dir: in
              -
                name: "VALUES"
                desc: Number of return values
                type: PARNO
                dir: in

          GET_MINMAX:
            value: 30
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "MIN"
                desc: Min SI value
                type: PARF
                dir: out
              -
                name: "MAX"
                desc: Max SI value
                type: PARF
                dir: out

          GET_BUMPS:
            value: 31
            params:
              -
                name: "LAYER"
                desc: Daisy chain layer number [0..3]
                type: PAR8
                dir: in
              -
                name: "NO"
                desc: Port number
                type: PAR8
                dir: in
              -
                name: "VALUE"
                desc: Negative changes since last clear
                type: PARF
                dir: out

  INPUT_READ:
    desc: Read device value in Percent
    value: 0x9A
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
      -
        name: "TYPE"
        desc: Device type id (0 = don't change type)
        type: PAR8
        enum: *TYPE
        dir: in
      -
        name: "MODE"
        desc: Device mode [0..7] (-1 = don't change mode)
        type: PAR8
        dir: in
      -
        name: "PCT"
        desc: Percent value from device
        type: PAR8
        dir: out

  INPUT_TEST:
    desc: Test if device busy (changing type or mode)
    value: 0x9B
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
      -
        name: "BUSY"
        desc: Device busy flag (0 = ready, 1 = busy)
        type: PAR8
        dir: out

  INPUT_READY:
    desc: Wait for device ready (wait for valid data)
    value: 0x9C
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
    remarks: Dispatch status can change to BUSYBREAK

  INPUT_READSI:
    desc: Read device value in SI units
    value: 0x9D
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
      -
        name: "TYPE"
        desc: Device type id (0 = don't change type)
        type: PAR8
        enum: *TYPE
        dir: in
      -
        name: "MODE"
        desc: Device mode [0..7] (-1 = don't change mode)
        type: PAR8
        dir: in
      -
        name: "SI"
        desc: SI unit value from device
        type: PARF
        dir: out

  INPUT_READEXT:
    desc: Read device value
    value: 0x9E
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
      -
        name: "TYPE"
        desc: Device type id (0 = don't change type)
        type: PAR8
        enum: *TYPE
        dir: in
      -
        name: "MODE"
        desc: Device mode [0..7] (-1 = don't change mode)
        type: PAR8
        dir: in
      -
        name: "FORMAT"
        desc: Format (PCT, RAW, SI ...)
        type: PAR8
        enum: *DATA_FORMAT
        dir: in
      -
        name: "VALUES"
        desc: Number of return values
        type: PARNO
        dir: in

  INPUT_WRITE:
    desc: Write data to device (only UART devices)
    value: 0x9F
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
      -
        name: "BYTES"
        desc: No of bytes to write [1..32]
        type: PAR8
        dir: in
      -
        name: "DATA"
        desc: First byte in DATA8 array to write
        type: PAR8
        dir: in
    remarks: Dispatch status can change to BUSYBREAK

  # cOutput "OUTPUT"

  OUTPUT_GET_TYPE:
    value: 0xA0
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
      -
        name: "TYPE"
        type: PAR8
        enum: *TYPE
        dir: out
    support:
      official: false
      xtended: false
      compat: false
    remarks: This bytecode is defined but not implemented

  OUTPUT_SET_TYPE:
    desc: Set output type
    value: 0xA1
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Output no [0..3]
        type: PAR8
        dir: in
      -
        name: "TYPE"
        desc: Device type id from typedata.rcf
        type: PAR8
        enum: *TYPE
        dir: out

  OUTPUT_RESET:
    desc: Resets the Tacho counts
    value: 0xA2
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in

  OUTPUT_STOP:
    desc: Stops the outputs
    value: 0xA3
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "BRAKE"
        desc: 0 = Coast, 1 = BRAKE
        type: PAR8
        dir: in

  OUTPUT_POWER:
    desc: Set power of the outputs
    value: 0xA4
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "POWER"
        desc: Power [-100..100%]
        type: PAR8
        dir: in

  OUTPUT_SPEED:
    desc: Set speed of the outputs
    value: 0xA5
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "SPEED"
        desc: Speed [-100..100%]
        type: PAR8
        dir: in

  OUTPUT_START:
    desc: Starts the outputs
    value: 0xA6
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in

  OUTPUT_POLARITY:
    desc: Set polarity of the outputs
    value: 0xA7
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "POL"
        desc: Polarity [-1,0,1]
        type: PAR8
        dir: in
    remarks: >
      Polarity:
        * -1 makes the motor run backward
        * 1 makes the motor run forward
        * 0 makes the motor run the opposite direction

  OUTPUT_READ:
    value: 0xA8
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: NO - Output no [0..3]
        type: PAR8
        dir: in
      -
        name: "SPEED"
        desc: Speed [-100..100%]
        type: PAR8
        dir: out
      -
        name: "TACHO"
        desc: Tacho pulses [-MAX .. +MAX]
        type: PAR32
        dir: out

  OUTPUT_TEST:
    desc: Testing if output is not used
    value: 0xA9
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "BUSY"
        desc: Output busy flag (0 = ready, 1 = Busy)
        type: PAR8
        dir: out

  OUTPUT_READY:
    desc: Wait for output ready (wait for completion)
    value: 0xAA
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
    remarks: >
      cOUTPUT_START command has no effect on this command.
      Dispatch status can change to BUSYBREAK.

  OUTPUT_POSITION:
    value: 0xAB
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "POS"
        type: PAR32
        dir: out
    support:
      official: false
      xtended: false
      compat: false
    remarks: This bytecode is defined but not implemented

  OUTPUT_STEP_POWER:
    desc: Set Ramp up, constant and rampdown steps and power of the outputs
    value: 0xAC
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "POWER"
        desc: Power [-100..100%]
        type: PAR8
        dir: in
      -
        name: "STEP1"
        desc: Tacho pulses [0..MAX]
        type: PAR32
        dir: in
      -
        name: "STEP2"
        desc: Tacho pulses [0..MAX]
        type: PAR32
        dir: in
      -
        name: "STEP3"
        desc: Tacho pulses [0..MAX]
        type: PAR32
        dir: in
      -
        name: "BRAKE"
        desc: 0 = Coast, 1 = BRAKE
        type: PAR8
        dir: in

  OUTPUT_TIME_POWER:
    desc: Set Ramp up, constant and rampdown steps and power of the outputs
    value: 0xAD
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "POWER"
        desc: Power [-100..100%]
        type: PAR8
        dir: in
      -
        name: "TIME1"
        desc: Time in Ms [0..MAX]
        type: PAR32
        dir: in
      -
        name: "TIME2"
        desc: Time in Ms [0..MAX]
        type: PAR32
        dir: in
      -
        name: "TIME3"
        desc: Time in Ms [0..MAX]
        type: PAR32
        dir: in
      -
        name: "BRAKE"
        desc: 0 = Coast, 1 = BRAKE
        type: PAR8
        dir: in

  OUTPUT_STEP_SPEED:
    desc: Set Ramp up, constant and rampdown steps and power of the outputs
    value: 0xAE
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "SPEED"
        desc: Speed [-100..100%]
        type: PAR8
        dir: in
      -
        name: "STEP1"
        desc: Tacho pulses [0..MAX]
        type: PAR32
        dir: in
      -
        name: "STEP2"
        desc: Tacho pulses [0..MAX]
        type: PAR32
        dir: in
      -
        name: "STEP3"
        desc: Tacho pulses [0..MAX]
        type: PAR32
        dir: in
      -
        name: "BRAKE"
        desc: 0 = Coast, 1 = BRAKE
        type: PAR8
        dir: in

  OUTPUT_TIME_SPEED:
    desc: Set Ramp up, constant and rampdown steps and power of the outputs
    value: 0xAF
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "SPEED"
        desc: Speed [-100..100%]
        type: PAR8
        dir: in
      -
        name: "TIME1"
        desc: Time in Ms [0..MAX]
        type: PAR32
        dir: in
      -
        name: "TIME2"
        desc: Time in Ms [0..MAX]
        type: PAR32
        dir: in
      -
        name: "TIME3"
        desc: Time in Ms [0..MAX]
        type: PAR32
        dir: in
      -
        name: "BRAKE"
        desc: 0 = Coast, 1 = BRAKE
        type: PAR8
        dir: in

  OUTPUT_STEP_SYNC:
    value: 0xB0
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "SPEED"
        desc: Speed [-100..100%]
        type: PAR8
        dir: in
      -
        name: "TURN"
        desc: Turn Ratio [-200..200]
        type: PAR16
        dir: in
      -
        name: "STEP"
        desc: Tacho Pulses [0..MAX]
        type: PAR32
        dir: in
      -
        name: "BRAKE"
        desc: 0 = Coast, 1 = BRAKE
        type: PAR8
        dir: in

  OUTPUT_TIME_SYNC:
    value: 0xB1
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "SPEED"
        desc: Speed [-100..100%]
        type: PAR8
        dir: in
      -
        name: "TURN"
        desc: Turn Ratio [-200..200]
        type: PAR16
        dir: in
      -
        name: "TIME"
        desc: Time in ms [0..MAX]
        type: PAR32
        dir: in
      -
        name: "BRAKE"
        desc: 0 = Coast, 1 = BRAKE
        type: PAR8
        dir: in

  OUTPUT_CLR_COUNT:
    desc: Clearing tacho count when used as sensor
    value: 0xB2
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in

  OUTPUT_GET_COUNT:
    desc: Getting tacho count when used as sensor - values are in shared memory
    value: 0xB3
    params:
      -
        name: "LAYER"
        desc: Daisy chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NOS"
        desc: Output bit field [0x00..0x0F]
        type: PAR8
        dir: in
      -
        name: "TACHO"
        desc: Tacho pulses [-MAX .. +MAX]
        type: PAR32
        dir: out

  OUTPUT_PRG_STOP:
    desc: Program stop
    value: 0xB4
    params: []

  # cMemory "MEMORY"

  FILE:
    desc: Memory file entry
    value: 0xC0
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          OPEN_APPEND:
            desc: Create file or open for append
            value: 0
            params:
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: out
            remarks: if name starts with '~','/' or '.' it is not from current folder

          OPEN_READ:
            desc: Open file for read
            value: 1
            params:
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: out
              -
                name: "SIZE"
                desc: File size (0 = not found)
                type: PAR32
                dir: out
            remarks: if name starts with '~','/' or '.' it is not from current folder

          OPEN_WRITE:
            desc: Create file for write
            value: 2
            params:
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: out
            remarks: if name starts with '~','/' or '.' it is not from current folder

          READ_VALUE:
            desc: Read floating point value from file
            value: 3
            params:
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: in
              -
                name: "DEL"
                desc: Delimiter code
                type: PAR8
                enum: *DEL
                dir: in
              -
                name: "VALUE"
                desc: Value read
                type: PARF
                dir: out

          WRITE_VALUE:
            desc: Write floating point value to file
            value: 4
            params:
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: in
              -
                name: "DEL"
                desc: Delimiter code
                type: PAR8
                enum: *DEL
                dir: in
              -
                name: "VALUE"
                desc: Value to write
                type: PARF
                dir: in
              -
                name: "FIGURES"
                desc: Total number of figures inclusive decimal point
                type: PAR8
                dir: in
              -
                name: "DECIMALS"
                desc: Number of decimals
                type: PAR8
                dir: in

          READ_TEXT:
            desc: Read text from file
            value: 5
            params:
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: in
              -
                name: "DEL"
                desc: Delimiter code
                type: PAR8
                enum: *DEL
                dir: in
              -
                name: "LENGTH"
                desc: Maximal string length
                type: PAR16
                dir: in
              -
                name: "TEXT"
                desc: Text to read
                type: PARS
                dir: out

          WRITE_TEXT:
            desc: Write text to file
            value: 6
            params:
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: in
              -
                name: "DEL"
                desc: Delimiter code
                type: PAR8
                enum: *DEL
                dir: in
              -
                name: "TEXT"
                desc: Text to write
                type: PARS
                dir: in

          CLOSE:
            desc: Close file
            value: 7
            params:
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: in

          LOAD_IMAGE:
            value: 8
            params:
              -
                name: "PRGID"
                desc: Program id
                type: PAR16
                enum: *SLOT
                dir: in
              -
                name: "NAME"
                desc: Image name
                type: PARS
                dir: in
              -
                name: "SIZE"
                desc: Size
                type: PAR32
                dir: out
              -
                name: "IP"
                desc: Address of image
                type: PAR32
                dir: out

          GET_HANDLE:
            desc: Get handle from filename
            value: 9
            params:
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: out
              -
                name: "WRITE"
                desc: Open for write / append (0 = no, 1 = yes)
                type: PAR8
                dir: out
            remarks: if name starts with '~','/' or '.' it is not from current folder

          MAKE_FOLDER:
            desc: Make folder if not present
            value: 10
            params:
              -
                name: "NAME"
                desc: Folder name
                type: PARS
                dir: in
              -
                name: "SUCCESS"
                desc: Success (0 = no, 1 = yes)
                type: PAR8
                dir: out

          GET_POOL:
            value: 11
            params:
              -
                name: "SIZE"
                desc: Size of pool
                type: PAR32
                dir: in
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: out
              -
                name: "IP"
                desc: Address of image
                type: PAR32
                dir: out

          SET_LOG_SYNC_TIME:
            value: 12
            params:
              -
                name: "TIME"
                desc: Sync time used in data log files
                type: PAR32
                dir: in
              -
                name: "TICK"
                desc: Sync tick used in data log files
                type: PAR32
                dir: in

          GET_FOLDERS:
            value: 13
            params:
              -
                name: "NAME"
                desc: Folder name (ex "../prjs/")
                type: PARS
                dir: in
              -
                name: "ITEMS"
                desc: No of sub folders
                type: PAR8
                dir: out

          GET_LOG_SYNC_TIME:
            value: 14
            params:
              -
                name: "TIME"
                desc: Sync time used in data log files
                type: PAR32
                dir: out
              -
                name: "TICK"
                desc: Sync tick used in data log files
                type: PAR32
                dir: out

          GET_SUBFOLDER_NAME:
            value: 15
            params:
              -
                name: "NAME"
                desc: Folder name (ex "../prjs/")
                type: PARS
                dir: in
              -
                name: "ITEM"
                desc: Sub folder index [1..ITEMS]
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Maximal string length
                type: PAR8
                dir: in
              -
                name: "STRING"
                desc: Subfolder name
                type: PARS
                dir: out

          WRITE_LOG:
            desc: Write time slot samples to file
            value: 16
            params:
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: in
              -
                name: "TIME"
                desc: Relative time in mS
                type: PAR32
                dir: in
              -
                name: "ITEMS"
                desc: Total number of values in this time slot
                type: PAR8
                dir: in
              -
                name: "VALUES"
                desc: DATAF array containing values
                type: PARF
                dir: in

          CLOSE_LOG:
            desc: Close data log file
            value: 17
            params:
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: in
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in

          GET_IMAGE:
            value: 18
            params:
              -
                name: "NAME"
                desc: Image name
                type: PARS
                dir: in
              -
                name: "PRGID"
                desc: Program id
                type: PAR16
                enum: *SLOT
                dir: in
              -
                name: "ITEM"
                desc: Sub folder index [1..ITEMS]
                type: PAR8
                dir: in
              -
                name: "IP"
                desc: Address of image
                type: PAR32
                dir: out

          GET_ITEM:
            value: 19
            params:
              -
                name: "NAME"
                desc: Name
                type: PARS
                dir: in
              -
                name: "STRING"
                desc: Item name
                type: PARS
                dir: in
              -
                name: "ITEM"
                desc: Sub folder index [1..ITEMS]
                type: PAR8
                dir: out

          GET_CACHE_FILES:
            value: 20
            params:
              -
                name: "ITEMS"
                desc: Number of files in cache
                type: PAR8
                dir: out

          PUT_CACHE_FILE:
            value: 21
            params:
              -
                name: "STRING"
                desc: File Name
                type: PARS
                dir: in

          GET_CACHE_FILE:
            value: 22
            params:
              -
                name: "ITEM"
                desc: Cache index [1..ITEMS]
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Maximal string length
                type: PAR8
                dir: in
              -
                name: "STRING"
                desc: File name
                type: PARS
                dir: out

          DEL_CACHE_FILE:
            value: 23
            params:
              -
                name: "STRING"
                desc: File name
                type: PARS
                dir: out

          DEL_SUBFOLDER:
            value: 24
            params:
              -
                name: "NAME"
                desc: Folder name (ex "../prjs/")
                type: PARS
                dir: in
              -
                name: "ITEM"
                desc: Sub folder index [1..ITEMS]
                type: PAR8
                dir: in

          GET_LOG_NAME:
            desc: Get the current open log filename
            value: 25
            params:
              -
                name: "LENGTH"
                desc: Max string length (don't care if NAME is a HND)
                type: PAR8
                dir: in
              -
                name: "NAME"
                desc: File name (character string or HND)
                type: PARS
                dir: in

          OPEN_LOG:
            desc: Create file for data logging
            value: 27
            params:
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in
              -
                name: "syncedTime"
                type: PAR32
                dir: in
              -
                name: "syncedTick"
                type: PAR32
                dir: in
              -
                name: "nowTick"
                type: PAR32
                dir: in
              -
                name: "sample_interval_in_ms"
                type: PAR32
                dir: in
              -
                name: "duration_in_ms"
                type: PAR32
                dir: in
              -
                name: "SDATA"
                desc: Sensor type data
                type: PARS
                dir: in
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: out
            remarks: if name starts with '~','/' or '.' it is not from current folder

          READ_BYTES:
            desc: Read a number of bytes from file
            value: 28
            params:
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: in
              -
                name: "BYTES"
                desc: Number of bytes to read
                type: PAR16
                dir: in
              -
                name: "DESTINATION"
                desc: First byte in byte stream
                type: PAR8
                dir: out

          WRITE_BYTES:
            desc: Write a number of bytes to file
            value: 29
            params:
              -
                name: "HANDLE"
                desc: Handle to file
                type: PARH
                dir: in
              -
                name: "BYTES"
                desc: Number of bytes to write
                type: PAR16
                dir: in
              -
                name: "SOURCE"
                desc: First byte in byte stream to write
                type: PAR8
                dir: in

          REMOVE:
            desc: Delete file
            value: 30
            params:
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in
            remarks: if name starts with '~','/' or '.' it is not from current folder

          MOVE:
            desc: Move file SOURCE to DEST
            value: 31
            params:
              -
                name: "SOURCE"
                desc: Source file name
                type: PARS
                dir: in
              -
                name: "DEST"
                desc: Destination file name
                type: PARS
                dir: in
            remarks: if name starts with '~','/' or '.' it is not from current folder

  ARRAY:
    desc: Array entry
    value: 0xC1
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          DELETE:
            value: 0
            params:
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
            support:
              official: true
              xtended: false
              compat: false

          DESTROY:
            value: 0
            params:
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
            support:
              official: false
              xtended: true
              compat: true
            remarks: renamed from DELETE

          CREATE8:
            value: 1
            params:
              -
                name: "ELEMENTS"
                desc: Number of elements
                type: PAR32
                dir: in
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: out

          CREATE16:
            value: 2
            params:
              -
                name: "ELEMENTS"
                desc: Number of elements
                type: PAR32
                dir: in
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: out

          CREATE32:
            value: 3
            params:
              -
                name: "ELEMENTS"
                desc: Number of elements
                type: PAR32
                dir: in
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: out

          CREATEF:
            value: 4
            params:
              -
                name: "ELEMENTS"
                desc: Number of elements
                type: PAR32
                dir: in
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: out

          RESIZE:
            value: 5
            params:
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
              -
                name: "ELEMENTS"
                desc: Total number of elements
                type: PAR32
                dir: in

          FILL:
            value: 6
            params:
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
              -
                name: "VALUE"
                desc: Value to write - type depends on type of array
                type: PARV
                dir: in

          COPY:
            value: 7
            params:
              -
                name: "HSOURCE"
                desc: Source array Handle
                type: PARH
                dir: in
              -
                name: "HDEST"
                desc: Destination array handle
                type: PARH
                dir: out

          INIT8:
            value: 8
            params:
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
              -
                name: "INDEX"
                desc: Index to element to write
                type: PAR32
                dir: in
              -
                name: "ELEMENTS"
                desc: Number of elements to write
                type: PAR32
                dir: in
              -
                name: "VALUES"
                desc: First value to write - type must be equal to the array type
                type: PARVALUES
                element-type: PAR8
                dir: in

          INIT16:
            value: 9
            params:
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
              -
                name: "INDEX"
                desc: Index to element to write
                type: PAR32
                dir: in
              -
                name: "ELEMENTS"
                desc: Number of elements to write
                type: PAR32
                dir: in
              -
                name: "VALUES"
                desc: First value to write - type must be equal to the array type
                type: PARVALUES
                element-type: PAR16
                dir: in

          INIT32:
            value: 10
            params:
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
              -
                name: "INDEX"
                desc: Index to element to write
                type: PAR32
                dir: in
              -
                name: "ELEMENTS"
                desc: Number of elements to write
                type: PAR32
                dir: in
              -
                name: "VALUES"
                desc: First value to write - type must be equal to the array type
                type: PARVALUES
                element-type: PAR32
                dir: in

          INITF:
            value: 11
            params:
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
              -
                name: "INDEX"
                desc: Index to element to write
                type: PAR32
                dir: in
              -
                name: "ELEMENTS"
                desc: Number of elements to write
                type: PAR32
                dir: in
              -
                name: "VALUES"
                desc: First value to write - type must be equal to the array type
                type: PARVALUES
                element-type: PARF
                dir: in

          SIZE:
            value: 12
            params:
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
              -
                name: "ELEMENTS"
                desc: Total number of elements in array
                type: PAR32
                dir: out
            support:
              official: true
              xtended: false
              compat: false

          SET_SIZE:
            value: 12
            params:
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
              -
                name: "ELEMENTS"
                desc: Total number of elements in array
                type: PAR32
                dir: out
            support:
              official: false
              xtended: true
              compat: true
            remarks: Renamed from SIZE

          READ_CONTENT:
            value: 13
            params:
              -
                name: "PRGID"
                desc: Program slot number (must be running)
                type: PAR16
                enum: *SLOT
                dir: in
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
              -
                name: "INDEX"
                desc: Index to first byte to read
                type: PAR32
                dir: in
              -
                name: "BYTES"
                desc: Number of bytes to read
                type: PAR32
                dir: in
              -
                name: "ARRAY"
                desc: First byte of array to receive data
                type: PAR8
                dir: out

          WRITE_CONTENT:
            value: 14
            params:
              -
                name: "PRGID"
                desc: Program slot number (must be running)
                type: PAR16
                enum: *SLOT
                dir: in
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
              -
                name: "INDEX"
                desc: Index to first byte to write
                type: PAR32
                dir: in
              -
                name: "BYTES"
                desc: Number of bytes to write
                type: PAR32
                dir: in
              -
                name: "ARRAY"
                desc: First byte of array to deliver data
                type: PAR8
                dir: in

          READ_SIZE:
            value: 15
            params:
              -
                name: "PRGID"
                desc: Program slot number (must be running)
                type: PAR16
                enum: *SLOT
                dir: in
              -
                name: "HANDLE"
                desc: Array handle
                type: PARH
                dir: in
              -
                name: "BYTES"
                desc: Number of bytes in array
                type: PAR32
                dir: out
    remarks: Dispatch status can change to BUSYBREAK or FAILBREAK

  ARRAY_WRITE:
    desc: Array element write
    value: 0xC2
    params:
      -
        name: "HANDLE"
        desc: Array handle
        type: PARH
        dir: in
      -
        name: "INDEX"
        desc: Index to first byte to write
        type: PAR32
        dir: in
      -
        name: "VALUE"
        desc: Value to write - type depends on type of array
        type: PARV
        dir: in
    remarks: Dispatch status can change to FAILBREAK

  ARRAY_READ:
    desc: Array element read
    value: 0xC3
    params:
      -
        name: "HANDLE"
        desc: Array handle
        type: PARH
        dir: in
      -
        name: "INDEX"
        desc: Index to first byte to write
        type: PAR32
        dir: in
      -
        name: "VALUE"
        desc: Value to read - type depends on type of array
        type: PARV
        dir: out
    remarks: Dispatch status can change to FAILBREAK

  ARRAY_APPEND:
    desc: Array element append
    value: 0xC4
    params:
      -
        name: "HANDLE"
        desc: Array handle
        type: PARH
        dir: in
      -
        name: "VALUE"
        desc: Value (new element) to append - type depends on type of array
        type: PARV
        dir: in
    remarks: Dispatch status can change to FAILBREAK

  MEMORY_USAGE:
    desc: Get memory usage
    value: 0xC5
    params:
      -
        name: "TOTAL"
        desc: Total memory [KB]
        type: PAR32
        dir: out
      -
        name: "FREE"
        desc: Free memory [KB]
        type: PAR32
        dir: out

  FILENAME:
    desc: Memory filename entry
    value: 0xC6
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          EXIST:
            desc: Test if file exists
            value: 16
            params:
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in
              -
                name: "FLAG"
                desc: Exist (0 = no, 1 = yes)
                type: PAR8
                dir: out
            remarks: if name starts with '~','/' or '.' it is not from current folder

          TOTALSIZE:
            desc: Calculate folder/file size
            value: 17
            params:
              -
                name: "NAME"
                desc: File name
                type: PARS
                dir: in
              -
                name: "FILES"
                desc: Total number of files
                type: PAR32
                dir: out
              -
                name: "SIZE"
                desc: Total folder size [KB]
                type: PAR32
                dir: out
            remarks: if name starts with '~','/' or '.' it is not from current folder

          SPLIT:
            desc: Split filename into Folder, name, extension
            value: 18
            params:
              -
                name: "FILENAME"
                desc: File name
                type: PARS
                dir: in
              -
                name: "LENGTH"
                desc: Maximal length for each of the below parameters
                type: PAR8
                dir: in
              -
                name: "FOLDER"
                desc: Folder name
                type: PARS
                dir: out
              -
                name: "NAME"
                desc: Name
                type: PARS
                dir: out
              -
                name: "EXT"
                desc: Extension
                type: PARS
                dir: out
            remarks: >
              Example: passing "../folder/subfolder/name.ext" in FILENAME will
              return "../folder/subfolder" in FOLDER, "name" in NAME and ".ext"
              in EXT.

          MERGE:
            desc: Merge Folder, name, extension into filename
            value: 19
            params:
              -
                name: "FOLDER"
                desc: Folder name
                type: PARS
                dir: in
              -
                name: "NAME"
                desc: Name
                type: PARS
                dir: in
              -
                name: "EXT"
                desc: Extension
                type: PARS
                dir: in
              -
                name: "LENGTH"
                desc: Maximal length for the below parameter
                type: PAR8
                dir: in
              -
                name: "FILENAME"
                desc: File name
                type: PARS
                dir: out
            remarks: >
              Example: passing "../folder/subfolder" in FOLDER, "name" in NAME
              and ".ext" in EXT will return "../folder/subfolder/name.ext" in
              FILENAME.

          CHECK:
            desc: Check filename
            value: 20
            params:
              -
                name: "FILENAME"
                desc: File name
                type: PARS
                dir: in
              -
                name: "OK"
                desc: Filename ok (0 = FAIL, 1 = OK)
                type: PAR8
                dir: out

          PACK:
            desc: Pack file or folder into "raf" container
            value: 21
            params:
              -
                name: "FILENAME"
                desc: File name
                type: PARS
                dir: in
            remarks: .raf is the same as .tar.gz

          UNPACK:
            desc: Unpack "raf" container
            value: 22
            params:
              -
                name: "FILENAME"
                desc: File name
                type: PARS
                dir: in
            remarks: .raf is the same as .tar.gz

          GET_FOLDERNAME:
            desc: Get current folder name
            value: 23
            params:
              -
                name: "LENGTH"
                desc: Maximal length for the below parameter
                type: PAR8
                dir: in
              -
                name: "FOLDERNAME"
                desc: Folder name
                type: PARS
                dir: out

  # cMove "READ"

  READ8:
    desc: Read 8 bit value from SOURCE[INDEX] to DESTINATION
    value: 0xC8
    params:
      -
        name: "SOURCE"
        desc: First value in array of values
        type: PAR8
        dir: in
      -
        name: "INDEX"
        desc: Index to array member to read
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        desc: Variable to receive read value
        type: PAR8
        dir: out

  READ16:
    desc: Read 16 bit value from SOURCE[INDEX] to DESTINATION
    value: 0xC9
    params:
      -
        name: "SOURCE"
        desc: First value in array of values
        type: PAR16
        dir: in
      -
        name: "INDEX"
        desc: Index to array member to read
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        desc: Variable to receive read value
        type: PAR16
        dir: out

  READ32:
    desc: Read 32 bit value from SOURCE[INDEX] to DESTINATION
    value: 0xCA
    params:
      -
        name: "SOURCE"
        desc: First value in array of values
        type: PAR32
        dir: in
      -
        name: "INDEX"
        desc: Index to array member to read
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        desc: Variable to receive read value
        type: PAR32
        dir: out

  READF:
    desc: Read floating point value from SOURCE[INDEX] to DESTINATION
    value: 0xCB
    params:
      -
        name: "SOURCE"
        desc: First value in array of values
        type: PARF
        dir: in
      -
        name: "INDEX"
        desc: Index to array member to read
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        desc: Variable to receive read value
        type: PARF
        dir: out

  # cMove "WRITE"

  WRITE8:
    desc: Write 8 bit value from SOURCE to DESTINATION[INDEX]
    value: 0xCC
    params:
      -
        name: "SOURCE"
        desc: Variable to write
        type: PAR8
        dir: in
      -
        name: "INDEX"
        desc: Index to array member to write
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        desc: Array to receive write value
        type: PAR8
        dir: in

  WRITE16:
    desc: Write 16 bit value from SOURCE to DESTINATION[INDEX]
    value: 0xCD
    params:
      -
        name: "SOURCE"
        desc: Variable to write
        type: PAR16
        dir: in
      -
        name: "INDEX"
        desc: Index to array member to write
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        desc: Array to receive write value
        type: PAR16
        dir: in

  WRITE32:
    desc: Write 32 bit value from SOURCE to DESTINATION[INDEX]
    value: 0xCE
    params:
      -
        name: "SOURCE"
        desc: Variable to write
        type: PAR32
        dir: in
      -
        name: "INDEX"
        desc: Index to array member to write
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        desc: Array to receive write value
        type: PAR32
        dir: in

  WRITEF:
    desc: Write floating point value from SOURCE to DESTINATION[INDEX]
    value: 0xCF
    params:
      -
        name: "SOURCE"
        desc: Variable to write
        type: PARF
        dir: in
      -
        name: "INDEX"
        desc: Index to array member to write
        type: PAR8
        dir: in
      -
        name: "DESTINATION"
        desc: Array to receive write value
        type: PARF
        dir: in

  # cCom "COM"

  COM_READY:
    desc: Test if communication is busy
    value: 0xD0
    params:
      -
        name: "HARDWARE"
        desc: Hardware transport layer
        type: PAR8
        dir: in
        enum: *HWTYPE
      -
        name: "NAME"
        desc: Name of the remote/own device
        type: PAR8
        dir: in
    remarks: >
      Dispatch status may be set to BUSYBREAK.
      If name is 0 then own adapter status is evaluated.

  COM_READDATA:
    value: 0xD1
    desc: This code does not exist in normal program
    params:
      -
        name: "VALUE1"
        type: PAR8
        dir: in
      -
        name: "VALUE2"
        type: PAR8
        dir: in
      -
        name: "VALUE3"
        type: PAR16
        dir: in
      -
        name: "VALUE4"
        type: PAR8
        dir: in
    remarks: Dispatch status changes to INSTRBREAK

  COM_WRITEDATA:
    value: 0xD2
    desc: This code does not exist in normal program
    params:
      -
        name: "VALUE1"
        type: PAR8
        dir: in
      -
        name: "VALUE2"
        type: PAR8
        dir: in
      -
        name: "VALUE3"
        type: PAR16
        dir: in
      -
        name: "VALUE4"
        type: PAR8
        dir: in
    remarks: Dispatch status changes to INSTRBREAK

  COM_GET:
    desc: Communication get entry
    value: 0xD3
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          GET_ON_OFF:
            desc: Get active state
            value: 1
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ACTIVE"
                desc: Active [0,1]
                type: PAR8
                dir: out

          GET_VISIBLE:
            desc: Get visibility state
            value: 2
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "VISIBLE"
                desc: Visible [0,1]
                type: PAR8
                dir: out

          GET_RESULT:
            desc: Get status.
            value: 4
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ITEM"
                desc: Name index
                type: PAR8
                dir: in
              -
                name: "RESULT"
                desc: Results
                type: PAR8
                dir: out
                enum: *RESULT
            remarks: >
              This command gets the result of the command that is being executed.
              This could be a search or a connection request.

          GET_PIN:
            desc: Get pin code.
            value: 5
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "NAME"
                desc: Name
                type: PARS
                dir: in
              -
                name: "LENGTH"
                desc: Max length of returned string
                type: PAR8
                dir: in
              -
                name: "PINCODE"
                desc: Pin code
                type: PARS
                dir: out
            remarks: For now "1234" is returned

          LIST_STATE:
            desc: >
              Gets a list state value. This can be compared to previous values
              to determine if items are added or removed from a list since the
              last call.
            value: 7
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "STATE"
                desc: Value that represents the current state
                type: PAR16
                dir: out
            support:
              official: false
              xtended: false
              compat: true

          SEARCH_ITEMS:
            desc: Get number of item from search.
            value: 8
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ITEMS"
                desc: No of items in seach list
                type: PAR8
                dir: out
            remarks: >
              After a search has been completed, SEARCH ITEMS will return the
              number of remote devices found.

          SEARCH_ITEM:
            desc: Get search item informations.
            value: 9
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ITEM"
                desc: Item - index in search list
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Max length of returned string
                type: PAR8
                dir: in
              -
                name: "NAME"
                desc: Name
                type: PARS
                dir: out
              -
                name: "PAIRED"
                desc: Paired [0,1]
                type: PAR8
                dir: out
              -
                name: "CONNECTED"
                desc: Connected [0,1]
                type: PAR8
                dir: out
              -
                name: "TYPE"
                desc: Bluetooth Device Type
                type: PAR8
                dir: out
                enum: *BTTYPE
              -
                name: "VISIBLE"
                desc: Visible [0,1]
                type: PAR8
                dir: out
            remarks: Used to retrieve the item information in the search list

          FAVOUR_ITEMS:
            desc: Get no of item in favourite list.
            value: 10
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ITEMS"
                desc: No of items in seach list
                type: PAR8
                dir: out
            remarks: >
              The number of paired devices, not necessarily visible or present
              devices

          FAVOUR_ITEM:
            desc: Get favourite item information.
            value: 11
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ITEM"
                desc: Item - index in favourite list
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Max length of returned string
                type: PAR8
                dir: in
              -
                name: "NAME"
                desc: Name
                type: PARS
                dir: out
              -
                name: "PAIRED"
                desc: Paired [0,1]
                type: PAR8
                dir: out
              -
                name: "CONNECTED"
                desc: Connected [0,1]
                type: PAR8
                dir: out
              -
                name: "TYPE"
                desc: Bluetooth Device Type
                type: PAR8
                enum: *BTTYPE
                dir: out
            remarks: >
              Used to retrieve the item information in the favourite list. All
              items in the favourite list are paired devices.

          GET_ID:
            desc: Get bluetooth address information
            value: 12
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "LENGTH"
                desc: Max length of returned string
                type: PAR8
                dir: in
              -
                name: "STRING"
                desc: Bluetooth address
                type: PARS
                dir: out

          GET_BRICKNAME:
            desc: Gets the name of the brick
            value: 13
            params:
              -
                name: "LENGTH"
                desc: Max length of returned string
                type: PAR8
                dir: in
              -
                name: "NAME"
                desc: Brick name
                type: PARS
                dir: out

          GET_NETWORK:
            desc: Gets the network information. WIFI only
            value: 14
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "LENGTH"
                desc: Max length of returned string
                type: PAR8
                dir: in
              -
                name: "NAME"
                desc: Access point (AP) name
                type: PARS
                dir: out
              -
                name: "MAC"
                desc: MAC address
                type: PARS
                dir: out
              -
                name: "IP"
                desc: IP address
                type: PARS
                dir: out

          GET_PRESENT:
            desc: Return if hardare is present. WIFI only
            value: 15
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "OK"
                desc: Present [0,1]
                type: PAR8
                dir: out

          GET_ENCRYPT:
            desc: Returns the encryption mode of the hardware. WIFI only
            value: 16
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ITEM"
                desc: Item - index in favourite list
                type: PAR8
                dir: in
              -
                name: "TYPE"
                desc: Encryption type
                type: PAR8
                dir: out
                enum: *ENCRYPT

          CONNEC_ITEMS:
            value: 17
            params:
              -
                name: "HARDWARE"
                type: PAR8
                dir: in
              -
                name: "ITEMS"
                type: PAR8
                dir: out

          CONNEC_ITEM:
            value: 18
            params:
              -
                name: "HARDWARE"
                type: PAR8
                dir: in
              -
                name: "ITEM"
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                type: PAR8
                dir: in
              -
                name: "NAME"
                type: PAR8
                dir: in
              -
                name: "TYPE"
                type: PAR8
                dir: out

          GET_INCOMING:
            desc: Returns the encryption mode of the hardware. WIFI only
            value: 19
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "LENGTH"
                desc: Max length of returned string
                type: PAR8
                dir: in
              -
                name: "NAME"
                desc: Name
                type: PARS
                dir: in
              -
                name: "TYPE"
                desc: Encryption type
                type: PAR8
                enum: *ENCRYPT
                dir: out

          GET_MODE2:
            value: 20
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ACTIVE"
                desc: Active [0,1], 1 = on, 0 = off
                type: PAR8
                dir: out
    remarks: Dispatch status can return FAILBREAK

  COM_SET:
    desc: Communication set entry
    value: 0xD4
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          SET_ON_OFF:
            desc: Set active state, either on or off
            value: 1
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ACTIVE"
                desc: Active [0,1], 1 = on, 0 = off
                type: PAR8
                dir: in

          SET_VISIBLE:
            desc: Set visibility state - Only available for bluetooth
            value: 2
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "VISIBLE"
                desc: Visible [0,1], 1 = visible, 0 = invisible
                type: PAR8
                dir: in

          SET_SEARCH:
            desc: Starts or or stops the search for remote devices
            value: 3
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "SEARCH"
                desc: Search [0,1] 0 = stop search, 1 = start search
                type: PAR8
                dir: in

          SET_PIN:
            desc: Set pin code.
            value: 5
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "NAME"
                desc: Name
                type: PARS
                dir: in
              -
                name: "PINCODE"
                desc: Pin code
                type: PARS
                dir: in
            remarks: >
              Set the pincode for a remote device. Used when requested by
              bluetooth. Not at this point possible by user program.

          SET_PASSKEY:
            desc: Set pin code.
            value: 6
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ACCEPT"
                desc: Acceptance [0,1] 0 = reject 1 = accept
                type: PAR8
                dir: in
            remarks: >
              Set the pincode for a remote device. Used when requested by
              bluetooth. Not at this point possible by user program.

          SET_CONNECTION:
            desc: >
              Initiate or close the connection request to a remote device by
              the specified name.
            value: 7
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "NAME"
                desc: Name
                type: PARS
                dir: in
              -
                name: "CONNECTION"
                desc: Connect [0,1], 1 = Connect, 0 = Disconnect
                type: PAR8
                dir: in

          SET_BRICKNAME:
            desc: Sets the name of the brick
            value: 8
            params:
              -
                name: "NAME"
                desc: Name
                type: PARS
                dir: in

          SET_MOVEUP:
            desc: Moves the index in list one step up.
            value: 9
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ITEM"
                desc: Index in table
                type: PAR8
                dir: in
            remarks: Used to re-arrange WIFI list. Only used for WIFI.

          SET_MOVEDOWN:
            desc: Moves the index in list one step down.
            value: 10
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ITEM"
                desc: Index in table
                type: PAR8
                dir: in
            remarks: Used to re-arrange WIFI list. Only used for WIFI.

          SET_ENCRYPT:
            desc: Sets the encryption type for an item in a list.
            value: 11
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ITEM"
                desc: Index in table
                type: PAR8
                dir: in
              -
                name: "ENCRYPT"
                desc: Encryption type
                type: PAR8
                dir: in
            remarks: Only used for WIFI.

          SET_SSID:
            desc: Sets the SSID name. Only used for WIFI
            value: 12
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "NAME"
                desc: Name
                type: PARS
                dir: in

          SET_MODE2:
            desc: Set active mode state, either active or not
            value: 13
            params:
              -
                name: "HARDWARE"
                desc: Hardware Transport Layer
                type: PAR8
                dir: in
                enum: *HWTYPE
              -
                name: "ACTIVE"
                desc: Active [0,1], 1 = on, 0 = off
                type: PAR8
                dir: in
    remarks: Dispatch status can return FAILBREAK

  COM_TEST:
    desc: Test if communication is busy
    value: 0xD5
    params:
      -
        name: "HARDWARE"
        desc: Hardware transport layer
        type: PAR8
        dir: in
        enum: *HWTYPE
      -
        name: "NAME"
        desc: Name of the remote/own device
        type: PAR8
        dir: in
      -
        name: "BUSY"
        desc: Busy flag
        type: PAR8
        dir: out
    remarks: >
      Dispatch status is set to NOBREAK.
      If name is 0 then own adapter busy status is returned.

  COM_REMOVE:
    desc: Removes a know remote device from the brick
    value: 0xD6
    params:
      -
        name: "HARDWARE"
        type: PAR8
        dir: in
        enum: *HWTYPE
      -
        name: "REMOTE_NAME"
        desc: Pointer to remote brick name
        type: PARS
        dir: in
    remarks: Dispatch status can return FAILBREAK

  COM_WRITEFILE:
    desc: Sends a file or folder to remote brick.
    value: 0xD7
    params:
      -
        name: "HARDWARE"
        type: PAR8
        dir: in
        enum: *HWTYPE
      -
        name: "REMOTE_NAME"
        desc: Pointer to remote brick name
        type: PARS
        dir: in
      -
        name: "FILE_NAME"
        desc: File/folder name to send
        type: PARS
        dir: in
      -
        name: "FILE_TYPE"
        desc: File or folder type to send
        type: PAR8
        dir: in
    remarks: Dispatch status can return FAILBREAK

  MAILBOX_OPEN:
    desc: Open a mail box on the brick
    value: 0xD8
    params:
      -
        name: "NO"
        desc: Reference ID for the mailbox. Maximum number of mailboxes is 30
        type: PAR8
        dir: in
      -
        name: "BOXNAME"
        desc: Zero terminated string with the mailbox name
        type: PAR8
        dir: in
      -
        name: "TYPES"
        desc: Data type of the content of the mailbox
        type: PAR8
        dir: in
        enum: *DATA_FORMAT
      -
        name: "FIFOSIZE"
        desc: Not used
        type: PAR8
        dir: in
      -
        name: "VALUES"
        desc: Number of values of the type (specified by TYPE).
        type: PAR8
        dir: in
    remarks: >
      If data type DATA_S is selected then it requires that a zero terminated
      string is sent. Maximum mailbox size is 250 bytes. I.e. if type is string
      (DATA_S) then there can only be 1 string of maximum 250 bytes (incl. zero
      termination), or if array (DATA_A), then array size cannot be larger than
      250 bytes.

      Dispatch status can return FAILBREAK

  MAILBOX_WRITE:
    desc: Write to mailbox in remote brick
    value: 0xD9
    params:
      -
        name: "BRICKNAME"
        desc: Zero terminated string name of the receiving brick
        type: PAR8
        dir: in
      -
        name: "HARDWARE"
        desc: Transportation media
        type: PAR8
        dir: in
        enum: *HWTYPE
      -
        name: "BOXNAME"
        desc: Zero terminated string name of the receiving mailbox
        type: PAR8
        dir: in
      -
        name: "TYPE"
        desc: Data type of the values
        type: PAR8
        dir: in
        enum: *DATA_FORMAT
      -
        name: "VALUES"
        desc: Number of values of the specified type to send
        type: PARNO
        dir: in
    remarks: >
      If Brick name is left empty (0) then all connected devices will receive
      the mailbox message. If string type (DATA_S) data is to be transmitted
      then a zero terminated string is expected. If array type data (DATA_A)
      is to be transmitted then the number of bytes to be sent is equal to the
      array size.

      Dispatch status can return FAILBREAK.

  MAILBOX_READ:
    desc: Read data from mailbox specified by NO
    value: 0xDA
    params:
      -
        name: "NO"
        desc: Messagebox ID of the message box you want to read
        type: PAR8
        dir: in
      -
        name: "LENGTH"
        desc: Maximum bytes to be read
        type: PAR8
        dir: in
      -
        name: "VALUES"
        desc: Number of value to read
        type: PARNO
        dir: in
    remarks: >
      Returns (Type specified in open) VALUE - Data from the message box
      The type of Value is specified by mailbox open byte code.

      Dispatch status can return FAILBREAK.

  MAILBOX_TEST:
    desc: Tests if new message has been read
    value: 0xDB
    params:
      -
        name: "NO"
        desc: Reference ID mailbox number
        type: PAR8
        dir: in
      -
        name: "BUSY"
        desc: If Busy = TRUE then no new messages are received
        type: PAR8
        dir: out
    remarks: Dispatch status can return FAILBREAK

  MAILBOX_READY:
    desc: Waiting from message to be read
    value: 0xDC
    params:
      -
        name: "NO"
        desc: Reference ID mailbox number
        type: PAR8
        dir: in
    remarks: Dispatch status can return FAILBREAK

  MAILBOX_CLOSE:
    desc: Closes mailbox indicated by NO
    value: 0xDD
    params:
      -
        name: "NO"
        desc: Reference ID mailbox number
        type: PAR8
        dir: in
    remarks: Dispatch status can return FAILBREAK

  # Extended opcodes

  INPUT_SET_CONN:
    desc: Set the connection type for a specific port
    value: 0xE0
    params:
      -
        name: "LAYER"
        desc: Chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
      -
        name: "CONN"
        desc: Connection type (CONN_NXT_IIC, CONN_NXT_DUMB or CONN_INPUT_DUMB)
        type: PAR8
        dir: in
        enum: *CONN
    support:
      official: false
      xtended: true
      compat: true
    remarks: Note that this won't do much if the auto-id has not been disabled

  INPUT_IIC_READ:
    desc: Read I2C data from specified port
    value: 0xE1
    params:
      -
        name: "LAYER"
        desc: Chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
      -
        name: "RDLNG"
        desc: No of bytes to read
        type: PAR8
        dir: in
      -
        name: "RDDATA"
        desc: DATA8 array to read into
        type: PAR8
        dir: out
      -
        name: "RESULT"
        desc: Write/read result (OK, FAIL, BUSY, STOP)
        type: PAR8
        dir: out
        enum: *RESULT
    support:
      official: false
      xtended: true
      compat: true

  INPUT_IIC_STATUS:
    desc: Read I2C status of specified port
    value: 0xE2
    params:
      -
        name: "LAYER"
        desc: Chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
      -
        name: "RESULT"
        desc: Current I2C bus status (OK, FAIL, BUSY, STOP)
        type: PAR8
        dir: out
        enum: *RESULT
    support:
      official: false
      xtended: true
      compat: true

  INPUT_IIC_WRITE:
    desc: Write I2C data to specified port
    value: 0xE3
    params:
      -
        name: "LAYER"
        desc: Chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
      -
        name: "WRLNG"
        desc: No of bytes to write
        type: PAR8
        dir: in
      -
        name: "WRDATA"
        desc: DATA8 array of data to write
        type: PAR8
        dir: in
      -
        name: "RDLNG"
        desc: No of bytes to read
        type: PAR8
        dir: in
      -
        name: "RESULT"
        desc: Write/read result (OK, FAIL, BUSY, STOP)
        type: PAR8
        dir: out
        enum: *RESULT
    support:
      official: false
      xtended: true
      compat: true

  INPUT_SET_AUTOID:
    desc: Enabled or disable auto-id for a specific sensor port
    value: 0xE4
    params:
      -
        name: "LAYER"
        desc: Chain layer number [0..3]
        type: PAR8
        dir: in
      -
        name: "NO"
        desc: Port number
        type: PAR8
        dir: in
      -
        name: "ENABLE"
        desc: Boolean (0 disabled, 1 enable)
        type: PAR8
        dir: in
    support:
      official: false
      xtended: true
      compat: true

  MAILBOX_SIZE:
    desc: Returns the size of the mailbox.
    value: 0xE5
    params:
      -
        name: "NO"
        desc: Reference ID mailbox number
        type: PAR8
        dir: in
      -
        name: "SIZE"
        desc: Size in bytes of the contents of mailbox NO
        type: PAR8
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  FILE_MD5SUM:
    desc: Get md5 sum of a file
    value: 0xE6
    params:
      -
        name: "NAME"
        desc: File name
        type: PARS
        dir: in
      -
        name: "MD5SUM"
        desc: First byte in md5 sum (byte array)
        type: PAR8
        dir: out
      -
        name: "SUCCESS"
        desc: Success flag (0 = no, 1 = yes)
        type: PAR8
        dir: out
    support:
      official: false
      xtended: true
      compat: true
    remarks: Dispatch status unchanged

  # For the 3rd party VMs

  DYNLOAD_VMLOAD:
    desc: Load the selected VM
    value: 0xF0
    params:
      -
        name: "VMINDEX"
        desc: VM Index, Robotc = 0, Labview = 1
        type: PAR8
        dir: in
      -
        name: "RESULT"
        desc: OK if VM loaded ok FAIL if it did not.
        type: PAR8
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_VMEXIT:
    desc: Clean up the dynamic VM loading system
    value: 0xF1
    params: []
    remarks: Calls the VM's exit_vm() function to tidy up
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_ENTRY_0:
    desc: Execute Entry Point function 0 in Third Party VM
    value: 0xF2
    params:
      -
        name: "CMD"
        desc: Sub command to be executed
        type: PAR8
        dir: in
      -
        name: "LENGTH_IN"
        desc: Amount of data passed to this opcode
        type: PAR8
        dir: in
      -
        name: "LENGTH_OUT"
        desc: Amount of data returned
        type: PAR16
        dir: out
      -
        name: "VALUE"
        desc: Data from opcode
        type: PARV
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_ENTRY_1:
    desc: Execute Entry Point function 1 in Third Party VM
    value: 0xF3
    params:
      -
        name: "CMD"
        desc: Sub command to be executed
        type: PAR8
        dir: in
      -
        name: "LENGTH_IN"
        desc: Amount of data passed to this opcode
        type: PAR8
        dir: in
      -
        name: "LENGTH_OUT"
        desc: Amount of data returned
        type: PAR16
        dir: out
      -
        name: "VALUE"
        desc: Data from opcode
        type: PARV
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_ENTRY_2:
    desc: Execute Entry Point function 2 in Third Party VM
    value: 0xF4
    params:
      -
        name: "CMD"
        desc: Sub command to be executed
        type: PAR8
        dir: in
      -
        name: "LENGTH_IN"
        desc: Amount of data passed to this opcode
        type: PAR8
        dir: in
      -
        name: "LENGTH_OUT"
        desc: Amount of data returned
        type: PAR16
        dir: out
      -
        name: "VALUE"
        desc: Data from opcode
        type: PARV
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_ENTRY_3:
    desc: Execute Entry Point function 3 in Third Party VM
    value: 0xF5
    params:
      -
        name: "CMD"
        desc: Sub command to be executed
        type: PAR8
        dir: in
      -
        name: "LENGTH_IN"
        desc: Amount of data passed to this opcode
        type: PAR8
        dir: in
      -
        name: "LENGTH_OUT"
        desc: Amount of data returned
        type: PAR16
        dir: out
      -
        name: "VALUE"
        desc: Data from opcode
        type: PARV
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_ENTRY_4:
    desc: Execute Entry Point function 4 in Third Party VM
    value: 0xF6
    params:
      -
        name: "CMD"
        desc: Sub command to be executed
        type: PAR8
        dir: in
      -
        name: "LENGTH_IN"
        desc: Amount of data passed to this opcode
        type: PAR8
        dir: in
      -
        name: "LENGTH_OUT"
        desc: Amount of data returned
        type: PAR16
        dir: out
      -
        name: "VALUE"
        desc: Data from opcode
        type: PARV
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_ENTRY_5:
    desc: Execute Entry Point function 5 in Third Party VM
    value: 0xF7
    params:
      -
        name: "CMD"
        desc: Sub command to be executed
        type: PAR8
        dir: in
      -
        name: "LENGTH_IN"
        desc: Amount of data passed to this opcode
        type: PAR8
        dir: in
      -
        name: "LENGTH_OUT"
        desc: Amount of data returned
        type: PAR16
        dir: out
      -
        name: "VALUE"
        desc: Data from opcode
        type: PARV
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_ENTRY_6:
    desc: Execute Entry Point function 6 in Third Party VM
    value: 0xF8
    params:
      -
        name: "CMD"
        desc: Sub command to be executed
        type: PAR8
        dir: in
      -
        name: "LENGTH_IN"
        desc: Amount of data passed to this opcode
        type: PAR8
        dir: in
      -
        name: "LENGTH_OUT"
        desc: Amount of data returned
        type: PAR16
        dir: out
      -
        name: "VALUE"
        desc: Data from opcode
        type: PARV
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_ENTRY_7:
    desc: Execute Entry Point function 7 in Third Party VM
    value: 0xF9
    params:
      -
        name: "CMD"
        desc: Sub command to be executed
        type: PAR8
        dir: in
      -
        name: "LENGTH_IN"
        desc: Amount of data passed to this opcode
        type: PAR8
        dir: in
      -
        name: "LENGTH_OUT"
        desc: Amount of data returned
        type: PAR16
        dir: out
      -
        name: "VALUE"
        desc: Data from opcode
        type: PARV
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_ENTRY_8:
    desc: Execute Entry Point function 8 in Third Party VM
    value: 0xFA
    params:
      -
        name: "CMD"
        desc: Sub command to be executed
        type: PAR8
        dir: in
      -
        name: "LENGTH_IN"
        desc: Amount of data passed to this opcode
        type: PAR8
        dir: in
      -
        name: "LENGTH_OUT"
        desc: Amount of data returned
        type: PAR16
        dir: out
      -
        name: "VALUE"
        desc: Data from opcode
        type: PARV
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_ENTRY_9:
    desc: Execute Entry Point function 9 in Third Party VM
    value: 0xFB
    params:
      -
        name: "CMD"
        desc: Sub command to be executed
        type: PAR8
        dir: in
      -
        name: "LENGTH_IN"
        desc: Amount of data passed to this opcode
        type: PAR8
        dir: in
      -
        name: "LENGTH_OUT"
        desc: Amount of data returned
        type: PAR16
        dir: out
      -
        name: "VALUE"
        desc: Data from opcode
        type: PARV
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  DYNLOAD_GET_VM:
    desc: Get the index of the currently loaded VM
    value: 0xFC
    params:
      -
        name: "RESULT"
        desc: VM Index, Robotc = 0, Labview = 1, -1 for no loaded VM
        type: PAR8
        dir: out
    support:
      official: false
      xtended: true
      compat: true

  # TST

  TST:
    desc: System test functions entry
    value: 0xFF
    params:
      -
        name: "CMD"
        type: SUBP
        dir: in
        commands:
          TST_OPEN:
            desc: Enables test byte codes for 10 seconds
            value: 10
            params: []

          TST_CLOSE:
            desc: Disables test byte codes
            value: 11
            params: []

          TST_READ_PINS:
            desc: Read connector pin status
            value: 12
            params:
              -
                name: "PORT"
                desc: Input connector [0..3], output connector [16..19]
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Number of pins in returned string
                type: PAR8
                dir: in
              -
                name: "STRING"
                desc: String variable start index ('0' = low, '1' = high)
                type: PAR8
                dir: out
            remarks: >
              Input
              -----—
              STRING[0] Pin1 I_ONx current source control output ['0','1']
              STRING[1] Pin2 LEGDETx ['0','1']
              STRING[2] Pin5 DIGIx0 ['0','1']
              STRING[3] Pin6 DIGIx1 ['0','1']
              STRING[4] - TXINx_EN ['0','1']

              Output
              -----—
              STRING[0] Pin1 MxIN0 ['0','1']
              STRING[1] Pin2 MxIN1 ['0','1']
              STRING[2] Pin5 DETx0 ['0','1']
              STRING[3] Pin5 INTx0 ['0','1']
              STRING[4] Pin6 DIRx ['0','1']

          TST_WRITE_PINS:
            desc: Write to connector pin
            value: 13
            params:
              -
                name: "PORT"
                desc: Input connector [0..3], output connector [16..19]
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Number of pins in returned string
                type: PAR8
                dir: in
              -
                name: "STRING"
                desc: >
                  String variable start index ('0' = set low, '1' = set high,
                  'X' = tristate, '-' = don't touch)
                type: PAR8
                dir: in
            remarks: >
              Input
              -----—
              STRING[0] Pin1 I_ONx current source control output ['0','1','X','-']
              STRING[1] Pin2 LEGDETx ['0','1','X','-']
              STRING[2] Pin5 DIGIx0 ['0','1','X','-']
              STRING[3] Pin6 DIGIx1 ['0','1','X','-']
              STRING[4] - TXINx_EN ['0','1','X','-']

              Output
              -----—
              STRING[0] Pin1 MxIN0 ['0','1','X','-']
              STRING[1] Pin2 MxIN1 ['0','1','X','-']
              STRING[2] Pin5 DETx0 Write ['0','1','X','-']
              STRING[3] Pin5 INTx0 Read ['0','1','X','-']
              STRING[4] Pin6 DIRx ['0','1','X','-']

          TST_READ_ADC:
            desc: Read raw count from ADC
            value: 14
            params:
              -
                name: "INDEX"
                desc: Input mapped index (see remarks) [0..15]
                type: PAR8
                dir: in
              -
                name: "VALUE"
                desc: Raw count [0..4095]
                type: PAR16
                dir: out
            remarks: >
              INDEX 0..3 Input connector pin 1 (0=conn1, 1=conn2, 2=conn3, 3=conn4)
              INDEX 4..7 Input connector pin 6 (4=conn1, 5=conn2, 6=conn3, 7=conn4)
              INDEX 8..11 Output connector pin 5 (8=conn1, 9=conn2, 10=conn3, 11=conn4)

              INDEX 12 Battery temperature
              INDEX 13 Current flowing to motors
              INDEX 14 Current flowing from the battery
              INDEX 15 Voltage at battery cell 1, 2, 3,4, 5, and 6

          TST_WRITE_UART:
            desc: Write data to port through UART
            value: 15
            params:
              -
                name: "PORT"
                desc: Input connector [0..3]
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Length of string to write [0..63]
                type: PAR8
                dir: in
              -
                name: "STRING"
                desc: String of data
                type: PAR8
                dir: in

          TST_READ_UART:
            desc: Read data from port through UART
            value: 16
            params:
              -
                name: "PORT"
                desc: Input connector [0..3]
                type: PAR8
                dir: in
              -
                name: "LENGTH"
                desc: Length of string to write [0..63]
                type: PAR8
                dir: in
              -
                name: "STRING"
                desc: String of data
                type: PAR8
                dir: out

          TST_ENABLE_UART:
            desc: Enable all UARTs
            value: 17
            params:
              -
                name: "BITRATE"
                desc: Bit rate [2400..115200 b/S]
                type: PAR32
                dir: in

          TST_DISABLE_UART:
            desc: Disable all UARTs
            value: 18
            params: []

          TST_ACCU_SWITCH:
            desc: Read accu switch state
            value: 19
            params:
              -
                name: "ACTIVE"
                desc: State [0..1]
                type: PAR8
                dir: out

          TST_BOOT_MODE2:
            desc: Turn on mode2
            value: 20
            params: []
            remarks: This only works on pre-release EV3 hardware.

          TST_POLL_MODE2:
            desc: Read mode2 status
            value: 21
            params:
              -
                name: "STATUS"
                desc: State [0..2]
                type: PAR8
                dir: out
            remarks: This only works on pre-release EV3 hardware.

          TST_CLOSE_MODE2:
            desc: Closes mode2
            value: 22
            params: []
            remarks: This only works on pre-release EV3 hardware.

          TST_RAM_CHECK:
            desc: Read RAM test status status
            value: 23
            params:
              -
                name: "STATUS"
                desc: State [0,1] 0 = FAIL, 1 = SUCCESS
                type: PAR8
                dir: out
    remarks: >
      This set of commands are for test only as they change behaviour in some
      driver modules. When test is open every command keeps the test byte codes
      enabled for 10 seconds.