ElmoMC SimplIQ Software Manual - Manual (Page 5)

SimplIQ Software Manual Contents
MAN-SIMSW (Ver. 1.4)
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5.4.2 Mathematical and Logical Operators .............................................................. 5-5
5.4.3 General Operator Rules .................................................................................... 5-5
5.4.4 Operator Details ................................................................................................ 5-5
5.4.5 Mathematical Functions ................................................................................... 5-5
5.4.6 Exclusive OR Operation ................................................................................... 5-5
5.4.7 CAN Object Emission ....................................................................................... 5-6
5.4.8 Expressions ........................................................................................................ 5-7
5.5 Comments .................................................................................................... 5-11
5.5.1 Double Asterisk ............................................................................................... 5-11
5.5.2 Double Slash .................................................................................................... 5-11
5.5.3 C-style Start and End Comment .................................................................... 5-11
5.6 Fault Handling ............................................................................................. 5-12
5.6.1 Unexpected Fault ............................................................................................ 5-12
5.6.2 Expected Fault ................................................................................................. 5-12
5.7 Program Flow Commands ......................................................................... 5-12
5.7.1 Labels (Entry Points) and Subroutines ......................................................... 5-13
5.7.2 For Iteration ..................................................................................................... 5-14
5.7.3 While Iteration ................................................................................................. 5-15
5.7.4 Until Iteration .................................................................................................. 5-16
5.7.5 Wait Iteration ................................................................................................... 5-16
5.7.6 If Condition ...................................................................................................... 5-17
5.7.7 Switch Selection ............................................................................................... 5-18
5.7.8 Continue ........................................................................................................... 5-19
5.7.9 Break ................................................................................................................. 5-20
5.7.10 Return ............................................................................................................... 5-20
5.7.11 Try-Catch ......................................................................................................... 5-21
5.8 Functions ...................................................................................................... 5-22
5.8.1 Function Declaration ...................................................................................... 5-22
5.8.2 Dummy Variables ........................................................................................... 5-24
5.8.3 Count of Output Variables ............................................................................. 5-24
5.8.4 Automatic Variables ....................................................................................... 5-26
5.8.5 Global Variables .............................................................................................. 5-26
5.8.6 Jumps ................................................................................................................ 5-27
5.8.7 Functions and the Call Stack .......................................................................... 5-27
5.8.8 Killing the Call Stack ...................................................................................... 5-29
5.8.9 Automatic Subroutines ................................................................................... 5-30
Chapter 6: Program Development and Execution ............................................ 6-1
6.1 Editing a Program ......................................................................................... 6-1
6.2 Compilation .................................................................................................... 6-1
6.3 The Preprocessor ......................................................................................... 6-14
6.4 Compiler Pragmas ....................................................................................... 6-15
6.4.1 Compiler Directives ........................................................................................ 6-15
6.4.2 Evaluating Expressions Used in Compiler Directives................................. 6-20
6.5 Downloading and Uploading a Program ................................................. 6-20
6.5.1 Binary Data ...................................................................................................... 6-21
6.5.2 Auxiliary Upload/Download Commands ................................................... 6-22
6.5.3 Downloading a Program ................................................................................ 6-23
6.5.4 Uploading a Program ..................................................................................... 6-24
6.6 Program Execution ...................................................................................... 6-24