3.2
General commands
Set variables are persitent after reboot. Often saved variables (like absolute position) are stored in
circular EEPROM buffers and only changed bits are updated in order to reduce the buffer wear.
3.2.1
Unknown commands
Unknown/invalid commands are responded with:
$BS ERROR: Unknown command!\
r
\n
3.2.2
SET commands
Valid SET commands are responded with:
$BS OK\
r
\n
3.2.3
GET commands
Valid GET commands are responded with:
$BS STATUS VARIABLE:VALUE\
r
\n
3.2.4
GET VERSION
Get the firmware version. Example Command:
$BS GET VERSION\
r
\n
Example answer:
$BS STATUS VERSION:0.700(Apr
5 2019)\
r
\n
3.2.5
CRC checksum verification
When checksum verification is enabled, the CRC8 (Dallas/Maxim algorithm, see appendix .1) of the
message is calculated, the ’*’ character ( ==(uint8t)42 ) is appended to all messages and then the
HEX representation (base 16) of the checksum is appended.
All messages received by the SteelDrive will be verified and ignored on invalid checksum. (except:
RESET, REBOOT and CRC DISABLE)
CRC ENABLE
Enables CRC checksum verification.
Example Command:
$BS CRC_ENABLE\
r
\n
Example answer:
$BS OK*21\
r
\n
CRC DISABLE
Disable CRC checksum verification. The checksum supplied with CRC DISABLE is not verified.
CRC DISABLE may also be send without attached checksum.
$BS CRC_DISABLE\
r
\n
Example answer:
$BS OK\
r
\n
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