API reference — UPAN docs

Binary protocol between the UPAN motion MCU and a host (the network module over UART, or a PC over USB CDC), encoded with protobuf; each message travels in a COBS frame with a version byte and CRC-16. All quantities are integer metric base units (bu): µm, µm/s and µm/s² for a linear axis, millidegrees, m°/s and m°/s² for a rotary axis; inches never appear in the protocol and are converted by the host, and 0 for speed or acceleration in a command means "use the SoftConfig default".

Package upan.v1. Generated from upan.proto when the site is built, so it matches the firmware it was built with. The same names are used in the JSON of the Network API and in the frames of the USB protocol.

Messages

messageHostMessage

Everything the host sends to the motion core; every HostMessage gets exactly one Response with the same seq.

Field	Type	No.	Description
seq	uint32	1	Sequence number, incremented by the host and echoed in the `Response`; 0 is reserved.
move_absoneof body	MoveAbs	10	Move to an absolute position.
move_reloneof body	MoveRel	11	Move by a relative distance.
jogoneof body	Jog	12	Continuous move that runs only while the host keeps refreshing it.
stoponeof body	Stop	13	Decelerate to a stop; also stops a running program.
estoponeof body	EStop	14	Software emergency stop.
homeoneof body	Home	15	Run the homing sequence configured in `HardConfig.home_method`.
set_positiononeof body	SetPosition	16	Declare the current position without moving.
move_linearoneof body	MoveLinear	17	Move several axes together along a straight line (firmware v2: later; now `ERROR_UNSUPPORTED`).
travel_discoveroneof body	TravelDiscover	18	Measure the axis travel automatically, from limit switch to limit switch.
program_beginoneof body	ProgramBegin	20	Start uploading a motion program.
program_chunkoneof body	ProgramChunk	21	Upload the next block of program instructions.
program_commitoneof body	ProgramCommit	22	Validate the uploaded program and make it active.
program_runoneof body	ProgramRun	23	Run the active program.
program_pauseoneof body	ProgramPause	24	Pause the running program after the current move.
program_resumeoneof body	ProgramResume	25	Resume a paused program.
program_abortoneof body	ProgramAbort	26	Stop the program and reset its instruction counter.
soft_config_getoneof body	SoftConfigGet	30	Read the working limits (`SoftConfig`).
soft_config_setoneof body	SoftConfigSet	31	Write the working limits (`SoftConfig`).
hard_config_getoneof body	HardConfigGet	32	Read the machine limits (`HardConfig`).
hard_config_setoneof body	HardConfigSet	33	Write the machine limits (`HardConfig`); accepted only over USB and inside the physical-presence window.
output_setoneof body	OutputSet	40	Set a digital output.
info_getoneof body	InfoGet	50	Read device information (versions, serial, capabilities).
telemetry_configoneof body	TelemetryConfig	51	Set the telemetry rate.
fault_clearoneof body	FaultClear	52	Clear a fault state.
heartbeatoneof body	Heartbeat	53	Keep-alive from the host.
resetoneof body	Reset	73	Restart the controller; only while nothing moves.

messageDeviceMessage

Everything the MCU sends to the host.

Field	Type	No.	Description
responseoneof body	Response	1	Reply to a `HostMessage`, with the same `seq`.
telemetryoneof body	Telemetry	2	Periodic state report; the rate is set by `TelemetryConfig`.
eventoneof body	Event	3	Asynchronous event.
heartbeatoneof body	Heartbeat	4	Keep-alive from the device.

messageResponse

Acknowledgement (ACK) or rejection (NACK) of one host command, with details for a rejection and data for *Get commands.

Field	Type	No.	Description
seq	uint32	1	`seq` of the `HostMessage` this answers.
error	ErrorCode	2	`ERROR_NONE` means the command was accepted (ACK); any other code is a rejection (NACK).
limit_violation	LimitViolation	3	For `ERROR_LIMIT_EXCEEDED`: which limit was exceeded and the nearest allowed value, so the caller can correct the request.
program_instruction_index	uint32	4	For `ERROR_PROGRAM_INVALID` (and a limit violation found by `ProgramRun`): index of the offending instruction.
axis	uint32	5	Which axis rejected the request (0 = first axis); for multi-axis programs and per-axis config.
infooneof result	Info	10	Result of `InfoGet`.
soft_configoneof result	SoftConfig	11	Result of `SoftConfigGet`.
hard_configoneof result	HardConfig	12	Result of `HardConfigGet`.

messageLimitViolation

Details of a rejected command that exceeded a limit.

Field	Type	No.	Description
limit	LimitKind	1	Which limit was exceeded.
requested	sint32	2	Requested value, in base units.
allowed	sint32	3	Nearest allowed value, in base units.

messageMoveAbs

Move to an absolute position; requires the axis to be homed.

Field	Type	No.	Description
target	sint32	1	Target position, in base units (µm or m°).
velocity	uint32	2	Speed in bu/s; 0 = `SoftConfig` default.
acceleration	uint32	3	Acceleration in bu/s²; 0 = `SoftConfig` default.

messageMoveRel

Move by a distance from the current position; allowed without homing.

Field	Type	No.	Description
distance	sint32	1	Distance in base units; the sign gives the direction.
velocity	uint32	2	Speed in bu/s; 0 = `SoftConfig` default.
acceleration	uint32	3	Acceleration in bu/s²; 0 = `SoftConfig` default.

messageJog

Move for as long as the host keeps it alive: the host must repeat Jog (or send Heartbeat) more often than timeout_ms, otherwise the MCU decelerates on its own.

Field	Type	No.	Description
velocity	sint32	1	Speed in bu/s; the sign gives the direction; 0 = smooth stop.
acceleration	uint32	2	Acceleration in bu/s²; 0 = `SoftConfig` default.
timeout_ms	uint32	3	Keep-alive timeout in ms; capped by `SoftConfig.jog_timeout_max_ms`.

messageMoveLinear

Straight-line move of several axes of the controller: all start and stop together and move proportionally; each axis is checked against its own limits. Firmware v2: later, now ERROR_UNSUPPORTED.

Field	Type	No.	Description
targets	repeated AxisTarget	1	Per-axis targets.
velocity	uint32	2	Speed along the line in bu/s (line length = square root of the sum of squared distances); 0 = default.
acceleration	uint32	3	Acceleration along the line in bu/s²; 0 = default.
relative	bool	4	If true, `targets` are distances rather than positions, and homing is not required.

messageAxisTarget

Target for one axis in a MoveLinear.

Field	Type	No.	Description
axis	uint32	1	Axis number: 0 = first axis of the controller.
target	sint32	2	Position, or distance when `relative` is set, in that axis's base units.

messageStop

Decelerate to a stop with the current acceleration; also stops a running program.

No fields.

messageEStop

Software emergency stop: step generation stops immediately; motor holding follows the configuration. The hardware e-stop works independently of the protocol.

No fields.

messageHome

Run homing using the method in SoftConfig.home_method (if unset, HardConfig.home_method).

No fields.

messageTravelDiscover

Measure the travel automatically: home to its own switch, then drive to the opposite switch and back to the post-homing point. Stores SoftConfig.travel_min/travel_max (from the homing switch to where the opposite switch released) in flash and ends with EVENT_TRAVEL_DONE; the state is STATE_HOMING meanwhile. Needs HOME_LIMIT_MIN or HOME_LIMIT_MAX and both limit switches present and already seen, otherwise ERROR_INVALID_STATE.

No fields.

messageSetPosition

Declare the current position to be value without moving; marks the axis as homed.

Field	Type	No.	Description
value	sint32	1	New current position, in base units.

messageProgramBegin

Start a program upload. Programs are uploaded as Begin, then Chunk messages, then Commit.

Field	Type	No.	Description
instruction_count	uint32	1	Total number of instructions in the program.
crc32	uint32	2	CRC-32 (zlib variant) over the protobuf encoding of each `Instruction`, in order.

messageProgramChunk

One block of program instructions; chunks must arrive in order.

Field	Type	No.	Description
offset	uint32	1	Index of the first instruction in this chunk (equal to the number already received).
instructions	repeated Instruction	2	Instructions in this chunk.

messageProgramCommit

Finish the upload: validate the whole program (statically, since it has no conditions) and only then make it active.

No fields.

messageProgramRun

Run the active program; requires the axis to be homed.

Field	Type	No.	Description
repeat	uint32	1	Number of times to run the program; 0 or 1 = once.

messageProgramPause

Finish the current move and stop, keeping the program position.

No fields.

messageProgramResume

Resume a paused program.

No fields.

messageProgramAbort

Like Stop, and also reset the program counter.

No fields.

messageInstruction

One step of a motion program.

Field	Type	No.	Description
move_absoneof op	MoveAbs	1	Move to an absolute position.
move_reloneof op	MoveRel	2	Move by a relative distance.
homeoneof op	Home	3	Run homing.
wait_timeoneof op	WaitTime	4	Wait for a fixed time.
wait_inputoneof op	WaitInput	5	Wait for an input to reach a level.
set_outputoneof op	SetOutput	6	Set a digital output.
loop_beginoneof op	LoopBegin	7	Start of a repeated block.
loop_endoneof op	LoopEnd	8	End of a repeated block.
move_linearoneof op	MoveLinear	9	Straight-line move of several axes together; all axes are checked when the program is run (firmware v2: later).

messageWaitTime

Pause the program for a fixed time.

Field	Type	No.	Description
ms	uint32	1	Wait time in ms.

messageWaitInput

Wait until a digital input reaches a level. Input numbers start at 0; rev 1 has inputs 0–1, and a higher number is rejected with ERROR_INVALID_VALUE.

Field	Type	No.	Description
input	uint32	1	Input number.
level	bool	2	Level to wait for.
timeout_ms	uint32	3	Timeout in ms; 0 = no timeout. On timeout the program is aborted (`EVENT_PROGRAM_ABORTED` with `ERROR_TIMEOUT`).

messageSetOutput

Program step that sets a digital output. Output numbers start at 0; rev 1 has outputs 0–1.

Field	Type	No.	Description
output	uint32	1	Output number.
level	bool	2	Level to set.

messageLoopBegin

Start of a block repeated count times, closed by LoopEnd.

Field	Type	No.	Description
count	uint32	1	Number of repetitions, at least 1. Nesting depth is limited by the firmware.

messageLoopEnd

End of the block opened by the matching LoopBegin.

No fields.

messageSoftConfig

Working limits for the current job; must lie inside HardConfig. Can be changed by an app or an agent.

Field	Type	No.	Description
travel_min	sint32	1	Minimum allowed position, in base units.
travel_max	sint32	2	Maximum allowed position, in base units.
velocity_max	uint32	3	Maximum speed, in bu/s.
acceleration_max	uint32	4	Maximum acceleration, in bu/s².
velocity_default	uint32	5	Speed used when a command gives 0, in bu/s.
acceleration_default	uint32	6	Acceleration used when a command gives 0, in bu/s².
jog_timeout_max_ms	uint32	7	Upper bound for `Jog.timeout_ms`, in ms.
display_units	DisplayUnits	8	Preferred display units for user interfaces only; does not affect motion.
travel_per_rev	uint32	9	Base units per motor revolution after calibration ("moved 100 mm, measured 101"); 0 uses `HardConfig.travel_per_rev`. `HardConfig` limits are motor limits in steps and are only re-expressed in the new bu, so the motor never goes further or faster than the owner allowed. Changing it clears homed and clips `travel_min`/`travel_max` to the new bounds.
invert_direction	bool	10	Reverse the direction on top of `HardConfig.invert_direction` (XOR). Changing it clears homed.
home_methodoneof _home_method	HomeMethod	11	Homing method; unset uses `HardConfig.home_method`. StallGuard works only with a driver in the socket.
home_velocity	uint32	12	Speed for searching the homing switch, in bu/s; 0 uses `HardConfig.home_velocity`.
home_latch_velocity	uint32	13	Speed of an optional slow second approach to the switch, in bu/s; 0 skips it (switch homing only).
home_positiononeof _home_position	sint32	14	Coordinate assigned to the switch point; unset uses the `HardConfig` travel limit on that side.
home_backoff	uint32	15	Distance to move away from the switch after homing, in bu, so the working zero sits clear of it; 0 stays at the switch point.
input_bindings	repeated InputBinding	16	What the universal inputs do on their own (`InputBinding`); at most one binding per input.

messageInputBinding

An action the firmware runs by itself when an input becomes active, without a browser or control rights (the input is a person at the machine). If it cannot run (axis busy, fault, not homed), EVENT_INPUT_ACTION reports why. An input held at power-up starts nothing.

Field	Type	No.	Description
input	uint32	1	Input number: 0–5 for UIN1–UIN6.
action	InputAction	2	What to do (`InputAction`).
value	sint32	3	Parameter of the action: position for `MOVE_TO`, distance for `MOVE_BY`, value for `SET_POSITION` (bu); speed for `JOG_*` and `RUN_TOGGLE` in bu/s (0 uses `SoftConfig.velocity_default`); repeat count for `PROGRAM_RUN` (0 runs once); output number 0–3 for `OUTPUT_TOGGLE`.
invert	bool	4	Act when the input carries no current (a normally closed button).
debounce_ms	uint32	5	How long the level must hold before the action fires, in ms; 0 means 20 ms, at most 1000.

messageSoftConfigGet

Read the current SoftConfig.

Field	Type	No.	Description
axis	uint32	1	Axis of the controller: 0 = first axis. Other axes come later in firmware v2 (now `ERROR_UNSUPPORTED`).

messageSoftConfigSet

Replace the SoftConfig.

Field	Type	No.	Description
config	SoftConfig	1	New working limits.
axis	uint32	2	Axis of the controller: 0 = first axis. Other axes come later in firmware v2 (now `ERROR_UNSUPPORTED`).

messageHardConfig

Machine limits and mechanics. Can be changed only over USB inside the physical-presence window.

Field	Type	No.	Description
axis_kind	AxisKind	1	Linear or rotary axis; selects the base units (µm or millidegrees).
full_steps_per_rev	uint32	2	Motor full steps per revolution (usually 200).
microsteps	uint32	3	Microsteps per full step (1–256).
travel_per_rev	uint32	4	Travel per motor revolution, in base units (screw pitch × gear ratio).
invert_direction	bool	5	Reverse the motor direction.
travel_min	sint32	6	Minimum machine position, in base units.
travel_max	sint32	7	Maximum machine position, in base units.
velocity_max	uint32	8	Maximum machine speed, in bu/s.
acceleration_max	uint32	9	Maximum machine acceleration, in bu/s².
run_current_ma	uint32	10	Peak phase current while running, in mA (the value on the motor nameplate).
hold_current_ma	uint32	11	Phase current while holding, in mA.
limit_min_active_low	bool	12	The min limit switch input is active low.
limit_max_active_low	bool	13	The max limit switch input is active low.
home_method	HomeMethod	14	How `Home` finds the reference position.
home_velocity	uint32	15	Homing speed, in bu/s.
encoder_enabled	bool	16	An encoder is connected and used.
encoder_counts_per_rev	uint32	17	Encoder counts per motor revolution.
following_error_max	uint32	18	Maximum allowed difference between encoder and commanded position, in base units; exceeding it causes a fault.
driver_mode	DriverMode	19	Built-in driver or external Step/Dir driver.
limit_min_absent	bool	20	No min limit switch is fitted; the input is ignored. The default (false) assumes a switch is fitted, so a host that does not know this field cannot silently disable the protection.
limit_max_absent	bool	21	No max limit switch is fitted; the input is ignored. The default (false) assumes a switch is fitted.
encoder_invert	bool	22	The encoder counts in the opposite direction to the steps (A/B swapped); corrects it without rewiring.
stallguard_threshold	sint32	23	StallGuard threshold of the driver in the socket (TMC2209: SGTHRS 0…255, higher is more sensitive; depends on the driver). Used by the `HOME_STALLGUARD_*` methods and tuned on the actual mechanics.
estop_absent	bool	25	No emergency-stop button is wired: the E-STOP input is ignored. The EStop command always works.
limit_min_seen	bool	26	Auto-detection: the min limit input has been closed at least once, so a switch is wired. Until then the input does not stop motion, so a new device runs out of the box. Set by the firmware and kept in flash; reset with HardConfigSet (presence required).
limit_max_seen	bool	27	Auto-detection for the max limit input; see limit_min_seen.
estop_seen	bool	28	Auto-detection for the E-STOP input; see limit_min_seen.

messageHardConfigGet

Read the current HardConfig.

Field	Type	No.	Description
axis	uint32	1	Axis of the controller: 0 = first axis. Other axes come later in firmware v2 (now `ERROR_UNSUPPORTED`).

messageHardConfigSet

Replace the HardConfig; accepted only over USB and inside the physical-presence window.

Field	Type	No.	Description
config	HardConfig	1	New machine configuration.
axis	uint32	2	Axis of the controller: 0 = first axis. Other axes come later in firmware v2 (now `ERROR_UNSUPPORTED`). Hard config: only over USB with the presence window open.

messageOutputSet

Set a digital output immediately. Output numbers start at 0.

Field	Type	No.	Description
output	uint32	1	Output number.
level	bool	2	Level to set.

messageInfoGet

Request device information.

No fields.

messageInfo

Device identity and capabilities.

Field	Type	No.	Description
protocol_version	uint32	1	Protocol version.
firmware_version	string	2	Firmware version (semver).
hardware_revision	string	3	Hardware revision.
serial	string	4	Device serial number.
capabilities	uint32	5	Bit mask of `Capability` values.
transport	Transport	6	Channel over which this request arrived.
reset_cause	ResetCause	7	Why the MCU last started (diagnostics).

messageTelemetryConfig

Configure periodic telemetry for the transport the command arrives on.

Field	Type	No.	Description
rate_hz	uint32	1	Telemetry rate in Hz; 0 = off. The MCU caps the rate.

messageFaultClear

Clear the fault state if its cause is gone.

No fields.

messageHeartbeat

Keep-alive message, sent in both directions.

Field	Type	No.	Description
uptime_ms	uint32	1	Sender uptime in ms.

messageReset

Restart the controller; only while nothing moves.

No fields.

messageTelemetry

Periodic snapshot of the axis state.

Field	Type	No.	Description
uptime_ms	uint32	1	Device uptime in ms.
state	AxisState	2	Current axis state.
homed	bool	3	The axis has a valid reference position.
position	sint32	4	Commanded position, in base units.
velocity	sint32	5	Current speed, in bu/s.
target	sint32	6	Target position of the current move, in base units.
encoder_position	sint32	7	Position measured by the encoder, in base units (if `CAP_ENCODER`).
following_error	sint32	8	Difference between encoder and commanded position, in base units.
inputs	uint32	9	Bit mask of digital input levels.
outputs	uint32	10	Bit mask of digital output levels.
limit_min	bool	11	Min limit switch is active.
limit_max	bool	12	Max limit switch is active.
estop_input	bool	13	Emergency stop input is active.
motor_current_ma	uint32	14	Motor current, in mA.
stallguard	uint32	15	Raw StallGuard value (`SG_RESULT`).
supply_mv	uint32	16	Supply voltage, in mV.
driver_flags	uint32	17	Bit mask of `DriverFlag` values.
program_pc	uint32	18	Index of the current program instruction.
program_repeat	uint32	19	Which repetition of the program is running.

messageEvent

Asynchronous notification from the device; events are sent on all transports.

Field	Type	No.	Description
uptime_ms	uint32	1	Device uptime when the event occurred, in ms.
kind	EventKind	2	Event type.
position	sint32	3	Position at the moment of the event, in base units.
error	ErrorCode	4	Cause, for `EVENT_FAULT` and `EVENT_PROGRAM_ABORTED`.
detail	uint32	5	Extra detail, e.g. an input number or instruction index.
axis	uint32	6	Axis that caused the event (0 = first axis).

Enums

enumErrorCode

Result code of a command; also the cause carried by fault and abort events.

Value	No.	Description
ERROR_NONE	0	Accepted (ACK).
ERROR_MALFORMED	1	The message could not be parsed, or its `oneof` is empty.
ERROR_UNSUPPORTED	2	Command unknown to this firmware.
ERROR_INVALID_STATE	3	Not allowed in the current state, e.g. `ProgramResume` without a pause.
ERROR_BUSY	4	A move is already in progress.
ERROR_NOT_HOMED	5	Absolute move requested before homing.
ERROR_LIMIT_EXCEEDED	6	A limit would be exceeded; see `Response.limit_violation`.
ERROR_ESTOP_ACTIVE	7	Emergency stop is active.
ERROR_FAULT_ACTIVE	8	A fault is active; send `FaultClear`.
ERROR_TRANSPORT_NOT_ALLOWED	9	Command not allowed on this transport, e.g. `HardConfigSet` over UART.
ERROR_PRESENCE_REQUIRED	10	The physical-presence window is not open.
ERROR_PROGRAM_INVALID	11	The program is invalid; see `Response.program_instruction_index`.
ERROR_PROGRAM_TOO_LARGE	12	The program is too large.
ERROR_PROGRAM_CHECKSUM	13	Program CRC-32 does not match.
ERROR_NO_PROGRAM	14	No program is loaded.
ERROR_INVALID_VALUE	15	A value is outside the accepted format (not a machine limit).
ERROR_NO_MOTOR_POWER	16	No motor power (USB only); motion is not allowed.
ERROR_HOMING_FAILED	17	Homing did not find the switch or stop within the travel (reported in `Event.error`).
ERROR_TIMEOUT	18	Timeout, e.g. `WaitInput` in a program (reported in `Event.error`).
ERROR_LIMIT_SWITCH	19	A limit switch in the direction of motion is active (in `Event.error`, or a NACK for a move towards it).
ERROR_DRIVER	20	Driver error such as overtemperature or short circuit (reported in `Event.error`).
ERROR_FOLLOWING_ERROR	21	Encoder position diverged from the commanded position (reported in `Event.error`).
ERROR_STORAGE	22	Saving to flash failed; the configuration was not changed.
ERROR_BUS	23	An axis used by the program is not present or not configured on this controller.
ERROR_IMAGE	24	Firmware or package image is not for this board (reserved for v2 updates).
ERROR_SIGNATURE	25	Image signature does not match (reserved for v2 updates).
ERROR_OVERVOLTAGE	26	The socket over-voltage protection tripped: a driver in a StepStick socket lost power with the supply above ~23 V, or the supply rose above ~27 V (power supply too high, or energy fed back while braking).
ERROR_OVP_FAILED	27	Backup supply check: the supply is above 28.5 V while the drivers in the StepStick sockets are still powered, so the over-voltage cut-off did not work. Motion is stopped and the drivers are switched off.

enumLimitKind

Which limit a LimitViolation refers to.

Value	No.	Description
LIMIT_UNSPECIFIED	0	Not specified.
LIMIT_TRAVEL_MIN	1	Minimum travel position.
LIMIT_TRAVEL_MAX	2	Maximum travel position.
LIMIT_VELOCITY	3	Maximum speed.
LIMIT_ACCELERATION	4	Maximum acceleration.
LIMIT_JOG_TIMEOUT	5	Maximum jog timeout (`SoftConfig.jog_timeout_max_ms`).

enumInputAction

Actions an input can trigger through InputBinding.

Value	No.	Description
INPUT_NONE	0	No action.
INPUT_STOP	1	Smooth stop of everything, including a program — same as `Stop`.
INPUT_ESTOP	2	Emergency stop — same as the `EStop` command (functional, not certified).
INPUT_FAULT_CLEAR	3	Clear a fault — same as `FaultClear`.
INPUT_HOME	4	Run homing — same as `Home`.
INPUT_MOVE_TO	5	Preset position: move to `value` (needs homing).
INPUT_MOVE_BY	6	Step by `value`.
INPUT_SET_POSITION	7	Declare the current position as `value` ("set zero").
INPUT_JOG_POS	8	Move in + while the input is active.
INPUT_JOG_NEG	9	Move in − while the input is active.
INPUT_RUN_TOGGLE	10	Start or stop continuous motion in the current direction (velocity mode).
INPUT_DIRECTION	11	Reverse the `RUN_TOGGLE` direction; while moving, it stops first.
INPUT_PROGRAM_RUN	12	Run the loaded program.
INPUT_PROGRAM_PAUSE	13	Pause the program, or resume it if paused.
INPUT_OUTPUT_TOGGLE	14	Toggle output `value`.

enumDisplayUnits

Units preferred for display in user interfaces; the protocol itself is always metric.

Value	No.	Description
DISPLAY_UNITS_METRIC	0	Metric.
DISPLAY_UNITS_IMPERIAL	1	Imperial (inches).

enumAxisKind

Type of axis, which selects the base units.

Value	No.	Description
AXIS_LINEAR	0	Linear axis: µm, µm/s, µm/s².
AXIS_ROTARY	1	Rotary axis: millidegrees, m°/s, m°/s².

enumHomeMethod

How the axis finds its reference position.

Value	No.	Description
HOME_NONE	0	No homing; reference is set only with `SetPosition`.
HOME_LIMIT_MIN	1	Home to the min limit switch.
HOME_LIMIT_MAX	2	Home to the max limit switch.
HOME_STALLGUARD_MIN	3	Home towards the min end without a switch, detecting the stop with StallGuard.
HOME_STALLGUARD_MAX	4	Home towards the max end without a switch, detecting the stop with StallGuard.

enumDriverMode

Which motor driver the axis uses.

Value	No.	Description
DRIVER_INTERNAL	0	Driver in the StepStick socket on the board (steps are still generated by the motion core).
DRIVER_EXTERNAL_STEP_DIR	1	External driver connected through the Step/Dir output.

enumResetCause

Why the MCU last started.

Value	No.	Description
RESET_UNKNOWN	0	Unknown.
RESET_POWER_ON	1	Power-on, or supply dropped below the brown-out threshold.
RESET_PIN	2	Reset pin: the reset button or a programmer.
RESET_WATCHDOG	3	Watchdog: the firmware hung and should be investigated.
RESET_SOFTWARE	4	Software reset (the Reset command, an update).
RESET_OPTION_BYTES	5	Reset after writing option bytes.
RESET_LOW_POWER	6	Low-power-mode reset.

enumCapability

Bit flags combined in Info.capabilities.

Value	No.	Description
CAP_NONE	0	No optional capabilities.
CAP_ENCODER	1	Encoder input.
CAP_STALLGUARD	2	StallGuard stall detection.
CAP_EXTERNAL_DRIVER	8	External Step/Dir driver output.

enumTransport

Channel a request arrived on.

Value	No.	Description
TRANSPORT_UNKNOWN	0	Unknown.
TRANSPORT_UART_MODULE	1	Network layer of the same controller (WebSocket, apps on the device).
TRANSPORT_USB	2	USB CDC.

enumAxisState

State of the axis.

Value	No.	Description
STATE_IDLE	0	Idle.
STATE_MOVING	1	Executing a move.
STATE_JOGGING	2	Jogging.
STATE_HOMING	3	Homing.
STATE_PROGRAM_RUNNING	4	Running a program.
STATE_PROGRAM_PAUSED	5	Program paused.
STATE_FAULT	6	Fault; needs `FaultClear`.
STATE_ESTOP	7	Emergency stop active.

enumDriverFlag

Bit flags combined in Telemetry.driver_flags.

Value	No.	Description
DRV_NONE	0	No driver flags set.
DRV_OVERTEMP_WARN	1	Driver overtemperature warning.
DRV_OVERTEMP	2	Driver overtemperature.
DRV_SHORT	4	Short circuit detected.
DRV_OPEN_LOAD	8	Open load (motor phase not connected).
DRV_UNDERVOLTAGE	16	Supply undervoltage.
DRV_SOCKET_OVP	32	Set by the motion core: the driver in the socket is silent because the over-voltage protection cut its power (see `ERROR_OVERVOLTAGE`).

enumEventKind

Type of an Event.

Value	No.	Description
EVENT_UNSPECIFIED	0	Not specified.
EVENT_MOVE_DONE	1	A move finished.
EVENT_HOME_DONE	2	Homing finished.
EVENT_PROGRAM_DONE	3	The program finished.
EVENT_PROGRAM_ABORTED	4	The program was aborted; the cause is in `error`.
EVENT_LIMIT_HIT	5	A limit switch was hit.
EVENT_STALL	6	A motor stall was detected.
EVENT_FOLLOWING_ERROR	7	Following error exceeded the maximum.
EVENT_FAULT	8	The device entered a fault; the cause is in `error`.
EVENT_ESTOP_PRESSED	9	Emergency stop pressed.
EVENT_ESTOP_RELEASED	10	Emergency stop released.
EVENT_INPUT_CHANGED	11	A digital input changed.
EVENT_JOG_TIMEOUT	12	A jog stopped because it was not refreshed in time.
EVENT_PRESENCE_WINDOW_OPEN	13	The physical-presence window opened (confirmed on the device).
EVENT_DRIVER_LOST	14	A driver in a socket lost its motor power while the axis was standing; `error` gives the cause (`ERROR_OVERVOLTAGE`, `ERROR_NO_MOTOR_POWER` or `ERROR_DRIVER`). The position is lost (`homed = false`); during a move this is a FAULT instead.
EVENT_DRIVER_READY	15	The driver in the socket answers again and the motion core has rewritten its configuration; motion is allowed.
EVENT_INPUT_ACTION	16	An input with a bound action fired; `detail` is the input number, `error` says why the action did not run (`ERROR_NONE` if it did).
EVENT_TRAVEL_DONE	17	Travel measurement finished and `SoftConfig.travel_min`/`travel_max` updated; `position` is `travel_max`, `detail` is the travel length in bu.