loosely resembles what I actually implemented

Framing: SLIP with following payload bytes

• 1 byte: checksum or CRC
• 1 byte: sequence number
• 1 byte: opcode/register
  • Want a bit for read/write
  • Use I2C convention? “7-bit address of the slave…followed by a single bit representing whether it wishes to write(0) to or read(1) from the slave”
  • Prefer that its the high bit so register numbers are un-ambiguous
  • A read responds with the register value/response in the same packet format
• 4 byte: value argument

bit 0 is least significant bit. All signed integers are 2's compliment

Opcodes:

MISC_STATUS:

MISC_CONTROL:

• 0: execute emergency stop

Axis blocks