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Defines
#define	CMDID_BAUDRATE 0x09
#define	CMDID_DLR_DATA_ACK0 0x00
#define	CMDID_DLR_DATA_ACK1 0x41
#define	CMDID_DLR_DATA_ACK2 0x42
#define	CMDID_DLR_DATA_ACK3 0x83
#define	CMDID_DLR_DATA_GET 0x44
#define	CMDID_EMS_SET_MSGID 0x80
#define	CMDID_EMS_SET_STARTBIT 0x81
#define	CMDID_GETPARAM 0x0a
#define	CMDID_HALT 0x02
#define	CMDID_HOME 0x01
#define	CMDID_INTERNAL 0x04
#define	CMDID_RECALCPID 0x09
#define	CMDID_RESET 0x00
#define	CMDID_SAVEPARAMS 0x10
#define	CMDID_SAVEPOS 0x0e
#define	CMDID_SCHUNK_GET_FTI 0x4c
#define	CMDID_SCHUNK_GET_TEI 0x4e
#define	CMDID_SCHUNK_GET_TRI 0x56
#define	CMDID_SCHUNK_SET_BAUDRATE 0x72
#define	CMDID_SCHUNK_SET_MSGID 0x74
#define	CMDID_SCHUNK_SET_NULL 0x7a
#define	CMDID_SETMOVE 0x0b
#define	CMDID_SETPARAM 0x08
#define	CMDID_STARTMOVE 0x0f
#define	CMDID_TOGGLEHOME 0x03
#define	CMDID_WATCHDOG 0x07
#define	MAX_MP55 127
#define	MAX_SCHUNK 63
#define	MSGID_ACK 0x0a0
#define	MSGID_ALL 0x100
#define	MSGID_DLR_DATA_ACK 0x3c5
#define	MSGID_DLR_DATA_GET 0x42d
#define	MSGID_DLR_INIT_0 0x42e
#define	MSGID_DLR_INIT_1 0x42c
#define	MSGID_DLR_INIT_2 0x42c
#define	MSGID_DLR_INIT_ACK 0x42b
#define	MSGID_EMS_CONFIG 0x7e5
#define	MSGID_EMS_CONFIG_ACK 0x7e4
#define	MSGID_EMS_START_ID 0x500
#define	MSGID_GET 0x0c0
#define	MSGID_MP55_RECV 0x580
#define	MSGID_MP55_SEND 0x600
#define	MSGID_SCHUNK_RECV 0x200
#define	MSGID_SCHUNK_SEND 0x300
#define	MSGID_SET 0x0e0
#define	MSGID_STATE 0x060
#define	PARID_ACT_A0 0x56
#define	PARID_ACT_C0 0x54
#define	PARID_ACT_CONFIG 0x39
#define	PARID_ACT_CURRENTLIMIT 0x81
#define	PARID_ACT_DAMP 0x55
#define	PARID_ACT_DIODATA 0x26
#define	PARID_ACT_FCUR 0x4d
#define	PARID_ACT_FDELTAPOS 0x3f
#define	PARID_ACT_FHOMEOFFSET 0x59
#define	PARID_ACT_FHOMEVEL 0x64
#define	PARID_ACT_FINCRATIO 0x3b
#define	PARID_ACT_FIPOLVEL 0x42
#define	PARID_ACT_FLOGICSUPPLY 0x73
#define	PARID_ACT_FMAXACC 0x4a
#define	PARID_ACT_FMAXCUR 0x4c
#define	PARID_ACT_FMAXDELTAPOS 0x40
#define	PARID_ACT_FMAXPOS 0x46
#define	PARID_ACT_FMAXVEL 0x48
#define	PARID_ACT_FMINPOS 0x45
#define	PARID_ACT_FMOTCUR 0x70
#define	PARID_ACT_FMOTSUPPLY 0x71
#define	PARID_ACT_FPOS 0x3c
#define	PARID_ACT_FPOSSTATEDIO 0x62
#define	PARID_ACT_FRAMPACC 0x50
#define	PARID_ACT_FRAMPVEL 0x4f
#define	PARID_ACT_FSAVEPOS 0x63
#define	PARID_ACT_FTEMP 0x72
#define	PARID_ACT_FVEL 0x41
#define	PARID_ACT_HMAXCUR 0x79
#define	PARID_ACT_HMAXCUROVERSHOOT 0x7F
#define	PARID_ACT_ICUR 0x35
#define	PARID_ACT_IDELTAPOS 0x61
#define	PARID_ACT_IHOMEOFFSET 0x2c
#define	PARID_ACT_IHOMEVEL 0x65
#define	PARID_ACT_IMAXACC 0x5f
#define	PARID_ACT_IMAXDELTAPOS 0x5b
#define	PARID_ACT_IMAXPOS 0x5d
#define	PARID_ACT_IMAXVEL 0x5e
#define	PARID_ACT_IMINPOS 0x5c
#define	PARID_ACT_IPOS 0x5a
#define	PARID_ACT_IPOSCOUNT 0x24
#define	PARID_ACT_IRAMPACC 0x2a
#define	PARID_ACT_IRAMPVEL 0x29
#define	PARID_ACT_IVEL 0x60
#define	PARID_ACT_KP_PWMLIM 0x80
#define	PARID_ACT_LOADDELTATIME 0x69
#define	PARID_ACT_LOADLIMIT 0x67
#define	PARID_ACT_LOGICOVERSHOOT 0x7B
#define	PARID_ACT_LOGICUNDERSHOOT 0x7A
#define	PARID_ACT_MAXLOADGRADIENT 0x68
#define	PARID_ACT_MAXLOGIC 0x75
#define	PARID_ACT_MAXMOTOR 0x77
#define	PARID_ACT_MAXPWMOUTPUT 0x82
#define	PARID_ACT_MINLOGIC 0x74
#define	PARID_ACT_MINMOTOR 0x76
#define	PARID_ACT_MOTOROVERSHOOT 0x7D
#define	PARID_ACT_MOTORUNDERSHOOT 0x7C
#define	PARID_ACT_NOMCUR 0x78
#define	PARID_ACT_NOMCUROVERSHOOT 0x7E
#define	PARID_ACT_RAWLOGICSUPPLY 0x6F
#define	PARID_ACT_RAWMOTCUR 0x6C
#define	PARID_ACT_RAWMOTSUPPLY 0x6D
#define	PARID_ACT_RAWTEMP 0x6E
#define	PARID_ACT_STATE 0x27
#define	PARID_ACT_SYNCTIME 0x66
#define	PARID_DEF_A0 0x53
#define	PARID_DEF_ADDRESS 0x20
#define	PARID_DEF_BRAKETIMEOUT 0x1f
#define	PARID_DEF_BURNCOUNT 0x57
#define	PARID_DEF_C0 0x51
#define	PARID_DEF_CANBAUDRATE 0x22
#define	PARID_DEF_CONFIG 0x1b
#define	PARID_DEF_DAMP 0x52
#define	PARID_DEF_DIODATA 0x19
#define	PARID_DEF_FCUROFFSET 0x07
#define	PARID_DEF_FCURRATIO 0x08
#define	PARID_DEF_FGEARRATIO 0x01
#define	PARID_DEF_FHOMEACC 0x10
#define	PARID_DEF_FHOMEOFFSET 0x00
#define	PARID_DEF_FHOMEVEL 0x0f
#define	PARID_DEF_FLINEARRATIO 0x02
#define	PARID_DEF_FMAXACC 0x0c
#define	PARID_DEF_FMAXCUR 0x0e
#define	PARID_DEF_FMAXDELTAPOS 0x05
#define	PARID_DEF_FMAXPOS 0x04
#define	PARID_DEF_FMAXVEL 0x0a
#define	PARID_DEF_FMINPOS 0x03
#define	PARID_DEF_INCPERTURN 0x1c
#define	PARID_DEF_RSBAUDRATE 0x23
#define	PARID_DEF_SERIALNO 0x1a
#define	PARID_DEF_SETUP 0x58
#define	PARID_DEF_VERSION 0x1d
#define	PARID_DLR_DATA_GET 0x31
#define	PARID_MOVE_FCUR 0x08
#define	PARID_MOVE_FCUR_EXT 0x12
#define	PARID_MOVE_FRAMP 0x04
#define	PARID_MOVE_FRAMP_EXT 0x0e
#define	PARID_MOVE_FSTEP 0x06
#define	PARID_MOVE_FSTEP_EXT 0x10
#define	PARID_MOVE_FVEL 0x07
#define	PARID_MOVE_FVEL_EXT 0x11
#define	PARID_MOVE_ICUR 0x0d
#define	PARID_MOVE_ICUR_EXT 0x17
#define	PARID_MOVE_IRAMP 0x09
#define	PARID_MOVE_IRAMP_EXT 0x13
#define	PARID_MOVE_ISTEP 0x0b
#define	PARID_MOVE_ISTEP_EXT 0x15
#define	PARID_MOVE_IVEL 0x0c
#define	PARID_MOVE_IVEL_EXT 0x16