plesty-anc300-piezo-controller 0.1.0__tar.gz

plesty_anc300_piezo_controller-0.1.0/.env.example

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+# Device connection credentials — copy to `.env` and fill in for your setup.
+# Loaded by plesty.lib.utils.EnvSettings; the process environment overrides `.env`.
+# The same `.env` drives both the standalone server and the real-device tests.
+
+# Target device endpoint: DEVICE_ADDRESS for a controller on USB/RS232, or
+# DEVICE_HOST + DEVICE_PORT (7230) for one on Ethernet.
+DEVICE_HOST=
+DEVICE_PORT=
+
+# ANC300 console login. LAN consoles (port 7230) ask for a password on
+# connect; the factory default is in the vendor manual (IV.2). Leave empty
+# for the USB/RS232 console, which asks for none.
+DEVICE_PASSWORD=
+
+# Serial port of a controller on USB or RS232 (COM5, /dev/ttyACM0). When set it
+# wins over DEVICE_HOST/DEVICE_PORT. Also read by tests/field_test.py, which
+# must never carry it: an address can contain a serial number and this repo is
+# world-readable, while `.env` is git-ignored.
+DEVICE_ADDRESS=
+
+# ZMQ port this device server binds for remote clients
+DEVICE_TCP_PORT=5555
+
+# Shared location every field-test run is also copied to (optional). The local
+# reports under reports/ stay authoritative; this second copy is what puts the
+# full markdown report — host, address, serial — where colleagues and tools can
+# read it, without it ever entering git. Unset means local only.
+PLESTY_REPORT_ARCHIVE=

plesty_anc300_piezo_controller-0.1.0/.gitignore

@@ -0,0 +1,71 @@
+# Custom
+.deprecated/
+logs/
+runs/
+
+# Field test and check reports. The JSON documents are the published
+# artifacts — hub.plesty.net and manager.plesty.net read them, so they are
+# committed. The markdown and JSONL forms are for whoever ran the test: they
+# carry the host name, the instrument address, its serial and the lab's file
+# paths, and a hub repository is world-readable.
+# An interrupted `plesty init field-test` leaves its answers here.
+.plesty-field-test.partial.json
+
+reports/**/*.md
+reports/**/*.jsonl
+reports/*.md
+reports/*.jsonl
+
+# Auto-generated device reference pages (regenerated by `plesty docs`)
+docs/_generated/
+
+# Python bytecode and caches
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions and shared libraries
+*.so
+*.pyd
+*.dll
+
+# Packaging and build artifacts
+build/
+dist/
+*.egg-info/
+.eggs/
+
+# Local credentials — keep `.env.example` tracked, never the real `.env`
+.env
+
+# Virtual environments
+.venv/
+venv/
+env/
+ENV/
+.uv_cache/
+
+# Test and coverage outputs
+.pytest_cache/
+.coverage
+.coverage.*
+htmlcov/
+.mypy_cache/
+.ruff_cache/
+
+# Jupyter
+.ipynb_checkpoints/
+
+# Logs and runtime files
+*.log
+*.pid
+
+# IDE/editor
+.vscode/
+.idea/
+*.swp
+*.swo
+
+# OS files
+.DS_Store
+Thumbs.db

plesty_anc300_piezo_controller-0.1.0/.gitlab-ci.yml

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+stages:
+  - check
+  - security
+  - deploy
+  - release
+
+variables:
+  # Required for versioningit: the runner must fetch full Git history and tags.
+  GIT_DEPTH: "0"
+
+include:
+  - component: $CI_SERVER_FQDN/plesty/plesty-ci/plesty-standard-ci@main
+    inputs:
+      standard: quantum
+      extra_branch: exp
+      access_token: $CI_BOT_TOKEN

plesty_anc300_piezo_controller-0.1.0/CHANGELOG.md

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+# Changelog
+
+The format is based on [Keep a Changelog](https://keepachangelog.com).
+
+## [0.1.0] — 2026-10-27
+
+The first release, opening the 0.1 line. Written from the vendor manual and
+tested against the module's simulator; run on an ANC300 with ANM200 axes over
+USB on the bench since 2026-10-12, driving the fine alignment of
+`plesty-nav-pow-pol-pl`.
+
+### Added
+- **Device for the Attocube ANC300 over its USB or Ethernet console**: a serial port (`serial_port="COM5"`, 38400 baud, no login; the `> ` prompt the USB console prints is discarded) or TCP port 7230 with a password login. With `axis_1` to `axis_7` parameter groups. Per axis: `mode` (`gnd`, `off`, `inp`, `stp`, `stp+`, `stp-`), `offset_voltage` (0 to 150 V) and `filter`. By default axes 1 and 2 are exposed (`axes=` selects others).
+- **Operations** `get_info`, `get_output_voltage`, `get_capacitance`, `wait_capacitance` and `stop`, and the composed `measure_capacitance`, `ramp_offset`, `shift_offset`, `move_xy`, `shift_xy` and `shutdown_to_ground`. `ramp_offset` moves the offset in equal steps and `shift_offset` by a difference; `move_xy` and `shift_xy` ramp the x and y axes together (`xy_axes=`, `--xy-axes`; axes 1 and 2 by default), taking over `move_2d_total`, `move_2d_delta` and `single_step` of the plexy ANC300 driver, except that a target outside the allowed range is refused rather than clipped; `shutdown_to_ground` brings the offset to zero before grounding. Disconnecting (also when the server stops) ramps every selected axis's offset to 0 V and keeps its mode, so an offset is never left non-zero.
+- **A frozen USB console is reported, not waited on.** The console can stop in the middle of a reply, and a read on it then stays in the Windows driver for minutes. Replies are now read by a thread of their own, so every wait ends on time; a read stuck for 2 s, or a command the console does not take within the timeout, raises "power-cycle the controller", and every later command is refused at once instead of each waiting out its timeout. A failed exchange logs the console lines sent and received since the last failure.
+- **50 ms between commands** to the controller (`COMMAND_GAP_S`): the USB console froze twice under commands sent back to back and never with measurements 10 s apart. A ramp's `duration` is therefore a minimum: each step costs at least 50 ms per axis, so `move_xy` with its default 100 steps takes about 11 s, and the ramp to 0 V on disconnect about 6 s for two axes. The simulator runs without the pause.
+- **A ramp ends exactly on its target.** Its last step writes the target itself and every step is kept within 0 to `max_offset_voltage`: a ramp to 0 V used to end a rounding below it (−1.8e-15 V), and that write was refused as out of range (bench, 2026-10-15).
+- **`max_offset_voltage`** (and `--max-offset-voltage`): a lower limit than the controller's 150 V on the offset this device will write.
+- **Anc300Simulator**: `host="mock"` (also `sim`, `simulator`) runs the protocol in memory for tests and for use without hardware.
+- **Server entry point** `python -m plesty.anc300_piezo_controller` with `--axes`, `--max-offset-voltage`, `--serial-port`, `--baudrate`, `--gui` and `--skip-preflight`; connection settings come from `DEVICE_ADDRESS` (the serial port, which wins when set) or `DEVICE_HOST`, `DEVICE_PORT` and `DEVICE_PASSWORD`, plus `DEVICE_TCP_PORT`. Before the server binds, the preflight checks that the operating system lists the serial port (naming the ports it does see if not), or that the controller's host resolves and its port accepts. It opens neither.
+- `Anc300Error`, raised when the console answers `ERROR` or not at all. On USB a write the console does not take within the timeout raises it too ("its USB console has stopped reading"), and closing drops unsent output first, so a stalled console fails the command, the connect or the shutdown instead of hanging the server with the port held.
+- `packaging/versioning.py` (`plesty update --versioning`): a snapshot build is named for the release its line is working towards.
+
+### Known limits
+- RS232 is assumed to behave like USB (38400 baud, 8N1) and has not been tried.
+- Stepping commands, the AC/DC-IN switches, pulse counts, triggers, `setfc`, `getser`, `help` and the Lua console are not exposed.
+- Unverified on hardware: reply shapes of `getm`, `geta` and `getfil`, the end of the Ethernet login banner, the format of `getcser`, and the behaviour on a wrong password. The filter list is the ANM200 one; an ANM300 rejects 1.6 and 1600. (`getc` reads `capacitance = <value> nF`, verified 2026-10-12.)
+
+### Security
+- **pillow 13.0.0, certifi 2026.10.23 and brotli 1.2.1 in the lockfile**, past
+  the advisories against pillow 12.3.0, certifi 2026.7.22 and brotli 1.2.0
+  (PYSEC-2026-4322).

plesty_anc300_piezo_controller-0.1.0/LICENSE

@@ -0,0 +1,184 @@
+Copyright (C) 2026 Plesty Development Team
+
+This file is part of Plesty.
+
+Plesty is free software: you can redistribute it and/or modify
+it under the terms of the GNU Lesser General Public License as published by
+the Free Software Foundation, either version 3 of the License, or
+(at your option) any later version.
+
+Plesty is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+GNU Lesser General Public License for more details.
+
+You should have received a copy of the GNU Lesser General Public License
+along with Plesty. If not, see <https://www.gnu.org/licenses/> or the copy below.
+
+#########################################################################
+
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
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+  The "Minimal Corresponding Source" for a Combined Work means the
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+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
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+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
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+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
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+  2. Conveying Modified Versions.
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+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
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+   function or data, the facility still operates, and performs
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+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
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+conditions either of that published version or of any later version
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+received it does not specify a version number of the GNU Lesser
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+General Public License ever published by the Free Software Foundation.
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+  If the Library as you received it specifies that a proxy can decide
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+Library.

plesty_anc300_piezo_controller-0.1.0/LICENSES/LGPL-3.0-or-later.txt

@@ -0,0 +1,165 @@
+                   GNU LESSER GENERAL PUBLIC LICENSE
+                       Version 3, 29 June 2007
+
+ Copyright (C) 2007 Free Software Foundation, Inc. <https://fsf.org/>
+ Everyone is permitted to copy and distribute verbatim copies
+ of this license document, but changing it is not allowed.
+
+
+  This version of the GNU Lesser General Public License incorporates
+the terms and conditions of version 3 of the GNU General Public
+License, supplemented by the additional permissions listed below.
+
+  0. Additional Definitions.
+
+  As used herein, "this License" refers to version 3 of the GNU Lesser
+General Public License, and the "GNU GPL" refers to version 3 of the GNU
+General Public License.
+
+  "The Library" refers to a covered work governed by this License,
+other than an Application or a Combined Work as defined below.
+
+  An "Application" is any work that makes use of an interface provided
+by the Library, but which is not otherwise based on the Library.
+Defining a subclass of a class defined by the Library is deemed a mode
+of using an interface provided by the Library.
+
+  A "Combined Work" is a work produced by combining or linking an
+Application with the Library.  The particular version of the Library
+with which the Combined Work was made is also called the "Linked
+Version".
+
+  The "Minimal Corresponding Source" for a Combined Work means the
+Corresponding Source for the Combined Work, excluding any source code
+for portions of the Combined Work that, considered in isolation, are
+based on the Application, and not on the Linked Version.
+
+  The "Corresponding Application Code" for a Combined Work means the
+object code and/or source code for the Application, including any data
+and utility programs needed for reproducing the Combined Work from the
+Application, but excluding the System Libraries of the Combined Work.
+
+  1. Exception to Section 3 of the GNU GPL.
+
+  You may convey a covered work under sections 3 and 4 of this License
+without being bound by section 3 of the GNU GPL.
+
+  2. Conveying Modified Versions.
+
+  If you modify a copy of the Library, and, in your modifications, a
+facility refers to a function or data to be supplied by an Application
+that uses the facility (other than as an argument passed when the
+facility is invoked), then you may convey a copy of the modified
+version:
+
+   a) under this License, provided that you make a good faith effort to
+   ensure that, in the event an Application does not supply the
+   function or data, the facility still operates, and performs
+   whatever part of its purpose remains meaningful, or
+
+   b) under the GNU GPL, with none of the additional permissions of
+   this License applicable to that copy.
+
+  3. Object Code Incorporating Material from Library Header Files.
+
+  The object code form of an Application may incorporate material from
+a header file that is part of the Library.  You may convey such object
+code under terms of your choice, provided that, if the incorporated
+material is not limited to numerical parameters, data structure
+layouts and accessors, or small macros, inline functions and templates
+(ten or fewer lines in length), you do both of the following:
+
+   a) Give prominent notice with each copy of the object code that the
+   Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the object code with a copy of the GNU GPL and this license
+   document.
+
+  4. Combined Works.
+
+  You may convey a Combined Work under terms of your choice that,
+taken together, effectively do not restrict modification of the
+portions of the Library contained in the Combined Work and reverse
+engineering for debugging such modifications, if you also do each of
+the following:
+
+   a) Give prominent notice with each copy of the Combined Work that
+   the Library is used in it and that the Library and its use are
+   covered by this License.
+
+   b) Accompany the Combined Work with a copy of the GNU GPL and this license
+   document.
+
+   c) For a Combined Work that displays copyright notices during
+   execution, include the copyright notice for the Library among
+   these notices, as well as a reference directing the user to the
+   copies of the GNU GPL and this license document.
+
+   d) Do one of the following:
+
+       0) Convey the Minimal Corresponding Source under the terms of this
+       License, and the Corresponding Application Code in a form
+       suitable for, and under terms that permit, the user to
+       recombine or relink the Application with a modified version of
+       the Linked Version to produce a modified Combined Work, in the
+       manner specified by section 6 of the GNU GPL for conveying
+       Corresponding Source.
+
+       1) Use a suitable shared library mechanism for linking with the
+       Library.  A suitable mechanism is one that (a) uses at run time
+       a copy of the Library already present on the user's computer
+       system, and (b) will operate properly with a modified version
+       of the Library that is interface-compatible with the Linked
+       Version.
+
+   e) Provide Installation Information, but only if you would otherwise
+   be required to provide such information under section 6 of the
+   GNU GPL, and only to the extent that such information is
+   necessary to install and execute a modified version of the
+   Combined Work produced by recombining or relinking the
+   Application with a modified version of the Linked Version. (If
+   you use option 4d0, the Installation Information must accompany
+   the Minimal Corresponding Source and Corresponding Application
+   Code. If you use option 4d1, you must provide the Installation
+   Information in the manner specified by section 6 of the GNU GPL
+   for conveying Corresponding Source.)
+
+  5. Combined Libraries.
+
+  You may place library facilities that are a work based on the
+Library side by side in a single library together with other library
+facilities that are not Applications and are not covered by this
+License, and convey such a combined library under terms of your
+choice, if you do both of the following:
+
+   a) Accompany the combined library with a copy of the same work based
+   on the Library, uncombined with any other library facilities,
+   conveyed under the terms of this License.
+
+   b) Give prominent notice with the combined library that part of it
+   is a work based on the Library, and explaining where to find the
+   accompanying uncombined form of the same work.
+
+  6. Revised Versions of the GNU Lesser General Public License.
+
+  The Free Software Foundation may publish revised and/or new versions
+of the GNU Lesser General Public License from time to time. Such new
+versions will be similar in spirit to the present version, but may
+differ in detail to address new problems or concerns.
+
+  Each version is given a distinguishing version number. If the
+Library as you received it specifies that a certain numbered version
+of the GNU Lesser General Public License "or any later version"
+applies to it, you have the option of following the terms and
+conditions either of that published version or of any later version
+published by the Free Software Foundation. If the Library as you
+received it does not specify a version number of the GNU Lesser
+General Public License, you may choose any version of the GNU Lesser
+General Public License ever published by the Free Software Foundation.
+
+  If the Library as you received it specifies that a proxy can decide
+whether future versions of the GNU Lesser General Public License shall
+apply, that proxy's public statement of acceptance of any version is
+permanent authorization for you to choose that version for the
+Library.

plesty_anc300_piezo_controller-0.1.0/PKG-INFO

@@ -0,0 +1,156 @@
+Metadata-Version: 2.5
+Name: plesty-anc300-piezo-controller
+Version: 0.1.0
+Summary: A plesty anc300 piezo controller device.
+Author-email: Yunshuang Yuan <yuanyunshuang@gmail.com>
+Maintainer-email: Plesty Development Team <plesty.dev@example.com>
+License-Expression: LGPL-3.0-or-later
+License-File: LICENSE
+License-File: LICENSES/LGPL-3.0-or-later.txt
+Requires-Python: >=3.12
+Requires-Dist: plesty-lib>=0.5.0
+Description-Content-Type: text/markdown
+
+# Plesty ANC300 Piezo Controller Device
+
+A PLESTY device module for the Attocube ANC300 piezo controller. It drives the
+controller's analog outputs: each axis can be grounded, set to a DC offset
+voltage, filtered, and its positioner's capacitance measured. All of it is
+reachable from Python and, through the PLESTY device server, over the network.
+
+The module talks to the controller's text console, over USB (a serial port, no
+login) or Ethernet (a login session on TCP port 7230): you send one command per
+line and the controller answers with data lines and then a final `OK` or `ERROR`
+line.
+
+## Supported hardware
+
+| Part | Support |
+|---|---|
+| ANC300 controller, USB console (serial port, 38400 baud) | Supported |
+| ANC300 controller, Ethernet console (TCP 7230) | Supported |
+| ANC300 controller, RS232 console | Assumed to behave like USB; not tried |
+| ANM200 axis module | Supported, including the filters 1.6, 16, 160 and 1600 Hz |
+| ANM300 axis module | Supported; it accepts only the filters off, 16 and 160 Hz, and rejects the others with `ERROR` |
+
+An ANC300 has up to seven axes, one per module slot. By default the module
+exposes axes 1 and 2; pass `axes=(1, 2, 3, ...)` to expose others.
+
+## Installation
+
+```bash
+git clone https://gitlab.com/plesty/hub/devices/attocube/plesty-anc300-piezo-controller.git
+cd plesty-anc300-piezo-controller
+uv sync
+```
+
+## Quick start
+
+Without hardware, `host="mock"` selects an in-memory simulator that follows the
+same protocol:
+
+```python
+from plesty.anc300_piezo_controller import Device
+
+with Device(host="mock", axes=(1, 2)) as device:
+    device.write("axis_1.mode", "off")  # offset-voltage mode
+    device.ramp_offset(axis=1, voltage=5.0)  # move gently to 5 V
+    print(device.query("axis_1.offset_voltage"))  # 5.0
+    print(device.measure_capacitance(axis=1))  # {"axis": 1, "capacitance": ...}
+    device.shutdown_to_ground()  # zero the offsets, mode gnd
+```
+
+With a controller, give its serial port (USB) or its address and password
+(Ethernet), not both:
+
+```python
+Device(serial_port="COM5", axes=(1, 2))  # USB
+Device(host="192.168.1.10", port=7230, password="...", axes=(1, 2))  # Ethernet
+```
+
+## Run as a server
+
+Copy `.env.example` to `.env` and set the controller's connection:
+`DEVICE_ADDRESS` (the serial port, e.g. `COM5`) for USB, or `DEVICE_HOST`,
+`DEVICE_PORT` (7230) and `DEVICE_PASSWORD` for Ethernet. `DEVICE_TCP_PORT` is
+the port the server binds (default 5555). Then:
+
+```bash
+cp .env.example .env
+uv run python -m plesty.anc300_piezo_controller --axes 1,2 --max-offset-voltage 100
+```
+
+`--serial-port` and `--baudrate` override the serial settings. Each value
+resolves as command line, then environment, then default. Before binding, the
+server checks that the controller is there: the serial port is listed by the
+operating system, or the host resolves and its port accepts a connection. It
+stops with the reason if not; `--skip-preflight` serves anyway. `--gui` opens a control panel instead of serving (needs the `gui` extra:
+`uv sync --extra gui`). The controller grants one console session, so serve or
+use the panel, not both.
+
+## Schema reference
+
+Parameters exist once per axis, as `axis_<n>.<name>` (n = 1 to 7).
+
+| Parameter | Type | Unit | Range / options | Controller commands |
+|---|---|---|---|---|
+| `mode` | str | | `gnd`, `off`, `inp`, `stp`, `stp+`, `stp-` | `setm` / `getm` |
+| `offset_voltage` | float | V | 0 to 150 (lower with `max_offset_voltage`) | `seta` / `geta` |
+| `filter` | str | Hz | `off`, `1.6`, `16`, `160`, `1600` | `setfil` / `getfil` |
+
+Operations:
+
+| Operation | Returns | Controller commands |
+|---|---|---|
+| `get_info()` | firmware `version`, board `serial` | `ver`, `getcser` |
+| `get_output_voltage(axis)` | measured output voltage, V | `geto` |
+| `get_capacitance(axis)` | saved capacitance, nF | `getc` |
+| `wait_capacitance(axis)` | blocks until a measurement ends | `capw` |
+| `stop(axis)` | stops any motion on the axis | `stop` |
+| `measure_capacitance(axis)` | fresh capacitance, nF; restores mode and offset | `setm cap`, `capw`, `getc` |
+| `ramp_offset(axis, voltage, steps=100, duration=1.0)` | offset read back after the ramp | `seta` repeatedly |
+| `shift_offset(axis, delta, steps=10, duration=0.1)` | offset read back after the shift | `geta`, then `seta` repeatedly |
+| `move_xy(x, y, steps=100, duration=1.0)` | x and y offsets read back | `seta` on both axes, in lockstep |
+| `shift_xy(dx, dy, steps=10, duration=0.1)` | x and y offsets read back | `geta`, then `seta` on both axes |
+| `shutdown_to_ground()` | grounded axes | `stop`, `seta`, `setm gnd` |
+
+Disconnecting ramps every selected axis's offset to 0 V and leaves its mode as it is; an
+offset is never left non-zero, because a controller that loses power or freezes drops it
+to zero in one jump. Call `shutdown_to_ground()` to also ground the axes.
+The full generated reference is in `docs/`.
+
+## Communication requirements
+
+| | |
+|---|---|
+| Transport | USB serial port, 38400 baud 8N1; or TCP, controller port 7230 (Ethernet console) |
+| Login | USB: none. Ethernet: password on connect (`DEVICE_PASSWORD`); the factory default is in the vendor manual |
+| Framing | One command per line, CR LF; replies end with `OK` or `ERROR`, followed on USB by a `> ` prompt |
+| Reply time | About 30 ms; the module waits up to 5 s, and 60 s for `capw` |
+
+## Not yet verified on hardware
+
+This module was written from the vendor manual and tested against its simulator;
+the first bench session checks these points. See `docs/index.md` for detail.
+
+- The shape of the replies to `getm`, `geta`, `getfil` and `getc`. Only
+  `voltage = 2.345000 V` is documented; the others are assumed to be `key = value`.
+- The capacitance unit, assumed to be nF.
+- The text printed after login has no known end, so it is read until the line has
+  been quiet for 0.5 s.
+- The reply format of `getcser`. (`ver` was seen over USB.)
+- The filter list is the ANM200 one.
+- What the controller does on a wrong password.
+
+## Left out on purpose
+
+Stepping (`setf`, `getf`, `setv`, `getv`, `stepu`, `stepd`, `stepw`), the
+AC/DC-IN switches (`setaci`, `getaci`, `setdci`, `getdci`), the pulse-count
+commands (`setpu`, `setpd`, `getpu`, `getpd`), the trigger commands, `setfc`,
+`getser`, `help` and the Lua console on port 7231. Stepping moves positioners
+under load and needs a design of its own. The stepping modes `stp`, `stp+` and
+`stp-` can be selected, but nothing drives steps.
+
+## License
+
+LGPL-3.0-or-later.