"absposN* - GS absolute position (in steps, setter just changes current value)\n"
    "accelN* - GS accel/decel (steps/s^2)\n"
    "adcN* - G ADC value (N=0..3)\n"
    "button[N]* - G all or given (N=0..6) buttons' state\n"
    "canerrcodes - G print last CAN errcodes\n"
    "canfilter - GS can filters, format: bank# FIFO# mode(M/I) num0 [num1 [num2 [num3]]]\n"
    "canflood - send/clear flood message: ID byte0 ... byteN\n"
    "canfloodT - GS flood period (>=0ms)\n"
    "canid* - GS CAN ID of device\n"
    "canignore - GS ignore list (max 10 IDs), negative to delete\n"
    "canincrflood - send incremental flood message (ID is last for 'flood', stop by 'flood')\n"
    "canpause - pause IN packets displaying\n"
    "canreinit - reinit CAN\n"
    "canresume - resume IN packets displaying\n"
    "cansend - send data over CAN: send ID byte0 .. byteN (N<8)\n"
    "canspeed - GS CAN speed (reinit if setter)\n"
    "canstat - G CAN status\n"
    "delignlist* - delete ignore list\n"
    "diagn[N]* - G DIAG state of motor N (or all)\n"
    "dumperr* - dump error codes\n"
    "dumpcmd* - dump command codes\n"
    "dumpconf* - dump current configuration\n"
    "emstop[N]* - emergency stop motor N or all\n"
    "encposN* - GS encoder's position\n"
    "encrevN* - GS max encoder's pulses per revolution\n"
    "encstepmaxN* - GS maximal encoder ticks per step\n"
    "encstepminN* - GS minimal encoder ticks per step\n"
    "eraseflash* - erase flash data storage\n"
    "esw[N]* - G end-switches state\n"
    "eswreactN* - GS end-switches reaction (0 - ignore, 1 - stop@any, 2 - stop@zero)\n"
    "gotoN* - GS move motor to given absolute position\n"
    "gotozN* - find zero position & refresh counters\n"
    "gpioconfN* - GS GPIO configuration (0 - PUin, 1 - PPout, 2 - ODout), N=0..2\n"
    "gpioN* - GS GPIO values, N=0..2\n"
    "maxspeedN* - GS max speed (steps per sec)\n"
    "maxstepsN* - GS max steps (from zero ESW)\n"
    "mcut* - G MCU T\n"
    "mcuvdd* - G MCU Vdd\n"
    "microstepsN* - GS microsteps settings (2^0..2^9)\n"
    "minspeedN* -  min speed (steps per sec)\n"
    "motflagsN* - motorN flags\n"
    "motmul* - GS external multiplexer status (<0 - disable, 0..7 - enable and set address)\n"
    "motreinit* - re-init motors after configuration changed\n"
    "ping* - echo given command back\n"
    "relposN* - GS relative move (get remaining)\n"
    "relslowN* - GS like 'relpos' but with slowest speed\n"
    "reset - software reset\n"
    "saveconf* - save current configuration\n"
    "screen* - GS screen enable (1) or disable (0)\n"
    "speedlimit* - G limiting speed for current microsteps setting\n"
    "stateN* - G motor state (0-relax, 1-accel, 2-move, 3-mvslow, 4-decel, 5-stall, 6-err)\n"
    "stopN* - stop motor with deceleration\n"
    "time - G time from start (ms)\n"
    "tmcbus* - GS TMC control bus (0 - USART, 1 - SPI)\n"
    "udata* - GS data by usart in slave mode (text strings, '\\n'-terminated)\n"
    "usartstatus* - GS status of USART1 (0 - off, 1 - master, 2 - slave)\n"