private async Task GetFullStatus()
{
var data = await dev.ReadBufferDataAsync((byte)Command.GetFullStatus1, 9).ConfigureAwait(false);
var irun = (data[1] >> 4) & 0x0f;
runningCurrent = (RunningCurrent)irun;
var ihold = data[1] & 0x0f;
holdingCurrent = (HoldingCurrent)irun;
var vmax = (data[2] >> 4) & 0x0f;
maxVelocity = (MaxVelocityType)vmax;
var vmin = data[2] & 0x0f;
minVelocityFactorThirtySeconds = vmin == 0 ? 32 : vmin;
var acc = data[3] & 0x0f;
acceleration = (Accel)acc;
accelShape = (data[3] & 0x80) > 0;
var _stepMode = (data[3] >> 5) & 0x03;
stepMode = (StepModeType)_stepMode;
shaftDirection = (data[3] & 0x10) > 0;
await GetPositionStatus().ConfigureAwait(false);
}