# Offline Batch Execution

Batch execution stores a group of CAN, CAN FD, or RS485 commands on the board and runs them in sequence. A task can continue after the PC is disconnected, making it useful for factory initialization, cycle tests, and fixed motion sequences.

> Batch tasks send control commands directly to external devices. For the first test, remove the load, reduce speed and current limits, and prepare an emergency stop or power disconnect.

## Basic Rules

- Send all commands through USB serial with a `CRLF` line ending.
- Batch IDs are `1` to `99`. Names are 1 to 16 characters and may contain letters, digits, `_`, and `-`.
- Item indexes start at `1` and must increase continuously without gaps or duplicates.
- One payload can contain up to 80 bytes; RS485 items use at most 68 of them.
- Firmware permits many items, but for maintainability and storage margin, keep each batch to 64 items or fewer.
- `Channel=0` sends to both interfaces of the same type on the current MCU; `1/3` selects the first and `2/4` selects the second.

## Create and Run a Batch

This example creates one CAN FD extended-frame task and runs it once:

```text
AT+BATBEGIN=1,fd_test
AT+BATADD=1,1,5,1,10,000001230A01020304050607081112131415161718
AT+BATCOMMIT=1
AT+BATRUN=1,1,0,1
```

Each successful command returns:

```text
OK
```

Query the result:

```text
AT+BATSTAT?
```

Typical response:

```text
BATSTAT:run=0,batch_id=1,mode=1,idx=2,count=1,repeat_cfg=1,repeat_done=0,last_err=0,tx_ok=1,tx_fail=0
```

Confirm that `last_err=0`, `tx_ok` increased, and `tx_fail=0`.

## Item Format

```text
AT+BATADD=<id>,<idx>,<proto>,<ch>,<delay_ms>,<hex_payload>
```

| Field | Description |
| --- | --- |
| `id` | Batch ID, `1` to `99` |
| `idx` | Item index, starting at `1` without gaps |
| `proto` | Bus and frame type, listed below |
| `ch` | Target Channel; `0` means both interfaces on the current MCU |
| `delay_ms` | Delay after successful transmission before the next item, `0` to `9999 ms` |
| `hex_payload` | Hexadecimal data without spaces |

CAN IDs use most significant byte first:

| `proto` | Type | `hex_payload` |
| ---: | --- | --- |
| `1` | Classic CAN standard frame | `CANID(2B) + Len(1B) + Data(0 to 8B)` |
| `2` | Classic CAN extended frame | `CANID(4B) + Len(1B) + Data(0 to 8B)` |
| `3` | RS485 | Raw device command `Data(1 to 68B)` |
| `4` | CAN FD standard frame | `CANID(2B) + length-code(1B) + Data(0 to 64B)` |
| `5` | CAN FD extended frame | `CANID(4B) + length-code(1B) + Data(0 to 64B)` |

Classic CAN `Len` is the actual byte count. CAN FD uses these length codes:

| Code | Bytes | Code | Bytes |
| ---: | ---: | ---: | ---: |
| `00` | 0 | `08` | 8 |
| `01` | 1 | `09` | 12 |
| `02` | 2 | `0A` | 16 |
| `03` | 3 | `0B` | 20 |
| `04` | 4 | `0C` | 24 |
| `05` | 5 | `0D` | 32 |
| `06` | 6 | `0E` | 48 |
| `07` | 7 | `0F` | 64 |

## Run Modes

```text
AT+BATRUN=<id>,<mode>,<period_ms>,<repeat>
```

| Field | Description |
| --- | --- |
| `mode=1` | Execute the sequence once and stop |
| `mode=2` | Execute periodically |
| `period_ms` | Delay between complete cycles in periodic mode, `0` to `65535 ms` |
| `repeat` | Number of cycles; `0` continues until `AT+BATSTOP` |

Run 10 cycles with 100 ms between cycles:

```text
AT+BATRUN=1,2,100,10
```

Stop the current task:

```text
AT+BATSTOP
```

## Power-On Execution

After testing a batch, configure it to run after power-up:

```text
AT+BATAUTOSET=<id>,<mode>,<period_ms>,<repeat>
```

Query or clear the setting:

```text
AT+BATAUTO?
AT+BATAUTOCLR
```

The setting is saved to Flash. When `mode=1`, `period_ms` must be `0`.

## Query and Delete

| Command | Purpose |
| --- | --- |
| `AT+BATLIST?` | List saved batches |
| `AT+BATREAD=<id>,<idx>` | Read a selected item |
| `AT+BATSTAT?` | Show runtime state and transmit statistics |
| `AT+BATDEL=<id>` | Delete one batch |
| `AT+BATERASE` | Delete all batches |

`AT+BATERASE` does not remove device identity or communication settings, but deleted batches cannot be recovered.

## Upload a Long Command in Chunks

If the serial application cannot send a long AT command reliably, upload one payload in chunks:

```text
AT+BATADDX=<id>,<idx>,<proto>,<ch>,<delay_ms>,<total_len>,<seq>,<off>,<hex_part>
AT+BATADDEND=<id>,<idx>,<crc16>
```

- The first chunk uses `seq=1` and `off=0`.
- Later `seq` values increase continuously and `off` equals the total number of previously uploaded bytes.
- After all chunks, calculate CRC16-CCITT over the complete payload with initial value `0x0000`, then send `AT+BATADDEND`.
- Finish one item before uploading the next index.

## Error Responses

Failures return `ERR,<code>`:

| Code | Meaning | Common action |
| ---: | --- | --- |
| `1` | Invalid format | Check field count, hexadecimal data, and payload layout |
| `2` | Invalid state | Check `BATBEGIN`, continuous indexes, and chunk completion |
| `3` | Value out of range | Check batch ID, Channel, delay, and length |
| `4` | CRC mismatch | Recalculate CRC16 over the complete payload |
| `5` | Not enough storage | Delete unused batches; if configuration storage is full, use `AT+CFGERASE` |
| `6` | Batch not found | Confirm the ID with `AT+BATLIST?` |
| `7` | Transmit queue busy | Reduce the task rate or increase item delays |
| `8` | Flash read/write failure | Power-cycle and retest; inspect hardware if the error remains |

See [Communication Settings](baudrate_config) for bitrate, SPI length mode, and RS485 passthrough configuration.