Trace:

Differences

This shows you the differences between two versions of the page.

Link to this comparison view

Both sides previous revisionPrevious revision
Next revision		Previous revision
en:dev:tailcontrol-command-protocol [2024/06/13 00:22] – darkgrueen:dev:tailcontrol-command-protocol [2024/06/28 15:43] (current) – darkgrue
Line 10: Line 10:
 ===== Bluetooth Low Energy (BLE) ===== ===== Bluetooth Low Energy (BLE) =====
  
-The hardware platform uses the "Just Works" Bluetooth Low Energy (BLE) pairing method to connect.+The hardware platform uses the "Just Works" Bluetooth Low Energy (BLE) pairing method to connect. If Conference Mode ([[#Conference Mode|see below]]) is used, "Passkey" pairing is used.
  
  
Line 152: Line 152:
 | **HWVER** | Returns **H**ard**W**are **VER**sion; returns ''HWVER LEGACY MITAIL'' or ''HWVER MITAIL x.x'' for tail-series controller hardware, ''HWVER EG2 x.x'' for EarGear 2 controller hardware | | **HWVER** | Returns **H**ard**W**are **VER**sion; returns ''HWVER LEGACY MITAIL'' or ''HWVER MITAIL x.x'' for tail-series controller hardware, ''HWVER EG2 x.x'' for EarGear 2 controller hardware |
 | **PING** | Keepalive heartbeat (from application), returns ''PONG'' | | **PING** | Keepalive heartbeat (from application), returns ''PONG'' |
-| **SETPUSSKEY** | **SET** **P**a**SSKEY**, enable Conference Mode and restart after 3 seconds; [[#Conference Mode|see below]], returns ''OK'' |+| **SETPUSSKEY** | **SET** **P**a**SSKEY**, enable Conference Mode, and restart after 3 seconds; [[#Conference Mode|see below]], returns ''OK'' |
 | **SHUTDOWN** | **SHUT DOWN** the unit (will lose the BLE connection), returns ''SHUTDOWN BEGIN'' or ''ERR'' if charger is attached | | **SHUTDOWN** | **SHUT DOWN** the unit (will lose the BLE connection), returns ''SHUTDOWN BEGIN'' or ''ERR'' if charger is attached |
 | **STOPAUTO** | **STOP AUTO**nomous Mode, returns ''OK'', followed by ''AUTO END'' | | **STOPAUTO** | **STOP AUTO**nomous Mode, returns ''OK'', followed by ''AUTO END'' |
Line 167: Line 167:
 | **FORMATNVS** | **FORMAT** **NVS** (erase all contents of the default NVS partition, including BLE bonds) and reboot | | **FORMATNVS** | **FORMAT** **NVS** (erase all contents of the default NVS partition, including BLE bonds) and reboot |
 | **OTA** | Starts firmware **O**ver **T**he **A**ir update process (e.g., ''OTA <expected size in bytes> <expected MD5>''); returns ''BEGIN OTA'' or ''ERR'' on failure to start, ''OTA SUCCESS'' on success, or ''OTA ERR'' on error during OTA process | | **OTA** | Starts firmware **O**ver **T**he **A**ir update process (e.g., ''OTA <expected size in bytes> <expected MD5>''); returns ''BEGIN OTA'' or ''ERR'' on failure to start, ''OTA SUCCESS'' on success, or ''OTA ERR'' on error during OTA process |
-| **READCONF** | **READ** running **CONF**iguration; returns space-delimited configuration parameters (e.g., ''1 5 0 15 40 3 8 0 0 1 0 123456'') [''ver'' ''minsToSleep'' ''minsToNPM'' ''minNPMPauseSec'' ''maxNPMPauseSec'' ''groupsNPM'' ''servo1home'' ''servo2home'' ''disconnectedCountdownEnabled'' ''homeOnAppPoweroff'' ''conferenceModeEnabled'' ''securityPasskey''] | +| **READCONF** | **READ** running **CONF**iguration; returns space-delimited running configuration parameters (e.g., ''1 5 0 15 40 3 8 0 0 0 3 0 0 0 1 0 123456'') [''ver'' ''minsToSleep'' ''minsToNPM'' ''minNPMPauseSec'' ''maxNPMPauseSec'' ''groupsNPM'' ''servo1home'' ''servo2home'' ''listenModeNPMEnabled'' ''listenModeResponseOnly'' ''groupsLM'' ''tiltModeNPMEnabled'' ''tiltModeResponseOnly'' ''disconnectedCountdownEnabled'' ''homeOnAppPoweroff'' ''conferenceModeEnabled'' ''securityPasskey''] | 
-| **READNVS** | **READ** **CONF**iguration from NVS; returns space-delimited configuration parameters (e.g., ''1 5 0 15 40 3 8 0 0 1 0 123456'') [''ver'' ''minsToSleep'' ''minsToNPM'' ''minNPMPauseSec'' ''maxNPMPauseSec'' ''groupsNPM'' ''servo1home'' ''servo2home'' ''disconnectedCountdownEnabled'' ''homeOnAppPoweroff'' ''conferenceModeEnabled'' ''securityPasskey''] |+| **READNVS** | **READ** **CONF**iguration from NVS; returns space-delimited configuration parameters stored in NVS (e.g., ''1 5 0 15 40 3 8 0 0 0 3 0 0 0 1 0 123456'') [''ver'' ''minsToSleep'' ''minsToNPM'' ''minNPMPauseSec'' ''maxNPMPauseSec'' ''groupsNPM'' ''servo1home'' ''servo2home'' ''listenModeNPMEnabled'' ''listenModeResponseOnly'' ''groupsLM'' ''tiltModeNPMEnabled'' ''tiltModeResponseOnly'' ''disconnectedCountdownEnabled'' ''homeOnAppPoweroff'' ''conferenceModeEnabled'' ''securityPasskey''] |
 | **REBOOT** | **REBOOT** after 3 seconds, returns ''OK'' | | **REBOOT** | **REBOOT** after 3 seconds, returns ''OK'' |
 | **SETHOME** | **SET** **HOME** position (0 through 8) for each servo (e.g., ''SETHOME 4 4''), NOTE: only available on FlutterWings, and EarGear 2; returns ''OK'' | | **SETHOME** | **SET** **HOME** position (0 through 8) for each servo (e.g., ''SETHOME 4 4''), NOTE: only available on FlutterWings, and EarGear 2; returns ''OK'' |
 | **TASKU** | Prints to the hardware serial console the minimum amount in words of remaining stack space that was available to the task since the task started executing, returns ''OK'' | | **TASKU** | Prints to the hardware serial console the minimum amount in words of remaining stack space that was available to the task since the task started executing, returns ''OK'' |
-| **WRITECONF** | **WRITE** **CONF**iguration to NVS and set running configuration to match (e.g., ''WRITECONF 1 5 0 15 40 3 8 0 0 1 0 123456''), returns ''OK'' [''ver'' ''minsToSleep'' ''minsToNPM'' ''minNPMPauseSec'' ''maxNPMPauseSec'' ''groupsNPM'' ''servo1home'' ''servo2home'' ''disconnectedCountdownEnabled'' ''homeOnAppPoweroff'' ''conferenceModeEnabled'' ''securityPasskey''] |+| **WRITECONF** | **WRITE** **CONF**iguration to NVS and set running configuration to match (e.g., ''WRITECONF 1 5 0 15 40 3 8 0 0 0 3 0 0 0 1 0 123456''), returns ''OK'' [''ver'' ''minsToSleep'' ''minsToNPM'' ''minNPMPauseSec'' ''maxNPMPauseSec'' ''groupsNPM'' ''servo1home'' ''servo2home'' ''listenModeNPMEnabled'' ''listenModeResponseOnly'' ''groupsLM'' ''tiltModeNPMEnabled'' ''tiltModeResponseOnly'' ''disconnectedCountdownEnabled'' ''homeOnAppPoweroff'' ''conferenceModeEnabled'' ''securityPasskey''] |
  
 ===== Directly Set Servo Position ===== ===== Directly Set Servo Position =====
Line 194: Line 194:
   * Parameters of type **A**, **B**, **E**, **F**, **H**, **L**, and **M** can appear in any order (e.g., ''AABBSS'', ''ABABSS'', ''ABSABS'').   * Parameters of type **A**, **B**, **E**, **F**, **H**, **L**, and **M** can appear in any order (e.g., ''AABBSS'', ''ABABSS'', ''ABSABS'').
   * Parameters can be separated by any character that is not a number or a letter (e.g., space, comma, semicolon). However, the letters themselves act as separators, and it is recommended that no additional characters are used, as the serial buffer has a limited capacity and may not be able to store the whole instruction.   * Parameters can be separated by any character that is not a number or a letter (e.g., space, comma, semicolon). However, the letters themselves act as separators, and it is recommended that no additional characters are used, as the serial buffer has a limited capacity and may not be able to store the whole instruction.
-  * Depending on the tail and position, it can sag out of the commanded position when servo power is released at the end of the DSSP move. This may cause a visual defect jerking back into position when the next move starts.+  * Depending on the tail and position, it can sag out of the commanded position when servo power is released at the end of the DSSP move. This may cause a visual defect of jerking back into the previous position when the next move starts.
  
 ==== DSSP Example ==== ==== DSSP Example ====
Line 223: Line 223:
 | **H** | Move to home position at end of move | 0 = false (default), 1 = true | | **H** | Move to home position at end of move | 0 = false (default), 1 = true |
  
-===== USERMOVE Examples =====+**USERLEDS U<preset> P<numpoints> N<numcycles> A<point<sub>1</sub>> ... A<point<sub>n</sub>> [S|L]<numticks<sub>1</sub>> ... [S|L]<numticks<sub>n</sub>>**   
 + 
 +^ Prefix  ^ Parameter Type  ^ Range of Values for Glow Tip LEDs  ^ 
 +| **U** | User preset number | <1 ... 4> | 
 +| **P** | Number of points in the Glow Tip pattern | <1 ... 32> | 
 +| **N** | Number of cycles (times the pattern will be repeated) | <0 ... 255> | 
 +| **A** | Brightness point for Glow Tip | <0 ... 8>\\ 0 -> LEDs off\\ ...\\ 4 -> 50% intensity\\ ...\\ 8-> LEDs max intensity | 
 +| **S/L** | Time between the current point and the next (in 20 ms increments)\\ **S** will wait in the current position, then move to the next when the time has elapsed\\ **L** will gradually move from the current position to the next, over the time specified | 0 ... 127 (time * 20 ms) | 
 + 
 +**Notes:** 
 +  * Parameters of type **A**, **B**, **E**, **F**, **H**, **L**, **M**, and **S** can appear in any order (e.g., `EEAABBSS`, `ABAEBESS`, etc.). 
 +  * Parameters can be separated by any character that is not a number or a letter (e.g., space, comma, semicolon). However, the letters themselves act as separators, and it is recommended that no additional characters are used, as the serial buffer has a limited capacity and may not be able to store the whole instruction. 
 +  * Note the upper limit on the **P** parameter (and the consequential limit of moves in a move or LED pattern). 
 +  * There is a **128-character limit** on the serial input buffer. 
 + 
 +==== USERMOVE Examples ====
  
-==== Example 1 – Slow Wag 1 (same as the ''TAILS1'' command) ====+=== Example 1 – Slow Wag 1 (same as the ''TAILS1'' command) ===
  
 Both servos move from 143° to 41° (position 7 to 1) and back, for 3 times; each cycle is (75 + 75) * 20 ms = 3 s long. Both servos move from 143° to 41° (position 7 to 1) and back, for 3 times; each cycle is (75 + 75) * 20 ms = 3 s long.
Line 242: Line 257:
   * **H1** Home at end of move   * **H1** Home at end of move
  
-==== Example 2 – Test Servos ====+=== Example 2 – Test Servos ===
  
 Moves servos in steps of 90° every 2 seconds; Servo 2 is delayed by 90°. Moves servos in steps of 90° every 2 seconds; Servo 2 is delayed by 90°.
Line 258: Line 273:
   * **H1** Home at end of move   * **H1** Home at end of move
  
-**USERLEDS U<preset> P<numpoints> N<numcycles> A<point<sub>1</sub>> ... A<point<sub>n</sub>> [S|L]<numticks<sub>1</sub>> ... [S|L]<numticks<sub>n</sub>>**  +==== USERLEDS Examples ====
  
-^ Prefix  ^ Parameter Type  ^ Range of Values for Glow Tip LEDs  ^ +=== Example 1 – Beacon (same as the ''LEDBEA'' command) ===
-| **U** | User preset number | <1 ... 4> | +
-| **P** | Number of points in the Glow Tip pattern | <1 ... 32> | +
-| **N** | Number of cycles (times the pattern will be repeated) | <0 ... 255> | +
-| **A** | Brightness point for Glow Tip | <0 ... 8>\\ 0 -> LEDs off\\ ...\\ 4 -> 50% intensity\\ ...\\ 8-> LEDs max intensity | +
-| **S/L** | Time between the current point and the next (in 20 ms increments)\\ **S** will wait in the current position, then move to the next when the time has elapsed\\ **L** will gradually move from the current position to the next, over the time specified | 0 ... 127 (time * 20 ms) | +
- +
-**Notes:** +
-  * Parameters of type **A**, **B**, **E**, **F**, **H**, **L**, **M**, and **S** can appear in any order (e.g., `EEAABBSS`, `ABAEBESS`, etc.). +
-  * Parameters can be separated by any character that is not a number or a letter (e.g., space, comma, semicolon). However, the letters themselves act as separators, and it is recommended that no additional characters are used, as the serial buffer has a limited capacity and may not be able to store the whole instruction. +
-  * Note the upper limit on the **P** parameter (and the consequential limit of moves in a move or LED pattern). +
-  * There is a **128-character limit** on the serial input buffer. +
- +
-===== USERLEDS Examples ===== +
- +
-==== Example 1 – Beacon (same as the ''LEDBEA'' command) ====+
  
 The Glow Tip LEDs light up for 100 ms every 1 s (Airbus A320 tail strobe). The Glow Tip LEDs light up for 100 ms every 1 s (Airbus A320 tail strobe).
Line 288: Line 288:
   * **S5S95** On for 5 * 20 ms = 100 ms; off for 50 * 20ms = 1 s     * **S5S95** On for 5 * 20 ms = 100 ms; off for 50 * 20ms = 1 s  
  
-==== Example 2 – Fade in/out (similar to ''LEDTRI'') ====+=== Example 2 – Fade in/out (similar to ''LEDTRI'') ===
  
 The Glow Tip LEDs light up slowly, then dim until completely off; this is repeated 3 times. The Glow Tip LEDs light up slowly, then dim until completely off; this is repeated 3 times.
Line 353: Line 353:
  
 The device will then reboot in 3 seconds. If the bond needs to be removed or reset, see [[en:dev:tailcontrol-command-protocol#unbinding|Unbinding]], below. The device will then reboot in 3 seconds. If the bond needs to be removed or reset, see [[en:dev:tailcontrol-command-protocol#unbinding|Unbinding]], below.
 +
 ==== Unbinding ==== ==== Unbinding ====
  
Line 371: Line 372:
  
  
-==== iOS Casual Mode ====+===== iOS Casual Mode =====
  
 [This feature is pending removal in a future release.] [This feature is pending removal in a future release.]
Line 382: Line 383:
  
 Important! The minimum random pause cannot be less that 15 seconds. Important! The minimum random pause cannot be less that 15 seconds.
- 
  
 ==== iOS Casual Mode Example ==== ==== iOS Casual Mode Example ====
Back to top