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en:dev:tailcontrol-command-protocol [2024/06/13 00:26] – darkgrueen:dev:tailcontrol-command-protocol [2024/06/28 15:43] (current) – darkgrue
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 ===== 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.
  
  
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 | **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'' |
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 | **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 =====
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   * 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 ====
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 | **M** | Time between the current Servo 2 point and the next in ticks (in 20 ms increments)\\ **M** will move from the current position to the next, over the time specified | (Same as **L**) | | **M** | Time between the current Servo 2 point and the next in ticks (in 20 ms increments)\\ **M** will move from the current position to the next, over the time specified | (Same as **L**) |
 | **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 |
 +
 +**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 ==== ==== USERMOVE Examples ====
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   * **M100M100M100M100** Each Servo 2 move takes 100 * 20 ms = 2 s to complete     * **M100M100M100M100** Each Servo 2 move takes 100 * 20 ms = 2 s to complete  
   * **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>>**   
- 
-^ 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. 
  
 ==== USERLEDS Examples ==== ==== USERLEDS Examples ====
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