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en:dev:tailcontrol-command-protocol [2024/10/19 16:21] – [Directly Set Servo Position] darkgrueen:dev:tailcontrol-command-protocol [2025/02/05 03:23] (current) – darkgrue
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-====== TailCoNTROL Command Protocol ======+====== TailControl Command Protocol ======
  
  
-Command list for the Tail Company TailCoNTROL firmware. TailCoNTROL is the unified firmware platform (version 5.//x//.//x// and higher) for the MiTail, MiTail Mini, FlutterWings, and EarGear 2, and covers the shared features that exist across all those devices.+Command list for the Tail Company TailControl firmware. TailControl is the unified firmware platform (version 5.//x//.//x// and higher) for the MiTail, MiTail Mini, FlutterWings, and EarGear 2, and covers the shared features that exist across all those devices.
  
 All commands are case-sensitive. Trailing whitespace (e.g., `NULL`, `CR`, etc.) are ignored. The space between a command keyword and the parameters is mandatory. All commands are case-sensitive. Trailing whitespace (e.g., `NULL`, `CR`, etc.) are ignored. The space between a command keyword and the parameters is mandatory.
  
-<WRAP round todo> +<WRAP round todo 90%> 
-**IMPORTANT NOTICE:** TailCoNTROL and the TailCoNTROL Protocol is still under development. Some commands and features described here relate to a future release and are subject to change at this time, especially EarGear 2 features.+**IMPORTANT NOTICE:** TailControl and the TailControl Protocol is still under development. Some commands and features described here relate to a future release and are subject to change at this time, especially EarGear 2 features.
 </WRAP> </WRAP>
  
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   * TX Characteristic is ''c6612b64-0087-4974-939e-68968ef294b0'', and the   * TX Characteristic is ''c6612b64-0087-4974-939e-68968ef294b0'', and the
   * Battery Voltage is ''b08fed02-0584-40ef-b006-aff7e0d24e13''.   * Battery Voltage is ''b08fed02-0584-40ef-b006-aff7e0d24e13''.
- 
-<WRAP round important> 
-For tail-series v3.6 controller hardware, the battery charging characteristic is unset (charging state is not available). 
-</WRAP> 
- 
  
 The BLE Device Service for the EarGear 2 is ''927dee04-ddd4-4582-8e42-69dc9fbfae66'': The BLE Device Service for the EarGear 2 is ''927dee04-ddd4-4582-8e42-69dc9fbfae66'':
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   * Battery Voltage is ''54fa919d-e8a8-4841-b280-c5461161304f''.   * Battery Voltage is ''54fa919d-e8a8-4841-b280-c5461161304f''.
  
 +<WRAP round todo 90%>
 +TailControl will use a new Service and Characteristics UUIDs going forward, to distinguish it from previous firmwares (and to further enforce the “forklift upgrade” required).
 +
 +The BLE Device Service for TailControl is ''19F8ADE2-D0C6-4C0A-912A-30601D9B3060'':
 +  * RX Characteristic is ''5E4D86AC-EF2F-466F-A857-8776D45FFBC2''.
 +  * TX Characteristic is ''567A99D6-A442-4AC0-B676-4993BF95F805'', and the
 +  * Battery Voltage is ''E818BDA3-88A7-43C0-8509-6E0BBB6F55D9''.
 +</WRAP>
 +
 +<WRAP round important 90%>
 +For tail-series (MiTail, MiTail Mini, and FlutterWings) v3.6 controller hardware, the battery charging characteristic is unset (charging state is not available).
 +</WRAP>
  
-===== TailCoNTROL Device Indicators =====+===== TailControl Device Indicators =====
  
 ==== Blue LED ==== ==== Blue LED ====
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 ==== Automatic Actions ==== ==== Automatic Actions ====
  
-TailCoNTROL will automatically shut down the device if there is no BLE connection for 5 minutes. This behavior is suspended if a PD-capable adapter is attached (to allow for charging and/or operating from a external battery) **OR** if the firmware is compiled with a compile-time option to disable the timer (to facilitate wired serial console control where BLE connectivity is not used) [Note: to be moved to a configuration option in NVS in a future release].+TailControl will automatically shut down the device if there is no BLE connection for 5 minutes. This behavior is suspended if a PD-capable adapter is attached (to allow for charging and/or operating from a external battery) **OR** if the firmware is compiled with a compile-time option to disable the timer (to facilitate wired serial console control where BLE connectivity is not used) [Note: to be moved to a configuration option in NVS in a future release].
  
 Additional automatic actions are described in [[en:dev:tailcontrol-command-protocol#No-phone Mode|No-phone Mode]], below. Additional automatic actions are described in [[en:dev:tailcontrol-command-protocol#No-phone Mode|No-phone Mode]], below.
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 ===== EarGear 2-only Commands ===== ===== EarGear 2-only Commands =====
  
-| **LISTENMODE** | Starts Listen Mode; [[#Listen Mode|see below]], returns ''OK'' | +| **LISTENMODE** (or **LISTEN FULL**) | Starts Listen Mode; [[#Listen Mode|see below]], returns ''OK'' | 
-| **STOPLISTEN** | Stops Listen Mode; [[#Listen Mode|see below]], returns ''OK'' | +| **STOPLISTEN** (or **ENDLISTEN**) | Stops Listen Mode; [[#Listen Mode|see below]], returns ''OK'' | 
-| **STOPTILT** | Stops Tilt Mode; [[#Tilt Mode|see below]], returns ''OK'' | +| **STOPTILT** (or **ENDTILTMODE**) | Stops Tilt Mode; [[#Tilt Mode|see below]], returns ''OK'' | 
-| **TILTMODE** | Starts Tilt Mode; [[#Tilt Mode|see below]], returns ''OK'' |+| **TILTMODE** (or **TILTMODE START**) | Starts Tilt Mode; [[#Tilt Mode|see below]], returns ''OK'' |
  
  
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 | **READNVS** | **READ** **CONF**iguration from NVS; returns space-delimited configuration parameters stored in NVS (e.g., ''READNVS 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 stored in NVS (e.g., ''READNVS 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'' |
 +| **RELEASEHOLDONSTOP** | **RELEASE** servo **HOLD** when the servos **STOP** (default for tail-based devices); returns ''OK'' |
 +| **SETHOLDONSTOP** | **SET** servo **HOLD** is maintained when the servos **STOP** (default for 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'' | | **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'' |
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 ^ Prefix ^ Parameter Type  ^ Range of Values for Moves  ^ ^ Prefix ^ Parameter Type  ^ Range of Values for Moves  ^
 | **U** | User preset number | <1 ... 4> | | **U** | User preset number | <1 ... 4> |
-| **E** | Easing function to apply to Servo 1 | Default is Linear, if not specified.\\ As per [[https://github.com/ArminJo/ServoEasing/blob/bb19cd4cfd9e92fed3b0f91b90a7b2f7dd83094a/src/ServoEasing.h#L296|EaseTypes]];\\ e.g., 0 = Linear (no easing), 129 = Quadratic, 130 = Cubic,  131 = Quartic |+| **E** | Easing function to apply to Servo 1 | Default is Linear (no easing), if not specified.\\ This is the decimal representation of the (hexadecimal) easing type enumeration, as per [[https://github.com/ArminJo/ServoEasing/blob/bb19cd4cfd9e92fed3b0f91b90a7b2f7dd83094a/src/ServoEasing.h#L296|EaseTypes]] (e.g., 0 = Linear, 129 = Quadratic in/out, 130 = Cubic in/out,  131 = Quartic in/out). |
 | **F** | Easing function to apply to Servo 2 | (Same as **E**) | | **F** | Easing function to apply to Servo 2 | (Same as **E**) |
 | **A** | Point for Servo 1 | <0 ... 8>\\ 0 -> 25 degrees\\ 1 -> 41 degrees\\ 2 -> 58 degrees\\ ...\\ 8 -> 160 degrees | | **A** | Point for Servo 1 | <0 ... 8>\\ 0 -> 25 degrees\\ 1 -> 41 degrees\\ 2 -> 58 degrees\\ ...\\ 8 -> 160 degrees |
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   * **H1** Home at end of move   * **H1** Home at end of move
  
-<WRAP round info>+<WRAP round info 90%>
 Because no easing parameters (''E'' or ''F'') are specified, no easing is used by default. Because no easing parameters (''E'' or ''F'') are specified, no easing is used by default.
 </WRAP> </WRAP>
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 ===== Conference Mode ===== ===== Conference Mode =====
  
-Conference mode pairs the user's phone with the TailCoNTROL device and establishes a bond that performs long-term storage of encryption info (particularly keys) so that the devices “know” each other and can easily reconnect in an encrypted way. This protects your device in a number of different ways:+Conference mode pairs the user's phone with the TailControl device and establishes a bond that performs long-term storage of encryption info (particularly keys) so that the devices “know” each other and can easily reconnect in an encrypted way. This protects your device in a number of different ways:
  
   * **Authentication:** verifying the identity of the device connecting.   * **Authentication:** verifying the identity of the device connecting.
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 ==== Enabling Conference Mode (Pairing and Binding) ==== ==== Enabling Conference Mode (Pairing and Binding) ====
  
-Pairing is performed with a 6-digit number entered on each of the devices. In the case of TailCoNTROL, the passkey is set on the device in a "safe" location and saved to the firmware configuration.+Pairing is performed with a 6-digit number entered on each of the devices. In the case of TailControl, the passkey is set on the device in a "safe" location and saved to the firmware configuration.
  
 **SETPUSSKEY <nnnnnn>** **SETPUSSKEY <nnnnnn>**
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 ==== Unbinding ==== ==== Unbinding ====
  
-Resetting/removing bonds requires two separate actions: resetting the TailCoNTROL device, and removing the bond on the phone or other device.+Resetting/removing bonds requires two separate actions: resetting the TailControl device, and removing the bond on the phone or other device.
  
-There are two different methods of factory-resetting a TailCoNTROL device (which resets all persistent options to defaults and removes all bonding information):+There are two different methods of factory-resetting a TailControl device (which resets all persistent options to defaults and removes all bonding information):
  
-  * Sending a ''FORMATNVS'' command to the TailCoNTROL console. This will factory-reset and reboot.+  * Sending a ''FORMATNVS'' command to the TailControl console. This will factory-reset and reboot.
   * Performing a factory reset using the single button:   * Performing a factory reset using the single button:
       - Press and hold the power button.       - Press and hold the power button.
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       - Ten seconds after the triple-flash (13 seconds total of continuous holding), the blue LED will blink quickly continuously, release to perform the factory reset. The blue LED will go solid, then the ESP will restart, with the blue LED flashing slowly (ready to connect).       - Ten seconds after the triple-flash (13 seconds total of continuous holding), the blue LED will blink quickly continuously, release to perform the factory reset. The blue LED will go solid, then the ESP will restart, with the blue LED flashing slowly (ready to connect).
  
-<WRAP round info>+<WRAP round info 90%>
 The bond will also need to be removed on the phone or other device as well, or it will attempt to continue to use the bond (which will fail, because those stored credentials will no longer be valid). The bond will also need to be removed on the phone or other device as well, or it will attempt to continue to use the bond (which will fail, because those stored credentials will no longer be valid).
  
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 ===== iOS Casual Mode ===== ===== iOS Casual Mode =====
  
-<WRAP round todo>+<WRAP round todo 90%>
 This feature is pending removal in a future release. This feature is pending removal in a future release.
 </WRAP> </WRAP>
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 ===== No-phone Mode ===== ===== No-phone Mode =====
  
-No-phone mode is a feature exclusive of MiTail firmware 4.0.0 or greater or TailCoNTROL.+No-phone mode is a feature exclusive of MiTail firmware 4.0.0 or greater or TailControl.
  
 **AUTOMODE G<n>[G<n>[G<n>]] T<nnn>T<nnn>T<251 ... 254>** **AUTOMODE G<n>[G<n>[G<n>]] T<nnn>T<nnn>T<251 ... 254>**
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-== Copyright 2024 © The Mechanical Tail Company Limited contact@thetailcompany.com. All Rights Reserved. ==+== Copyright 2024-2025 © The Mechanical Tail Company Limited contact@thetailcompany.com. All Rights Reserved. The Mechanical Tail Company Limited also claims trademark rights in the following: TailControl, MiTail, MiTail Mini, FlutterWings, and EarGear.  Any unauthorized use is expressly prohibited. ==
  
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