====== TailControl Release Notes ======


===== TailControl v5.4.7 =====

=== New Features ===
  * Added ClawGear hardware platform.
    * Split move systems between servo and stepper.
  * Added RGB support.
    * Add RGB LED strip support for MiTail Mini on Servo 2 port.
    * Add RGB LED strip support for ClawGear on Servo 2 port.
    * Added RGB LED strip support on serial port RX pin for MiTail products, based on suggestion from Code-L (good idea 👍).
    * Added terminal RX status.
    * Added `remapConsoleRXtoGPIO` to NVS settings commands.
    * Added per-product RGB setting defaults (number of LEDs, current limits, etc.).
    * Added `SETRGB` to NVS settings commands to set RGB LED parameters.
    * Added `SETBRT` to NVS settings commands to set RGB LED default global brightness parameter.
    * All RGB commmands support brightness override (and can set hue, where appropriate).
  * Added servo hold on stop to NVS settings commands (`SETHOLDONSTOP` / `UNSETHOLDONSTOP`).
  * Added BLE disconnected countdown disable/enable functionality to NVS settings commands (`SETDISCONNECTEDCOUNT`).
  * Added internal move enable/disable for Listen and Tilt Mode moves to NVS settings commands (`SETLISTENMOVES` / `UNSETLISTENMOVES` and `SETTILTMOVES` / `UNSETTILTMOVES`).
  * Added `myColor` setting (request from Code-L) - device "remembers" it's set UI color to report back to app.
    * Added `SETMYCOLOR` command.
    * `MYCOLOR` returned as part of `VER` response.

=== Bugfixes / Refactoring ===
  * Refactor to move PlatformIO platform to `pioarduino-stable`.
  * Migrated to new I2S driver.
  * Implemented unit testing for `taskconsole()` function.
  * Minor shutdown code cleanup.
  * Removed unused servo speed parameter.
  * Fixed CRITICAL Conference Mode kernel panic, reported by SnowOwlX (thank you!)
    * Increased stack size margins to be closer to 50% free at worst case.
  * Refactored `platformio.ini` file.
  * Re-baselined tilt mode zero points for EarGear 2.
  * `TILTMODE` cooldown reduced to 3 seconds, down from 4.
  * Renamed `timersTask` to be consistent with other task names.
  * Fixed `WRITECONF`, `READCONF`, and `READNVS` commands.
  * Updated functionality for Python extra scripts to improve maintainability of the PlatformIO build process.
  * Adjusted `.gitignore` file.
    * Removed `extensions.json` from inclusion, as it's auto-generated.
    * Stop including `esp-web-tools/firmware/*.bin` files.
  * Change internal move references to `MOVE_HOME`, and `MOVE1` through `MOVE11` (console command naming mapping remains the same).
  * Fix `build_unify_binary.py` script not triggering reliably.
  * `patch_libdeps.py` handles already-patched files more robustly.
  * Performed code hygiene review:
    * Fixed null-check `strtok()` results before calling `startOTA()`.
    * Fixed reset OTA byte counter at the start of each OTA session.
    * Fixed null-check `malloc()/calloc()` results in `createMovingAverage()`.
    * Fixed clamp BLE RX `memcpy()` length to actual string length.
    * Replaced `xQueuePeekFromISR()` with `xQueuePeek()` in task context.
    * Guard Autonomous Mode group bit shift against out-of-range index.
    * Use `>=` instead of `==` for serial RX buffer overflow check.
    * Removed contradictory signaling and makes the OTA state machine unambiguous.
    * Robust null-handling for moving-average allocation and use is implemented in EG2 listen-mode processing.
    * Correctly map `AUTOMODE` groups and guard bitflag generation.
    * Skip zero-length BLE writes in `execOTA()` to prevent duplicate ACK.
    * Guard against re-entrant `startOTA()` while a transfer is already active.
    * Release OTA flash write handle when BLE disconnects mid-transfer.
    * Pass actual BLE connection handle to `updateConnParams()`.
    * Switch `p_characteristicRX` from `INDICATE` to `NOTIFY`.
    * Replace blocking `delay()`/`esp_restart()` in BLE callback with `esp_timer`.
    * Abort and restart on `Update.end()`/`Update.isFinished()` failures.
    * Enforce 60-second inactivity timeout during OTA transfer.
    * `ota.py` subscribe to TX characteristic for firmware status notifications.
    * Fix multifunction button LED animations.

=== Library Updates ===
  * Updated ESP32Servo library to v3.2.0.
  * Updated NimBLE-Arduino library to v2.5.1.
  * Updated ServoEasing library to v3.6.0.
  * Added NeoPixelBus#CORE3 (for RGB support).
  * Replaced JLed libary with custom class (`LedFx`) built on Core v3's native API.

=== Updated Documentation ===
  * Added new Move Reference Wiki page.
  * Bumped copyright year to 2026.
  * Added notes about flying with devices that contain LiOn batteries to documentation.
  * Added move mappings for FlutterWings.
  * Documented new commands and command changes.


===== TailControl v5.2.8 =====

  * Rebranded "TailCoNTROL" to "TailControl" (under duress).
  * Add full EarGear 2 support:
    * Add dedicated firmware moves for EarGear 2.
    * Set EarGear 2 to maintain servo holding at all times to facilitate assembly (as per staff request).
    * New I2S support added.
    * Set configuration item for Listen Mode to send responses only.
    * Set configuration item for Tilt Mode to send responses only.
    * Add I2S debug task for Ear Gear.
    * Add configuration parameter for Listen and Tilt mode to send triggers only (allows application to manage movements).
    * Add configuration parameter for Listen move group selection.
    * Support EG2 Tilt and Listen Mode in No-phone Mode.
  * Move TailCoNTROL to new BLE UUIDs.
  * Reorganized code units and functions to improve organization and readability.
  * Add Device Information Service (DIS) BLE characteristics.
  * Add SETHOLDONSTOP and RELEASEHOLDONSTOP commands.
  * Fixed BATT characteristic response truncation (thank you Code-L).
  * Implement simple message queue for ISR debug tracing.
  * Fixed unsigned long int sprintf format strings.
  * Improved commenting for hardware/platform variants.
  * Fixed JLed invocation to address timer conflict.
  * Clean up debug logging to make format consistent.
  * Added Conference Mode and associated configuration settings.
  * Fix move group selection logic.
  * Fix LIS2DW12 library to support non-hardcoded SPI bus wiring.
  * Rework button press servicing and visual indicators.
  * Add new function to perform factory reset on extended button hold.
  * Rename some variables and functions to better reflect their purpose.
  * Reverted undesirable MiTail easing function settings for some moves.
  * Refactored NVS options and compilation units.
  * Added persistent setting for automatic power off when BLE is disconnected (default is OFF).
  * Added persistent setting for home on POWEROFF command (default is ON).
  * CONFRD command removed, replaced by READCONF and READNVS.
  * CONFWR command replaced with WRITECONF.
  * Added SETHOME command (and persistent setting) for FlutterWings, and EarGear 2 [feature requested by @AleinaTravyre].
  * Added REBOOT command.
  * Improved BLE MTU settings for iOS.
  * Split RTOS tasks into separate unit files.
  * Fix race condition between updateMoves() and setMove() / setDSSPMove() that caused stuttering/short moves (thank you Mrs. Tailer for spotting this).
  * Improved debug messages.
  * Update ESP32Servo library to 1.2.1.
  * Updated JLed library to v4.15.0.
  * Updated NimBLE-Arduino library to v2.1.2 (made transitions for breaking changes).
  * Updated ServoEasing library to v3.4.0 (made transitions for breaking changes).
  * Updated BLE_OTA_Python scripts and documentation.
  * Added script to build unified binary for EarGear 2 firmware.
  * Added ESP Web Tools configuration for writing EarGear 2 firmware.
  * Fix PlatformIO $extra_scripts to be cumulative.
  * Update Tail Control Protocol to reflect as-built.
  * Add additional details to Service Notes about the Glow Tip.


===== TailControl v5.0.9 =====

  * Reverted changes to easing modes in MiTail moves.


===== TailControl v5.0.8 =====

Initial release of TailControl unified firmware.

  * Added #DEBUG compile-time flag to disable serial output.
  * Added firmware support for new product: FlutterWings.
  * Added firmware support for new product: MiTail Mini.
  * Tune MiTail Mini moves 1, 2, and 3.
  * Added firmware support for v3.6 tail board. Split out PD handling to support non-PD hardware.
  * Restructured moves so that independent strings of moves (with easing type, position, and duration triplets for each move) for each servo, and can be of different length.
  * Improved support for DSSP commands.
  * Fixed HWCDC blocking bug for EarGear 2 serial console.
  * Fixed uncommanded servo movement occurring at the end of a move when the servos detach from the PWM channel.
  * Fixed bug in move state machine.
  * Removed hazards created by unbracketed nested statements by adding explicit curly braces to single-line statements. (Findings 1 and 8.)
  * Pin support libraries to exact versions to eliminate hazard of unintended support library changes introducing faults unexpectedly. (Finding 6.)
  * Split setup() function into smaller logical calls to other functions. (Partial implementation for Finding 7.)
  * Identified variables impacted by ISR calls (because I can't even read my own notes in the ISR function descriptions!) and moved them to Mailboxes (queues) or Critical Sections. (Thread safety.)
  * Tagged globals touched in ISR context with g_ prefix for identification.
  * Reduced task priorities.
  * Add initial EG2 support for move system Proof of Concept.
  * Split functions/reorganize code to facilitate hardware differentiation.
  * Created new PlatformIO build env profiles for each product target.
  * Version number control moved to platformio.ini, instead of Definitions.h file.
  * Created build script to automatically name output binaries during build process (automatic firmware filename versioning).
  * Added additional code commenting for variables.
  * Fixed -Wformat-truncation warnings in PD_Micro library.
  * Fixed -Wunused-variable warnings in LIS2DW12-Arduino-Lib library.
  * Improved banner message.
  * Improved servo debug output.
  * Updated JLed library to 4.13.1.
  * Updated ESP32Servo library to v1.2.0.
  * Updated documentation.