TailControl Release Notes

• 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.

• 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.

• 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.

• 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.

• 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.

• Reverted changes to easing modes in MiTail moves.

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.