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COMMANDS.md

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FemtoCore COMMANDS

FemtoCore 1.0.0

Here is a list of available commands on nodes with ENABLE_SERIAL defined (see libraries/FemtoCore/FemtoCore.h)

By default, coins are loaded with FemtoCore. You can plug in your dongle (node 0x01), and then coin (node 0x02), and open up the Arduino Serial monitor for the dongle. Try sending :TEST_HSV to test color hues.

How to run commands

Commands issued as-is will run on the node where the command was issued (likely via SerialUSB port).

Prepending a command with ':' will send the command to the currently set destination node address. Prepending a command with '>' will broadcast the command to all connected nodes on the same PAN ID address.

FreeIMU library commands

Command Where Params Info
v Coin only Returns version information about FemtoCore and FreeIMU
1 Coin only Initializes the FreeIMU library
2 Coin only Resets the FreeIMU library.
g Coin only Initialize FreeIMU gyroscope(s).
t Coin only Set FreeIMU temperature calibration.
p Coin only int pressure Set the sea level pressure. Example: Set to 100 p100
r Coin only int count Read FreeIMU raw data count times as printable data. r1
b Coin only int count Read FreeIMU raw data count times as binary data. b1
q Coin only int count Read FreeIMU quaternions count times. q1
z Coin only int count Read FreeIMU quaternions + values count times. z1
a Coin only int count Read FreeIMU kalman filtered quats + vals count times. a1
C Coin only Read/Check calibration values. C
d Coin only Read FreeIMU debug outputs. d
D Coin only Read FemtoBeacon data. D
SLEEP_SENSORS Coin only Sleep IMU sensors
WAKE_SENSORS Coin only Wake IMU sensors

FreeIMU raw data - accel X, accel Y, accel Z, gyro X, gyro Y, gyro Z, mag X, mag Y, mag Z, temperature

FreeIMU quaternions (IMU orientation with respect to Earth) - quaternion 1, quaternion 2, quaternion 3, quaternion 4

FreeIMU quaternion + values (IMU orientation with respect to Earth). Values are rad/sec. - quaternion 1, quaternion 2, quaternion 3, quaternion 4, accel X, accel Y, accel Z, gyro X, gyro Y, gyro Z, mag X, mag Y, mag Z, temperature (from barometer), pressure, sample frequency, mag heading, estimated altitude, motion detect value.

FreeIMU kalman filtered quats + vals (IMU orientation with respect to Earth). Values are rad/sec. Quaternions are Kalman filtered. - quaternion 1, quaternion 2, quaternion 3, quaternion 4, accel X, accel Y, accel Z, gyro X, gyro Y, gyro Z, mag X, mag Y, mag Z, temperature (from barometer), pressure, sample frequency, mag heading, estimated altitude, motion detect value.

FemtoBeacon data (YPR is 180deg based. Euler angles are 360deg based.) - current MS, yaw, pitch, roll, euler angle 1, euler angle 2, euler angle 3, accel X, accel Y, accel Z.

Networking library commands

You must issue a SET_CONFIG command after you are done issuing networking library commands.

Command (comm) Where Params Info
s All none Returns the device serial number
SET_REPEAT:flw:comm All int flow, comm Repeat send. flw 0x00 = off, 0x01 = on. Comm is optional
SET_NODE_ID:node_id All int node_id Sets internal node ID to node_id (0x0001-0xfffe)
SET_DEST_ID:node_id All int node_id Sets internal dest ID to node_id (0x0001-0xfffe)
SET_PAN_ID:pan_id All int pan_id Sets internal PAN ID address to pan_id (0x0001-0xfffe)
SET_CHANNEL:channel All int channel Sets internal channel to channel (0x0b-0x1a)
SET_ENDPOINT:endpoint All int endpoint Sets internal channel to endpoint (0x01-0x0f)
SET_ANTENNA:antenna All int antenna Set to 0x01 for SMD chip, 0x02 for u.Fl. (0x01-0x02)
GET_ANTENNA All Gets the antenna config setting.
SET_TX_POWER:power All int power Sets the Transmission Power Level. (See below)
GET_TX_POWER All Gets the Transmission Power Level. (See below)
SET_CONFIG All Updates the internal radio config with new settings

Transmission Power Level

Set TX Power for internal at86rf233 RF module. Default is 0x0 (+4 dbm)

  • TX_PWR 0x0 ( +4 dBm)
  • TX_PWR 0x1 ( +3.7 dBm)
  • TX_PWR 0x2 ( +3.4 dBm)
  • TX_PWR 0x3 ( +3 dBm)
  • TX_PWR 0x4 ( +2.5 dBm)
  • TX_PWR 0x5 ( +2 dBm)
  • TX_PWR 0x6 ( +1 dBm)
  • TX_PWR 0x7 ( 0 dBm)
  • TX_PWR 0x8 ( -1 dBm)
  • TX_PWR 0x9 ( -2 dBm)
  • TX_PWR 0xA ( -3 dBm)
  • TX_PWR 0xB ( -4 dBm)
  • TX_PWR 0xC ( -6 dBm)
  • TX_PWR 0xD ( -8 dBm)
  • TX_PWR 0xE (-12 dBm)
  • TX_PwR 0xF (-17 dBm)

Peripheral library commands - RGB LED

Command Where Params Info
SET_RGB:0x00:0x00:0x00 All int r, int g, int b Set RGB LED value. Off is 0x00, On is 0xff.
SET_HSV:0x000:0x00:0x00 All int h, int s, int v H(0x000-0x167), S(0x00-0x64), V(0x00-0x64).
TEST_RGB All Cycles LED through red, green, and blue
TEST_HSV All Cycles LED through all hues at full S and V

Peripheral library commands - Real Time Clock (RTC)

You will need to call START_RTC before using any of these commands.

Command Where Params Info
START_RTC All * Enables RTC clock
SET_CLOCK:0x000:0x00:0x00-0x00:0x00:0x00 All SET_CLOCK params Set RTC 24hr clock
GET_CLOCK All Gets RTC clock
SET_SLEEP_MS:0x00000001 All int sleep_time_ms How long to sleep (ms)
GET_SLEEP_MS All Get sleep (ms) value

START_RTC NOTE KNOWN ISSUE: After starting RTC clock, USB sketch upload fails. WORK AROUND: Either short the RESET pads for 3 seconds (goes into bootloader mode), or power cycle your board before you upload a sketch.

SET_CLOCK params Year (0x000), Month (0x01-0x0c), Day (0x01-0x1F) - Hour (0x00-0x18), Minutes (0x00-0x3c), Seconds (0x00-0x3c)

Note: SET_SLEEP_MS min value is 1, max value is 2,147,483,647 milliseconds (0x7FFFFFFF), as that's as high as int variables on this micro controller go. When SET_SLEEP_MS value has elapsed, device will wake up. Default value is 10000 milliseconds (10 seconds)

Peripheral library commands - Sleep/Wake

These commands are associated with RTC, Network (AT86RF233), or Sensors (MPU-9250) peripherals.

Command Where Params Info
SET_WAKE_TRIGGER:0x00 Partial 0x01 Time, 0x04 Sensor* See notes.
GET_WAKE_TRIGGER ALL The wake trigger(s)
SET_SENSOR_INT:0x00 Coin 0x01 Free-fall, 0x02 motion, 0x04 zero-motion See notes
GET_SENSOR_INT Coin Sensor interrupt trigger
SLEEP All Start sleep. See notes

SET_WAKE_TRIGGER Params can be bitwise OR'd to trigger on a combination of event triggers. First event trigger to be handled will wake up the coin and peripherals. Sensor trigger (0x04) is only available on coins. Default wake trigger is time (0x01), which will wake when SET_SLEEP_MS value has lapsed.

SET_SENSOR_INT Sets the type of sensor interrupt that will trigger a wake up. Currently, only one param is used, and is not bitwised OR'd. The priority is Free-fall, motion, or zero-motion. The default is motion (0x02) if SET_SENSOR_INT is not called.

SLEEP Sends device to sleep, (wake trigger(s) set by SET_WAKE_TRIGGER: wakes device up)