Mousr messages

Mousr sends various messages to the listener using the characteristic 6e400003-b5a3-f393-e0a9-e50e24dcca9e (UART RX) and receives messages (commands) using the characteristic 6E400002-B5A3-F393-E0A9-E50E24DCCA9E (UART TX)

Messages are all simple byte streams that follow a similar format.

Note:

• RX messages are typically 20 bytes
• TX messages are typically 15 bytes

Message types

The first byte always defines the message type. The known message types are:

Message Type	Value Hex	Value Dec	Note
AUTO_ACK	0x0f	15
FIRMWARE_VERSION	0x1c	28
HARDWARE_VERSION	0x1d	29	Appears to be unused by Mousr app
INIT_DONE	0x1e	30	Appears to be unused by Mousr app
ROBOT_POSE	0x30	48	Used both for sending commands as well as communicating status back to listener.
RESETTAIL_FAILINFO	0x32	50	Will be raised if a tail flick event is sent without the tail being calibrated.
STUCK_TOF_MSG	0x40	60	TOF sensor is dirty
Unknown Message	0x50	80
CRASH_LOG_FINISH	0x5f	95	Crash log has finished sending
CRASH_LOG_STRING	0x60	96	Bytes following 0x60 are ASCII-encoded text
DEBUG_INFO	0x61	97	Appears to be unused by Mousr app
BATTERY_VOLTAGE	0x62	98	Contains battery voltage information
ROBOT_STOPPED	0x63	99	Will be raised when robot stops moving
RC_STUCK	0x64	100	In the Mousr app this event will cause the handset to vibrate
NACK	0xff	255	Will be raised if an invalid command is received by Mousr