Configuration
The cube's information, such as communication specification version numbers and configuration information, is stored on the cube. This information can be obtained and modified using the following characteristic.
| Property | Value |
|---|---|
| Characteristic UUID | 10B201FF-5B3B-4571-9508-CF3EFCD7BBAE |
| Properties | Write, Read, Notify |
| Descriptor | Configuration |
Write operations
While the different setting values can be changed depending on the write operation used, if connection to the cube is interrupted, all changes are discarded and the cube is returned to default values.
Requesting the BLE protocol version
The BLE protocol version of the cube can be requested by writing the following data. See Obtaining the BLE protocol version for how to obtain the response.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x01 (BLE protocol version request) |
| 1 | UInt8 | Reserved | 0x00 |
Horizontal detection threshold settings
Horizontal detection value obtained through the Motion detection becomes 0x00 (not horizontal) if the angle between the bottom of the cube and the horizontal plane (θ in the figure below) exceeds the threshold. This threshold can be changed by writing the following data.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x05 (Horizontal detection threshold settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Threshold | 0x0A (10 degrees) |
The threshold apply to both the roll and pitch orientation of rotation. The threshold range and default value are as follows
Roll orientation
Pitch orientation
| Property | Range | Default value |
|---|---|---|
| Threshold | 1 - 45 (degrees) | 45 (degrees) |
Collision detection threshold settings
Collision detection value obtained through the Motion detection becomes 0x01 (collision) if the force of the collision applied to the cube exceeds the threshold. This threshold can be changed by writing the following data.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x06 (Collision detection threshold settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Threshold | 0x0A (Level 10) |
The threshold range and default value are as follows. These values represent the magnitude of the collision.
| Property | Range | Default value |
|---|---|---|
| Threshold | 1 - 10 (Level) | 7 (Level) |
Double-tap detection time interval settings
Double-tap detection obtained through the Motion detection becomes 1 (with double-tap) if the cube is tapped once and then tapped again within the specified time interval. The time interval between the two taps can be changed by writing the following data.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x17 (Double-tap detection time interval settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Time interval | 0x07 (Level 7) |
The threshold range and default value for the time interval are as follows. The larger the value, the longer the time interval will be.
| Property | Range | Default value |
|---|---|---|
| Time interval | 0 - 7 (Level) | 5 (Level) |
Identification sensor ID notification settings
Set the notification frequency for the Position ID and Standard ID from the identification sensor. Notifications are sent when both the [Minimum Notification Interval] and [Notification Conditions] are met. See Responses to identification sensor ID notification settings for how to obtain the response.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x18 (Identification sensor ID notification settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Minimum notification interval | 0x01 (10 msec) |
| 3 | UInt8 | Notification condition | 0x01 (Notifications for changes only) |
Minimum notification interval
Sets the minimum interval between notifications. The range and default value are as follows. This is set in multiples of 10 milliseconds intervals. For example, setting 5 will send notifications at intervals of 50 milliseconds or longer. This is only the minimum value for the notification interval, and does not guarantee constant intervals between notifications. Please note that the notification interval may vary depending on the status of the central unit.
| Property | Range | Default value |
|---|---|---|
| Minimum notification interval | 0 - 255 | 1 (10 milliseconds) |
Notification conditions
Select one of the following three types of conditions for notifications to be sent. The default value is 0xff.
| Notification condition | Content |
|---|---|
0x00 | Notifications are sent even if there is no change in the notification content. |
0x01 | Notifications are sent when there is a change of 2 or more coordinates and 3 or more degrees in angle. |
0xff | Notifications are stopped for 300 milliseconds if there is no change in coordinates or angle, otherwise notifications continue to be sent. |
Identification sensor ID missed notification settings
Set the Position ID missed and Standard ID missed notification sensitivity of the identification sensor. See Responses to identification sensor ID missed notification settings for how to obtain setting results.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x19 (Identification sensor ID missed notification settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Notification sensitivity | 0x0A (100ms) |
Notification sensitivity
Set the notification sensitivity when the cube is removed from the top of something on which a Position ID or Standard ID is printed. The range and default value are as follows. This is set in multiples of 10 millisecond intervals. For example, if 5, is set, "missed" notifications are sent when the cube is removed from the mat or card for 50 milliseconds or longer. If the cube is put back on the mat or card within 50 milliseconds after it is removed, no notifications are sent.
| Property | Range | Default value |
|---|---|---|
| Notification sensitivity | 0 - 255 | 7 (70 milliseconds) |
Magnetic sensor settings
Write the following data to enable or disable the Magnetic sensor function. This function is disabled by default. See Responses to magnetic sensor settings for how to obtain setting results.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x1b (Magnetic sensor function settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Function settings | 0x01 (Activation of magnet state detection) |
| 3 | UInt8 | Notification interval | 0x01 (20 milliseconds) |
| 4 | UInt8 | Notification condition | 0x01 (Notifications for changes only) |
The setting values are as follows. Magnet status detection and magnetic force detection cannot be enabled at the same time.
| Function Setting | Definition |
|---|---|
0x00 | Disable (default value) |
0x01 | Enable magnet state detection |
0x02 | Enable magnetic force detection |
Notification interval
Sets the interval for notifications. This is set in multiples of 20 milliseconds. If 0 is set, notifications are disabled.
Note that this is set in multiples different from that of the notification interval settings for high-precision position and tilt information.
| Property | Range |
|---|---|
| Notification interval | 0 - 255 (0 disables notifications) |
Notification conditions
Sets the conditions for notifications to be sent. When 0x00 is set, notifications are sent according to the notification interval even if there is no change.
When 0x01 is set, notifications are sent only when there is change in the magnet state. However, even if there are great changes, notifications are not sent at intervals shorter than that of the above notification interval settings.
| Function Setting | Definition |
|---|---|
0x00 | Notifications even if there is no change |
0x01 | Notifications only when there are changes |
Motor speed information acquisition settings
Enable or disable Motor - Obtaining motor speed information by writing the following data. Motor speed information acquisition is disabled by default. See Responses to motor speed information acquisition settings for how to obtain setting results.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x1c (Motor speed information acquisition settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Setting value | 0x01 (Enable) |
The setting values are as follows
| Setting value | Meaning |
|---|---|
0x00 | Disabled (default value) |
0x01 | Enabled |
Posture angle detection settings
Write the following data to enable or disable the Posture Angle detection function. The posture angle detection function is disabled by default. See Responses to posture angle detection settings for how to obtain setting results.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x1d (Posture angle detection settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Type of notification content | 0x01 (Euler angle) |
| 3 | UInt8 | Notification interval | 0x01 (10 milliseconds) |
| 4 | UInt8 | Notification condition | 0x01 (Notifications only where there are changes) |
The types of notifications are as follows.
| Type of notifications | Definition |
|---|---|
0x01 | Notifications in Euler angles |
0x02 | Notifications in quaternions |
0x03 | Notifications in high precision Euler angles |
Notification interval
Sets the interval for notifications. This is set in multiples of 10 milliseconds. If 0 is set, notifications are disabled.
Note that this is set in multiples different from that of the magnetic sensor notification interval settings.
| Property | Range |
|---|---|
| Notification interval | 0 - 255 (0 disables notifications) |
Notification conditions
Sets the conditions for notifications to be sent. If 0x00 is set, notifications are sent according to the notification interval even if there is no change.
When 0x01 is set, notifications are sent only when there is change in the tilt status. However, even if there are great changes, notifications are not sent at intervals shorter than that of the above notification interval settings.
| Function Setting | Definition |
|---|---|
0x00 | Notifications even if there is no change |
0x01 | Notifications only when there is a change |
Request to change connection interval
The cube requests the Central device to change the connection interval by writing the following data. If the Central device accepts the change request, the connection interval is changed. If the Central device responds to the change request, the connection interval is changed.
The connection interval value is determined by the central device. It may be a different value than the one requested by the cube side, or it may not be changed. Central device may disconnect the BLE connection if the Central side requests an unacceptable value.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x30 (Request to change connection interval) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt16 | minimum value | 0x0008 (10 milliseconds) |
| 4 | UInt16 | maximum value | 0x0050 (100 milliseconds) |
minimum / maximum value
Sets the minimum and maximum connection interval time. Allowed values are defined by the BLE specifications. Possible values are 0xFFFF (no requested value) or values from 0x0006 to 0x0C80. The connection interval time is the specified value x1.25 [ms].
Obtaining the requested connection interval value
Get the requested value set in "Connection Interval Change Request" by writing the following data.
This value is not the actual connection interval value.
If the requested connection interval value is obtained without a Request to change connection interval, 0x08 (as minimum value) and 0x50 (as maximum value) can be obtained.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x31 (Obtaining the requested connection interval value) |
| 1 | UInt8 | Reserved | 0x00 |
Obtaining the actual connection interval value
Get the actual connection interval value between the cube and the central device by writing the following data.
You can check if the connection interval was changed as requested by comparing this value with the requested value set in the Request to change connection interval.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x32 (Obtaining the actual connection interval value) |
| 1 | UInt8 | Reserved | 0x00 |
Read operations
Obtaining the BLE protocol version
See Requesting the BLE protocol version for the request method.
| Data location | Type | Contents | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x81 (Obtaining the BLE protocol version) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | String | BLE protocol version (5 bytes utf-8) |
Responses to identification sensor ID notification settings
If Identification sensor ID notification settings is written, the following responses are obtained depending on the results of the identification sensor ID notification settings.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x98 (Responses to identification sensor ID notification settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Resulting value | 0x00 (Set successfully) |
The definitions of the result values are as follows.
| Result value | Definition |
|---|---|
0x00 | OK/Set successfully |
Value other than 0x00 | NG/Setting failed |
Responses to identification sensor ID missed notification settings
If Identification sensor ID missed notification settings is written, the following responses are obtained depending on the results of the identification sensor missed ID notification settings.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x99 (Responses to identification sensor missed ID notification settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Resulting value | 0x00 (Set successfully) |
The definitions of the result values are as follows.
| Result value | Definition |
|---|---|
0x00 | OK/Set successfully |
Value other than 0x00 | NG/Setting failed |
Responses to magnetic sensor settings
If Magnetic sensor settings is written, the following responses are obtained depending on the setting results.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x9b (Responses to magnetic sensor settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Resulting value | 0x00 (Set successfully) |
The definitions of the result values are as follows.
| Result value | Definition |
|---|---|
0x00 | OK/Set successfully |
Value other than 0x00 | NG/Setting failed |
Responses to motor speed information acquisition settings
If Motor speed information acquisition settings is written, the following responses are obtained depending on the result.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x9c (Responses to motor speed information acquisition settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Resulting value | 0x00 (Set successfully) |
The definitions of the result values are as follows.
| Result value | Definition |
|---|---|
0x00 | OK/Set successfully |
Value other than 0x00 | NG/Setting failed |
Responses to posture angle detection settings
If Posture angle detection settings is written, the following responses are obtained depending on the result.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0x9d (Responses to posture angle detection settings) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Resulting value | 0x00 (Set successfully) |
The definitions of the result values are as follows.
| Result value | Definition |
|---|---|
0x00 | OK/Set successfully |
Value other than 0x00 | NG/Setting failed |
Responses to request to change connection interval
If Request to change connection interval is written, the following responses are obtained depending on the result.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0xb0 (Responses to request to change connection interval) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt8 | Resulting value | 0x00 (Set successfully) |
The definitions of the result values are as follows.
| Result value | Definition |
|---|---|
0x00 | OK/Set successfully |
Value other than 0x00 | NG/Setting failed |
Responses to obtain the requested connection interval value
If Obtaining the requested connection interval value is written, the following responses are obtained depending on the result.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0xb1 (Responses to obtain the requested connection interval value) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt16 | minimum value | 0x0008 (10 milliseconds) |
| 4 | UInt16 | maximum value | 0x0050 (100 milliseconds) |
Responses to obtain the actual connection interval value
If Obtaining the actual connection interval value is written, the following responses are obtained depending on the result.
| Data location | Type | Content | Example |
|---|---|---|---|
| 0 | UInt8 | Configuration type | 0xb2 (Responses to obtain the actual connection interval value) |
| 1 | UInt8 | Reserved | 0x00 |
| 2 | UInt16 | minimum value | 0x0008 (10 milliseconds) |
| 4 | UInt16 | maximum value | 0x0050 (100 milliseconds) |
Notifications
The data obtained from Read operations can also be received through notifications.