Add complete DWARFLAB protocol documentation
- Architecture overview, BLE and WebSocket protocols - All 19 modules with command IDs validated against smali source - BLE packet format with CRC-16/MODBUS pseudocode - Complete WsCmd index (~300 commands) - Connection flow with pseudocode examples - Methodology section explaining APK decompilation process
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Jacquin Antoine
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08_motor_focus_track_commands.md
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08_motor_focus_track_commands.md
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# Motor, Focus & Track Commands
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## MotorControlProto — Module MOTOR (ID=6, base 14000)
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### ReqMotorRun — Run Motor
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `id` | 1 | int32 | Motor ID |
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| `speed` | 2 | int32 | Speed |
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| `direction` | 3 | int32 | Direction |
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| `speedRamping` | 4 | bool | Speed ramping enabled |
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| `resolutionLevel` | 5 | int32 | Resolution level |
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### ReqMotorStop — Stop Motor
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `id` | 1 | int32 | Motor ID |
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### ReqMotorRunTo — Move to Position
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `id` | 1 | int32 | Motor ID |
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| `endPosition` | 2 | double | Target position |
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| `speed` | 3 | int32 | Speed |
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| `speedRamping` | 4 | bool | Speed ramping |
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| `resolutionLevel` | 5 | int32 | Resolution level |
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### ReqMotorRunInPulse — Pulse Mode
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `id` | 1 | int32 | Motor ID |
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| `frequency` | 2 | int32 | Frequency |
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| `direction` | 3 | int32 | Direction |
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| `speedRamping` | 4 | bool | Speed ramping |
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| `resolution` | 5 | int32 | Resolution |
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| `pulse` | 6 | int32 | Pulse count |
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| `mode` | 7 | int32 | Mode |
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### ReqMotorChangeSpeed — Change Speed
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `id` | 1 | int32 | Motor ID |
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| `speed` | 2 | int32 | New speed |
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### ReqMotorChangeDirection — Change Direction
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `id` | 1 | int32 | Motor ID |
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| `direction` | 2 | int32 | New direction |
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### ReqMotorReset — Reset Motor
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `id` | 1 | int32 | Motor ID |
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| `direction` | 2 | int32 | Reset direction |
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### ReqMotorGetPosition — Get Position
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `id` | 1 | int32 | Motor ID |
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### ReqMotorServiceJoystick — Joystick Control
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `vectorAngle` | 1 | int32 | Joystick angle |
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| `vectorLength` | 2 | int32 | Joystick magnitude |
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### ReqMotorServiceJoystickFixedAngle — Fixed-Angle Joystick
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `vectorAngle` | 1 | int32 | Angle |
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| `vectorLength` | 2 | int32 | Magnitude |
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### ReqMotorServiceJoystickStop — Stop Joystick (no fields)
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### ReqDualCameraLinkage — Dual Camera Linkage
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `x` | 1 | int32 | X position |
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| `y` | 2 | int32 | Y position |
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### Responses
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- **ResMotor**: `id` (int32, #1) + `code` (int32, #2)
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- **ResMotorPosition**: `id` (int32, #1) + `code` (int32, #2) + `position` (double, #3)
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### Command IDs
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| ID | Command |
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|----|---------|
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| 14000 | STEP_MOTOR_RUN |
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| 14002 | STEP_MOTOR_STOP |
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| 14006 | STEP_MOTOR_SERVICE_JOYSTICK |
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| 14007 | STEP_MOTOR_SERVICE_JOYSTICK_FIXED_ANGLE |
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| 14008 | STEP_MOTOR_SERVICE_JOYSTICK_STOP |
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| 14009 | STEP_MOTOR_SERVICE_DUAL_CAMERA_LINKAGE |
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> **Note**: IDs 14001, 14003-14005 are not assigned.
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---
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## FocusProto — Module FOCUS (ID=8, base 15000)
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### ReqAstroAutoFocus — Astro Autofocus
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `mode` | 1 | int32 | Focus mode |
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### ReqStopAstroAutoFocus — No fields
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### ReqNormalAutoFocus — Normal Autofocus
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `mode` | 1 | int32 | Focus mode |
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| `centerX` | 2 | int32 | Focus center X |
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| `centerY` | 3 | int32 | Focus center Y |
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### ReqManualSingleStepFocus — Step Focus
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `direction` | 1 | int32 | Direction |
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### ReqManualContinuFocus — Continuous Focus
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `direction` | 1 | int32 | Direction |
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### ReqStopManualContinuFocus — No fields
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### ReqGetUserInfinityPos — No fields
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### ReqSetUserInfinityPos
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `pos` | 1 | int32 | Infinity position |
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### ResUserInfinityPos
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `code` | 1 | int32 | Status code |
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| `pos` | 2 | int32 | Position |
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### Command IDs
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| ID | Command |
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|----|---------|
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| 15000 | FOCUS_AUTO_FOCUS |
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| 15001 | FOCUS_MANUAL_SINGLE_STEP_FOCUS |
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| 15002 | FOCUS_START_MANUAL_CONTINU_FOCUS |
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| 15003 | FOCUS_STOP_MANUAL_CONTINU_FOCUS |
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| 15004 | FOCUS_START_ASTRO_AUTO_FOCUS |
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| 15005 | FOCUS_STOP_ASTRO_AUTO_FOCUS |
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| 15011 | FOCUS_GET_USER_INFINITY_POS |
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| 15012 | FOCUS_SET_USER_INFINITY_POS |
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> **Note**: IDs 15006-15010 are not assigned.
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---
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## TrackProto — Module TRACK (ID=7, base 14800)
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### ReqStartTrack — Start Tracking
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `x` | 1 | int32 | X position |
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| `y` | 2 | int32 | Y position |
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| `w` | 3 | int32 | Width |
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| `h` | 4 | int32 | Height |
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| `camId` | 5 | int32 | Camera ID |
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### ReqStartTrackClick — Click Tracking
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `x` | 1 | int32 | X position |
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| `y` | 2 | int32 | Y position |
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| `camId` | 3 | int32 | Camera ID |
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### ReqStopTrack, ReqContinueTrack — No fields
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### ReqMOTTrackOne — MOT Track One Target
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `id` | 1 | int32 | Target ID |
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### ReqStartSentryMode — Start Sentry
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `type` | 1 | int32 | Sentry type |
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### ReqStopSentryMode — No fields
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### ReqUFOAutoHandMode — UFO Auto/Manual Mode
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| Field | # | Type | Description |
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|-------|---|------|-------------|
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| `mode` | 1 | int32 | Mode (auto/manual) |
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### Command IDs
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| ID | Command |
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|----|---------|
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| 14800 | TRACK_START_TRACK |
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| 14801 | TRACK_STOP_TRACK |
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| 14802 | SENTRY_MODE_START |
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| 14803 | SENTRY_MODE_STOP |
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| 14804 | MOT_START |
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| 14805 | MOT_TRACK_ONE |
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| 14806 | UFOTRACK_MODE_START |
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| 14807 | UFOTRACK_MODE_STOP |
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| 14808 | MOT_WIDE_TRACK_ONE |
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| 14809 | SWITCH_MAIN_PREVIEW |
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| 14810 | UFO_HAND_AOTO_MODE |
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| 14811 | SENTRY_SCENE_SELECT |
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| 14812 | TRACK_START_CLICK |
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> **Note**: `CMD_UFO_HAND_AOTO_MODE` — the "AOTO" spelling is as-is in the source code (typo for "AUTO").
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