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<unk>数据协议和配对参考

双边框架格式,AT命令集,LED状态表,以及RC G1触摸手套连续/蓝牙协议的故障解决.

您需要在编写您自己的读器或将G1集成到自定义数据管道时使用此页面.它涵盖二进制框架格式,在连续频道上的AT命令设置,每个LED状态以及最常见的故障模式.如果您只需要插入和记录,请从[Windows]T69),[macOS]T70),或[Linux]T71) 设置页面开始.

参考更新 2026年5月 难度:高级

1 硬件架构

一个G1部署有五个组件.仅仅需要前四个组件用于单手套设备;USB枢纽用于多手套 (LH + RH) 设置.

  1. 织传感器阵列. 162个皮约利斯维度传感点,设置在16×16逻辑矩阵上 (256个ADC插槽,其中162个是物理连接到传感器;无线插槽读取接近零,可以在软件中掩盖).
  2. **数据采集模块 (A-板).**ESP32基于蓝牙MCU,集成300mAh/3.7V电池,充电/数据/固件USB-C,硬件触摸按和状态LED. 50 × 32 × 15.5mm;6.6g板+~15g电池.
  3. 蓝牙USB接收器 (). 1:1配合单个A板.USB-A,66.1 × 23.2 × 13mm.可选的电缆运行完全支持.
  4. USB3.0到C型电缆 (2m). 连接连接 921 600 bps 默认,可选的3 000 000 bps高速模式.
  5. **USB枢纽.**多手套设备 (例如双手动LH+RH).

数据流量:

  +--------------------+     +--------------------+        +--------+
  |  Fabric sensors    | --> |  A-board ADC       | --+--> | Host   |
  |  (162 / 16x16)     |     |  (ESP32 + IMU)     |   |    |        |
  +--------------------+     +--------------------+   |    +--------+
                                       |              |
                                       | BLE 30 Hz    | USB-C 100 Hz
                                       v              | (921600 / 3M)
                              +--------------------+  |
                              |  BT USB dongle     | -+
                              |  (CH340 endpoint)  |
                              +--------------------+

2. 序列配置

  • 默认端口设置: 921 600 baud, 8N1,没有流量控制.
  • 选择性高速模式: 3 000 000 baud 需要固件侧配置更改,联系支持.
  • 两个数据采集模块 (当有线) 和蓝牙果上的USB芯片: CH340 (WCH USB ID T4).
  • 系统:安装T6. Windows:安装T7.

在第3节所述的二进制协议在有线或BT-dongle连续路线上都运行,您不需要在读器中特殊情况下将运输.

3.二进制框架格式

传感器读取完整的数据是作为两个包的****,它们携带了256个压力值加上16个字节的IMU数据.每个包始于常数4字节的同步标题T8,然后是1字节的序列号 (T9或T10) 和1字节的传感器类型ID.

Byte layout for one sensor pair (packet 1 + packet 2)

Offset Length Field Description
Packet 1 (sequence = 0x01) — 134 bytes total
0–3 4 B Sync header Constant AA 55 03 99
4 1 B Sequence 0x01 = first half
5 1 B Sensor type 0x01 LH, 0x02 RH, 0x03 LF, 0x04 RF, 0x05 WB
6–133 128 B Pressure payload A First 128 of 256 raw pressure values, 8-bit unsigned ADC (0–255)
Packet 2 (sequence = 0x02) — 150 bytes total
0–3 4 B Sync header Constant AA 55 03 99
4 1 B Sequence 0x02 = second half
5 1 B Sensor type Same value as packet 1
6–133 128 B Pressure payload B Last 128 of 256 raw pressure values
134–149 16 B IMU quaternion 4 little-endian IEEE-754 floats: w, x, y, z

传感器类型的身份证

ID Code Device class
0x01 LH Left Hand
0x02 RH Right Hand
0x03 LF Left Foot
0x04 RF Right Foot
0x05 WB Whole Body

工作的六合捕捉

直接从桌子上坐的左手设备中删除电线的原始字节 (为了可读性而缩小):

[14:04:29.427]  AA 55 03 99 01 01 00 00 00 00 00 00 00 00 00 00 ...  (128 B payload)
[14:04:29.428]  AA 55 03 99 02 01 00 00 ... 00 62 F3 00 00 00 ...      (144 B payload, last 16 B = IMU quaternion)

参考解析器 (Python)

微型解析器,将两个原始包带回传感器识别器,256个细胞压力向量和四旋翼.

import struct, numpy as np

def parse_pair(packet1: bytes, packet2: bytes):
    assert packet1[:4] == packet2[:4] == b"\xAA\x55\x03\x99"
    assert packet1[4] == 0x01 and packet2[4] == 0x02
    sensor_id = packet1[5]                              # same on both halves
    pressure = np.frombuffer(packet1[6:134] + packet2[6:134], dtype=np.uint8)  # 256 pts
    qw, qx, qy, qz = struct.unpack("<ffff", packet2[134:150])
    return sensor_id, pressure, (qw, qx, qy, qz)

** 框提示:** 在噪音的USB链接上,扫描4字节同步头,而不是相信固定的偏移.如果您收到一个连续-2包,没有前一个连续-1,则放下它,重新同步 IMU四旋翼只有与相匹配的压力半个相对而有意义.

4.逻辑道地图

电线传感点162个是16×16格式 (256个细胞,索引列主要1256).与伴手应用程序一起,电线传感单列表出了T35.在计算指指数平均时,使用它掩盖94个无线电池.

样品速率: 100 Hz有线或 30 Hz蓝牙.单点动态范围: 0350 N,分辨率 0.01 N.

12345678910111213141516
17181920212223242526272829303132
33343536373839404142434445464748
49505152535455565758596061626364
65666768697071727374757677787980
81828384858687888990919293949596
979899100101102103104105106107108109110111112
113114115116117118119120121122123124125126127128
129130131132133134135136137138139140141142143144
145146147148149150151152153154155156157158159160
161162163164165166167168169170171172173174175176
177178179180181182183184185186187188189190191192
193194195196197198199200201202203204205206207208
209210211212213214215216217218219220221222223224
225226227228229230231232233234235236237238239240
241242243244245246247248249250251252253254255256

5. AT命令设置 (蓝牙配对)

通过 ASCII 字符串将这些字符串发送,以 BT 通的连续端口921600波特的T36线结束.通在 ASCII 中响应,然后在建立连接后切换到二进制传感器数据.

Command Response Purpose
AT OK Sanity check the serial link.
AT+SCAN=1 OK, then one +SCAN=<i>,<MAC>,<RSSI>,<adv-len>,<name_MAC> line per discovered device Start a BLE scan; look for lines containing JQ-LH, JQ-RH, JQ-LF, JQ-RF, or JQ-WB.
AT+CONN=<MAC> OK, then binary sensor frames begin streaming Open a connection to the discovered MAC. Pairing is persistent across power cycles.
AT+DISCONN OK Drop the current link.
AT+VER firmware version string For support reports.

实践中的例子

> AT+SCAN=1
< OK
< +SCAN=1, 8277169C745A, -1, 18, Redmi Watch 3 745A
< +SCAN=2, 3C8A1F2E9A36, -1, 23, JQ-RH_3C:8A:1F:2E:9A:36   ← the device we want
< +SCAN=3, 0,88F3079C11B4, -1,9, KeepB4-B4

> AT+CONN=3C8A1F2E9A361
< OK
< (binary sensor frames begin streaming ...)

标识符注: T52 / T53 / T54 / T55 / T56前是字面上BLE广告名称,被加在G1固件中.在过扫描结果时,它们是读者如何在噪音BLE频道上识别G1设备的.

6. LED 参考状态

数据采集模块 按功能

Action Effect
Short press while in standby Wake device and run IMU calibration. Red LED on briefly, then blue flashes while advertising.
Short press while operational Trigger an IMU re-calibration. Keep the module flat and still for ~2 s.
Long press Power off. Red LED on solid until the device is off.

数据采集模块 状态 LED颜色

Color Meaning Battery
Solid Blue Bluetooth connected, high battery > 3.3 V
Solid Green Bluetooth connected, medium battery 3.1 – 3.3 V
Solid Red Bluetooth connected, low battery (charge soon) ≤ 3.1 V
Red flashing Bluetooth disconnected / advertising —
Blue flashing Pairing mode / advertising —
Solid White Charging via USB-C —
LED off Standby (auto-entered after 1 min of no pressure change — press button to wake) —

蓝牙带 LED

State Meaning
Red flashing Not connected to any device.
Red + Blue both solid Connected to a paired device.
Red solid only Communication abnormal. Unplug and replug the dongle to recover.

7.重组 (如果手套失去了子)

  1. 电动循环数据采集模块:长压到红色,然后短压到广告 (蓝闪光).
  2. 连接蓝牙入主机. 上闪的红色意味着它正在扫描.
  3. 打开主机的连续端口在921 600 baud 使用T57,T58,SSCOM工具在USB驱动器上运输,或伴侣应用.
  4. 运行T59. 从以T60 /T61 / 等结束的行中复制MAC.
  5. 运行T62. T63后的二进制框架意味着你被对. 链接是持久的 你不需要在未来的电力周期后修复,除非你交换模块或.

8. 解决问题 骗局表

Symptom Resolution
Module won’t power on Battery flat. Charge for 10 min via USB-C (solid white LED), then retry the button.
LED red-flashing forever after AT+CONN The MAC isn’t a G1 device (you copied the wrong line from AT+SCAN=1). Re-scan and look for JQ-LH/RH/LF/RF/WB.
Stream starts and stops every minute 1-minute no-pressure standby has kicked in. Bend a finger to keep traffic flowing, or short-press the wake button.
四元数 = (NaN, NaN, NaN, NaN) IMU lost calibration. Lay the module flat on a still surface and short-press the button to re-calibrate (takes ~2 s).
Pressure values all 255 Cable is reversed (TX/RX swapped) on a custom harness, or you’re reading at the wrong baud. Reset to 921 600.
Dongle LED solid red Communication abnormal. Unplug and replug the dongle.
Companion App activation fails Disable VPN / corporate proxy and retry.

9.规格快照

RC G1 Tactile Glove — engineering specifications
Sensing
Sensing points per hand162
Resolution4 × 6 mm
Sensing area179 × 145 mm (±3%)
Max single-point load350 N
Accuracy0.01 N
重复精度±8%
Response time< 0.2 ms
Durability200 000 cycles @ 3 MPa (automotive-grade)
Physical
Ingress ratingIP21
Weight per glove35.4 g
Minimum fold radius< 0.2 mm
Streaming
Sample rate100 Hz wired / 30 Hz Bluetooth (customizable ≤ 600 Hz)
Baud rate921 600 (default); 3 000 000 high-speed
Power
Operating voltage3.5 – 5.0 V
Operating current48 mA
Bluetooth battery life3.75 h active
Standby1 week
Environment
Operating temperature−20 °C to 60 °C (textile sensor) / −25 °C to 85 °C (PCB)
Operating humidity< 90% RH, non-condensing
IMU
PartTDK InvenSense ICM-42688
陀螺仪3-axis, ±2000 °/s
加速度计3-axis, ±16 g
ADC16-bit
InterfaceI²C up to 1 MHz / SPI 24 MHz / I3C 12.5 MHz

10. 相关页面