AGUI Angel's Wing
Introduction
The AGUI Angel's Wing is a USB HID device with embedded motion sensors (accelerometer, gyroscope, magnetometer), temperature sensor, and force sensors. Multiple hardware versions exist (V1.8 and V2.0+).
USB Details
- VID:
0x0522 - PID:
0x1450 - Interface: USB HID
- Read buffer size: 65 bytes
Commands
Start Device (V1.8)
Initializes the device for reading sensor data.
Write:
0x87 0xAA 0xAA 0x06 0xF1 0xD2
If started successfully, read responses will begin with 0x55 0xAA 0xAA.
Start Device (V2.0+)
V2.0 uses a serial AT command mode before falling back to V1.8-style communication.
Sequence:
- Send
+++CMDto enter command mode - Send
AT+ROLE=C\r\nto enter master mode - Send
AT+SCAN=?\r\nto scan for devices (read with 15-second timeout until "end" found) - Device ID prefix is "AGUI"
- Send
AT+CONNECT=<id>\r\nto connect - Fall back to V1.8 start command:
0x87 0xAA 0xAA 0x06 0xF1 0xD2
Sensor Data Format
Read responses contain packed sensor data with a checksum:
| Offset | Size | Description |
|---|---|---|
| 3 | 1 | Packet length |
| 4 | 1 | Product ID (low) |
| 5 | 1 | Product ID (high) |
| 6 | 1 | Version (low) |
| 7 | 1 | Version (high) |
| 8-11 | 4 | Serial number (big-endian) |
| 16-17 | 2 | Accelerometer X (signed, /16384 for g) |
| 18-19 | 2 | Accelerometer Y |
| 20-21 | 2 | Accelerometer Z |
| 22-23 | 2 | Temperature (raw, formula: (16.53 + raw/340) * 10 / 10) |
| 24-25 | 2 | Gyroscope X |
| 26-27 | 2 | Gyroscope Y |
| 28-29 | 2 | Gyroscope Z |
| 32-33 | 2 | Magnetometer X (little-endian, × 0.15) |
| 34-35 | 2 | Magnetometer Y |
| 36-37 | 2 | Magnetometer Z |
| 38 | 1 | Force sensor 1 (inverted: 1 - value/255) |
| 39 | 1 | Force sensor 2 |
| 40 | 1 | Force sensor 3 |
| 41 | 1 | Force sensor 4 |
| 42 | 1 | Force sensor 5 |
| 43 | 1 | Force sensor 6 |
Checksum validation: Sum bytes from the start of the packet to length - 1; the last byte of the packet should equal this sum.
Notes
- Two hardware versions exist (V1.8 and V2.0+) with different initialization sequences.
- V2.0 adds AT command mode for device discovery before falling back to V1.8 binary protocol.
- No Buttplug implementation exists yet.
- No device-config YAML exists yet.