AIBO LED File Format

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Table of Contents

Introduction
LED Format Differences
LED Key/Pitch Values
LED Brightness Values
Example

1. Introduction

LED files control the eye/tail/back/etc... lights on an AIBO. The files are formatted as MIDI files. Instead of sound however, the key/pitch values correspond to individual LED's. The volume corresponds to LED brightness. As proof, try renaming any *.led file to *.midi and playing it in Windows Media Player.

Note: Familiarity with the MIDI file format is assumed below, so you might want to review it if needed.

2. LED Format Differences

There are only a few minor differences/restrictions to creating compatible LED files:

LED files -must- be format 0 single track MIDI files.
Optional Meta Text Event (0xFF 01 len msg) describes the target AIBO platform (ie: "MODEL=210").
No Meta Time Signature (0xFF 58 04 nn dd cc bb) event is needed.
No Program Change (0xC0 pp) event to specify an instrument is needed.
Delta time values correspond to motion keyframes ticks instead of quarter notes.

3. LED Key/Pitch Values

The following table lists per-platform LED to MIDI key/pitch mapping:

ERS-110  MODE          0x48
         MAD_EYES      0x40
         HAPPY_EYES    0x3C

ERS-210  MODE          0x48
         RIGHT_EYE1    0x3F    (Mad)
         LEFT_EYE2     0x3E
         RIGHT_EYE2    0x3D    (Happy)
         LEFT_EYE2     0x3C
         RIGHT_EYE3    0x41    (Sad)
         LEFT_EYE3     0x40
         TAIL1         0x54    (Blue)
         TAIL2         0x56    (Orange)

ERS-220  MODE          0x48
         UNKNOWN       0x4A
         VISOR1        0x3F    (Right-most)
         VISOR2        0x3D
         VISOR3        0x41
         VISOR4        0x40
         VISOR5        0x3C
         VISOR6        0x3E    (Left-most)
         FACE1         0x60
         FACE2         0x61
         FACE3         0x62
         TAIL1         0x5A    (Left)
         TAIL2         0x5B    (Center)
         TAIL3         0x5C    (Right)
         TAILFAN1      0x54    (Left-most)
         TAILFAN2      0x55
         TAILFAN3      0x56
         TAILFAN4      0x57
         TAILFAN5      0x58
         TAILFAN6      0x59    (Right-most)
         HEADLIGHT     0x30

ERS-310  MODE          0x48
         HORN_GREEN    0x3C
         HORN_RED      0x3E
         HORN_BLUE     0x40

ERS-7    MODE_RED      0x48
         MODE_GREEN    0x49
         MODE_BLUE     0x4A
         HEAD_COLOR    0x52
         HEAD_WHITE    0x53
         WIFI          0x4B
         FACE1W        0x30    (Lower-right, white)
         FACE2W        0x31    (Lower-left, white)
         FACE3W        0x32    (Mid-rightmost, white)
         FACE4W        0x33    (Mid-leftmost, white)
         FACE5W        0x34    (Mid-2nd right, white)
         FACE6W        0x35    (Mid-2nd left, white)
         FACE7W        0x36    (Top-rightmost, white)
         FACE8W        0x37    (Top-leftmost, white)
         FACE9W        0x38    (Top-2nd right, white)
         FACE10W       0x39    (Top-2nd left, white)
         FACE11W       0x3A    (Top center, white)
         FACE12W       0x3B    (Mid center, white)
         FACE13W       0x3C    (Angry 2, color)
         FACE14W       0x3D    (Angry 1, color)
         FACE1C        0x18    (Lower-right, color)
         FACE2C        0x19    (Lower-left, color)
         FACE3C        0x1A    (Mid-rightmost, color)
         FACE4C        0x1B    (Mid-leftmost, color)
         FACE5C        0x1C    (Mid-2nd right, color)
         FACE6C        0x1D    (Mid-2nd left, color)
         FACE7C        0x1E    (Top-rightmost, color)
         FACE8C        0x1F    (Top-leftmost, color)
         FACE9C        0x20    (Top-2nd right, color)
         FACE10C       0x21    (Top-2nd left, color)
         FACE11C       0x22    (Top center, color)
         FACE12C       0x23    (Mid center, color)
         FACE13C       0x24    (Sad 2, color)
         FACE14C       0x25    (Sad 1, color)
         BACK1W        0x55    (Front back sensor, white)
         BACK2W        0x57    (Center back sensor, white)
         BACK3W        0x59    (Rear back sensor, white)
         BACK1C        0x54    (Front back sensor, color)
         BACK2C        0x56    (Center back sensor, color)
         BACK3C        0x58    (Rear back sensor, color)

4. LED Brightness Values

AIBO LED's only support five brightness levels: Off, Low, Medium, High, Max. The 128 possible velocity (brightness) levels are therefore mapped as follows:

0x00 = Off
0x01 to 0x1F = Low
0x20 to 0x3F = Medium
0x40 to 0x5F = High
0x60 to 0x7F = Max

5. Example

Chunk Headers
Meta Events & Status Bytes
Time Delta's

000000:  4d 54 68 64  00 00 00 06  00 00 00 01  00 78 4d 54  |MThd.........xMT|
000010:  72 6b 00 00  01 34 00 ff  01 09 4d 4f  44 45 4c 3d  |rk...4....MODEL=|
000020:  32 31 30 00  ff 03 08 75  6e 74 69 74  6c 65 64 00  |210....untitled.|
000030:  ff 51 03 07  a1 20 85 6e  90 3d 7f 00  3c 7f 00 54  |.Q... .n.=..<..T|
000040:  7f 3c 54 00  2d 54 7f 3c  54 00 2d 54  7f 3c 54 00  |.<T.-T.<T.-T.<T.|
000050:  2d 54 7f 3c  54 00 2d 54  7f 3c 54 00  2d 54 7f 3c  |-T.<T.-T.<T.-T.<|
000060:  54 00 2d 54  7f 3c 54 00  2d 54 7f 3c  54 00 2d 54  |T.-T.<T.-T.<T.-T|
000070:  7f 3c 54 00  2d 54 7f 3c  54 00 2d 54  7f 3c 54 00  |.<T.-T.<T.-T.<T.|
000080:  2d 54 7f 3c  54 00 2d 54  7f 3c 54 00  2d 54 7f 3c  |-T.<T.-T.<T.-T.<|
000090:  54 00 2d 54  7f 3c 54 00  2d 54 7f 3c  54 00 2d 54  |T.-T.<T.-T.<T.-T|
0000a0:  7f 3c 54 00  2d 54 7f 3c  54 00 2d 54  7f 3c 54 00  |.<T.-T.<T.-T.<T.|
0000b0:  2d 54 7f 3c  54 00 2d 54  7f 3c 54 00  2d 54 7f 3c  |-T.<T.-T.<T.-T.<|
0000c0:  54 00 2d 54  7f 3c 54 00  2d 54 7f 3c  54 00 2d 54  |T.-T.<T.-T.<T.-T|
0000d0:  7f 3c 54 00  2d 54 7f 3c  54 00 2d 54  7f 3c 54 00  |.<T.-T.<T.-T.<T.|
0000e0:  2d 54 7f 3c  54 00 2d 54  7f 3c 54 00  2d 54 7f 3c  |-T.<T.-T.<T.-T.<|
0000f0:  54 00 2d 54  7f 3c 54 00  2d 54 7f 3c  54 00 2d 54  |T.-T.<T.-T.<T.-T|
000100:  7f 3c 54 00  2d 54 7f 3c  54 00 2d 54  7f 3c 54 00  |.<T.-T.<T.-T.<T.|
000110:  2d 54 7f 3c  54 00 2d 54  7f 3c 54 00  2d 54 7f 3c  |-T.<T.-T.<T.-T.<|
000120:  54 00 2d 54  7f 3c 54 00  2d 54 7f 3c  54 00 2d 54  |T.-T.<T.-T.<T.-T|
000130:  7f 3c 54 00  2d 54 7f 3c  54 00 0f 3c  00 00 3d 00  |.<T.-T.<T..<..=.|
000140:  1e 54 7f 3c  54 00 00 ff  2f 00                     |.T.<T.../.      |

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