21 lines
958 B
Markdown
21 lines
958 B
Markdown
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# Image Data {#spec_image_data}
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| Name | Field | Unit | Bytes | Note |
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| :----- | :----- | :----- | :-------- | :----- |
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| Frame ID | frame_id | - | 2 | uint16_t; [0,65535] |
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| Timestamp | timestamp | 10 us | 4 | uint32_t |
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| Exposure Time | exposure_time | 10 us | 2 | uint16_t |
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## Image Packet
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| Name | Header | Size | Frame ID | Timestamp | Exposure Time | Checksum |
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| :--- | :----- | :--- | :------- | :-------- | :------------ | :------- |
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| Bytes | 1 | 1 | 2 | 4 | 2 | 1 |
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| Type | uint8_t | uint8_t | uint16_t | uint32_t | uint16_t | uint8_t |
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| Description | 0x3B | 0x08, content size | Frame ID | Timestamp | Exposure time | Checksum, XOR of all content bytes |
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* The image packet will be dropped, if checksum is incorrect.
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* The accuracy of the time unit: 0.01 ms / 10 us.
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* The timestamp could indicate 11.9 hours, it will accumulate again after overflow.
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* The timestamp accumulation starts from the time of power-on, instead of opening.
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