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&#160;<span id="projectnumber">2.0.0-rc</span>
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<div class="title">控制 API 说明 </div> </div>
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<div class="textblock"><p>控制有两种实现方式，一是通过 UVC 标准协议，二是通过 UVC 拓展通道自定义协议。</p>
<h2>标准协议</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadLeft">名称 </th><th class="markdownTableHeadLeft">字段 </th><th class="markdownTableHeadLeft">字节数 </th><th class="markdownTableHeadLeft">默认值 </th><th class="markdownTableHeadLeft">最小值 </th><th class="markdownTableHeadLeft">最大值 </th><th class="markdownTableHeadLeft">是否储存 </th><th class="markdownTableHeadLeft">Flash 地址 </th><th class="markdownTableHeadLeft">说明 </th></tr>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<td class="markdownTableBodyLeft">增益 </td><td class="markdownTableBodyLeft">gain </td><td class="markdownTableBodyLeft">2 </td><td class="markdownTableBodyLeft">24 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">48 </td><td class="markdownTableBodyLeft">√ </td><td class="markdownTableBodyLeft">0x12 </td><td class="markdownTableBodyLeft">关闭自动曝光，手动设定的参数 </td></tr>
<tr class="markdownTableBody" class="markdownTableRowEven">
<td class="markdownTableBodyLeft">亮度 </td><td class="markdownTableBodyLeft">brightness/exposure_time </td><td class="markdownTableBodyLeft">2 </td><td class="markdownTableBodyLeft">120 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">240 </td><td class="markdownTableBodyLeft">√ </td><td class="markdownTableBodyLeft">0x14 </td><td class="markdownTableBodyLeft">关闭自动曝光，手动设定的参数 </td></tr>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<td class="markdownTableBodyLeft">对比度 </td><td class="markdownTableBodyLeft">contrast/black_level_calibration </td><td class="markdownTableBodyLeft">2 </td><td class="markdownTableBodyLeft">127 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">255 </td><td class="markdownTableBodyLeft">√ </td><td class="markdownTableBodyLeft">0x10 </td><td class="markdownTableBodyLeft"></td></tr>
</table>
<blockquote class="doxtable">
<p>UVC 标准协议实现的控制，有现成的 API 进行 Get &amp; Set ，包括 Min, Max, Default 。 </p>
</blockquote>
<h2>自定义协议</h2>
<table class="markdownTable">
<tr class="markdownTableHead">
<th class="markdownTableHeadLeft">名称 </th><th class="markdownTableHeadLeft">字段 </th><th class="markdownTableHeadLeft">字节数 </th><th class="markdownTableHeadLeft">默认值 </th><th class="markdownTableHeadLeft">最小值 </th><th class="markdownTableHeadLeft">最大值 </th><th class="markdownTableHeadLeft">是否储存 </th><th class="markdownTableHeadLeft">Flash 地址 </th><th class="markdownTableHeadLeft">所属通道 </th><th class="markdownTableHeadLeft">通道地址 </th><th class="markdownTableHeadLeft">说明 </th></tr>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<td class="markdownTableBodyLeft">图像帧率 </td><td class="markdownTableBodyLeft">frame_rate </td><td class="markdownTableBodyLeft">2 </td><td class="markdownTableBodyLeft">25 </td><td class="markdownTableBodyLeft">10 </td><td class="markdownTableBodyLeft">60 </td><td class="markdownTableBodyLeft">√ </td><td class="markdownTableBodyLeft">0x21 </td><td class="markdownTableBodyLeft">XU_CAM_CTRL </td><td class="markdownTableBodyLeft">0x0100 </td><td class="markdownTableBodyLeft">步进为5，即有效值为{10,15,20,25,30,35,40,45,50,55,60} </td></tr>
<tr class="markdownTableBody" class="markdownTableRowEven">
<td class="markdownTableBodyLeft">IMU 频率 </td><td class="markdownTableBodyLeft">imu_frequency </td><td class="markdownTableBodyLeft">2 </td><td class="markdownTableBodyLeft">200 </td><td class="markdownTableBodyLeft">100 </td><td class="markdownTableBodyLeft">500 </td><td class="markdownTableBodyLeft">√ </td><td class="markdownTableBodyLeft">0x23 </td><td class="markdownTableBodyLeft">XU_CAM_CTRL </td><td class="markdownTableBodyLeft">0x0100 </td><td class="markdownTableBodyLeft">有效值为{100,200,250,333,500} </td></tr>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<td class="markdownTableBodyLeft">曝光模式 </td><td class="markdownTableBodyLeft">exposure_mode </td><td class="markdownTableBodyLeft">1 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">1 </td><td class="markdownTableBodyLeft">√ </td><td class="markdownTableBodyLeft">0x0F </td><td class="markdownTableBodyLeft">XU_CAM_CTRL </td><td class="markdownTableBodyLeft">0x0100 </td><td class="markdownTableBodyLeft">0：开启自动曝光； 1：关闭 </td></tr>
<tr class="markdownTableBody" class="markdownTableRowEven">
<td class="markdownTableBodyLeft">最大增益 </td><td class="markdownTableBodyLeft">max_gain </td><td class="markdownTableBodyLeft">2 </td><td class="markdownTableBodyLeft">48 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">48 </td><td class="markdownTableBodyLeft">√ </td><td class="markdownTableBodyLeft">0x1D </td><td class="markdownTableBodyLeft">XU_CAM_CTRL </td><td class="markdownTableBodyLeft">0x0100 </td><td class="markdownTableBodyLeft">开始自动曝光，可设定的阈值 </td></tr>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<td class="markdownTableBodyLeft">最大曝光时间 </td><td class="markdownTableBodyLeft">max_exposure_time </td><td class="markdownTableBodyLeft">2 </td><td class="markdownTableBodyLeft">240 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">240 </td><td class="markdownTableBodyLeft">√ </td><td class="markdownTableBodyLeft">0x1B </td><td class="markdownTableBodyLeft">XU_CAM_CTRL </td><td class="markdownTableBodyLeft">0x0100 </td><td class="markdownTableBodyLeft">开始自动曝光，可设定的阈值 </td></tr>
<tr class="markdownTableBody" class="markdownTableRowEven">
<td class="markdownTableBodyLeft">期望亮度 </td><td class="markdownTableBodyLeft">desired_brightness </td><td class="markdownTableBodyLeft">2 </td><td class="markdownTableBodyLeft">192 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">255 </td><td class="markdownTableBodyLeft">√ </td><td class="markdownTableBodyLeft">0x19 </td><td class="markdownTableBodyLeft">XU_CAM_CTRL </td><td class="markdownTableBodyLeft">0x0100 </td><td class="markdownTableBodyLeft"></td></tr>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<td class="markdownTableBodyLeft">IR 控制 </td><td class="markdownTableBodyLeft">ir_control </td><td class="markdownTableBodyLeft">1 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">160 </td><td class="markdownTableBodyLeft">× </td><td class="markdownTableBodyLeft">- </td><td class="markdownTableBodyLeft">XU_CAM_CTRL </td><td class="markdownTableBodyLeft">0x0100 </td><td class="markdownTableBodyLeft"></td></tr>
<tr class="markdownTableBody" class="markdownTableRowEven">
<td class="markdownTableBodyLeft">HDR 模式 </td><td class="markdownTableBodyLeft">hdr_mode </td><td class="markdownTableBodyLeft">1 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">0 </td><td class="markdownTableBodyLeft">1 </td><td class="markdownTableBodyLeft">√ </td><td class="markdownTableBodyLeft">0x1F </td><td class="markdownTableBodyLeft">XU_CAM_CTRL </td><td class="markdownTableBodyLeft">0x0100 </td><td class="markdownTableBodyLeft">0：10-bit；1：12-bit </td></tr>
<tr class="markdownTableBody" class="markdownTableRowOdd">
<td class="markdownTableBodyLeft">零漂标定 </td><td class="markdownTableBodyLeft">zero_drift_calibration </td><td class="markdownTableBodyLeft"></td><td class="markdownTableBodyLeft">- </td><td class="markdownTableBodyLeft">- </td><td class="markdownTableBodyLeft">- </td><td class="markdownTableBodyLeft">× </td><td class="markdownTableBodyLeft">- </td><td class="markdownTableBodyLeft">XU_HALF_DUPLEX </td><td class="markdownTableBodyLeft">0x0200 </td><td class="markdownTableBodyLeft"></td></tr>
<tr class="markdownTableBody" class="markdownTableRowEven">
<td class="markdownTableBodyLeft">擦除芯片 </td><td class="markdownTableBodyLeft">erase_chip </td><td class="markdownTableBodyLeft"></td><td class="markdownTableBodyLeft">- </td><td class="markdownTableBodyLeft">- </td><td class="markdownTableBodyLeft">- </td><td class="markdownTableBodyLeft">× </td><td class="markdownTableBodyLeft">- </td><td class="markdownTableBodyLeft">XU_HALF_DUPLEX </td><td class="markdownTableBodyLeft">0x0200 </td><td class="markdownTableBodyLeft"></td></tr>
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