54 lines
1.5 KiB
Markdown
54 lines
1.5 KiB
Markdown
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# Control Channels {#spec_control_channel}
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| Name | Field | Address | Bandwidth | Node |
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| :----- | :----- | :----- | :----- | :----- |
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| Camera control channel | XU_CAM_CTRL_CHANNEL | 1 | 3 | |
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| Half-Duplex channel | XU_HALF_DUPLEX_CHANNEL | 2 | 20 | |
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| IMU write channel | XU_IMUDATA_WRITE_CHANNEL | 3 | 5 | |
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| IMU read channel | XU_IMUDATA_READ_CHANNEL | 4 | 2000 | |
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| File channel | XU_FILE_CHANNEL | 5 | 2000 | |
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## Camera Control Channel
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The channel provides get, set and query (min, max, default).
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## Half-Duplex Channel
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The channel only provides set, such as zero drift correction.
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## IMU Channel
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The channel is used to request and response IMU data, see @ref spec_imu_data.
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## File Channel
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The channel is used to read and write device information, image params, and IMU params.
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| Name | Header | Size | File | Checksum |
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| :--- | :- | :--- | :--- | :-------- |
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| Bytes | 1 | 2 | - | 1 |
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| Type | uint8_t | uint16_t | - | uint8_t |
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| Description | Flags | Content size | Content data | Checksum, XOR of all content bytes |
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| Header Bit Subscript | Description |
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| :------------------- | :---------- |
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| 0 | Device information |
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| 1 | Image params |
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| 2 | IMU params |
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| 3~6 | Undefined |
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| 7 | 0: Get; 1: Set |
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### File Content Packet
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| Name | ID | Size | Content |
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| :--- | :- | :--- | :------ |
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| Bytes | 1 | 2 | - |
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| Type | uint8_t | uint16_t | - |
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| Description | Content ID | Content size | Content data |
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| File | ID | Max Size |
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| :--- | :- | :------- |
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| Device information | 1 | 250 |
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| Image params | 2 | 250 |
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| IMU params | 4 | 500 |
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