diff --git a/samples/device/camera.cc b/samples/device/camera.cc
index f415a41..7529db1 100644
--- a/samples/device/camera.cc
+++ b/samples/device/camera.cc
@@ -49,8 +49,6 @@ int main(int argc, char *argv[]) {
     device->SetOptionValue(Option::MAX_EXPOSURE_TIME, 120);  // [0,240]
     device->SetOptionValue(Option::DESIRED_BRIGHTNESS, 200);  // [0,255]
   }
-  */
-  /*
   {  // manual-exposure
     device->SetOptionValue(Option::EXPOSURE_MODE, 1);
     device->SetOptionValue(Option::GAIN, 20);  // [0.48]
@@ -61,6 +59,8 @@ int main(int argc, char *argv[]) {
   */
   device->LogOptionInfos();
 
+  // device->RunOptionAction(Option::ZERO_DRIFT_CALIBRATION);
+
   std::size_t left_count = 0;
   device->SetStreamCallback(
       Stream::LEFT, [&left_count](const device::StreamData &data) {
diff --git a/src/device/device.cc b/src/device/device.cc
index 3dbd9bd..b76e4ab 100644
--- a/src/device/device.cc
+++ b/src/device/device.cc
@@ -131,6 +131,10 @@ ImuExtrinsics Device::GetImuExtrinsics() const {
   return imu_extrinsics_;
 }
 
+void Device::LogOptionInfos() const {
+  channels_->LogControlInfos();
+}
+
 OptionInfo Device::GetOptionInfo(const Option &option) const {
   if (!Supports(option)) {
     LOG(WARNING) << "Unsupported option: " << option;
@@ -156,8 +160,12 @@ void Device::SetOptionValue(const Option &option, std::int32_t value) {
   channels_->SetControlValue(option, value);
 }
 
-void Device::LogOptionInfos() const {
-  channels_->LogControlInfos();
+bool Device::RunOptionAction(const Option &option) const {
+  if (!Supports(option)) {
+    LOG(WARNING) << "Unsupported option: " << option;
+    return false;
+  }
+  return channels_->RunControlAction(option);
 }
 
 void Device::SetStreamCallback(
diff --git a/src/device/device.h b/src/device/device.h
index d9061c6..f43c734 100644
--- a/src/device/device.h
+++ b/src/device/device.h
@@ -61,10 +61,13 @@ class Device {
   ImuIntrinsics GetImuIntrinsics() const;
   ImuExtrinsics GetImuExtrinsics() const;
 
+  void LogOptionInfos() const;
   OptionInfo GetOptionInfo(const Option &option) const;
+
   std::int32_t GetOptionValue(const Option &option) const;
   void SetOptionValue(const Option &option, std::int32_t value);
-  void LogOptionInfos() const;
+
+  bool RunOptionAction(const Option &option) const;
 
   void SetStreamCallback(const Stream &stream, stream_callback_t callback);
   void SetMotionCallback(motion_callback_t callback);
diff --git a/src/internal/channels.cc b/src/internal/channels.cc
index 5b18002..d2ba72f 100644
--- a/src/internal/channels.cc
+++ b/src/internal/channels.cc
@@ -39,6 +39,19 @@ int XuCamCtrlId(Option option) {
   }
 }
 
+int XuHalfDuplexId(Option option) {
+  switch (option) {
+    case Option::ZERO_DRIFT_CALIBRATION:
+      return 0;
+      break;
+    case Option::ERASE_CHIP:
+      return 1;
+      break;
+    default:
+      LOG(FATAL) << "No half duplex id for " << option;
+  }
+}
+
 }  // namespace
 
 Channels::Channels(std::shared_ptr<uvc::device> device) : device_(device) {
@@ -161,6 +174,30 @@ void Channels::SetControlValue(const Option &option, std::int32_t value) {
   }
 }
 
+bool Channels::RunControlAction(const Option &option) const {
+  switch (option) {
+    case Option::ZERO_DRIFT_CALIBRATION:
+      return XuHalfDuplexSet(option, XU_CMD_ZDC);
+    case Option::ERASE_CHIP:
+      return XuHalfDuplexSet(option, XU_CMD_ERASE);
+    case Option::GAIN:
+    case Option::BRIGHTNESS:
+    case Option::CONTRAST:
+    case Option::FRAME_RATE:
+    case Option::IMU_FREQUENCY:
+    case Option::EXPOSURE_MODE:
+    case Option::MAX_GAIN:
+    case Option::MAX_EXPOSURE_TIME:
+    case Option::DESIRED_BRIGHTNESS:
+    case Option::IR_CONTROL:
+    case Option::HDR_MODE:
+      LOG(WARNING) << option << " run action useless";
+      return false;
+    default:
+      LOG(FATAL) << "Unsupported option " << option;
+  }
+}
+
 bool Channels::PuControlRange(
     Option option, int32_t *min, int32_t *max, int32_t *def) const {
   CHECK_NOTNULL(device_);
@@ -174,8 +211,9 @@ bool Channels::PuControlQuery(
 }
 
 bool Channels::XuControlQuery(
-    uint8_t selector, uvc::xu_query query, uint16_t size, uint8_t *data) const {
-  return XuControlQuery({3}, selector, query, size, data);
+    channel_t channel, uvc::xu_query query, uint16_t size,
+    uint8_t *data) const {
+  return XuControlQuery({3}, channel >> 8, query, size, data);
 }
 
 bool Channels::XuControlQuery(
@@ -187,7 +225,7 @@ bool Channels::XuControlQuery(
 
 bool Channels::XuCamCtrlQuery(
     uvc::xu_query query, uint16_t size, uint8_t *data) const {
-  return XuControlQuery(CHANNEL_CAM_CTRL >> 8, query, size, data);
+  return XuControlQuery(CHANNEL_CAM_CTRL, query, size, data);
 }
 
 std::int32_t Channels::XuCamCtrlGet(Option option) const {
@@ -195,7 +233,7 @@ std::int32_t Channels::XuCamCtrlGet(Option option) const {
 
   std::uint8_t data[3] = {static_cast<std::uint8_t>((id | 0x80) & 0xFF), 0, 0};
   if (!XuCamCtrlQuery(uvc::XU_QUERY_SET, 3, data)) {
-    LOG(WARNING) << "Get control value of " << option << " failed";
+    LOG(WARNING) << "XuCamCtrlGet value of " << option << " failed";
     return -1;
   }
 
@@ -203,7 +241,7 @@ std::int32_t Channels::XuCamCtrlGet(Option option) const {
   if (XuCamCtrlQuery(uvc::XU_QUERY_GET, 3, data)) {
     return (data[1] << 8) + (data[2]);
   } else {
-    LOG(WARNING) << "Get control value of " << option << " failed";
+    LOG(WARNING) << "XuCamCtrlGet value of " << option << " failed";
     return -1;
   }
 }
@@ -214,14 +252,33 @@ void Channels::XuCamCtrlSet(Option option, std::int32_t value) const {
                           static_cast<std::uint8_t>((value >> 8) & 0xFF),
                           static_cast<std::uint8_t>(value & 0xFF)};
   if (!XuCamCtrlQuery(uvc::XU_QUERY_SET, 3, data)) {
-    LOG(WARNING) << "Set control value of " << option << " failed";
+    LOG(WARNING) << "XuCamCtrlSet value (" << value << ") of " << option
+                 << " failed";
+  } else {
+    VLOG(2) << "XuCamCtrlSet value (" << value << ") of " << option
+            << " success";
+  }
+}
+
+bool Channels::XuHalfDuplexSet(Option option, xu_cmd_t cmd) const {
+  int id = XuHalfDuplexId(option);
+  std::uint8_t data[3] = {// must be 3 now
+                          static_cast<std::uint8_t>(id & 0xFF), cmd};
+  if (!XuControlQuery(CHANNEL_HALF_DUPLEX, uvc::XU_QUERY_SET, 3, data)) {
+    LOG(WARNING) << "XuHalfDuplexSet value (0x" << std::hex << std::uppercase
+                 << cmd << ") of " << option << " failed";
+    return false;
+  } else {
+    VLOG(2) << "XuHalfDuplexSet value (0x" << std::hex << std::uppercase << cmd
+            << ") of " << option << " success";
+    return true;
   }
 }
 
 Channels::control_info_t Channels::PuControlInfo(Option option) const {
   int32_t min = 0, max = 0, def = 0;
   if (!PuControlRange(option, &min, &max, &def)) {
-    LOG(WARNING) << "Get control range of " << option << " failed";
+    LOG(WARNING) << "Get PuControlInfo of " << option << " failed";
   }
   return {min, max, def};
 }
@@ -231,7 +288,7 @@ Channels::control_info_t Channels::XuControlInfo(Option option) const {
 
   std::uint8_t data[3] = {static_cast<std::uint8_t>((id | 0x80) & 0xFF), 0, 0};
   if (!XuCamCtrlQuery(uvc::XU_QUERY_SET, 3, data)) {
-    LOG(WARNING) << "Get control range of " << option << " failed";
+    LOG(WARNING) << "Get XuControlInfo of " << option << " failed";
     return {0, 0, 0};
   }
 
@@ -241,17 +298,17 @@ Channels::control_info_t Channels::XuControlInfo(Option option) const {
   if (XuCamCtrlQuery(uvc::XU_QUERY_MIN, 3, data)) {
     info.min = (data[1] << 8) + (data[2]);
   } else {
-    LOG(WARNING) << "Get control range min of " << option << " failed";
+    LOG(WARNING) << "Get XuControlInfo.min of " << option << " failed";
   }
   if (XuCamCtrlQuery(uvc::XU_QUERY_MAX, 3, data)) {
     info.max = (data[1] << 8) + (data[2]);
   } else {
-    LOG(WARNING) << "Get control range max of " << option << " failed";
+    LOG(WARNING) << "Get XuControlInfo.max of " << option << " failed";
   }
   if (XuCamCtrlQuery(uvc::XU_QUERY_DEF, 3, data)) {
     info.def = (data[1] << 8) + (data[2]);
   } else {
-    LOG(WARNING) << "Get control range def of " << option << " failed";
+    LOG(WARNING) << "Get XuControlInfo.def of " << option << " failed";
   }
 
   return info;
diff --git a/src/internal/channels.h b/src/internal/channels.h
index 6c43619..3c02239 100644
--- a/src/internal/channels.h
+++ b/src/internal/channels.h
@@ -34,24 +34,31 @@ class Channels {
     std::int32_t def;
   } control_info_t;
 
+  typedef enum XuCmd {
+    XU_CMD_ZDC = 0xE6,    // zero drift calibration
+    XU_CMD_ERASE = 0xDE,  // erase chip
+    XU_CMD_LAST
+  } xu_cmd_t;
+
   explicit Channels(std::shared_ptr<uvc::device> device);
   ~Channels();
 
   void LogControlInfos() const;
-
   void UpdateControlInfos();
-
   control_info_t GetControlInfo(const Option &option) const;
+
   std::int32_t GetControlValue(const Option &option) const;
   void SetControlValue(const Option &option, std::int32_t value);
 
+  bool RunControlAction(const Option &option) const;
+
  private:
   bool PuControlRange(
       Option option, int32_t *min, int32_t *max, int32_t *def) const;
   bool PuControlQuery(Option option, uvc::pu_query query, int32_t *value) const;
 
   bool XuControlQuery(
-      uint8_t selector, uvc::xu_query query, uint16_t size,
+      channel_t channel, uvc::xu_query query, uint16_t size,
       uint8_t *data) const;
   bool XuControlQuery(
       const uvc::xu &xu, uint8_t selector, uvc::xu_query query, uint16_t size,
@@ -61,6 +68,8 @@ class Channels {
   std::int32_t XuCamCtrlGet(Option option) const;
   void XuCamCtrlSet(Option option, std::int32_t value) const;
 
+  bool XuHalfDuplexSet(Option option, xu_cmd_t cmd) const;
+
   control_info_t PuControlInfo(Option option) const;
   control_info_t XuControlInfo(Option option) const;