Control Channels

Name	Field	Address	Bandwidth	Node
Camera control channel	XU_CAM_CTRL_CHANNEL	1	3
Half-Duplex channel	XU_HALF_DUPLEX_CHANNEL	2	20
IMU write channel	XU_IMUDATA_WRITE_CHANNEL	3	5
IMU read channel	XU_IMUDATA_READ_CHANNEL	4	2000
File channel	XU_FILE_CHANNEL	5	2000

Camera Control Channel

The channel provides get, set and query (min, max, default).

Half-Duplex Channel

The channel only provides set, such as zero drift correction.

IMU Channel

The channel is used to request and response IMU data, see IMU Data.

File Channel

The channel is used to read and write device information, image params, and IMU params.

Name	Header	Size	File	Checksum
Bytes	1	2	-	1
Type	uint8_t	uint16_t	-	uint8_t
Description	Flags	Content size	Content data	Checksum, XOR of all content bytes

Header Bit Subscript	Description
0	Device information
1	Image params
2	IMU params
3~6	Undefined
7	0: Get; 1: Set

File Content Packet

Name	ID	Size	Content
Bytes	1	2	-
Type	uint8_t	uint16_t	-
Description	Content ID	Content size	Content data

File	ID	Max Size
Device information	1	250
Image params	2	250
IMU params	4	500