Table 7-4:
Message Layer Header - Response (Continued)
Field Name
Type
Notes
Response ID
U2
Identical to the respective command
Version
U4
Version of the response ID
Reserved2
U4
Set to 0
Payload Size
U4
Result Status
U4
In the firmware architecture, the protocol handling is distributed. Every module is responsible for its messages. The
module ID gives the communication module a way to dispatch messages to each module.
The
Module Identifiers
table shows the recipient modules and identifiers.
Table 7-5:
Module Identifiers
Module ID
Target Module
0x00
Reserved
0x01
Main Application / Bootloader
0x02
Processing Module
0x10
Camera (SNAP Framework)
0x12
IMU (SNAP Framework)
0x40
Storage Module (SNAP Framework)
The header fields include:
•
Module ID — the module to which the command is redirected or the source of the response.
•
Reserved — a part of the header reserved for module-specific data. For example, when multiple cameras exist in
the camera module, it can be used for the unit ID.
•
Command ID — Contains the ID of the command. IDs from 0 to 0xF are reserved as shown in the
Reserved
Command IDs
table.
•
Version — version of the software. Refer to this field when the payload of the message has changed and is not
applicable to older software versions.
•
Payload Size — The payload size can be computed starting from the full payload size available in the transport
layer header (but this redundancy can avoid lot of coding mistake issues).
•
Result Status — Response-specific error code. The
Reserved Results Status
table shows the codes that are re-
served.
Architecture Description
7–4
ADIS1700x Vision-Sensing Camera Module User Guide
