Encoder Header Update
A new "innerCount" field is added to the encoder frame to enumerate the minor (high rate) frames between the major (low rate) frames. Note that the size of the encoder header remains unchanged, as the two bytes after "frameCount" were reserved for future use.
Old encoder header format
typedef struct {
uint16_t frameCount; // network byte order
uint8_t reserved1[2];
uint16_t majorVersion; // network byte order
uint8_t minorVersion;
uint8_t microVersion;
char hardwareID[16];
uint8_t reserved2;
uint8_t channelMask;
uint8_t errorMask;
uint8_t mode;
uint8_t reserved3[4];
} encoder_header_t;
New encoder header format
typedef struct {
uint16_t frameCount; // network byte order
uint16_t innerCount; // network byte order
uint16_t majorVersion; // network byte order
uint8_t minorVersion;
uint8_t microVersion;
char hardwareID[16];
uint8_t reserved2;
uint8_t channelMask;
uint8_t errorMask;
uint8_t mode;
uint8_t reserved3[4];
} encoder_header_t;