IIC

Device Address

Supports three selectable addresses: 0x24、``0x25、``0x26

The address can be selected in the Settings interface.

After configuration, the device will automatically restart to apply the new address, preventing conflicts with other I²C devices.

Registers

Register Description

  • All registers are read/write (in principle). However, writing to registers that should not be modified may trigger unintended actions.

  • The actual register address =Function Base Address+Register Offset

  • Unless otherwise specified, registers are initialized to 0 after power-on.

  • Reading/writing non-existent registers or out-of-range values will return 0.

  • Multi-byte numbers are stored in big-endian format (high byte first, low byte last).

  • Before writing to registers, ensure that the AI Vision Sensor is in the corresponding function interface.

Function

Base Address

System Settings

0

Color Detection

15

Color Block Tracking

30

Apriltag Recognition

45

Line Recognition

60

20-Class Object Recognition

75

QR Code Recognition

90

Face Attributes Recognition

105

Face ID Recognition

120

Deep Learning

135

Card Recognition

150

ESP

165

Settings

180

Register Table

sys (System Registers)

Offset

Description

Length (bytes)

0x00

Operating mode (0–9)

1

0: Color Recognition

1: Color Block Tracking

2: Apriltag Recognition

3: Line Recognition

4: 20-class Object Recognition

5: QR Code Recognition

6: Face Attributes Recognition

7: Face ID Recognition

8: Deep Learning

9: Card Road Sign Recognition

10: WIFI Stream

0x01

Boot verification (value: 9876543210123456789; returns 0 if not fully booted)

19

0x02

SD card detection (0: none, 1: detected)

1

0x03

ESP32-S3 communication status (0: error, 1: normal)

1

get_color (Color Detection)

Offset

Description

Length (bytes)

0x00

Average RGB color at screen center
(r,g,b; each 0–255)

3

find_color (Color Block Tracking)

Offset

Description

Length (bytes)

0x00

The ID of the color to be tracked. Range: 1 ~ 6

1

0x01

Indicates whether the target color block is detected. 0 = Not found, 1 = Found

1

0x02

Provides detailed information of the detected color block. x, y, w, h (2 bytes each)

8

id 1~6

Red, green, blue, yellow, black and white

find_tag (Apriltag Recognition)

Offset

Description

Length (bytes)

0x00

Number of tags detected

1

0x01

Number of tags detected

12

0x02

Number of tags detected

12

0x03

Number of tags detected

12

0x04

Tag information
id (2), rotation (2), x, y, w, h (each 2 bytes)

12

rotation: 0 ~ 359

find_line (Line Recognition)

Offset

Description

Length (bytes)

0x00

Line detection flag
0 = Not detected, 1 = Detected

1

0x01

Line information
x, y, w, h (each 2 bytes)

8

0x02

Line information
x, y, w, h (each 2 bytes)

8

0x03

Line information
x, y, w, h (each 2 bytes)

8

find_20_class (20-Class Object Recognition)

0: Airplane
1: Bicycle
2: Bird
3: Boat
4: Bottle
5: Bus
6: Car
7: Cat
8: Chair
9: Cow
10: Dining Table
11: Dog
12: House
13: Motorcycle
14: Person
15: Potted Plant
16: Sheep
17: Sofa
18: Train
19: TV Monitor

Offset

Description

Length (bytes)

0x00

Number of objects detected

1

0x01

Number of objects detected

9

0x02

Number of objects detected

9

0x03

Number of objects detected

9

0x04

Object information
id (1), x, y, w, h (each 2 bytes)

9

ID starts from 0, corresponding to the following objects in order:

find_qrcode (QR Code Recognition)

Offset

Description

Length (bytes)

0x00

QR code detection flag
0 = Not detected, 1 = Detected

1

0x01

QR code data length

1

0x02

QR code bounding box
x, y, w, h (each 2 bytes)

8

0x03

QR code information

100

find_face (Face Attributes)

Offset

Description

Length (bytes)

0x00

Number of faces detected

1

0x01

Face 1 x, y, w, h (each 2 bytes)

8

0x02

Face 2 x, y, w, h (each 2 bytes)

8

0x03

Face 3 x, y, w, h (each 2 bytes)

8

0x04

Face 4 x, y, w, h (each 2 bytes)

8

0x05

Face 1 attributes
is_male(deprecated but reserved), is_mouth_open, is_smail, is_glasses

4

0x06

Face 2 attributes
is_male(deprecated but reserved), is_mouth_open, is_smail, is_glasses

4

0x07

Face 3 attributes
is_male(deprecated but reserved), is_mouth_open, is_smail, is_glasses

4

0x08

Face 4 attributes
is_male(deprecated but reserved), is_mouth_open, is_smail, is_glasses

4

find_face_recognition (Face ID Recognition)

Offset

Description

Length (bytes)

0x00

Number of faces detected

1

0x01

Number of faces recognized

1

0x02

Face 1 info id (1), x, y, w, h (each 2 bytes)

9

0x03

Face 2 info id (1), x, y, w, h (each 2 bytes)

9

0x04

Face 3 info id (1), x, y, w, h (each 2 bytes)

9

0x05

Face 4 info id (1), x, y, w, h (each 2 bytes)

9

Detection count: The total number of faces framed on the screen.

Recognition count: The number of faces successfully matched from the learned dataset.

self_lenrning (Deep Learning)

Offset

Description

Length (bytes)

0x00

(Deep Learning)
0 = No, 1 = Yes

1

0x01

Detection flag
0 = Not detected, 1 = Detected

1

0x02

ID of recognized object (0–1)

1

find_card (Card Road Sign Recognition)

Offset

Description

Length (bytes)

0x00

Number of cards detected（0-4）

1

0x01

Card 1 info
id (1), x, y, w, h (each 2 bytes)

9

0x02

Card 2 info
id (1), x, y, w, h (each 2 bytes)

9

0x03

Card 3 info
id (1), x, y, w, h (each 2 bytes)

9

0x04

Card 4 info
id (1), x, y, w, h (each 2 bytes)

9

Note：ID Mapping (0–6):

0: Green Light; 1: Left Turn; 2: Stop; 3: Red Light; 4: Right Turn; 5: Horn; 6: Target

ESP (AI Chat & WIFI Stream)

Offset

Description

Length (bytes)

0x00

wifi ssid
The first byte indicates the length of the SSID, followed by the SSID string

100

0x01

wifi password
The first byte indicates the length of the password, followed by the password string

100

0x02

wifi ip
The first byte indicates the length of the IP, followed by the IP address

20

0x03

Reserved

1

0x04

AI XiaoZhi Status

1

0x05

Motion Command

1

0x06

Custom Command

1

0x07

Image Transmission Web Joystick

2

0x08

Image Transmission Web Button

1

0x09

Image Transmission Keyboard Button

1

P: An IP of 0.0.0.0 or an IP length of 0 indicates that the device is not connected to Wi-Fi.

AI XiaoZhi Status:

  • 0: AI not started

  • 1: Connecting

  • 2: Standby

  • 3: Listening

  • 4: Speaking

  • 5: Network configuration in progress

  • Image Transmission Web Joystick:
    Two bytes represent the X and Y joystick values, with a range from -100 to 100.

  • Image Transmission Web Button:
    “0012 3456”; returns one byte. When a corresponding button is pressed, the respective bit is set to 1.

  • Image Transmission Keyboard Button:
    “0000 wasd”; returns one byte. When a corresponding keyboard key is pressed, the respective bit is set to 1.

setting

Offset

Description

Length (bytes)

0x00

Fill light brightness
Range: 0–10

1

0x01

Fill light switch
0 = Off, 1 = On

1

0x02

Factory test (do not use) When set to 1, the module will automatically cycle through modes on the next startup; long press to exit test mode

1

0x03

Language (read-only) 0 = Chinese, 1 = English

1

0x04

Control chip (read-only) 0 = K210, 1 = ESP32

1