Communication over USB port is handled in the form of bulk transfers of individual messages to- and from the device.
Messages sent by a host device (microcontroller, PC etc.) to the AHRS device are referred as request messages, while messages that host device retrieves from AHRS device are referred as response messages.
Requests and responses are realized as bulk transfer transactions, each having 1024 bytes of total length. A message occupies first N bytes of this transfer data, depending on a message type. The remaining part of the 1k data chunk is undefined and is ignored by the AHRS device and should be ignored by host.
Both message types have the same structure of: