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CC2652R: Are there any examples about on-chip Zigbee OTA of CC2652R?

Part Number: CC2652R

Hi!

I have to integrate On-chip Zigbee OTA functionality into my application,but I found that only Off-chip OTA of Zigbee is realized in the example project.

Are there any examples about on-chip Zigbee OTA of CC2652R?

I find ble5stack have On-chip OAD example project,if there are no example project On-chip OTA of Zigbee, I wonder to know what should I do to realize Zigbee's On-chip OAD function, by referring to ble5stack's On-chip OAD example?

What is the difference between OAD and OTA? How to realize OAD function on Zigbee?

I sincerely look forward to your answer.

Thank you!