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→Gesture Specification
== Gesture Specification ==
== Gesture Specification ==
The following is STINGR Gesture Specification II, which replaces the theoretical, but never implemented, [[STINGR Gesture Specification I]].
The following is STINGR Gesture Specification II, which replaces the theoretical, but never implemented, [[STINGR Gesture Specification I]].<br/>
As mentioned above, a Gesture consists of a series of frames, each with a specific purpose. Each Gesture is transmitted on the CAN Bus, and allows all boards to determine if a Gesture is targeted towards them, and act appropriately. This section defines the specification of a Gesture, including a description of each of the frames.
As mentioned above, a Gesture consists of a series of CAN Packets -- these packets specify the source and destination of a gesture, some auxiliary data, and the primary data payload. STINGR manages CAN Packets, which are obfuscated from the end-user.
More explicitly, a Gesture looks as so, with the leftmost frames being transmitted first, and the rightmost frames being transmitted last.
More explicitly, a Gesture looks is comprised of an initialization CAN Packet, followed by up to 256 additional CAN Packets, each comprised of a 1 byte header and 7 byte data payload, for a total possible data length of 256 * 7 = 1,792 bytes. The initialization CAN Packet consists of the standard header, 2 bytes of additional information, and 5 bytes of data payload. Subsequent CAN Packets consist of the 1 byte header and up to 7 bytes of data. The general structure of this format is as such:
{| class="wikitable"
|Initialization Packet (8 bytes)
|Data Packets (up to 256)
|}
The following is the general structure of a generic CAN Packet -- specifically, the 1 byte header and 7 byte data payload sections.
{| class="wikitable"
| style="background-color: #4CC9FF;"|
Source (0 - 16) (4 bit)
| style="background-color: #8AFFDF;"|
IsInit (1 bit)
| style="background-color: #FFA6CE;"|
Parity (1 bit)
| style="background-color: #EDFF7A;"|
Message ID (2 bit)
| style="background-color: #AD6DF9;"|
Data (7 bytes)
|}
The following is the initialization CAN Packet -- the first packet sent to begin a gesture transmission. It consists of a standard header followed by a two-byte auxiliary information frame.
{| class="wikitable"
{| class="wikitable"
| style="background-color: #4CC9FF;"|
| style="background-color: #4CC9FF;"|
Header (1 byte)
| style="background-color: #8AFFDF;"|
| style="background-color: #8AFFDF;"|
Destination Identifier (4 bits)
| style="background-color: #FFA6CE;"|
| style="background-color: #FFA6CE;"|
Flags (4 bits)
| style="background-color: #EDFF7A;"|
| style="background-color: #EDFF7A;"|
Message Length (in # Packets) (8 bits)
| style="background-color: #AD6DF9;"|
| style="background-color: #AD6DF9;"|
Data (4-500 bytes)
Data (5 bytes)
|}
|}
=== Type Frame ===
=== Type Frame ===