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-.TL
-Frame Format for the CAN Gauge Interface
-.AU
-Sam Anthony
-.AI
-.LP
-The Gauge Interface receives
-.I signals
-.[
-dbc10
-.]
-from other nodes via the vehicle's CAN bus.
-It also accepts frames from a host PC for calibration.
-The formats of these calibration, or
-.I control ,
-frames are the subject of this document.
-.NH 1
-Signals
-.LP
-The Interface listens for 6 signals on the bus:
-.nr step -1 1
-.IP \n+[step].
-Tachometer
-.IP \n+[step].
-Speedometer
-.IP \n+[step].
-Analog 1
-.IP \n+[step].
-Analog 2
-.IP \n+[step].
-Analog 3
-.IP \n+[step].
-Analog 4
-.LP
-Each of these signals has an associated CAN ID, encoding specification, and calibration table.
-A signal's CAN ID specifies which message contains the signal.
-It's encoding specification defines how the signal is encoded in the message's DATA FIELD.
-And it's calibration field defines a mapping from the raw signal value extracted from the message to an output value that is used to generate a waveform to display the signal on a gauge.
-.PP
-Each table has 32 rows, each of which contains a key and a value.
-The keys and values are 32-bit and 16-bit respectively.
-Numbers are transmitted in big-endian order in frames' DATA FIELDs.
-.NH 1
-Frames
-.LP
-In addition to the signal-carrying frames, there are also two types of
-.I control
-frame:
-.B "Table Control" ,
-and
-.B "Signal Control" .
-.NH 2
-Table Control Frame
-.LP
-The Table Control Frame is used to read and write rows of the calibration tables.
-It is an extended frame with DLC=6.
-It may be either a DATA FRAME: to write to a table\(emor a REMOTE FRAME: to read from a table.
-.PP
-The Table Control Frame has extended ID
-.B 12720XXh .
-The LSB,
-.I X ,
-inticates which table, and which row of the table, to read or modify.
-The upper 3 bits of
-.I X
-indicate one of  the 6 tables [0, 5].
-The lower 5 bits of
-.I X
-indicate one of the table's 32 rows [0, 31].
-.begin dformat
-style bitwid 0.15
-Table Control ID
-	28-8 12720h
-	7-5 Table
-	4-0 Row
-.end
-.LP
-The DATA FIELD contains a row of the table.
-The row is composed of a 32-bit integer and a 16-bit integer: a key and a value.
-They are transmitted in big-endian order.
-.begin dformat
-style bitwid 0.07
-style recspread 0
-Table Control DATA FIELD
-	7-0 D0
-	7-0 D1
-	7-0 D2
-	7-0 D3
-	7-0 D4
-	7-0 D5
-noname
-	31-0 Key
-	15-0 Val
-.end
-.LP
-Upon receiving a Table Control DATA FRAME, the Interface will write the key and value to the row of the table specified in the ID.
-.PP
-In the case of a REMOTE FRAME, the Interface will read the row of the table specified in the ID, and respond with a DATA FRAME containing the key and value of the row.
-.NH 2
-Signal Control Frame
-.LP
-The Signal Control Frame is used to read or modify the CAN ID associated with one of the signals, as well as to read or modify the signal's encoding format.
-It is an extended frame with DLC=7.
-It may be either a DATA FRAME: to modify\(emor a REMOTE FRAME: to read.
-.PP
-Upon receiving a Signal Control DATA FRAME, the Interface will write the signal's new ID and encoding to the EEPROM.
-Upon receiving a Signal Control REMOTE FRAME, the Interface will respond with a DATA FRAME containing the signal's ID and encoding which were retrieved from the EEPROM.
-.PP
-The ID Control Frame has extended ID
-.B 127210Xh .
-The least significant nibble,
-.I X ,
-indicates one of the 6 signals [0, 5].
-.begin dformat
-style bitwid 0.15
-Signal Control ID
-	28-4 127210h
-	3-0 X
-.end
-.LP
-The DATA FIELD contains the signal's CAN ID and encoding format.
-.begin dformat
-style bitwid 0.08
-style recspread 0
-Signal Control DATA FIELD
-	7-0 D0
-	7-0 D1
-	7-0 D2
-	7-0 D3
-	7-0 D4
-	7-0 D5
-	7-0 D6
-noname
-	31-0 SigId
-	23-0 Encoding
-noname
-	31 EXIDE
-	30-29 Empty
-	28-0 ID
-	7-0 Start
-	7-0 Size
-	7 Order
-	6 Sign
-	5-0 Empty
-.end
-.LP
-The signal's CAN ID is sent as a big-endian 32-bit integer in the
-.I SigId
-field.
-The MSb\(embit 31, called
-.I EXIDE \(em
-indicates whether the ID is standard or extended.
-.TS
-tab(&);
-Ci
-L L.
-EXIDE
-= 0 & Standard identifier
-= 1 & Extended identifier
-.TE
-The lower 11 or 29 bits hold the ID itself, depending on whether it is standard or extended.
-In the case of a standard ID,
-.I EXIDE =0
-and the ID is sent in the lower 11 bits of
-.I SigId .
-In the case of an extended ID,
-.I EXIDE =1
-and the ID is sent in the lower 29 bits of
-.I SigId .
-.PP
-The signal encoding defines how the signal's raw value is encoded in the message that carries it.
-The encoding is sent in the
-.I Encoding
-field of the Signal Control Frame's DATA FIELD.
-.LP
-.I Start
-specifies the position of the signal within the DATA FIELD of the message.
-It corresponds to
-.CW start_bit
-in DBC.
-.PP
-.I Size
-specifies the size of the signal in bits.
-It corresponds to
-.CW signal_size
-in DBC.
-.PP
-.I Order
-specifies the signal's byte order.
-It corresponds to
-.CW byte_order
-in DBC.
-.TS
-tab(&);
-Ci
-L L.
-Order
-= 0 & Big-endian
-= 1 & Little-endian
-.TE
-.LP
-.I Sign
-specifies the signal as being of type unsigned or signed.
-It corresponds to
-.CW value_type
-in DBC.
-.TS
-tab(&);
-Ci
-L L.
-Sign
-= 0 & Unsigned
-= 1 & Signed
-.TE