Glossary

array

An array of values of the same type, in the format <type>[<length>?]. If <length> is omitted, then the array is of variable size (typically given in a preceding field).

COBS

Consistent Overhead Byte Stuffing (COBS) is an algorithm for encoding data such that the encoded data does not contain any delimiter bytes.

In the context of SPIKE™ Prime, COBS is used to replace bytes with a value of 0x02 and below with another byte that does not have a value of 0x02 or below. For more details, see Encoding: COBS.

CRC32

CRC-32 (32bit Cyclic Redundancy Check) is a checksum algorithm used to detect errors in data. For SPIKE™ Prime, the CRC must be calculated on a multiple of 4 bytes.

For data that is not a multiple of 4 bytes, append 0x00 until the data is a multiple of 4 bytes before calculating the CRC.

hub

SPIKE™ Prime hub.

int

An integer in the format u?int\d+. The u-prefix indicates whether the integer is signed (if omitted) or unsigned (if present). The number after int is the number of bits. (e.g., int8 is an 8-bit signed integer, uint32 is a 32-bit unsigned integer)

null-terminated string

A character string terminated with NUL (0x00), given in the format string[<n>], where <n> is the maximum length of the string (including the terminating NUL).

Attention

Strings must be terminated with NUL, so the effective length of the string is <n> - 1.

program slot

One of the 20 program slots on the hub, indexed from 0 to 19.

smart coast/brake

A method of stopping a motor, while attempting to compensate for inaccuracies in following commands.