retain telemetry across transport outages

2026-08-17 14:00:14 -04:00
parent bc4a2856e1
commit 291c6b54e6
11 changed files with 222 additions and 37 deletions
@@ -1,5 +1,6 @@
 #pragma once

+#include <stdbool.h>
 #include <stddef.h>
 #include <stdint.h>

@@ -16,6 +17,9 @@
 #define TRIKKE_PACKET_TYPE_SAMPLES  2

 #define TRIKKE_PACKET_FLAG_TIMESTAMP_DELTA_SATURATED 0x01
+#define TRIKKE_WIRE_TIMESTAMP_DELTA_UNIT_US 10
+#define TRIKKE_WIRE_MAX_TIMESTAMP_DELTA_US \
+    ((uint64_t)UINT16_MAX * TRIKKE_WIRE_TIMESTAMP_DELTA_UNIT_US)

 #define TRIKKE_METADATA_FLAG_ACCEL_Y_NEGX_Z  0x0001
 #define TRIKKE_METADATA_FLAG_GYRO_IDENTITY   0x0002
@@ -46,6 +50,10 @@ typedef struct {
    float gyro_mdps_per_lsb;
 } trikke_wire_metadata_t;

+bool trikke_wire_timestamp_delta_fits(
+    int64_t previous_timestamp_us,
+    int64_t timestamp_us);
+
 size_t trikke_encode_metadata_packet(
    uint8_t *output,
    size_t output_size,