add reliable BLE telemetry transport

main/trikke_protocol.h

@@ -8,6 +8,7 @@
 #define TRIKKE_WIRE_HEADER_SIZE         36
 #define TRIKKE_WIRE_SAMPLE_RECORD_SIZE  20
 #define TRIKKE_WIRE_METADATA_SIZE       48
+#define TRIKKE_WIRE_STATUS_SIZE         32
 #define TRIKKE_WIRE_MAX_RECORDS         8
 #define TRIKKE_WIRE_MAX_PACKET_SIZE     \
     (TRIKKE_WIRE_HEADER_SIZE + \
@@ -15,6 +16,7 @@
 
 #define TRIKKE_PACKET_TYPE_METADATA 1
 #define TRIKKE_PACKET_TYPE_SAMPLES  2
+#define TRIKKE_PACKET_TYPE_STATUS   3
 
 #define TRIKKE_PACKET_FLAG_TIMESTAMP_DELTA_SATURATED 0x01
 #define TRIKKE_WIRE_TIMESTAMP_DELTA_UNIT_US 10
@@ -50,6 +52,16 @@ typedef struct {
     float gyro_mdps_per_lsb;
 } trikke_wire_metadata_t;
 
+typedef struct {
+    uint32_t sensor_read_failure_count;
+    uint32_t queue_overflow_count;
+    uint32_t transport_begin_retry_count;
+    uint32_t transport_disconnect_count;
+    uint32_t transport_send_failure_count;
+    uint32_t transport_replay_count;
+    uint32_t transport_invalid_ack_count;
+} trikke_wire_status_t;
+
 bool trikke_wire_timestamp_delta_fits(
     int64_t previous_timestamp_us,
     int64_t timestamp_us);
@@ -71,3 +83,12 @@ size_t trikke_encode_sample_packet(
     uint32_t loop_overrun_count,
     const trikke_wire_sample_t *samples,
     size_t sample_count);
+
+size_t trikke_encode_status_packet(
+    uint8_t *output,
+    size_t output_size,
+    uint32_t packet_sequence,
+    int64_t timestamp_us,
+    uint32_t dropped_sample_count,
+    uint32_t loop_overrun_count,
+    const trikke_wire_status_t *status);