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Clarified Telemetry Group assignment + heartbeat values #13

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raffael0 merged 2 commits into from
Mar 28, 2026
Merged

Clarified Telemetry Group assignment + heartbeat values #13

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Clarified Telemetry Group assignment + heartbeat values
raffael0 Mar 26, 2026
2df8c1c
updated version number
raffael0 Mar 28, 2026
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Binary file modified LiquidCAN.pdf
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1 change: 1 addition & 0 deletions sections/05_field_management.tex
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Expand Up @@ -71,6 +71,7 @@ \subsection{Registration}\label{subsec:registration}
\paragraph{}
Next, the node sends \texttt{telemetry\_group\_definition} messages.
The node sends a group ID to identify the group and a list of field IDs.
Every telemetry value has to be a member of exactly one telemetry group.
The order of the field IDs must be the same as the order of fields in future \texttt{telemetry\_group\_updates}. The node must ensure that the values of all of the defined telemetryValues can fit into a TelemetryGroupUpdate.


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2 changes: 1 addition & 1 deletion sections/06_heartbeats.tex
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@@ -1,5 +1,5 @@
\section{Heartbeats}\label{sec:heartbeats}
Heartbeats ensure that the system does not reach a state where it is still dangerous to physically handle but
not accessible through CAN messages. The \texttt{heartbeat\_req} message sent from the server contains a continuously increasing counter.
The counter value is unique to each node. If a node does not receive \texttt{heartbeat\_req} messages, it will default
The counter value is unique to each node. Upon receiving the \texttt{heartbeat\_req} a node responds with a \texttt{heartbeat\_res}, containing the old heartbeat value increased by 1. The heartbeat value is initialized to 0. If a node does not receive \texttt{heartbeat\_req} messages, it will default
to a safe state. Similarly, the server takes note of any unresponsive nodes.
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