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Clarified Telemetry Group assignment + heartbeat values #13

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raffael0 merged 2 commits into from
Mar 28, 2026
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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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5 changes: 3 additions & 2 deletions LiquidCAN.tex
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Expand Up @@ -89,7 +89,7 @@

\vspace{1cm}

{\large Version 1.5}
{\large Version 1.6}

\vspace{0.5cm}

Expand All @@ -111,12 +111,13 @@ \section*{Version History}
0.1 & 2025-12-16 & Initial protocol specification proposal & Raffael Rott \\
0.2 & 2025-12-16 & Implemented Proposals from Team members & Raffael Rott \\
0.3 & 2026-01-05 & Fixed final bugs before initial release & Raffael Rott \\
1.0 & 2026-01-11 & Fixed minor typos. & Raffael Rott \\
1.0 & 2026-01-11 & Fixed minor typos & Raffael Rott \\
1.1 & 2026-01-25 & Fixed total sizes of structs. & Fabian Weichselbaum \\
1.2 & 2026-02-09 & Fixed inconsistant field value lengths \& typos & Raffael Rott\\
1.3 & 2026-02-28 & Added a status field to field access responses& Raffael Rott\\
1.4 & 2026-03-05 & Variable-length frame serialization; updated payload sizes & Michael Debertol\\
1.5 & 2026-03-21 & Defined reserved Node IDs & Michael Debertol\\
1.6 & 2026-03-28 & TelemetryGroup assignment \& Heartbeat initialization & Raffael Rott \\
% Make sure to change the version on the first page
\bottomrule
\end{longtable}
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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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