#ifndef JLINK_H #define JLINK_H #include #include #include "pid_flash.h" /* pid_sched_entry_t, PID_SCHED_MAX_BANDS */ /* * JLink -- Jetson serial binary protocol over USART1 (PB6=TX, PB7=RX). * * Issue #120: replaces jetson_cmd ASCII-over-USB-CDC with a dedicated * hardware UART at 921600 baud using DMA circular RX and IDLE interrupt. * * Frame format (both directions): * [STX=0x02][LEN][CMD][PAYLOAD...][CRC16_hi][CRC16_lo][ETX=0x03] * * STX : frame start sentinel (0x02) * LEN : count of CMD + PAYLOAD bytes (1 + payload_len) * CMD : command/telemetry type byte * PAYLOAD: 0..N bytes depending on CMD * CRC16 : CRC16-XModem over CMD+PAYLOAD (poly 0x1021, init 0), big-endian * ETX : frame end sentinel (0x03) * * Jetson to STM32 commands: * 0x01 HEARTBEAT - no payload; refreshes heartbeat timer * 0x02 DRIVE - int16 speed (-1000..+1000), int16 steer (-1000..+1000) * 0x03 ARM - no payload; request arm (same interlock as CDC 'A') * 0x04 DISARM - no payload; disarm immediately * 0x05 PID_SET - float kp, float ki, float kd (12 bytes, IEEE-754 LE) * 0x06 DFU_ENTER - no payload; request OTA DFU reboot (denied while armed) * 0x07 ESTOP - no payload; engage emergency stop * 0x08 AUDIO - int16 PCM samples (up to 126 samples) * 0x09 SLEEP - no payload; request STOP-mode sleep * 0x0A PID_SAVE - no payload; save current Kp/Ki/Kd to flash (Issue #531) * 0x0B GIMBAL_POS - int16 pan_x10, int16 tilt_x10, uint16 speed (Issue #547) * 0x0C SCHED_GET - no payload; reply with TLM_SCHED (Issue #550) * 0x0D SCHED_SET - uint8 num_bands + N*16-byte pid_sched_entry_t (Issue #550) * 0x0E SCHED_SAVE - float kp, ki, kd (12 bytes); save sched+single to flash (Issue #550) * 0x0F FAULT_LOG_GET - no payload; reply with TLM_FAULT_LOG (Issue #565) * 0x10 CAN_STATS_GET - no payload; reply with TLM_CAN_STATS (Issue #597) * * STM32 to Jetson telemetry: * 0x80 STATUS - jlink_tlm_status_t (20 bytes), sent at JLINK_TLM_HZ * 0x81 POWER - jlink_tlm_power_t (11 bytes), sent at PM_TLM_HZ * 0x82 BATTERY - jlink_tlm_battery_t (10 bytes, Issue #533) * 0x83 PID_RESULT - jlink_tlm_pid_result_t (13 bytes), sent after PID_SAVE (Issue #531) * 0x84 GIMBAL_STATE - jlink_tlm_gimbal_state_t (10 bytes, Issue #547) * 0x85 SCHED - jlink_tlm_sched_t (1+N*16 bytes), sent on SCHED_GET (Issue #550) * 0x86 MOTOR_CURRENT - jlink_tlm_motor_current_t (8 bytes, Issue #584) * 0x87 FAULT_LOG - jlink_tlm_fault_log_t (20 bytes), sent on boot + FAULT_LOG_GET (Issue #565) * 0x88 SLOPE - jlink_tlm_slope_t (4 bytes), sent at SLOPE_TLM_HZ (Issue #600) * 0x89 CAN_STATS - jlink_tlm_can_stats_t (16 bytes), sent at CAN_TLM_HZ + CAN_STATS_GET (Issue #597) * 0x8A STEERING - jlink_tlm_steering_t (8 bytes), sent at STEER_TLM_HZ (Issue #616) * 0x8B LVC - jlink_tlm_lvc_t (4 bytes), sent at LVC_TLM_HZ (Issue #613) * 0x8C ODOM - jlink_tlm_odom_t (16 bytes), sent at ENC_TLM_HZ (Issue #632) * * Priority: CRSF RC always takes precedence. Jetson steer/speed only applied * when mode_manager_active() == MODE_AUTONOMOUS (CH6 high). In RC_MANUAL and * RC_ASSISTED modes the Jetson speed offset and steer are injected via * mode_manager_set_auto_cmd() and blended per the existing blend ramp. * * Heartbeat: if no valid frame arrives within JLINK_HB_TIMEOUT_MS (1000ms), * jlink_is_active() returns false and the main loop clears the auto command. */ /* ---- Frame constants ---- */ #define JLINK_STX 0x02u #define JLINK_ETX 0x03u /* ---- Command IDs (Jetson to STM32) ---- */ #define JLINK_CMD_HEARTBEAT 0x01u #define JLINK_CMD_DRIVE 0x02u #define JLINK_CMD_ARM 0x03u #define JLINK_CMD_DISARM 0x04u #define JLINK_CMD_PID_SET 0x05u #define JLINK_CMD_DFU_ENTER 0x06u #define JLINK_CMD_ESTOP 0x07u #define JLINK_CMD_AUDIO 0x08u /* PCM audio chunk: int16 samples, up to 126 */ #define JLINK_CMD_SLEEP 0x09u /* no payload; request STOP-mode sleep */ #define JLINK_CMD_PID_SAVE 0x0Au /* no payload; save Kp/Ki/Kd to flash (Issue #531) */ #define JLINK_CMD_GIMBAL_POS 0x0Bu /* int16 pan_x10, int16 tilt_x10, uint16 speed (Issue #547) */ #define JLINK_CMD_SCHED_GET 0x0Cu /* no payload; reply TLM_SCHED (Issue #550) */ #define JLINK_CMD_SCHED_SET 0x0Du /* uint8 num_bands + N*16-byte entries (Issue #550) */ #define JLINK_CMD_SCHED_SAVE 0x0Eu /* float kp,ki,kd; save sched+single to flash (Issue #550) */ #define JLINK_CMD_FAULT_LOG_GET 0x0Fu /* no payload; reply TLM_FAULT_LOG (Issue #565) */ #define JLINK_CMD_CAN_STATS_GET 0x10u /* no payload; reply TLM_CAN_STATS (Issue #597) */ /* ---- Telemetry IDs (STM32 to Jetson) ---- */ #define JLINK_TLM_STATUS 0x80u #define JLINK_TLM_POWER 0x81u /* jlink_tlm_power_t (11 bytes) */ #define JLINK_TLM_BATTERY 0x82u /* jlink_tlm_battery_t (10 bytes, Issue #533) */ #define JLINK_TLM_PID_RESULT 0x83u /* jlink_tlm_pid_result_t (13 bytes, Issue #531) */ #define JLINK_TLM_GIMBAL_STATE 0x84u /* jlink_tlm_gimbal_state_t (10 bytes, Issue #547) */ #define JLINK_TLM_SCHED 0x85u /* jlink_tlm_sched_t (1+N*16 bytes, Issue #550) */ #define JLINK_TLM_MOTOR_CURRENT 0x86u /* jlink_tlm_motor_current_t (8 bytes, Issue #584) */ #define JLINK_TLM_FAULT_LOG 0x87u /* jlink_tlm_fault_log_t (20 bytes, Issue #565) */ #define JLINK_TLM_SLOPE 0x88u /* jlink_tlm_slope_t (4 bytes, Issue #600) */ #define JLINK_TLM_CAN_STATS 0x89u /* jlink_tlm_can_stats_t (16 bytes, Issue #597) */ #define JLINK_TLM_STEERING 0x8Au /* jlink_tlm_steering_t (8 bytes, Issue #616) */ #define JLINK_TLM_LVC 0x8Bu /* jlink_tlm_lvc_t (4 bytes, Issue #613) */ #define JLINK_TLM_ODOM 0x8Cu /* jlink_tlm_odom_t (16 bytes, Issue #632) */ #define JLINK_TLM_BARO 0x8Du /* jlink_tlm_baro_t (12 bytes, Issue #672) */ #define JLINK_TLM_VESC_STATE 0x8Eu /* jlink_tlm_vesc_state_t (22 bytes, Issue #674) */ /* ---- Telemetry STATUS payload (20 bytes, packed) ---- */ typedef struct __attribute__((packed)) { int16_t pitch_x10; /* pitch degrees x10 */ int16_t roll_x10; /* roll degrees x10 */ int16_t yaw_x10; /* yaw degrees x10 (gyro-integrated) */ int16_t motor_cmd; /* ESC output -1000..+1000 */ uint16_t vbat_mv; /* battery millivolts */ int8_t rssi_dbm; /* CRSF RSSI (dBm, negative) */ uint8_t link_quality; /* CRSF LQ 0-100 */ uint8_t balance_state; /* 0=DISARMED, 1=ARMED, 2=TILT_FAULT */ uint8_t rc_armed; /* crsf_state.armed (1=armed) */ uint8_t mode; /* robot_mode_t: 0=RC_MANUAL,1=ASSISTED,2=AUTONOMOUS */ uint8_t estop; /* EstopSource value */ uint8_t soc_pct; /* state-of-charge 0-100, 255=unknown */ uint8_t fw_major; uint8_t fw_minor; uint8_t fw_patch; } jlink_tlm_status_t; /* 20 bytes */ /* ---- Telemetry POWER payload (11 bytes, packed) ---- */ typedef struct __attribute__((packed)) { uint8_t power_state; /* PowerState: 0=ACTIVE,1=SLEEP_PENDING,2=SLEEPING,3=WAKING */ uint16_t est_total_ma; /* estimated total current draw (mA) */ uint16_t est_audio_ma; /* estimated I2S3+amp current (mA); 0 if gated */ uint16_t est_osd_ma; /* estimated OSD SPI2 current (mA); 0 if gated */ uint32_t idle_ms; /* ms since last cmd_vel activity */ } jlink_tlm_power_t; /* 11 bytes */ /* ---- Telemetry BATTERY payload (10 bytes, packed) Issue #533 ---- */ typedef struct __attribute__((packed)) { uint16_t vbat_mv; /* DMA-sampled LPF-filtered Vbat (mV) */ int16_t ibat_ma; /* DMA-sampled LPF-filtered Ibat (mA, + = discharge) */ uint16_t vbat_raw_mv; /* unfiltered last-tick average (mV) */ uint8_t flags; /* bit0=low, bit1=critical, bit2=4S, bit3=adc_ready */ int8_t cal_offset; /* vbat_offset_mv / 4 (+-127 -> +-508 mV) */ uint8_t lpf_shift; /* IIR shift factor (alpha = 1/2^lpf_shift) */ uint8_t soc_pct; /* voltage-based SoC 0-100, 255 = unknown */ } jlink_tlm_battery_t; /* 10 bytes */ /* ---- Telemetry PID_RESULT payload (13 bytes, packed) Issue #531 ---- */ /* Sent after JLINK_CMD_PID_SAVE is processed; confirms gains written to flash. */ typedef struct __attribute__((packed)) { float kp; /* Kp saved */ float ki; /* Ki saved */ float kd; /* Kd saved */ uint8_t saved_ok; /* 1 = flash write verified, 0 = write failed */ } jlink_tlm_pid_result_t; /* 13 bytes */ /* ---- Telemetry GIMBAL_STATE payload (10 bytes, packed) Issue #547 ---- */ /* Sent at GIMBAL_TLM_HZ (50 Hz); reports measured pan/tilt and speed. */ typedef struct __attribute__((packed)) { int16_t pan_x10; /* Measured pan angle, deg x10 */ int16_t tilt_x10; /* Measured tilt angle, deg x10 */ uint16_t pan_speed_raw; /* Present speed register, pan servo */ uint16_t tilt_speed_raw; /* Present speed register, tilt servo */ uint8_t torque_en; /* 1 = torque enabled */ uint8_t rx_err_pct; /* bus error rate 0-100% (rx_err*100/(rx_ok+rx_err)) */ } jlink_tlm_gimbal_state_t; /* 10 bytes */ /* ---- Telemetry SCHED payload (1 + N*16 bytes, packed) Issue #550 ---- */ /* Sent in response to JLINK_CMD_SCHED_GET; N = num_bands (1..PID_SCHED_MAX_BANDS). */ typedef struct __attribute__((packed)) { uint8_t num_bands; /* number of valid entries */ pid_sched_entry_t bands[PID_SCHED_MAX_BANDS]; /* up to 6 x 16 = 96 bytes */ } jlink_tlm_sched_t; /* 1 + 96 = 97 bytes max */ /* ---- Telemetry MOTOR_CURRENT payload (8 bytes, packed) Issue #584 ---- */ /* Published at MOTOR_CURR_TLM_HZ; reports measured current and protection state. */ typedef struct __attribute__((packed)) { int32_t current_ma; /* filtered battery/motor current (mA, + = discharge) */ uint8_t limit_pct; /* soft-limit reduction applied: 0=none, 100=full cutoff */ uint8_t state; /* MotorCurrentState: 0=NORMAL,1=SOFT_LIMIT,2=COOLDOWN */ uint8_t fault_count; /* lifetime hard-cutoff trips (saturates at 255) */ uint8_t _pad; /* reserved */ } jlink_tlm_motor_current_t; /* 8 bytes */ /* ---- Telemetry SLOPE payload (4 bytes, packed) Issue #600 ---- */ /* Sent at SLOPE_TLM_HZ (1 Hz) by slope_estimator_send_tlm(). */ typedef struct __attribute__((packed)) { int16_t slope_x100; /* terrain slope estimate (degrees x100; + = nose-up) */ uint8_t active; /* 1 = slope estimation enabled */ uint8_t _pad; } jlink_tlm_slope_t; /* 4 bytes */ /* ---- Telemetry FAULT_LOG payload (20 bytes, packed) Issue #565 ---- */ /* Sent on boot (if last fault != NONE) and in response to FAULT_LOG_GET. */ typedef struct __attribute__((packed)) { uint8_t fault_type; /* FaultType of most recent entry */ uint8_t entry_count; /* number of valid entries in flash log (0-8) */ uint8_t reset_count; /* lifetime reset counter */ uint8_t _pad; uint32_t timestamp_ms; /* HAL_GetTick() at fault */ uint32_t pc; /* faulting PC */ uint32_t lr; /* link register at fault */ uint32_t cfsr; /* SCB->CFSR */ uint32_t hfsr; /* SCB->HFSR */ } jlink_tlm_fault_log_t; /* 20 bytes */ /* ---- Telemetry CAN_STATS payload (16 bytes, packed) Issue #597 ---- */ /* Sent at CAN_TLM_HZ (1 Hz) and in response to CAN_STATS_GET. */ typedef struct __attribute__((packed)) { uint32_t tx_count; /* total VELOCITY_CMD frames sent */ uint32_t rx_count; /* total valid FEEDBACK frames received */ uint16_t err_count; /* CAN error frame count */ uint8_t bus_off; /* 1 = bus-off state */ uint8_t node_faults; /* bit0 = node 0 fault active, bit1 = node 1 */ int16_t vel0_rpm; /* node 0 current velocity (RPM) */ int16_t vel1_rpm; /* node 1 current velocity (RPM) */ } jlink_tlm_can_stats_t; /* 16 bytes */ /* ---- Telemetry STEERING payload (8 bytes, packed) Issue #616 ---- */ /* Published at STEER_TLM_HZ (10 Hz); reports yaw-rate PID state. */ typedef struct __attribute__((packed)) { int16_t target_x10; /* target yaw rate, deg/s × 10 (0.1 deg/s resolution) */ int16_t actual_x10; /* measured yaw rate, deg/s × 10 */ int16_t output; /* differential motor output (-STEER_OUTPUT_MAX..+MAX) */ uint8_t enabled; /* 1 = PID active */ uint8_t _pad; /* reserved */ } jlink_tlm_steering_t; /* 8 bytes */ /* ---- Telemetry LVC payload (4 bytes, packed) Issue #613 ---- */ /* Sent at LVC_TLM_HZ (1 Hz); reports battery voltage and LVC protection state. */ typedef struct __attribute__((packed)) { uint16_t voltage_mv; /* battery voltage (mV) */ uint8_t percent; /* 0-100: fuel gauge within CUTOFF..WARNING; 255=unknown */ uint8_t protection_state; /* LvcState: 0=NORMAL,1=WARNING,2=CRITICAL,3=CUTOFF */ } jlink_tlm_lvc_t; /* 4 bytes */ /* ---- Telemetry ODOM payload (16 bytes, packed) Issue #632 ---- */ /* Sent at ENC_TLM_HZ (50 Hz); wheel RPM, pose, and linear speed. */ typedef struct __attribute__((packed)) { int16_t rpm_left; /* left wheel RPM (signed; + = forward) */ int16_t rpm_right; /* right wheel RPM (signed) */ int32_t x_mm; /* forward displacement (mm, int32) */ int32_t y_mm; /* lateral displacement (mm, int32) */ int16_t theta_cdeg; /* heading in centidegrees (0.01 deg steps) */ int16_t speed_mmps; /* linear speed of centre point (mm/s) */ } jlink_tlm_odom_t; /* 16 bytes */ /* ---- Telemetry BARO payload (12 bytes, packed) Issue #672 ---- */ /* Sent at BARO_TLM_HZ (1 Hz); reports ambient pressure, temperature, altitude. */ typedef struct __attribute__((packed)) { int32_t pressure_pa; /* barometric pressure (Pa) */ int16_t temp_x10; /* ambient temperature (°C × 10; e.g. 235 = 23.5 °C) */ int32_t alt_cm; /* pressure altitude above ISA sea level (cm) */ int16_t humidity_pct_x10; /* %RH × 10 (BME280 only); -1 = BMP280/absent */ } jlink_tlm_baro_t; /* 12 bytes */ /* ---- Telemetry VESC_STATE payload (22 bytes, packed) Issue #674 ---- */ /* Sent at VESC_TLM_HZ (1 Hz) by vesc_can_send_tlm(). */ typedef struct __attribute__((packed)) { int32_t left_rpm; /* left VESC actual RPM */ int32_t right_rpm; /* right VESC actual RPM */ int16_t left_current_x10; /* left phase current (A × 10) */ int16_t right_current_x10; /* right phase current (A × 10) */ int16_t left_temp_x10; /* left FET temperature (°C × 10) */ int16_t right_temp_x10; /* right FET temperature (°C × 10) */ int16_t voltage_x10; /* input voltage (V × 10; from STATUS_5) */ uint8_t left_fault; /* left VESC fault code (0 = none) */ uint8_t right_fault; /* right VESC fault code (0 = none) */ uint8_t left_alive; /* 1 = left VESC alive (STATUS within 1 s) */ uint8_t right_alive; /* 1 = right VESC alive (STATUS within 1 s) */ } jlink_tlm_vesc_state_t; /* 22 bytes */ /* ---- Volatile state (read from main loop) ---- */ typedef struct { /* Drive command - updated on JLINK_CMD_DRIVE */ volatile int16_t speed; /* -1000..+1000 */ volatile int16_t steer; /* -1000..+1000 */ /* Heartbeat timer - updated on any valid frame */ volatile uint32_t last_rx_ms; /* HAL_GetTick() of last valid frame; 0=none */ /* One-shot request flags - set by parser, cleared by main loop */ volatile uint8_t arm_req; volatile uint8_t disarm_req; volatile uint8_t estop_req; /* PID update - set by parser, cleared by main loop */ volatile uint8_t pid_updated; volatile float pid_kp; volatile float pid_ki; volatile float pid_kd; /* DFU reboot request - set by parser, cleared by main loop */ volatile uint8_t dfu_req; /* Sleep request - set by JLINK_CMD_SLEEP, cleared by main loop */ volatile uint8_t sleep_req; /* PID save request - set by JLINK_CMD_PID_SAVE, cleared by main loop (Issue #531) */ volatile uint8_t pid_save_req; /* Gimbal position command - set by JLINK_CMD_GIMBAL_POS (Issue #547) */ volatile uint8_t gimbal_updated; /* set by parser, cleared by main loop */ volatile int16_t gimbal_pan_x10; /* pan angle deg x10 */ volatile int16_t gimbal_tilt_x10; /* tilt angle deg x10 */ volatile uint16_t gimbal_speed; /* servo speed 0-4095 (0=max) */ /* PID schedule commands (Issue #550) - set by parser, cleared by main loop */ volatile uint8_t sched_get_req; /* SCHED_GET: main loop calls jlink_send_sched_telemetry() */ volatile uint8_t sched_save_req; /* SCHED_SAVE: main loop calls pid_schedule_flash_save() */ volatile float sched_save_kp; /* kp for single-PID record in SCHED_SAVE */ volatile float sched_save_ki; volatile float sched_save_kd; /* Fault log request (Issue #565) - set by JLINK_CMD_FAULT_LOG_GET, cleared by main loop */ volatile uint8_t fault_log_req; /* CAN stats request (Issue #597) - set by JLINK_CMD_CAN_STATS_GET, cleared by main loop */ volatile uint8_t can_stats_req; } JLinkState; extern volatile JLinkState jlink_state; /* ---- SCHED_SET receive buffer -- Issue #550 ---- */ /* * Populated by the parser on JLINK_CMD_SCHED_SET. Main loop reads via * jlink_get_sched_set() and calls pid_schedule_set_table() before clearing. */ typedef struct { volatile uint8_t ready; /* set by parser, cleared by main loop */ volatile uint8_t num_bands; pid_sched_entry_t bands[PID_SCHED_MAX_BANDS]; /* copied from frame */ } JLinkSchedSetBuf; /* ---- API ---- */ void jlink_init(void); bool jlink_is_active(uint32_t now_ms); void jlink_process(void); void jlink_send_telemetry(const jlink_tlm_status_t *status); void jlink_send_power_telemetry(const jlink_tlm_power_t *power); void jlink_send_battery_telemetry(const jlink_tlm_battery_t *batt); void jlink_send_pid_result(const jlink_tlm_pid_result_t *result); /* * jlink_send_gimbal_state(state) - transmit JLINK_TLM_GIMBAL_STATE (0x84) * frame (16 bytes) at GIMBAL_TLM_HZ (50 Hz). Issue #547. */ void jlink_send_gimbal_state(const jlink_tlm_gimbal_state_t *state); /* * jlink_send_sched_telemetry(tlm) - transmit JLINK_TLM_SCHED (0x85) in * response to SCHED_GET. tlm->num_bands determines actual frame size. * Issue #550. */ void jlink_send_sched_telemetry(const jlink_tlm_sched_t *tlm); /* * jlink_get_sched_set() - return pointer to the most-recently received * SCHED_SET payload buffer (static storage in jlink.c). Main loop calls * pid_schedule_set_table() from this buffer, then clears ready. Issue #550. */ JLinkSchedSetBuf *jlink_get_sched_set(void); /* * jlink_send_motor_current_tlm(tlm) - transmit JLINK_TLM_MOTOR_CURRENT (0x86) * frame (14 bytes total) to Jetson. Issue #584. * Rate-limiting is handled by motor_current_send_tlm(); call from there only. */ void jlink_send_motor_current_tlm(const jlink_tlm_motor_current_t *tlm); /* * jlink_send_fault_log(fl) - transmit JLINK_TLM_FAULT_LOG (0x87) frame * (26 bytes) on boot (if fault log non-empty) and in response to * FAULT_LOG_GET. Issue #565. */ void jlink_send_fault_log(const jlink_tlm_fault_log_t *fl); /* * jlink_send_slope_tlm(tlm) - transmit JLINK_TLM_SLOPE (0x88) frame * (10 bytes) at SLOPE_TLM_HZ (1 Hz). Called from slope_estimator_send_tlm(). * Issue #600. */ void jlink_send_slope_tlm(const jlink_tlm_slope_t *tlm); /* * jlink_send_can_stats(tlm) - transmit JLINK_TLM_CAN_STATS (0x89) frame * (22 bytes) at CAN_TLM_HZ (1 Hz) and in response to CAN_STATS_GET. * Issue #597. */ void jlink_send_can_stats(const jlink_tlm_can_stats_t *tlm); /* * jlink_send_steering_tlm(tlm) - transmit JLINK_TLM_STEERING (0x8A) frame * (14 bytes total) to Jetson. Issue #616. * Rate-limiting is handled by steering_pid_send_tlm(); call from there only. */ void jlink_send_steering_tlm(const jlink_tlm_steering_t *tlm); /* * jlink_send_lvc_tlm(tlm) - transmit JLINK_TLM_LVC (0x8B) frame * (10 bytes total) at LVC_TLM_HZ (1 Hz). Issue #613. */ void jlink_send_lvc_tlm(const jlink_tlm_lvc_t *tlm); /* * jlink_send_odom_tlm(tlm) - transmit JLINK_TLM_ODOM (0x8C) frame * (22 bytes total) at ENC_TLM_HZ (50 Hz). Issue #632. * Rate-limiting handled by encoder_odom_send_tlm(); call from there only. */ void jlink_send_odom_tlm(const jlink_tlm_odom_t *tlm); /* * jlink_send_baro_tlm(tlm) - transmit JLINK_TLM_BARO (0x8D) frame * (18 bytes total) at BARO_TLM_HZ (1 Hz). Issue #672. * Rate-limiting handled by baro_tick(); call from there only. */ void jlink_send_baro_tlm(const jlink_tlm_baro_t *tlm); /* * jlink_send_vesc_state_tlm(tlm) - transmit JLINK_TLM_VESC_STATE (0x8E) frame * (28 bytes total) at VESC_TLM_HZ (1 Hz). Issue #674. * Rate-limiting handled by vesc_can_send_tlm(); call from there only. */ void jlink_send_vesc_state_tlm(const jlink_tlm_vesc_state_t *tlm); #endif /* JLINK_H */