diff --git a/sw/airborne/boards/ardrone/navdata.c b/sw/airborne/boards/ardrone/navdata.c
index 4825fa28f1..244ddbbed0 100644
--- a/sw/airborne/boards/ardrone/navdata.c
+++ b/sw/airborne/boards/ardrone/navdata.c
@@ -121,7 +121,7 @@ static void navdata_write(const uint8_t *buf, size_t count)
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_navdata(struct transport_tx *trans, struct device *dev) {
+static void send_navdata(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_ARDRONE_NAVDATA(trans, dev, AC_ID,
       &navdata.taille,
       &navdata.nu_trame,
@@ -154,7 +154,7 @@ static void send_navdata(struct transport_tx *trans, struct device *dev) {
       &nav_port.checksum_errors);
 }
 
-static void send_filter_status(struct transport_tx *trans, struct device *dev) {
+static void send_filter_status(struct transport_tx *trans, struct link_device *dev) {
   uint8_t mde = 3;
   if (ahrs.status == AHRS_UNINIT) mde = 2;
   if (imu_lost) mde = 5;
diff --git a/sw/airborne/firmwares/fixedwing/autopilot.c b/sw/airborne/firmwares/fixedwing/autopilot.c
index 505a3709ae..224b040384 100644
--- a/sw/airborne/firmwares/fixedwing/autopilot.c
+++ b/sw/airborne/firmwares/fixedwing/autopilot.c
@@ -56,13 +56,13 @@ bool_t gps_lost;
 
 bool_t power_switch;
 
-static void send_alive(struct transport_tx *trans, struct device *dev) {
+static void send_alive(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_ALIVE(trans, dev, AC_ID, 16, MD5SUM);
 }
 
 #if defined RADIO_CALIB && defined RADIO_CONTROL_SETTINGS
 #include "rc_settings.h"
-static void send_rc_settings(struct transport_tx *trans, struct device *dev) {
+static void send_rc_settings(struct transport_tx *trans, struct link_device *dev) {
   if (!RcSettingsOff())
     pprz_msg_send_SETTINGS(trans, dev, AC_ID, &slider_1_val, &slider_2_val);
 }
@@ -70,7 +70,7 @@ static void send_rc_settings(struct transport_tx *trans, struct device *dev) {
 uint8_t rc_settings_mode = 0;
 #endif
 
-static void send_mode(struct transport_tx *trans, struct device *dev) {
+static void send_mode(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_PPRZ_MODE(trans, dev, AC_ID,
       &pprz_mode, &v_ctl_mode, &lateral_mode, &horizontal_mode, &rc_settings_mode, &mcu1_status);
 }
@@ -80,18 +80,18 @@ void autopilot_send_mode(void) {
   send_mode(&(DefaultChannel).trans_tx, &(DefaultDevice).device);
 }
 
-static void send_attitude(struct transport_tx *trans, struct device *dev) {
+static void send_attitude(struct transport_tx *trans, struct link_device *dev) {
   struct FloatEulers* att = stateGetNedToBodyEulers_f();
   pprz_msg_send_ATTITUDE(trans, dev, AC_ID,
       &(att->phi), &(att->psi), &(att->theta));
 };
 
-static void send_estimator(struct transport_tx *trans, struct device *dev) {
+static void send_estimator(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_ESTIMATOR(trans, dev, AC_ID,
       &(stateGetPositionUtm_f()->alt), &(stateGetSpeedEnu_f()->z));
 }
 
-static void send_bat(struct transport_tx *trans, struct device *dev) {
+static void send_bat(struct transport_tx *trans, struct link_device *dev) {
   int16_t amps = (int16_t) (current/10);
   int16_t e = energy;
   pprz_msg_send_BAT(trans, dev, AC_ID,
@@ -100,7 +100,7 @@ static void send_bat(struct transport_tx *trans, struct device *dev) {
       &block_time, &stage_time, &e);
 }
 
-static void send_energy(struct transport_tx *trans, struct device *dev) {
+static void send_energy(struct transport_tx *trans, struct link_device *dev) {
   uint16_t e = energy;
   float vsup = ((float)vsupply) / 10.0f;
   float curs = ((float)current) / 1000.0f;
@@ -108,14 +108,14 @@ static void send_energy(struct transport_tx *trans, struct device *dev) {
   pprz_msg_send_ENERGY(trans, dev, AC_ID, &vsup, &curs, &e, &power);
 }
 
-static void send_dl_value(struct transport_tx *trans, struct device *dev) {
+static void send_dl_value(struct transport_tx *trans, struct link_device *dev) {
   PeriodicSendDlValue(trans, dev);
 }
 
 // FIXME not the best place
 #include "firmwares/fixedwing/stabilization/stabilization_attitude.h"
 #include CTRL_TYPE_H
-static void send_desired(struct transport_tx *trans, struct device *dev) {
+static void send_desired(struct transport_tx *trans, struct link_device *dev) {
 #ifndef USE_AIRSPEED
   float v_ctl_auto_airspeed_setpoint = NOMINAL_AIRSPEED;
 #endif
@@ -125,7 +125,7 @@ static void send_desired(struct transport_tx *trans, struct device *dev) {
       &v_ctl_auto_airspeed_setpoint);
 }
 
-static void send_airspeed(struct transport_tx *trans __attribute__((unused)), struct device *dev __attribute__((unused))) {
+static void send_airspeed(struct transport_tx *trans __attribute__((unused)), struct link_device *dev __attribute__((unused))) {
 #ifdef MEASURE_AIRSPEED
   float* airspeed = stateGetAirspeed_f();
   pprz_msg_send_AIRSPEED(trans, dev, AC_ID, airspeed, airspeed, airspeed, airspeed);
@@ -136,7 +136,7 @@ static void send_airspeed(struct transport_tx *trans __attribute__((unused)), st
 #endif
 }
 
-static void send_downlink(struct transport_tx *trans, struct device *dev) {
+static void send_downlink(struct transport_tx *trans, struct link_device *dev) {
   static uint16_t last;
   uint16_t rate = (downlink.nb_bytes - last) / PERIOD_DOWNLINK_Ap_0;
   last = downlink.nb_bytes;
diff --git a/sw/airborne/firmwares/fixedwing/main_ap.c b/sw/airborne/firmwares/fixedwing/main_ap.c
index cd8610686a..dfb73f34d5 100644
--- a/sw/airborne/firmwares/fixedwing/main_ap.c
+++ b/sw/airborne/firmwares/fixedwing/main_ap.c
@@ -141,7 +141,7 @@ static inline void on_mag_event( void );
 volatile uint8_t ahrs_timeout_counter = 0;
 
 //FIXME not the correct place
-static void send_filter_status(struct transport_tx *trans, struct device *dev) {
+static void send_filter_status(struct transport_tx *trans, struct link_device *dev) {
   uint8_t mde = 3;
   if (ahrs.status == AHRS_UNINIT) mde = 2;
   if (ahrs_timeout_counter > 10) mde = 5;
diff --git a/sw/airborne/firmwares/fixedwing/main_fbw.c b/sw/airborne/firmwares/fixedwing/main_fbw.c
index c5c411153b..cb43ca4985 100644
--- a/sw/airborne/firmwares/fixedwing/main_fbw.c
+++ b/sw/airborne/firmwares/fixedwing/main_fbw.c
@@ -76,22 +76,22 @@ tid_t electrical_tid;   ///< id for electrical_periodic() timer
 
 /********** PERIODIC MESSAGES ************************************************/
 #if PERIODIC_TELEMETRY
-static void send_commands(struct transport_tx *trans, struct device *dev) {
+static void send_commands(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_COMMANDS(trans, dev, AC_ID, COMMANDS_NB, commands);
 }
 
 #ifdef RADIO_CONTROL
-static void send_fbw_status(struct transport_tx *trans, struct device *dev) {
+static void send_fbw_status(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_FBW_STATUS(trans, dev, AC_ID,
       &(radio_control.status), &(radio_control.frame_rate), &fbw_mode, &electrical.vsupply, &electrical.current);
 }
 
-static void send_rc(struct transport_tx *trans, struct device *dev) {
+static void send_rc(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_RC(trans, dev, AC_ID, RADIO_CONTROL_NB_CHANNEL, radio_control.values);
 }
 
 #else
-static void send_fbw_status(struct transport_tx *trans, struct device *dev) {
+static void send_fbw_status(struct transport_tx *trans, struct link_device *dev) {
   uint8_t dummy = 0;
   pprz_msg_send_FBW_STATUS(trans, dev, AC_ID,
       &dummy, &dummy, &fbw_mode, &electrical.vsupply, &electrical.current);
@@ -99,7 +99,7 @@ static void send_fbw_status(struct transport_tx *trans, struct device *dev) {
 #endif
 
 #ifdef ACTUATORS
-static void send_actuators(struct transport_tx *trans, struct device *dev) {
+static void send_actuators(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_ACTUATORS(trans, dev, AC_ID , ACTUATORS_NB, actuators);
 }
 #endif
diff --git a/sw/airborne/firmwares/fixedwing/nav.c b/sw/airborne/firmwares/fixedwing/nav.c
index fc160002f3..799ac77277 100644
--- a/sw/airborne/firmwares/fixedwing/nav.c
+++ b/sw/airborne/firmwares/fixedwing/nav.c
@@ -451,16 +451,16 @@ void nav_periodic_task(void) {
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_nav_ref(struct transport_tx *trans, struct device *dev) {
+static void send_nav_ref(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_NAVIGATION_REF(trans, dev, AC_ID,
       &nav_utm_east0, &nav_utm_north0, &nav_utm_zone0, &ground_alt);
 }
 
-static void send_nav(struct transport_tx *trans, struct device *dev) {
+static void send_nav(struct transport_tx *trans, struct link_device *dev) {
   SEND_NAVIGATION(trans, dev);
 }
 
-static void send_wp_moved(struct transport_tx *trans, struct device *dev) {
+static void send_wp_moved(struct transport_tx *trans, struct link_device *dev) {
   static uint8_t i;
   i++; if (i >= nb_waypoint) i = 0;
   DownlinkSendWp(trans, dev, i);
@@ -473,21 +473,21 @@ bool_t DownlinkSendWpNr(uint8_t _wp)
 }
 
 
-static void send_circle(struct transport_tx *trans, struct device *dev) {
+static void send_circle(struct transport_tx *trans, struct link_device *dev) {
   if (nav_in_circle) {
     pprz_msg_send_CIRCLE(trans, dev, AC_ID,
         &nav_circle_x, &nav_circle_y, &nav_circle_radius);
   }
 }
 
-static void send_segment(struct transport_tx *trans, struct device *dev) {
+static void send_segment(struct transport_tx *trans, struct link_device *dev) {
   if (nav_in_segment) {
     pprz_msg_send_SEGMENT(trans, dev, AC_ID,
         &nav_segment_x_1, &nav_segment_y_1, &nav_segment_x_2, &nav_segment_y_2);
   }
 }
 
-static void send_survey(struct transport_tx *trans, struct device *dev) {
+static void send_survey(struct transport_tx *trans, struct link_device *dev) {
   if (nav_survey_active) {
     pprz_msg_send_SURVEY(trans, dev, AC_ID,
         &nav_survey_east, &nav_survey_north, &nav_survey_west, &nav_survey_south);
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
index 1d3800c1fc..17824ba230 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_adaptive.c
@@ -192,16 +192,16 @@ inline static void h_ctl_pitch_loop( void );
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_calibration(struct transport_tx *trans, struct device *dev) {
+static void send_calibration(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_CALIBRATION(trans, dev, AC_ID,  &v_ctl_auto_throttle_sum_err, &v_ctl_auto_throttle_submode);
 }
 
-static void send_tune_roll(struct transport_tx *trans, struct device *dev) {
+static void send_tune_roll(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_TUNE_ROLL(trans, dev, AC_ID,
       &(stateGetBodyRates_f()->p), &(stateGetNedToBodyEulers_f()->phi), &h_ctl_roll_setpoint);
 }
 
-static void send_ctl_a(struct transport_tx *trans, struct device *dev) {
+static void send_ctl_a(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_H_CTL_A(trans, dev, AC_ID,
       &h_ctl_roll_sum_err,
       &h_ctl_roll_setpoint,
diff --git a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
index 889ed38b74..5f1ffc409c 100644
--- a/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
+++ b/sw/airborne/firmwares/fixedwing/stabilization/stabilization_attitude.c
@@ -115,7 +115,7 @@ static float nav_ratio;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_calibration(struct transport_tx *trans, struct device *dev) {
+static void send_calibration(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_CALIBRATION(trans, dev, AC_ID,  &v_ctl_auto_throttle_sum_err, &v_ctl_auto_throttle_submode);
 }
 #endif
diff --git a/sw/airborne/firmwares/rotorcraft/autopilot.c b/sw/airborne/firmwares/rotorcraft/autopilot.c
index d65bfd9c7a..06e081532b 100644
--- a/sw/airborne/firmwares/rotorcraft/autopilot.c
+++ b/sw/airborne/firmwares/rotorcraft/autopilot.c
@@ -138,7 +138,7 @@ PRINT_CONFIG_MSG("Enabled UNLOCKED_HOME_MODE since MODE_AUTO2 is AP_MODE_HOME")
 #endif
 #endif
 
-static void send_alive(struct transport_tx *trans, struct device *dev) {
+static void send_alive(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_ALIVE(trans, dev, AC_ID, 16, MD5SUM);
 }
 
@@ -146,7 +146,7 @@ static void send_alive(struct transport_tx *trans, struct device *dev) {
 #include "subsystems/actuators/motor_mixing.h"
 #endif
 
-static void send_status(struct transport_tx *trans, struct device *dev) {
+static void send_status(struct transport_tx *trans, struct link_device *dev) {
   uint32_t imu_nb_err = 0;
 #if USE_MOTOR_MIXING
   uint8_t _motor_nb_err = motor_mixing.nb_saturation + motor_mixing.nb_failure * 10;
@@ -168,7 +168,7 @@ static void send_status(struct transport_tx *trans, struct device *dev) {
       &electrical.vsupply, &time_sec);
 }
 
-static void send_energy(struct transport_tx *trans, struct device *dev) {
+static void send_energy(struct transport_tx *trans, struct link_device *dev) {
   uint16_t e = electrical.energy;
   float vsup = ((float)electrical.vsupply) / 10.0f;
   float curs = ((float)electrical.current) / 1000.0f;
@@ -176,7 +176,7 @@ static void send_energy(struct transport_tx *trans, struct device *dev) {
   pprz_msg_send_ENERGY(trans, dev, AC_ID, &vsup, &curs, &e, &power);
 }
 
-static void send_fp(struct transport_tx *trans, struct device *dev) {
+static void send_fp(struct transport_tx *trans, struct link_device *dev) {
   int32_t carrot_up = -guidance_v_z_sp;
   pprz_msg_send_ROTORCRAFT_FP(trans, dev, AC_ID,
       &(stateGetPositionEnu_i()->x),
@@ -197,11 +197,11 @@ static void send_fp(struct transport_tx *trans, struct device *dev) {
 }
 
 #ifdef RADIO_CONTROL
-static void send_rc(struct transport_tx *trans, struct device *dev) {
+static void send_rc(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_RC(trans, dev, AC_ID, RADIO_CONTROL_NB_CHANNEL, radio_control.values);
 }
 
-static void send_rotorcraft_rc(struct transport_tx *trans, struct device *dev) {
+static void send_rotorcraft_rc(struct transport_tx *trans, struct link_device *dev) {
 #ifdef RADIO_KILL_SWITCH
   int16_t _kill_switch = radio_control.values[RADIO_KILL_SWITCH];
 #else
@@ -219,16 +219,16 @@ static void send_rotorcraft_rc(struct transport_tx *trans, struct device *dev) {
 #endif
 
 #ifdef ACTUATORS
-static void send_actuators(struct transport_tx *trans, struct device *dev) {
+static void send_actuators(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_ACTUATORS(trans, dev, AC_ID , ACTUATORS_NB, actuators);
 }
 #endif
 
-static void send_dl_value(struct transport_tx *trans, struct device *dev) {
+static void send_dl_value(struct transport_tx *trans, struct link_device *dev) {
   PeriodicSendDlValue(trans, dev);
 }
 
-static void send_rotorcraft_cmd(struct transport_tx *trans, struct device *dev) {
+static void send_rotorcraft_cmd(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_ROTORCRAFT_CMD(trans, dev, AC_ID,
       &stabilization_cmd[COMMAND_ROLL],
       &stabilization_cmd[COMMAND_PITCH],
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
index bcaa485b91..3bc9287532 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_h.c
@@ -109,7 +109,7 @@ static void read_rc_setpoint_speed_i(struct Int32Vect2 *speed_sp, bool_t in_flig
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_gh(struct transport_tx *trans, struct device *dev) {
+static void send_gh(struct transport_tx *trans, struct link_device *dev) {
   struct NedCoor_i* pos = stateGetPositionNed_i();
   pprz_msg_send_GUIDANCE_H_INT(trans, dev, AC_ID,
       &guidance_h_pos_sp.x, &guidance_h_pos_sp.y,
@@ -117,7 +117,7 @@ static void send_gh(struct transport_tx *trans, struct device *dev) {
       &(pos->x), &(pos->y));
 }
 
-static void send_hover_loop(struct transport_tx *trans, struct device *dev) {
+static void send_hover_loop(struct transport_tx *trans, struct link_device *dev) {
   struct NedCoor_i* pos = stateGetPositionNed_i();
   struct NedCoor_i* speed = stateGetSpeedNed_i();
   struct NedCoor_i* accel = stateGetAccelNed_i();
@@ -138,7 +138,7 @@ static void send_hover_loop(struct transport_tx *trans, struct device *dev) {
                            &guidance_h_heading_sp);
 }
 
-static void send_href(struct transport_tx *trans, struct device *dev) {
+static void send_href(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_GUIDANCE_H_REF_INT(trans, dev, AC_ID,
       &guidance_h_pos_sp.x, &guidance_h_pos_ref.x,
       &guidance_h_speed_sp.x, &guidance_h_speed_ref.x,
@@ -148,7 +148,7 @@ static void send_href(struct transport_tx *trans, struct device *dev) {
       &guidance_h_accel_ref.y);
 }
 
-static void send_tune_hover(struct transport_tx *trans, struct device *dev) {
+static void send_tune_hover(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_ROTORCRAFT_TUNE_HOVER(trans, dev, AC_ID,
       &radio_control.values[RADIO_ROLL],
       &radio_control.values[RADIO_PITCH],
diff --git a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
index 06a3a6e254..44e9a36912 100644
--- a/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
+++ b/sw/airborne/firmwares/rotorcraft/guidance/guidance_v.c
@@ -142,7 +142,7 @@ static void run_hover_loop(bool_t in_flight);
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_vert_loop(struct transport_tx *trans, struct device *dev) {
+static void send_vert_loop(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_VERT_LOOP(trans, dev, AC_ID,
       &guidance_v_z_sp, &guidance_v_zd_sp,
       &(stateGetPositionNed_i()->z),
@@ -159,7 +159,7 @@ static void send_vert_loop(struct transport_tx *trans, struct device *dev) {
       &guidance_v_delta_t);
 }
 
-static void send_tune_vert(struct transport_tx *trans, struct device *dev) {
+static void send_tune_vert(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_TUNE_VERT(trans, dev, AC_ID,
       &guidance_v_z_sp,
       &(stateGetPositionNed_i()->z),
diff --git a/sw/airborne/firmwares/rotorcraft/navigation.c b/sw/airborne/firmwares/rotorcraft/navigation.c
index 63940d1266..b99afe568a 100644
--- a/sw/airborne/firmwares/rotorcraft/navigation.c
+++ b/sw/airborne/firmwares/rotorcraft/navigation.c
@@ -106,7 +106,7 @@ static inline void nav_set_altitude( void );
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_nav_status(struct transport_tx *trans, struct device *dev) {
+static void send_nav_status(struct transport_tx *trans, struct link_device *dev) {
   float dist_home = sqrtf(dist2_to_home);
   float dist_wp = sqrtf(dist2_to_wp);
   pprz_msg_send_ROTORCRAFT_NAV_STATUS(trans, dev, AC_ID,
@@ -129,7 +129,7 @@ static void send_nav_status(struct transport_tx *trans, struct device *dev) {
   }
 }
 
-static void send_wp_moved(struct transport_tx *trans, struct device *dev) {
+static void send_wp_moved(struct transport_tx *trans, struct link_device *dev) {
   static uint8_t i;
   i++; if (i >= nb_waypoint) i = 0;
   pprz_msg_send_WP_MOVED_ENU(trans, dev, AC_ID,
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
index 8ebd37d703..1f19c09559 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_float.c
@@ -44,7 +44,7 @@ float stabilization_att_ff_cmd[COMMANDS_NB];
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_att(struct transport_tx *trans, struct device *dev) {
+static void send_att(struct transport_tx *trans, struct link_device *dev) {
   struct FloatRates* body_rate = stateGetBodyRates_f();
   struct FloatEulers* att = stateGetNedToBodyEulers_f();
   float foo = 0.0;
@@ -69,7 +69,7 @@ static void send_att(struct transport_tx *trans, struct device *dev) {
       &foo, &foo, &foo);
 }
 
-static void send_att_ref(struct transport_tx *trans, struct device *dev) {
+static void send_att_ref(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_STAB_ATTITUDE_REF_FLOAT(trans, dev, AC_ID,
       &stab_att_sp_euler.phi,
       &stab_att_sp_euler.theta,
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
index ed48517851..03731bf2a9 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_euler_int.c
@@ -65,7 +65,7 @@ static inline void reset_psi_ref_from_body(void) {
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_att(struct transport_tx *trans, struct device *dev) {
+static void send_att(struct transport_tx *trans, struct link_device *dev) {
   struct Int32Rates* body_rate = stateGetBodyRates_i();
   struct Int32Eulers* att = stateGetNedToBodyEulers_i();
   pprz_msg_send_STAB_ATTITUDE_INT(trans, dev, AC_ID,
@@ -88,7 +88,7 @@ static void send_att(struct transport_tx *trans, struct device *dev) {
       &stabilization_cmd[COMMAND_YAW]);
 }
 
-static void send_att_ref(struct transport_tx *trans, struct device *dev) {
+static void send_att_ref(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_STAB_ATTITUDE_REF_INT(trans, dev, AC_ID,
       &stab_att_sp_euler.phi,
       &stab_att_sp_euler.theta,
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
index 2c7b373584..b7542fd772 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_float.c
@@ -95,7 +95,7 @@ static const float psi_ddgain_surface[] = STABILIZATION_ATTITUDE_PSI_DDGAIN_SURF
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_att(struct transport_tx *trans, struct device *dev) {
+static void send_att(struct transport_tx *trans, struct link_device *dev) {
   struct FloatRates* body_rate = stateGetBodyRates_f();
   struct FloatEulers* att = stateGetNedToBodyEulers_f();
   pprz_msg_send_STAB_ATTITUDE_FLOAT(trans, dev, AC_ID,
@@ -119,7 +119,7 @@ static void send_att(struct transport_tx *trans, struct device *dev) {
                                     &body_rate_d.p, &body_rate_d.q, &body_rate_d.r);
 }
 
-static void send_att_ref(struct transport_tx *trans, struct device *dev) {
+static void send_att_ref(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_STAB_ATTITUDE_REF_FLOAT(trans, dev, AC_ID,
                                         &stab_att_sp_euler.phi,
                                         &stab_att_sp_euler.theta,
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
index da42952fc0..a8db35f28b 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_attitude_quat_int.c
@@ -69,7 +69,7 @@ int32_t stabilization_att_ff_cmd[COMMANDS_NB];
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_att(struct transport_tx *trans, struct device *dev) { //FIXME really use this message here ?
+static void send_att(struct transport_tx *trans, struct link_device *dev) { //FIXME really use this message here ?
   struct Int32Rates* body_rate = stateGetBodyRates_i();
   struct Int32Eulers* att = stateGetNedToBodyEulers_i();
   pprz_msg_send_STAB_ATTITUDE_INT(trans, dev, AC_ID,
@@ -92,7 +92,7 @@ static void send_att(struct transport_tx *trans, struct device *dev) { //FIXME r
       &stabilization_cmd[COMMAND_YAW]);
 }
 
-static void send_att_ref(struct transport_tx *trans, struct device *dev) {
+static void send_att_ref(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_STAB_ATTITUDE_REF_INT(trans, dev, AC_ID,
                                       &stab_att_sp_euler.phi,
                                       &stab_att_sp_euler.theta,
@@ -108,7 +108,7 @@ static void send_att_ref(struct transport_tx *trans, struct device *dev) {
                                       &stab_att_ref_accel.r);
 }
 
-static void send_ahrs_ref_quat(struct transport_tx *trans, struct device *dev) {
+static void send_ahrs_ref_quat(struct transport_tx *trans, struct link_device *dev) {
   struct Int32Quat* quat = stateGetNedToBodyQuat_i();
   pprz_msg_send_AHRS_REF_QUAT(trans, dev, AC_ID,
       &stab_att_ref_quat.qi,
diff --git a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
index 3dd88e5aaf..1b40f8445e 100644
--- a/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
+++ b/sw/airborne/firmwares/rotorcraft/stabilization/stabilization_rate.c
@@ -118,7 +118,7 @@ struct Int32Rates stabilization_rate_ff_cmd;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_rate(struct transport_tx *trans, struct device *dev) {
+static void send_rate(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_RATE_LOOP(trans, dev, AC_ID,
       &stabilization_rate_sp.p,
       &stabilization_rate_sp.q,
diff --git a/sw/airborne/link_mcu_can.c b/sw/airborne/link_mcu_can.c
index 156ee83124..a457f6c704 100644
--- a/sw/airborne/link_mcu_can.c
+++ b/sw/airborne/link_mcu_can.c
@@ -184,12 +184,12 @@ struct link_mcu_msg link_mcu_from_fbw_msg;
 #define RC_REALLY_LOST 2
 
 
-static void send_commands(struct transport_tx *trans, struct device *dev)
+static void send_commands(struct transport_tx *trans, struct link_device *dev)
 {
   pprz_msg_send_COMMANDS(trans, dev, AC_ID, COMMANDS_NB, ap_state->commands);
 }
 
-static void send_fbw_status(struct transport_tx *trans, struct device *dev)
+static void send_fbw_status(struct transport_tx *trans, struct link_device *dev)
 {
   uint8_t rc_status = 0;
   uint8_t fbw_status = 0;
diff --git a/sw/airborne/link_mcu_spi.c b/sw/airborne/link_mcu_spi.c
index b2bd1492b6..87efc22a5e 100644
--- a/sw/airborne/link_mcu_spi.c
+++ b/sw/airborne/link_mcu_spi.c
@@ -106,7 +106,7 @@ uint8_t link_mcu_fbw_nb_err;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_debug_link(struct transport_tx *trans, struct device *dev) {
+static void send_debug_link(struct transport_tx *trans, struct link_device *dev) {
   uint8_t mcu1_ppm_cpt_foo = 0; //FIXME
   pprz_msg_send_DEBUG_MCU_LINK(trans, dev, AC_ID,
       &link_mcu_nb_err, &link_mcu_fbw_nb_err, &mcu1_ppm_cpt_foo);
diff --git a/sw/airborne/link_mcu_usart.c b/sw/airborne/link_mcu_usart.c
index 34f10c6c80..da5502ff40 100644
--- a/sw/airborne/link_mcu_usart.c
+++ b/sw/airborne/link_mcu_usart.c
@@ -254,12 +254,12 @@ inline void parse_mavpilot_msg( void );
 #define RC_REALLY_LOST 2
 
 
-static void send_commands(struct transport_tx *trans, struct device *dev) {
+static void send_commands(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_COMMANDS(trans, dev, AC_ID, COMMANDS_NB, ap_state->commands);
 }
 
 
-static void send_fbw_status(struct transport_tx *trans, struct device *dev) {
+static void send_fbw_status(struct transport_tx *trans, struct link_device *dev) {
   uint8_t rc_status = 0;
   uint8_t fbw_status = 0;
   if (bit_is_set(fbw_state->status, STATUS_MODE_AUTO))
diff --git a/sw/airborne/mcu_periph/device.h b/sw/airborne/mcu_periph/device.h
index 4c1046cce0..a8623039a9 100644
--- a/sw/airborne/mcu_periph/device.h
+++ b/sw/airborne/mcu_periph/device.h
@@ -39,7 +39,7 @@ typedef void (*send_message_t)(void *);
 
 /** Device structure
  */
-struct device {
+struct link_device {
   check_free_space_t check_free_space;  ///< check if transmit buffer is not full
   transmit_t transmit;                  ///< transmit one byte
   send_message_t send_message;          ///< send completed buffer
diff --git a/sw/airborne/mcu_periph/i2c.c b/sw/airborne/mcu_periph/i2c.c
index b6eb09f751..ef2c6db820 100644
--- a/sw/airborne/mcu_periph/i2c.c
+++ b/sw/airborne/mcu_periph/i2c.c
@@ -36,7 +36,7 @@
 struct i2c_periph i2c0;
 
 #if PERIODIC_TELEMETRY
-static void send_i2c0_err(struct transport_tx *trans, struct device *dev) {
+static void send_i2c0_err(struct transport_tx *trans, struct link_device *dev) {
   uint16_t i2c0_queue_full_cnt        = i2c0.errors->queue_full_cnt;
   uint16_t i2c0_ack_fail_cnt          = i2c0.errors->ack_fail_cnt;
   uint16_t i2c0_miss_start_stop_cnt   = i2c0.errors->miss_start_stop_cnt;
@@ -76,7 +76,7 @@ void i2c0_init(void) {
 struct i2c_periph i2c1;
 
 #if PERIODIC_TELEMETRY
-static void send_i2c1_err(struct transport_tx *trans, struct device *dev) {
+static void send_i2c1_err(struct transport_tx *trans, struct link_device *dev) {
   uint16_t i2c1_queue_full_cnt        = i2c1.errors->queue_full_cnt;
   uint16_t i2c1_ack_fail_cnt          = i2c1.errors->ack_fail_cnt;
   uint16_t i2c1_miss_start_stop_cnt   = i2c1.errors->miss_start_stop_cnt;
@@ -116,7 +116,7 @@ void i2c1_init(void) {
 struct i2c_periph i2c2;
 
 #if PERIODIC_TELEMETRY
-static void send_i2c2_err(struct transport_tx *trans, struct device *dev) {
+static void send_i2c2_err(struct transport_tx *trans, struct link_device *dev) {
   uint16_t i2c2_queue_full_cnt        = i2c2.errors->queue_full_cnt;
   uint16_t i2c2_ack_fail_cnt          = i2c2.errors->ack_fail_cnt;
   uint16_t i2c2_miss_start_stop_cnt   = i2c2.errors->miss_start_stop_cnt;
@@ -160,7 +160,7 @@ void i2c3_init(void) {
 }
 
 #if PERIODIC_TELEMETRY
-static void send_i2c3_err(struct transport_tx *trans, struct device *dev) {
+static void send_i2c3_err(struct transport_tx *trans, struct link_device *dev) {
   uint16_t i2c3_queue_full_cnt        = i2c3.errors->queue_full_cnt;
   uint16_t i2c3_ack_fail_cnt          = i2c3.errors->ack_fail_cnt;
   uint16_t i2c3_miss_start_stop_cnt   = i2c3.errors->miss_start_stop_cnt;
@@ -190,7 +190,7 @@ static void send_i2c3_err(struct transport_tx *trans, struct device *dev) {
 #endif /* USE_I2C3 */
 
 #if PERIODIC_TELEMETRY
-static void send_i2c_err(struct transport_tx *trans __attribute__((unused)), struct device *dev __attribute__((unused))) {
+static void send_i2c_err(struct transport_tx *trans __attribute__((unused)), struct link_device *dev __attribute__((unused))) {
   static uint8_t _i2c_nb_cnt = 0;
   switch (_i2c_nb_cnt) {
     case 0:
diff --git a/sw/airborne/mcu_periph/uart.c b/sw/airborne/mcu_periph/uart.c
index 620c7b5b28..ffb926d1f1 100644
--- a/sw/airborne/mcu_periph/uart.c
+++ b/sw/airborne/mcu_periph/uart.c
@@ -30,7 +30,7 @@
 struct uart_periph uart0;
 
 #if PERIODIC_TELEMETRY
-static void send_uart0_err(struct transport_tx *trans, struct device *dev) {
+static void send_uart0_err(struct transport_tx *trans, struct link_device *dev) {
   uint16_t ore    = uart0.ore;
   uint16_t ne_err = uart0.ne_err;
   uint16_t fe_err = uart0.fe_err;
@@ -46,7 +46,7 @@ static void send_uart0_err(struct transport_tx *trans, struct device *dev) {
 struct uart_periph uart1;
 
 #if PERIODIC_TELEMETRY
-static void send_uart1_err(struct transport_tx *trans, struct device *dev) {
+static void send_uart1_err(struct transport_tx *trans, struct link_device *dev) {
   uint16_t ore    = uart1.ore;
   uint16_t ne_err = uart1.ne_err;
   uint16_t fe_err = uart1.fe_err;
@@ -62,7 +62,7 @@ static void send_uart1_err(struct transport_tx *trans, struct device *dev) {
 struct uart_periph uart2;
 
 #if PERIODIC_TELEMETRY
-static void send_uart2_err(struct transport_tx *trans, struct device *dev) {
+static void send_uart2_err(struct transport_tx *trans, struct link_device *dev) {
   uint16_t ore    = uart2.ore;
   uint16_t ne_err = uart2.ne_err;
   uint16_t fe_err = uart2.fe_err;
@@ -78,7 +78,7 @@ static void send_uart2_err(struct transport_tx *trans, struct device *dev) {
 struct uart_periph uart3;
 
 #if PERIODIC_TELEMETRY
-static void send_uart3_err(struct transport_tx *trans, struct device *dev) {
+static void send_uart3_err(struct transport_tx *trans, struct link_device *dev) {
   uint16_t ore    = uart3.ore;
   uint16_t ne_err = uart3.ne_err;
   uint16_t fe_err = uart3.fe_err;
@@ -94,7 +94,7 @@ static void send_uart3_err(struct transport_tx *trans, struct device *dev) {
 struct uart_periph uart4;
 
 #if PERIODIC_TELEMETRY
-static void send_uart4_err(struct transport_tx *trans, struct device *dev) {
+static void send_uart4_err(struct transport_tx *trans, struct link_device *dev) {
   uint16_t ore    = uart4.ore;
   uint16_t ne_err = uart4.ne_err;
   uint16_t fe_err = uart4.fe_err;
@@ -110,7 +110,7 @@ static void send_uart4_err(struct transport_tx *trans, struct device *dev) {
 struct uart_periph uart5;
 
 #if PERIODIC_TELEMETRY
-static void send_uart5_err(struct transport_tx *trans, struct device *dev) {
+static void send_uart5_err(struct transport_tx *trans, struct link_device *dev) {
   uint16_t ore    = uart5.ore;
   uint16_t ne_err = uart5.ne_err;
   uint16_t fe_err = uart5.fe_err;
@@ -126,7 +126,7 @@ static void send_uart5_err(struct transport_tx *trans, struct device *dev) {
 struct uart_periph uart6;
 
 #if PERIODIC_TELEMETRY
-static void send_uart6_err(struct transport_tx *trans, struct device *dev) {
+static void send_uart6_err(struct transport_tx *trans, struct link_device *dev) {
   uint16_t ore    = uart6.ore;
   uint16_t ne_err = uart6.ne_err;
   uint16_t fe_err = uart6.fe_err;
@@ -139,7 +139,7 @@ static void send_uart6_err(struct transport_tx *trans, struct device *dev) {
 #endif
 
 #if PERIODIC_TELEMETRY
-static void send_uart_err(struct transport_tx *trans, struct device *dev) {
+static void send_uart_err(struct transport_tx *trans, struct link_device *dev) {
   static uint8_t uart_nb_cnt = 0;
   switch (uart_nb_cnt) {
 #if USE_UART0
diff --git a/sw/airborne/mcu_periph/uart.h b/sw/airborne/mcu_periph/uart.h
index 1ca332d54f..6a78d20826 100644
--- a/sw/airborne/mcu_periph/uart.h
+++ b/sw/airborne/mcu_periph/uart.h
@@ -71,7 +71,7 @@ struct uart_periph {
   volatile uint16_t ne_err; ///< noise error counter
   volatile uint16_t fe_err; ///< framing error counter
   /** Generic device interface */
-  struct device device;
+  struct link_device device;
 };
 
 
diff --git a/sw/airborne/mcu_periph/udp.h b/sw/airborne/mcu_periph/udp.h
index b58558a744..429054be2c 100644
--- a/sw/airborne/mcu_periph/udp.h
+++ b/sw/airborne/mcu_periph/udp.h
@@ -46,7 +46,7 @@ struct udp_periph {
   /** UDP network */
   void* network;
   /** Generic device interface */
-  struct device device;
+  struct link_device device;
 };
 
 extern void     udp_periph_init(struct udp_periph* p, char* host, int port_out, int port_in, bool_t broadcast);
diff --git a/sw/airborne/mcu_periph/usb_serial.h b/sw/airborne/mcu_periph/usb_serial.h
index 3a89e72904..ac7f9f3e33 100644
--- a/sw/airborne/mcu_periph/usb_serial.h
+++ b/sw/airborne/mcu_periph/usb_serial.h
@@ -35,7 +35,7 @@
 
 struct usb_serial_periph {
   /** Generic device interface */
-  struct device device;
+  struct link_device device;
 };
 
 extern struct usb_serial_periph usb_serial;
diff --git a/sw/airborne/modules/air_data/air_data.c b/sw/airborne/modules/air_data/air_data.c
index 1b1ebb5762..e7576d4a46 100644
--- a/sw/airborne/modules/air_data/air_data.c
+++ b/sw/airborne/modules/air_data/air_data.c
@@ -138,13 +138,13 @@ static void temperature_cb(uint8_t __attribute__((unused)) sender_id, const floa
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_baro_raw(struct transport_tx *trans, struct device *dev)
+static void send_baro_raw(struct transport_tx *trans, struct link_device *dev)
 {
   pprz_msg_send_BARO_RAW(trans, dev, AC_ID,
                          &air_data.pressure, &air_data.differential);
 }
 
-static void send_air_data(struct transport_tx *trans, struct device *dev)
+static void send_air_data(struct transport_tx *trans, struct link_device *dev)
 {
   pprz_msg_send_AIR_DATA(trans, dev, AC_ID,
                          &air_data.pressure, &air_data.differential,
@@ -153,7 +153,7 @@ static void send_air_data(struct transport_tx *trans, struct device *dev)
                          &air_data.tas_factor);
 }
 
-static void send_amsl(struct transport_tx *trans, struct device *dev)
+static void send_amsl(struct transport_tx *trans, struct link_device *dev)
 {
   const float MeterPerFeet = 0.3048;
   float amsl_baro_ft = air_data.amsl_baro / MeterPerFeet;
diff --git a/sw/airborne/modules/cam_control/cam.c b/sw/airborne/modules/cam_control/cam.c
index 510372fe41..41a994dab1 100644
--- a/sw/airborne/modules/cam_control/cam.c
+++ b/sw/airborne/modules/cam_control/cam.c
@@ -100,12 +100,12 @@ void cam_target(void);
 void cam_waypoint_target(void);
 void cam_ac_target(void);
 
-static void send_cam(struct transport_tx *trans, struct device *dev) {
+static void send_cam(struct transport_tx *trans, struct link_device *dev) {
   SEND_CAM(DefaultChannel, DefaultDevice);
 }
 
 #ifdef SHOW_CAM_COORDINATES
-static void send_cam_point(struct transport_tx *trans, struct device *dev) {
+static void send_cam_point(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_CAM_POINT(trans, dev, AC_ID,
       &cam_point_distance_from_home, &cam_point_lat, &cam_point_lon);
 }
diff --git a/sw/airborne/modules/cam_control/rotorcraft_cam.c b/sw/airborne/modules/cam_control/rotorcraft_cam.c
index 606f410e71..a801d69198 100644
--- a/sw/airborne/modules/cam_control/rotorcraft_cam.c
+++ b/sw/airborne/modules/cam_control/rotorcraft_cam.c
@@ -88,7 +88,7 @@ int16_t rotorcraft_cam_pan;
 #define ROTORCRAFT_CAM_PAN_MIN 0
 #define ROTORCRAFT_CAM_PAN_MAX INT32_ANGLE_2_PI
 
-static void send_cam(struct transport_tx *trans, struct device *dev) {
+static void send_cam(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_ROTORCRAFT_CAM(trans, dev, AC_ID,
       &rotorcraft_cam_tilt,&rotorcraft_cam_pan);
 }
diff --git a/sw/airborne/modules/digital_cam/uart_cam_ctrl.c b/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
index 9c214d3638..88da7a4b64 100644
--- a/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
+++ b/sw/airborne/modules/digital_cam/uart_cam_ctrl.c
@@ -96,7 +96,7 @@ void digital_cam_uart_event(void)
 }
 
 #if PERIODIC_TELEMETRY
-static void send_thumbnails(struct transport_tx *trans, struct device *dev)
+static void send_thumbnails(struct transport_tx *trans, struct link_device *dev)
 {
   static int cnt = 0;
   if (digital_cam_uart_thumbnails > 0) {
diff --git a/sw/airborne/subsystems/ahrs/ahrs_aligner.c b/sw/airborne/subsystems/ahrs/ahrs_aligner.c
index 356fce0cab..2ca53fc394 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_aligner.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_aligner.c
@@ -45,7 +45,7 @@ static uint32_t samples_idx;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_aligner(struct transport_tx *trans, struct device *dev) {
+static void send_aligner(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_FILTER_ALIGNER(trans, dev, AC_ID,
       &ahrs_aligner.lp_gyro.p,
       &ahrs_aligner.lp_gyro.q,
diff --git a/sw/airborne/subsystems/ahrs/ahrs_ardrone2.c b/sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
index 0c94991e50..c02d2b7e93 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_ardrone2.c
@@ -49,7 +49,7 @@ unsigned char buffer[4096]; //Packet buffer
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_ahrs_ad2(struct transport_tx *trans, struct device *dev) {
+static void send_ahrs_ad2(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_AHRS_ARDRONE2(trans, dev, AC_ID,
       &ahrs_impl.state,
       &ahrs_impl.control_state,
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
index c9d4f7c849..66d884c5ec 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_cmpl.c
@@ -93,7 +93,7 @@ struct AhrsFloatCmpl ahrs_impl;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_att(struct transport_tx *trans, struct device *dev) {
+static void send_att(struct transport_tx *trans, struct link_device *dev) {
   struct FloatEulers ltp_to_imu_euler;
   float_eulers_of_quat(&ltp_to_imu_euler, &ahrs_impl.ltp_to_imu_quat);
   struct Int32Eulers euler_i;
@@ -108,14 +108,14 @@ static void send_att(struct transport_tx *trans, struct device *dev) {
       &(eulers_body->psi));
 }
 
-static void send_geo_mag(struct transport_tx *trans, struct device *dev) {
+static void send_geo_mag(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
                         &ahrs_impl.mag_h.x, &ahrs_impl.mag_h.y, &ahrs_impl.mag_h.z);
 }
 
 // TODO convert from float to int if we really need this one
 /*
-static void send_rmat(struct transport_tx *trans, struct device *dev) {
+static void send_rmat(struct transport_tx *trans, struct link_device *dev) {
   struct Int32RMat* att_rmat = stateGetNedToBodyRMat_i();
   pprz_msg_send_AHRS_RMAT(trans, dev, AC_ID,
       &ahrs_impl.ltp_to_imu_rmat.m[0],
diff --git a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
index ea1800dbf8..f5dbcf2177 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_float_mlkf.c
@@ -63,7 +63,7 @@ struct AhrsMlkf ahrs_impl;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_geo_mag(struct transport_tx *trans, struct device *dev) {
+static void send_geo_mag(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_GEO_MAG(trans, dev, AC_ID,
                         &ahrs_impl.mag_h.x, &ahrs_impl.mag_h.y, &ahrs_impl.mag_h.z);
 }
diff --git a/sw/airborne/subsystems/ahrs/ahrs_gx3.c b/sw/airborne/subsystems/ahrs/ahrs_gx3.c
index 3a62d2e50d..aa6499eddf 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_gx3.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_gx3.c
@@ -83,7 +83,7 @@ void ahrs_align(void) {
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static send_gx3(struct transport_tx *trans, struct device *dev) {
+static send_gx3(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_GX3_INFO(trans, dev, AC_ID,
       &ahrs_impl.gx3_freq,
       &ahrs_impl.gx3_packet.chksm_error,
diff --git a/sw/airborne/subsystems/ahrs/ahrs_infrared.c b/sw/airborne/subsystems/ahrs/ahrs_infrared.c
index d0f39a14d2..2ca92002d1 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_infrared.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_infrared.c
@@ -42,12 +42,12 @@ float heading;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_infrared(struct transport_tx *trans, struct device *dev) {
+static void send_infrared(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_IR_SENSORS(trans, dev, AC_ID,
       &infrared.value.ir1, &infrared.value.ir2, &infrared.pitch, &infrared.roll, &infrared.top);
 }
 
-static void send_status(struct transport_tx *trans, struct device *dev) {
+static void send_status(struct transport_tx *trans, struct link_device *dev) {
   uint16_t contrast = abs(infrared.roll) + abs(infrared.pitch) + abs(infrared.top);
   uint8_t mde = 3;
   if (contrast < 50) mde = 7;
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
index 5396227974..5563c0deaa 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_euler.c
@@ -64,7 +64,7 @@ static inline void set_body_state_from_euler(void);
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_filter(struct transport_tx *trans, struct device *dev) {
+static void send_filter(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_FILTER(trans, dev, AC_ID,
       &ahrs_impl.ltp_to_imu_euler.phi,
       &ahrs_impl.ltp_to_imu_euler.theta,
@@ -83,7 +83,7 @@ static void send_filter(struct transport_tx *trans, struct device *dev) {
       &ahrs_impl.gyro_bias.r);
 }
 
-static void send_euler(struct transport_tx *trans, struct device *dev) {
+static void send_euler(struct transport_tx *trans, struct link_device *dev) {
   struct Int32Eulers* eulers = stateGetNedToBodyEulers_i();
   pprz_msg_send_AHRS_EULER_INT(trans, dev, AC_ID,
       &ahrs_impl.ltp_to_imu_euler.phi,
@@ -94,7 +94,7 @@ static void send_euler(struct transport_tx *trans, struct device *dev) {
       &(eulers->psi));
 }
 
-static void send_bias(struct transport_tx *trans, struct device *dev) {
+static void send_bias(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_AHRS_GYRO_BIAS_INT(trans, dev, AC_ID,
       &ahrs_impl.gyro_bias.p, &ahrs_impl.gyro_bias.q, &ahrs_impl.gyro_bias.r);
 }
diff --git a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
index 5d7d0420ee..031f80f2b9 100644
--- a/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
+++ b/sw/airborne/subsystems/ahrs/ahrs_int_cmpl_quat.c
@@ -114,7 +114,7 @@ static inline void ahrs_update_mag_2d(float dt);
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_quat(struct transport_tx *trans, struct device *dev) {
+static void send_quat(struct transport_tx *trans, struct link_device *dev) {
   struct Int32Quat* quat = stateGetNedToBodyQuat_i();
   pprz_msg_send_AHRS_QUAT_INT(trans, dev, AC_ID,
       &ahrs_impl.weight,
@@ -128,7 +128,7 @@ static void send_quat(struct transport_tx *trans, struct device *dev) {
       &(quat->qz));
 }
 
-static void send_euler(struct transport_tx *trans, struct device *dev) {
+static void send_euler(struct transport_tx *trans, struct link_device *dev) {
   struct Int32Eulers ltp_to_imu_euler;
   int32_eulers_of_quat(&ltp_to_imu_euler, &ahrs_impl.ltp_to_imu_quat);
   struct Int32Eulers* eulers = stateGetNedToBodyEulers_i();
@@ -141,12 +141,12 @@ static void send_euler(struct transport_tx *trans, struct device *dev) {
       &(eulers->psi));
 }
 
-static void send_bias(struct transport_tx *trans, struct device *dev) {
+static void send_bias(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_AHRS_GYRO_BIAS_INT(trans, dev, AC_ID,
       &ahrs_impl.gyro_bias.p, &ahrs_impl.gyro_bias.q, &ahrs_impl.gyro_bias.r);
 }
 
-static void send_geo_mag(struct transport_tx *trans, struct device *dev) {
+static void send_geo_mag(struct transport_tx *trans, struct link_device *dev) {
   struct FloatVect3 h_float;
   h_float.x = MAG_FLOAT_OF_BFP(ahrs_impl.mag_h.x);
   h_float.y = MAG_FLOAT_OF_BFP(ahrs_impl.mag_h.y);
diff --git a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h
index 90379afa4f..a324589ab5 100644
--- a/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h
+++ b/sw/airborne/subsystems/chibios-libopencm3/chibios_sdlog.h
@@ -50,7 +50,7 @@ extern void chibios_logFinish(void);
 
 struct chibios_sdlog {
   /** Generic device interface */
-  struct device device;
+  struct link_device device;
 };
 
 extern struct chibios_sdlog chibios_sdlog;
diff --git a/sw/airborne/subsystems/datalink/ivy_transport.c b/sw/airborne/subsystems/datalink/ivy_transport.c
index 1dbd237f38..d8188d5eed 100644
--- a/sw/airborne/subsystems/datalink/ivy_transport.c
+++ b/sw/airborne/subsystems/datalink/ivy_transport.c
@@ -37,7 +37,7 @@
 
 struct ivy_transport ivy_tp;
 
-static void put_bytes(struct ivy_transport *trans, struct device *dev __attribute__((unused)), enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t len, const void *bytes)
+static void put_bytes(struct ivy_transport *trans, struct link_device *dev __attribute__((unused)), enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t len, const void *bytes)
 {
   const uint8_t *b = (const uint8_t *) bytes;
 
@@ -123,7 +123,7 @@ static void put_bytes(struct ivy_transport *trans, struct device *dev __attribut
   }
 }
 
-static void put_named_byte(struct ivy_transport *trans, struct device *dev __attribute__((unused)), enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t byte __attribute__((unused)), const char * name __attribute__((unused)))
+static void put_named_byte(struct ivy_transport *trans, struct link_device *dev __attribute__((unused)), enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t byte __attribute__((unused)), const char * name __attribute__((unused)))
 {
   trans->ivy_p += sprintf(trans->ivy_p, "%s ", name);
 }
@@ -133,12 +133,12 @@ static uint8_t size_of(struct ivy_transport *trans __attribute__((unused)), uint
   return len;
 }
 
-static void start_message(struct ivy_transport *trans, struct device *dev __attribute__((unused)), uint8_t payload_len __attribute__((unused)))
+static void start_message(struct ivy_transport *trans, struct link_device *dev __attribute__((unused)), uint8_t payload_len __attribute__((unused)))
 {
   trans->ivy_p = trans->ivy_buf;
 }
 
-static void end_message(struct ivy_transport *trans, struct device *dev __attribute__((unused)))
+static void end_message(struct ivy_transport *trans, struct link_device *dev __attribute__((unused)))
 {
   *(--trans->ivy_p) = '\0';
   if (trans->ivy_dl_enabled) {
@@ -146,17 +146,17 @@ static void end_message(struct ivy_transport *trans, struct device *dev __attrib
   }
 }
 
-static void overrun(struct ivy_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)))
+static void overrun(struct ivy_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)))
 {
   downlink.nb_ovrn++;
 }
 
-static void count_bytes(struct ivy_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)), uint8_t bytes)
+static void count_bytes(struct ivy_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)), uint8_t bytes)
 {
   downlink.nb_bytes += bytes;
 }
 
-static int check_available_space(struct ivy_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)), uint8_t bytes __attribute__((unused)))
+static int check_available_space(struct ivy_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)), uint8_t bytes __attribute__((unused)))
 {
   return TRUE;
 }
diff --git a/sw/airborne/subsystems/datalink/ivy_transport.h b/sw/airborne/subsystems/datalink/ivy_transport.h
index 7626ae4d51..2bb5adeec6 100644
--- a/sw/airborne/subsystems/datalink/ivy_transport.h
+++ b/sw/airborne/subsystems/datalink/ivy_transport.h
@@ -41,7 +41,7 @@ struct ivy_transport {
   // generic transmission interface
   struct transport_tx trans_tx;
   // generic (dummy) device
-  struct device device;
+  struct link_device device;
 };
 
 extern struct ivy_transport ivy_tp;
diff --git a/sw/airborne/subsystems/datalink/pprz_transport.c b/sw/airborne/subsystems/datalink/pprz_transport.c
index ca75470714..0cc85af9f3 100644
--- a/sw/airborne/subsystems/datalink/pprz_transport.c
+++ b/sw/airborne/subsystems/datalink/pprz_transport.c
@@ -48,14 +48,14 @@
 
 struct pprz_transport pprz_tp;
 
-static void put_1byte(struct pprz_transport *trans, struct device *dev, const uint8_t byte)
+static void put_1byte(struct pprz_transport *trans, struct link_device *dev, const uint8_t byte)
 {
   trans->ck_a_tx += byte;
   trans->ck_b_tx += trans->ck_a_tx;
   dev->transmit(dev->periph, byte);
 }
 
-static void put_bytes(struct pprz_transport *trans, struct device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t len, const void *bytes)
+static void put_bytes(struct pprz_transport *trans, struct link_device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t len, const void *bytes)
 {
   const uint8_t *b = (const uint8_t *) bytes;
   int i;
@@ -64,7 +64,7 @@ static void put_bytes(struct pprz_transport *trans, struct device *dev, enum Tra
   }
 }
 
-static void put_named_byte(struct pprz_transport *trans, struct device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t byte, const char * name __attribute__((unused)))
+static void put_named_byte(struct pprz_transport *trans, struct link_device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t byte, const char * name __attribute__((unused)))
 {
   put_1byte(trans, dev, byte);
 }
@@ -75,7 +75,7 @@ static uint8_t size_of(struct pprz_transport *trans __attribute__((unused)), uin
   return len + 4;
 }
 
-static void start_message(struct pprz_transport *trans, struct device *dev, uint8_t payload_len)
+static void start_message(struct pprz_transport *trans, struct link_device *dev, uint8_t payload_len)
 {
   downlink.nb_msgs++;
   dev->transmit(dev->periph, STX);
@@ -85,24 +85,24 @@ static void start_message(struct pprz_transport *trans, struct device *dev, uint
   trans->ck_b_tx = msg_len;
 }
 
-static void end_message(struct pprz_transport *trans, struct device *dev)
+static void end_message(struct pprz_transport *trans, struct link_device *dev)
 {
   dev->transmit(dev->periph, trans->ck_a_tx);
   dev->transmit(dev->periph, trans->ck_b_tx);
   dev->send_message(dev);
 }
 
-static void overrun(struct pprz_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)))
+static void overrun(struct pprz_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)))
 {
   downlink.nb_ovrn++;
 }
 
-static void count_bytes(struct pprz_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)), uint8_t bytes)
+static void count_bytes(struct pprz_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)), uint8_t bytes)
 {
   downlink.nb_bytes += bytes;
 }
 
-static int check_available_space(struct pprz_transport *trans __attribute__((unused)), struct device *dev, uint8_t bytes)
+static int check_available_space(struct pprz_transport *trans __attribute__((unused)), struct link_device *dev, uint8_t bytes)
 {
   return dev->check_free_space(dev, bytes);
 }
diff --git a/sw/airborne/subsystems/datalink/pprzlog_transport.c b/sw/airborne/subsystems/datalink/pprzlog_transport.c
index 2392244095..23f42b2e7a 100644
--- a/sw/airborne/subsystems/datalink/pprzlog_transport.c
+++ b/sw/airborne/subsystems/datalink/pprzlog_transport.c
@@ -48,13 +48,13 @@ struct pprzlog_transport pprzlog_tp;
 
 #define STX_LOG  0x99
 
-static void put_1byte(struct pprzlog_transport *trans, struct device *dev, const uint8_t byte)
+static void put_1byte(struct pprzlog_transport *trans, struct link_device *dev, const uint8_t byte)
 {
   trans->ck += byte;
   dev->transmit(dev->periph, byte);
 }
 
-static void put_bytes(struct pprzlog_transport *trans, struct device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t len, const void *bytes)
+static void put_bytes(struct pprzlog_transport *trans, struct link_device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t len, const void *bytes)
 {
   const uint8_t *b = (const uint8_t *) bytes;
   int i;
@@ -63,7 +63,7 @@ static void put_bytes(struct pprzlog_transport *trans, struct device *dev, enum
   }
 }
 
-static void put_named_byte(struct pprzlog_transport *trans, struct device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t byte, const char * name __attribute__((unused)))
+static void put_named_byte(struct pprzlog_transport *trans, struct link_device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t byte, const char * name __attribute__((unused)))
 {
   put_1byte(trans, dev, byte);
 }
@@ -73,7 +73,7 @@ static uint8_t size_of(struct pprzlog_transport *trans __attribute__((unused)),
   return len;
 }
 
-static void start_message(struct pprzlog_transport *trans, struct device *dev, uint8_t payload_len)
+static void start_message(struct pprzlog_transport *trans, struct link_device *dev, uint8_t payload_len)
 {
   dev->transmit(dev->periph, STX_LOG);
   const uint8_t msg_len = size_of(trans, payload_len);
@@ -83,21 +83,21 @@ static void start_message(struct pprzlog_transport *trans, struct device *dev, u
   put_bytes(trans, dev, DL_TYPE_TIMESTAMP, DL_FORMAT_SCALAR, 4, (uint8_t*)(&ts));
 }
 
-static void end_message(struct pprzlog_transport *trans, struct device *dev)
+static void end_message(struct pprzlog_transport *trans, struct link_device *dev)
 {
   dev->transmit(dev->periph, trans->ck);
   dev->send_message(dev);
 }
 
-static void overrun(struct pprzlog_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)))
+static void overrun(struct pprzlog_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)))
 {
 }
 
-static void count_bytes(struct pprzlog_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)), uint8_t bytes __attribute__((unused)))
+static void count_bytes(struct pprzlog_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)), uint8_t bytes __attribute__((unused)))
 {
 }
 
-static int check_available_space(struct pprzlog_transport *trans __attribute__((unused)), struct device *dev, uint8_t bytes)
+static int check_available_space(struct pprzlog_transport *trans __attribute__((unused)), struct link_device *dev, uint8_t bytes)
 {
   return dev->check_free_space(dev, bytes);
 }
diff --git a/sw/airborne/subsystems/datalink/superbitrf.c b/sw/airborne/subsystems/datalink/superbitrf.c
index 86f0dfb414..760594bf4e 100644
--- a/sw/airborne/subsystems/datalink/superbitrf.c
+++ b/sw/airborne/subsystems/datalink/superbitrf.c
@@ -178,7 +178,7 @@ static const uint8_t pn_bind[] = { 0x98, 0x88, 0x1B, 0xE4, 0x30, 0x79, 0x03, 0x8
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_superbit(struct transport_tx *trans, struct device *dev) {
+static void send_superbit(struct transport_tx *trans, struct link_device *dev) {
   uint8_t status = superbitrf.status;
   uint8_t cyrf6936_status = superbitrf.cyrf6936.status;
   pprz_msg_send_SUPERBITRF(trans, dev, AC_ID,
diff --git a/sw/airborne/subsystems/datalink/superbitrf.h b/sw/airborne/subsystems/datalink/superbitrf.h
index eb5dd44771..66c69f4b22 100644
--- a/sw/airborne/subsystems/datalink/superbitrf.h
+++ b/sw/airborne/subsystems/datalink/superbitrf.h
@@ -113,7 +113,7 @@ struct SuperbitRF {
   uint8_t tx_extract_idx;                   /**< The transmit buffer extract index */
 
   /** Generic device interface */
-  struct device device;
+  struct link_device device;
 };
 
 /* The superbitrf functions and structures */
diff --git a/sw/airborne/subsystems/datalink/telemetry_common.h b/sw/airborne/subsystems/datalink/telemetry_common.h
index 64ab6901bb..5ff73a8cbf 100644
--- a/sw/airborne/subsystems/datalink/telemetry_common.h
+++ b/sw/airborne/subsystems/datalink/telemetry_common.h
@@ -36,7 +36,7 @@
 
 /** Telemetry callback definition
  */
-typedef void (*telemetry_cb)(struct transport_tx *trans, struct device *dev);
+typedef void (*telemetry_cb)(struct transport_tx *trans, struct link_device *dev);
 
 /** Telemetry header
  */
diff --git a/sw/airborne/subsystems/datalink/transport.h b/sw/airborne/subsystems/datalink/transport.h
index 70d55a3fbc..f44fba39a7 100644
--- a/sw/airborne/subsystems/datalink/transport.h
+++ b/sw/airborne/subsystems/datalink/transport.h
@@ -84,13 +84,13 @@ enum TransportDataFormat {
  * to store in the transport structure
  */
 typedef uint8_t (*size_of_t)(void *, uint8_t);
-typedef int (*check_available_space_t)(void *, struct device *, uint8_t);
-typedef void (*put_bytes_t)(void *, struct device *, enum TransportDataType, enum TransportDataFormat, uint8_t, const void *);
-typedef void (*put_named_byte_t)(void *, struct device *, enum TransportDataType, enum TransportDataFormat, uint8_t, const char *);
-typedef void (*start_message_t)(void *, struct device *, uint8_t);
-typedef void (*end_message_t)(void *, struct device *);
-typedef void (*overrun_t)(void *, struct device *);
-typedef void (*count_bytes_t)(void *, struct device *, uint8_t);
+typedef int (*check_available_space_t)(void *, struct link_device *, uint8_t);
+typedef void (*put_bytes_t)(void *, struct link_device *, enum TransportDataType, enum TransportDataFormat, uint8_t, const void *);
+typedef void (*put_named_byte_t)(void *, struct link_device *, enum TransportDataType, enum TransportDataFormat, uint8_t, const char *);
+typedef void (*start_message_t)(void *, struct link_device *, uint8_t);
+typedef void (*end_message_t)(void *, struct link_device *);
+typedef void (*overrun_t)(void *, struct link_device *);
+typedef void (*count_bytes_t)(void *, struct link_device *, uint8_t);
 
 /** Generic transmission transport header
  */
diff --git a/sw/airborne/subsystems/datalink/w5100.h b/sw/airborne/subsystems/datalink/w5100.h
index 1d5dcc20d5..ac8d9f5ecf 100644
--- a/sw/airborne/subsystems/datalink/w5100.h
+++ b/sw/airborne/subsystems/datalink/w5100.h
@@ -56,7 +56,7 @@ struct w5100_periph {
   volatile uint8_t work_rx[4];
   uint8_t tx_running;
   /** Generic device interface */
-  struct device device;
+  struct link_device device;
 };
 
 extern uint8_t w5100_rx_buf[W5100_RX_BUFFER_SIZE];
diff --git a/sw/airborne/subsystems/datalink/xbee.c b/sw/airborne/subsystems/datalink/xbee.c
index dd7bfed7c5..e26fe7c1b5 100644
--- a/sw/airborne/subsystems/datalink/xbee.c
+++ b/sw/airborne/subsystems/datalink/xbee.c
@@ -53,13 +53,13 @@ struct xbee_transport xbee_tp;
 
 /** Xbee protocol implementation */
 
-static void put_1byte(struct xbee_transport *trans, struct device *dev, const uint8_t byte)
+static void put_1byte(struct xbee_transport *trans, struct link_device *dev, const uint8_t byte)
 {
   trans->cs_tx += byte;
   dev->transmit(dev->periph, byte);
 }
 
-static void put_bytes(struct xbee_transport *trans, struct device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t len, const void *bytes)
+static void put_bytes(struct xbee_transport *trans, struct link_device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t len, const void *bytes)
 {
   const uint8_t *b = (const uint8_t *) bytes;
   int i;
@@ -68,7 +68,7 @@ static void put_bytes(struct xbee_transport *trans, struct device *dev, enum Tra
   }
 }
 
-static void put_named_byte(struct xbee_transport *trans, struct device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t byte, const char * name __attribute__((unused)))
+static void put_named_byte(struct xbee_transport *trans, struct link_device *dev, enum TransportDataType type __attribute__((unused)), enum TransportDataFormat format __attribute__((unused)), uint8_t byte, const char * name __attribute__((unused)))
 {
   put_1byte(trans, dev, byte);
 }
@@ -79,7 +79,7 @@ static uint8_t size_of(struct xbee_transport *trans __attribute__((unused)), uin
   return len + XBEE_API_OVERHEAD + XBEE_TX_OVERHEAD;
 }
 
-static void start_message(struct xbee_transport *trans, struct device *dev, uint8_t payload_len)
+static void start_message(struct xbee_transport *trans, struct link_device *dev, uint8_t payload_len)
 {
   downlink.nb_msgs++;
   dev->transmit(dev->periph, XBEE_START);
@@ -91,24 +91,24 @@ static void start_message(struct xbee_transport *trans, struct device *dev, uint
   put_bytes(trans, dev, DL_TYPE_UINT8, DL_FORMAT_SCALAR, XBEE_TX_OVERHEAD + 1, header);
 }
 
-static void end_message(struct xbee_transport *trans, struct device *dev)
+static void end_message(struct xbee_transport *trans, struct link_device *dev)
 {
   trans->cs_tx = 0xff - trans->cs_tx;
   dev->transmit(dev->periph, trans->cs_tx);
   dev->send_message(dev);
 }
 
-static void overrun(struct xbee_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)))
+static void overrun(struct xbee_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)))
 {
   downlink.nb_ovrn++;
 }
 
-static void count_bytes(struct xbee_transport *trans __attribute__((unused)), struct device *dev __attribute__((unused)), uint8_t bytes)
+static void count_bytes(struct xbee_transport *trans __attribute__((unused)), struct link_device *dev __attribute__((unused)), uint8_t bytes)
 {
   downlink.nb_bytes += bytes;
 }
 
-static int check_available_space(struct xbee_transport *trans __attribute__((unused)), struct device *dev, uint8_t bytes)
+static int check_available_space(struct xbee_transport *trans __attribute__((unused)), struct link_device *dev, uint8_t bytes)
 {
   return dev->check_free_space(dev, bytes);
 }
diff --git a/sw/airborne/subsystems/gps.c b/sw/airborne/subsystems/gps.c
index d474e00e70..a7587bc2dd 100644
--- a/sw/airborne/subsystems/gps.c
+++ b/sw/airborne/subsystems/gps.c
@@ -45,7 +45,7 @@ struct GpsTimeSync gps_time_sync;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_svinfo(struct transport_tx *trans, struct device *dev, uint8_t svid) {
+static void send_svinfo(struct transport_tx *trans, struct link_device *dev, uint8_t svid) {
   if (svid < GPS_NB_CHANNELS) {
     pprz_msg_send_SVINFO(trans, dev, AC_ID, &svid,
                          &gps.svinfos[svid].svid, &gps.svinfos[svid].flags,
@@ -55,13 +55,13 @@ static void send_svinfo(struct transport_tx *trans, struct device *dev, uint8_t
 }
 
 /** send SVINFO message if there is information for satellite with svid */
-static inline void send_svinfo_available(struct transport_tx *trans, struct device *dev, uint8_t svid) {
+static inline void send_svinfo_available(struct transport_tx *trans, struct link_device *dev, uint8_t svid) {
   if (gps.svinfos[svid].cno > 0) {
     send_svinfo(trans, dev, svid);
   }
 }
 
-static void send_gps(struct transport_tx *trans, struct device *dev) {
+static void send_gps(struct transport_tx *trans, struct link_device *dev) {
   static uint8_t i;
   int16_t climb = -gps.ned_vel.z;
   int16_t course = (DegOfRad(gps.course)/((int32_t)1e6));
@@ -80,7 +80,7 @@ static void send_gps(struct transport_tx *trans, struct device *dev) {
   i++;
 }
 
-static void send_gps_int(struct transport_tx *trans, struct device *dev) {
+static void send_gps_int(struct transport_tx *trans, struct link_device *dev) {
   static uint8_t i;
   static uint8_t last_cnos[GPS_NB_CHANNELS];
   pprz_msg_send_GPS_INT(trans, dev, AC_ID,
@@ -102,7 +102,7 @@ static void send_gps_int(struct transport_tx *trans, struct device *dev) {
   i++;
 }
 
-static void send_gps_lla(struct transport_tx *trans, struct device *dev) {
+static void send_gps_lla(struct transport_tx *trans, struct link_device *dev) {
   uint8_t err = 0;
   int16_t climb = -gps.ned_vel.z;
   int16_t course = (DegOfRad(gps.course)/((int32_t)1e6));
@@ -113,7 +113,7 @@ static void send_gps_lla(struct transport_tx *trans, struct device *dev) {
       &gps.fix, &err);
 }
 
-static void send_gps_sol(struct transport_tx *trans, struct device *dev) {
+static void send_gps_sol(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_GPS_SOL(trans, dev, AC_ID, &gps.pacc, &gps.sacc, &gps.pdop, &gps.num_sv);
 }
 #endif
diff --git a/sw/airborne/subsystems/imu.c b/sw/airborne/subsystems/imu.c
index 8ac0839caa..ee2fdcd097 100644
--- a/sw/airborne/subsystems/imu.c
+++ b/sw/airborne/subsystems/imu.c
@@ -44,63 +44,63 @@
 
 #if USE_IMU_FLOAT
 
-static void send_accel(struct transport_tx *trans, struct device *dev) {
+static void send_accel(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_IMU_ACCEL(trans, dev, AC_ID,
       &imuf.accel.x, &imuf.accel.y, &imuf.accel.z);
 }
 
-static void send_gyro(struct transport_tx *trans, struct device *dev) {
+static void send_gyro(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_IMU_GYRO(trans, dev, AC_ID,
       &imuf.gyro.p, &imuf.gyro.q, &imuf.gyro.r);
 }
 
 #else // !USE_IMU_FLOAT
 
-static void send_accel_raw(struct transport_tx *trans, struct device *dev) {
+static void send_accel_raw(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_IMU_ACCEL_RAW(trans, dev, AC_ID,
       &imu.accel_unscaled.x, &imu.accel_unscaled.y, &imu.accel_unscaled.z);
 }
 
-static void send_accel_scaled(struct transport_tx *trans, struct device *dev) {
+static void send_accel_scaled(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_IMU_ACCEL_SCALED(trans, dev, AC_ID,
       &imu.accel.x, &imu.accel.y, &imu.accel.z);
 }
 
-static void send_accel(struct transport_tx *trans, struct device *dev) {
+static void send_accel(struct transport_tx *trans, struct link_device *dev) {
   struct FloatVect3 accel_float;
   ACCELS_FLOAT_OF_BFP(accel_float, imu.accel);
   pprz_msg_send_IMU_ACCEL(trans, dev, AC_ID,
       &accel_float.x, &accel_float.y, &accel_float.z);
 }
 
-static void send_gyro_raw(struct transport_tx *trans, struct device *dev) {
+static void send_gyro_raw(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_IMU_GYRO_RAW(trans, dev, AC_ID,
       &imu.gyro_unscaled.p, &imu.gyro_unscaled.q, &imu.gyro_unscaled.r);
 }
 
-static void send_gyro_scaled(struct transport_tx *trans, struct device *dev) {
+static void send_gyro_scaled(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_IMU_GYRO_SCALED(trans, dev, AC_ID,
       &imu.gyro.p, &imu.gyro.q, &imu.gyro.r);
 }
 
-static void send_gyro(struct transport_tx *trans, struct device *dev) {
+static void send_gyro(struct transport_tx *trans, struct link_device *dev) {
   struct FloatRates gyro_float;
   RATES_FLOAT_OF_BFP(gyro_float, imu.gyro);
   pprz_msg_send_IMU_GYRO(trans, dev, AC_ID,
       &gyro_float.p, &gyro_float.q, &gyro_float.r);
 }
 
-static void send_mag_raw(struct transport_tx *trans, struct device *dev) {
+static void send_mag_raw(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_IMU_MAG_RAW(trans, dev, AC_ID,
       &imu.mag_unscaled.x, &imu.mag_unscaled.y, &imu.mag_unscaled.z);
 }
 
-static void send_mag_scaled(struct transport_tx *trans, struct device *dev) {
+static void send_mag_scaled(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_IMU_MAG_SCALED(trans, dev, AC_ID,
       &imu.mag.x, &imu.mag.y, &imu.mag.z);
 }
 
-static void send_mag(struct transport_tx *trans, struct device *dev) {
+static void send_mag(struct transport_tx *trans, struct link_device *dev) {
   struct FloatVect3 mag_float;
   MAGS_FLOAT_OF_BFP(mag_float, imu.mag);
   pprz_msg_send_IMU_MAG(trans, dev, AC_ID,
diff --git a/sw/airborne/subsystems/ins/hf_float.c b/sw/airborne/subsystems/ins/hf_float.c
index 55f480cca0..0d185eb92e 100644
--- a/sw/airborne/subsystems/ins/hf_float.c
+++ b/sw/airborne/subsystems/ins/hf_float.c
@@ -229,7 +229,7 @@ static void b2_hff_update_ydot(struct HfilterFloat* hff_work, float vel, float R
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_hff(struct transport_tx *trans, struct device *dev) {
+static void send_hff(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_HFF(trans, dev, AC_ID,
                     &b2_hff_state.x,
                     &b2_hff_state.y,
@@ -239,7 +239,7 @@ static void send_hff(struct transport_tx *trans, struct device *dev) {
                     &b2_hff_state.ydotdot);
 }
 
-static void send_hff_debug(struct transport_tx *trans, struct device *dev) {
+static void send_hff_debug(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_HFF_DBG(trans, dev, AC_ID,
                         &b2_hff_x_meas,
                         &b2_hff_y_meas,
@@ -252,7 +252,7 @@ static void send_hff_debug(struct transport_tx *trans, struct device *dev) {
 }
 
 #ifdef GPS_LAG
-static void send_hff_gps(struct transport_tx *trans, struct device *dev) {
+static void send_hff_gps(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_HFF_GPS(trans, dev, AC_ID,
                         &(b2_hff_rb_last->lag_counter),
                         &lag_counter_err,
diff --git a/sw/airborne/subsystems/ins/ins_float_invariant.c b/sw/airborne/subsystems/ins/ins_float_invariant.c
index 00734e167f..07e06165c8 100644
--- a/sw/airborne/subsystems/ins/ins_float_invariant.c
+++ b/sw/airborne/subsystems/ins/ins_float_invariant.c
@@ -62,7 +62,7 @@
 
 #if !INS_UPDATE_FW_ESTIMATOR && PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
-static void send_ins_ref(struct transport_tx *trans, struct device *dev) {
+static void send_ins_ref(struct transport_tx *trans, struct link_device *dev) {
   float foo = 0.;
   if (state.ned_initialized_i) {
     pprz_msg_send_INS_REF(trans, dev, AC_ID,
diff --git a/sw/airborne/subsystems/ins/ins_gps_passthrough.c b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
index 5b94ab00aa..77d5b82c5e 100644
--- a/sw/airborne/subsystems/ins/ins_gps_passthrough.c
+++ b/sw/airborne/subsystems/ins/ins_gps_passthrough.c
@@ -58,20 +58,20 @@ struct InsGpsPassthrough ins_impl;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_ins(struct transport_tx *trans, struct device *dev) {
+static void send_ins(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_INS(trans, dev, AC_ID,
       &ins_impl.ltp_pos.x, &ins_impl.ltp_pos.y, &ins_impl.ltp_pos.z,
       &ins_impl.ltp_speed.x, &ins_impl.ltp_speed.y, &ins_impl.ltp_speed.z,
       &ins_impl.ltp_accel.x, &ins_impl.ltp_accel.y, &ins_impl.ltp_accel.z);
 }
 
-static void send_ins_z(struct transport_tx *trans, struct device *dev) {
+static void send_ins_z(struct transport_tx *trans, struct link_device *dev) {
   static const float fake_baro_z = 0.0;
   pprz_msg_send_INS_Z(trans, dev, AC_ID,
       &fake_baro_z, &ins_impl.ltp_pos.z, &ins_impl.ltp_speed.z, &ins_impl.ltp_accel.z);
 }
 
-static void send_ins_ref(struct transport_tx *trans, struct device *dev) {
+static void send_ins_ref(struct transport_tx *trans, struct link_device *dev) {
   static const float fake_qfe = 0.0;
   if (ins_impl.ltp_initialized) {
     pprz_msg_send_INS_REF(trans, dev, AC_ID,
diff --git a/sw/airborne/subsystems/ins/ins_int.c b/sw/airborne/subsystems/ins/ins_int.c
index 3f2d93486b..abf1560556 100644
--- a/sw/airborne/subsystems/ins/ins_int.c
+++ b/sw/airborne/subsystems/ins/ins_int.c
@@ -121,19 +121,19 @@ struct InsInt ins_impl;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_ins(struct transport_tx *trans, struct device *dev) {
+static void send_ins(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_INS(trans, dev, AC_ID,
       &ins_impl.ltp_pos.x, &ins_impl.ltp_pos.y, &ins_impl.ltp_pos.z,
       &ins_impl.ltp_speed.x, &ins_impl.ltp_speed.y, &ins_impl.ltp_speed.z,
       &ins_impl.ltp_accel.x, &ins_impl.ltp_accel.y, &ins_impl.ltp_accel.z);
 }
 
-static void send_ins_z(struct transport_tx *trans, struct device *dev) {
+static void send_ins_z(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_INS_Z(trans, dev, AC_ID,
       &ins_impl.baro_z, &ins_impl.ltp_pos.z, &ins_impl.ltp_speed.z, &ins_impl.ltp_accel.z);
 }
 
-static void send_ins_ref(struct transport_tx *trans, struct device *dev) {
+static void send_ins_ref(struct transport_tx *trans, struct link_device *dev) {
   if (ins_impl.ltp_initialized) {
     pprz_msg_send_INS_REF(trans, dev, AC_ID,
         &ins_impl.ltp_def.ecef.x, &ins_impl.ltp_def.ecef.y, &ins_impl.ltp_def.ecef.z,
diff --git a/sw/airborne/subsystems/ins/vf_extended_float.c b/sw/airborne/subsystems/ins/vf_extended_float.c
index e6560c7087..2397ed0d22 100644
--- a/sw/airborne/subsystems/ins/vf_extended_float.c
+++ b/sw/airborne/subsystems/ins/vf_extended_float.c
@@ -69,7 +69,7 @@ struct VffExtended vff;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_vffe(struct transport_tx *trans, struct device *dev) {
+static void send_vffe(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_VFF_EXTENDED(trans, dev, AC_ID,
       &vff.z_meas, &vff.z_meas_baro,
       &vff.z, &vff.zdot, &vff.zdotdot,
diff --git a/sw/airborne/subsystems/ins/vf_float.c b/sw/airborne/subsystems/ins/vf_float.c
index 3024522a2d..fe75917f9a 100644
--- a/sw/airborne/subsystems/ins/vf_float.c
+++ b/sw/airborne/subsystems/ins/vf_float.c
@@ -62,7 +62,7 @@ struct Vff vff;
 #if PERIODIC_TELEMETRY
 #include "subsystems/datalink/telemetry.h"
 
-static void send_vff(struct transport_tx *trans, struct device *dev) {
+static void send_vff(struct transport_tx *trans, struct link_device *dev) {
   pprz_msg_send_VFF(trans, dev, AC_ID,
       &vff.z_meas, &vff.z, &vff.zdot, &vff.bias,
       &vff.P[0][0], &vff.P[1][1], &vff.P[2][2]);
diff --git a/sw/airborne/subsystems/radio_control/ppm.c b/sw/airborne/subsystems/radio_control/ppm.c
index f97bf6a91f..5dc5effbba 100644
--- a/sw/airborne/subsystems/radio_control/ppm.c
+++ b/sw/airborne/subsystems/radio_control/ppm.c
@@ -58,7 +58,7 @@ static bool_t   ppm_data_valid;
 
 #include "subsystems/datalink/telemetry.h"
 
-static void send_ppm(struct transport_tx *trans, struct device *dev)
+static void send_ppm(struct transport_tx *trans, struct link_device *dev)
 {
   uint16_t ppm_pulses_usec[RADIO_CONTROL_NB_CHANNEL];
   for (int i = 0; i < RADIO_CONTROL_NB_CHANNEL; i++) {
diff --git a/sw/airborne/subsystems/radio_control/sbus.c b/sw/airborne/subsystems/radio_control/sbus.c
index 874846ea43..adc9cbd724 100644
--- a/sw/airborne/subsystems/radio_control/sbus.c
+++ b/sw/airborne/subsystems/radio_control/sbus.c
@@ -42,7 +42,7 @@ struct Sbus sbus;
 
 #include "subsystems/datalink/telemetry.h"
 
-static void send_sbus(struct transport_tx *trans, struct device *dev)
+static void send_sbus(struct transport_tx *trans, struct link_device *dev)
 {
   // Using PPM message
   pprz_msg_send_PPM(trans, dev, AC_ID,
diff --git a/sw/airborne/subsystems/radio_control/sbus_dual.c b/sw/airborne/subsystems/radio_control/sbus_dual.c
index 5d769fa07e..9be43cfc6b 100644
--- a/sw/airborne/subsystems/radio_control/sbus_dual.c
+++ b/sw/airborne/subsystems/radio_control/sbus_dual.c
@@ -45,7 +45,7 @@ struct Sbus sbus1, sbus2;
 
 #include "subsystems/datalink/telemetry.h"
 
-static void send_sbus(struct transport_tx *trans, struct device *dev)
+static void send_sbus(struct transport_tx *trans, struct link_device *dev)
 {
   // Using PPM message
   pprz_msg_send_PPM(trans, dev, AC_ID,
diff --git a/sw/tools/generators/gen_messages.ml b/sw/tools/generators/gen_messages.ml
index be44aa0a3c..58d33acfb6 100644
--- a/sw/tools/generators/gen_messages.ml
+++ b/sw/tools/generators/gen_messages.ml
@@ -203,7 +203,7 @@ module Gen_onboard = struct
     print_macro_parameters h fields;
     fprintf h ")\n";
     (* Print message_send functions *)
-    fprintf h "static inline void pprz_msg_send_%s(struct transport_tx *trans, struct device *dev, uint8_t ac_id" s;
+    fprintf h "static inline void pprz_msg_send_%s(struct transport_tx *trans, struct link_device *dev, uint8_t ac_id" s;
     print_function_parameters h fields;
     fprintf h ") {\n";
     let size = (size_fields fields "0") in
@@ -222,7 +222,7 @@ module Gen_onboard = struct
     fprintf h "#define DOWNLINK_SEND_%s(_trans, _dev" s;
     print_macro_parameters h fields;
     fprintf h ") {}\n";
-    fprintf h "void pprz_msg_send_%s(struct transport_tx *trans, struct device *dev, uint8_t ac_id" s;
+    fprintf h "void pprz_msg_send_%s(struct transport_tx *trans, struct link_device *dev, uint8_t ac_id" s;
     print_function_parameters h fields;
     fprintf h ") {}\n"
 
diff --git a/sw/tools/generators/gen_periodic.ml b/sw/tools/generators/gen_periodic.ml
index b2e0215e8d..365575c06d 100644
--- a/sw/tools/generators/gen_periodic.ml
+++ b/sw/tools/generators/gen_periodic.ml
@@ -212,7 +212,7 @@ let _ =
       fprintf out_h "extern struct pprz_telemetry telemetry_%s;\n" process_name;
       fprintf out_h "#endif /* PERIODIC_C_%s */\n" (String.uppercase process_name);
 
-      lprintf out_h "static inline void periodic_telemetry_send_%s(struct transport_tx *trans __attribute__((unused)), struct device *dev __attribute__((unused))) {  /* %dHz */\n" process_name freq; (*TODO pass transport+device with correct types *)
+      lprintf out_h "static inline void periodic_telemetry_send_%s(struct transport_tx *trans __attribute__((unused)), struct link_device *dev __attribute__((unused))) {  /* %dHz */\n" process_name freq; (*TODO pass transport+device with correct types *)
       right ();
       output_modes out_h process_name modes freq modules_name;
       left ();