botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 17:47:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

update link layer manager + rip + rmt

Browse Source
This commit is contained in:
Justin Chow
2025-07-10 00:48:37 -04:00
committed by Johnathon Slightham
parent 3691ca4697
commit 732f141e45
9 changed files with 342 additions and 271 deletions
Download Patch File Download Diff File Expand all files Collapse all files

53
components/dataLink/include/Frames.h
View File

@@ -9,8 +9,8 @@
#define START_OF_FRAME 0xAB //0b1010_1011 - denotes the start of frame
#define MAX_GENERIC_DATA_LEN (180) //Max 180B
#define MAX_CONTROL_DATA_LEN (1 << 5) // Max 32B
#define MAX_GENERIC_DATA_LEN (1 << 16) //Max 65.5KiB
#define MAX_CONTROL_DATA_LEN (1 << 8) // Max 256B
//Flags
#define FLAG_FRAG 0x8 //0b1000 //this fragmented frame is part of a larger frame
@@ -24,6 +24,7 @@
#define IS_CONTROL_FRAME(x) (((x) & 0x80) != 0)
#define CONTROL_FRAME_OVERHEAD 9
#define GENERIC_FRAME_OVERHEAD 12
#define CONTROL_FRAME_TYPE 0x80 //if the frame type MSB is set to 1, use the control frame
//Types (total 2^4 = 16 different types)
@@ -45,10 +46,10 @@ typedef struct _control_frame{
uint8_t receiver_id; //receiver board id
uint16_t seq_num; //sequence number to differentiate frames being sent from sender to receiver
uint8_t type_flag; //(type << 4) | flag - both are 4 bits
uint8_t data_len; //Data Length (max 32B)
uint16_t data_len; //Data Length (max 256B)
uint8_t data[MAX_CONTROL_DATA_LEN]; //Variable Length of Data
uint16_t crc_16; //CRC-16
} control_frame; //this will have a max size of 9 + 32B = 41B
} control_frame; //this will have a max size of 9 + 256B = 265B
typedef struct _data_link_frame{
uint8_t preamble; //Start of Frame
@@ -60,39 +61,17 @@ typedef struct _data_link_frame{
uint16_t data_len; //Data Length (max 178B)
uint8_t data[MAX_GENERIC_DATA_LEN]; //Variable Length of Data
uint16_t crc_16; //CRC-16
} data_link_frame; //this will have a max size of 12 + 180 B = 192B
} data_link_frame; //this will have a max size of ~65.5KiB
#pragma pack(pop)
using Frame = std::variant<control_frame, data_link_frame>;
//defining a comparison operation for comparing two frames -- not tested
struct FrameCompare {
bool operator()(const Frame& a, const Frame& b) const {
auto msb_set = [](uint8_t type_flag) {
return (type_flag & 0x80) != 0; // 0x80 == 1000 0000
};
auto get_type_flag = [](const Frame& pkt) -> uint8_t {
return std::visit([](auto&& p) -> uint8_t {
return p.type_flag;
}, pkt);
};
uint8_t type_flag_a = get_type_flag(a);
uint8_t type_flag_b = get_type_flag(b);
bool a_msb = msb_set(type_flag_a);
bool b_msb = msb_set(type_flag_b);
if (a_msb != b_msb) {
return !a_msb; // Frame with MSB set (true) should come first
}
// Tie-breaker: use seq_num if MSB is the same
return std::visit([](auto&& p1, auto&& p2) {
return p1.seq_num > p2.seq_num; // smaller seq_num = higher priority (older)
}, a, b);
}
};
typedef struct _header{
uint8_t preamble; //Start of Frame
uint8_t sender_id; //sender board id
uint8_t receiver_id; //receiver board id
uint16_t seq_num; //sequence number to differentiate frames being sent from sender to receiver
uint8_t type_flag; //(type << 4) | flag - both are 4 bits
uint16_t frag_info; //(total_frag_num << 8) | frag_num - total_frag_num denotes the total number of fragmented frames to expect for this sequence number(?) and frag_num denotes the fragment frame num
uint16_t data_len; //Data Length (max 178B)
uint16_t crc_16; //CRC-16
} frame_header;
#endif //DATA_LINK