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Link Layer Frame Send Scheduler, Internal RX Polling, Framework for Generic Frames + Fragmentation

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Justin Chow
2025-12-14 02:51:33 -05:00
committed by Johnathon Slightham
parent 9068ff72c4
commit 89a4c03f75
24 changed files with 3735 additions and 818 deletions
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components/dataLink/README.md
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# Data Link Layer
This component represents the data link layer. It will handle board to board communication (abstracting away the RMT specific details of transmitting physical raw bits over wires).
@@ -8,14 +10,27 @@ See `./include/Frames.h` for frame definitions.
There will be two types of frames: Control and Generic.
Control frames will contain all control information (eg. Spinning a DC motor, moving a servo to a particular angle, sensor information). These frames will have a limit of 32B of data size with a total packet size of 41B. These frames will not be fragmented.
Control frames will contain all control information (eg. Spinning a DC motor, moving a servo to a particular angle, sensor information). These frames will have a limit of 256B of data size with a total packet size of 41B. These frames will not be fragmented.
Generic frames will contain all other information. They will have a max data size of 8KiB with a total packet size of 8206B (8.013672 KiB). These frames can be fragmented.
Generic frames will contain all other information. They will have a max data size of 16MiB if fragmented (max 2**16 fragments). Each fragment will still maintain a max 256B data size.
To differentiate between the two frames, the `type` field in both frames will be compared against. If the MSB is set to 1, it will be determined to be a control packet.
## Routing Information Protocol (RIP) Table
See `./include/Tables.h` for table definitions.
See `./include/Tables.h` for table definitions. See `DataLinkRIP.cpp` for function definitions.
It handles all known (advertised) boards on the same network of ESP32-S3 boards. It will broadcast its stored routing table to its neighbours roughly every 30 seconds or upon receiving a routing table from its neighbours. All routes on a routing table will expire after 180 seconds, unless refreshed/updated/re-advertised by that respective board. The routing table itself will be used to route frames using the path with the least number of hops (known locally).
## Frame Management
See `DataLinkFrames.cpp` for more information.
It handles generic frame fragmentation, user handling of receiving received frames (stored in a queue, per channel), and a thread to handle polling the available channels for receiving.
### Send Frames Scheduler
See `DataLinkScheduler.cpp` for more information.
It handles all TX frames passed from the user and schedules them to be sent. The frames are stored in a priority queue (per channel), where Control frames has a higher priority than Generic frames (generally). The actual scheduler algorithm can be found in `Scheduler.h`.
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