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

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This commit is contained in:
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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43
components/dataLink/include/Frames.h
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@@ -1,13 +1,21 @@
#ifdef DATA_LINK
#pragma once
#include "freertos/FreeRTOS.h"
#include <variant>
#include <cstdint>
#include <vector>
#define BROADCAST_ADDR 0xFF //used for discovery (finding the board's neighbours). this will mean the board ids will have 2^8-2 = 254 unique IDs that could be assigned
#define PC_ADDR 0x0 //setting 0 to be the PC
#define START_OF_FRAME 0xAB //0b1010_1011 - denotes the start of frame
#define MAX_GENERIC_DATA_LEN (1 << 16) //Max 65.5KiB
#define MAX_CONTROL_DATA_LEN (1 << 8) // Max 256B
#define MAX_GENERIC_NUM_FRAG (1 << 16) // Max 2**16 Fragments can be made with a generic frame (total 2**16 *MAX_CONTROL_DATA_LEN B of data can be sent ~ 16 MiB)
#define MAX_FRAME_QUEUE_SIZE 15 //Size of the queue for the frame scheduler (per channel)
//Flags
#define FLAG_FRAG 0x8 //0b1000 //this fragmented frame is part of a larger frame
#define FLAG_DISCOVERY 0x4 //0b0100
@@ -20,7 +28,7 @@
#define IS_CONTROL_FRAME(x) (((x) & 0x80) != 0)
#define CONTROL_FRAME_OVERHEAD 9
#define GENERIC_FRAME_OVERHEAD 12
#define GENERIC_FRAME_OVERHEAD 14
#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)
@@ -45,7 +53,7 @@ typedef struct _control_frame{
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 + 256B = 265B
} ControlFrame; //this will have a max size of 9 + 256B = 265B
typedef struct _data_link_frame{
uint8_t preamble; //Start of Frame
@@ -53,11 +61,12 @@ typedef struct _data_link_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
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 total_frag; //total number of fragments for this sequence
uint16_t frag_num; //current fragment number
uint16_t data_len; //Data Length (max 178B)
uint8_t data[MAX_GENERIC_DATA_LEN]; //Variable Length of Data
uint8_t data[MAX_CONTROL_DATA_LEN]; //Variable Length of Data
uint16_t crc_16; //CRC-16
} data_link_frame; //this will have a max size of ~65.5KiB
} GenericFrame; //this will have a max size of 14 + 2^8 B = 270 B
#pragma pack(pop)
typedef struct _header{
@@ -66,8 +75,26 @@ typedef struct _header{
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
uint32_t frag_info; //(total_frag_num << 16) | 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;
} FrameHeader;
using Frame = std::variant<ControlFrame, GenericFrame>;
ControlFrame make_control_frame_from_header(const FrameHeader& header);
GenericFrame make_generic_frame_from_header(const FrameHeader& header);
typedef struct _fragment_metadata {
std::vector<GenericFrame> fragments;
uint16_t num_fragments_rx;
} FragmentMetadata;
typedef struct _receive_metadata{
uint8_t* data;
uint16_t data_len;
FrameHeader header;
} Rx_Metadata;
#endif //DATA_LINK