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Reduce DataLink latency

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This commit is contained in:
Johnathon Slightham
2026-01-27 22:16:24 -05:00
committed by Johnathon Slightham
parent f54063aa8c
commit c14c82ce9c
25 changed files with 801 additions and 757 deletions
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8
components/dataLink/include/Frames.h
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@@ -46,7 +46,7 @@ enum class FrameType : uint8_t {
DISTANCE_SENSOR_TYPE = 0xA0, //0b1010_0000
SERVO_TYPE = 0xC0, //0b1100_0000
MISC_CONTROL_TYPE = 0xD0, //0b1101_0000
//Generic Frames
MISC_GENERIC_TYPE = 0x00, //0b0000_0000
MISC_UDP_GENERIC_TYPE = 0x10, // 0b0001_0000 - Same as MISC_GENERIC_TYPE except no ACK frames will be expected
@@ -98,7 +98,7 @@ typedef struct _header{
using Frame = std::variant<ControlFrame, GenericFrame>;
ControlFrame make_control_frame_from_header(const FrameHeader& header);
ControlFrame make_control_frame_from_header(const FrameHeader& header);
GenericFrame make_generic_frame_from_header(const FrameHeader& header);
@@ -108,9 +108,9 @@ typedef struct _fragment_metadata {
} FragmentMetadata;
typedef struct _receive_metadata{
uint8_t* data;
std::unique_ptr<std::vector<uint8_t>> data;
uint16_t data_len;
FrameHeader header;
} Rx_Metadata;
#endif //DATA_LINK
#endif //DATA_LINK