dev: enable auto linklayer start

.gitignore

@@ -54,4 +54,7 @@ dkms.conf
 
 # MacOS .DS_Store file
 **/.DS_Store
-**/._.DS_Store
+**/._.DS_Store
+
+# Ignore handout files
+handout/

Makefile

@@ -1,10 +1,14 @@
 DIR := $(shell pwd)
 
 compile_test:
+	cd $(DIR)/df_datalink_sp/bsp && make all
 	cd $(DIR)/df_datalink_sp/build && make all
+	cd $(DIR)/df_datalink_ge/bsp && make all
 	cd $(DIR)/df_datalink_ge/build && make all
 
 clean:
+	cd $(DIR)/df_datalink_sp/bsp && make clean
 	cd $(DIR)/df_datalink_sp/build && make clean
+	cd $(DIR)/df_datalink_ge/bsp && make clean
 	cd $(DIR)/df_datalink_ge/build && make clean
 .PHONY: clean compile_test

df_datalink_ge/build/src/dev_profile/subdir.mk

@@ -2,28 +2,28 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
 ../src/dev_profile/global_timer_profile.c \
 ../src/dev_profile/intc_profile.c \
-../src/dev_profile/timer_profile.c 
+../src/dev_profile/timer_profile.c
 
 OBJS += \
 ./src/dev_profile/global_timer_profile.o \
 ./src/dev_profile/intc_profile.o \
-./src/dev_profile/timer_profile.o 
+./src/dev_profile/timer_profile.o
 
 C_DEPS += \
 ./src/dev_profile/global_timer_profile.d \
 ./src/dev_profile/intc_profile.d \
-./src/dev_profile/timer_profile.d 
+./src/dev_profile/timer_profile.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/dev_profile/%.o: ../src/dev_profile/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_ge/build/src/mpc/subdir.mk

@@ -20,7 +20,7 @@ C_DEPS += \
 src/systembus/%.o: ../src/systembus/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_ge/build/src/networking/link_layer/geometry/subdir.mk

@@ -2,28 +2,28 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
 ../src/networking/link_layer/geometry/coord.c \
 ../src/networking/link_layer/geometry/eulerangles.c \
-../src/networking/link_layer/geometry/quaternion.c 
+../src/networking/link_layer/geometry/quaternion.c
 
 OBJS += \
 ./src/networking/link_layer/geometry/coord.o \
 ./src/networking/link_layer/geometry/eulerangles.o \
-./src/networking/link_layer/geometry/quaternion.o 
+./src/networking/link_layer/geometry/quaternion.o
 
 C_DEPS += \
 ./src/networking/link_layer/geometry/coord.d \
 ./src/networking/link_layer/geometry/eulerangles.d \
-./src/networking/link_layer/geometry/quaternion.d 
+./src/networking/link_layer/geometry/quaternion.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/networking/link_layer/geometry/%.o: ../src/networking/link_layer/geometry/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_ge/build/src/networking/link_layer/subdir.mk

@@ -2,7 +2,7 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
 ../src/networking/link_layer/framing.c \
 ../src/networking/link_layer/link_layer.c \
@@ -11,7 +11,7 @@ C_SRCS += \
 ../src/networking/link_layer/scan.c \
 ../src/networking/link_layer/schdevent.c \
 ../src/networking/link_layer/service.c \
-../src/networking/link_layer/time_sync.c 
+../src/networking/link_layer/time_sync.c
 
 OBJS += \
 ./src/networking/link_layer/framing.o \
@@ -21,7 +21,7 @@ OBJS += \
 ./src/networking/link_layer/scan.o \
 ./src/networking/link_layer/schdevent.o \
 ./src/networking/link_layer/service.o \
-./src/networking/link_layer/time_sync.o 
+./src/networking/link_layer/time_sync.o
 
 C_DEPS += \
 ./src/networking/link_layer/framing.d \
@@ -31,14 +31,14 @@ C_DEPS += \
 ./src/networking/link_layer/scan.d \
 ./src/networking/link_layer/schdevent.d \
 ./src/networking/link_layer/service.d \
-./src/networking/link_layer/time_sync.d 
+./src/networking/link_layer/time_sync.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/networking/link_layer/%.o: ../src/networking/link_layer/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_ge/build/src/networking/phy_layer/subdir.mk

@@ -2,25 +2,25 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
 ../src/networking/phy_layer/phy_antenna.c \
-../src/networking/phy_layer/phy_layer.c 
+../src/networking/phy_layer/phy_layer.c
 
 OBJS += \
 ./src/networking/phy_layer/phy_antenna.o \
-./src/networking/phy_layer/phy_layer.o 
+./src/networking/phy_layer/phy_layer.o
 
 C_DEPS += \
 ./src/networking/phy_layer/phy_antenna.d \
-./src/networking/phy_layer/phy_layer.d 
+./src/networking/phy_layer/phy_layer.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/networking/phy_layer/%.o: ../src/networking/phy_layer/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_ge/build/src/subdir.mk

@@ -2,28 +2,28 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 LD_SRCS += \
-../src/lscript.ld 
+../src/lscript.ld
 
 C_SRCS += \
 ../src/main.c \
-../src/system_monitor.c 
+../src/system_monitor.c
 
 OBJS += \
 ./src/main.o \
-./src/system_monitor.o 
+./src/system_monitor.o
 
 C_DEPS += \
 ./src/main.d \
-./src/system_monitor.d 
+./src/system_monitor.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/%.o: ../src/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_ge/build/src/time_ctrl/subdir.mk

@@ -2,22 +2,22 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
-../src/time_ctrl/time_ctrl.c 
+../src/time_ctrl/time_ctrl.c
 
 OBJS += \
-./src/time_ctrl/time_ctrl.o 
+./src/time_ctrl/time_ctrl.o
 
 C_DEPS += \
-./src/time_ctrl/time_ctrl.d 
+./src/time_ctrl/time_ctrl.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/time_ctrl/%.o: ../src/time_ctrl/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_ge/build/src/util/subdir.mk

@@ -2,14 +2,14 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
 ../src/util/circ_queue.c \
 ../src/util/clist.c \
 ../src/util/common.c \
 ../src/util/crc.c \
 ../src/util/list.c \
-../src/util/util.c 
+../src/util/util.c
 
 OBJS += \
 ./src/util/circ_queue.o \
@@ -17,7 +17,7 @@ OBJS += \
 ./src/util/common.o \
 ./src/util/crc.o \
 ./src/util/list.o \
-./src/util/util.o 
+./src/util/util.o
 
 C_DEPS += \
 ./src/util/circ_queue.d \
@@ -25,14 +25,14 @@ C_DEPS += \
 ./src/util/common.d \
 ./src/util/crc.d \
 ./src/util/list.d \
-./src/util/util.d 
+./src/util/util.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/util/%.o: ../src/util/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_ge/src/config/app_config.h

@@ -39,7 +39,7 @@
 #define APP_EMULATE_DATA
 #define DATALINK_ENABLE_AUTORECONNECT
 #define DATALINK_ENABLE_AUTOTIMESYNC
-//#define DATALINK_ENABLE_BERTEST
+#define DATALINK_ENABLE_BERTEST	10
 
 
 /************ Hardware Configs ************/

df_datalink_ge/src/mpc/mpc.c

@@ -278,7 +278,7 @@ static int32_t Mpc_SystemConfig(MPC *instPtr, uint8_t *msg)
  * @param   InstPtr A double pointer to MPC instance.
  * @param   config  A pointer to MPC configurations.
  *
- * @return  None.
+ * @return  Error code.
  *
  ******************************************************************************/
 int32_t Mpc_Init(MPC **instPtr, MPC_CONFIG *config)
@@ -290,7 +290,7 @@ int32_t Mpc_Init(MPC **instPtr, MPC_CONFIG *config)
 	(*instPtr) = malloc(sizeof(MPC));
 	if ((*instPtr) == NULL)
 	{
-		return FAILURE;
+		return ENOMEM;
 	}
 	(*instPtr)->rxQueue = NULL;
 	(*instPtr)->txQueue = NULL;
@@ -307,14 +307,15 @@ int32_t Mpc_Init(MPC **instPtr, MPC_CONFIG *config)
 	bramConfigPtr = XBram_LookupConfig(config->bramId);
 	if (bramConfigPtr == NULL)
 	{
-		Status = EDCONF;
+		Mpc_Destroy(*instPtr);
-		goto mpc_init_error;
+		return EDCONF;
 	}
 	Status = XBram_CfgInitialize(&mpcBram, bramConfigPtr,
 								 bramConfigPtr->CtrlBaseAddress);
 	if (Status != SUCCESS)
 	{
-		goto mpc_init_error;
+		Mpc_Destroy(*instPtr);
+		return Status;
 	}
 	/*
 	 * Execute the BRAM driver selftest.
@@ -322,7 +323,8 @@ int32_t Mpc_Init(MPC **instPtr, MPC_CONFIG *config)
 	Status = XBram_SelfTest(&mpcBram, 0);
 	if (Status != SUCCESS)
 	{
-		goto mpc_init_error;
+		Mpc_Destroy(*instPtr);
+		return Status;
 	}
 
 	mpcHwConfig.txBuffAddr = mpcBram.Config.MemBaseAddress;
@@ -332,32 +334,47 @@ int32_t Mpc_Init(MPC **instPtr, MPC_CONFIG *config)
 	Status = MpcHw_Init(&((*instPtr)->mpchwDesc), &mpcHwConfig);
 	if (Status != SUCCESS)
 	{
-		Status = ENOMEM;
+		Mpc_Destroy(*instPtr);
-		goto mpc_init_error;
+		return ENOMEM;
 	}
 	if (CircQueueCreate(&((*instPtr)->txQueue), (*instPtr)->config.txQueueMax) == false)
 	{
-		Status = ENOMEM;
+		Mpc_Destroy(*instPtr);
-		goto mpc_init_error;
+		return ENOMEM;
 	}
 	if (CircQueueCreate(&((*instPtr)->rxQueue), (*instPtr)->config.rxQueueMax) == false)
 	{
-		Status = ENOMEM;
+		Mpc_Destroy(*instPtr);
-		goto mpc_init_error;
+		return ENOMEM;
 	}
 	(*instPtr)->isEnable = false; // nothing received.
 	(*instPtr)->isRxDone = false; // nothing received.
 	(*instPtr)->isTxDone = true;  // nothing to be sent.
 	return SUCCESS;
-
-mpc_init_error:
-	free((*instPtr)->mpchwDesc);
-	free((*instPtr)->txQueue);
-	free((*instPtr)->rxQueue);
-	free(*instPtr);
-	return Status;
 }
 
+/*****************************************************************************/
+/**
+ * @brief   Destroy MPC instance.
+ *
+ * @param   InstPtr A pointer to MPC instance.
+ *
+ * @return  None.
+ *
+ ******************************************************************************/
+void Mpc_Destroy(MPC *instPtr)
+{
+	if (instPtr == NULL)
+	{
+		return;
+	}
+	free(instPtr->mpchwDesc);
+	free(instPtr->txQueue);
+	free(instPtr->rxQueue);
+	free(instPtr);
+}
+
+
 /*****************************************************************************/
 /**
  * @brief	Generate a remote test response message.
@@ -534,17 +551,16 @@ int32_t Mpc_RxIrqHandler(MPC *instPtr)
 	Status = MpcHw_Recv(instPtr->mpchwDesc, mpcReq);
 	if (Status != SUCCESS)
 	{
-		goto recv_error;
+		DBG_ERROR("SystemBus::RX error!\n");
+		free(mpcReq);
+		return Status;
 	}
 	if (CircQueuePush(instPtr->rxQueue, (void *)mpcReq) == false)
 	{
 		DBG_ERROR("SystemBus::RX Queue overflowed!\n");
-		Status = EQUEUE;
+		free(mpcReq);
-		goto recv_error;
+		return EQUEUE;
 	}
 	instPtr->isRxDone = false; // another reception is undergoing.
 	return SUCCESS;
-recv_error:
-	free(mpcReq);
-	return Status;
 }

df_datalink_ge/src/mpc/mpc.h

@@ -52,6 +52,7 @@ typedef struct
 /************************** Function Prototypes ******************************/
 
 int32_t Mpc_Init(MPC **instPtr, MPC_CONFIG *config);
+void Mpc_Destroy(MPC *instPtr);
 
 int32_t Mpc_HandleCmd(MPC *instPtr);
 int32_t Mpc_PendRemoteTest(MPC *instPtr);

df_datalink_sp/build/src/dev_profile/subdir.mk

@@ -2,14 +2,14 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
 ../src/dev_profile/ad9361_profile.c \
 ../src/dev_profile/ad9361_reg_profile.c \
 ../src/dev_profile/global_timer_profile.c \
 ../src/dev_profile/hmc7044_profile.c \
 ../src/dev_profile/intc_profile.c \
-../src/dev_profile/timer_profile.c 
+../src/dev_profile/timer_profile.c
 
 OBJS += \
 ./src/dev_profile/ad9361_profile.o \
@@ -17,7 +17,7 @@ OBJS += \
 ./src/dev_profile/global_timer_profile.o \
 ./src/dev_profile/hmc7044_profile.o \
 ./src/dev_profile/intc_profile.o \
-./src/dev_profile/timer_profile.o 
+./src/dev_profile/timer_profile.o
 
 C_DEPS += \
 ./src/dev_profile/ad9361_profile.d \
@@ -25,14 +25,14 @@ C_DEPS += \
 ./src/dev_profile/global_timer_profile.d \
 ./src/dev_profile/hmc7044_profile.d \
 ./src/dev_profile/intc_profile.d \
-./src/dev_profile/timer_profile.d 
+./src/dev_profile/timer_profile.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/dev_profile/%.o: ../src/dev_profile/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_sp/build/src/networking/link_layer/geometry/subdir.mk

@@ -2,28 +2,28 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
 ../src/networking/link_layer/geometry/coord.c \
 ../src/networking/link_layer/geometry/eulerangles.c \
-../src/networking/link_layer/geometry/quaternion.c 
+../src/networking/link_layer/geometry/quaternion.c
 
 OBJS += \
 ./src/networking/link_layer/geometry/coord.o \
 ./src/networking/link_layer/geometry/eulerangles.o \
-./src/networking/link_layer/geometry/quaternion.o 
+./src/networking/link_layer/geometry/quaternion.o
 
 C_DEPS += \
 ./src/networking/link_layer/geometry/coord.d \
 ./src/networking/link_layer/geometry/eulerangles.d \
-./src/networking/link_layer/geometry/quaternion.d 
+./src/networking/link_layer/geometry/quaternion.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/networking/link_layer/geometry/%.o: ../src/networking/link_layer/geometry/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_sp/build/src/networking/link_layer/subdir.mk

@@ -2,7 +2,7 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
 ../src/networking/link_layer/framing.c \
 ../src/networking/link_layer/link_layer.c \
@@ -11,7 +11,7 @@ C_SRCS += \
 ../src/networking/link_layer/scan.c \
 ../src/networking/link_layer/schdevent.c \
 ../src/networking/link_layer/service.c \
-../src/networking/link_layer/time_sync.c 
+../src/networking/link_layer/time_sync.c
 
 OBJS += \
 ./src/networking/link_layer/framing.o \
@@ -21,7 +21,7 @@ OBJS += \
 ./src/networking/link_layer/scan.o \
 ./src/networking/link_layer/schdevent.o \
 ./src/networking/link_layer/service.o \
-./src/networking/link_layer/time_sync.o 
+./src/networking/link_layer/time_sync.o
 
 C_DEPS += \
 ./src/networking/link_layer/framing.d \
@@ -31,14 +31,14 @@ C_DEPS += \
 ./src/networking/link_layer/scan.d \
 ./src/networking/link_layer/schdevent.d \
 ./src/networking/link_layer/service.d \
-./src/networking/link_layer/time_sync.d 
+./src/networking/link_layer/time_sync.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/networking/link_layer/%.o: ../src/networking/link_layer/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_sp/build/src/networking/phy_layer/subdir.mk

@@ -2,25 +2,25 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
 ../src/networking/phy_layer/phy_antenna.c \
-../src/networking/phy_layer/phy_layer.c 
+../src/networking/phy_layer/phy_layer.c
 
 OBJS += \
 ./src/networking/phy_layer/phy_antenna.o \
-./src/networking/phy_layer/phy_layer.o 
+./src/networking/phy_layer/phy_layer.o
 
 C_DEPS += \
 ./src/networking/phy_layer/phy_antenna.d \
-./src/networking/phy_layer/phy_layer.d 
+./src/networking/phy_layer/phy_layer.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/networking/phy_layer/%.o: ../src/networking/phy_layer/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_sp/build/src/subdir.mk

@@ -26,7 +26,7 @@ C_DEPS += \
 src/%.o: ../src/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_sp/build/src/systembus/subdir.mk

@@ -2,25 +2,25 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
 ../src/systembus/systembus.c \
-../src/systembus/systembus_uart.c 
+../src/systembus/systembus_uart.c
 
 OBJS += \
 ./src/systembus/systembus.o \
-./src/systembus/systembus_uart.o 
+./src/systembus/systembus_uart.o
 
 C_DEPS += \
 ./src/systembus/systembus.d \
-./src/systembus/systembus_uart.d 
+./src/systembus/systembus_uart.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/systembus/%.o: ../src/systembus/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_sp/build/src/time_ctrl/subdir.mk

@@ -2,22 +2,22 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
-../src/time_ctrl/time_ctrl.c 
+../src/time_ctrl/time_ctrl.c
 
 OBJS += \
-./src/time_ctrl/time_ctrl.o 
+./src/time_ctrl/time_ctrl.o
 
 C_DEPS += \
-./src/time_ctrl/time_ctrl.d 
+./src/time_ctrl/time_ctrl.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/time_ctrl/%.o: ../src/time_ctrl/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	arm-none-eabi-gcc -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	arm-none-eabi-gcc -std=c17 -pedantic -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_sp/build/src/util/subdir.mk

@@ -2,14 +2,14 @@
 # Automatically-generated file. Do not edit!
 ################################################################################
 
-# Add inputs and outputs from these tool invocations to the build variables 
+# Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
 ../src/util/circ_queue.c \
 ../src/util/clist.c \
 ../src/util/common.c \
 ../src/util/crc.c \
 ../src/util/list.c \
-../src/util/util.c 
+../src/util/util.c
 
 OBJS += \
 ./src/util/circ_queue.o \
@@ -17,7 +17,7 @@ OBJS += \
 ./src/util/common.o \
 ./src/util/crc.o \
 ./src/util/list.o \
-./src/util/util.o 
+./src/util/util.o
 
 C_DEPS += \
 ./src/util/circ_queue.d \
@@ -25,14 +25,14 @@ C_DEPS += \
 ./src/util/common.d \
 ./src/util/crc.d \
 ./src/util/list.d \
-./src/util/util.d 
+./src/util/util.d
 
 
 # Each subdirectory must supply rules for building sources it contributes
 src/util/%.o: ../src/util/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
+	$(CC) -std=c17 -pedantic -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -mcpu=cortex-a9 -mfpu=vfpv3 -mfloat-abi=hard -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
 	@echo 'Finished building: $<'
 	@echo ' '
 

df_datalink_sp/src/config/app_config.h

@@ -38,7 +38,7 @@
 
 #define DATALINK_ENABLE_AUTORECONNECT
 #define DATALINK_ENABLE_AUTOTIMESYNC
-// #define DATALINK_ENABLE_BERTEST
+#define DATALINK_ENABLE_BERTEST	10
 
 /************ Hardware Configs ************/
 #define CPU_CLK_HZ XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ

df_datalink_sp/src/hwconfig.c

@@ -34,9 +34,9 @@
 
 /************************** Function Prototypes ******************************/
 /*********************** Driver Instance Definitions **************************/
-static struct hmc7044_dev *hmc7044_inst;
+static struct hmc7044_dev *hmc7044_inst = NULL;
-static struct ad9361_reg_dev *ad9361_1_reg_inst;
+static struct ad9361_reg_dev *ad9361_1_reg_inst = NULL;
-static struct ad9361_reg_dev *ad9361_2_reg_inst;
+static struct ad9361_reg_dev *ad9361_2_reg_inst = NULL;
 // static struct ad9361_rf_phy *ad9361_phy;
 // static struct ad9361_rf_phy *ad9361_2_phy;
 

df_datalink_sp/src/hwconfig.h

@@ -13,7 +13,8 @@
  * Copyright(c) 2024 Beijing Institute of Technology.
  *
  ******************************************************************************/
-
+#ifndef HWCONFIG_H_
+#define HWCONFIG_H_
 /***************************** Include Files *********************************/
 // Standard
 #include <stdint.h>
@@ -29,4 +30,4 @@ int8_t Hardware_GetAD9361Temp_2(void);
 uint8_t Hardware_GetAD9361LockStatus(void);
 uint8_t Hardware_GetHMC7044LockStatus(void);
 
-
+#endif // HWCONFIG_H_

df_datalink_sp/src/main.c

@@ -72,20 +72,20 @@ struct callback_desc scutm_callback_desc = {
 
 L2_CONFIG linkConfig = {
 	.myType = L2_NODE_HEAD,
-	.clustId = 1,
+	.clustId = 1U,
-	.myId = 1,
+	.myId = 1U,
-	.headId = 1,
+	.headId = 1U,
-	.netScale = 2,
+	.netScale = 2U,
 	.phyInstPtr = NULL, // physical layer reference
 	.tmcInstPtr = NULL
 };
 
 // L2_CONFIG linkConfig = {
 // 	.myType = L2_NODE_MEMBER,
-// 	.clustId = 1,
+// 	.clustId = 1U,
-// 	.myId = 2,
+// 	.myId = 2U,
-// 	.headId = 1,
+// 	.headId = 1U,
-// 	.netScale = 2,
+// 	.netScale = 2U,
 // 	.phyInstPtr = NULL, // physical layer reference
 // 	.tmcInstPtr = NULL
 // };
@@ -106,21 +106,21 @@ static PHY_CONFIG phyConfig = {
 
 TMC_CONFIG tmcConfig = {
 	.baseAddr = TIME_CONTROLLER_BASEADDR,
-	.reset = 10
+	.reset = 10U
 };
 
 static SYSBUS_CONFIG sysbusConfig = {
 	.baseAddr = SYSBUS_BASE_ADDR,
-	.txQueueMax = 16,
+	.txQueueMax = 16U,
-	.rxQueueMax = 16
+	.rxQueueMax = 16U
 };
 /*********************** Driver Instance Definitions **************************/
-static struct irq_ctrl_desc *intcDescPtr; // General interrupt controller descriptor
+static struct irq_ctrl_desc *intcDescPtr = NULL; // General interrupt controller descriptor
-static struct timer_desc *logTmPtr;
+static struct timer_desc *logTmPtr = NULL;
-static SYSBUS *sysbusDescPtr;
+static SYSBUS *sysbusDescPtr = NULL;
-static PHY_INST *phyInstPtr;
+static PHY_INST *phyInstPtr = NULL;
 static TMC_INST *tmcInstPtr = NULL;
-L2_INST *linkInstPtr;
+L2_INST *linkInstPtr = NULL;
 
 
 /****************************************************************************/
@@ -482,7 +482,7 @@ int main(void)
 	DBG_PRINT("Physical started...\n");
 	Phy_Start(phyInstPtr);
 
-	// Linklayer_Start(linkInstPtr);
+	Linklayer_Start(linkInstPtr);
 
 	while (true)
 	{

df_datalink_sp/src/networking/link_layer/framing.c

@@ -165,7 +165,7 @@ bool L2_CrcCheck(uint8_t *dataBuff, uint32_t dataLen, L2_CRC_TYPE crcType)
 	ASSERT(dataBuff != NULL);
 	int32_t Status;
 	uint32_t crcVal;
-	crcVal = 0;
+	crcVal = 0U;
 	Status = L2_CrcGen(dataBuff, dataLen, crcType, &crcVal);
 	if (Status == SUCCESS)
 	{

df_datalink_sp/src/networking/link_layer/geometry/coord.c

@@ -75,6 +75,10 @@ COORD Coord_GetScalarMult(COORD a, double t)
 /** @brief Divides a coordinate vector by a real number. */
 void Coord_ScalarDiv(COORD *a, double t)
 {
+	if (t == 0.0) {
+		*a = COORD_NIL;
+		return;
+	}
 	a->x /= t;
 	a->y /= t;
 	a->z /= t;
@@ -83,6 +87,9 @@ void Coord_ScalarDiv(COORD *a, double t)
 /** @brief Divides a coordinate vector by a real number. */
 COORD Coord_GetScalarDiv(COORD a, double t)
 {
+	if (t == 0.0) {
+		return COORD_NIL;
+	}
 	COORD ret;
 	ret.x = a.x / t;
 	ret.y = a.y / t;

df_datalink_sp/src/networking/link_layer/geometry/eulerangles.c

@@ -69,9 +69,9 @@ EULERANGLES EulerAngles_GetScalarMult(EULERANGLES e, double f)
 /** @brief Normalize EulerAngles. */
 void EulerAngles_Normalize(EULERANGLES *e)
 {
-	e->alpha = fmod(e->alpha, 2 * EUL_PI);
+	e->alpha = fmod(e->alpha, 2.0 * EUL_PI);
-	e->beta = fmod(e->beta, 2 * EUL_PI);
+	e->beta = fmod(e->beta, 2.0 * EUL_PI);
-	e->gamma = fmod(e->gamma, 2 * EUL_PI);
+	e->gamma = fmod(e->gamma, 2.0 * EUL_PI);
 }
 
 /** @brief Normalize EulerAngles. */

df_datalink_sp/src/networking/link_layer/geometry/eulerangles.h

@@ -30,8 +30,8 @@
 
 #define EUL_PI 3.14159265358979323846
 
-#define DEG2RAD(d) ((EUL_PI / 180.0) * d)
+#define DEG2RAD(d) ((EUL_PI / 180.0) * (d))
-#define RAD2DEG(r) ((180.0 / EUL_PI) * r)
+#define RAD2DEG(r) ((180.0 / EUL_PI) * (r))
 
 /**
  * Orientations are represented by 3D double precision Tait-Bryan (Euler) tuples

df_datalink_sp/src/networking/link_layer/geometry/quaternion.c

@@ -91,6 +91,10 @@ QUATERNION Quaternion_GetScalarMult(QUATERNION a, double t)
 /** @brief Divides a quaternion by a real number. */
 void Quaternion_ScalarDiv(QUATERNION *q, double t)
 {
+	if (t == 0.0) {
+		*q = QUATERNION_NIL;
+		return;
+	}
 	q->s /= t;
 	q->i /= t;
 	q->j /= t;
@@ -190,6 +194,9 @@ inline double Quaternion_GetRotationAngle(QUATERNION q)
 /** @brief Get axis of quaternion. */
 COORD Quaternion_GetRotationAxis(QUATERNION q)
 {
+	if ((q.s > 1.0) || (q.s < -1.0)) {
+		return COORD_NIL;
+	}
 	double sin_theta_inv;
 	COORD ret;
 	sin_theta_inv = 1.0 / sin(acos(q.s));
@@ -202,6 +209,12 @@ COORD Quaternion_GetRotationAxis(QUATERNION q)
 /** @brief Get the axis and rotate angle of a unit Quaternion */
 void Quaternion_GetRotationAxisAndAngle(QUATERNION q, COORD *axis, double *angle)
 {
+	if ((q.s > 1.0) || (q.s < -1.0)) {
+		*axis = COORD_NIL;
+		*angle = NAN;
+		return;
+	}
+
 	double sin_theta_inv;
 	*angle = acos(q.s);
 
@@ -218,6 +231,11 @@ void Quaternion_GetRotationAxisAndAngle(QUATERNION q, COORD *axis, double *angle
 /** @brief Decompose the rotation on to 2 parts. */
 void Quaternion_GetSwingAndTwist(QUATERNION q, COORD axis, QUATERNION *swing, QUATERNION *twist)
 {
+	if ((swing == NULL) || (twist == NULL))
+	{
+		return;
+	}
+
 	double p;
 	COORD v;
 	v.x = q.i;
@@ -326,7 +344,7 @@ EULERANGLES Quaternion_ToEulerAngles(QUATERNION q, EULERANGLES_TYPE type)
 		if (mask1 || mask2)
 		{
 			ret.alpha = 0;
-			ret.gamma = (asinValue > 0) ? (2.0 * atan2(q.i, q.s)) : (-2.0 * atan2(q.i, q.s));
+			ret.gamma = (asinValue > 0.0) ? (2.0 * atan2(q.i, q.s)) : (-2.0 * atan2(q.i, q.s));
 		}
 		else
 		{
@@ -339,6 +357,7 @@ EULERANGLES Quaternion_ToEulerAngles(QUATERNION q, EULERANGLES_TYPE type)
 
 	default:
 		ret = EULERANGLES_NIL;
+		break;
 	}
 	return ret;
 }
@@ -428,7 +447,7 @@ QUATERNION Quaternion_RotationFromTo(COORD from, COORD to)
 QUATERNION Quaternion_Lerp(QUATERNION q1, QUATERNION q2, double t)
 {
 	QUATERNION ret;
-	Quaternion_ScalarMult(&q1, 1 - t);
+	Quaternion_ScalarMult(&q1, 1.0 - t);
 	Quaternion_ScalarMult(&q1, t);
 	ret = Quaternion_Add(q1, q2);
 	Quaternion_Normalize(&ret);

df_datalink_sp/src/networking/link_layer/geometry/quaternion.h

@@ -56,13 +56,13 @@ QUATERNION Quaternion_Add(QUATERNION q1, QUATERNION q2);
 void Quaternion_ScalarMult(QUATERNION *q, double t);
 
 /** @brief Multiplies a quaternion by a real number. */
-QUATERNION Quaternion_GetScalarMult(QUATERNION a, double t);
+QUATERNION Quaternion_GetScalarMult(QUATERNION q, double t);
 
 /** @brief Divides a quaternion by a real number. */
 void Quaternion_ScalarDiv(QUATERNION *q, double t);
 
 /** @brief Divides a quaternion by a real number. */
-QUATERNION Quaternion_GetScalarDiv(QUATERNION a, double t);
+QUATERNION Quaternion_GetScalarDiv(QUATERNION q, double t);
 
 /** @brief Multiplies two quaternions. */
 QUATERNION Quaternion_Mult(QUATERNION q1, QUATERNION q2);

df_datalink_sp/src/networking/link_layer/link_layer.c

@@ -39,7 +39,7 @@
 /***************** Macros (Inline Functions) Definitions *********************/
 /**************************** Type Definitions *******************************/
 /************************** Function Prototypes ******************************/
-static void L2_RcdShift(L2_RCD *rcd, int32_t netxVal);
+static void L2_RcdShift(L2_RCD *rcd, uint32_t netxVal);
 static void UpdateMainSate(L2_INST *instPtr, L2_NODE_STATE newSate);
 static void L2_SetSlotNum(L2_INST *instPtr, uint32_t newSlotNum);
 static void L2_SetFrameNum(L2_INST *instPtr, uint32_t newFrameNum);
@@ -50,7 +50,7 @@ static void L2_FrameStateUpdate(L2_INST *instPtr);
 /**
  * @brief   Shift L2 status record.(newval->next->curr->last)
  */
-inline void L2_RcdShift(L2_RCD *rcd, int32_t netxVal)
+inline void L2_RcdShift(L2_RCD *rcd, uint32_t netxVal)
 {
 	ASSERT(rcd != NULL);
 	rcd->last = rcd->curr;
@@ -132,6 +132,7 @@ static void L2_FrameStateUpdate(L2_INST *instPtr)
 	PHY_INST *phyRef = instPtr->config.phyInstPtr;
 	bool isValid;
 	L2_FRAME_TYPE recvType = L2_GetLastOptFrameType(instPtr);
+	isValid = false;
 	// Update frame state.
 	if (Phy_IsFrameValid(phyRef) == false)
 	{
@@ -162,7 +163,7 @@ static void L2_FrameStateUpdate(L2_INST *instPtr)
 #ifndef DATALINK_ENABLE_BERTEST
 			isValid = L2_CrcCheck(instPtr->recvPktData, L2_SVC_PACK_LEN, L2_CRC16_1021);
 #else
-			isValid = true;
+			isValid = L2_Service_PktCheck(instPtr, instPtr->recvPktData);
 #endif
 			instPtr->log.svcRecvCnt++;
 			instPtr->log.svcCorrectCnt = isValid ? instPtr->log.svcCorrectCnt + 1 : instPtr->log.svcCorrectCnt;
@@ -419,10 +420,14 @@ L1_FRAME_TYPE L2_L2frame2L1frame(L2_FRAME_TYPE l2Frame)
 	case L2_SCAN_FRAME:
 		return L1_10KBPS_10MS_FRAME;
 	case L2_ADV_FRAME:
-		return L1_10KBPS_20MS_FRAME;
 	case L2_CFM_FRAME:
+		return L1_10KBPS_20MS_FRAME;
 	case L2_SVC_FRAME:
+#if DATALINK_ENABLE_BERTEST == 10
+		return L1_10KBPS_20MS_FRAME;
+#else
 		return L1_40KBPS_20MS_FRAME;
+#endif
 	default:
 		return L1_NONE_FRAME;
 	}
@@ -470,6 +475,12 @@ int32_t Linklayer_Init(L2_INST **instPtr, const L2_CONFIG *config)
 
 	// Clear random content
 	memset(*instPtr, 0x00, sizeof(L2_INST));
+	(*instPtr)->sendPktData = NULL;
+	(*instPtr)->recvPktData = NULL;
+	(*instPtr)->schdEventPool = NULL;
+	(*instPtr)->nodeList = NULL;
+	(*instPtr)->scanFSM = NULL;
+	(*instPtr)->serviceFSM = NULL;
 	memcpy(&((*instPtr)->config), config, sizeof(L2_CONFIG));
 
 	// Packet buffer
@@ -477,15 +488,15 @@ int32_t Linklayer_Init(L2_INST **instPtr, const L2_CONFIG *config)
 	if ((*instPtr)->sendPktData == NULL)
 	{
 		DBG_ERROR("Allocate memory for sendPktData failed.\n");
-		Status = ENOMEM;
+		Linklayer_Destroy(*instPtr);
-		goto init_error;
+		return ENOMEM;
 	}
 	(*instPtr)->recvPktData = calloc(L2_PACK_LEN_MAX / sizeof(uint64_t), sizeof(uint64_t));
 	if ((*instPtr)->recvPktData == NULL)
 	{
 		DBG_ERROR("Allocate memory for recvPktData failed.\n");
-		Status = ENOMEM;
+		Linklayer_Destroy(*instPtr);
-		goto init_error;
+		return ENOMEM;
 	}
 	// Reset basic info
 	(*instPtr)->netStartTime = NET_START_TIME_INFTY;
@@ -528,32 +539,33 @@ int32_t Linklayer_Init(L2_INST **instPtr, const L2_CONFIG *config)
 	if (Status != SUCCESS)
 	{
 		DBG_ERROR("L2_CreateSchedEventPool runs failed, with error code: %" PRId32 ".\n", Status);
-		goto init_error;
+		Linklayer_Destroy(*instPtr);
+		return Status;
 	}
 
 	Status = L2_NodeList_Init(&((*instPtr)->nodeList));
 	if (Status != SUCCESS)
 	{
 		DBG_ERROR("NodeList_Init runs failed, with error code: %" PRId32 ".\n", Status);
-		goto init_error;
+		Linklayer_Destroy(*instPtr);
+		return Status;
 	}
 
 	Status = L2_Scan_Init(&((*instPtr)->scanFSM));
 	if (Status != SUCCESS)
 	{
-		goto init_error;
+		Linklayer_Destroy(*instPtr);
+		return Status;
 	}
 
 	Status = L2_Service_Init(&((*instPtr)->serviceFSM));
 	if (Status != SUCCESS)
 	{
-		goto init_error;
+		Linklayer_Destroy(*instPtr);
+		return Status;
 	}
 
 	return SUCCESS;
-init_error:
-	Linklayer_Destroy(*instPtr);
-	return Status;
 }
 
 /*****************************************************************************/
@@ -637,7 +649,10 @@ int32_t Linklayer_Reconfig(L2_INST *instPtr, const L2_CONFIG *config)
  ******************************************************************************/
 void Linklayer_Destroy(L2_INST *instPtr)
 {
-	ASSERT(instPtr != NULL);
+	if (instPtr == NULL)
+	{
+		return;
+	}
 	free(instPtr->sendPktData);
 	free(instPtr->recvPktData);
 	// Destroy FSMs and nodeList

df_datalink_sp/src/networking/link_layer/link_layer.h

@@ -29,7 +29,7 @@
 #include "../../system_monitor.h"
 /************************** Constant Definitions *****************************/
 /***************** Macros (Inline Functions) Definitions *********************/
-#define AssertL2Event(instPtr, event) Linklayer_EventHandler(instPtr, event)
+#define AssertL2Event(instPtr, event) (Linklayer_EventHandler((instPtr), (event)))
 /**************************** Type Definitions *******************************/
 
 /**
@@ -173,6 +173,7 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *schedEntry)
 int32_t L2_Service_Init(L2_SVC_FSM **svcFSMPtr);
 void L2_Service_Reset(L2_SVC_FSM *svcFSMPtr);
 void L2_Service_Destroy(L2_SVC_FSM *svcFSMPtr);
+bool L2_Service_PktCheck(L2_INST *instPtr, uint8_t *msg);
 int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg);
 int32_t L2_Service_Proc(L2_INST *instPtr);
 int32_t L2_Service_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *schedEntry);

df_datalink_sp/src/networking/link_layer/link_layer_types.h

@@ -145,7 +145,7 @@ typedef enum
 typedef struct
 {
 	L2_EVENT_TYPE event; ///< event type
-	void *msg;			 ///< event message
+	void *msg;			 ///< event message (MUST be a heap item)
 } L2_EVENT;
 
 /**

df_datalink_sp/src/networking/link_layer/msg_def.h

@@ -26,7 +26,7 @@
 #define L2_PACK_LEN_MAX 512 // bytes
 
 #define L2_ADV_PACK_LEN 28  // bytes
-#define L2_CMF_PACK_LEN 268 // bytes
+#define L2_CMF_PACK_LEN 28  // bytes
 #define L2_SVC_PACK_LEN 268 // bytes
 
 // Common structure:
@@ -81,17 +81,7 @@
 #define L2_MSG_CFM_SRC_POSY_LEN 4
 #define L2_MSG_CFM_SRC_POSZ 16
 #define L2_MSG_CFM_SRC_POSZ_LEN 4
-#define L2_MSG_CFM_SRC_SPEEDX 20
+#define L2_MSG_CFM_CRC 26
-#define L2_MSG_CFM_SRC_SPEEDX_LEN 4
-#define L2_MSG_CFM_SRC_SPEEDY 24
-#define L2_MSG_CFM_SRC_SPEEDY_LEN 4
-#define L2_MSG_CFM_SRC_SPEEDZ 28
-#define L2_MSG_CFM_SRC_SPEEDZ_LEN 4
-#define L2_MSG_CFM_PAYLOAD_ID 32
-#define L2_MSG_CFM_PAYLOAD_ID_LEN 4
-#define L2_MSG_CFM_PAYLOAD 36
-#define L2_MSG_CFM_PAYLOAD_LEN 230
-#define L2_MSG_CFM_CRC 266
 #define L2_MSG_CFM_CRC_LEN 2
 
 // service payload structure:
@@ -127,4 +117,4 @@
 
 /** @} LinkLayer_MSG_Constants*/
 
-/** @} LinkLayer*/
+/** @} LinkLayer*/

df_datalink_sp/src/networking/link_layer/node_list.c

@@ -44,7 +44,7 @@ inline uint32_t L2_GetNodeListLen(NODE_LIST *list)
 /**************************** Type Definitions *******************************/
 
 /************************** Variable Definitions *****************************/
-static NODE_ENTRY util_entry;
+static NODE_ENTRY util_entry = { 0 };
 /************************** Function Prototypes ******************************/
 /**
  * @brief	helper function to free node entry.

df_datalink_sp/src/networking/link_layer/scan.c

@@ -182,7 +182,7 @@ static void PendCfmAck(L2_SCAN_FSM *scanFsmPtr)
  ******************************************************************************/
 static void StageUpdate(L2_SCAN_FSM *scanFsmPtr, SCAN_STAGE newStage)
 {
-	ASSERT(newStage >= L2_SCAN_NONE_STAGE && newStage <= L2_SCAN_CFM_STAGE);
+	ASSERT((newStage >= L2_SCAN_NONE_STAGE) && (newStage <= L2_SCAN_CFM_STAGE));
 	DBG_INFO("ScanNet current stage: %" PRIu8 " -> ScanNet new stage: %" PRIu8 " \n",
 			 scanFsmPtr->scanStage, newStage);
 	scanFsmPtr->scanStage = newStage;
@@ -270,10 +270,10 @@ static int32_t Scan_AdvHandler(L2_INST *instPtr)
 		{
 			// using pull mode to receive confirm frame
 			// since first time sync procedure is accomplished in ADV stage.
-			Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
+			(void)Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
-			Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
+			(void)Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
-			Phy_SetMode(phyRef, PHY_MODE_PULL);
+			(void)Phy_SetMode(phyRef, PHY_MODE_PULL);
-			L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_CFM_FRAME);
+			(void)L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_CFM_FRAME);
 			scanFsmPtr->cfmTimeout++; // increase counter.
 			instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
 		}
@@ -287,17 +287,17 @@ static int32_t Scan_AdvHandler(L2_INST *instPtr)
 		if (scanFsmPtr->advTimeout > ADV_LISTEN_TIMEOUT)
 		{
 			/* Antenna steering (reserved, automatically accomplished by physical layer) */
-			Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
+			(void)Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
-			L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_SCAN_FRAME);
+			(void)L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_SCAN_FRAME);
 			DBG_WARNING("Adv timeout, restart net scan from L2_SCAN_INIT_STAGE.\n");
-			L2_Scan_Reset(scanFsmPtr);
+			(void)L2_Scan_Reset(scanFsmPtr);
 			instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
 		}
 		else
 		{
 			/* Antenna steering (reserved, automatically accomplished by physical layer) */
-			Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
+			(void)Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
-			L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_ADV_FRAME);
+			(void)L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_ADV_FRAME);
 			scanFsmPtr->advTimeout++;
 			instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
 		}
@@ -332,10 +332,10 @@ static int32_t Scan_CfmHandler(L2_INST *instPtr)
 	{
 		// using pull mode to receive confirm frame
 		// since first time sync procedure is accomplished in ADV stage.
-		Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
+		(void)Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
-		Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
+		(void)Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
-		Phy_SetMode(phyRef, PHY_MODE_PULL);
+		(void)Phy_SetMode(phyRef, PHY_MODE_PULL);
-		L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_CFM_FRAME);
+		(void)L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_CFM_FRAME);
 		scanFsmPtr->cfmTimeout++; // increase counter.
 		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
 	}
@@ -359,7 +359,7 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 	int32_t Status;
 	uint32_t dataChunk;
 	uint8_t *buff = instPtr->sendPktData;
-	if (type < L2_ADV_FRAME || type > L2_CFM_FRAME)
+	if ((type < L2_ADV_FRAME) || (type > L2_CFM_FRAME))
 	{
 		DBG_ERROR("Unexpected frame type: %" PRId8 ".\n", type);
 		return EPARAM;
@@ -409,27 +409,6 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 		L2_FrameInsertChunk(buff, L2_MSG_CFM_SRC_POSX, L2_MSG_CFM_SRC_POSX_LEN, &(instPtr->sysInfo.posX));
 		L2_FrameInsertChunk(buff, L2_MSG_CFM_SRC_POSY, L2_MSG_CFM_SRC_POSY_LEN, &(instPtr->sysInfo.posY));
 		L2_FrameInsertChunk(buff, L2_MSG_CFM_SRC_POSZ, L2_MSG_CFM_SRC_POSZ_LEN, &(instPtr->sysInfo.posZ));
-		L2_FrameInsertChunk(buff, L2_MSG_CFM_SRC_SPEEDX, L2_MSG_CFM_SRC_SPEEDX_LEN, &(instPtr->sysInfo.vX));
-		L2_FrameInsertChunk(buff, L2_MSG_CFM_SRC_SPEEDY, L2_MSG_CFM_SRC_SPEEDY_LEN, &(instPtr->sysInfo.vY));
-		L2_FrameInsertChunk(buff, L2_MSG_CFM_SRC_SPEEDZ, L2_MSG_CFM_SRC_SPEEDZ_LEN, &(instPtr->sysInfo.vZ));
-
-		// Packing extra payload
-		uint32_t dataId;
-		if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
-		{
-			SysMonitor_GetSendPayload(buff + L2_MSG_CFM_PAYLOAD, &dataId, PAYLOAD_LEN_FLJ_TX);
-		}
-		else
-		{
-			SysMonitor_GetSendPayload(buff + L2_MSG_CFM_PAYLOAD, &dataId, PAYLOAD_LEN_LJ_TX);
-		}
-
-		L2_FrameInsertChunk(buff, L2_MSG_CFM_PAYLOAD_ID, L2_MSG_CFM_PAYLOAD_ID_LEN, &dataId);
-		if (dataId == DATA_ID_NONE)
-		{
-			memset(buff + L2_MSG_CFM_PAYLOAD, 0xAA, L2_MSG_CFM_PAYLOAD_LEN);
-		}
-
 		// Append CRC
 		Status = L2_CrcAppend(buff, L2_CMF_PACK_LEN - L2_MSG_CFM_CRC_LEN, L2_MSG_CFM_CRC, L2_CRC16_1021);
 		if (Status != SUCCESS)
@@ -437,10 +416,6 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 			DBG_ERROR("Fail to append CRC, error code: %" PRId32 ".\n", Status);
 			return Status;
 		}
-
-		// Logging...
-		memcpy(instPtr->log.txLog.data, buff, L2_CMF_PACK_LEN);
-		instPtr->log.txLog.dataId = dataId;
 		break;
 	}
 	default:
@@ -564,13 +539,6 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
 		node->nodeInfo.pos.y = (double)nodePos;
 		L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_POSZ, L2_MSG_CFM_SRC_POSZ_LEN, &nodePos);
 		node->nodeInfo.pos.z = (double)nodePos;
-		float nodeSpeed;
-		L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDX, L2_MSG_CFM_SRC_SPEEDX_LEN, &nodeSpeed);
-		node->nodeInfo.speed.x = (double)nodePos;
-		L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDY, L2_MSG_CFM_SRC_SPEEDY_LEN, &nodeSpeed);
-		node->nodeInfo.speed.y = (double)nodePos;
-		L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDZ, L2_MSG_CFM_SRC_SPEEDZ_LEN, &nodeSpeed);
-		node->nodeInfo.speed.z = (double)nodePos;
 
 		// Reset node ttl
 		node->ttlCnt = 0;
@@ -606,7 +574,7 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
 					};
 				newRtneConfig.rtneTable = initTable;
 				newRtneConfig.rtnePrd = ARRAY_SIZE(initTable);
-				AssertL2Event(instPtr, &rtneUpEvent);
+				(void)AssertL2Event(instPtr, &rtneUpEvent);
 			}
 			PendCfmAck(instPtr->scanFSM);
 			// Time sync.
@@ -622,27 +590,10 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
 				L2_NODE_STATE newState = L2_NORMAL_STATE;
 				l2Event.event = L2_EV_MAIN_STATE_UPDATE;
 				l2Event.msg = &newState;
-				AssertL2Event(instPtr, &l2Event);
+				(void)AssertL2Event(instPtr, &l2Event);
 			}
 		}
 
-		// Get data payload
-		uint32_t dataId;
-		L2_FrameGetChunk(msg, L2_MSG_CFM_PAYLOAD_ID, L2_MSG_CFM_PAYLOAD_ID_LEN, &dataId);
-
-		if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
-		{
-			SysMonitor_UpdateRecvPayload(msg + L2_MSG_CFM_PAYLOAD, dataId, PAYLOAD_LEN_FLJ_RX);
-		}
-		else
-		{
-			SysMonitor_UpdateRecvPayload(msg + L2_MSG_CFM_PAYLOAD, dataId, PAYLOAD_LEN_LJ_RX);
-		}
-
-		// Logging...
-		memcpy(instPtr->log.rxLog.data, msg, L2_CMF_PACK_LEN);
-		instPtr->log.rxLog.dataId = dataId;
-
 		Status = SUCCESS;
 		break;
 	}
@@ -796,7 +747,6 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 {
 	ASSERT(instPtr != NULL);
 	L2_TOR_TYPE torState;
-	int32_t Status;
 	const NODE_ENTRY *commNode;
 	PHY_INST *phyRef = instPtr->config.phyInstPtr;
 	DBG_INFO("-------- Scan Routine --------\n");
@@ -828,7 +778,7 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
 		if (commNode != NULL)
 		{
-			Phy_SetBeamNo(phyRef, commNode->nodeInfo.beamNo, PHY_ANT_BEAM_16);
+			(void)Phy_SetBeamNo(phyRef, commNode->nodeInfo.beamNo, PHY_ANT_BEAM_16);
 		}
 	}
 	else
@@ -846,7 +796,7 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 			torState = L2_TOR_SUSPEND;
 		}
 		// Setup antenna beam
-		Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_120);
+		(void)Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_120);
 		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_120;
 	}
 
@@ -856,10 +806,9 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 		if (L2_GetNodeType(instPtr) != L2_NODE_HEAD && torState == L2_TOR_TX)
 		{
 			DBG_ERROR("Only head node can send init-scan Frame.\n");
-			Status = FAILURE;
+			return FAILURE;
-			goto routine_err;
 		}
-		L2_SetupNextSlot(instPtr, torState, L2_SCAN_FRAME);
+		(void)L2_SetupNextSlot(instPtr, torState, L2_SCAN_FRAME);
 		break;
 
 	case L2_SLOT_ADVERTISE:
@@ -868,18 +817,16 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 			if (L2_GetNodeType(instPtr) != L2_NODE_HEAD)
 			{
 				DBG_ERROR("Only head node can send ADV Frame.\n");
-				Status = FAILURE;
+				return FAILURE;
-				goto routine_err;
 			}
 			memset(instPtr->sendPktData, 0xAA, L2_PACK_LEN_MAX);
 			if (ScanMsg_Packing(instPtr, L2_ADV_FRAME, rtneEntry->dst) != SUCCESS)
 			{
-				Status = FAILURE;
+				return FAILURE;
-				goto routine_err;
 			}
 		}
 		/* Antenna setting (reserved.) */
-		L2_SetupNextSlot(instPtr, torState, L2_ADV_FRAME);
+		(void)L2_SetupNextSlot(instPtr, torState, L2_ADV_FRAME);
 		break;
 
 	case L2_SLOT_CONFIRM:
@@ -896,21 +843,17 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 			memset(instPtr->sendPktData, 0xAA, L2_PACK_LEN_MAX);
 			if (ScanMsg_Packing(instPtr, L2_CFM_FRAME, rtneEntry->dst) != SUCCESS)
 			{
-				Status = FAILURE;
+				return FAILURE;
-				goto routine_err;
 			}
 		}
 		/* Antenna setting (reserved.) */
-		L2_SetupNextSlot(instPtr, torState, L2_CFM_FRAME);
+		(void)L2_SetupNextSlot(instPtr, torState, L2_CFM_FRAME);
 		break;
 	default:
 		DBG_ERROR("Cannot start a routine for slot type [%" PRId8 "] properly.\n", rtneEntry->slotType);
-		Status = FAILURE;
+		return FAILURE;
-		goto routine_err;
 	}
 	return SUCCESS;
-routine_err:
-	return Status;
 }
 
 /** @} LinkLayer_Scan*/

df_datalink_sp/src/networking/link_layer/schdevent.c

@@ -365,7 +365,7 @@ void L2_EventPoolHandler(L2_INST *instPtr)
 			if (event->schdFrame == L2_GetCurrentFrameNum(instPtr) && event->schdSlot == L2_GetCurrentSlotNum(instPtr))
 			{
 				DBG_INFO("Asserting scheduled event [%" PRIu32 "].\n", event->eventId);
-				AssertL2Event(instPtr, &(event->l2Event));
+				(void)AssertL2Event(instPtr, &(event->l2Event));
 				if (event->isVolatile == true)
 				{
 					DBG_INFO("Deleting scheduled event [%" PRIu32 "], since it is volatile.\n", event->eventId);

df_datalink_sp/src/networking/link_layer/service.c

@@ -155,8 +155,9 @@ static int32_t Service_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 	}
 	return SUCCESS;
 #else
-	DBG_ERROR("Unexpected call of Service_Packing in BER test mode.\n");
+	size_t packLen = Phy_GetFrameLen(L2_L2frame2L1frame(L2_SVC_FRAME));
-	return EUNEXP;
+	memcpy(instPtr->sendPktData, testData, packLen);
+	return SUCCESS;
 #endif
 }
 
@@ -260,33 +261,63 @@ int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg)
 	}
 	return Status;
 #else
+	NODE_ENTRY *node;
+	uint8_t nodeId = (L2_GetNodeType(instPtr) == L2_NODE_HEAD) ? 0x02 : 0x01;
+	node = L2_GetNodeById(instPtr->nodeList, nodeId);
+	if (node == NULL)
+	{
+		node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
+		if (node == NULL)
+		{
+			DBG_ERROR("Failed to append new node [id: %" PRIu8 "]", nodeId);
+			return ENOMEM;
+		}
+	}
+	// Reset node ttl
+	node->ttlCnt = 0;
+
+	// Calculate time deviation
+	uint32_t frameNum = L2_GetCurrentFrameNum(instPtr);
+	uint32_t slotNum = L2_GetCurrentSlotNum(instPtr);
+
+	// //NOTE: Service frame length is 20ms with 5ms idle
+	// if(slotNum < 5)
+	// {
+	// 	slotNum = L2_SLOTS_PER_FRAME - 5;
+	// 	frameNum = frameNum - 1;
+	// }
+	// else
+	// {
+	// 	slotNum = slotNum / 5 * 5 - 5;
+	// }
+	// Status = L2_GetTimeDeviation(instPtr, frameNum, slotNum, true, &(instPtr->log.timeDev));
+	// if (Status != SUCCESS)
+	// {
+	// 	DBG_ERROR("Failed to compute time deviation.\n")
+	// 	return Status;
+	// }
+	// // Implement a auto time sync.
+	// if (L2_GetNodeType(instPtr) != L2_NODE_HEAD)
+	// {
+	// 	// Time sync.
+	// 	L2_TimeAdjust(instPtr, &(instPtr->log.timeDev));
+	// }
+	return SUCCESS;
+#endif
+}
+
+bool L2_Service_PktCheck(L2_INST *instPtr, uint8_t *msg)
+{
+	size_t packLen = Phy_GetFrameLen(L2_L2frame2L1frame(L2_SVC_FRAME)) & 0xFFFFFFFE;
 	uint32_t errorBits = 0;
-	for (int i = 0; i < L2_SVC_PACK_LEN; i++)
+	for (int i = 0; i < packLen; i++)
 	{
 		errorBits += count_ones(msg[i] ^ testData[i]);
 	}
 
 	instPtr->serviceFSM->bitError += errorBits;
-	instPtr->serviceFSM->bitTotal += L2_SVC_PACK_LEN * 8;
+	instPtr->serviceFSM->bitTotal += packLen * 8;
-
+	return (errorBits == 0);
-	// Calculate time deviation
-	uint32_t frameNum, slotNum = 0;
-	L2_FrameGetChunk(msg, L2_MSG_FRAME_NUM, L2_MSG_FRAME_NUM_LEN, &frameNum);
-	L2_FrameGetChunk(msg, L2_MSG_SLOT_NUM, L2_MSG_SLOT_NUM_LEN, &slotNum);
-	Status = L2_GetTimeDeviation(instPtr, frameNum, slotNum, true, &(instPtr->log.timeDev));
-	if (Status != SUCCESS)
-	{
-		DBG_ERROR("Failed to compute time deviation.\n")
-		return Status;
-	}
-	// Implement a auto time sync.
-	if (L2_GetNodeType(instPtr) != L2_NODE_HEAD)
-	{
-		// Time sync.
-		L2_TimeAdjust(instPtr, &(instPtr->log.timeDev));
-	}
-	return SUCCESS;
-#endif
 }
 
 /*****************************************************************************/
@@ -406,12 +437,7 @@ int32_t L2_Service_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntr
 		if (torState == L2_TOR_TX)
 		{
 			svcFSMPtr->txCnt++;
-#ifndef DATALINK_ENABLE_BERTEST
-			// Packing service data
 			Service_Packing(instPtr, L2_SVC_FRAME, rtneEntry->dst);
-#else
-			memcpy(instPtr->sendPktData, testData, L2_SVC_PACK_LEN);
-#endif
 		}
 		else
 		{
@@ -435,4 +461,4 @@ int32_t L2_Service_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntr
 }
 
 /** @} LinkLayer_Service*/
-/** @} LinkLayer*/
+/** @} LinkLayer*/

df_datalink_sp/src/networking/phy_layer/phy_antenna.c

@@ -69,20 +69,20 @@
 // Regex: (([0-9]+, ){8})
 const uint16_t freqTable[L1_FRAME_MAX_HOPS] =
 {
-	1084, 1097, 1110, 1123, 1136, 1149, 1162, 1175,
+	1084U, 1097U, 1110U, 1123U, 1136U, 1149U, 1162U, 1175U,
-	1188, 1201, 1214, 1227, 1240, 1253, 1266, 1279,
+	1188U, 1201U, 1214U, 1227U, 1240U, 1253U, 1266U, 1279U,
-	1292, 1305, 1318, 1331, 1344, 1357, 1370, 1383,
+	1292U, 1305U, 1318U, 1331U, 1344U, 1357U, 1370U, 1383U,
-	1396, 1409, 1422, 1435, 1448, 1461, 1474, 1487,
+	1396U, 1409U, 1422U, 1435U, 1448U, 1461U, 1474U, 1487U,
-	1500, 1513, 1526, 1539, 1552, 1565, 1578, 1591,
+	1500U, 1513U, 1526U, 1539U, 1552U, 1565U, 1578U, 1591U,
-	1604, 1617, 1630, 1643, 1656, 1669, 1682, 1695,
+	1604U, 1617U, 1630U, 1643U, 1656U, 1669U, 1682U, 1695U,
-	1708, 1721, 1734, 1747, 1760, 1773, 1786, 1799,
+	1708U, 1721U, 1734U, 1747U, 1760U, 1773U, 1786U, 1799U,
-	1812, 1825, 1838, 1851, 1864, 1877, 1890, 1903,
+	1812U, 1825U, 1838U, 1851U, 1864U, 1877U, 1890U, 1903U,
-	1916, 1929, 1942, 1955, 1968, 1981, 1994, 2007,
+	1916U, 1929U, 1942U, 1955U, 1968U, 1981U, 1994U, 2007U,
-	2020, 2033, 2046, 2059, 2072, 2085, 2098, 2111,
+	2020U, 2033U, 2046U, 2059U, 2072U, 2085U, 2098U, 2111U,
-	2124
+	2124U
 };
 
-const uint16_t antCalTable[L1_FRAME_MAX_HOPS][L1_ANT_NUM_CH] =
+const int16_t antCalTable[L1_FRAME_MAX_HOPS][L1_ANT_NUM_CH] =
 //Antenna-JG01
 {
 	{     0,   2525,  -7533,  -6846}, {     0,  12726,  -7818,  -6860},
@@ -135,55 +135,55 @@ const uint8_t hopPattern_2KBPS_20MS[L1_FRAME_2KBPS_20MS_HOPS] =
 
 const uint8_t hopPattern_2KBPS_100MS[L1_FRAME_2KBPS_100MS_HOPS] =
 {
-	 0,  1,  2,  3,  4,  5,  6,  7,
+	 0U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
-	 8,  9, 10, 11, 12, 13, 14, 15,
+	 8U,  9U, 10U, 11U, 12U, 13U, 14U, 15U,
-	16, 17, 18, 19, 20, 21, 22, 23,
+	16U, 17U, 18U, 19U, 20U, 21U, 22U, 23U,
-	24, 25, 26, 27, 28, 29, 30, 31,
+	24U, 25U, 26U, 27U, 28U, 29U, 30U, 31U,
-	32, 33, 34, 35, 36, 37, 38, 39,
+	32U, 33U, 34U, 35U, 36U, 37U, 38U, 39U,
-	40, 41, 42, 43, 44, 45, 46, 47,
+	40U, 41U, 42U, 43U, 44U, 45U, 46U, 47U,
-	48, 49, 50, 51, 52, 53, 54, 55,
+	48U, 49U, 50U, 51U, 52U, 53U, 54U, 55U,
-	56, 57, 58, 59, 60, 61, 62, 63,
+	56U, 57U, 58U, 59U, 60U, 61U, 62U, 63U,
-	64, 65, 66, 67, 68, 69, 70, 71,
+	64U, 65U, 66U, 67U, 68U, 69U, 70U, 71U,
-	72, 73, 74, 75, 76, 77, 78, 79,
+	72U, 73U, 74U, 75U, 76U, 77U, 78U, 79U,
-	80
+	80U
 };
 
 const uint8_t hopPattern_10KBPS_10MS[L1_FRAME_10KBPS_10MS_HOPS] =
 {
-	80
+	80U
 };
 
 const uint8_t hopPattern_10KBPS_20MS[L1_FRAME_10KBPS_20MS_HOPS] =
 {
-	 80,  1,  2,  3,  4,  5,  6,  7,
+	 80U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
-	 8,  9, 10
+	  8U,  9U, 10U
 };
 
 const uint8_t hopPattern_40KBPS_10MS[L1_FRAME_40KBPS_10MS_HOPS] =
 {
-	 0,  1,  2,  3,  4,  5,  6,  7,
+	 0U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
-	 8,
+	 8U,
 };
 
 const uint8_t hopPattern_40KBPS_20MS[L1_FRAME_40KBPS_20MS_HOPS] =
 {
-	 0,  1,  2,  3,  4,  5,  6,  7,
+	 0U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
-	 8,  9, 10, 11, 12, 13, 14, 15,
+	 8U,  9U, 10U, 11U, 12U, 13U, 14U, 15U,
-	16, 17, 18
+	16U, 17U, 18U
 };
 
 const uint8_t hopPattern_200KBPS_5MS[L1_FRAME_200KBPS_5MS_HOPS] =
 {
-	 0,  1,  2,  3,  4,  5,  6,  7,
+	 0U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
-	 8,  9, 10, 11, 12, 13, 14, 15,
+	 8U,  9U, 10U, 11U, 12U, 13U, 14U, 15U,
-	16, 17, 18, 19
+	16U, 17U, 18U, 19U
 };
 
 const uint8_t hopPattern_1M2BPS_5MS[L1_FRAME_1M2BPS_5MS_HOPS] =
 {
-	 0,  1,  2,  3,  4,  5,  6,  7,
+	 0U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
-	 8,  9, 10, 11, 12, 13, 14, 15,
+	 8U,  9U, 10U, 11U, 12U, 13U, 14U, 15U,
-	16, 17, 18, 19
+	16U, 17U, 18U, 19U
 };
 
 /** @} PhysicalLayer_AntennaConfig_Constants*/
@@ -317,7 +317,7 @@ void Phy_SetBeamTable(PHY_INST *instPtr, PHY_ANT_ANGLE *table, uint32_t offset)
  * 			FAILURE beamNo exceeds the table size
  *
  ******************************************************************************/
-int32_t Phy_SetBeamNo(PHY_INST *instPtr, int32_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth)
+int32_t Phy_SetBeamNo(PHY_INST *instPtr, size_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth)
 {
 	ASSERT(instPtr != NULL);
 
@@ -406,8 +406,8 @@ int32_t Phy_SetBeamAngle(PHY_INST *instPtr, double offAx, double rndAx)
 	ASSERT(instPtr != NULL);
 	uint16_t offAxDeg = 0;
 	uint16_t rndAxDeg = 0;
-	offAxDeg = (offAx >= 0) ? (((int32_t)(offAx * 180 / ANT_PI)) % 360) : (((int32_t)(offAx * 180 / ANT_PI)) % 360 + 360);
+	offAxDeg = (offAx >= 0) ? (((int32_t)(offAx * 180.0 / ANT_PI)) % 360) : (((int32_t)(offAx * 180.0 / ANT_PI)) % 360 + 360);
-	rndAxDeg = (rndAx >= 0) ? (((int32_t)(rndAx * 180 / ANT_PI)) % 360) : (((int32_t)(rndAx * 180 / ANT_PI)) % 360 + 360);
+	rndAxDeg = (rndAx >= 0) ? (((int32_t)(rndAx * 180.0 / ANT_PI)) % 360) : (((int32_t)(rndAx * 180.0 / ANT_PI)) % 360 + 360);
 	if (offAxDeg > 60)
 	{
 		DBG_ERROR("Angle out of range, off axis angle: %" PRIu16 " (should be 0~60), round axis angle: %" PRIu16 " (should be 0~360).\n",

df_datalink_sp/src/networking/phy_layer/phy_layer.c

@@ -335,7 +335,7 @@ inline L1_FRAME_TYPE Phy_GetLastRecvFrameType(PHY_INST *instPtr)
 	{
 		return L1_NONE_FRAME;
 	}
-	int32_t frame_type = (PhyRead(instPtr, COASE_FREQEST) & COASE_TYPE_MASK);
+	uint32_t frame_type = (PhyRead(instPtr, COASE_FREQEST) & COASE_TYPE_MASK);
 	switch (frame_type)
 	{
 	case COASE_TYPE_2KBPS_20MS:
@@ -439,14 +439,15 @@ int32_t Phy_Init(PHY_INST **instPtr, PHY_CONFIG *phyConfig)
 	bramConfigPtr = XBram_LookupConfig(phyConfig->antBramId);
 	if (bramConfigPtr == NULL)
 	{
-		Status = EDCONF;
+		Phy_Destroy(*instPtr);
-		goto init_error;
+		return EDCONF;
 	}
 	Status = XBram_CfgInitialize(&antConfigBram, bramConfigPtr,
 								 bramConfigPtr->CtrlBaseAddress);
 	if (Status != SUCCESS)
 	{
-		goto init_error;
+		Phy_Destroy(*instPtr);
+		return Status;
 	}
 	/*
 	 * Execute the BRAM driver selftest.
@@ -454,20 +455,22 @@ int32_t Phy_Init(PHY_INST **instPtr, PHY_CONFIG *phyConfig)
 	Status = XBram_SelfTest(&antConfigBram, 0);
 	if (Status != SUCCESS)
 	{
-		goto init_error;
+		Phy_Destroy(*instPtr);
+		return Status;
 	}
 
 	bramConfigPtr = XBram_LookupConfig(phyConfig->txBramId);
 	if (bramConfigPtr == NULL)
 	{
-		Status = EDCONF;
+		Phy_Destroy(*instPtr);
-		goto init_error;
+		return EDCONF;
 	}
 	Status = XBram_CfgInitialize(&txDataBram, bramConfigPtr,
 								 bramConfigPtr->CtrlBaseAddress);
 	if (Status != SUCCESS)
 	{
-		goto init_error;
+		Phy_Destroy(*instPtr);
+		return Status;
 	}
 	/*
 	 * Execute the BRAM driver selftest.
@@ -475,20 +478,22 @@ int32_t Phy_Init(PHY_INST **instPtr, PHY_CONFIG *phyConfig)
 	Status = XBram_SelfTest(&txDataBram, 0);
 	if (Status != SUCCESS)
 	{
-		goto init_error;
+		Phy_Destroy(*instPtr);
+		return Status;
 	}
 
 	bramConfigPtr = XBram_LookupConfig(phyConfig->rxBramId);
 	if (bramConfigPtr == NULL)
 	{
-		Status = EDCONF;
+		Phy_Destroy(*instPtr);
-		goto init_error;
+		return EDCONF;
 	}
 	Status = XBram_CfgInitialize(&rxDataBram, bramConfigPtr,
 								 bramConfigPtr->CtrlBaseAddress);
 	if (Status != SUCCESS)
 	{
-		goto init_error;
+		Phy_Destroy(*instPtr);
+		return Status;
 	}
 	/*
 	 * Execute the BRAM driver selftest.
@@ -496,7 +501,8 @@ int32_t Phy_Init(PHY_INST **instPtr, PHY_CONFIG *phyConfig)
 	Status = XBram_SelfTest(&rxDataBram, 0);
 	if (Status != SUCCESS)
 	{
-		goto init_error;
+		Phy_Destroy(*instPtr);
+		return Status;
 	}
 
 	(*instPtr)->antConfigAddr = antConfigBram.Config.MemBaseAddress;
@@ -510,14 +516,15 @@ int32_t Phy_Init(PHY_INST **instPtr, PHY_CONFIG *phyConfig)
 		bramConfigPtr = XBram_LookupConfig(phyConfig->antInfoBramId);
 		if (bramConfigPtr == NULL)
 		{
-			Status = EDCONF;
+			Phy_Destroy(*instPtr);
-			goto init_error;
+			return EDCONF;
 		}
 		Status = XBram_CfgInitialize(&antInfoBram, bramConfigPtr,
 									 bramConfigPtr->CtrlBaseAddress);
 		if (Status != SUCCESS)
 		{
-			goto init_error;
+			Phy_Destroy(*instPtr);
+			return Status;
 		}
 		/*
 		 * Execute the BRAM driver self test.
@@ -525,7 +532,8 @@ int32_t Phy_Init(PHY_INST **instPtr, PHY_CONFIG *phyConfig)
 		Status = XBram_SelfTest(&antInfoBram, 0);
 		if (Status != SUCCESS)
 		{
-			goto init_error;
+			Phy_Destroy(*instPtr);
+			return Status;
 		}
 		(*instPtr)->antInfoAddr = antInfoBram.Config.MemBaseAddress;
 		uint32_t phyMainCtrl = PhyRead(*instPtr, PHY_MAIN_CTRL);
@@ -545,8 +553,8 @@ int32_t Phy_Init(PHY_INST **instPtr, PHY_CONFIG *phyConfig)
 	xadcConfigPtr = XAdcPs_LookupConfig(phyConfig->hwXadcId);
 	if (xadcConfigPtr == NULL)
 	{
-		Status = EDCONF;
+		Phy_Destroy(*instPtr);
-		goto init_error;
+		return EDCONF;
 	}
 	XAdcPs_CfgInitialize(&((*instPtr)->hwXadc), xadcConfigPtr, xadcConfigPtr->BaseAddress);
 
@@ -554,36 +562,37 @@ int32_t Phy_Init(PHY_INST **instPtr, PHY_CONFIG *phyConfig)
 	Status = XAdcPs_SelfTest(&((*instPtr)->hwXadc));
 	if (Status != SUCCESS)
 	{
-		goto init_error;
+		Phy_Destroy(*instPtr);
+		return Status;
 	}
 
 	/* Disable the Channel Sequencer before configuring the Sequence registers. */
 	XAdcPs_SetSequencerMode(&((*instPtr)->hwXadc), XADCPS_SEQ_MODE_SAFE);
 #else
+	(*instPtr)->antConfigAddr = NULL;
+	(*instPtr)->recvDataAddr = NULL;
+	(*instPtr)->sendDataAddr = NULL;
 	(*instPtr)->antConfigAddr = (uintptr_t)calloc(L1_ANTCONFIG_MAX_LEN / sizeof(uint64_t), sizeof(uint64_t));
 	if ((*instPtr)->antConfigAddr == (uintptr_t)NULL)
 	{
-		Status = EDCONF;
+		Phy_Destroy(*instPtr);
-		goto init_error;
+		return EDCONF;
 	}
 	(*instPtr)->recvDataAddr = (uintptr_t)calloc(L1_TXRXDATA_MAX_LEN / sizeof(uint64_t), sizeof(uint64_t));
 	if ((*instPtr)->recvDataAddr == (uintptr_t)NULL)
 	{
-		Status = EDCONF;
+		Phy_Destroy(*instPtr);
-		goto init_error;
+		return EDCONF;
 	}
 	(*instPtr)->sendDataAddr = (uintptr_t)calloc(L1_TXRXDATA_MAX_LEN / sizeof(uint64_t), sizeof(uint64_t));
 	if ((*instPtr)->sendDataAddr == (uintptr_t)NULL)
 	{
-		Status = EDCONF;
+		Phy_Destroy(*instPtr);
-		goto init_error;
+		return EDCONF;
 	}
 #endif
 
 	return SUCCESS;
-init_error:
-	Phy_Destroy(*instPtr);
-	return Status;
 }
 
 /*****************************************************************************/
@@ -1027,7 +1036,7 @@ void Phy_RefreshHwSate(PHY_INST *instPtr)
 	ASSERT(instPtr != NULL);
 	uint32_t rawData;
 #ifndef EMULATION
-	float evalData;
+	double evalData;
 	instPtr->hwSate.isSpOk = true;
 	// -- Update FPGA voltage status;
 	instPtr->hwSate.spFpgaVolt = 0;
@@ -1250,7 +1259,7 @@ double Phy_GetCoarseFreqEst(PHY_INST *instPtr)
 	double freqEst;
 
 	frameType = Phy_GetLastRecvFrameType(instPtr);
-	if (frameType > L1_1M2BPS_5MS_FRAME || frameType <= L1_NONE_FRAME)
+	if ((frameType > L1_1M2BPS_5MS_FRAME) || (frameType <= L1_NONE_FRAME))
 	{
 		return INFINITY; // FIXME
 	}
@@ -1288,14 +1297,14 @@ double Phy_GetFineFreqEst(PHY_INST *instPtr)
 	double freqEst;
 	L1_FRAME_TYPE frameType;
 	frameType = Phy_GetLastRecvFrameType(instPtr);
-	if (frameType > L1_1M2BPS_5MS_FRAME || frameType <= L1_NONE_FRAME)
+	if ((frameType > L1_1M2BPS_5MS_FRAME) || (frameType <= L1_NONE_FRAME))
 	{
 		return INFINITY; // FIXME
 	}
 
 	regValue = PhyRead(instPtr, FINE_FREQEST);
 	estAbs = regValue & FINE_FREQEST_VAL_MASK;
-	if (frameType >= L1_200KBPS_5MS_FRAME)
+	if ((frameType >= L1_200KBPS_5MS_FRAME))
 	{
 		// 12M Rc
 		freqEst = 48e6 / 2048 * ((double)estAbs) / 8192.0;

df_datalink_sp/src/networking/phy_layer/phy_layer.h

@@ -34,24 +34,24 @@
  * @name PhysicalLayer_Common_Constant
  * @{
  */
-#define L1_NUM_ANT_NRRW_PATTERN 37
+#define L1_NUM_ANT_NRRW_PATTERN 37U
-#define L1_INIT_BEAM_NO 0
+#define L1_INIT_BEAM_NO 0U
 #define L1_INIT_ANT_WD PHY_ANT_BEAM_120
-#define L1_ANT_NUM_CH 4
+#define L1_ANT_NUM_CH 4U
 
 #define L1_FRAME_NONE_LEN UINT32_MAX  // byte
 #define L1_FRAME_NONE_COMP UINT32_MAX // *10ns(Timer_L)
 #define L1_FRAME_NONE_HOPS UINT32_MAX
-#define L1_FRAME_MAX_HOPS 81
+#define L1_FRAME_MAX_HOPS 81U
-#define L1_FRAME_2KBPS_20MS_HOPS 1
+#define L1_FRAME_2KBPS_20MS_HOPS 1U
-#define L1_FRAME_2KBPS_100MS_HOPS 81
+#define L1_FRAME_2KBPS_100MS_HOPS 81U
-#define L1_FRAME_10KBPS_10MS_HOPS 1
+#define L1_FRAME_10KBPS_10MS_HOPS 1U
-#define L1_FRAME_10KBPS_20MS_HOPS 11
+#define L1_FRAME_10KBPS_20MS_HOPS 11U
-#define L1_FRAME_40KBPS_20MS_HOPS 19
+#define L1_FRAME_40KBPS_20MS_HOPS 19U
-#define L1_FRAME_40KBPS_10MS_HOPS 9
+#define L1_FRAME_40KBPS_10MS_HOPS 9U
-#define L1_FRAME_200KBPS_5MS_HOPS 20
+#define L1_FRAME_200KBPS_5MS_HOPS 20U
-#define L1_FRAME_1M2BPS_5MS_HOPS 20
+#define L1_FRAME_1M2BPS_5MS_HOPS 20U
-#define PHY_LOG_EXPIRE 40 // 50*5ms
+#define PHY_LOG_EXPIRE 40U // 50*5ms
 /** @} */
 /***************** Macros (Inline Functions) Definitions *********************/
 /**************************** Type Definitions *******************************/
@@ -306,7 +306,7 @@ void Phy_AntConfigInit(PHY_ANT_CONFIG *antConfig);
 void Phy_AntConfigMode(PHY_INST *instPtr, PHY_ANT_MODE mode);
 void Phy_SetBeamTable(PHY_INST *instPtr, PHY_ANT_ANGLE *table, uint32_t offset);
 int32_t Phy_SetBeamWidth(PHY_INST *instPtr, PHY_ANT_BEAM_WIDTH beamWidth);
-int32_t Phy_SetBeamNo(PHY_INST *instPtr, int32_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth);
+int32_t Phy_SetBeamNo(PHY_INST *instPtr, size_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth);
 int32_t Phy_SetBeamAngle(PHY_INST *phyInstPtr, double offAx, double rndAx);
 /** @} PhysicalLayer_AntennaControl*/
 

df_datalink_sp/src/networking/phy_layer/phy_reg.h

@@ -26,8 +26,8 @@
 #include "util.h"
 
 /***************** Macros (Inline Functions) Definitions *********************/
-#define PhyRead(instPtr, addr) IO_In32((instPtr)->phyCofig.baseAddr + addr)
+#define PhyRead(instPtr, addr) IO_In32((instPtr)->phyCofig.baseAddr + (addr))
-#define PhyWrite(instPtr, addr, value) IO_Out32((instPtr)->phyCofig.baseAddr + addr, value)
+#define PhyWrite(instPtr, addr, value) IO_Out32((instPtr)->phyCofig.baseAddr + (addr), (value))
 
 /************************** Constant Definitions *****************************/
 /**

df_datalink_sp/src/system_monitor.c

@@ -127,6 +127,7 @@ void SysMonitor_Destroy(void)
  */
 void SysMonitor_UpdateSysinfo(const SYSINFO *info)
 {
+	ASSERT(info != NULL);
 	uint8_t buffIndx;
 	buffIndx = GetWritable(sysMonitorInst->sysInfoCtrl);
 	sysMonitorInst->sysInfoCtrl.wBusy = buffIndx;
@@ -143,6 +144,7 @@ void SysMonitor_UpdateSysinfo(const SYSINFO *info)
 void SysMonitor_GetSysinfo(SYSINFO *info)
 {
 	ASSERT(sysMonitorInst != NULL);
+	ASSERT(info != NULL);
 	uint8_t buffIndx, buffIndex_old;
 	buffIndex_old = sysMonitorInst->sysInfoCtrl.rBusy;
 	if (buffIndex_old != BUFF_NONE)
@@ -201,9 +203,13 @@ void SysMonitor_GetSendPayload(uint8_t *buff, uint32_t *id, size_t len)
 	uint8_t buffIndx, buffIndex_old;
 	buffIndex_old = sysMonitorInst->sendCtrl.rBusy;
 	if (buffIndex_old != BUFF_NONE)
+	{
 		buffIndx = buffIndex_old; // Keep it busy
+	}
 	else
+	{
 		buffIndx = GetReadable(sysMonitorInst->sendCtrl);
+	}
 	sysMonitorInst->sendCtrl.rBusy = buffIndx;
 	if (sysMonitorInst->send[buffIndx].dataId != DATA_ID_NONE)
 	{

df_datalink_sp/src/system_monitor.h

@@ -54,12 +54,12 @@
 // #define IS_PL_VALID(x) (x <= 1.03 && x >= 0.97)
 // #define IS_PLAUX_VALID(x) (x <= 1.89 && x >= 1.71)
 // #define IS_BRAM_VALID(x) (x <= 1.03 && x >= 0.97)
-#define IS_PS_VALID(x) (x <= 1.1 && x >= 0.9)
+#define IS_PS_VALID(x) ((x) <= 1.1 && (x) >= 0.9)
-#define IS_PSAUX_VALID(x) (x <= 2.0 && x >= 1.6)
+#define IS_PSAUX_VALID(x) ((x) <= 2.0 && (x) >= 1.6)
-#define IS_DDR_VALID(x) (x <= 1.7 && x >= 1.3)
+#define IS_DDR_VALID(x) ((x) <= 1.7 && (x) >= 1.3)
-#define IS_PL_VALID(x) (x <= 1.1 && x >= 0.9)
+#define IS_PL_VALID(x) (x <= 1.1 && (x) >= 0.9)
-#define IS_PLAUX_VALID(x) (x <= 2.0 && x >= 1.6)
+#define IS_PLAUX_VALID(x) ((x) <= 2.0 && (x) >= 1.6)
-#define IS_BRAM_VALID(x) (x <= 1.1 && x >= 0.9)
+#define IS_BRAM_VALID(x) ((x) <= 1.1 && (x) >= 0.9)
 
 #define CLK_SP_PLL0_LOCK BIT(0)
 #define CLK_SP_PLL1_LOCK BIT(2)
@@ -194,12 +194,12 @@ typedef struct __attribute__((packed))
 	uint8_t spFpgaVolt;	   ///< Signal processor voltage state indicator
 	uint8_t spClkState;	   ///< Signal processor clock state indicator
 	uint8_t spAdLockState; ///< Signal processor adc lock state indicator
-	uint8_t spAdTemp_0;	   ///< Signal processor adc0 temperature
+	int8_t spAdTemp_0;     ///< Signal processor adc0 temperature
-	uint8_t spAdTemp_1;	   ///< Signal processor adc1 temperature
+	int8_t spAdTemp_1;     ///< Signal processor adc1 temperature
-	uint8_t spFpgaTemp;	   ///< Signal processor FPGA temperature
+	int8_t spFpgaTemp;     ///< Signal processor FPGA temperature
 	// -- Antenna status
 	uint8_t antVolt; ///< Antenna voltage state indicator
-	uint8_t antTemp; ///< Antenna rf temperature
+	int8_t antTemp;  ///< Antenna rf temperature
 	uint8_t antPll;	 ///< Antenna rf lock state indicator
 	uint8_t antMgc0; ///< Antenna rf mgc0~1 indicator
 	uint8_t antMgc1; ///< Antenna rf mgc2~3 indicator

df_datalink_sp/src/systembus/systembus.c

@@ -658,7 +658,7 @@ int32_t SystemBus_MakeResp(SYSBUS *instPtr)
  * @param   InstPtr A double pointer to System Bus instance.
  * @param   config  A pointer to System Bus configurations.
  *
- * @return  None.
+ * @return  Error code.
  *
  ******************************************************************************/
 int32_t SystemBus_Init(SYSBUS **instPtr, SYSBUS_CONFIG *config)
@@ -670,7 +670,7 @@ int32_t SystemBus_Init(SYSBUS **instPtr, SYSBUS_CONFIG *config)
 	(*instPtr) = malloc(sizeof(SYSBUS));
 	if ((*instPtr) == NULL)
 	{
-		return FAILURE;
+		return ENOMEM;
 	}
 	(*instPtr)->rxQueue = NULL;
 	(*instPtr)->txQueue = NULL;
@@ -684,29 +684,45 @@ int32_t SystemBus_Init(SYSBUS **instPtr, SYSBUS_CONFIG *config)
 	Status = SysbusUart_Init(&((*instPtr)->uartInst), &uartConfig);
 	if (Status != SUCCESS)
 	{
-		Status = ENOMEM;
+		SystemBus_Destroy(*instPtr);
-		goto sysbus_init_error;
+		return ENOMEM;
 	}
 	if (CircQueueCreate(&((*instPtr)->txQueue), (*instPtr)->config.txQueueMax) == false)
 	{
-		Status = ENOMEM;
+		SystemBus_Destroy(*instPtr);
-		goto sysbus_init_error;
+		return ENOMEM;
 	}
 	if (CircQueueCreate(&((*instPtr)->rxQueue), (*instPtr)->config.rxQueueMax) == false)
 	{
-		Status = ENOMEM;
+		SystemBus_Destroy(*instPtr);
-		goto sysbus_init_error;
+		return ENOMEM;
 	}
 	(*instPtr)->isRxDone = false; // nothing received.
 	(*instPtr)->isTxDone = true;  // nothing to be sent.
 	return SUCCESS;
+}
 
-sysbus_init_error:
+
-	free((*instPtr)->uartInst);
+/*****************************************************************************/
-	free((*instPtr)->txQueue);
+/**
-	free((*instPtr)->rxQueue);
+ * @brief   Destroy System Bus instance.
-	free(*instPtr);
+ *
-	return Status;
+ * @param   InstPtr A pointer to System Bus instance.
+ *
+ * @return  None.
+ *
+ ******************************************************************************/
+void SystemBus_Destroy(SYSBUS *instPtr)
+{
+	if (instPtr == NULL)
+	{
+		return;
+	}
+
+	free(instPtr->uartInst);
+	free(instPtr->txQueue);
+	free(instPtr->rxQueue);
+	free(instPtr);
 }
 
 /*****************************************************************************/
@@ -748,19 +764,17 @@ int32_t SystemBus_RxIntrHandler(SYSBUS *instPtr)
 	Status = SysbusUart_Recv(instPtr->uartInst, sysbusReq);
 	if (Status != SUCCESS)
 	{
-		goto recv_error;
+		free(sysbusReq);
+		return Status;
 	}
 	if (CircQueuePush(instPtr->rxQueue, (void *)sysbusReq) == false)
 	{
 		DBG_ERROR("SystemBus::RX Queue overflowed!\n");
-		Status = EQUEUE;
+		free(sysbusReq);
-		goto recv_error;
+		return EQUEUE;
 	}
 	instPtr->isRxDone = false; // another reception is undergoing.
 	return SUCCESS;
-recv_error:
-	free(sysbusReq);
-	return Status;
 }
 
 /** @} SystemBus*/

df_datalink_sp/src/systembus/systembus.h

@@ -60,6 +60,7 @@ typedef struct
 /************************** Function Prototypes ******************************/
 
 int32_t SystemBus_Init(SYSBUS **instPtr, SYSBUS_CONFIG *config);
+void SystemBus_Destroy(SYSBUS *instPtr);
 
 /**
  * @defgroup SystemBus_Protocol_Routine

df_datalink_sp/src/util/circ_queue.c

@@ -54,7 +54,7 @@ bool CircQueueCreate(CIRC_QUEUE **q, uint32_t queueCapacity)
 	ASSERT(q != NULL);
 	CIRC_QUEUE *queue;
 	queue = malloc(sizeof(CIRC_QUEUE));
-	if (!queue)
+	if (queue == NULL)
 	{
 		return false;
 	}
@@ -65,16 +65,14 @@ bool CircQueueCreate(CIRC_QUEUE **q, uint32_t queueCapacity)
 	queue->data = malloc(queueCapacity * sizeof(void *));
 	if (queue->data == NULL)
 	{
-		goto error;
+		free(queue);
+		return false;
 	}
 	queue->bounds = queueCapacity;
 	queue->nelts = 0;
 	queue->in = 0;
 	queue->out = 0;
 	return true;
-error:
-	free(queue);
-	return false;
 }
 
 /**

makecopy

@@ -4,9 +4,13 @@
 GE_TXATT=0
 GE_RXATT=25
 
-DST_DIR=`pwd`
+DST_DIR="$(pwd)/handout"
 PROJECT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )
 
+echo ${DST_DIR}
+
+mkdir -p ${DST_DIR}
+
 echo "Creating <df_datalink_ge>..."
 cp -rL $PROJECT_DIR/df_datalink_ge/src $DST_DIR/df_datalink_ge
 sed -i'' -e "s/antConfig->rfTxMgc = 0;/antConfig->rfTxMgc = $GE_TXATT;/g" $DST_DIR/df_datalink_ge/networking/phy_layer/phy_antenna.c
@@ -38,4 +42,4 @@ for key in ${!calMap[*]};do
     /\};/!b table
     s/=.*\};/=\n\/\/Antenna-$key\n${calMap[$key]}/
     }" $DST_DIR/$projName/networking/phy_layer/phy_antenna.c
-done
+done