dev: enable auto linklayer start

fix: correct auto timesync and node ttlCnt mechanism for BERTEST mode
fix: change L2_CMF_PACK_LEN to 28B, aka, 10Kbps 20ms frame
2025-05-14 22:45:52 +08:00 · 2025-05-14 22:44:52 +08:00 · 2025-05-14 22:43:21 +08:00 · 2025-05-14 22:42:25 +08:00 · 2025-05-14 11:39:16 +08:00 · 2025-05-14 11:25:28 +08:00
63 changed files with 805 additions and 671 deletions
@@ -55,3 +55,6 @@ dkms.conf
 # MacOS .DS_Store file
 **/.DS_Store
 **/._.DS_Store
 # Ignore handout files
 handout/
@@ -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
@@ -1,90 +1,90 @@
 declare -A calMap
 calMap[JG01]="\{\n\
-	\{     0,   2525,  -7533,  -6846\}, \{     0,  12726,  -7818,  -6860\},\n\
+	\{     0,    406, -10530,  -8223\}, \{     0,    697,  -9933,  -7988\},\n\
-	\{     0,   2490,  -7836,  -6907\}, \{     0,   4479,  -7716,  -6837\},\n\
+	\{     0,    296, -10497,  -8272\}, \{     0,    515, -10264,  -8093\},\n\
-	\{     0,   6409,  -7770,  -6776\}, \{     0,  14616,  -7977,  -6816\},\n\
+	\{     0,    689, -10212,  -8064\}, \{     0,     40, -10960,  -8572\},\n\
-	\{     0, -22557,  -8002,  -6911\}, \{     0, -22587,  -8121,  -6918\},\n\
+	\{     0,    722, -10878,  -8518\}, \{     0,     59, -10987,  -8962\},\n\
-	\{     0,  -1124,  -8123,  -7030\}, \{     0,   -152,  -8219,  -7042\},\n\
+	\{     0,     56, -11264,  -8770\}, \{     0,   -464, -11341,  -9159\},\n\
-	\{     0,   1823,  -8209,  -7130\}, \{     0,   1790,  -8290,  -7214\},\n\
+	\{     0,     19, -10924,  -8887\}, \{     0,   -669, -10927,  -8679\},\n\
-	\{     0,   1669,  -8362,  -7283\}, \{     0,   1634,  -8459,  -7276\},\n\
+	\{     0,   -701, -11154,  -8712\}, \{     0,   -255, -10739,  -8009\},\n\
-	\{     0,   1615,  -8315,  -7415\}, \{     0,   1698,  -8168,  -7366\},\n\
+	\{     0,   -192, -10509,  -8242\}, \{     0,  -1057, -11183,  -9007\},\n\
-	\{     0,   1535,  -8285,  -7520\}, \{     0,   1619,  -8285,  -7532\},\n\
+	\{     0,    -57, -10606,  -8350\}, \{     0,   -719, -10949,  -8880\},\n\
-	\{     0,   1609,  -8201,  -7693\}, \{     0,   1671,  -8145,  -7769\},\n\
+	\{     0,   -760, -11084,  -8660\}, \{     0,   -457, -10735,  -8833\},\n\
-	\{     0,   1676,  -8135,  -7805\}, \{     0,    951, -10279,  -8871\},\n\
+	\{     0,   -188, -10623,  -9119\}, \{     0,   -628, -12609, -10119\},\n\
-	\{     0,    976, -10235,  -8978\}, \{     0,   1118, -10127,  -9019\},\n\
+	\{     0,   -434, -12714, -10225\}, \{     0,   -727, -13074, -10685\},\n\
-	\{     0,   1175, -10003,  -9007\}, \{     0,   1386,  -9847,  -9039\},\n\
+	\{     0,    -12, -12408, -10190\}, \{     0,     33, -12790, -10624\},\n\
-	\{     0,   1535,  -9572,  -9058\}, \{     0,   1729,  -9493,  -9006\},\n\
+	\{     0,     93, -13235, -10819\}, \{     0,   -363, -13301, -11183\},\n\
-	\{     0,  -1158,  -9312,  -9003\}, \{     0,  23771,  -9147,  -8928\},\n\
+	\{     0,   -514, -13955, -11557\}, \{     0,   -458, -13878, -11722\},\n\
-	\{     0,  20733,  -9074,  -8924\}, \{     0,   2455,  -8841,  -8886\},\n\
+	\{     0,     93, -13086, -11726\}, \{     0,   -663, -13597, -11868\},\n\
-	\{     0,   2622,  -8718,  -8735\}, \{     0,   2791,  -8615,  -8705\},\n\
+	\{     0,    174, -12814, -11295\}, \{     0,    121, -12278, -11150\},\n\
-	\{     0,   2861,  -8168,  -8331\}, \{     0,   3076,  -8091,  -8218\},\n\
+	\{     0,    425, -11255, -10363\}, \{     0,    430, -11645, -10189\},\n\
-	\{     0,   3257,  -8046,  -8100\}, \{     0,   3331,  -7923,  -8073\},\n\
+	\{     0,    277, -11844,  -9499\}, \{     0,   -132, -12241,  -9420\},\n\
-	\{     0,   3396,  -7826,  -7994\}, \{     0,   3478,  -7842,  -8016\},\n\
+	\{     0,    448, -11934,  -9612\}, \{     0,    200, -11778,  -9582\},\n\
-	\{     0,   3518,  -7846,  -7765\}, \{     0,   3585,  -7753,  -7715\},\n\
+	\{     0,    -40, -12069,  -9336\}, \{     0,   1692, -11315,  -9085\},\n\
-	\{     0,    150,  -8145,  -8591\}, \{     0,    192,  -8090,  -8570\},\n\
+	\{     0,  -1753, -11445,  -9482\}, \{     0,  -2520, -12620, -10068\},\n\
-	\{     0,    207,  -8150,  -8597\}, \{     0,    178,  -8142,  -8656\},\n\
+	\{     0,  -1976, -12674, -10218\}, \{     0,  -1984, -12525, -10354\},\n\
-	\{     0,     89,  -8557,  -8688\}, \{     0,    107,  -8614,  -8733\},\n\
+	\{     0,  -2272, -13476, -10932\}, \{     0,  -2123, -13918, -11095\},\n\
-	\{     0,    194,  -8605,  -8782\}, \{     0,    153,  -8655,  -8881\},\n\
+	\{     0,  -2883, -14447, -11659\}, \{     0,  -2826, -13946, -11563\},\n\
-	\{     0,     70,  -8615,  -8952\}, \{     0,     35,  -8596,  -9148\},\n\
+	\{     0,  -2697, -13680, -11328\}, \{     0,  -3068, -13393, -11614\},\n\
-	\{     0,     49,  -8636,  -9286\}, \{     0,      6,  -8587,  -9435\},\n\
+	\{     0,  -2935, -13074, -11882\}, \{     0,  -3017, -13038, -11163\},\n\
-	\{     0,    -51,  -8540,  -9549\}, \{     0,    -65,  -8588,  -9700\},\n\
+	\{     0,  -2490, -12379, -11288\}, \{     0,  -2463, -12286, -10726\},\n\
-	\{     0,    -55,  -8503,  -9820\}, \{     0,    -20,  -8414,  -9907\},\n\
+	\{     0,  -2686, -12167, -10673\}, \{     0,  -2428, -12077, -10555\},\n\
-	\{     0,   -112,  -8481, -10031\}, \{     0,    -69,  -8535, -10185\},\n\
+	\{     0,  -2282, -12564, -10388\}, \{     0,  -2017, -12303, -10844\},\n\
-	\{     0,      2,  -8550, -10052\}, \{     0,     -1,  -8493, -10291\},\n\
+	\{     0,  -2329, -12637, -11250\}, \{     0,  -2703, -13362, -11807\},\n\
-	\{     0,    -73,  -8441, -10380\}, \{     0,   1958,  -6930,  -8295\},\n\
+	\{     0,  -1820, -12605, -11733\}, \{     0,    596, -10833,  -9852\},\n\
-	\{     0,  -1148,  -6939,  -8396\}, \{     0,   1915,  -6784,  -8370\},\n\
+	\{     0,      9, -11140,  -9776\}, \{     0,     41, -11168,  -9478\},\n\
-	\{     0,   1871,  -6970,  -8514\}, \{     0,   1821,  -6974,  -8387\},\n\
+	\{     0,   -261, -11368,  -9752\}, \{     0,    226, -11282,  -9879\},\n\
-	\{     0,   1781,  -6906,  -8431\}, \{     0,   1736,  -6897,  -8462\},\n\
+	\{     0,    -68, -11454, -10148\}, \{     0,   -314, -12278, -10716\},\n\
-	\{     0,   1664,  -7024,  -8377\}, \{     0,   1629,  -7127,  -8436\},\n\
+	\{     0,    -66, -11998, -10762\}, \{     0,    -58, -11469, -10664\},\n\
-	\{     0,   1603,  -7148,  -8528\}, \{     0,   1577,  -7198,  -8500\},\n\
+	\{     0,    319, -10759, -10212\}, \{     0,    122, -11041,  -9901\},\n\
-	\{     0,   1528,  -7311,  -8512\}, \{     0,   1577,  -7390,  -8570\},\n\
+	\{     0,   -269, -11085, -10008\}, \{     0,    637, -10569,  -9674\},\n\
-	\{     0,   1616,  -7436,  -8572\}, \{     0,   1589,  -7597,  -8590\},\n\
+	\{     0,   1185, -10632,  -9521\}, \{     0,    902, -11053,  -9681\},\n\
-	\{     0,   1722,  -7550,  -8568\}, \{     0,   1741,  -7691,  -8449\},\n\
+	\{     0,    560, -11408,  -9588\}, \{     0,   1162, -11079,  -9371\},\n\
-	\{     0,   1767,  -7775,  -8328\}, \n\
+	\{     0,   1780, -10547,  -9133\}, \n\
 };"
 calMap[JG02]="\{\n\
-	\{     0,   1573,  -6646,  -6900\}, \{     0,   1251,  -7021,  -7119\},\n\
+	\{     0,    509,  -2785,  -4375\}, \{     0,    655,  -3482,  -4447\},\n\
-	\{     0,   1157,  -7139,  -7184\}, \{     0,    970,  -7380,  -7280\},\n\
+	\{     0,    520,  -3231,  -4651\}, \{     0,    680,  -3122,  -4790\},\n\
-	\{     0,    803,  -7646,  -7340\}, \{     0,    243,  -7702,  -7475\},\n\
+	\{     0,    328,  -3648,  -4712\}, \{     0,    260,  -3454,  -4515\},\n\
-	\{     0,    116,  -7899,  -7666\}, \{     0,    345,  -7915,  -7779\},\n\
+	\{     0,    433,  -3027,  -4446\}, \{     0,     34,  -4304,  -4676\},\n\
-	\{     0,    257,  -8072,  -7835\}, \{     0,     63,  -8061,  -7871\},\n\
+	\{     0,     54,  -3707,  -4650\}, \{     0,    -19,  -3829,  -5231\},\n\
-	\{     0,    -40,  -8151,  -7949\}, \{     0,   -144,  -8363,  -8066\},\n\
+	\{     0,   -156,  -4018,  -5292\}, \{     0,   -331,  -4155,  -5423\},\n\
-	\{     0,   -184,  -8320,  -8111\}, \{     0,   -360,  -8458,  -8205\},\n\
+	\{     0,   -424,  -4210,  -5207\}, \{     0,   -592,  -4131,  -5572\},\n\
-	\{     0,   -426,  -8583,  -8238\}, \{     0,   -444,  -8534,  -8338\},\n\
+	\{     0,   -494,  -4135,  -5732\}, \{     0,   -687,  -4055,  -5030\},\n\
-	\{     0,   -451,  -8508,  -8371\}, \{     0,   -610,  -8581,  -8378\},\n\
+	\{     0,  -1000,  -4456,  -5228\}, \{     0,   -337,  -3931,  -5340\},\n\
-	\{     0,   -605,  -8582,  -8381\}, \{     0,  -1401,  -8503,  -8391\},\n\
+	\{     0,   -168,  -3962,  -5326\}, \{     0,   -852,  -4534,  -5798\},\n\
-	\{     0,  -2160,  -8656,  -8346\}, \{     0,    243,  -9749,  -9637\},\n\
+	\{     0,   -541,  -4458,  -5156\}, \{     0,   -842,  -5570,  -6166\},\n\
-	\{     0,   -503,  -9663,  -9572\}, \{     0,   -444,  -9526,  -9554\},\n\
+	\{     0,  -1490,  -5883,  -6645\}, \{     0,  -1036,  -5917,  -6151\},\n\
-	\{     0,   -495,  -9581,  -9559\}, \{     0,   -463,  -9515,  -9427\},\n\
+	\{     0,  -1369,  -5946,  -5969\}, \{     0,   -916,  -5927,  -6200\},\n\
-	\{     0,  -1209,  -9399,  -9343\}, \{     0,   -356,  -9263,  -9275\},\n\
+	\{     0,   -521,  -5595,  -6066\}, \{     0,   -823,  -5731,  -5925\},\n\
-	\{     0,   -200,  -9145,  -9160\}, \{     0,   -110,  -9062,  -9013\},\n\
+	\{     0,   -262,  -5267,  -5315\}, \{     0,   -697,  -5434,  -5676\},\n\
-	\{     0,   -165,  -9138,  -8950\}, \{     0,   -104,  -9094,  -8849\},\n\
+	\{     0,   -362,  -5193,  -4887\}, \{     0,   -430,  -5147,  -4911\},\n\
-	\{     0,   -744,  -9062,  -8679\}, \{     0,   -743,  -9084,  -8557\},\n\
+	\{     0,    -94,  -5403,  -5159\}, \{     0,   -747,  -5796,  -4772\},\n\
-	\{     0,   -613,  -8622,  -8069\}, \{     0,   -492,  -8651,  -7949\},\n\
+	\{     0,   -679,  -4909,  -4531\}, \{     0,   -500,  -5364,  -4694\},\n\
-	\{     0,     76,  -8666,  -7826\}, \{     0,    362,  -8890,  -7855\},\n\
+	\{     0,   -147,  -5225,  -4463\}, \{     0,   -283,  -5815,  -4360\},\n\
-	\{     0,   -204,  -8686,  -7668\}, \{     0,   -305,  -8955,  -7710\},\n\
+	\{     0,   -724,  -6148,  -4647\}, \{     0,   -295,  -6069,  -4375\},\n\
-	\{     0,   -199,  -8941,  -7435\}, \{     0,   -141,  -8992,  -7377\},\n\
+	\{     0,   -397,  -6086,  -4105\}, \{     0,   -116,  -6343,  -4698\},\n\
-	\{     0,  -1015,  -8907,  -7741\}, \{     0,   -886,  -8961,  -7784\},\n\
+	\{     0,   -589,  -6398,  -5353\}, \{     0,  -1068,  -6640,  -5014\},\n\
-	\{     0,   -594,  -9151,  -7921\}, \{     0,   -875,  -9062,  -7860\},\n\
+	\{     0,   -785,  -7017,  -5093\}, \{     0,    -29,  -6238,  -5186\},\n\
-	\{     0,  -1280,  -9528,  -7885\}, \{     0,   -379,  -9555,  -8104\},\n\
+	\{     0,    380,  -6370,  -5063\}, \{     0,   -239,  -7191,  -5605\},\n\
-	\{     0,   -291,  -9633,  -8172\}, \{     0,  -1145,  -9625,  -8226\},\n\
+	\{     0,    321,  -7256,  -5177\}, \{     0,    430,  -6673,  -4887\},\n\
-	\{     0,  -1437,  -9653,  -8314\}, \{     0,  -1372,  -9610,  -8489\},\n\
+	\{     0,    226,  -7136,  -5687\}, \{     0,    142,  -7175,  -5498\},\n\
-	\{     0,   -208,  -9649,  -8693\}, \{     0,   -202,  -9527,  -8755\},\n\
+	\{     0,    333,  -6596,  -5434\}, \{     0,    315,  -6574,  -5520\},\n\
-	\{     0,    120,  -9542,  -8873\}, \{     0,    126,  -9448,  -9003\},\n\
+	\{     0,   -109,  -6681,  -5798\}, \{     0,   -587,  -7290,  -5748\},\n\
-	\{     0,    167,  -9519,  -9142\}, \{     0,    459,  -9523,  -9194\},\n\
+	\{     0,   -229,  -7105,  -5463\}, \{     0,   -480,  -7092,  -6033\},\n\
-	\{     0,     41,  -9266,  -9117\}, \{     0,    189,  -9303,  -9236\},\n\
+	\{     0,  -1162,  -7488,  -6578\}, \{     0,  -1244,  -8230,  -6838\},\n\
-	\{     0,      7,  -9305,  -9289\}, \{     0,    -32,  -9342,  -9391\},\n\
+	\{     0,   -941,  -7941,  -6976\}, \{     0,  -1181,  -7816,  -6868\},\n\
-	\{     0,   -106,  -9252,  -9433\}, \{     0,   -195,  -9450,  -7698\},\n\
+	\{     0,  -1792,  -8128,  -6590\}, \{     0,   -644,  -7614,  -4524\},\n\
-	\{     0,    -84,  -9434,  -7715\}, \{     0,    126,  -9365,  -7699\},\n\
+	\{     0,   -873,  -7358,  -3775\}, \{     0,  -1250,  -7370,  -4506\},\n\
-	\{     0,    244,  -9474,  -7798\}, \{     0,    112,  -9616,  -7895\},\n\
+	\{     0,   -819,  -7520,  -4500\}, \{     0,  -1579,  -8679,  -4626\},\n\
-	\{     0,    514,  -9631,  -7921\}, \{     0,    468,  -9609,  -7939\},\n\
+	\{     0,  -1332,  -7353,  -4338\}, \{     0,  -1128,  -7821,  -5030\},\n\
-	\{     0,   -209,  -9770,  -7983\}, \{     0,   -329,  -9925,  -8028\},\n\
+	\{     0,   -927,  -7988,  -4954\}, \{     0,  -2035,  -7884,  -5097\},\n\
-	\{     0,   -845,  -9918,  -8117\}, \{     0,     44,  -9921,  -8106\},\n\
+	\{     0,  -2533,  -8953,  -6171\}, \{     0,  -1576,  -8029,  -5542\},\n\
-	\{     0,    251, -10042,  -8254\}, \{     0,    277, -10008,  -8327\},\n\
+	\{     0,  -1185,  -7297,  -5523\}, \{     0,  -2139,  -8830,  -6236\},\n\
-	\{     0,    737, -10139,  -8391\}, \{     0,   1260, -10272,  -8496\},\n\
+	\{     0,  -2137,  -8976,  -6225\}, \{     0,  -1387,  -8252,  -6043\},\n\
-	\{     0, -17449, -10172,  -8508\}, \{     0,  -6484, -10284,  -8635\},\n\
+	\{     0,  -1139,  -8286,  -5988\}, \{     0,  -1252,  -8224,  -6388\},\n\
-	\{     0,    541, -10256,  -8560\}, \n\
+	\{     0,  -1617,  -8211,  -5983\}, \n\
 };"
 calMap[JG03]="\{\n\
@@ -176,135 +176,179 @@ calMap[JG05]="\{\n\
 };"
 calMap[JG06]="\{\n\
-	\{     0,  -3193,  -1212,   1843\}, \{     0,  -3191,  -1331,   1701\},\n\
+	\{     0,  -3836,  -1067,   4891\}, \{     0,  -4831,  -2098,   4103\},\n\
-	\{     0,  -3257,  -1489,   1654\}, \{     0,  -3460,  -1572,   1522\},\n\
+	\{     0,  -4849,  -1871,   4566\}, \{     0,  -4534,  -1666,   4512\},\n\
-	\{     0,  -3552,  -1697,   1526\}, \{     0,  -3709,  -1915,   1292\},\n\
+	\{     0,  -5764,  -2767,   4245\}, \{     0,  -5591,  -2123,   4174\},\n\
-	\{     0,  -3824,  -2028,   1254\}, \{     0,  -3932,  -2082,   1069\},\n\
+	\{     0,  -4727,  -1565,   4368\}, \{     0,  -5834,  -2262,   3942\},\n\
-	\{     0,  -3929,  -2154,   1109\}, \{     0,  -4073,  -2215,    949\},\n\
+	\{     0,  -5421,  -2062,   3790\}, \{     0,  -4996,  -1380,   4260\},\n\
-	\{     0,  -4078,  -2261,    970\}, \{     0,  -3980,  -2076,   1035\},\n\
+	\{     0,  -5538,  -1861,   3494\}, \{     0,  -5272,  -1652,   3740\},\n\
-	\{     0,  -3976,  -2215,    807\}, \{     0,  -4119,  -2390,    631\},\n\
+	\{     0,  -5561,  -1802,   4038\}, \{     0,  -5320,  -1734,   3742\},\n\
-	\{     0,  -3947,  -1939,    778\}, \{     0,  -3860,  -1811,    773\},\n\
+	\{     0,  -4354,  -1230,   4170\}, \{     0,  -5705,  -1862,   3840\},\n\
-	\{     0,  -3941,  -2073,    812\}, \{     0,  -4011,  -2152,    603\},\n\
+	\{     0,  -6223,  -2211,   3218\}, \{     0,  -5048,  -1596,   3669\},\n\
-	\{     0,  -4004,  -2293,    666\}, \{     0,  -3763,  -1990,    981\},\n\
+	\{     0,  -5235,  -1541,   3735\}, \{     0,  -6009,  -2219,   3301\},\n\
-	\{     0,  -3795,  -2080,    955\}, \{     0,  -5422,  -4014,  -3352\},\n\
+	\{     0,  -5545,  -1879,   3686\}, \{     0,  -7174,  -2853,   -434\},\n\
-	\{     0,  -5334,  -3839,  -3198\}, \{     0,  -5003,  -3704,  -3127\},\n\
+	\{     0,  -6759,  -3117,     56\}, \{     0,  -7376,  -3291,    221\},\n\
-	\{     0,  -4923,  -3459,  -2822\}, \{     0,  -4880,  -3634,  -2927\},\n\
+	\{     0,  -7601,  -3243,    150\}, \{     0,  -7065,  -2752,    -42\},\n\
-	\{     0,  -4626,  -3279,  -2818\}, \{     0,  -4459,  -3158,  -2737\},\n\
+	\{     0,  -7701,  -2828,   -144\}, \{     0,  -7598,  -3002,    464\},\n\
-	\{     0,  -4451,  -3021,  -2714\}, \{     0,  -4232,  -2966,  -2584\},\n\
+	\{     0,  -7312,  -2476,    399\}, \{     0,  -7939,  -2374,    -62\},\n\
-	\{     0,  -4121,  -2834,  -2596\}, \{     0,  -3976,  -2641,  -2334\},\n\
+	\{     0,  -7622,  -2213,    482\}, \{     0,  -6715,  -1688,   1033\},\n\
-	\{     0,  -3794,  -2439,  -2238\}, \{     0,  -3675,  -2262,  -2175\},\n\
+	\{     0,  -6755,  -1445,    722\}, \{     0,  -6817,  -1385,   1061\},\n\
-	\{     0,  -3362,  -1706,  -1623\}, \{     0,  -3528,  -2164,  -1984\},\n\
+	\{     0,  -6155,   -864,   1431\}, \{     0,  -6700,  -1746,   1070\},\n\
-	\{     0,  -3152,  -1630,  -1687\}, \{     0,  -3263,  -1802,  -1695\},\n\
+	\{     0,  -6973,  -1127,    835\}, \{     0,  -6456,  -1152,    686\},\n\
-	\{     0,  -2947,  -1336,  -1531\}, \{     0,  -3096,  -1405,  -1527\},\n\
+	\{     0,  -6542,  -1505,   1059\}, \{     0,  -6659,  -1374,    584\},\n\
-	\{     0,  -3166,  -1540,  -1558\}, \{     0,  -3138,  -1467,  -1543\},\n\
+	\{     0,  -6605,   -983,    630\}, \{     0,  -6366,  -1046,    800\},\n\
-	\{     0,   -903,    658,   -935\}, \{     0,   -828,    762,  -1026\},\n\
+	\{     0,  -4668,    343,   1086\}, \{     0,  -5072,    560,    468\},\n\
-	\{     0,   -550,   1350,   -713\}, \{     0,   -829,   1110,  -1164\},\n\
+	\{     0,  -4124,   1399,   1284\}, \{     0,  -3465,  10068,  22599\},\n\
-	\{     0,   -752,   1063,  -1160\}, \{     0,   -705,   1128,  -1506\},\n\
+	\{     0,  -4167,   2018,   1119\}, \{     0,  -4910,   1612,    717\},\n\
-	\{     0,   -659,   1257,  -1704\}, \{     0,   -719,   1290,  -1965\},\n\
+	\{     0,  -4917,   1600,    968\}, \{     0,  -4171,   1731,    430\},\n\
-	\{     0,   -544,   1695,  -1719\}, \{     0,   -687,   1528,  -2183\},\n\
+	\{     0,  -3432,  13873,    166\}, \{     0,  -3571,   2840,    870\},\n\
-	\{     0,   -478, -21223,  -2095\}, \{     0,   -653,   1741,  -2397\},\n\
+	\{     0,  -3060,   2468,    463\}, \{     0,  -2858,   2369,    373\},\n\
-	\{     0,   -651,   1813,  -2513\}, \{     0,   -511, -21073,  -2543\},\n\
+	\{     0,  -2948,   3186,    438\}, \{     0,  -3305,   2984,   -160\},\n\
-	\{     0,   -499, -23598,  -2642\}, \{     0,   -851,   1982,  -2660\},\n\
+	\{     0,  -2027,   3128,   -798\}, \{     0,  -2663,   3320,   -865\},\n\
-	\{     0,   -872,   1961,  -2673\}, \{     0,   -810,   2043,  -2845\},\n\
+	\{     0,  -3992,   -562,  -1509\}, \{     0,  -2913,   2844,  -1081\},\n\
-	\{     0,  -1060,   1924,  -2732\}, \{     0,  -1115,  -3044,  -2581\},\n\
+	\{     0,  -3205,   3373,  -1418\}, \{     0,  -3366,   3063,  -1645\},\n\
-	\{     0,  -1129,   2014,  -2828\}, \{     0,    731,   4892,    234\},\n\
+	\{     0,  -3878,   2873,   -920\}, \{     0,  -1801,   6168,   2384\},\n\
-	\{     0,    570,   4718,     22\}, \{     0,    100,   4534,    -37\},\n\
+	\{     0,  -1252,   6409,   2308\}, \{     0,  -1724,   6027,   2474\},\n\
-	\{     0,    254,   4653,    -65\}, \{     0,    182,   4873,     90\},\n\
+	\{     0,  -1937,   5849,   2730\}, \{     0,  -1921,   5622,   2349\},\n\
-	\{     0,    164,   4680,    -74\}, \{     0,    148,   4590,   -196\},\n\
+	\{     0,  -2162,   5995,  -1804\}, \{     0,  -1707,   6306,   2744\},\n\
-	\{     0,    208,   4540,   -186\}, \{     0,    250,   4615,   -126\},\n\
+	\{     0,  -1334,   5651,   3112\}, \{     0,  -2132,   5216,   2588\},\n\
-	\{     0,    308,   4559,    -37\}, \{     0,    409,   4640,   -129\},\n\
+	\{     0,  -1878,   5912,   2448\}, \{     0,  -1233,   5205,   2467\},\n\
-	\{     0,    474,   4646,    -81\}, \{     0,    388,   4486,    -12\},\n\
+	\{     0,  -1139,   5350,   2967\}, \{     0,  -2373,   5368, -23580\},\n\
-	\{     0,    513,   4546,    -96\}, \{     0,    673,   4704,     72\},\n\
+	\{     0,  -1706,   5450,   2374\}, \{     0,  -1718,   5876,   2333\},\n\
-	\{     0,    509,   4312,    -42\}, \{     0,    584,   4564,    -44\},\n\
+	\{     0,  -1569,   5961,   2570\}, \{     0,  -1177,   6423,   2665\},\n\
-	\{     0,    672,   4597,   -120\}, \n\
+	\{     0,  -1210,   5976,   2608\}, \n\
 };"
 calMap[LJ01]="\{\n\
-	\{     0,   3306,  -5061, -13611\}, \{     0,   3049,  -4933, -13418\},\n\
+	\{     0,   5716,  -1041, -12697\}, \{     0,   5110,  -1450, -13222\},\n\
-	\{     0,   2843,  -4962, -13208\}, \{     0,   2486,  -5123, -13136\},\n\
+	\{     0,   4487,  -1630, -13282\}, \{     0,   4606,  -1821, -13197\},\n\
-	\{     0,   2205,  -5473, -13265\}, \{     0,   1928,  -5988, -13506\},\n\
+	\{     0,   4663,  -2299, -13302\}, \{     0,   4092,  -2324, -13451\},\n\
-	\{     0,   1513,  -6709, -13935\}, \{     0,   1546,  -7568, -14632\},\n\
+	\{     0,   4233,  -2419, -13189\}, \{     0,   3702,  -2961, -14147\},\n\
-	\{     0,   1468,  -8336, -15205\}, \{     0,   1509,  -8794, -15543\},\n\
+	\{     0,   3167,  -3408, -14660\}, \{     0,   3564,  -3255, -13877\},\n\
-	\{     0,   1528,  -8973, -15639\}, \{     0,   1768,  -8853, -15558\},\n\
+	\{     0,   3320,  -3407, -13671\}, \{     0,   3137,  -3350, -13820\},\n\
-	\{     0,   1854,  -8520, -15319\}, \{     0,   2002,  -7988, -14884\},\n\
+	\{     0,   3342,  -3703, -13808\}, \{     0,   3519,  -3970, -14069\},\n\
-	\{     0,   2042,  -7457, -14526\}, \{     0,   2193,  -7051, -14249\},\n\
+	\{     0,   2983,  -4415, -14335\}, \{     0,   3636,  -3825, -13840\},\n\
-	\{     0,   2132,  -6802, -14131\}, \{     0,   2334,  -6767, -14073\},\n\
+	\{     0,   3461,  -3922, -14323\}, \{     0,   3419,  -4022, -14031\},\n\
-	\{     0,   2332,  -6824, -14227\}, \{     0,   2407,  -7012, -14338\},\n\
+	\{     0,   3763,  -4066, -13832\}, \{     0,   3929,  -3504, -13827\},\n\
-	\{     0,   2424,  -7273, -14748\}, \{     0,   1718, -10180, -16828\},\n\
+	\{     0,   3634,  -4035, -14096\}, \{     0,   3195,  -6232, -14808\},\n\
-	\{     0,   1928, -10432, -17197\}, \{     0,   2107, -10502, -17293\},\n\
+	\{     0,   3428,  -6179, -14913\}, \{     0,   3506,  -5525, -14510\},\n\
-	\{     0,   2327, -10335, -17211\}, \{     0,   2557,  -9919, -16856\},\n\
+	\{     0,   3754,  -5724, -14134\}, \{     0,   3630,  -5791, -14743\},\n\
-	\{     0,   2665,  -9220, -16289\}, \{     0,   2983,  -8285, -15322\},\n\
+	\{     0,   3857,  -5548, -14269\}, \{     0,   4654,  -4964, -13701\},\n\
-	\{     0,   3093,  -7289, -14604\}, \{     0,   3304,  -6536, -13885\},\n\
+	\{     0,   4853,  -4388, -13822\}, \{     0,   4735,  -4632, -13864\},\n\
-	\{     0,   3407,  -6161, -13705\}, \{     0,   3661,  -6183, -13598\},\n\
+	\{     0,   4981,  -4381, -13979\}, \{     0,   5528,  -3984, -13626\},\n\
-	\{     0,   3822,  -6287, -13834\}, \{     0,   3895,  -6650, -14020\},\n\
+	\{     0,   5130,  -4326, -13639\}, \{     0,   5095,  -3792, -13638\},\n\
-	\{     0,   4111,  -6621, -14034\}, \{     0,   4166,  -7000, -14249\},\n\
+	\{     0,   5346,  -3366, -13030\}, \{     0,   5498,  -3496, -13682\},\n\
-	\{     0,   4359,  -7249, -14543\}, \{     0,   4517,  -7372, -14492\},\n\
+	\{     0,   5144,  -3120, -13986\}, \{     0,   5427,  -2871, -12931\},\n\
-	\{     0,   4690,  -7235, -14442\}, \{     0,   4726,  -7000, -14150\},\n\
+	\{     0,   5939,  -2824, -12646\}, \{     0,   6030,  -2983, -12662\},\n\
-	\{     0,   4733,  -6447, -13781\}, \{     0,   4759,  -5776, -13242\},\n\
+	\{     0,   5959,  -3142, -12116\}, \{     0,   5903,  -2700, -11731\},\n\
-	\{     0,   4952,  -5584, -11867\}, \{     0,   4956,  -5281, -11959\},\n\
+	\{     0,   6256,  -3546, -10932\}, \{     0,   6384,  -3767, -11326\},\n\
-	\{     0,   4989,  -5306, -12400\}, \{     0,   5018,  -5623, -12991\},\n\
+	\{     0,   6086,  -3399, -11769\}, \{     0,   5915,  -3257, -12066\},\n\
-	\{     0,   5109,  -6646, -13788\}, \{     0,   5286,  -7245, -14517\},\n\
+	\{     0,   6257,  -4021, -12273\}, \{     0,   6084,  -4192, -12153\},\n\
-	\{     0,   5265,  -7781, -15215\}, \{     0,   5337,  -8198, -15738\},\n\
+	\{     0,   5482,  -4102, -12637\}, \{     0,   5836,  -3698, -12767\},\n\
-	\{     0,   5185,  -8507, -16106\}, \{     0,   5238,  -8605, -16296\},\n\
+	\{     0,   6025,  -4014, -13219\}, \{     0,   5713,  -3812, -14315\},\n\
-	\{     0,   4984,  -8648, -16398\}, \{     0,   4892,  -8510, -16338\},\n\
+	\{     0,   5997,  -3855, -14788\}, \{     0,   5866,  -3905, -15408\},\n\
-	\{     0,   4755,  -8181, -16074\}, \{     0,   4728,  -7720, -15674\},\n\
+	\{     0,   5328,  -4627, -16458\}, \{     0,   5686,  -3646, -14885\},\n\
-	\{     0,   4671,  -7183, -15300\}, \{     0,   4673,  -6820, -15154\},\n\
+	\{     0,   5551,  -3407, -15112\}, \{     0,   5720,  -3165, -14247\},\n\
-	\{     0,   4608,  -6671, -15163\}, \{     0,   4730,  -6867, -15411\},\n\
+	\{     0,   6044,  -3818, -14224\}, \{     0,   5963,  -3342, -14531\},\n\
-	\{     0,   4841,  -7249, -15716\}, \{     0,   4945,  -7583, -15995\},\n\
+	\{     0,   6128,  -3225, -13495\}, \{     0,   6564,  -3662, -13408\},\n\
-	\{     0,   4855,  -8092, -16198\}, \{     0,   5183,  -8078, -14677\},\n\
+	\{     0,   6000,  -3479, -13609\}, \{     0,   5876,  -3190, -11817\},\n\
-	\{     0,   5069,  -8370, -14651\}, \{     0,   4786,  -8613, -14604\},\n\
+	\{     0,   7165,  -2876, -10874\}, \{     0,   6593,  -4000, -11565\},\n\
-	\{     0,   4567,  -8865, -14570\}, \{     0,   4417,  -9059, -14590\},\n\
+	\{     0,   6207,  -3694, -11278\}, \{     0,   6732,  -2326, -11167\},\n\
-	\{     0,   4347,  -9189, -14516\}, \{     0,   4180,  -9222, -14315\},\n\
+	\{     0,   6335,  -3650, -11508\}, \{     0,   6220,  -4220, -12438\},\n\
-	\{     0,   4076,  -9148, -14113\}, \{     0,   4036,  -9148, -13980\},\n\
+	\{     0,   6069,  -3838, -12545\}, \{     0,   6182,  -4635, -12472\},\n\
-	\{     0,   4057,  -9343, -14037\}, \{     0,   4073,  -9499, -14209\},\n\
+	\{     0,   5696,  -4834, -12334\}, \{     0,   6047,  -4121, -11691\},\n\
-	\{     0,   4109,  -9701, -14466\}, \{     0,   4200,  -9811, -14607\},\n\
+	\{     0,   6324,  -4125, -10980\}, \{     0,   6102,  -3923, -10939\},\n\
-	\{     0,   4245,  -9975, -14787\}, \{     0,   4320,  -9969, -14682\},\n\
+	\{     0,   6091,  -3829, -10736\}, \{     0,   5858,  -4001, -10473\},\n\
-	\{     0,   4147,  -9974, -14613\}, \{     0,   4026,  -9853, -14365\},\n\
+	\{     0,   5473,  -4773, -11209\}, \{     0,   6045,  -4642, -10361\},\n\
-	\{     0,   3899,  -9675, -14231\}, \n\
+	\{     0,   5494,  -4391, -10203\}, \n\
 };"
 calMap[LJ02]="\{\n\
 	\{     0,   -726,    598,  -2561\}, \{     0,   -743,    864,  -2549\},\n\
 	\{     0,   -769,    992,  -2477\}, \{     0,   -905,    665,  -2742\},\n\
 	\{     0,   -944,    665,  -2710\}, \{     0,  -1180,    727,  -2794\},\n\
 	\{     0,  -1012,    642,  -2599\}, \{     0,  -1195,    690,  -2770\},\n\
 	\{     0,  -1191,    667,  -2846\}, \{     0,  -1173,    684,  -2759\},\n\
 	\{     0,  -1158,    708,  -2795\}, \{     0,  -1072,    678,  -2852\},\n\
 	\{     0,  -1175,    872,  -2747\}, \{     0,  -1011,    862,  -2673\},\n\
 	\{     0,  -1086,    755,  -2927\}, \{     0,  -1042,   1076,  -2731\},\n\
 	\{     0,  -1042,    914,  -2765\}, \{     0,   -758,   1182,  -2443\},\n\
 	\{     0,   -757,   1219,  -2500\}, \{     0,   -534,   1472,  -2295\},\n\
 	\{     0,   -497,   1543,  -2104\}, \{     0,  -1267,   -632,  -3273\},\n\
 	\{     0,  -1133,   -761,  -3048\}, \{     0,  -1065,   -375,  -2952\},\n\
 	\{     0,   -722,   -133,  -2551\}, \{     0,   -586,     52,  -2505\},\n\
 	\{     0,   -546,     67,  -2219\}, \{     0,   -477,    177,  -2017\},\n\
 	\{     0,   -317,    317,  -1888\}, \{     0,   -161,    364,  -1712\},\n\
 	\{     0,      5,    359,  -1770\}, \{     0,   -283,    214,  -1901\},\n\
 	\{     0,    -59,    353,  -1551\}, \{     0,    108,    454,  -1465\},\n\
 	\{     0,    -74,    796,  -1225\}, \{     0,     41,    685,  -1221\},\n\
 	\{     0,     84,    576,  -1318\}, \{     0,     14,    504,  -1313\},\n\
 	\{     0,     37,    448,  -1301\}, \{     0,     18,    344,  -1408\},\n\
 	\{     0,    -70,    240,  -1384\}, \{     0,    -27,    186,  -1595\},\n\
 	\{     0,    622,    981,   -855\}, \{     0,    351,    889,  -1188\},\n\
 	\{     0,    475,    758,  -1328\}, \{     0,    305,   1025,  -1222\},\n\
 	\{     0,    526,    609,  -1397\}, \{     0,    398,    426,  -1695\},\n\
 	\{     0,    237,    543,  -1835\}, \{     0,    357,    739,  -1747\},\n\
 	\{     0,    400,    699,  -1834\}, \{     0,    319,    943,  -1998\},\n\
 	\{     0,    244,    783,  -2197\}, \{     0,    249,    976,  -2195\},\n\
 	\{     0,    266,    859,  -2406\}, \{     0,    332,    959,  -2477\},\n\
 	\{     0,    225,    968,  -2554\}, \{     0,     97,    808,  -2815\},\n\
 	\{     0,     73,    895,  -2852\}, \{     0,   -155,    877,  -2986\},\n\
 	\{     0,    -71,    914,  -2943\}, \{     0,   -232,    862,  -2966\},\n\
 	\{     0,   -347,    772,  -3176\}, \{     0,    675,    250,   -956\},\n\
 	\{     0,    589,    204,   -935\}, \{     0,    459,    110,   -867\},\n\
 	\{     0,    149,    -88,  -1251\}, \{     0,    272,   -145,   -930\},\n\
 	\{     0,    304,    -62,   -857\}, \{     0,     24,   -487,  -1384\},\n\
 	\{     0,     51,    -31,   -984\}, \{     0,    154,    -77,   -992\},\n\
 	\{     0,    -23,   -238,  -1234\}, \{     0,     28,   -331,  -1323\},\n\
 	\{     0,    104,   -415,  -1424\}, \{     0,   -177,   -633,  -1704\},\n\
 	\{     0,     21,   -514,  -1572\}, \{     0,    210,   -796,  -1584\},\n\
 	\{     0,    133,   -693,  -1782\}, \{     0,    161,   -882,  -1824\},\n\
 	\{     0,    118,  -1098,  -1994\}, \n\
 };"
 calMap[LJ03]="\{\n\
-	\{     0,   1349,  -5364,  -8244\}, \{     0,   1305,  -5313,  -8123\},\n\
+	\{     0,  13063,  -4747, -10433\}, \{     0,   3443,  -4140,  -9849\},\n\
-	\{     0,   1346,  -5207,  -8048\}, \{     0,   1267,  -5433,  -8294\},\n\
+	\{     0,   7069,  -4629, -10540\}, \{     0,  13946,  -4544, -10775\},\n\
-	\{     0,   1432,  -5184,  -8028\}, \{     0,   1300,  -5323,  -7882\},\n\
+	\{     0,  12968,  -4307, -10347\}, \{     0,  20281,  -5019, -11282\},\n\
-	\{     0,   1344,  -5252,  -7874\}, \{     0,   1471,  -4946,  -7465\},\n\
+	\{     0,  22661,  -5079, -11148\}, \{     0,  16734,  -4442, -10374\},\n\
-	\{     0,   1463,  -4744,  -7438\}, \{     0,   1343,  -4772,  -7414\},\n\
+	\{     0,  15423,  -4074, -10422\}, \{     0,  22851,  -4441, -10405\},\n\
-	\{     0,   1327,  -4773,  -7466\}, \{     0,   1529,  -4640,  -7207\},\n\
+	\{     0,  14291,  -3978,  -9960\}, \{     0,   4367,  -3954,  -9810\},\n\
-	\{     0,   1361,  -4649,  -7166\}, \{     0,   1282,  -4773,  -7277\},\n\
+	\{     0,  11785,  -3957, -10150\}, \{     0,   3218,  -3775,  -9825\},\n\
-	\{     0,   1395,  -4358,  -6842\}, \{     0,   1460,  -4368,  -6891\},\n\
+	\{     0,   3344,  -3314,  -9254\}, \{     0,   6873,  -3528,  -9614\},\n\
-	\{     0,   1453,  -4271,  -6791\}, \{     0,   1508,  -3985,  -6433\},\n\
+	\{     0,   3630,  -3230,  -9069\}, \{     0,   3442,  -3275,  -9653\},\n\
-	\{     0,   1631,  -3986,  -6168\}, \{     0,   1703,  -3670,  -6021\},\n\
+	\{     0,   3346,  -3858,  -9895\}, \{     0,   3721,  -3391,  -9296\},\n\
-	\{     0,   1721,  -3765,  -5929\}, \{     0,   -945,  -8000,  -7277\},\n\
+	\{     0,   3261,  -3428,  -9383\}, \{     0, -24770,  -8031, -10490\},\n\
-	\{     0,   -760,  -7667,  -6891\}, \{     0,   -674,  -7604,  -6809\},\n\
+	\{     0, -24608,  -7690, -10198\}, \{     0, -24868,  -7897,  -9937\},\n\
-	\{     0,   -651,  -7716,  -6859\}, \{     0,   -564,  -7489,  -6550\},\n\
+	\{     0, -24880,  -7994, -10295\}, \{     0, -24908,  -7089, -10312\},\n\
-	\{     0,   -619,  -7426,  -6299\}, \{     0,   -548,  -7423,  -6400\},\n\
+	\{     0, -24547,  -7588, -10044\}, \{     0, -24905,  -8076,  -9985\},\n\
-	\{     0,   -594,  -7559,  -6385\}, \{     0,   -454,  -7217,  -6158\},\n\
+	\{     0, -24646,  -7229,  -9709\}, \{     0, -24916,  -7800, -10193\},\n\
-	\{     0,   -652,  -7475,  -6376\}, \{     0,   -515,  -7409,  -6425\},\n\
+	\{     0, -25334,  -8019, -10733\}, \{     0, -24839,  -7637, -10037\},\n\
-	\{     0,   -594,  -7547,  -6704\}, \{     0,   -624,  -7454,  -6696\},\n\
+	\{     0, -25020,  -7138,  -9907\}, \{     0, -24502,  -7503, -10369\},\n\
-	\{     0,   -632,  -7298,  -6673\}, \{     0,   -618,  -7398,  -6976\},\n\
+	\{     0, -24471,  -7222, -10546\}, \{     0, -24537,  -7066, -10359\},\n\
-	\{     0,   -448,  -7026,  -6590\}, \{     0,   -403,  -7384,  -6981\},\n\
+	\{     0, -24407,  -6616,  -9797\}, \{     0, -23898,  -7370, -10755\},\n\
-	\{     0,   -309,  -7243,  -6984\}, \{     0,   -244,  -7224,  -7184\},\n\
+	\{     0, -24587,  -7630, -10656\}, \{     0, -24411,  -7258, -11072\},\n\
-	\{     0,   -149,  -7332,  -7120\}, \{     0,      3,  -6982,  -7051\},\n\
+	\{     0, -24028,  -7203, -10471\}, \{     0, -24139,  -7585, -10014\},\n\
-	\{     0,    637,  -5403,  -6598\}, \{     0,    741,  -5338,  -6589\},\n\
+	\{     0, -23817,  -6456, -10002\}, \{     0, -24122,  -6453, -10354\},\n\
-	\{     0,   1061,  -5151,  -6684\}, \{     0,   1132,  -5092,  -6982\},\n\
+	\{     0,  25236,  -6345,  -9380\}, \{     0,  25260,  -6144,  -9727\},\n\
-	\{     0,   1395,  -5371,  -6885\}, \{     0,   1576,  -5046,  -7027\},\n\
+	\{     0, -25031,  -6591, -10264\}, \{     0,  11624,  -6478, -10071\},\n\
-	\{     0,   1685,  -5036,  -7188\}, \{     0,  -4861,  -4954,  -7182\},\n\
+	\{     0,  11896,  -5407,  -9780\}, \{     0,  14144,  -5554, -10328\},\n\
-	\{     0,   7528,  -4764,  -7106\}, \{     0,   7402,  -4883,  -7450\},\n\
+	\{     0,   5556,  -5558, -10775\}, \{     0,   3406,  -5945, -10115\},\n\
-	\{     0,   2421,  -4626,  -7362\}, \{     0,   2537,  -4763,  -7522\},\n\
+	\{     0,   3384,  -5384, -10050\}, \{     0,   3263,  -4468,  -9634\},\n\
-	\{     0,   2625,  -4445,  -7453\}, \{     0,   2812,  -4555,  -7423\},\n\
+	\{     0,   5991,  -4734,  -9494\}, \{     0,   3953,  -5377, -10430\},\n\
-	\{     0,   2817,  -4220,  -7536\}, \{     0,   2871,  -4363,  -7597\},\n\
+	\{     0,   4514,  -3687,  -9547\}, \{     0,   4487,  -3691,  -9332\},\n\
-	\{     0,   2991,  -4147,  -7377\}, \{     0,   3022,  -4280,  -7546\},\n\
+	\{     0,   5085,  -4417,  -9657\}, \{     0,   5222,  -3694,  -9115\},\n\
-	\{     0,   3081,  -4477,  -7607\}, \{     0,   3207,  -4288,  -7445\},\n\
+	\{     0,   4960,  -4086,  -8862\}, \{     0,   4994,  -4292,  -9127\},\n\
-	\{     0,   3222,  -4523,  -7341\}, \{     0,   2538,  -5235,  -7880\},\n\
+	\{     0,   5162,  -4509,  -8554\}, \{     0,   4337,  -5390,  -8443\},\n\
-	\{     0,   2556,  -5329,  -7867\}, \{     0,   2637,  -5562,  -7906\},\n\
+	\{     0,   4628,  -4976,  -9047\}, \{     0,   4293,  -4876,  -9218\},\n\
-	\{     0,   2615,  -5434,  -7647\}, \{     0,   2526,  -5602,  -7602\},\n\
+	\{     0,   4465,  -5352,  -9014\}, \{     0,   4428,  -4936,  -9521\},\n\
-	\{     0,   2506,  -5612,  -7705\}, \{     0,   2365,  -5521,  -7538\},\n\
+	\{     0,   4048,  -5497,  -9795\}, \{     0,   4290,  -6034,  -9032\},\n\
-	\{     0,   7423,  -5500,  -7675\}, \{     0,   2264,  -5602,  -7646\},\n\
+	\{     0,   4184,  -4996,  -8434\}, \{     0,   3950,  -4983,  -8474\},\n\
-	\{     0,   2263,  -5490,  -7639\}, \{     0, -15024,  -5463,  -7460\},\n\
+	\{     0,   4247,  -4407,  -7955\}, \{     0,   4386,  -4769,  -8079\},\n\
-	\{     0,  -4834,  -5419,  -7484\}, \{     0,  -3118,  -5570,  -7579\},\n\
+	\{     0,   4311,  -5367,  -8478\}, \{     0,   4283,  -4809,  -8025\},\n\
-	\{     0,  -6596,  -5413,  -7525\}, \{     0,   1877,  -5315,  -7328\},\n\
+	\{     0,   3885,  -4011,  -7495\}, \{     0,   3885,  -4593,  -7577\},\n\
-	\{     0,   1874,  -5682,  -7534\}, \{     0,   1759,  -5330,  -7287\},\n\
+	\{     0,   3622,  -5239,  -8157\}, \{     0,   3576,  -5007,  -7816\},\n\
-	\{     0,   1735,  -5507,  -7305\}, \n\
+	\{     0,   3778,  -3793,  -7362\}, \n\
 };"
 calMap[LJ04]="\{\n\
@@ -352,45 +396,46 @@ calMap[LJ04]="\{\n\
 };"
 calMap[LJ06]="\{\n\
-	\{     0,  -2262,  -6113,      0\}, \{     0,  -2289,  -5998,      0\},\n\
+	\{     0,  -4989,  -7102,  -2178\}, \{     0,  -5092,  -7204,  -2325\},\n\
-	\{     0,  -2389,  -5908,      0\}, \{     0,  -2400,  -5772,      0\},\n\
+	\{     0,  -4959,  -7013,  -2137\}, \{     0,  -4960,  -6784,  -1920\},\n\
-	\{     0,  -2453,  -5681,      0\}, \{     0,  -2499,  -5388,      0\},\n\
+	\{     0,  -5025,  -6734,  -2104\}, \{     0,  -5181,  -6637,  -2017\},\n\
-	\{     0,  -2697,  -5347,      0\}, \{     0,  -2711,  -5354,      0\},\n\
+	\{     0,  -5262,  -6792,  -2110\}, \{     0,  -5362,  -6621,  -2110\},\n\
-	\{     0,  -2706,  -5191,      0\}, \{     0,  -2735,  -5041,      0\},\n\
+	\{     0,  -5258,  -6451,  -2031\}, \{     0,  -5375,  -6390,  -2064\},\n\
-	\{     0,  -2774,  -5210,      0\}, \{     0,  -2786,  -5058,      0\},\n\
+	\{     0,  -5280,  -6288,  -2052\}, \{     0,  -5445,  -6434,  -2101\},\n\
-	\{     0,  -2678,  -4895,      0\}, \{     0,  -2919,  -5057,      0\},\n\
+	\{     0,  -5553,  -6402,  -2272\}, \{     0,  -5603,  -6628,  -2477\},\n\
-	\{     0,  -2721,  -4910,      0\}, \{     0,  -2907,  -5193,      0\},\n\
+	\{     0,  -5661,  -6626,  -2492\}, \{     0,  -5731,  -6618,  -2616\},\n\
-	\{     0,  -2788,  -5127,      0\}, \{     0,  -2740,  -5244,      0\},\n\
+	\{     0,  -5746,  -6626,  -2664\}, \{     0,  -6007,  -7024,  -2951\},\n\
-	\{     0,  -2952,  -5528,      0\}, \{     0,  -2780,  -5636,      0\},\n\
+	\{     0,  -6018,  -7010,  -2969\}, \{     0,  -5746,  -6939,  -2833\},\n\
-	\{     0,  -2699,  -5809,      0\}, \{     0,  -5951,  -7685,      0\},\n\
+	\{     0,  -5770,  -7034,  -3026\}, \{     0,  -8509,  -8777,  -6863\},\n\
-	\{     0,  -5919,  -8016,      0\}, \{     0,  -5825,  -7896,      0\},\n\
+	\{     0,  -8593,  -9060,  -6868\}, \{     0,  -8514,  -9104,  -6795\},\n\
-	\{     0,  -5678,  -8137,      0\}, \{     0,  -5540,  -7997,      0\},\n\
+	\{     0,  -8401,  -9387,  -6931\}, \{     0,  -8236,  -9191,  -6586\},\n\
-	\{     0,  -5402,  -8086,      0\}, \{     0,  -5177,  -8028,      0\},\n\
+	\{     0,  -8155,  -9371,  -6595\}, \{     0,  -8192,  -9551,  -6363\},\n\
-	\{     0,  -5086,  -8084,      0\}, \{     0,  -4956,  -8329,      0\},\n\
+	\{     0,  -7995,  -9550,  -6185\}, \{     0,  -7968,  -9690,  -6220\},\n\
-	\{     0,  -4540,  -7947,      0\}, \{     0,  -4522,  -8167,      0\},\n\
+	\{     0,  -7826,  -9694,  -6052\}, \{     0,  -7694,  -9660,  -5763\},\n\
-	\{     0,  -4236,  -8042,      0\}, \{     0,  -4221,  -8116,      0\},\n\
+	\{     0,  -7857, -10020,  -5947\}, \{     0,  -7543,  -9682,  -5463\},\n\
-	\{     0,  -4065,  -7614,      0\}, \{     0,  -3927,  -7733,      0\},\n\
+	\{     0,  -7184,  -9071,  -4747\}, \{     0,  -7282,  -9220,  -4767\},\n\
-	\{     0,  -4279,  -8023,      0\}, \{     0,  -3821,  -7745,      0\},\n\
+	\{     0,  -7417,  -9371,  -4765\}, \{     0,  -7238,  -9321,  -4430\},\n\
-	\{     0,  -3811,  -7711,      0\}, \{     0,  -3622,  -7571,      0\},\n\
+	\{     0,  -7320,  -9420,  -4560\}, \{     0,  -7254,  -9185,  -4270\},\n\
-	\{     0,  -3670,  -7673,      0\}, \{     0,  -3468,  -7280,      0\},\n\
+	\{     0,  -7378,  -9262,  -4324\}, \{     0,  -7078,  -9074,  -3976\},\n\
-	\{     0,  -7748,  -9555,      0\}, \{     0,  -7489,  -9416,      0\},\n\
+	\{     0, -10047, -10956,  -7258\}, \{     0, -10107, -10961,  -7192\},\n\
-	\{     0,  -7519,  -9207,      0\}, \{     0,  -7465,  -9536,      0\},\n\
+	\{     0, -10264, -11167,  -7427\}, \{     0, -10160, -10823,  -7282\},\n\
-	\{     0,  -7860,  -9780,      0\}, \{     0,  -7653,  -9649,      0\},\n\
+	\{     0, -10276, -11378,  -7508\}, \{     0, -10576, -11282,  -7688\},\n\
-	\{     0,  -7797,  -9516,      0\}, \{     0,  -7830,  -9363,      0\},\n\
+	\{     0, -10801, -11460,  -7845\}, \{     0, -10822, -10983,  -7809\},\n\
-	\{     0,  -7742,  -9205,      0\}, \{     0,  -7527,  -8705,      0\},\n\
+	\{     0, -10947, -10998,  -8018\}, \{     0, -11215, -10876,  -8255\},\n\
-	\{     0,  -7519,  -8575,      0\}, \{     0,  -7595,  -8404,      0\},\n\
+	\{     0, -11247, -10590,  -8188\}, \{     0, -11302, -10269,  -8237\},\n\
-	\{     0,  -7486,  -8284,      0\}, \{     0,  -7580,  -7872,      0\},\n\
+	\{     0, -11583, -10213,  -8413\}, \{     0, -11561, -10001,  -8448\},\n\
-	\{     0,  -7538,  -7504,      0\}, \{     0,  -7962,  -7643,      0\},\n\
+	\{     0, -11482,  -9425,  -8273\}, \{     0, -11573,  -9203,  -8344\},\n\
-	\{     0,  -8127,  -7655,      0\}, \{     0,  -8093,  -6990,      0\},\n\
+	\{     0, -11661,  -8895,  -8267\}, \{     0, -11843,  -8879,  -8259\},\n\
-	\{     0,  -8134,  -6976,      0\}, \{     0,  -8124,  -6803,      0\},\n\
+	\{     0, -11799,  -8715,  -8112\}, \{     0, -12002,  -8422,  -8238\},\n\
-	\{     0,  -8197,  -6536,      0\}, \{     0,  -3942,  -1676,      0\},\n\
+	\{     0, -12022,  -8434,  -8409\}, \{     0,  -8755,  -4274,  -4932\},\n\
-	\{     0,  -4183,  -1856,      0\}, \{     0,  -4299,  -1592,      0\},\n\
+	\{     0,  -9183,  -4523,  -5458\}, \{     0,  -9293,  -4300,  -5260\},\n\
-	\{     0,  -4544,  -1886,      0\}, \{     0,  -4665,  -1528,      0\},\n\
+	\{     0,  -9530,  -4543,  -5569\}, \{     0,  -9573,  -4168,  -5429\},\n\
-	\{     0,  -4565,  -1494,      0\}, \{     0,  -4739,  -1559,      0\},\n\
+	\{     0,  -9847,  -4448,  -5638\}, \{     0,  -9999,  -4504,  -5969\},\n\
-	\{     0,  -4674,  -1424,      0\}, \{     0,  -5024,  -1639,      0\},\n\
+	\{     0,  -9858,  -4176,  -5716\}, \{     0,  -9988,  -4378,  -5978\},\n\
-	\{     0,  -4809,  -1556,      0\}, \{     0,  -5018,  -1704,      0\},\n\
+	\{     0,  -9760,  -3942,  -5627\}, \{     0, -10072,  -4163,  -6002\},\n\
-	\{     0,  -4793,  -1466,      0\}, \{     0,  -5107,  -1687,      0\},\n\
+	\{     0,  -9892,  -4091,  -5833\}, \{     0,  -9873,  -3867,  -5828\},\n\
-	\{     0,  -4760,  -1739,      0\}, \{     0,  -5083,  -1904,      0\},\n\
+	\{     0,  -9911,  -4149,  -5877\}, \{     0,  -9844,  -4016,  -5908\},\n\
-	\{     0,  -5023,  -2034,      0\}, \{     0,  -4848,  -2186,      0\},\n\
+	\{     0,  -9528,  -3912,  -5604\}, \{     0,  -9432,  -3911,  -5648\},\n\
-	\{     0,  -4732,  -1999,      0\}, \n\
+	\{     0,  -9314,  -3730,  -5422\}, \n\
 };"
@@ -1,19 +1,40 @@
 clear;clc;
 name = 'LJ06';
 load(['phase_' name '.mat']);
 data = sortrows(dataDec1, 1);
-fprintf('calMap[%s]="\\{\\n\\\n', name);
+fid = fopen("../caldata", "w");
-for i = 1:size(data,1)
+fprintf(fid, "declare -A calMap\n");
-    if (mod(i, 2) == 1)
+
-        fprintf("\t");
+for i = 1:6
-    end
+    id = sprintf("JG%02d", i);
-    fprintf("\\{%6d, %6d, %6d, %6d\\},", ...
+    write_data(fid, pwd, id);
-        data(i,2), data(i,3), data(i,4), data(i,5));
+end
-    if (mod(i, 2) == 1)
+
-        fprintf(" ");
+for i = 1:6
-    else
+    id = sprintf("LJ%02d", i);
-        fprintf("\\n\\\n");
+    write_data(fid, pwd, id);
-    end
+end
 fclose(fid);
 function write_data(fid, folder_name, dev_id)
    file_path = sprintf("%s/phase_%s.mat", folder_name, dev_id);
    if ~isfile(file_path)
         warning('[%s] dose not exist.\n', file_path);
         return;
    end
    load(file_path);
    data = sortrows(dataDec1, 1);
    fprintf(fid, 'calMap[%s]="\\{\\n\\\n', dev_id);
    for i = 1:size(data,1)
        if (mod(i, 2) == 1)
            fprintf(fid, "\t");
        end
        fprintf(fid, "\\{%6d, %6d, %6d, %6d\\},", ...
            data(i,2), data(i,3), data(i,4), data(i,5));
        if (mod(i, 2) == 1)
            fprintf(fid, " ");
        else
            fprintf(fid, "\\n\\\n");
        end
    end
    fprintf(fid, '\\n\\\n};"\n\n');
 end
 fprintf('\\n\\\n};"\n');
@@ -23,7 +23,7 @@ C_DEPS += \
 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 ' '
@@ -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 ' '
@@ -23,7 +23,7 @@ C_DEPS += \
 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 ' '
@@ -38,7 +38,7 @@ C_DEPS += \
 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 ' '
@@ -20,7 +20,7 @@ C_DEPS += \
 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 ' '
@@ -23,7 +23,7 @@ C_DEPS += \
 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 ' '
@@ -17,7 +17,7 @@ C_DEPS += \
 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 ' '
@@ -32,7 +32,7 @@ C_DEPS += \
 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 ' '
@@ -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 ************/
@@ -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;
 }
@@ -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);
@@ -32,7 +32,7 @@ C_DEPS += \
 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 ' '
@@ -23,7 +23,7 @@ C_DEPS += \
 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 ' '
@@ -38,7 +38,7 @@ C_DEPS += \
 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 ' '
@@ -20,7 +20,7 @@ C_DEPS += \
 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 ' '
@@ -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 ' '
@@ -20,7 +20,7 @@ C_DEPS += \
 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 ' '
@@ -17,7 +17,7 @@ C_DEPS += \
 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 ' '
@@ -32,7 +32,7 @@ C_DEPS += \
 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 ' '
@@ -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
@@ -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;
@@ -214,6 +214,11 @@ int32_t Hardware_Init(void)
 	Status = Hardware_SwitchFreq(ad9361_1_reg_inst, TX_FREQ_4125);
 	XGpioPs_WritePin(&Gpio, AD9361_TX_SWITCH, 0);
 	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0109, 0x00); // Rx Gain
 	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x010C, 0x00); // Rx Gain
 	Status = ad9361_reg_write(ad9361_2_reg_inst, 0x0109, 0x00); // Rx Gain
 	Status = ad9361_reg_write(ad9361_2_reg_inst, 0x010C, 0x00); // Rx Gain
 	DBG_PRINT("Done.\n");
 	return SUCCESS;
@@ -396,12 +401,15 @@ int32_t Hardware_SwitchFreq(struct ad9361_reg_dev *dev, ad9361TxFreq freq)
 int8_t Hardware_GetAD9361Temp_1(void)
 {
 	int8_t scaleTemp;
 	double temp;
 	ad9361_reg_write(ad9361_1_reg_inst, 0x000B, -64);
 	ad9361_reg_write(ad9361_1_reg_inst, 0x001D, 0x01); // disable aux adc
 	ad9361_reg_read(ad9361_1_reg_inst, 0x000E, (uint8_t*)&scaleTemp);
 	ad9361_reg_write(ad9361_1_reg_inst, 0x001D, 0x00); // enable aux adc
-	return (int8_t) scaleTemp/1.16;
+	temp = ((double)scaleTemp + 64)/1.16;
 	return ((temp > INT8_MAX) ? INT8_MAX : (int8_t)temp);
 }
 // @ Get AD9361 - 2 temperature (Celsius Degree)
@@ -411,12 +419,14 @@ int8_t Hardware_GetAD9361Temp_1(void)
 int8_t Hardware_GetAD9361Temp_2(void)
 {
 	int8_t scaleTemp;
 	double temp;
 	ad9361_reg_write(ad9361_2_reg_inst, 0x000B, -64);
 	ad9361_reg_write(ad9361_2_reg_inst, 0x001D, 0x01); // disable aux adc
 	ad9361_reg_read(ad9361_2_reg_inst, 0x000E, (uint8_t*)&scaleTemp);
 	ad9361_reg_write(ad9361_2_reg_inst, 0x001D, 0x00); // enable aux adc
-
+	temp = ((double)scaleTemp + 64)/1.16;
-	return (int8_t) scaleTemp/1.16;
+	return ((temp > INT8_MAX) ? INT8_MAX : (int8_t)temp);
 }
 // @ Determine AD9361 lock state
@@ -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_
@@ -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)
 	{
@@ -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)
 	{
@@ -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;
@@ -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. */
@@ -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
@@ -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);
@@ -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);
@@ -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
@@ -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);
@@ -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;
 /**
@@ -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:
@@ -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.
@@ -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*/
@@ -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);
@@ -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
 		{
@@ -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",
@@ -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;
@@ -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*/
@@ -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 *****************************/
 /**
@@ -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)
 	{
@@ -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 <= 1.05 && x >= 0.95)
+#define IS_PS_VALID(x) ((x) <= 1.1 && (x) >= 0.9)
-#define IS_PSAUX_VALID(x) (x <= 1.89 && x >= 1.71)
+#define IS_PSAUX_VALID(x) ((x) <= 2.0 && (x) >= 1.6)
-#define IS_DDR_VALID(x) (x <= 1.89 && x >= 1.14)
+#define IS_DDR_VALID(x) ((x) <= 1.7 && (x) >= 1.3)
-#define IS_PL_VALID(x) (x <= 1.03 && x >= 0.96)
+#define IS_PL_VALID(x) (x <= 1.1 && (x) >= 0.9)
-#define IS_PLAUX_VALID(x) (x <= 1.89 && x >= 1.71)
+#define IS_PLAUX_VALID(x) ((x) <= 2.0 && (x) >= 1.6)
-#define IS_BRAM_VALID(x) (x <= 1.03 && x >= 0.96)
+#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
@@ -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*/
@@ -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
@@ -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;
 }
 /**
@@ -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
Author	SHA1	Message	Date
Gatsby Van	2ba32bf8db	dev: enable auto linklayer start	2025-05-14 22:45:52 +08:00
Gatsby Van	fa2623130e	fix: correct auto timesync and node ttlCnt mechanism for BERTEST mode	2025-05-14 22:44:52 +08:00
Gatsby Van	6462daabdf	fix: change `L2_CMF_PACK_LEN` to 28B, aka, 10Kbps 20ms frame	2025-05-14 22:43:21 +08:00
Gatsby Van	85117688e1	fix: correct `PHY_DEVICE_ID` definition for `makecopy` substitution	2025-05-14 22:42:25 +08:00
Gatsby	347c0c1f74	chore: refine build script	2025-05-14 11:39:16 +08:00
Gatsby	831395d236	chore: refine handout script, update .gitignore accordingly	2025-05-14 11:25:28 +08:00
Gatsby	b9d7950b3a	feature: code for vibration test	2025-05-14 11:20:37 +08:00
Gatsby Van	a24d8e8d35	update (GJB8114)	2024-07-04 11:01:59 +08:00
Gatsby Van	3e7060965e	misc update: make it more conform with GJB-8114	2024-06-27 13:37:51 +08:00
Gatsby Van	fd9e7f54eb	update make file	2024-06-25 11:00:10 +08:00
Gatsby Van	f8212892a2	avoid usage of goto`	2024-06-25 10:59:54 +08:00
bit-cyber-fh	884d9bcca9	update hardware validation constrain	2024-06-12 10:28:38 +08:00
Gatsby Van	5af74419e0	update calibration data script.	2024-06-10 21:46:03 +08:00
Gatsby Van	f0b28b55fb	update calibration data	2024-06-10 21:23:59 +08:00
bit-cyber-fh	97b8f28e70	update calibration data (add LJ02)	2024-05-23 18:23:06 +08:00
bit-cyber-fh	608bbf1cfa	add LJ06 calibration data	2024-05-23 18:16:56 +08:00
bit-cyber-fh	711cb50658	Merge branch 'master' of http://nas.gatsby.icu:3000/gatsby/df_datalink	2024-05-23 18:16:15 +08:00
bit-cyber-fh	746e87df86	add calibration data	2024-05-23 18:14:24 +08:00
bit-cyber-fh	fa24e0f109	add 9361 rx gain config	2024-05-23 18:11:36 +08:00
bit-cyber-fh	40fdf13fd1	Revert "misc update" This reverts commit 268e724c72ca625fadaad6897a273ffc21e3f723.	2024-05-23 18:06:34 +08:00
bit-cyber-fh	55cd53b746	misc update	2024-05-23 18:03:29 +08:00