update (GJB8114)

misc update: make it more conform with GJB-8114
update make file
2024-07-04 11:01:59 +08:00 · 2024-06-27 13:37:51 +08:00 · 2024-06-25 11:00:10 +08:00 · 2024-06-25 10:59:54 +08:00 · 2024-06-12 10:28:38 +08:00 · 2024-06-10 21:46:03 +08:00
97 changed files with 11437 additions and 5762 deletions
@@ -0,0 +1,441 @@
+declare -A calMap
+calMap[JG01]="\{\n\
+	\{     0,    406, -10530,  -8223\}, \{     0,    697,  -9933,  -7988\},\n\
+	\{     0,    296, -10497,  -8272\}, \{     0,    515, -10264,  -8093\},\n\
+	\{     0,    689, -10212,  -8064\}, \{     0,     40, -10960,  -8572\},\n\
+	\{     0,    722, -10878,  -8518\}, \{     0,     59, -10987,  -8962\},\n\
+	\{     0,     56, -11264,  -8770\}, \{     0,   -464, -11341,  -9159\},\n\
+	\{     0,     19, -10924,  -8887\}, \{     0,   -669, -10927,  -8679\},\n\
+	\{     0,   -701, -11154,  -8712\}, \{     0,   -255, -10739,  -8009\},\n\
+	\{     0,   -192, -10509,  -8242\}, \{     0,  -1057, -11183,  -9007\},\n\
+	\{     0,    -57, -10606,  -8350\}, \{     0,   -719, -10949,  -8880\},\n\
+	\{     0,   -760, -11084,  -8660\}, \{     0,   -457, -10735,  -8833\},\n\
+	\{     0,   -188, -10623,  -9119\}, \{     0,   -628, -12609, -10119\},\n\
+	\{     0,   -434, -12714, -10225\}, \{     0,   -727, -13074, -10685\},\n\
+	\{     0,    -12, -12408, -10190\}, \{     0,     33, -12790, -10624\},\n\
+	\{     0,     93, -13235, -10819\}, \{     0,   -363, -13301, -11183\},\n\
+	\{     0,   -514, -13955, -11557\}, \{     0,   -458, -13878, -11722\},\n\
+	\{     0,     93, -13086, -11726\}, \{     0,   -663, -13597, -11868\},\n\
+	\{     0,    174, -12814, -11295\}, \{     0,    121, -12278, -11150\},\n\
+	\{     0,    425, -11255, -10363\}, \{     0,    430, -11645, -10189\},\n\
+	\{     0,    277, -11844,  -9499\}, \{     0,   -132, -12241,  -9420\},\n\
+	\{     0,    448, -11934,  -9612\}, \{     0,    200, -11778,  -9582\},\n\
+	\{     0,    -40, -12069,  -9336\}, \{     0,   1692, -11315,  -9085\},\n\
+	\{     0,  -1753, -11445,  -9482\}, \{     0,  -2520, -12620, -10068\},\n\
+	\{     0,  -1976, -12674, -10218\}, \{     0,  -1984, -12525, -10354\},\n\
+	\{     0,  -2272, -13476, -10932\}, \{     0,  -2123, -13918, -11095\},\n\
+	\{     0,  -2883, -14447, -11659\}, \{     0,  -2826, -13946, -11563\},\n\
+	\{     0,  -2697, -13680, -11328\}, \{     0,  -3068, -13393, -11614\},\n\
+	\{     0,  -2935, -13074, -11882\}, \{     0,  -3017, -13038, -11163\},\n\
+	\{     0,  -2490, -12379, -11288\}, \{     0,  -2463, -12286, -10726\},\n\
+	\{     0,  -2686, -12167, -10673\}, \{     0,  -2428, -12077, -10555\},\n\
+	\{     0,  -2282, -12564, -10388\}, \{     0,  -2017, -12303, -10844\},\n\
+	\{     0,  -2329, -12637, -11250\}, \{     0,  -2703, -13362, -11807\},\n\
+	\{     0,  -1820, -12605, -11733\}, \{     0,    596, -10833,  -9852\},\n\
+	\{     0,      9, -11140,  -9776\}, \{     0,     41, -11168,  -9478\},\n\
+	\{     0,   -261, -11368,  -9752\}, \{     0,    226, -11282,  -9879\},\n\
+	\{     0,    -68, -11454, -10148\}, \{     0,   -314, -12278, -10716\},\n\
+	\{     0,    -66, -11998, -10762\}, \{     0,    -58, -11469, -10664\},\n\
+	\{     0,    319, -10759, -10212\}, \{     0,    122, -11041,  -9901\},\n\
+	\{     0,   -269, -11085, -10008\}, \{     0,    637, -10569,  -9674\},\n\
+	\{     0,   1185, -10632,  -9521\}, \{     0,    902, -11053,  -9681\},\n\
+	\{     0,    560, -11408,  -9588\}, \{     0,   1162, -11079,  -9371\},\n\
+	\{     0,   1780, -10547,  -9133\}, \n\
+};"
+
+calMap[JG02]="\{\n\
+	\{     0,    509,  -2785,  -4375\}, \{     0,    655,  -3482,  -4447\},\n\
+	\{     0,    520,  -3231,  -4651\}, \{     0,    680,  -3122,  -4790\},\n\
+	\{     0,    328,  -3648,  -4712\}, \{     0,    260,  -3454,  -4515\},\n\
+	\{     0,    433,  -3027,  -4446\}, \{     0,     34,  -4304,  -4676\},\n\
+	\{     0,     54,  -3707,  -4650\}, \{     0,    -19,  -3829,  -5231\},\n\
+	\{     0,   -156,  -4018,  -5292\}, \{     0,   -331,  -4155,  -5423\},\n\
+	\{     0,   -424,  -4210,  -5207\}, \{     0,   -592,  -4131,  -5572\},\n\
+	\{     0,   -494,  -4135,  -5732\}, \{     0,   -687,  -4055,  -5030\},\n\
+	\{     0,  -1000,  -4456,  -5228\}, \{     0,   -337,  -3931,  -5340\},\n\
+	\{     0,   -168,  -3962,  -5326\}, \{     0,   -852,  -4534,  -5798\},\n\
+	\{     0,   -541,  -4458,  -5156\}, \{     0,   -842,  -5570,  -6166\},\n\
+	\{     0,  -1490,  -5883,  -6645\}, \{     0,  -1036,  -5917,  -6151\},\n\
+	\{     0,  -1369,  -5946,  -5969\}, \{     0,   -916,  -5927,  -6200\},\n\
+	\{     0,   -521,  -5595,  -6066\}, \{     0,   -823,  -5731,  -5925\},\n\
+	\{     0,   -262,  -5267,  -5315\}, \{     0,   -697,  -5434,  -5676\},\n\
+	\{     0,   -362,  -5193,  -4887\}, \{     0,   -430,  -5147,  -4911\},\n\
+	\{     0,    -94,  -5403,  -5159\}, \{     0,   -747,  -5796,  -4772\},\n\
+	\{     0,   -679,  -4909,  -4531\}, \{     0,   -500,  -5364,  -4694\},\n\
+	\{     0,   -147,  -5225,  -4463\}, \{     0,   -283,  -5815,  -4360\},\n\
+	\{     0,   -724,  -6148,  -4647\}, \{     0,   -295,  -6069,  -4375\},\n\
+	\{     0,   -397,  -6086,  -4105\}, \{     0,   -116,  -6343,  -4698\},\n\
+	\{     0,   -589,  -6398,  -5353\}, \{     0,  -1068,  -6640,  -5014\},\n\
+	\{     0,   -785,  -7017,  -5093\}, \{     0,    -29,  -6238,  -5186\},\n\
+	\{     0,    380,  -6370,  -5063\}, \{     0,   -239,  -7191,  -5605\},\n\
+	\{     0,    321,  -7256,  -5177\}, \{     0,    430,  -6673,  -4887\},\n\
+	\{     0,    226,  -7136,  -5687\}, \{     0,    142,  -7175,  -5498\},\n\
+	\{     0,    333,  -6596,  -5434\}, \{     0,    315,  -6574,  -5520\},\n\
+	\{     0,   -109,  -6681,  -5798\}, \{     0,   -587,  -7290,  -5748\},\n\
+	\{     0,   -229,  -7105,  -5463\}, \{     0,   -480,  -7092,  -6033\},\n\
+	\{     0,  -1162,  -7488,  -6578\}, \{     0,  -1244,  -8230,  -6838\},\n\
+	\{     0,   -941,  -7941,  -6976\}, \{     0,  -1181,  -7816,  -6868\},\n\
+	\{     0,  -1792,  -8128,  -6590\}, \{     0,   -644,  -7614,  -4524\},\n\
+	\{     0,   -873,  -7358,  -3775\}, \{     0,  -1250,  -7370,  -4506\},\n\
+	\{     0,   -819,  -7520,  -4500\}, \{     0,  -1579,  -8679,  -4626\},\n\
+	\{     0,  -1332,  -7353,  -4338\}, \{     0,  -1128,  -7821,  -5030\},\n\
+	\{     0,   -927,  -7988,  -4954\}, \{     0,  -2035,  -7884,  -5097\},\n\
+	\{     0,  -2533,  -8953,  -6171\}, \{     0,  -1576,  -8029,  -5542\},\n\
+	\{     0,  -1185,  -7297,  -5523\}, \{     0,  -2139,  -8830,  -6236\},\n\
+	\{     0,  -2137,  -8976,  -6225\}, \{     0,  -1387,  -8252,  -6043\},\n\
+	\{     0,  -1139,  -8286,  -5988\}, \{     0,  -1252,  -8224,  -6388\},\n\
+	\{     0,  -1617,  -8211,  -5983\}, \n\
+};"
+
+calMap[JG03]="\{\n\
+	\{     0,  -5670, -14728, -16999\}, \{     0,  -5942, -14703, -17077\},\n\
+	\{     0,  -5889, -14421, -16670\}, \{     0,  -6039, -14464, -16644\},\n\
+	\{     0,  -5991, -14403, -16390\}, \{     0,  -6103, -14418, -16510\},\n\
+	\{     0,  -5953, -14364, -16180\}, \{     0,  -6154, -14364, -16125\},\n\
+	\{     0,  -5945, -14263, -15929\}, \{     0,  -6075, -14327, -15930\},\n\
+	\{     0,  -5928, -14392, -15878\}, \{     0,  -5986, -14443, -15932\},\n\
+	\{     0,  -5783, -14256, -15873\}, \{     0,  -5945, -14360, -15887\},\n\
+	\{     0,  -5749, -14536, -15874\}, \{     0,  -5733, -14684, -15887\},\n\
+	\{     0,  -5630, -14594, -15987\}, \{     0,  -5752, -14743, -16002\},\n\
+	\{     0,  -5490, -14694, -15993\}, \{     0,  -5481, -14866, -16056\},\n\
+	\{     0,  -5293, -14807, -16060\}, \{     0,  -7935, -20143, -18383\},\n\
+	\{     0,  -7733, -20142, -18482\}, \{     0,  -7628, -20060, -18538\},\n\
+	\{     0,  -7437, -20112, -18495\}, \{     0,  -7314, -20012, -18544\},\n\
+	\{     0,  -7072, -19980, -18573\}, \{     0,  -6986, -20006, -18632\},\n\
+	\{     0,  -6718, -20048, -18569\}, \{     0,  -6601, -19987, -18517\},\n\
+	\{     0,  -6485, -20035, -18537\}, \{     0,  -6292, -20047, -18537\},\n\
+	\{     0,  -6105, -20153, -18482\}, \{     0,  -6081, -20314, -18501\},\n\
+	\{     0,  -5865, -19916, -18164\}, \{     0,  -5786, -20218, -18174\},\n\
+	\{     0,  -5728, -20282, -18110\}, \{     0,  -5690, -20451, -18135\},\n\
+	\{     0,  -5643, -20768, -18154\}, \{     0,  -5603, -20874, -18273\},\n\
+	\{     0,  -5621, -21190, -18095\}, \{     0,  -5522, -21547, -18146\},\n\
+	\{     0,  -5549, -20721, -16825\}, \{     0,  -5547, -21087, -17001\},\n\
+	\{     0,  -5491, -21394, -17040\}, \{     0,  -5484, -21696, -17064\},\n\
+	\{     0,  -5542, -22265, -17091\}, \{     0,  -5483, -22543, -17198\},\n\
+	\{     0,  -5460, -22748, -17254\}, \{     0,  -5417, -22961, -17307\},\n\
+	\{     0,  -5455, -23299, -17323\}, \{     0,  -5445, -23552, -17382\},\n\
+	\{     0,  -5426, -23645, -17428\}, \{     0,  -5480, -23902, -17349\},\n\
+	\{     0,  -5558, -24011, -17360\}, \{     0,  -5569, -24032, -17326\},\n\
+	\{     0,  -5614, -24067, -17305\}, \{     0,  -5656, -24000, -17251\},\n\
+	\{     0,  -5739, -23971, -17228\}, \{     0,  -5777, -23886, -17215\},\n\
+	\{     0,  -5832, -23823, -17051\}, \{     0,  -5891, -23719, -16957\},\n\
+	\{     0,  -6007, -23598, -16925\}, \{     0,  -5893, -20829, -15256\},\n\
+	\{     0,  -5886, -20669, -15091\}, \{     0,  -5883, -20496, -14990\},\n\
+	\{     0,  -5969, -20469, -14898\}, \{     0,  -5971, -20245, -14876\},\n\
+	\{     0,  -5996, -20108, -14764\}, \{     0,  -5979, -19934, -14694\},\n\
+	\{     0,  -5997, -19721, -14571\}, \{     0,  -6046, -19573, -14456\},\n\
+	\{     0,  -6001, -19418, -14381\}, \{     0,  -5942, -19239, -14265\},\n\
+	\{     0,  -5978, -19040, -14240\}, \{     0,  -5928, -18873, -14317\},\n\
+	\{     0,  -5917, -18715, -14238\}, \{     0,  -5865, -18576, -14201\},\n\
+	\{     0,  -5750, -18386, -14200\}, \{     0,  -5772, -18299, -14235\},\n\
+	\{     0,  -5754, -18187, -14300\}, \n\
+};"
+
+calMap[JG05]="\{\n\
+	\{     0,    178,  -7222,   8474\}, \{     0,    218,  -7139,   8383\},\n\
+	\{     0,    215,  -7438,   8352\}, \{     0,    198,  -7247,   8498\},\n\
+	\{     0,    138,  -7640,   8644\}, \{     0,    158,  -7805,   8610\},\n\
+	\{     0,    135,  -7804,   8531\}, \{     0,    143,  -7881,   8575\},\n\
+	\{     0,    165,  -8096,   8584\}, \{     0,    118,  -7962,   8558\},\n\
+	\{     0,    148,  -7947,   8550\}, \{     0,    118,  -8193,   8494\},\n\
+	\{     0,    149,  -8042,   8441\}, \{     0,     59,  -8207,   8454\},\n\
+	\{     0,    101,  -8029,   8575\}, \{     0,    156,  -8029,   8422\},\n\
+	\{     0,    205,  -8074,   8451\}, \{     0,    167,  -7912,   8405\},\n\
+	\{     0,    263,  -7980,   8405\}, \{     0,    258,  -8007,   8404\},\n\
+	\{     0,    288,  -7790,   8342\}, \{     0,   -802, -10286,   6559\},\n\
+	\{     0,   -717, -10120,   6574\}, \{     0,   -590,  -9884,   6675\},\n\
+	\{     0,   -446,  -9651,   6686\}, \{     0,   -371,  -9600,   6700\},\n\
+	\{     0,   -259,  -9243,   6756\}, \{     0,    -77,  -9216,   6768\},\n\
+	\{     0,    108,  -8979,   6844\}, \{     0,    220,  -8769,   6970\},\n\
+	\{     0,    348,  -8820,   6991\}, \{     0,    569,  -8618,   7028\},\n\
+	\{     0,    688,  -8430,   7162\}, \{     0,    798,  -8520,   7293\},\n\
+	\{     0,   1050,  -8141,   7758\}, \{     0,   1284,  -7775,   7850\},\n\
+	\{     0,   1447,  -7625,   7967\}, \{     0,   1527,  -7708,   8032\},\n\
+	\{     0,   1661,  -7547,   8153\}, \{     0,   1784,  -7532,   8169\},\n\
+	\{     0,   1863,  -7560,   8430\}, \{     0,   1977,  -7617,   8609\},\n\
+	\{     0,   1318,  -6902,   8849\}, \{     0,   1390,  -7060,   8848\},\n\
+	\{     0,   1470,  -6967,   8872\}, \{     0,   1532,  -6958,   8915\},\n\
+	\{     0,   1607,  -7162,   8946\}, \{     0,   1718,  -7119,   9030\},\n\
+	\{     0,   1781,  -6970,   9113\}, \{     0,   1807,  -6943,   9071\},\n\
+	\{     0,   1831,  -7114,   9061\}, \{     0,   1899,  -7105,   9088\},\n\
+	\{     0,   1935,  -7026,   9070\}, \{     0,   2040,  -6685,   9125\},\n\
+	\{     0,  -8187,  -6757,   9115\}, \{     0, -10749,  -6464,   9194\},\n\
+	\{     0, -21024,  -6513,   9071\}, \{     0,   6072,  -6529,   9040\},\n\
+	\{     0, -22290,  -6590,   9075\}, \{     0, -12054,  -6510,   9114\},\n\
+	\{     0, -18487,  -6491,   9179\}, \{     0, -12050,  -6878,   9144\},\n\
+	\{     0,  -4425,  -6526,   9189\}, \{     0,   2575,  -4991,  10202\},\n\
+	\{     0,   2566,  -4792,  10308\}, \{     0,   2596,  -4920,  10513\},\n\
+	\{     0,   2585,  -5106,  10573\}, \{     0,   2538,  -5290,  10578\},\n\
+	\{     0,   2560,  -5424,  10627\}, \{     0,   2613,  -5352,  10915\},\n\
+	\{     0,   2531,  -5578,  10919\}, \{     0,   2545,  -5652,  11012\},\n\
+	\{     0,   2646,  -5819,  11079\}, \{     0,   2661,  -6046,  11136\},\n\
+	\{     0,   2692,  -6314,  11187\}, \{     0,   2759,  -6284,  11209\},\n\
+	\{     0,   2739,  -6557,  11185\}, \{     0,   2815,  -6469,  11256\},\n\
+	\{     0,   2849,  -6807,  11103\}, \{     0,   2850,  -6769,  11097\},\n\
+	\{     0,   2923,  -6999,  11232\}, \n\
+};"
+
+calMap[JG06]="\{\n\
+	\{     0,  -3836,  -1067,   4891\}, \{     0,  -4831,  -2098,   4103\},\n\
+	\{     0,  -4849,  -1871,   4566\}, \{     0,  -4534,  -1666,   4512\},\n\
+	\{     0,  -5764,  -2767,   4245\}, \{     0,  -5591,  -2123,   4174\},\n\
+	\{     0,  -4727,  -1565,   4368\}, \{     0,  -5834,  -2262,   3942\},\n\
+	\{     0,  -5421,  -2062,   3790\}, \{     0,  -4996,  -1380,   4260\},\n\
+	\{     0,  -5538,  -1861,   3494\}, \{     0,  -5272,  -1652,   3740\},\n\
+	\{     0,  -5561,  -1802,   4038\}, \{     0,  -5320,  -1734,   3742\},\n\
+	\{     0,  -4354,  -1230,   4170\}, \{     0,  -5705,  -1862,   3840\},\n\
+	\{     0,  -6223,  -2211,   3218\}, \{     0,  -5048,  -1596,   3669\},\n\
+	\{     0,  -5235,  -1541,   3735\}, \{     0,  -6009,  -2219,   3301\},\n\
+	\{     0,  -5545,  -1879,   3686\}, \{     0,  -7174,  -2853,   -434\},\n\
+	\{     0,  -6759,  -3117,     56\}, \{     0,  -7376,  -3291,    221\},\n\
+	\{     0,  -7601,  -3243,    150\}, \{     0,  -7065,  -2752,    -42\},\n\
+	\{     0,  -7701,  -2828,   -144\}, \{     0,  -7598,  -3002,    464\},\n\
+	\{     0,  -7312,  -2476,    399\}, \{     0,  -7939,  -2374,    -62\},\n\
+	\{     0,  -7622,  -2213,    482\}, \{     0,  -6715,  -1688,   1033\},\n\
+	\{     0,  -6755,  -1445,    722\}, \{     0,  -6817,  -1385,   1061\},\n\
+	\{     0,  -6155,   -864,   1431\}, \{     0,  -6700,  -1746,   1070\},\n\
+	\{     0,  -6973,  -1127,    835\}, \{     0,  -6456,  -1152,    686\},\n\
+	\{     0,  -6542,  -1505,   1059\}, \{     0,  -6659,  -1374,    584\},\n\
+	\{     0,  -6605,   -983,    630\}, \{     0,  -6366,  -1046,    800\},\n\
+	\{     0,  -4668,    343,   1086\}, \{     0,  -5072,    560,    468\},\n\
+	\{     0,  -4124,   1399,   1284\}, \{     0,  -3465,  10068,  22599\},\n\
+	\{     0,  -4167,   2018,   1119\}, \{     0,  -4910,   1612,    717\},\n\
+	\{     0,  -4917,   1600,    968\}, \{     0,  -4171,   1731,    430\},\n\
+	\{     0,  -3432,  13873,    166\}, \{     0,  -3571,   2840,    870\},\n\
+	\{     0,  -3060,   2468,    463\}, \{     0,  -2858,   2369,    373\},\n\
+	\{     0,  -2948,   3186,    438\}, \{     0,  -3305,   2984,   -160\},\n\
+	\{     0,  -2027,   3128,   -798\}, \{     0,  -2663,   3320,   -865\},\n\
+	\{     0,  -3992,   -562,  -1509\}, \{     0,  -2913,   2844,  -1081\},\n\
+	\{     0,  -3205,   3373,  -1418\}, \{     0,  -3366,   3063,  -1645\},\n\
+	\{     0,  -3878,   2873,   -920\}, \{     0,  -1801,   6168,   2384\},\n\
+	\{     0,  -1252,   6409,   2308\}, \{     0,  -1724,   6027,   2474\},\n\
+	\{     0,  -1937,   5849,   2730\}, \{     0,  -1921,   5622,   2349\},\n\
+	\{     0,  -2162,   5995,  -1804\}, \{     0,  -1707,   6306,   2744\},\n\
+	\{     0,  -1334,   5651,   3112\}, \{     0,  -2132,   5216,   2588\},\n\
+	\{     0,  -1878,   5912,   2448\}, \{     0,  -1233,   5205,   2467\},\n\
+	\{     0,  -1139,   5350,   2967\}, \{     0,  -2373,   5368, -23580\},\n\
+	\{     0,  -1706,   5450,   2374\}, \{     0,  -1718,   5876,   2333\},\n\
+	\{     0,  -1569,   5961,   2570\}, \{     0,  -1177,   6423,   2665\},\n\
+	\{     0,  -1210,   5976,   2608\}, \n\
+};"
+
+calMap[LJ01]="\{\n\
+	\{     0,   5716,  -1041, -12697\}, \{     0,   5110,  -1450, -13222\},\n\
+	\{     0,   4487,  -1630, -13282\}, \{     0,   4606,  -1821, -13197\},\n\
+	\{     0,   4663,  -2299, -13302\}, \{     0,   4092,  -2324, -13451\},\n\
+	\{     0,   4233,  -2419, -13189\}, \{     0,   3702,  -2961, -14147\},\n\
+	\{     0,   3167,  -3408, -14660\}, \{     0,   3564,  -3255, -13877\},\n\
+	\{     0,   3320,  -3407, -13671\}, \{     0,   3137,  -3350, -13820\},\n\
+	\{     0,   3342,  -3703, -13808\}, \{     0,   3519,  -3970, -14069\},\n\
+	\{     0,   2983,  -4415, -14335\}, \{     0,   3636,  -3825, -13840\},\n\
+	\{     0,   3461,  -3922, -14323\}, \{     0,   3419,  -4022, -14031\},\n\
+	\{     0,   3763,  -4066, -13832\}, \{     0,   3929,  -3504, -13827\},\n\
+	\{     0,   3634,  -4035, -14096\}, \{     0,   3195,  -6232, -14808\},\n\
+	\{     0,   3428,  -6179, -14913\}, \{     0,   3506,  -5525, -14510\},\n\
+	\{     0,   3754,  -5724, -14134\}, \{     0,   3630,  -5791, -14743\},\n\
+	\{     0,   3857,  -5548, -14269\}, \{     0,   4654,  -4964, -13701\},\n\
+	\{     0,   4853,  -4388, -13822\}, \{     0,   4735,  -4632, -13864\},\n\
+	\{     0,   4981,  -4381, -13979\}, \{     0,   5528,  -3984, -13626\},\n\
+	\{     0,   5130,  -4326, -13639\}, \{     0,   5095,  -3792, -13638\},\n\
+	\{     0,   5346,  -3366, -13030\}, \{     0,   5498,  -3496, -13682\},\n\
+	\{     0,   5144,  -3120, -13986\}, \{     0,   5427,  -2871, -12931\},\n\
+	\{     0,   5939,  -2824, -12646\}, \{     0,   6030,  -2983, -12662\},\n\
+	\{     0,   5959,  -3142, -12116\}, \{     0,   5903,  -2700, -11731\},\n\
+	\{     0,   6256,  -3546, -10932\}, \{     0,   6384,  -3767, -11326\},\n\
+	\{     0,   6086,  -3399, -11769\}, \{     0,   5915,  -3257, -12066\},\n\
+	\{     0,   6257,  -4021, -12273\}, \{     0,   6084,  -4192, -12153\},\n\
+	\{     0,   5482,  -4102, -12637\}, \{     0,   5836,  -3698, -12767\},\n\
+	\{     0,   6025,  -4014, -13219\}, \{     0,   5713,  -3812, -14315\},\n\
+	\{     0,   5997,  -3855, -14788\}, \{     0,   5866,  -3905, -15408\},\n\
+	\{     0,   5328,  -4627, -16458\}, \{     0,   5686,  -3646, -14885\},\n\
+	\{     0,   5551,  -3407, -15112\}, \{     0,   5720,  -3165, -14247\},\n\
+	\{     0,   6044,  -3818, -14224\}, \{     0,   5963,  -3342, -14531\},\n\
+	\{     0,   6128,  -3225, -13495\}, \{     0,   6564,  -3662, -13408\},\n\
+	\{     0,   6000,  -3479, -13609\}, \{     0,   5876,  -3190, -11817\},\n\
+	\{     0,   7165,  -2876, -10874\}, \{     0,   6593,  -4000, -11565\},\n\
+	\{     0,   6207,  -3694, -11278\}, \{     0,   6732,  -2326, -11167\},\n\
+	\{     0,   6335,  -3650, -11508\}, \{     0,   6220,  -4220, -12438\},\n\
+	\{     0,   6069,  -3838, -12545\}, \{     0,   6182,  -4635, -12472\},\n\
+	\{     0,   5696,  -4834, -12334\}, \{     0,   6047,  -4121, -11691\},\n\
+	\{     0,   6324,  -4125, -10980\}, \{     0,   6102,  -3923, -10939\},\n\
+	\{     0,   6091,  -3829, -10736\}, \{     0,   5858,  -4001, -10473\},\n\
+	\{     0,   5473,  -4773, -11209\}, \{     0,   6045,  -4642, -10361\},\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,  13063,  -4747, -10433\}, \{     0,   3443,  -4140,  -9849\},\n\
+	\{     0,   7069,  -4629, -10540\}, \{     0,  13946,  -4544, -10775\},\n\
+	\{     0,  12968,  -4307, -10347\}, \{     0,  20281,  -5019, -11282\},\n\
+	\{     0,  22661,  -5079, -11148\}, \{     0,  16734,  -4442, -10374\},\n\
+	\{     0,  15423,  -4074, -10422\}, \{     0,  22851,  -4441, -10405\},\n\
+	\{     0,  14291,  -3978,  -9960\}, \{     0,   4367,  -3954,  -9810\},\n\
+	\{     0,  11785,  -3957, -10150\}, \{     0,   3218,  -3775,  -9825\},\n\
+	\{     0,   3344,  -3314,  -9254\}, \{     0,   6873,  -3528,  -9614\},\n\
+	\{     0,   3630,  -3230,  -9069\}, \{     0,   3442,  -3275,  -9653\},\n\
+	\{     0,   3346,  -3858,  -9895\}, \{     0,   3721,  -3391,  -9296\},\n\
+	\{     0,   3261,  -3428,  -9383\}, \{     0, -24770,  -8031, -10490\},\n\
+	\{     0, -24608,  -7690, -10198\}, \{     0, -24868,  -7897,  -9937\},\n\
+	\{     0, -24880,  -7994, -10295\}, \{     0, -24908,  -7089, -10312\},\n\
+	\{     0, -24547,  -7588, -10044\}, \{     0, -24905,  -8076,  -9985\},\n\
+	\{     0, -24646,  -7229,  -9709\}, \{     0, -24916,  -7800, -10193\},\n\
+	\{     0, -25334,  -8019, -10733\}, \{     0, -24839,  -7637, -10037\},\n\
+	\{     0, -25020,  -7138,  -9907\}, \{     0, -24502,  -7503, -10369\},\n\
+	\{     0, -24471,  -7222, -10546\}, \{     0, -24537,  -7066, -10359\},\n\
+	\{     0, -24407,  -6616,  -9797\}, \{     0, -23898,  -7370, -10755\},\n\
+	\{     0, -24587,  -7630, -10656\}, \{     0, -24411,  -7258, -11072\},\n\
+	\{     0, -24028,  -7203, -10471\}, \{     0, -24139,  -7585, -10014\},\n\
+	\{     0, -23817,  -6456, -10002\}, \{     0, -24122,  -6453, -10354\},\n\
+	\{     0,  25236,  -6345,  -9380\}, \{     0,  25260,  -6144,  -9727\},\n\
+	\{     0, -25031,  -6591, -10264\}, \{     0,  11624,  -6478, -10071\},\n\
+	\{     0,  11896,  -5407,  -9780\}, \{     0,  14144,  -5554, -10328\},\n\
+	\{     0,   5556,  -5558, -10775\}, \{     0,   3406,  -5945, -10115\},\n\
+	\{     0,   3384,  -5384, -10050\}, \{     0,   3263,  -4468,  -9634\},\n\
+	\{     0,   5991,  -4734,  -9494\}, \{     0,   3953,  -5377, -10430\},\n\
+	\{     0,   4514,  -3687,  -9547\}, \{     0,   4487,  -3691,  -9332\},\n\
+	\{     0,   5085,  -4417,  -9657\}, \{     0,   5222,  -3694,  -9115\},\n\
+	\{     0,   4960,  -4086,  -8862\}, \{     0,   4994,  -4292,  -9127\},\n\
+	\{     0,   5162,  -4509,  -8554\}, \{     0,   4337,  -5390,  -8443\},\n\
+	\{     0,   4628,  -4976,  -9047\}, \{     0,   4293,  -4876,  -9218\},\n\
+	\{     0,   4465,  -5352,  -9014\}, \{     0,   4428,  -4936,  -9521\},\n\
+	\{     0,   4048,  -5497,  -9795\}, \{     0,   4290,  -6034,  -9032\},\n\
+	\{     0,   4184,  -4996,  -8434\}, \{     0,   3950,  -4983,  -8474\},\n\
+	\{     0,   4247,  -4407,  -7955\}, \{     0,   4386,  -4769,  -8079\},\n\
+	\{     0,   4311,  -5367,  -8478\}, \{     0,   4283,  -4809,  -8025\},\n\
+	\{     0,   3885,  -4011,  -7495\}, \{     0,   3885,  -4593,  -7577\},\n\
+	\{     0,   3622,  -5239,  -8157\}, \{     0,   3576,  -5007,  -7816\},\n\
+	\{     0,   3778,  -3793,  -7362\}, \n\
+};"
+
+calMap[LJ04]="\{\n\
+	\{     0,  -3188,  -5668,  -7029\}, \{     0,  -3144,  -5592,  -6708\},\n\
+	\{     0,  -3332,  -5859,  -7135\}, \{     0,  -3402,  -5694,  -6908\},\n\
+	\{     0,  -3376,  -5858,  -7070\}, \{     0,  -3383,  -5474,  -6886\},\n\
+	\{     0,  -3518,  -5487,  -6925\}, \{     0,  -3383,  -5342,  -6659\},\n\
+	\{     0,  -3487,  -5535,  -6848\}, \{     0,  -3472,  -5206,  -6576\},\n\
+	\{     0,  -3432,  -5335,  -6581\}, \{     0,  -3502,  -5071,  -6421\},\n\
+	\{     0,  -3549,  -5020,  -6390\}, \{     0,  -3618,  -4961,  -6310\},\n\
+	\{     0,  -3774,  -4938,  -6377\}, \{     0,  -3868,  -5039,  -6488\},\n\
+	\{     0,  -3865,  -4778,  -6328\}, \{     0,  -3812,  -4602,  -6360\},\n\
+	\{     0,  -3990,  -4498,  -6189\}, \{     0,  -3820,  -4493,  -6070\},\n\
+	\{     0,  -3793,  -4262,  -5963\}, \{     0,  -4355,  -5745,  -6648\},\n\
+	\{     0,  -4372,  -5742,  -6633\}, \{     0,  -4458,  -5618,  -6650\},\n\
+	\{     0,  -4484,  -5695,  -6732\}, \{     0,  -4367,  -5513,  -6642\},\n\
+	\{     0,  -4433,  -5498,  -6628\}, \{     0,  -4364,  -5480,  -6563\},\n\
+	\{     0,  -4344,  -5382,  -6497\}, \{     0,  -4255,  -5470,  -6465\},\n\
+	\{     0,  -4154,  -5145,  -6183\}, \{     0,  -4211,  -5200,  -6136\},\n\
+	\{     0,  -4086,  -5205,  -6195\}, \{     0,  -4113,  -5261,  -6338\},\n\
+	\{     0,  -4069,  -4832,  -5831\}, \{     0,  -3835,  -4826,  -5801\},\n\
+	\{     0,  -4030,  -5011,  -6065\}, \{     0,  -3711,  -4838,  -5795\},\n\
+	\{     0,  -3644,  -4881,  -5899\}, \{     0,  -3507,  -4813,  -5800\},\n\
+	\{     0,  -3453,  -4947,  -5520\}, \{     0,  -3374,  -4954,  -5642\},\n\
+	\{     0,  -4837,  -5736,  -7500\}, \{     0,  -4470,  -5620,  -7385\},\n\
+	\{     0,  -4401,  -5408,  -7370\}, \{     0,  -4271,  -5626,  -7496\},\n\
+	\{     0,  -4286,  -5828,  -7556\}, \{     0,  -4184,  -5982,  -7565\},\n\
+	\{     0,  -3923,  -5491,  -7415\}, \{     0,  -3926,  -5554,  -7685\},\n\
+	\{     0,  -3657,  -5235,  -7542\}, \{     0,  -3530,  -5104,  -7717\},\n\
+	\{     0,  -3370,  -4853,  -7737\}, \{     0,  -3224,  -4703,  -7679\},\n\
+	\{     0,  -3100,  -4620,  -7733\}, \{     0,  -3010,  -4547,  -7648\},\n\
+	\{     0,  -2838,  -4318,  -7619\}, \{     0,  -2907,  -4260,  -7604\},\n\
+	\{     0,  -2883,  -4306,  -7768\}, \{     0,  -2878,  -3949,  -7601\},\n\
+	\{     0,  -2927,  -4097,  -7840\}, \{     0,  -2816,  -3790,  -7544\},\n\
+	\{     0,  -2853,  -3654,  -7534\}, \{     0,  -2052,  -2142,  -3986\},\n\
+	\{     0,  -2109,  -2259,  -4027\}, \{     0,  -2132,  -2002,  -3745\},\n\
+	\{     0,  -2275,  -2181,  -3810\}, \{     0,  -2353,  -1951,  -3419\},\n\
+	\{     0,  -2428,  -2046,  -3391\}, \{     0,  -2537,  -1974,  -3301\},\n\
+	\{     0,  -2568,  -1805,  -3074\}, \{     0,  -2764,  -1930,  -3068\},\n\
+	\{     0,  -2793,  -1922,  -2816\}, \{     0,  -2931,  -2060,  -2982\},\n\
+	\{     0,  -3118,  -2158,  -2858\}, \{     0,  -3370,  -2240,  -3088\},\n\
+	\{     0,  -3411,  -2369,  -3055\}, \{     0,  -3867,  -2590,  -3016\},\n\
+	\{     0,  -3965,  -2696,  -3099\}, \{     0,  -4112,  -2907,  -3438\},\n\
+	\{     0,  -4226,  -2747,  -3341\}, \n\
+};"
+
+calMap[LJ06]="\{\n\
+	\{     0,  -4989,  -7102,  -2178\}, \{     0,  -5092,  -7204,  -2325\},\n\
+	\{     0,  -4959,  -7013,  -2137\}, \{     0,  -4960,  -6784,  -1920\},\n\
+	\{     0,  -5025,  -6734,  -2104\}, \{     0,  -5181,  -6637,  -2017\},\n\
+	\{     0,  -5262,  -6792,  -2110\}, \{     0,  -5362,  -6621,  -2110\},\n\
+	\{     0,  -5258,  -6451,  -2031\}, \{     0,  -5375,  -6390,  -2064\},\n\
+	\{     0,  -5280,  -6288,  -2052\}, \{     0,  -5445,  -6434,  -2101\},\n\
+	\{     0,  -5553,  -6402,  -2272\}, \{     0,  -5603,  -6628,  -2477\},\n\
+	\{     0,  -5661,  -6626,  -2492\}, \{     0,  -5731,  -6618,  -2616\},\n\
+	\{     0,  -5746,  -6626,  -2664\}, \{     0,  -6007,  -7024,  -2951\},\n\
+	\{     0,  -6018,  -7010,  -2969\}, \{     0,  -5746,  -6939,  -2833\},\n\
+	\{     0,  -5770,  -7034,  -3026\}, \{     0,  -8509,  -8777,  -6863\},\n\
+	\{     0,  -8593,  -9060,  -6868\}, \{     0,  -8514,  -9104,  -6795\},\n\
+	\{     0,  -8401,  -9387,  -6931\}, \{     0,  -8236,  -9191,  -6586\},\n\
+	\{     0,  -8155,  -9371,  -6595\}, \{     0,  -8192,  -9551,  -6363\},\n\
+	\{     0,  -7995,  -9550,  -6185\}, \{     0,  -7968,  -9690,  -6220\},\n\
+	\{     0,  -7826,  -9694,  -6052\}, \{     0,  -7694,  -9660,  -5763\},\n\
+	\{     0,  -7857, -10020,  -5947\}, \{     0,  -7543,  -9682,  -5463\},\n\
+	\{     0,  -7184,  -9071,  -4747\}, \{     0,  -7282,  -9220,  -4767\},\n\
+	\{     0,  -7417,  -9371,  -4765\}, \{     0,  -7238,  -9321,  -4430\},\n\
+	\{     0,  -7320,  -9420,  -4560\}, \{     0,  -7254,  -9185,  -4270\},\n\
+	\{     0,  -7378,  -9262,  -4324\}, \{     0,  -7078,  -9074,  -3976\},\n\
+	\{     0, -10047, -10956,  -7258\}, \{     0, -10107, -10961,  -7192\},\n\
+	\{     0, -10264, -11167,  -7427\}, \{     0, -10160, -10823,  -7282\},\n\
+	\{     0, -10276, -11378,  -7508\}, \{     0, -10576, -11282,  -7688\},\n\
+	\{     0, -10801, -11460,  -7845\}, \{     0, -10822, -10983,  -7809\},\n\
+	\{     0, -10947, -10998,  -8018\}, \{     0, -11215, -10876,  -8255\},\n\
+	\{     0, -11247, -10590,  -8188\}, \{     0, -11302, -10269,  -8237\},\n\
+	\{     0, -11583, -10213,  -8413\}, \{     0, -11561, -10001,  -8448\},\n\
+	\{     0, -11482,  -9425,  -8273\}, \{     0, -11573,  -9203,  -8344\},\n\
+	\{     0, -11661,  -8895,  -8267\}, \{     0, -11843,  -8879,  -8259\},\n\
+	\{     0, -11799,  -8715,  -8112\}, \{     0, -12002,  -8422,  -8238\},\n\
+	\{     0, -12022,  -8434,  -8409\}, \{     0,  -8755,  -4274,  -4932\},\n\
+	\{     0,  -9183,  -4523,  -5458\}, \{     0,  -9293,  -4300,  -5260\},\n\
+	\{     0,  -9530,  -4543,  -5569\}, \{     0,  -9573,  -4168,  -5429\},\n\
+	\{     0,  -9847,  -4448,  -5638\}, \{     0,  -9999,  -4504,  -5969\},\n\
+	\{     0,  -9858,  -4176,  -5716\}, \{     0,  -9988,  -4378,  -5978\},\n\
+	\{     0,  -9760,  -3942,  -5627\}, \{     0, -10072,  -4163,  -6002\},\n\
+	\{     0,  -9892,  -4091,  -5833\}, \{     0,  -9873,  -3867,  -5828\},\n\
+	\{     0,  -9911,  -4149,  -5877\}, \{     0,  -9844,  -4016,  -5908\},\n\
+	\{     0,  -9528,  -3912,  -5604\}, \{     0,  -9432,  -3911,  -5648\},\n\
+	\{     0,  -9314,  -3730,  -5422\}, \n\
+};"
+
@@ -0,0 +1,40 @@
+clear;clc;
+
+fid = fopen("../caldata", "w");
+fprintf(fid, "declare -A calMap\n");
+
+for i = 1:6
+    id = sprintf("JG%02d", i);
+    write_data(fid, pwd, id);
+end
+
+for i = 1:6
+    id = sprintf("LJ%02d", i);
+    write_data(fid, pwd, id);
+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
@@ -0,0 +1,442 @@
+'''
+    @brief This is an example plugin, can receive and send data
+    @author
+    @date
+    @license LGPL-3.0
+'''
+from PyQt5.QtWidgets import QWidget, QVBoxLayout, QHBoxLayout, QTextEdit, QPushButton, QLabel, QScrollArea, QSplitter
+from PyQt5.QtCore import Qt, pyqtSignal
+from PyQt5.QtGui import QFont, QTextCursor
+from struct import Struct
+try:
+    import utils_ui
+    from plugins.base import Plugin_Base
+    from conn import ConnectionStatus
+    from i18n import _
+    from widgets import statusBar
+except ImportError:
+    from COMTool import utils_ui
+    from COMTool.plugins.base import Plugin_Base
+    from COMTool.i18n import _
+    from COMTool.conn import  ConnectionStatus
+    from COMTool.widgets import statusBar
+
+class Plugin(Plugin_Base):
+    id = "DUIFEI"
+    name = _("DUIFEI")
+    showReceiveDataSignal = pyqtSignal(str)
+
+    def onInit(self, config):
+        '''
+            init params
+        '''
+        default = {
+            "version": 1,
+            "customSendItems": [
+                {
+                    "caption": "自检",
+                    "icon": "fa5.question-circle",
+                    "data": "5A 54 E1 DD 00 BE 02 5A FE"
+                },
+                # {
+                #     "caption": "数据发送测试 - 1",
+                #     "icon": "fa5.play-circle",
+                #     "data": ""
+                # },
+                # {
+                #     "caption": "数据发送测试 - 2",
+                #     "icon": "fa5.play-circle",
+                #     "data": ""
+                # },
+                {
+                    "caption": "装订 - 【主】反拦截小功率",
+                    "icon": "fa5.play-circle",
+                    "data": "5A 54 E3 DD 77 11 00 00 00 48 06 5A FE"
+                },
+                {
+                    "caption": "装订 - 【主】反拦截全功率",
+                    "icon": "fa5.play-circle",
+                    "data": "5A 54 E3 DD 66 11 00 00 00 37 06 5A FE"
+                },
+                {
+                    "caption": "装订 - 【主】反拦截静默",
+                    "icon": "fa5.play-circle",
+                    "data": "5A 54 E3 DD 88 11 00 00 00 59 06 5A FE"
+                },
+                {
+                    "caption": "遥测 - 【主】反拦截",
+                    "icon": "fa5.play-circle",
+                    "data": "5A 54 E6 DD 99 00 5C 03 5A FE"
+                },
+                {
+                    "caption": "点名 - 【主】反拦截",
+                    "icon": "fa5.play-circle",
+                    "data": "5A 54 E5 DD 77 00 39 03 5A FE"
+                },
+                {
+                    "caption": "装订 - 【从】拦截小功率",
+                    "icon": "fa5.play-circle",
+                    "data": "5A 54 E3 DD 77 00 00 00 00 37 06 5A FE"
+                },
+                {
+                    "caption": "装订 - 【从】拦截大功率",
+                    "icon": "fa5.play-circle",
+                    "data": "5A 54 E3 DD 66 00 00 00 00 26 06 5A FE"
+                },
+                {
+                    "caption": "装订 - 【从】拦截静默",
+                    "icon": "fa5.play-circle",
+                    "data": "5A 54 E3 DD 88 00 00 00 00 48 06 5A FE"
+                },
+                {
+                    "caption": "遥测 - 【从】拦截",
+                    "icon": "fa5.play-circle",
+                    "data": "5A 54 F6 DD 99 00 6C 03 5A FE"
+                },
+                {
+                    "caption": "点名 - 【从】拦截",
+                    "icon": "fa5.play-circle",
+                    "data": "5A 54 F5 DD 77 00 49 03 5A FE"
+                }
+            ]
+        }
+        self.config = config
+        for k in default:
+            if not k in self.config:
+                self.config[k] = default[k]
+
+    def onConnChanged(self, status:ConnectionStatus, msg:str):
+        print("-- connection changed: {}, msg: {}".format(status, msg))
+
+    def onWidgetMain(self, parent):
+        '''
+            main widget, just return a QWidget object
+        '''
+        self.mainWidget = QSplitter(Qt.Vertical)
+        # receive widget
+        self.receiveWidget = QTextEdit("")
+        font = QFont('Consolas, DejaVu Sans Mono, Courier New, monospace, Microsoft YaHei', 10)
+        self.receiveWidget.setFont(font)
+        self.receiveWidget.setLineWrapMode(QTextEdit.NoWrap)
+        # clear button
+        self.clearBtn = QPushButton("")
+        utils_ui.setButtonIcon(self.clearBtn, "mdi6.broom")
+        # send scroll
+        self.customSendScroll = QScrollArea()
+        self.customSendScroll.setMinimumHeight(20)
+        self.customSendScroll.setWidgetResizable(True)
+        self.customSendScroll.setVerticalScrollBarPolicy(Qt.ScrollBarAsNeeded)
+        self.customSendScroll.setHorizontalScrollBarPolicy(Qt.ScrollBarAlwaysOff)
+        cutomSendItemsWraper = QWidget()
+        self.customSendScroll.setWidget(cutomSendItemsWraper)
+
+        # -- wrapper widget
+        cutomSendItemsWraper0 = QWidget()
+        cutomSendItemsWraper0.setProperty("class", "scrollbar2")
+        layout0 = QVBoxLayout()
+        layout0.setContentsMargins(0,8,0,0)
+        cutomSendItemsWraper0.setLayout(layout0)
+        layout0.addWidget(self.customSendScroll)
+        customSendItemsLayoutWrapper = QVBoxLayout()
+        customSendItemsLayoutWrapper.setContentsMargins(0,0,0,0)
+        cutomSendItemsWraper.setLayout(customSendItemsLayoutWrapper)
+
+        # -- items container
+        self.customItems = QWidget()
+        self.customSendItemsLayout = QVBoxLayout()
+        self.customSendItemsLayout.setContentsMargins(0,0,0,0)
+        self.customItems.setLayout(self.customSendItemsLayout)
+        customSendItemsLayoutWrapper.addWidget(self.customItems)
+        customSendItemsLayoutWrapper.addStretch(0)
+
+        # add widgets
+        self.mainWidget.addWidget(self.receiveWidget)
+        self.mainWidget.addWidget(self.clearBtn)
+        self.mainWidget.addWidget(cutomSendItemsWraper0)
+        self.mainWidget.setStretchFactor(0, 2)
+        self.mainWidget.setStretchFactor(1, 1)
+        self.mainWidget.setStretchFactor(2, 11)
+
+        # event
+        def clearReceived():
+            self.receiveWidget.clear();self.statusBar.clear()
+        self.clearBtn.clicked.connect(clearReceived)
+        return self.mainWidget
+
+    def onWidgetStatusBar(self, parent):
+        self.statusBar = statusBar(rxTxCount=True)
+        return self.statusBar
+
+    def onUiInitDone(self):
+        '''
+            UI init done, you can update your widget here
+            this method runs in UI thread, do not block too long
+        '''
+        newItems = []
+        print(self.config["customSendItems"])
+        for item in self.config["customSendItems"]:
+            print(item)
+            item = self.insertSendItem(item, load=True)
+            newItems.append(item)
+        self.config["customSendItems"] = newItems
+        self.showReceiveDataSignal.connect(self.showReceivedData)
+        # frame struct
+        self.structSelfTestRsp = Struct("<BB B BBBbbb BbBBB BB")
+        self.structStatusCheckRsp = Struct("<BB Q      HIII      IBBBBI BBHH HHHIIIIII i II 4s      IIII d Q dBB dB H B 3s      BBBbbb BbBBB 2s")
+        self.structFljData = Struct("<dddd IHI fff fff")
+        self.structLjData = Struct("<IHI ffff IHI fff fff fff IHI fff fff fff IHI fff fff fff I")
+        self.structSysInfo = Struct("<IHI H B I B fff fff fff")
+
+    def insertSendItem(self, item = None, load = False):
+        caption = item["caption"]
+        itemWidget = QWidget()
+        layout = QHBoxLayout()
+        layout.setContentsMargins(0,0,0,0)
+        itemWidget.setLayout(layout)
+        send = QPushButton("")
+        label = QLabel(caption)
+        if (not "icon" in item) or not item["icon"]:
+            item["icon"] = "fa.send"
+        utils_ui.setButtonIcon(send, item["icon"])
+        send.setProperty("class", "smallBtn")
+        def sendCustomData(idx):
+            self.sendCustomItem(self.config["customSendItems"][idx])
+        send.clicked.connect(lambda: sendCustomData(self.customSendItemsLayout.indexOf(itemWidget)))
+        layout.addWidget(label)
+        layout.addWidget(send)
+        self.customSendItemsLayout.addWidget(itemWidget)
+        if not load:
+            self.config["customSendItems"].append(item)
+        return item
+
+    def showReceivedData(self, text: str):
+        curScrollValue = self.receiveWidget.verticalScrollBar().value()
+        self.receiveWidget.moveCursor(QTextCursor.End)
+        endScrollValue = self.receiveWidget.verticalScrollBar().value()
+        self.receiveWidget.insertPlainText(text)
+        if curScrollValue < endScrollValue:
+            self.receiveWidget.verticalScrollBar().setValue(curScrollValue)
+        else:
+            self.receiveWidget.moveCursor(QTextCursor.End)
+
+    def onReceived(self, data : bytes):
+        '''
+            call in receive thread, not UI thread
+        '''
+        self.statusBar.addRx(len(data))
+        ## Apply data validation check
+        if len(data) < 7:
+            self.showReceiveDataSignal.emit("\n### Wrong data format: wrong frame header/tail\n")
+            return
+
+        dataLen = data[-3]
+        if data[0] != 0x5A or data[1] != 0x54 or data[-1] != 0xFE or data[-2] != 0x5A:
+            self.showReceiveDataSignal.emit("\n### Wrong data format: wrong length\n")
+
+        checkSum = 0
+        for i in data[2:-4]:
+            checkSum += i
+        if checkSum & 0xFF != data[-4]:
+            self.showReceiveDataSignal.emit("\n### Wrong data format: wrong check sum\n")
+
+        ## Eval data
+        data = data[2:-5].replace(b'\x00\x54\xFE', b'\x54\xFE')
+        # self.printFrame(data)
+        if data[0] == 0xE1:
+            # eval self test
+            self.showReceiveDataSignal.emit(self.evalSelfTestRsp(data) + "\n")
+        elif data[0] == 0xE6 or data[0] == 0xF6:
+            self.showReceiveDataSignal.emit(self.evalStatusCheckRsp(data) + "\n")
+        elif data[0] == 0xE5 or data[0] == 0xF5:
+            self.showReceiveDataSignal.emit('Retrieved Data Frame:\n' + self.printFrame(data) + "\n")
+        else:
+            self.showReceiveDataSignal.emit(f"\n### Unexpected response code 0x{data[0]:02x}.\n")
+
+    def evalSelfTestRsp(self, data: bytes):
+        try:
+            payload = self.structSelfTestRsp.unpack(data)
+        except :
+            return f"\n### evalSelfTestRsp:: Failed to unpack data (data length {len(data)} byte).\n"
+
+        ret = "----------- 自检回令 -----------\n"
+
+        ret += f"节点编号: 0x{payload[-2]:02X}\n"
+
+        ret += "节点类型: "
+        if payload[1] == 0xDD:
+            ret += f"K频段 (0x{payload[1]:02X})\n"
+        elif payload[1] == 0xEE:
+            ret += f"S频段 (0x{payload[1]:02X})\n"
+        else:
+            ret += f"【未知错误】(0x{payload[1]:02X})\n"
+
+        ret += "自检结果: "
+        if payload[2] == 0xAA:
+            ret += f"正常 (0x{payload[2]:02X})\n"
+        elif payload[2] == 0x55:
+            ret += f"异常 (0x{payload[2]:02X})\n"
+        else:
+            ret += f"【未知错误】(0x{payload[2]:02X})\n"
+
+        hwOffset = 3
+
+        ret += f"FPGA 电压监测: {bin(payload[hwOffset+0])[2:].zfill(8)}\n"
+        ret += f"时钟锁定状态:   {bin(payload[hwOffset+1])[2:].zfill(8)}\n"
+        ret += f"AD 锁定状态:   {bin(payload[hwOffset+2])[2:].zfill(8)}\n"
+        ret += f"AD 温度 1: {payload[hwOffset+3]:>4d}\n"
+        ret += f"AD 温度 2: {payload[hwOffset+4]:>4d}\n"
+        ret += f"FPGA 温度: {payload[hwOffset+5]:>4d}\n"
+        ret += f"电压监测: {bin(payload[hwOffset+6])[2:].zfill(8)}\n"
+        ret += f"射频温度: {payload[hwOffset+7]:>4d}\n"
+        ret += f"锁定指示: {bin(payload[hwOffset+8])[2:].zfill(8)}\n"
+        ret += f"MGC 1~2: {payload[hwOffset+9] & 0x0f:>2d} - {payload[hwOffset+9] >> 4:>2d}\n"
+        ret += f"MGC 3~4: {payload[hwOffset+10] & 0x0f:>2d} - {payload[hwOffset+10] >> 4:>2d}\n"
+        ret += "--------------------------------\n"
+
+        return ret + '\n' + self.printFrame(data)
+
+    def printFrame(self, data: bytes):
+        ret = ''
+        for i in range(len(data)):
+            ret += f'{data[i]:02X}'
+            ret += '\n' if i%16 == 15 else ' '
+        ret += '\n'
+        return ret
+
+    def evalStatusCheckRsp(self, data: bytes):
+        try:
+            payload = self.structStatusCheckRsp.unpack(data)
+        except :
+            return f"\n### evalStatusCheckRsp:: Failed to unpack data (data length {len(data)} byte).\n"
+
+        ret = "----------- 遥测回令 -----------\n"
+
+        ret += "节点类型: "
+        if payload[1] == 0xDD:
+            ret += f"K频段 (0x{payload[1]:02X})\n"
+        elif payload[1] == 0xEE:
+            ret += f"S频段 (0x{payload[1]:02X})\n"
+        else:
+            ret += f"【未知错误】(0x{payload[1]:02X})\n"
+
+        ret += f"时间戳: {payload[2]/1e5:.2f} ms\n"
+
+        sysbusOffset = 3
+        linkOffset = 7
+        phyOffset = 30
+        hwOffset = 44
+
+        ret += "\n  -- 总线状态\n"
+        ret += f"配置装订:    {payload[sysbusOffset + 0]:04X}\n"
+        ret += f"装置点名计数: {payload[sysbusOffset + 1]:>6d}\n"
+        ret += f"业务下发计数: {payload[sysbusOffset + 2]:>6d}\n"
+        ret += f"遥测请求计数: {payload[sysbusOffset + 3]:>6d}\n"
+
+        ret += "\n  -- 链路层状态\n"
+        ret += f"帧号:   {payload[linkOffset + 0]:>6d}\n"
+        ret += f"时隙号: {payload[linkOffset + 1]:>3d}\n"
+
+        ret += "当前角色: "
+        if payload[linkOffset + 2] == 0xAA:
+            ret += f"反拦截 (0x{payload[linkOffset + 2]:02X})\n"
+        elif payload[linkOffset + 2] == 0xCC:
+            ret += f"拦截 (0x{payload[linkOffset + 2]:02X})\n"
+        else:
+            ret += f"【未知错误】(0x{payload[linkOffset + 2]:02X})\n"
+
+        ret += "网络连接状态: "
+        if payload[linkOffset + 3] == 0x11:
+            ret += f"已连接 (0x{payload[linkOffset + 3]:02X})\n"
+        elif payload[linkOffset + 3] == 0x00:
+            ret += f"未连接 (0x{payload[linkOffset + 3]:02X})\n"
+        else:
+            ret += f"【未知错误】(0x{payload[linkOffset + 3]:02X})\n"
+
+        ret += "网络运行阶段: "
+        if payload[linkOffset + 4] == 0x11:
+            ret += f"扫描建网 (0x{payload[linkOffset + 4]:02X})\n"
+        elif payload[linkOffset + 4] == 0x22:
+            ret += f"业务通信 (0x{payload[linkOffset + 4]:02X})\n"
+        else:
+            ret += f"【未知错误】(0x{payload[linkOffset + 4]:02X})\n"
+
+        ret += f"重建/入网计数: {payload[linkOffset + 5]:>6d}\n"
+        ret += f"通信波位号:  {payload[linkOffset + 6]:>2d}\n"
+
+        ret += "通信波束宽度: "
+        if payload[linkOffset + 7] == 0x01:
+            ret += f"120° 宽波束 (0x{payload[linkOffset + 7]:02X})\n"
+        elif payload[linkOffset + 7] == 0x02:
+            ret += f"60° 次波束 (0x{payload[linkOffset + 7]:02X})\n"
+        elif payload[linkOffset + 7] == 0x03:
+            ret += f"25° 次波束 (0x{payload[linkOffset + 7]:02X})\n"
+        elif payload[linkOffset + 7] == 0x04:
+            ret += f"8° 窄波束 (0x{payload[linkOffset + 7]:02X})\n"
+        else:
+            ret += f"【未知错误】(0x{payload[linkOffset + 7]:02X})\n"
+
+        ret += f"离轴角: {payload[linkOffset + 8]*0.1:.2f}°\n"
+        ret += f"偏航角: {payload[linkOffset + 9]*0.1:.2f}°\n"
+        ret += f"基准帧发送计数: {payload[linkOffset + 10]:>6d}\n"
+        ret += f"基准帧接收计数: {payload[linkOffset + 11]:>6d}\n"
+        ret += f"基准帧正确计数: {payload[linkOffset + 12]:>6d}\n"
+        ret += f"双向握手帧发送计数: {payload[linkOffset + 13]:>6d}\n"
+        ret += f"双向握手帧接收计数: {payload[linkOffset + 14]:>6d}\n"
+        ret += f"双向握手帧正确计数: {payload[linkOffset + 15]:>6d}\n"
+        ret += f"业务帧发送计数: {payload[linkOffset + 16]:>6d}\n"
+        ret += f"业务帧接收计数: {payload[linkOffset + 17]:>6d}\n"
+        ret += f"业务帧正确计数: {payload[linkOffset + 18]:>6d}\n"
+        ret += f"时间偏差记录: {payload[linkOffset + 19]/1e2:.2f} us\n"
+        ret += f"发送数据 ID: {payload[linkOffset + 20]:>6d}\n"
+        ret += f"接收数据 ID: {payload[linkOffset + 21]:>6d}\n"
+
+        ret += "\n  -- 物理层状态\n"
+        ret += f"捕获计数:    {payload[phyOffset + 0]:>6d}\n"
+        ret += f"帧同步计数:  {payload[phyOffset + 1]:>6d}\n"
+        ret += f"译码计数:    {payload[phyOffset + 2]:>6d}\n"
+        ret += f"CRC 正确计数:{payload[phyOffset + 3]:>6d}\n"
+        ret += f"多普勒估计:  {payload[phyOffset + 4]:.2f} Hz\n"
+        ret += f"正确接收时刻: {payload[phyOffset + 5]/1e2:.2f} us\n"
+        ret += f"捕获峰均比:  {payload[phyOffset + 6]:.2f}\n"
+        ret += f"捕获相位值:  {payload[phyOffset + 7]:>3d}\n"
+        ret += f"捕获频偏通道: {payload[phyOffset + 8]:>3d}\n"
+        ret += f"帧同步峰均比:   {payload[phyOffset + 9]:.2f}\n"
+        ret += f"帧同步频偏通道: {payload[phyOffset + 10]:>3d}\n"
+        ret += f"交织输入数据幅度统计:\t0x{payload[phyOffset + 11]:04X}\n"
+        ret += "天线工作模式: "
+        if payload[phyOffset + 12] == 0x01:
+            ret += f"静默模式 (0x{payload[phyOffset + 12]:02X})\n"
+        elif payload[phyOffset + 12] == 0x02:
+            ret += f"低功率模式 (0x{payload[phyOffset + 12]:02X})\n"
+        elif payload[phyOffset + 12] == 0x03:
+            ret += f"全功率模式 (0x{payload[phyOffset + 12]:02X})\n"
+        else:
+            ret += f"【未知错误】(0x{payload[phyOffset + 12]:02X})\n"
+
+        ret += "\n  -- 硬件状态\n"
+        ret += f"FPGA 电压监测: {bin(payload[hwOffset+0])[2:].zfill(8)}\n"
+        ret += f"时钟锁定状态:   {bin(payload[hwOffset+1])[2:].zfill(8)}\n"
+        ret += f"AD 锁定状态:   {bin(payload[hwOffset+2])[2:].zfill(8)}\n"
+        ret += f"AD 温度 1: {payload[hwOffset+3]:>4d}\n"
+        ret += f"AD 温度 2: {payload[hwOffset+4]:>4d}\n"
+        ret += f"FPGA 温度: {payload[hwOffset+5]:>4d}\n"
+        ret += f"电压监测: {bin(payload[hwOffset+6])[2:].zfill(8)}\n"
+        ret += f"射频温度: {payload[hwOffset+7]:>4d}\n"
+        ret += f"锁定指示: {bin(payload[hwOffset+8])[2:].zfill(8)}\n"
+        ret += f"MGC 1~2: {payload[hwOffset+9] & 0x0f:>2d} - {payload[hwOffset+9] >> 4:>2d}\n"
+        ret += f"MGC 3~4: {payload[hwOffset+10] & 0x0f:>2d} - {payload[hwOffset+10] >> 4:>2d}\n"
+
+        ret += "--------------------------------\n"
+        return ret + '\n' + self.printFrame(data)
+
+    def onSent(self, ok, msg, length, path):
+        if ok:
+            self.statusBar.addTx(length)
+        else:
+            self.hintSignal.emit("error", _("Error"), _("Send data failed!") + " " + msg)
+
+    def sendCustomItem(self, item):
+        data = item["data"]
+        dateBytes = self.parseSendData(data, encoding = self.configGlobal["encoding"], isHexStr = True)
+        if dateBytes:
+            self.send(dateBytes, callback=self.onSent)
@@ -359,20 +359,20 @@
 /* Definitions for driver GPIO */
 #define XPAR_XGPIO_NUM_INSTANCES 1

-/* Definitions for peripheral CONFIG_GPIO */
-#define XPAR_CONFIG_GPIO_BASEADDR 0x41200000
-#define XPAR_CONFIG_GPIO_HIGHADDR 0x4120FFFF
-#define XPAR_CONFIG_GPIO_DEVICE_ID 0
-#define XPAR_CONFIG_GPIO_INTERRUPT_PRESENT 0
-#define XPAR_CONFIG_GPIO_IS_DUAL 1
+/* Definitions for peripheral MPC_GPIO */
+#define XPAR_MPC_GPIO_BASEADDR 0x41200000
+#define XPAR_MPC_GPIO_HIGHADDR 0x4120FFFF
+#define XPAR_MPC_GPIO_DEVICE_ID 0
+#define XPAR_MPC_GPIO_INTERRUPT_PRESENT 0
+#define XPAR_MPC_GPIO_IS_DUAL 1


 /******************************************************************/

-/* Canonical definitions for peripheral CONFIG_GPIO */
+/* Canonical definitions for peripheral MPC_GPIO */
 #define XPAR_GPIO_0_BASEADDR 0x41200000
 #define XPAR_GPIO_0_HIGHADDR 0x4120FFFF
-#define XPAR_GPIO_0_DEVICE_ID XPAR_CONFIG_GPIO_DEVICE_ID
+#define XPAR_GPIO_0_DEVICE_ID XPAR_MPC_GPIO_DEVICE_ID
 #define XPAR_GPIO_0_INTERRUPT_PRESENT 0
 #define XPAR_GPIO_0_IS_DUAL 1

@@ -425,17 +425,14 @@

 /* Definitions for Fabric interrupts connected to ps7_scugic_0 */
 #define XPAR_FABRIC_PHY_IRQ_INTR 61U
-#define XPAR_FABRIC_FRAME_UART_0_RX_INTR_INTR 62U
-#define XPAR_FABRIC_FRAME_UART_0_TX_INTR_INTR 63U
-#define XPAR_FABRIC_MPC_IRQ_INTR 64U
-#define XPAR_FABRIC_PHY_5MS_INTR 65U
-#define XPAR_FABRIC_PHY_5MS_DELAY_2MS_INTR 66U
+#define XPAR_FABRIC_PHY_5MS_INTR 62U
+#define XPAR_FABRIC_PHY_5MS_DELAY_2MS_INTR 63U
+#define XPAR_FABRIC_MPC_RX_IRQ_INTR 64U
+#define XPAR_FABRIC_MPC_TX_IRQ_INTR 65U

 /******************************************************************/

 /* Canonical definitions for Fabric interrupts connected to ps7_scugic_0 */
-#define XPAR_FABRIC_FRAME_UART_0_RX_INTR_VEC_ID XPAR_FABRIC_FRAME_UART_0_RX_INTR_INTR
-#define XPAR_FABRIC_FRAME_UART_0_TX_INTR_VEC_ID XPAR_FABRIC_FRAME_UART_0_TX_INTR_INTR

 /******************************************************************/

@@ -43,10 +43,10 @@
 XGpio_Config XGpio_ConfigTable[XPAR_XGPIO_NUM_INSTANCES] =
 {
 	{
-		XPAR_CONFIG_GPIO_DEVICE_ID,
-		XPAR_CONFIG_GPIO_BASEADDR,
-		XPAR_CONFIG_GPIO_INTERRUPT_PRESENT,
-		XPAR_CONFIG_GPIO_IS_DUAL
+		XPAR_MPC_GPIO_DEVICE_ID,
+		XPAR_MPC_GPIO_BASEADDR,
+		XPAR_MPC_GPIO_INTERRUPT_PRESENT,
+		XPAR_MPC_GPIO_IS_DUAL
 	}
 };

@@ -18,18 +18,6 @@ BEGIN PROCESSOR
 END


-BEGIN DRIVER
- PARAMETER DRIVER_NAME = frame_uart
- PARAMETER DRIVER_VER = 1.0
- PARAMETER HW_INSTANCE = Frame_Uart_0
-END
-
-BEGIN DRIVER
- PARAMETER DRIVER_NAME = gpio
- PARAMETER DRIVER_VER = 4.4
- PARAMETER HW_INSTANCE = config_gpio
-END
-
 BEGIN DRIVER
 PARAMETER DRIVER_NAME = generic
 PARAMETER DRIVER_VER = 2.0
@@ -54,6 +42,12 @@ BEGIN DRIVER
 PARAMETER HW_INSTANCE = mpc_bram_interface_mpc_bram_ctrl
 END

+BEGIN DRIVER
+ PARAMETER DRIVER_NAME = gpio
+ PARAMETER DRIVER_VER = 4.4
+ PARAMETER HW_INSTANCE = mpc_gpio
+END
+
 BEGIN DRIVER
 PARAMETER DRIVER_NAME = bram
 PARAMETER DRIVER_VER = 4.3
@@ -13,7 +13,7 @@ RM := rm -rf
 -include sources.mk
 -include src/util/subdir.mk
 -include src/time_ctrl/subdir.mk
-include src/systembus/subdir.mk
+-include src/mpc/subdir.mk
 -include src/networking/phy_layer/subdir.mk
 -include src/networking/link_layer/geometry/subdir.mk
 -include src/networking/link_layer/subdir.mk
@@ -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 ' '

@@ -4,23 +4,23 @@

 # Add inputs and outputs from these tool invocations to the build variables
 C_SRCS += \
-../src/systembus/systembus.c \
-../src/systembus/systembus_uart.c 
+../src/mpc/mpc.c \
+../src/mpc/mpc_hw.c

 OBJS += \
-./src/systembus/systembus.o \
-./src/systembus/systembus_uart.o 
+./src/mpc/mpc.o \
+./src/mpc/mpc_hw.o

 C_DEPS += \
-./src/systembus/systembus.d \
-./src/systembus/systembus_uart.d 
+./src/mpc/mpc.d \
+./src/mpc/mpc_hw.d


 # Each subdirectory must supply rules for building sources it contributes
 src/systembus/%.o: ../src/systembus/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -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 ' '

@@ -35,6 +35,8 @@
 // 2 - print warnings and errors
 // 1 - print only errors
 // other - print nothing
+
+#define APP_EMULATE_DATA
 #define DATALINK_ENABLE_AUTORECONNECT
 #define DATALINK_ENABLE_AUTOTIMESYNC
 //#define DATALINK_ENABLE_BERTEST
@@ -71,9 +73,10 @@
 #define TIME_CONTROLLER_BASEADDR XPAR_TMC_BASEADDR

 // System Bus Configs
-//#define SYSBUS_BASE_ADDR	XPAR_SYSTEMBUS_BASEADDR
-//#define SYSBUS_TX_INTR_ID	XPAR_FABRIC_SYSTEMBUS_TX_DONE_INTR
-//#define SYSBUS_RX_INTR_ID	XPAR_FABRIC_SYSTEMBUS_RX_DONE_INTR
+#define MPC_BRAM_ID	XPAR_MPC_BRAM_INTERFACE_MPC_BRAM_CTRL_DEVICE_ID
+#define MPC_GPIO_ID	XPAR_MPC_GPIO_DEVICE_ID
+#define MPC_TX_INTR_ID	XPAR_FABRIC_MPC_TX_IRQ_INTR
+#define MPC_RX_INTR_ID	XPAR_FABRIC_MPC_RX_IRQ_INTR

 // Global Timer config
 #define GLOBAL_TIMER_DEVICE_ID	XPAR_GLOBAL_TMR_DEVICE_ID
@@ -11,7 +11,7 @@ struct xil_timer_init_param xil_scutimer_init_param = {
 struct timer_init_param scutimer_init_param = {
 	.id = SCUTIMER_DEVICE_ID,
 	.freq_hz = SCU_TIMER_CLK_HZ,
-	.ticks_count = (SCU_TIMER_CLK_HZ/10), //update log every 100ms
+	.ticks_count = (SCU_TIMER_CLK_HZ/2), //update log every 500ms
 	.platform_ops = &xil_timer_ops,
 	.extra = &xil_scutimer_init_param
 };
@@ -1,7 +1,7 @@
 /*
 * headless.h
 *
- *  Created on: 2021Äê6ÔÂ8ÈÕ
+ *  Created on: 2021��6��8��
 *      Author: Josh
 */

@@ -30,7 +30,8 @@
 /**************************** Type Definitions *******************************/

 /***************** Macros (Inline Functions) Definitions *********************/
-
+#define HW_PRINT(...)  __asm__("nop")
+// #define HW_PRINT(...)  printf(__VA_ARGS__)
 /************************** Variable Definitions *****************************/

 /************************** Function Prototypes ******************************/
@@ -36,7 +36,7 @@
 #include "timer.h"
 #include "config/app_config.h"
 #include "dev_profile/dev_profile.h"
-#include "systembus/systembus.h"
+#include "mpc/mpc.h"
 #include "networking/phy_layer/phy_layer.h"
 #include "networking/link_layer/link_layer.h"
 // RF-Driver
@@ -48,41 +48,46 @@ int32_t SetupInterruptSystem(struct irq_ctrl_desc *descPtr);
 void Phy_IntrHandler(void *context);
 void PeriodicPull_Handler(void *callBackRef);
 void ScuTimer_IntrHandler(void *context);
-void Systembus_RxIntrHandler(void *context);
-void Systembus_TxIntrHandler(void *context);
+void Mpc_RxIntrHandler(void *context);
+void Mpc_TxIntrHandler(void *context);
 /************************** Constant Definitions *****************************/
-struct callback_desc phy_callback_desc = {
+struct callback_desc phy_callback_desc =
+{
 	.callback = Phy_IntrHandler,
 	.ctx = NULL
 };

-struct callback_desc periodicpull_callback_desc = {
+struct callback_desc periodicpull_callback_desc =
+{
 	.callback = PeriodicPull_Handler,
 	.ctx = NULL
 };


-struct callback_desc sysbus_rx_callback_desc = {
-	.callback = Systembus_RxIntrHandler,
+struct callback_desc mpc_rx_callback_desc =
+{
+	.callback = Mpc_RxIntrHandler,
 	.ctx = NULL
 };

-struct callback_desc sysbus_tx_callback_desc = {
-	.callback = Systembus_TxIntrHandler,
+struct callback_desc mpc_tx_callback_desc =
+{
+	.callback = Mpc_TxIntrHandler,
 	.ctx = NULL
 };

-struct callback_desc scutm_callback_desc = {
+struct callback_desc scutm_callback_desc =
+{
 	.callback = ScuTimer_IntrHandler,
 	.ctx = NULL
 };

-L2_CONFIG linkConfig = {
+L2_CONFIG linkConfig =
+{
 	.myType = L2_NODE_HEAD,
 	.clustId = 1,
 	.myId = 1,
 	.headId = 1,
-	.bkpHeadId = 0,
 	.netScale = 2,
 	.phyInstPtr = NULL, // physical layer reference
 	.tmcInstPtr = NULL
@@ -93,35 +98,83 @@ L2_CONFIG linkConfig = {
 // 	.clustId = 1,
 // 	.myId = 2,
 // 	.headId = 1,
-// 	.bkpHeadId = 0,
 // 	.netScale = 2,
 // 	.phyInstPtr = NULL, // physical layer reference
 // 	.tmcInstPtr = NULL
 // };

-static PHY_CONFIG phyConfig = {
+static PHY_CONFIG phyConfig =
+{
 	.devId = 0,
 	.baseAddr = PHY_BASEADDR,
 	.antBramId = PHY_ANTCONFIG_BRAM_DEVICE_ID,
+	.antInfoBramId = -1,
 	.txBramId = PHY_TXBUFF_BRAM_DEVICE_ID,
 	.rxBramId = PHY_RXBUFF_BRAM_DEVICE_ID,
-	.hwXadcId = PHY_HW_XADC_DEVICE_ID
+	.hwXadcId = PHY_HW_XADC_DEVICE_ID,
+	.get_clk_state = NULL,
+	.get_ad_lock_state = NULL,
+	.get_ad0_temp = NULL,
+	.get_ad1_temp = NULL
 };

-TMC_CONFIG tmcConfig = {
+TMC_CONFIG tmcConfig =
+{
 	.baseAddr = TIME_CONTROLLER_BASEADDR,
 	.reset = 10
 };

-//static SYSBUS_CONFIG sysbusConfig = {
-//	.baseAddr = SYSBUS_BASE_ADDR,
-//	.txQueueMax = 16,
-//	.rxQueueMax = 16
-//};
+static MPC_CONFIG mpcConfig = {
+	.bramId = MPC_BRAM_ID,
+	.gpioId = MPC_GPIO_ID,
+	.txQueueMax = 16,
+	.rxQueueMax = 16
+};
+
+#ifdef APP_EMULATE_DATA
+uint8_t testDataLj[] =
+{
+	0xEA, 0xDF, 0x3F, 0x27, 0xCE, 0x9B, 0xE6, 0x3F,
+	0xB5, 0xA3, 0x38, 0x47, 0x1D, 0x1D, 0xFA, 0x3F,
+	0x39, 0xB4, 0xC8, 0x76, 0xBE, 0xAB, 0x8E, 0x40,
+	0xC9, 0xE8, 0x80, 0x24, 0xEC, 0xCB, 0x13, 0x40,
+	0x37, 0x38, 0x7F, 0x22, 0x72, 0x06, 0xF0, 0x01,
+	0x00, 0x00, 0xB8, 0xAA, 0x08, 0x47, 0x1E, 0xC6,
+	0xB0, 0x47, 0x54, 0xFD, 0xEB, 0x45, 0xA1, 0x8A,
+	0x86, 0x44, 0x43, 0xB6, 0xC8, 0x44, 0x4E, 0x19,
+	0xA8, 0x42
+};
+
+uint8_t testDataFlj[] =
+{
+	0xFD, 0x1E, 0xA5, 0x22, 0x72, 0x02, 0x5A, 0x02,
+	0x00, 0x00, 0x81, 0x97, 0x39, 0x3F, 0xF1, 0xF4,
+	0xC0, 0x3F, 0x27, 0xF1, 0x65, 0x44, 0x53, 0x5C,
+	0xD3, 0x3F, 0xB5, 0x24, 0xA6, 0x22, 0x72, 0x02,
+	0x83, 0x01, 0x00, 0x00, 0xFC, 0xE0, 0x44, 0x47,
+	0xB7, 0x83, 0x35, 0x47, 0xA4, 0xBF, 0xE5, 0xC4,
+	0xE8, 0xDC, 0xD1, 0x44, 0x5D, 0x5D, 0xE7, 0x44,
+	0x7D, 0x1B, 0xE8, 0xC1, 0x60, 0x97, 0x57, 0x42,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
+	0x5D, 0x86, 0xA6, 0x22, 0x72, 0x02, 0xA5, 0x02,
+	0x00, 0x00, 0x97, 0x4E, 0xB5, 0x47, 0xC4, 0x2A,
+	0xB0, 0x47, 0x2D, 0x00, 0x21, 0xC5, 0x8A, 0x85,
+	0xD1, 0x44, 0x23, 0xFD, 0xC8, 0x44, 0xA1, 0xC4,
+	0xEA, 0xC1, 0x91, 0x4E, 0x71, 0xC2, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x6D, 0xAD,
+	0xA6, 0x22, 0x72, 0x02, 0xA5, 0x02, 0x00, 0x00,
+	0xCD, 0x07, 0xD6, 0x47, 0x1D, 0xA4, 0xCE, 0x47,
+	0x6E, 0x61, 0x33, 0xC5, 0x85, 0x55, 0xD1, 0x44,
+	0x9C, 0x16, 0xBD, 0x44, 0x36, 0xC0, 0xEB, 0xC1,
+	0xF0, 0xFF, 0x5B, 0x42, 0x00, 0x00, 0x00, 0x00,
+	0x00, 0x00, 0x00, 0x00, 0x78, 0x25, 0x03, 0x00
+};
+#endif
+
 /************************** Function Prototypes ******************************/
 static struct irq_ctrl_desc *intcDescPtr; // General interrupt controller descriptor
 static struct timer_desc *logTmPtr;
-static SYSBUS *sysbusDescPtr;
+static MPC *mpcDescPtr;
 static PHY_INST *phyInstPtr;
 static TMC_INST *tmcInstPtr = NULL;
 L2_INST *linkInstPtr;
@@ -200,64 +253,64 @@ int32_t SetupInterruptSystem(struct irq_ctrl_desc *descPtr)
 		return Status;
 	}

-//	/* Initialize system bus interrupt. */
-//	Status = irq_trigger_level_set(descPtr, SYSBUS_TX_INTR_ID, IRQ_EDGE_RISING);
-//	if (Status != SUCCESS)
-//	{
-//		DBG_ERROR("PHY_INTR trigger level set FAILED, ErrorCode: %" PRId32 ".\n", Status);
-//		return Status;
-//	}
-//	// Set interrupt priority
-//	Status = irq_set_priority(descPtr, SYSBUS_TX_INTR_ID, 0x10);
-//	if (Status != SUCCESS)
-//	{
-//		DBG_ERROR("PHY_INTR priority level set FAILED, ErrorCode: %" PRId32 ".\n", Status);
-//		return Status;
-//	}
-//
-//	// Connect the interrupt service routine isr1 to the interrupt controller
-//	Status = irq_register_callback(descPtr, SYSBUS_TX_INTR_ID, &sysbus_tx_callback_desc);
-//	if (Status != SUCCESS)
-//	{
-//		DBG_ERROR("PHY_INTR register callback FAILED, ErrorCode: %" PRId32 ".\n", Status);
-//		return Status;
-//	}
-//	Status = irq_trigger_level_set(descPtr, SYSBUS_RX_INTR_ID, IRQ_EDGE_RISING);
-//	if (Status != SUCCESS)
-//	{
-//		DBG_ERROR("PHY_INTR trigger level set FAILED, ErrorCode: %" PRId32 ".\n", Status);
-//		return Status;
-//	}
-//	// Set interrupt priority
-//	Status = irq_set_priority(descPtr, SYSBUS_RX_INTR_ID, 0x18);
-//	if (Status != SUCCESS)
-//	{
-//		DBG_ERROR("PHY_INTR priority level set FAILED, ErrorCode: %" PRId32 ".\n", Status);
-//		return Status;
-//	}
-//
-//	// Connect the interrupt service routine isr1 to the interrupt controller
-//	Status = irq_register_callback(descPtr, SYSBUS_RX_INTR_ID, &sysbus_rx_callback_desc);
-//	if (Status != SUCCESS)
-//	{
-//		DBG_ERROR("PHY_INTR register callback FAILED, ErrorCode: %" PRId32 ".\n", Status);
-//		return Status;
-//	}
-//
-//	/* Initialize Scu timer interrupt. */
-//	// Connect the interrupt service routine isr1 to the interrupt controller
-//	Status = irq_register_callback(descPtr, SCUTIMER_INTR_ID, &scutm_callback_desc);
-//	if (Status != SUCCESS)
-//	{
-//		DBG_ERROR("PHY_INTR register callback FAILED, ErrorCode: %" PRId32 ".\n", Status);
-//		return Status;
-//	}
+	/* Initialize system bus interrupt. */
+	Status = irq_trigger_level_set(descPtr, MPC_TX_INTR_ID, IRQ_EDGE_RISING);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("PHY_INTR trigger level set FAILED, ErrorCode: %" PRId32 ".\n", Status);
+		return Status;
+	}
+	// Set interrupt priority
+	Status = irq_set_priority(descPtr, MPC_TX_INTR_ID, 0x10);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("PHY_INTR priority level set FAILED, ErrorCode: %" PRId32 ".\n", Status);
+		return Status;
+	}
+
+	// Connect the interrupt service routine isr1 to the interrupt controller
+	Status = irq_register_callback(descPtr, MPC_TX_INTR_ID, &mpc_tx_callback_desc);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("PHY_INTR register callback FAILED, ErrorCode: %" PRId32 ".\n", Status);
+		return Status;
+	}
+	Status = irq_trigger_level_set(descPtr, MPC_RX_INTR_ID, IRQ_EDGE_RISING);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("PHY_INTR trigger level set FAILED, ErrorCode: %" PRId32 ".\n", Status);
+		return Status;
+	}
+	// Set interrupt priority
+	Status = irq_set_priority(descPtr, MPC_RX_INTR_ID, 0x18);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("PHY_INTR priority level set FAILED, ErrorCode: %" PRId32 ".\n", Status);
+		return Status;
+	}
+
+	// Connect the interrupt service routine isr1 to the interrupt controller
+	Status = irq_register_callback(descPtr, MPC_RX_INTR_ID, &mpc_rx_callback_desc);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("PHY_INTR register callback FAILED, ErrorCode: %" PRId32 ".\n", Status);
+		return Status;
+	}
+
+	/* Initialize Scu timer interrupt. */
+	// Connect the interrupt service routine isr1 to the interrupt controller
+	Status = irq_register_callback(descPtr, SCUTIMER_INTR_ID, &scutm_callback_desc);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("PHY_INTR register callback FAILED, ErrorCode: %" PRId32 ".\n", Status);
+		return Status;
+	}

 	// Enable interrupts
 	irq_enable(descPtr, PHY_INTR_ID);
 	irq_enable(descPtr, PERIODIC_5MS_INTR_ID);
-//	irq_enable(descPtr, SYSBUS_RX_INTR_ID);
-//	irq_enable(descPtr, SYSBUS_TX_INTR_ID);
+	irq_enable(descPtr, MPC_RX_INTR_ID);
+	irq_enable(descPtr, MPC_TX_INTR_ID);
 	irq_enable(descPtr, SCUTIMER_INTR_ID);

 	// Enable Exceptions
@@ -315,13 +368,13 @@ void PeriodicPull_Handler(void *callBackRef)
 * @return  None.
 *
 ******************************************************************************/
-void Systembus_RxIntrHandler(void *context)
+void Mpc_RxIntrHandler(void *context)
 {
 	int32_t Status;
-	Status = SystemBus_RxIntrHandler(sysbusDescPtr);
+	Status = Mpc_RxIrqHandler(mpcDescPtr);
 	if (Status != SUCCESS)
 	{
-		DBG_ERROR("SystemBus_RxIntrHandler exit with error code %" PRId32 ",\n", Status);
+		DBG_ERROR("Mpc_RxIrqHandler exit with error code %" PRId32 ",\n", Status);
 	}
 }

@@ -334,13 +387,13 @@ void Systembus_RxIntrHandler(void *context)
 * @return  None.
 *
 ******************************************************************************/
-void Systembus_TxIntrHandler(void *context)
+void Mpc_TxIntrHandler(void *context)
 {
 	int32_t Status;
-	Status = SystemBus_TxIntrHandler(sysbusDescPtr);
+	Status = Mpc_TxIrqHandler(mpcDescPtr);
 	if (Status != SUCCESS)
 	{
-		DBG_ERROR("SystemBus_TxIntrHandler exit with error code %" PRId32 ",\n", Status);
+		DBG_ERROR("Mpc_TxIrqHandler exit with error code %" PRId32 ",\n", Status);
 	}
 }

@@ -361,6 +414,29 @@ void ScuTimer_IntrHandler(void *context)
 	{
 		// Refresh log
 		Phy_RefreshHwSate(phyInstPtr);
+		if (TimeCtrl_GetIntCnt(tmcInstPtr) - phyInstPtr->lastLogTime >= PHY_LOG_EXPIRE)
+		{
+			Phy_UpdateLogging(phyInstPtr);
+		}
+
+		if (Mpc_IsEnable(mpcDescPtr))
+		{
+			if (Mpc_PendRemoteTest(mpcDescPtr) != SUCCESS)
+			{
+				DBG_ERROR("Failed to apply remote test.\n");
+			}
+#ifdef APP_EMULATE_DATA
+			if (L2_GetNodeType(linkInstPtr) == L2_NODE_HEAD)
+			{
+				SysMonitor_UpdateSendPayload(testDataFlj, PAYLOAD_LEN_FLJ_TX);
+			}
+			else
+			{
+				SysMonitor_UpdateSendPayload(testDataLj, PAYLOAD_LEN_LJ_TX);
+			}
+#endif
+		}
+
 		XScuTimer_ClearInterruptStatus((XScuTimer *)xdesc->instance);
 	}
 	else
@@ -420,7 +496,7 @@ int main(void)
 	}

 	/* Physical Layer Initialize */
-	Status = Phy_InstInit(&phyInstPtr, &phyConfig);
+	Status = Phy_Init(&phyInstPtr, &phyConfig);
 	if (Status == SUCCESS)
 	{
 		DBG_PRINT("Physical layer Init SUCCESS! \n");
@@ -445,13 +521,13 @@ int main(void)
 		return Status;
 	}

-	// /* System Bus Initialize */
-	// Status = SystemBus_Init(&sysbusDescPtr, &sysbusConfig);
-	// if (Status != SUCCESS)
-	// {
-	// 	DBG_ERROR("Systembus init FAILED, with error code: %" PRId32 "\n", Status);
-	// 	return Status;
-	// }
+	/* System Bus Initialize */
+	Status = Mpc_Init(&mpcDescPtr, &mpcConfig);
+	if (Status != SUCCESS)
+	{
+	DBG_ERROR("MPC init FAILED, with error code: %" PRId32 "\n", Status);
+	return Status;
+	}

 	/* System Monitor log timer Initialize */
 	Status = timer_init(&logTmPtr, &scutimer_init_param);
@@ -479,30 +555,24 @@ int main(void)
 	DBG_PRINT("Physical started...\n");
 	Phy_Start(phyInstPtr);

-	Linklayer_Start(linkInstPtr);
-
-	while (true);
-
-	// while (true)
-	// {
-	// 	// System bus handler
-	// 	if (SystemBus_IsReqPendding(sysbusDescPtr))
-	// 	{
-	// 		Status = SystemBus_HandleCmd(sysbusDescPtr);
-	// 		if (Status != SUCCESS)
-	// 		{
-	// 			DBG_ERROR("SystemBus_HandleCmd exit with ErrorCode: %" PRId32 ".\n", Status);
-	// 		}
-	// 	}
-	// 	if (SystemBus_IsRsqPendding(sysbusDescPtr) && (!SystemBus_IsTxBusy(sysbusDescPtr)))
-	// 	{
-	// 		// FIXME: Required by 12 (CASC)
-	// 		udelay(200);
-	// 		Status = SystemBus_MakeResp(sysbusDescPtr);
-	// 		if (Status != SUCCESS)
-	// 		{
-	// 			DBG_ERROR("SystemBus_HandleCmd exit with ErrorCode: %" PRId32 ".\n", Status);
-	// 		}
-	// 	}
-	// }
+	while (true)
+	{
+	// System bus handler
+	if (Mpc_IsReqPending(mpcDescPtr))
+	{
+		Status = Mpc_HandleCmd(mpcDescPtr);
+		if (Status != SUCCESS)
+		{
+			DBG_ERROR("Mpc_HandleCmd exit with ErrorCode: %" PRId32 ".\n", Status);
+		}
+	}
+	if (Mpc_IsRsqPending(mpcDescPtr) && (!Mpc_IsTxBusy(mpcDescPtr)))
+	{
+		Status = Mpc_MakeResp(mpcDescPtr);
+		if (Status != SUCCESS)
+		{
+			DBG_ERROR("Mpc_HandleCmd exit with ErrorCode: %" PRId32 ".\n", Status);
+		}
+	}
+	}
 } // main
@@ -0,0 +1,566 @@
+/*****************************************************************************/
+/**
+ * Description: MPC protocol implementation file.
+ *
+ * Date: 2023-05-06 10:13
+ * Last Edit Time: [2023-05-06 21:45]
+ *
+ * Revisions: Rev 0.0
+ * History:
+ * [2023-05-06]: Initial version.
+ * [2023-09-13]: Update to 485 protocol-20220816
+ *
+ * Copyright(c) 2021 Beijing Institute of Technology.
+ * Lab of Communication and Network
+ *
+ ******************************************************************************/
+
+/***************************** Include Files *********************************/
+
+#include <stdlib.h>
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include "mpc.h"
+#include "util.h"
+#include "common.h"
+#include "error.h"
+#include "circ_queue.h"
+#include "xbram.h"
+#include "xgpio.h"
+
+#include "../system_monitor.h"
+
+/************************** Constant Definitions *****************************/
+// Common Field
+// -- Command word
+#define WD_CMD 0x00
+
+// -- Production type
+#define WD_PRD 0x01
+#define PRD_DL_K 0xDD
+#define PRD_DL_S 0xEE
+#define PRD_ALL 0xFF
+
+// Self-Test
+#define CMD_SELF_TEST 0xE1
+// -- Request
+// -- -- --
+// -- Response
+// -- -- Self-Test Result
+#define ST_RSP_LEN 16
+#define WD_ST_RET 0x02
+#define ST_RET_OK 0xAA
+#define ST_RET_ERROR 0x55
+#define ST_RET_INFO_LEN 13
+// -- -- Signal processor PS voltage
+#define WD_SP_FPGA_VOLT 0x03
+// -- -- Signal processor PS AUX voltage
+#define WD_SP_CLK_STATE 0x04
+// -- -- Signal processor DDR voltage
+#define WD_SP_AD_LOCK_STATE 0x05
+// -- -- Signal processor PL voltage
+#define WD_SP_AD_TEMP_0 0x06
+// -- -- Signal processor PL AUX voltage
+#define WD_SP_AD_TEMP_1 0x07
+// -- -- Signal processor Bram voltage
+#define WD_SP_FPGA_TEMP 0x08
+
+// Config load
+#define CMD_CONFIG 0xE3
+// -- Request
+#define WD_EN_CMD 0x02
+#define EN_CMD_ON_HIGH_POWER 0x66
+#define EN_CMD_ON_LOW_POWER 0x77
+#define EN_CMD_SILENT 0x88
+
+#define WD_MODE_CMD 0x03
+#define MODE_CMD_HEAD 0x11
+#define MODE_CMD_MEMBER 0x00
+// -- Response
+// -- -- none response
+
+// Remote Test
+#define RM_TEST_RESP_LEN 158
+// -- Request
+// Remote Test FLJ
+#define CMD_FLJ_RM_TEST 0xE6
+// Remote Test LJ
+#define CMD_LJ_RM_TEST 0xF6
+#define WD_RM_TEST 0x02
+#define RM_TEST_CODE 0x99
+// -- Response
+#define WD_TIME_STAMP 0x02
+#define WD_TIME_STAMP_LEN 8
+#define WD_SYSBUS_LOG 0x0A
+#define WD_SYSBUS_LOG_LEN 14
+#define WD_LINK_LOG 0x18
+#define WD_LINK_LOG_LEN 64
+#define WD_PHY_LOG 0x58
+#define WD_PHY_LOG_LEN 57
+#define WD_HARDWARE_ST 0x91
+#define WD_HARDWARE_ST_LEN 13
+
+// My Production Type
+#define MY_PRD_ID PRD_DL_K
+
+/************************** Function Prototypes ******************************/
+/**************************** Type Definitions *******************************/
+/************************** Variable Definitions *****************************/
+// TODO: better approach?
+#include "../networking/link_layer/link_layer.h"
+#include "../networking/phy_layer/phy_layer.h"
+extern L2_INST *linkInstPtr;
+extern L2_CONFIG linkConfig;
+
+inline bool Mpc_IsEnable(MPC *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	return (instPtr->isEnable);
+}
+
+inline bool Mpc_IsReqPending(MPC *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	return (!isCircQueueEmpty(instPtr->rxQueue));
+}
+
+inline bool Mpc_IsRsqPending(MPC *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	return (!isCircQueueEmpty(instPtr->txQueue));
+}
+
+inline bool Mpc_IsTxBusy(MPC *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	return (!instPtr->isTxDone);
+}
+
+inline bool Mpc_IsRxBusy(MPC *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	return (!instPtr->isRxDone);
+}
+
+/**
+ * @brief   Generate System Bus SelfTest response.
+ */
+static int32_t Mpc_GenSelfTestRsp(MPC *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	MPC_HW_FRAME *mpcRsp;
+	uint8_t *msg;
+	if (Mpc_IsEnable(instPtr) == false)
+	{
+		DBG_ERROR("System is not enabled!\n");
+		return EIGNORE;
+	}
+	mpcRsp = malloc(sizeof(MPC_HW_FRAME));
+	if (mpcRsp == NULL)
+	{
+		DBG_ERROR("Failed to allocate memory for LJ REMOTE TEST Response!\n");
+		return ENOMEM;
+	}
+	mpcRsp->len = ST_RSP_LEN;
+	msg = mpcRsp->data + FRAME_PAYLOAD_POFFSET;
+
+	HWSTATE *hwStatsPtr = &(instPtr->hwState);
+
+	msg[WD_CMD] = CMD_SELF_TEST;
+	msg[WD_PRD] = MY_PRD_ID;
+	SysMonitor_GetHardwareStatus(hwStatsPtr);
+	if (Mpc_IsEnable(instPtr))
+	{
+		msg[WD_ST_RET] = (hwStatsPtr->isSpOk && hwStatsPtr->isAntOk) ? ST_RET_OK : ST_RET_ERROR;
+	}
+	else
+	{
+		msg[WD_ST_RET] = (hwStatsPtr->isSpOk) ? ST_RET_OK : ST_RET_ERROR;
+	}
+	// apply status and omit 2 bytes of overhead.
+	memcpy(msg + WD_SP_FPGA_VOLT, &(hwStatsPtr->spFpgaVolt), ST_RET_INFO_LEN);
+
+	if (CircQueuePush(instPtr->txQueue, (void *)mpcRsp) == false)
+	{
+		free(mpcRsp);
+		DBG_ERROR("SystemBus::TX Queue overflowed!\n");
+		return EQUEUE;
+	}
+	return SUCCESS;
+}
+
+/**
+ * @brief   Apply system configuration
+ */
+static int32_t Mpc_SystemConfig(MPC *instPtr, uint8_t *msg)
+{
+	PHY_INST *phyRef = linkInstPtr->config.phyInstPtr;
+	TMC_INST *tmcRef = linkInstPtr->config.tmcInstPtr;
+	bool reconfig = false;
+
+	if (msg[WD_MODE_CMD] == MODE_CMD_HEAD)
+	{
+		// omit unnecessary reconfiguration
+		reconfig = (L2_NODE_HEAD != L2_GetNodeType(linkInstPtr));
+		linkConfig.myType = L2_NODE_HEAD;
+		linkConfig.myId = 2;
+	}
+
+	else if (msg[WD_MODE_CMD] == MODE_CMD_MEMBER)
+	{
+		// omit unnecessary reconfiguration
+		reconfig = (L2_NODE_MEMBER != L2_GetNodeType(linkInstPtr));
+		linkConfig.myType = L2_NODE_MEMBER;
+		linkConfig.myId = 2;
+	}
+	else
+	{
+		// Ignore current command
+		DBG_ERROR("Unexpected config command 0x%02X:0x%02X",
+				  WD_MODE_CMD, msg[WD_MODE_CMD]);
+		return EIGNORE;
+	}
+
+	if (msg[WD_EN_CMD] == EN_CMD_ON_HIGH_POWER)
+	{
+		// high power config
+		Phy_AntConfigMode(phyRef, PHY_ANT_MODE_POWER_FULL);
+		if (reconfig == true || !Mpc_IsEnable(instPtr))
+		{
+			Linklayer_Reconfig(linkInstPtr, &linkConfig);
+		}
+		Linklayer_Start(linkInstPtr);
+		instPtr->isEnable = true;
+	}
+	else if (msg[WD_EN_CMD] == EN_CMD_ON_LOW_POWER)
+	{
+		// low power config
+		Phy_AntConfigMode(phyRef, PHY_ANT_MODE_POWER_LOW);
+		if (reconfig == true || !Mpc_IsEnable(instPtr))
+		{
+			Linklayer_Reconfig(linkInstPtr, &linkConfig);
+		}
+		Linklayer_Start(linkInstPtr);
+		instPtr->isEnable = true;
+	}
+	else if (msg[WD_EN_CMD] == EN_CMD_SILENT)
+	{
+		// silence config
+		// TODO: better approach?
+		instPtr->isEnable = false;
+		Linklayer_Halt(linkInstPtr);
+		Phy_AntConfigMode(phyRef, PHY_ANT_MODE_STANDBY);
+		TIME_WORD pullTime = {0, 0};
+		pullTime.int_part = TimeCtrl_GetIntCnt(tmcRef) + 1;
+		if (Phy_SetTimeWord(phyRef, &pullTime, PHY_TIME_WORD_POLL) != SUCCESS)
+		{
+			DBG_ERROR("Physical set pull time failed.\n");
+		}
+		Phy_SetupNextSlot(phyRef, PHY_TOR_RX, L1_10KBPS_10MS_FRAME, NULL);
+	}
+	else
+	{
+		// Ignore current command
+		DBG_ERROR("Unexpected config command 0x%02X:0x%02X",
+				  WD_EN_CMD, msg[WD_EN_CMD]);
+		return EIGNORE;
+	}
+	instPtr->mpcLog.lastConfig[0] = msg[WD_MODE_CMD];
+	instPtr->mpcLog.lastConfig[1] = msg[WD_EN_CMD];
+	return SUCCESS;
+}
+
+/*****************************************************************************/
+/**
+ * @brief   Initialize MPC instance.
+ *
+ * @param   InstPtr A double pointer to MPC instance.
+ * @param   config  A pointer to MPC configurations.
+ *
+ * @return  Error code.
+ *
+ ******************************************************************************/
+int32_t Mpc_Init(MPC **instPtr, MPC_CONFIG *config)
+{
+	ASSERT(instPtr != NULL);
+	ASSERT(config != NULL);
+	MPC_HW_CONFIG mpcHwConfig;
+	int32_t Status;
+	(*instPtr) = malloc(sizeof(MPC));
+	if ((*instPtr) == NULL)
+	{
+		return ENOMEM;
+	}
+	(*instPtr)->rxQueue = NULL;
+	(*instPtr)->txQueue = NULL;
+	(*instPtr)->mpchwDesc = NULL;
+	memcpy(&((*instPtr)->config), config, sizeof(MPC_CONFIG));
+	memset(&((*instPtr)->mpcLog), 0x00, sizeof(SYSBUSLOG));
+	memset(&((*instPtr)->linkLog), 0x00, sizeof(LINKLOG));
+	memset(&((*instPtr)->phyLog), 0x00, sizeof(PHYLOG));
+	memset(&((*instPtr)->hwState), 0x00, sizeof(HWSTATE));
+
+	XBram_Config *bramConfigPtr;
+	XBram mpcBram;
+
+	bramConfigPtr = XBram_LookupConfig(config->bramId);
+	if (bramConfigPtr == NULL)
+	{
+		Mpc_Destroy(*instPtr);
+		return EDCONF;
+	}
+	Status = XBram_CfgInitialize(&mpcBram, bramConfigPtr,
+								 bramConfigPtr->CtrlBaseAddress);
+	if (Status != SUCCESS)
+	{
+		Mpc_Destroy(*instPtr);
+		return Status;
+	}
+	/*
+	 * Execute the BRAM driver selftest.
+	 */
+	Status = XBram_SelfTest(&mpcBram, 0);
+	if (Status != SUCCESS)
+	{
+		Mpc_Destroy(*instPtr);
+		return Status;
+	}
+
+	mpcHwConfig.txBuffAddr = mpcBram.Config.MemBaseAddress;
+	mpcHwConfig.rxBuffAddr = mpcBram.Config.MemBaseAddress;
+	mpcHwConfig.gpioId = config->gpioId;
+
+	Status = MpcHw_Init(&((*instPtr)->mpchwDesc), &mpcHwConfig);
+	if (Status != SUCCESS)
+	{
+		Mpc_Destroy(*instPtr);
+		return ENOMEM;
+	}
+	if (CircQueueCreate(&((*instPtr)->txQueue), (*instPtr)->config.txQueueMax) == false)
+	{
+		Mpc_Destroy(*instPtr);
+		return ENOMEM;
+	}
+	if (CircQueueCreate(&((*instPtr)->rxQueue), (*instPtr)->config.rxQueueMax) == false)
+	{
+		Mpc_Destroy(*instPtr);
+		return ENOMEM;
+	}
+	(*instPtr)->isEnable = false; // nothing received.
+	(*instPtr)->isRxDone = false; // nothing received.
+	(*instPtr)->isTxDone = true;  // nothing to be sent.
+	return SUCCESS;
+}
+
+/*****************************************************************************/
+/**
+ * @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.
+ *
+ * @param   instPtr A pointer to MPC instance.
+ *
+ * @return  SUCCESS
+ * 			error code
+ *
+ ******************************************************************************/
+int32_t Mpc_PendRemoteTest(MPC *instPtr)
+{
+	MPC_HW_FRAME *mpcRsp;
+	uint8_t *msg;
+	if (!Mpc_IsEnable(instPtr))
+	{
+		DBG_ERROR("System is not enabled!\n");
+		return EIGNORE;
+	}
+	mpcRsp = malloc(sizeof(MPC_HW_FRAME));
+	if (mpcRsp == NULL)
+	{
+		DBG_ERROR("Failed to allocate memory for LJ REMOTE TEST Response!\n");
+		return ENOMEM;
+	}
+	msg = mpcRsp->data + FRAME_PAYLOAD_POFFSET;
+	mpcRsp->len = RM_TEST_RESP_LEN;
+	if (L2_GetNodeType(linkInstPtr) == L2_NODE_HEAD)
+	{
+		// head node config
+		msg[WD_CMD] = CMD_FLJ_RM_TEST;
+	}
+	else
+	{
+		msg[WD_CMD] = CMD_LJ_RM_TEST;
+	}
+	msg[WD_PRD] = MY_PRD_ID;
+
+	TIME_WORD tmWord;
+	uint64_t time;
+	TimeCtrl_GetCurrentTime(linkInstPtr->config.tmcInstPtr, &tmWord);
+	time = (uint64_t)tmWord.int_part * TIME_FRAC_MAX + tmWord.frac_part;
+	memcpy(msg + WD_TIME_STAMP, &time, WD_TIME_STAMP_LEN);
+	SysMonitor_GetLinklayerLog(&(instPtr->linkLog));
+	SysMonitor_GetPhysicalLayerLog(&(instPtr->phyLog));
+	SysMonitor_GetHardwareStatus(&(instPtr->hwState));
+	memcpy(msg + WD_SYSBUS_LOG, &(instPtr->mpcLog), WD_SYSBUS_LOG_LEN);
+	memcpy(msg + WD_LINK_LOG, &(instPtr->linkLog), WD_LINK_LOG_LEN);
+	memcpy(msg + WD_PHY_LOG, &(instPtr->phyLog), WD_PHY_LOG_LEN);
+	memcpy(msg + WD_HARDWARE_ST, &(instPtr->hwState.spFpgaVolt), WD_HARDWARE_ST_LEN);
+
+	if (CircQueuePush(instPtr->txQueue, (void *)mpcRsp) == false)
+	{
+		free(mpcRsp);
+		DBG_WARNING("SystemBus::TX Queue overflowed!\n");
+		return EQUEUE;
+	}
+	instPtr->mpcLog.remoteCnt++;
+	return SUCCESS;
+}
+
+/*****************************************************************************/
+/**
+ * @brief   A handler function. This handler  evaluate the message from system
+ * 			bus receive queue, and make appropriate response.
+ *
+ * @param   instPtr A pointer to MPC instance.
+ *
+ * @return  None
+ *
+ ******************************************************************************/
+int32_t Mpc_HandleCmd(MPC *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	int32_t Status;
+	MPC_HW_FRAME *mpcReq;
+	uint8_t *reqMsg;
+	if (CircQueuePop(instPtr->rxQueue, (void **)(&mpcReq)) == false)
+	{
+		DBG_WARNING("SystemBus::Nothing to be handled.\n");
+		return EIGNORE;
+	}
+	reqMsg = mpcReq->data + FRAME_PAYLOAD_POFFSET;
+	if (reqMsg[WD_PRD] != MY_PRD_ID && reqMsg[WD_PRD] != PRD_ALL)
+	{
+		DBG_WARNING("SystemBus::Production code mismatch!\n");
+		return EIGNORE;
+	}
+
+	switch (reqMsg[WD_CMD])
+	{
+	case CMD_CONFIG:
+	{
+		Status = Mpc_SystemConfig(instPtr, reqMsg);
+		if (Status == SUCCESS)
+		{
+			Status = Mpc_GenSelfTestRsp(instPtr);
+		}
+		break;
+	}
+	default:
+	{
+		DBG_ERROR("SystemBus::Unknown command code!\n");
+		Status = FAILURE;
+		break;
+	}
+	}
+	free(mpcReq);
+	return Status;
+}
+
+/*****************************************************************************/
+/**
+ * @brief   This function send a repose frame from MPC tx queue.
+ *
+ * @param   instPtr A pointer to MPC instance.
+ *
+ * @return  None
+ *
+ ******************************************************************************/
+int32_t Mpc_MakeResp(MPC *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	int32_t Status;
+	MPC_HW_FRAME *mpcRsp;
+	if (CircQueuePop(instPtr->txQueue, (void **)(&mpcRsp)) == false)
+	{
+		DBG_WARNING("SystemBus::Nothing to be sent.\n");
+		return EIGNORE;
+	}
+	instPtr->isTxDone = false; // A transmission procedure is started.
+	Status = MpcHw_Send(instPtr->mpchwDesc, mpcRsp);
+	free(mpcRsp);
+	return Status;
+}
+
+/*****************************************************************************/
+/**
+ * @brief   This function handles the mpc tx irq events.
+ *
+ * @param   instPtr A pointer to MPC instance.
+ *
+ * @return  None
+ *
+ ******************************************************************************/
+int32_t Mpc_TxIrqHandler(MPC *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	// nothing special...
+	instPtr->isTxDone = true; // A transmission procedure finished.
+	return SUCCESS;
+}
+
+/*****************************************************************************/
+/**
+ * @brief   This function handles the mpc rx irq events.
+ *
+ * @param   instPtr A pointer to MPC instance.
+ *
+ * @return  None
+ *
+ ******************************************************************************/
+int32_t Mpc_RxIrqHandler(MPC *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	int32_t Status;
+	MPC_HW_FRAME *mpcReq;
+	instPtr->isRxDone = true; // whether reception successes or not, receiving procedure ended.
+	mpcReq = malloc(sizeof(MPC_HW_FRAME));
+	if (mpcReq == NULL)
+	{
+		return ENOMEM;
+	}
+	Status = MpcHw_Recv(instPtr->mpchwDesc, mpcReq);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("SystemBus::RX error!\n");
+		free(mpcReq);
+		return Status;
+	}
+	if (CircQueuePush(instPtr->rxQueue, (void *)mpcReq) == false)
+	{
+		DBG_ERROR("SystemBus::RX Queue overflowed!\n");
+		free(mpcReq);
+		return EQUEUE;
+	}
+	instPtr->isRxDone = false; // another reception is undergoing.
+	return SUCCESS;
+}
@@ -0,0 +1,72 @@
+/*****************************************************************************/
+/**
+ * Description: MPC protocol head file.
+ *
+ * Date: 2023-05-06 10:12
+ * Last Edit Time: [2023-05-06 10:13]
+ *
+ * Revisions: Rev 0.0
+ * History:
+ * [2023-05-06]: Initial version.
+ *
+ * Copyright(c) 2021 Beijing Institute of Technology.
+ *
+ ******************************************************************************/
+
+#ifndef __MPC_H_
+#define __MPC_H_
+
+/***************************** Include Files *********************************/
+#include <stdint.h>
+#include <stdbool.h>
+#include "mpc_hw.h" // MPC driver
+#include "circ_queue.h"
+#include "../system_monitor.h"
+
+/************************** Constant Definitions *****************************/
+/************************** Data Type Definitions ****************************/
+// Definition of MPC instance.
+typedef struct
+{
+	uint32_t bramId;
+	uint32_t gpioId;
+    uint32_t txQueueMax;
+    uint32_t rxQueueMax;
+} MPC_CONFIG;
+
+typedef struct
+{
+    MPC_CONFIG config;
+    SYSBUSLOG mpcLog; // mpc log
+	LINKLOG linkLog; // Link layer log
+	PHYLOG phyLog; // Physical layer log
+	HWSTATE hwState; // Hardware status
+    MPC_HW *mpchwDesc;
+    CIRC_QUEUE *txQueue;
+    CIRC_QUEUE *rxQueue;
+    bool isEnable;
+    bool isRxDone;
+    bool isTxDone;
+} MPC;
+
+/************************** 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);
+int32_t Mpc_MakeResp(MPC *instPtr);
+
+int32_t Mpc_TxIrqHandler(MPC *instPtr);
+int32_t Mpc_RxIrqHandler(MPC *instPtr);
+
+bool Mpc_IsEnable(MPC *instPtr);
+
+bool Mpc_IsReqPending(MPC *instPtr);
+bool Mpc_IsRsqPending(MPC *instPtr);
+
+bool Mpc_IsTxBusy(MPC *instPtr);
+bool Mpc_IsRxBusy(MPC *instPtr);
+
+#endif //__MPC_H_
@@ -0,0 +1,139 @@
+/*****************************************************************************/
+/**
+ * Description: MPC uart driver implementation file.
+ *
+ * Date: 2023-05-06 10:59
+ * LastEditTime: 2023-05-06 21:56
+ * Revisions: Rev 0.0
+ * History:
+ * [2023-05-06]: Initial version.
+ *
+ * Copyright(c) 2022 Beijing Institute of Technology.
+ *
+ ******************************************************************************/
+
+/***************************** Include Files *******************************/
+#include <stdlib.h>
+#include <string.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include "mpc_hw.h"
+#include "common.h"
+
+// Control and status register
+#define MODULE_VERSION 0
+#define MPC_STATUS 4
+#define MPC_SEND_CMD 8
+#define MPC_RECV_CNT 12
+
+// Status code
+#define MPC_STATUS_TX_BUSY 0x00010000
+#define MPC_STATUS_RX_BUSY 0x01000000
+// Data buffer register
+#define MPC_TXBUFF_MAX 512
+#define MPC_RXBUFF_MAX 512
+
+// Frame Data offsets
+#define FRAME_HEAD_LOW 0x02
+#define FRAME_HEAD_HIGH 0x53
+#define FRAME_TAIL_LOW 0x32
+#define FRAME_TAIL_HIGH 0x20
+
+#define FRAME_HEAD_LEN 2
+#define FRAME_TAIL_LEN 2
+#define FRAME_DUMMY_LEN 1	 // Dummy
+#define FRAME_OVERHEAD_LEN 2 // CheckSum, Dummy and
+
+#define MPC_STATUS_CH 1
+#define MPC_CONFIG_CH 2
+
+#define MPC_CONFIG_SEND_TRIG 0x00000002
+/*************************** Function Definitions ****************************/
+
+/*****************************************************************************/
+/**
+ * @brief   Instance initial
+ *
+ * @param   instPtr     A pointer to frame uart instance structure.
+ * @param   config    Base address of frame uart, refer to "xparameters.h"
+ *
+ * @return  None.
+ *
+ ******************************************************************************/
+int MpcHw_Init(MPC_HW **instPtr, MPC_HW_CONFIG *config)
+{
+	ASSERT(instPtr != NULL);
+	ASSERT(config != NULL);
+	uint32_t Status;
+	(*instPtr) = malloc(sizeof(MPC_HW));
+	if ((*instPtr) == NULL)
+	{
+		return FAILURE;
+	}
+	(*instPtr)->config.txBuffAddr = config->txBuffAddr;
+	(*instPtr)->config.rxBuffAddr = config->rxBuffAddr;
+	Status = XGpio_Initialize(&((*instPtr)->gpioDesc), config->gpioId);
+	if (Status != SUCCESS) {
+		DBG_ERROR("MPC gpio Initialization Failed.\n");
+		free(*instPtr);
+		return FAILURE;
+	}
+	XGpio_SetDataDirection(&((*instPtr)->gpioDesc), MPC_CONFIG_CH, 0x00000000);
+	XGpio_SetDataDirection(&((*instPtr)->gpioDesc), MPC_STATUS_CH, 0xFFFFFFFF);
+	return SUCCESS;
+}
+
+/*****************************************************************************/
+/**
+ * @brief   Send a MPC frame.
+ *
+ * @param   instPtr	A pointer to MPC_HW instance structure.
+ * @param   buff	A pointer to send data buffer
+ * @param   dLen	A integer indicate the send data buffer length in byte.
+ *
+ * @return
+ *
+ ******************************************************************************/
+int MpcHw_Send(MPC_HW *instPtr, MPC_HW_FRAME *frame)
+{
+	ASSERT(instPtr != NULL);
+	ASSERT(frame != NULL);
+	uint8_t sendLen;
+	uint8_t *sendBuff = (uint8_t*) instPtr->config.txBuffAddr;
+	sendLen = frame->len + FRAME_OVERHEAD_LEN;
+	if (sendLen > MPC_TXBUFF_MAX || frame->len == 0)
+	{
+		return FAILURE;
+	}
+	frame->data[0] = FRAME_HEAD_LOW;
+	frame->data[1] = FRAME_HEAD_HIGH;
+	memcpy(sendBuff, frame->data, sendLen);
+
+	// Start Sending
+	uint32_t gpioVal  = XGpio_DiscreteRead(&(instPtr->gpioDesc), MPC_CONFIG_CH);
+	gpioVal ^= MPC_CONFIG_SEND_TRIG;
+	XGpio_DiscreteWrite(&(instPtr->gpioDesc), MPC_CONFIG_CH, gpioVal);
+	return SUCCESS;
+}
+
+/*****************************************************************************/
+/**
+ * @brief   Get last MPC frame.
+ *
+ * @param   instPtr     A pointer to MPC_HW instance structure.
+ * @param   buff    A pointer to receive data buffer.
+ *
+ * @return
+ *
+ ******************************************************************************/
+int MpcHw_Recv(MPC_HW *instPtr, MPC_HW_FRAME *frame)
+{
+	ASSERT(instPtr != NULL);
+	ASSERT(frame != NULL);
+	uint8_t *recvBuff = (uint8_t *)(instPtr->config.rxBuffAddr);
+	memcpy(frame->data, recvBuff, MPC_FRAME_MAX);
+	frame->len = MPC_FRAME_MAX;
+	frame->isValid = true;
+	return SUCCESS;
+}
+
@@ -0,0 +1,98 @@
+/*****************************************************************************/
+/**
+ * Description: MPC uart driver implementation file.
+ *
+ * Date: 2023-05-06 10:59
+ * LastEditTime: 2023-05-06 21:48
+ * Revisions: Rev 0.0
+ * History:
+ * [2023-05-06]: Initial version.
+ *
+ * Copyright(c) 2022 Beijing Institute of Technology.
+ *
+ ******************************************************************************/
+
+#ifndef __MPC_HW_H
+#define __MPC_HW_H
+
+/**************************** Include Files *****************************/
+#include <stdint.h>
+#include <stdbool.h>
+#include "util.h"
+#include "xgpio.h"
+
+#define MPC_FRAME_MAX 256
+#define FRAME_PAYLOAD_POFFSET 2 // CheckSum, Dummy and DataLen
+/**************************** Type Definitions *****************************/
+/**
+ *
+ * Write a value to a SYSTEMBUS_UART register. A 32 bit write is performed.
+ * If the component is implemented in a smaller width, only the least
+ * significant data is written.
+ *
+ * @param   baseAddr is the base address of the SYSTEMBUS_UARTdevice.
+ * @param   offset is the register offset from the base to write to.
+ * @param   data is the data written to the register.
+ *
+ * @return  None.
+ *
+ * @note
+ * C-style signature:
+ * 	void MPC_HW_mWriteReg(uint32_t BaseAddress, unsigned RegOffset, uint32_t Data)
+ *
+ */
+#define MPC_HW_mWriteReg(baseAddr, offset, data) \
+	IO_Out32((baseAddr) + (offset), (uint32_t)(data))
+
+/**
+ *
+ * Read a value from a SYSTEMBUS_UART register. A 32 bit read is performed.
+ * If the component is implemented in a smaller width, only the least
+ * significant data is read from the register. The most significant data
+ * will be read as 0.
+ *
+ * @param   baseAddr is the base address of the SYSTEMBUS_UART device.
+ * @param   offset is the register offset from the base to write to.
+ *
+ * @return  Data is the data from the register.
+ *
+ * @note
+ * C-style signature:
+ * 	uint32_t MPC_HW_mReadReg(uint32_t BaseAddress, unsigned RegOffset)
+ *
+ */
+#define MPC_HW_mReadReg(baseAddr, offset) \
+	IO_In32((baseAddr) + (offset))
+
+typedef struct
+{
+	uintptr_t txBuffAddr;
+	uintptr_t rxBuffAddr;
+	uint32_t gpioId;
+} MPC_HW_CONFIG;
+
+typedef struct
+{
+	MPC_HW_CONFIG config;
+	XGpio gpioDesc;
+} MPC_HW;
+
+typedef struct
+{
+	uint16_t len;
+	uint8_t checkSum;
+	uint8_t isValid;
+	uint8_t data[MPC_FRAME_MAX];
+} MPC_HW_FRAME;
+
+/************************** Function Prototypes ******************************/
+// Instance initial
+int MpcHw_Init(MPC_HW **instPtr, MPC_HW_CONFIG *config);
+
+// Send a MPC frame.
+int MpcHw_Send(MPC_HW *instPtr, MPC_HW_FRAME *frame);
+
+// Get last MPC frame.
+int MpcHw_Recv(MPC_HW *instPtr, MPC_HW_FRAME *frame);
+
+#endif // __MPC_HW_H
@@ -1 +0,0 @@
-../../df_datalink_sp/src/systembus
@@ -24,7 +24,7 @@

 /* Definitions for interface TMC */
 #define XPAR_TMC_BASEADDR 0x43C30000
-#define XPAR_TMC_HIGHADDR 0x43C3FFFF
+#define XPAR_TMC_HIGHADDR 0x43C30FFF

 #include "xparameters_ps.h"

@@ -42,28 +42,46 @@
 
 /******************************************************************/
 /* Definitions for driver BRAM */
-#define XPAR_XBRAM_NUM_INSTANCES 3U
+#define XPAR_XBRAM_NUM_INSTANCES 4U

-/* Definitions for peripheral PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL */
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DEVICE_ID 0U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DATA_WIDTH 32U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC 0U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_FAULT_INJECT 0U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_CE_FAILING_REGISTERS 0U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_UE_FAILING_REGISTERS 0U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_STATUS_REGISTERS 0U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_CE_COUNTER_WIDTH 0U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_ONOFF_REGISTER 0U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_ONOFF_RESET_VALUE 0U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_WRITE_ACCESS 0U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_BASEADDR 0x40004000U
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_HIGHADDR 0x40005FFFU
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_CTRL_BASEADDR 0xFFFFFFFFU  
-#define XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_CTRL_HIGHADDR 0xFFFFFFFFU  
+/* Definitions for peripheral PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL */
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_DEVICE_ID 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_DATA_WIDTH 32U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_ECC 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_FAULT_INJECT 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_CE_FAILING_REGISTERS 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_UE_FAILING_REGISTERS 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_ECC_STATUS_REGISTERS 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_CE_COUNTER_WIDTH 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_ECC_ONOFF_REGISTER 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_ECC_ONOFF_RESET_VALUE 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_WRITE_ACCESS 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_S_AXI_BASEADDR 0x42000000U
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_S_AXI_HIGHADDR 0x42000FFFU
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_S_AXI_CTRL_BASEADDR 0xFFFFFFFFU  
+#define XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_S_AXI_CTRL_HIGHADDR 0xFFFFFFFFU  
+
+
+/* Definitions for peripheral PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL */
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DEVICE_ID 1U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DATA_WIDTH 32U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_FAULT_INJECT 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_CE_FAILING_REGISTERS 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_UE_FAILING_REGISTERS 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_STATUS_REGISTERS 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_CE_COUNTER_WIDTH 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_ONOFF_REGISTER 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_ONOFF_RESET_VALUE 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_WRITE_ACCESS 0U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_BASEADDR 0x40004000U
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_HIGHADDR 0x40005FFFU
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_CTRL_BASEADDR 0xFFFFFFFFU  
+#define XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_CTRL_HIGHADDR 0xFFFFFFFFU  


 /* Definitions for peripheral PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL */
-#define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_DEVICE_ID 1U
+#define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_DEVICE_ID 2U
 #define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_DATA_WIDTH 32U
 #define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_ECC 0U
 #define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_FAULT_INJECT 0U
@@ -75,13 +93,13 @@
 #define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_ECC_ONOFF_RESET_VALUE 0U
 #define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_WRITE_ACCESS 0U
 #define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_S_AXI_BASEADDR 0x40000000U
-#define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_S_AXI_HIGHADDR 0x40001FFFU
+#define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_S_AXI_HIGHADDR 0x40000FFFU
 #define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_S_AXI_CTRL_BASEADDR 0xFFFFFFFFU  
 #define XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_S_AXI_CTRL_HIGHADDR 0xFFFFFFFFU  


 /* Definitions for peripheral PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL */
-#define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_DEVICE_ID 2U
+#define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_DEVICE_ID 3U
 #define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_DATA_WIDTH 32U
 #define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_ECC 0U
 #define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_FAULT_INJECT 0U
@@ -93,15 +111,15 @@
 #define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_ECC_ONOFF_RESET_VALUE 0U
 #define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_WRITE_ACCESS 0U
 #define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_S_AXI_BASEADDR 0x40002000U
-#define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_S_AXI_HIGHADDR 0x40003FFFU
+#define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_S_AXI_HIGHADDR 0x40002FFFU
 #define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_S_AXI_CTRL_BASEADDR 0xFFFFFFFFU  
 #define XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_S_AXI_CTRL_HIGHADDR 0xFFFFFFFFU  


 /******************************************************************/

-/* Canonical definitions for peripheral PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL */
-#define XPAR_BRAM_0_DEVICE_ID XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DEVICE_ID
+/* Canonical definitions for peripheral PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL */
+#define XPAR_BRAM_0_DEVICE_ID XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_DEVICE_ID
 #define XPAR_BRAM_0_DATA_WIDTH 32U
 #define XPAR_BRAM_0_ECC 0U
 #define XPAR_BRAM_0_FAULT_INJECT 0U
@@ -112,13 +130,13 @@
 #define XPAR_BRAM_0_ECC_ONOFF_REGISTER 0U
 #define XPAR_BRAM_0_ECC_ONOFF_RESET_VALUE 0U
 #define XPAR_BRAM_0_WRITE_ACCESS 0U
-#define XPAR_BRAM_0_BASEADDR 0x40004000U
-#define XPAR_BRAM_0_HIGHADDR 0x40005FFFU
+#define XPAR_BRAM_0_BASEADDR 0x42000000U
+#define XPAR_BRAM_0_HIGHADDR 0x42000FFFU
 #define XPAR_BRAM_0_CTRL_BASEADDR 0xFFFFFFFFU  
 #define XPAR_BRAM_0_CTRL_HIGHADDR 0xFFFFFFFEU  

-/* Canonical definitions for peripheral PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL */
-#define XPAR_BRAM_1_DEVICE_ID XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_DEVICE_ID
+/* Canonical definitions for peripheral PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL */
+#define XPAR_BRAM_1_DEVICE_ID XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DEVICE_ID
 #define XPAR_BRAM_1_DATA_WIDTH 32U
 #define XPAR_BRAM_1_ECC 0U
 #define XPAR_BRAM_1_FAULT_INJECT 0U
@@ -129,13 +147,13 @@
 #define XPAR_BRAM_1_ECC_ONOFF_REGISTER 0U
 #define XPAR_BRAM_1_ECC_ONOFF_RESET_VALUE 0U
 #define XPAR_BRAM_1_WRITE_ACCESS 0U
-#define XPAR_BRAM_1_BASEADDR 0x40000000U
-#define XPAR_BRAM_1_HIGHADDR 0x40001FFFU
+#define XPAR_BRAM_1_BASEADDR 0x40004000U
+#define XPAR_BRAM_1_HIGHADDR 0x40005FFFU
 #define XPAR_BRAM_1_CTRL_BASEADDR 0xFFFFFFFFU  
 #define XPAR_BRAM_1_CTRL_HIGHADDR 0xFFFFFFFEU  

-/* Canonical definitions for peripheral PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL */
-#define XPAR_BRAM_2_DEVICE_ID XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_DEVICE_ID
+/* Canonical definitions for peripheral PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL */
+#define XPAR_BRAM_2_DEVICE_ID XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_DEVICE_ID
 #define XPAR_BRAM_2_DATA_WIDTH 32U
 #define XPAR_BRAM_2_ECC 0U
 #define XPAR_BRAM_2_FAULT_INJECT 0U
@@ -146,11 +164,28 @@
 #define XPAR_BRAM_2_ECC_ONOFF_REGISTER 0U
 #define XPAR_BRAM_2_ECC_ONOFF_RESET_VALUE 0U
 #define XPAR_BRAM_2_WRITE_ACCESS 0U
-#define XPAR_BRAM_2_BASEADDR 0x40002000U
-#define XPAR_BRAM_2_HIGHADDR 0x40003FFFU
+#define XPAR_BRAM_2_BASEADDR 0x40000000U
+#define XPAR_BRAM_2_HIGHADDR 0x40000FFFU
 #define XPAR_BRAM_2_CTRL_BASEADDR 0xFFFFFFFFU  
 #define XPAR_BRAM_2_CTRL_HIGHADDR 0xFFFFFFFEU  

+/* Canonical definitions for peripheral PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL */
+#define XPAR_BRAM_3_DEVICE_ID XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_DEVICE_ID
+#define XPAR_BRAM_3_DATA_WIDTH 32U
+#define XPAR_BRAM_3_ECC 0U
+#define XPAR_BRAM_3_FAULT_INJECT 0U
+#define XPAR_BRAM_3_CE_FAILING_REGISTERS 0U
+#define XPAR_BRAM_3_UE_FAILING_REGISTERS 0U
+#define XPAR_BRAM_3_ECC_STATUS_REGISTERS 0U
+#define XPAR_BRAM_3_CE_COUNTER_WIDTH 0U
+#define XPAR_BRAM_3_ECC_ONOFF_REGISTER 0U
+#define XPAR_BRAM_3_ECC_ONOFF_RESET_VALUE 0U
+#define XPAR_BRAM_3_WRITE_ACCESS 0U
+#define XPAR_BRAM_3_BASEADDR 0x40002000U
+#define XPAR_BRAM_3_HIGHADDR 0x40002FFFU
+#define XPAR_BRAM_3_CTRL_BASEADDR 0xFFFFFFFFU  
+#define XPAR_BRAM_3_CTRL_HIGHADDR 0xFFFFFFFEU  
+

 /******************************************************************/

@@ -311,7 +346,7 @@

 /* Definitions for peripheral SYSTEMBUS */
 #define XPAR_SYSTEMBUS_BASEADDR 0x43C10000
-#define XPAR_SYSTEMBUS_HIGHADDR 0x43C11FFF
+#define XPAR_SYSTEMBUS_HIGHADDR 0x43C10FFF


 /******************************************************************/
@@ -43,23 +43,42 @@
 XBram_Config XBram_ConfigTable[] =
 {
 	{
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DEVICE_ID,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DATA_WIDTH,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_FAULT_INJECT,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_CE_FAILING_REGISTERS,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_DEVICE_ID,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_DATA_WIDTH,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_ECC,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_FAULT_INJECT,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_CE_FAILING_REGISTERS,
 		0,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_UE_FAILING_REGISTERS,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_UE_FAILING_REGISTERS,
 		0,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_STATUS_REGISTERS,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_CE_COUNTER_WIDTH,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_ONOFF_REGISTER,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_ECC_ONOFF_RESET_VALUE,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_WRITE_ACCESS,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_BASEADDR,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_HIGHADDR,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_CTRL_BASEADDR,
-		XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_S_AXI_CTRL_HIGHADDR
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_ECC_STATUS_REGISTERS,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_CE_COUNTER_WIDTH,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_ECC_ONOFF_REGISTER,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_ECC_ONOFF_RESET_VALUE,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_WRITE_ACCESS,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_S_AXI_BASEADDR,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_S_AXI_HIGHADDR,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_S_AXI_CTRL_BASEADDR,
+		XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_S_AXI_CTRL_HIGHADDR
+	},
+	{
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DEVICE_ID,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DATA_WIDTH,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_FAULT_INJECT,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_CE_FAILING_REGISTERS,
+		0,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_UE_FAILING_REGISTERS,
+		0,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_STATUS_REGISTERS,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_CE_COUNTER_WIDTH,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_ONOFF_REGISTER,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_ECC_ONOFF_RESET_VALUE,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_WRITE_ACCESS,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_BASEADDR,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_HIGHADDR,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_CTRL_BASEADDR,
+		XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_S_AXI_CTRL_HIGHADDR
 	},
 	{
 		XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_DEVICE_ID,
@@ -27,7 +27,13 @@ END
 BEGIN DRIVER
 PARAMETER DRIVER_NAME = bram
 PARAMETER DRIVER_VER = 4.3
- PARAMETER HW_INSTANCE = phy_data_interface_ant_info_bram_ctrl
+ PARAMETER HW_INSTANCE = phy_data_interface_ant_beam_bram_ctrl
+END
+
+BEGIN DRIVER
+ PARAMETER DRIVER_NAME = bram
+ PARAMETER DRIVER_VER = 4.3
+ PARAMETER HW_INSTANCE = phy_data_interface_ant_config_bram_ctrl
 END

 BEGIN DRIVER
@@ -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 ' '

@@ -8,22 +8,25 @@ LD_SRCS += \

 C_SRCS += \
 ../src/main.c \
-../src/system_monitor.c 
+../src/system_monitor.c \
+../src/hwconfig.c

 OBJS += \
 ./src/main.o \
-./src/system_monitor.o 
+./src/system_monitor.o \
+./src/hwconfig.o

 C_DEPS += \
 ./src/main.d \
-./src/system_monitor.d 
+./src/system_monitor.d \
+./src/hwconfig.d


 # Each subdirectory must supply rules for building sources it contributes
 src/%.o: ../src/%.c
 	@echo 'Building file: $<'
 	@echo 'Invoking: ARM v7 gcc compiler'
-	$(CC) -Wall -Wformat=2 -O0 -g3 -I../bsp/ps7_cortexa9_0/include -I../src/include -c -fmessage-length=0 -MT"$@" -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 ' '

@@ -10,7 +10,7 @@
 * History:
 * [2021-04-28]: Initial edition.
 *
- * Copyright(c) 2021 Beijing Institute of Technology.
+ * Copyright(c) 2024 Beijing Institute of Technology.
 * Lab of Communication and Networking
 *
 ******************************************************************************/
@@ -23,11 +23,11 @@
 #include "xparameters.h"

 /******** Software Version ********/
-#define _APP_VER	0x00010008
+#define _APP_VER 0x00010008

-#define _APP_VER_MAIN	((_APP_VER & 0xFF000000) >> 24)
-#define _APP_VER_MINOR	((_APP_VER & 0x00FF0000) >> 16)
-#define _APP_VER_PATCH	(_APP_VER & 0x0000FFFF)
+#define _APP_VER_MAIN ((_APP_VER & 0xFF000000) >> 24)
+#define _APP_VER_MINOR ((_APP_VER & 0x00FF0000) >> 16)
+#define _APP_VER_PATCH (_APP_VER & 0x0000FFFF)

 /*********** Debug Info Level ************/
 //  #define _DEBUG_LEVEL 1
@@ -38,13 +38,13 @@

 #define DATALINK_ENABLE_AUTORECONNECT
 #define DATALINK_ENABLE_AUTOTIMESYNC
-//#define DATALINK_ENABLE_BERTEST
+// #define DATALINK_ENABLE_BERTEST

 /************ Hardware Configs ************/
-#define CPU_CLK_HZ 			XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ
-#define GLOBAL_TIMER_CLK_HZ (CPU_CLK_HZ/2)
-#define SCU_TIMER_CLK_HZ 	(CPU_CLK_HZ/2)
-#define FCLK_CLK0_HZ 		100000000
+#define CPU_CLK_HZ XPAR_CPU_CORTEXA9_0_CPU_CLK_FREQ_HZ
+#define GLOBAL_TIMER_CLK_HZ (CPU_CLK_HZ / 2)
+#define SCU_TIMER_CLK_HZ (CPU_CLK_HZ / 2)
+#define FCLK_CLK0_HZ 100000000

 /********* Zynq Platform Configs **********/
 // SCU Timer (for logging)
@@ -52,12 +52,12 @@
 #define SCUTIMER_INTR_ID XPAR_SCUTIMER_INTR

 // Physical Layer Configs
-#define PHY_DEVICE_ID 0
-#define PHY_BASEADDR	XPAR_PHYC_BASEADDR
-#define PHY_BEAM_SET_PRESET
+#define PHY_DEVICE_ID 0X00
+#define PHY_BASEADDR XPAR_PHYC_BASEADDR
 #define PHY_BEAM_FORMING_ENABLE
 // -- Antenna Bram Configs
-#define PHY_ANTCONFIG_BRAM_DEVICE_ID XPAR_PHY_DATA_INTERFACE_ANT_INFO_BRAM_CTRL_DEVICE_ID
+#define PHY_ANTCONFIG_BRAM_DEVICE_ID XPAR_PHY_DATA_INTERFACE_ANT_CONFIG_BRAM_CTRL_DEVICE_ID
+#define PHY_ANTINFO_BRAM_DEVICE_ID XPAR_PHY_DATA_INTERFACE_ANT_BEAM_BRAM_CTRL_DEVICE_ID
 // -- Buffers
 #define PHY_TXBUFF_BRAM_DEVICE_ID XPAR_PHY_DATA_INTERFACE_TX_FRAME_BRAM_CTRL_DEVICE_ID
 #define PHY_RXBUFF_BRAM_DEVICE_ID XPAR_PHY_DATA_INTERFACE_RX_FRAME_BRAM_CTRL_DEVICE_ID
@@ -71,88 +71,88 @@
 #define TIME_CONTROLLER_BASEADDR XPAR_TMC_BASEADDR

 // System Bus Configs
-#define SYSBUS_BASE_ADDR	XPAR_SYSTEMBUS_BASEADDR
-#define SYSBUS_TX_INTR_ID	XPAR_FABRIC_SYSTEMBUS_TX_DONE_INTR
-#define SYSBUS_RX_INTR_ID	XPAR_FABRIC_SYSTEMBUS_RX_DONE_INTR
+#define SYSBUS_BASE_ADDR XPAR_SYSTEMBUS_BASEADDR
+#define SYSBUS_TX_INTR_ID XPAR_FABRIC_SYSTEMBUS_TX_DONE_INTR
+#define SYSBUS_RX_INTR_ID XPAR_FABRIC_SYSTEMBUS_RX_DONE_INTR

 // Global Timer config
-#define GLOBAL_TIMER_DEVICE_ID	XPAR_GLOBAL_TMR_DEVICE_ID
-#define GLOBAL_TIMER_BASEADDR	XPAR_GLOBAL_TMR_BASEADDR
-#define GLOBAL_TIMER_INTR_ID	XPAR_GLOBAL_TMR_INTR
+#define GLOBAL_TIMER_DEVICE_ID XPAR_GLOBAL_TMR_DEVICE_ID
+#define GLOBAL_TIMER_BASEADDR XPAR_GLOBAL_TMR_BASEADDR
+#define GLOBAL_TIMER_INTR_ID XPAR_GLOBAL_TMR_INTR

 // INTC configis
 #define INTC_DEVICE_ID XPAR_SCUGIC_0_DEVICE_ID

 // AD9361 Configuration
 #define SPI_INTERFACE_SPI_ENGINE
-#define HAVE_SPLIT_GAIN_TABLE	1 /* only set to 0 in case split_gain_table_mode_enable = 0*/
-#define HAVE_TDD_SYNTH_TABLE	1 /* only set to 0 in case split_gain_table_mode_enable = 0*/
-#define AD9361_DEVICE			1 /* set it 1 if AD9361 device is used, 0 otherwise */
-#define AD9364_DEVICE			0 /* set it 1 if AD9364 device is used, 0 otherwise */
-#define AD9363A_DEVICE			0 /* set it 1 if AD9363A device is used, 0 otherwise */
-#define HAVE_VERBOSE_MESSAGES /* Recommended during development prints errors and warnings */
-//#define HAVE_DEBUG_MESSAGES /* For Debug purposes only */
-// -- AD9361 SPI Engine Configuration
-#define AD9361_SPI_DEVICE_ID			0
-#define AD9361_SPI_ENGINE_REF_CLK       FCLK_CLK0_HZ
-#define AD9361_SPI_ENGINE_MAX_SPEED		5000000
-#define AD9361_SPI_ENGINE_BASEADDR		XPAR_AXI_SPI_ENGINE_AXI_SPI_ENGINE_BASEADDR
-#define AD9361_SPI_ENGINE_DATA_WIDTH    8
-#define AD9361_SPI_ENGINE_CS_DELAY		3
-#define AD9361_SPI_CS_AD9361_1          0x01
-#define AD9361_SPI_CS_AD9361_2          0x02
-#define AD9361_TIMEOUT_TH				2000
+#define HAVE_SPLIT_GAIN_TABLE 1 /* only set to 0 in case split_gain_table_mode_enable = 0*/
+#define HAVE_TDD_SYNTH_TABLE 1	/* only set to 0 in case split_gain_table_mode_enable = 0*/
+#define AD9361_DEVICE 1			/* set it 1 if AD9361 device is used, 0 otherwise */
+#define AD9364_DEVICE 0			/* set it 1 if AD9364 device is used, 0 otherwise */
+#define AD9363A_DEVICE 0		/* set it 1 if AD9363A device is used, 0 otherwise */
+#define HAVE_VERBOSE_MESSAGES	/* Recommended during development prints errors and warnings */
+// #define HAVE_DEBUG_MESSAGES /* For Debug purposes only */
+//  -- AD9361 SPI Engine Configuration
+#define AD9361_SPI_DEVICE_ID 0
+#define AD9361_SPI_ENGINE_REF_CLK FCLK_CLK0_HZ
+#define AD9361_SPI_ENGINE_MAX_SPEED 5000000
+#define AD9361_SPI_ENGINE_BASEADDR XPAR_AXI_SPI_ENGINE_AXI_SPI_ENGINE_BASEADDR
+#define AD9361_SPI_ENGINE_DATA_WIDTH 8
+#define AD9361_SPI_ENGINE_CS_DELAY 3
+#define AD9361_SPI_CS_AD9361_1 0x01
+#define AD9361_SPI_CS_AD9361_2 0x02
+#define AD9361_TIMEOUT_TH 2000
 // AD9361 GPIO Configurations
-#define AD9361_GPIO_DEVICE_ID			0
-#define AD9361_GPIO_OFFSET				54
-#define AD9361_GPIO_INPUT 				0
-#define AD9361_GPIO_OUTPUT 				1
-#define AD9361_GPIO_DISABLE 			0
-#define AD9361_GPIO_ENABLE 				1
+#define AD9361_GPIO_DEVICE_ID 0
+#define AD9361_GPIO_OFFSET 54
+#define AD9361_GPIO_INPUT 0
+#define AD9361_GPIO_OUTPUT 1
+#define AD9361_GPIO_DISABLE 0
+#define AD9361_GPIO_ENABLE 1
 // -- AD9361-1
-#define AD9361_1_TXNRX				(AD9361_GPIO_OFFSET+6)
-#define AD9361_1_ENABLE				(AD9361_GPIO_OFFSET+7)
-#define AD9361_1_EN_AGC				(AD9361_GPIO_OFFSET+8)
-#define AD9361_1_RESET_B			(AD9361_GPIO_OFFSET+9)
-#define AD9361_1_CTRL_OUT0			(AD9361_GPIO_OFFSET+10)
-#define AD9361_1_CTRL_OUT1			(AD9361_GPIO_OFFSET+11)
-#define AD9361_1_CTRL_OUT2			(AD9361_GPIO_OFFSET+12)
-#define AD9361_1_CTRL_OUT3			(AD9361_GPIO_OFFSET+13)
-#define AD9361_1_CTRL_OUT4			(AD9361_GPIO_OFFSET+14)
-#define AD9361_1_CTRL_OUT5			(AD9361_GPIO_OFFSET+15)
-#define AD9361_1_CTRL_OUT6			(AD9361_GPIO_OFFSET+16)
-#define AD9361_1_CTRL_OUT7			(AD9361_GPIO_OFFSET+17)
-#define AD9361_1_CTRL_IN0			(AD9361_GPIO_OFFSET+18)
-#define AD9361_1_CTRL_IN1			(AD9361_GPIO_OFFSET+19)
-#define AD9361_1_CTRL_IN2			(AD9361_GPIO_OFFSET+20)
-#define AD9361_1_CTRL_IN3			(AD9361_GPIO_OFFSET+21)
+#define AD9361_1_TXNRX (AD9361_GPIO_OFFSET + 6)
+#define AD9361_1_ENABLE (AD9361_GPIO_OFFSET + 7)
+#define AD9361_1_EN_AGC (AD9361_GPIO_OFFSET + 8)
+#define AD9361_1_RESET_B (AD9361_GPIO_OFFSET + 9)
+#define AD9361_1_CTRL_OUT0 (AD9361_GPIO_OFFSET + 10)
+#define AD9361_1_CTRL_OUT1 (AD9361_GPIO_OFFSET + 11)
+#define AD9361_1_CTRL_OUT2 (AD9361_GPIO_OFFSET + 12)
+#define AD9361_1_CTRL_OUT3 (AD9361_GPIO_OFFSET + 13)
+#define AD9361_1_CTRL_OUT4 (AD9361_GPIO_OFFSET + 14)
+#define AD9361_1_CTRL_OUT5 (AD9361_GPIO_OFFSET + 15)
+#define AD9361_1_CTRL_OUT6 (AD9361_GPIO_OFFSET + 16)
+#define AD9361_1_CTRL_OUT7 (AD9361_GPIO_OFFSET + 17)
+#define AD9361_1_CTRL_IN0 (AD9361_GPIO_OFFSET + 18)
+#define AD9361_1_CTRL_IN1 (AD9361_GPIO_OFFSET + 19)
+#define AD9361_1_CTRL_IN2 (AD9361_GPIO_OFFSET + 20)
+#define AD9361_1_CTRL_IN3 (AD9361_GPIO_OFFSET + 21)
 // AD9361-2
-#define AD9361_2_TXNRX				(AD9361_GPIO_OFFSET+22)
-#define AD9361_2_ENABLE				(AD9361_GPIO_OFFSET+23)
-#define AD9361_2_EN_AGC				(AD9361_GPIO_OFFSET+24)
-#define AD9361_2_RESET_B			(AD9361_GPIO_OFFSET+25)
-#define AD9361_2_CTRL_OUT0			(AD9361_GPIO_OFFSET+26)
-#define AD9361_2_CTRL_OUT1			(AD9361_GPIO_OFFSET+27)
-#define AD9361_2_CTRL_OUT2			(AD9361_GPIO_OFFSET+28)
-#define AD9361_2_CTRL_OUT3			(AD9361_GPIO_OFFSET+29)
-#define AD9361_2_CTRL_OUT4			(AD9361_GPIO_OFFSET+30)
-#define AD9361_2_CTRL_OUT5			(AD9361_GPIO_OFFSET+31)
-#define AD9361_2_CTRL_OUT6			(AD9361_GPIO_OFFSET+32)
-#define AD9361_2_CTRL_OUT7			(AD9361_GPIO_OFFSET+33)
-#define AD9361_2_CTRL_IN0			(AD9361_GPIO_OFFSET+34)
-#define AD9361_2_CTRL_IN1			(AD9361_GPIO_OFFSET+35)
-#define AD9361_2_CTRL_IN2			(AD9361_GPIO_OFFSET+36)
-#define AD9361_2_CTRL_IN3			(AD9361_GPIO_OFFSET+37)
+#define AD9361_2_TXNRX (AD9361_GPIO_OFFSET + 22)
+#define AD9361_2_ENABLE (AD9361_GPIO_OFFSET + 23)
+#define AD9361_2_EN_AGC (AD9361_GPIO_OFFSET + 24)
+#define AD9361_2_RESET_B (AD9361_GPIO_OFFSET + 25)
+#define AD9361_2_CTRL_OUT0 (AD9361_GPIO_OFFSET + 26)
+#define AD9361_2_CTRL_OUT1 (AD9361_GPIO_OFFSET + 27)
+#define AD9361_2_CTRL_OUT2 (AD9361_GPIO_OFFSET + 28)
+#define AD9361_2_CTRL_OUT3 (AD9361_GPIO_OFFSET + 29)
+#define AD9361_2_CTRL_OUT4 (AD9361_GPIO_OFFSET + 30)
+#define AD9361_2_CTRL_OUT5 (AD9361_GPIO_OFFSET + 31)
+#define AD9361_2_CTRL_OUT6 (AD9361_GPIO_OFFSET + 32)
+#define AD9361_2_CTRL_OUT7 (AD9361_GPIO_OFFSET + 33)
+#define AD9361_2_CTRL_IN0 (AD9361_GPIO_OFFSET + 34)
+#define AD9361_2_CTRL_IN1 (AD9361_GPIO_OFFSET + 35)
+#define AD9361_2_CTRL_IN2 (AD9361_GPIO_OFFSET + 36)
+#define AD9361_2_CTRL_IN3 (AD9361_GPIO_OFFSET + 37)
 // AD9361-Status Code
-#define AD9361_SYNC					(AD9361_GPIO_OFFSET+38)
-#define AD9361_RX_FIFO_RST			(AD9361_GPIO_OFFSET+39)
-#define AD9361_1_CAL_START			(AD9361_GPIO_OFFSET+40)
-#define AD9361_2_CAL_START			(AD9361_GPIO_OFFSET+41)
-#define AD9361_RECAL				(AD9361_GPIO_OFFSET+42)
-#define AD9361_TX_SWITCH			(AD9361_GPIO_OFFSET+43)
-#define AD9361_1_CAL_DONE			(AD9361_GPIO_OFFSET+44)
-#define AD9361_2_CAL_DONE			(AD9361_GPIO_OFFSET+45)
-#define AD9361_CAL_RESULT			(AD9361_GPIO_OFFSET+46)
+#define AD9361_SYNC (AD9361_GPIO_OFFSET + 38)
+#define AD9361_RX_FIFO_RST (AD9361_GPIO_OFFSET + 39)
+#define AD9361_1_CAL_START (AD9361_GPIO_OFFSET + 40)
+#define AD9361_2_CAL_START (AD9361_GPIO_OFFSET + 41)
+#define AD9361_RECAL (AD9361_GPIO_OFFSET + 42)
+#define AD9361_TX_SWITCH (AD9361_GPIO_OFFSET + 43)
+#define AD9361_1_CAL_DONE (AD9361_GPIO_OFFSET + 44)
+#define AD9361_2_CAL_DONE (AD9361_GPIO_OFFSET + 45)
+#define AD9361_CAL_RESULT (AD9361_GPIO_OFFSET + 46)

 typedef enum
 {
@@ -162,23 +162,22 @@ typedef enum
 } ad9361TxFreq;

 // HMC7044 Configurations
-#define HMC7044_GPIO_DEVICE_ID		0
-#define HMC7044_GPIO_OFFSET			54
-#define HMC7044_RESET				(HMC7044_GPIO_OFFSET+0)
-#define HMC7044_SYNC				(HMC7044_GPIO_OFFSET+1)
-#define HMC7044_GPIO_0				(HMC7044_GPIO_OFFSET+2)
-#define HMC7044_GPIO_1				(HMC7044_GPIO_OFFSET+3)
-#define HMC7044_GPIO_2				(HMC7044_GPIO_OFFSET+4)
-#define HMC7044_GPIO_3				(HMC7044_GPIO_OFFSET+5)
+#define HMC7044_GPIO_DEVICE_ID 0
+#define HMC7044_GPIO_OFFSET 54
+#define HMC7044_RESET (HMC7044_GPIO_OFFSET + 0)
+#define HMC7044_SYNC (HMC7044_GPIO_OFFSET + 1)
+#define HMC7044_GPIO_0 (HMC7044_GPIO_OFFSET + 2)
+#define HMC7044_GPIO_1 (HMC7044_GPIO_OFFSET + 3)
+#define HMC7044_GPIO_2 (HMC7044_GPIO_OFFSET + 4)
+#define HMC7044_GPIO_3 (HMC7044_GPIO_OFFSET + 5)
 // -- HMC7044 SPI Engine Configuration
-#define HMC7044_SPI_DEVICE_ID			0
-#define HMC7044_SPI_ENGINE_REF_CLK      FCLK_CLK0_HZ
-#define HMC7044_SPI_ENGINE_MAX_SPEED	5000000
-#define HMC7044_SPI_ENGINE_BASEADDR		XPAR_AXI_SPI_ENGINE_AXI_SPI_ENGINE_BASEADDR
-#define HMC7044_SPI_ENGINE_DATA_WIDTH   8
-#define HMC7044_SPI_ENGINE_CS_DELAY		3
-#define HMC7044_SPI_CS_HMC7044          0x00
-
+#define HMC7044_SPI_DEVICE_ID 0
+#define HMC7044_SPI_ENGINE_REF_CLK FCLK_CLK0_HZ
+#define HMC7044_SPI_ENGINE_MAX_SPEED 5000000
+#define HMC7044_SPI_ENGINE_BASEADDR XPAR_AXI_SPI_ENGINE_AXI_SPI_ENGINE_BASEADDR
+#define HMC7044_SPI_ENGINE_DATA_WIDTH 8
+#define HMC7044_SPI_ENGINE_CS_DELAY 3
+#define HMC7044_SPI_CS_HMC7044 0x00

 // Configuration Check
 #if defined(PHY_BEAM_SET_PRESET) && !defined(PHY_BEAM_FORMING_ENABLE)
@@ -188,7 +187,7 @@ typedef enum

 #if defined(DATALINK_ENABLE_BERTEST)
 #if !defined(DATALINK_ENABLE_AUTOTIMESYNC)
-	#warning To enbale bit error rate test, auto time-sync should be enabled...
+#warning To enbale bit error rate test, auto time-sync should be enabled...
 #endif
 #endif

@@ -697,7 +697,6 @@ int32_t spi_engine_write_and_read(struct spi_desc *desc,
 				  uint8_t *data,
 				  uint16_t bytes_number)
 {
-	uint8_t 		i;
 	uint8_t 		word_len;
 	uint8_t 		words_number;
 	int32_t 		ret;
@@ -0,0 +1,474 @@
+/*****************************************************************************/
+/**
+ * Description: hwconfig.h
+ *
+
+ * Date: 2024-02-20 13:19
+ * Last Edit Time: [2024-02-20 13:19]
+ *
+ * Revisions: Rev 0.0
+ * History:
+ * [2023-05-07]: Initial edition.
+ *
+ * Copyright(c) 2024 Beijing Institute of Technology.
+ *
+ ******************************************************************************/
+
+/***************************** Include Files *********************************/
+// Standard
+#include <stdint.h>
+#include <stdbool.h>
+// Xilinx
+#include "xgpiops.h"
+#include "drivers/rf-transceiver/ad9361_reg/ad9361_reg.h"
+#include "drivers/rf-transceiver/ad9361/ad9361_api.h"
+#include "drivers/axi_core/spi_engine/spi_engine.h"
+// App
+#include "common.h"
+#include "error.h"
+#include "delay.h"
+#include "system_monitor.h"
+#include "hwconfig.h"
+#include "config/app_config.h"
+#include "dev_profile/dev_profile.h"
+
+/************************** Function Prototypes ******************************/
+/*********************** Driver Instance Definitions **************************/
+static struct hmc7044_dev *hmc7044_inst = NULL;
+static struct ad9361_reg_dev *ad9361_1_reg_inst = NULL;
+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;
+
+/*****************************************************************************/
+/**
+ * @brief   Hardware_Init
+ *
+ * @param   none.
+ *
+ * @return  None.
+ *
+ ******************************************************************************/
+int32_t Hardware_Init(void)
+{
+	int32_t Status;
+	XGpioPs Gpio;
+	XGpioPs_Config *ConfigPtr;
+	ConfigPtr = XGpioPs_LookupConfig(AD9361_GPIO_DEVICE_ID);
+	Status = XGpioPs_CfgInitialize(&Gpio, ConfigPtr, ConfigPtr->BaseAddr);
+	if (Status != SUCCESS)
+	{
+		return FAILURE;
+	}
+
+	/**********************************************************/
+	/****************** HMC7044 Configuration *****************/
+	/**********************************************************/
+	Status = hmc7044_init(&hmc7044_inst, &hmc7044_default_init_param);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("hmc7044_init() error: %" PRId32 "\n", Status);
+		return FAILURE;
+	}
+
+	/**********************************************************/
+	/***************** AD9361-1 Configuration *****************/
+	/**********************************************************/
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_TXNRX, AD9361_GPIO_OUTPUT);
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_ENABLE, AD9361_GPIO_OUTPUT);
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_EN_AGC, AD9361_GPIO_OUTPUT);
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_RESET_B, AD9361_GPIO_OUTPUT);
+
+	ad9361_reg_init(&ad9361_1_reg_inst, &ad9361_1_reg_default_init_param);
+	XGpioPs_WritePin(&Gpio, AD9361_1_ENABLE, 0);
+	ad9361_reg_config(ad9361_1_reg_inst);
+	XGpioPs_WritePin(&Gpio, AD9361_1_ENABLE, 1);
+
+	//	Status = ad9361_init(&ad9361_phy, &ad9361_default_init_param);
+	//	if (Status != XST_SUCCESS){
+	//		return XST_FAILURE;
+	//	}else{
+	//		printf("Configurate AD9361 Completely!\n");
+	//	}
+	//	ad9361_set_tx_fir_config(ad9361_phy, tx_fir_config);
+	//	ad9361_set_rx_fir_config(ad9361_phy, rx_fir_config);
+
+	/**********************************************************/
+	/***************** AD9361-2 Configuration *****************/
+	/**********************************************************/
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_TXNRX, AD9361_GPIO_OUTPUT);
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_ENABLE, AD9361_GPIO_OUTPUT);
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_EN_AGC, AD9361_GPIO_OUTPUT);
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_RESET_B, AD9361_GPIO_OUTPUT);
+
+	ad9361_reg_init(&ad9361_2_reg_inst, &ad9361_2_reg_default_init_param);
+	XGpioPs_WritePin(&Gpio, AD9361_2_ENABLE, 0);
+	ad9361_reg_config(ad9361_2_reg_inst);
+	XGpioPs_WritePin(&Gpio, AD9361_2_ENABLE, 1);
+
+	//	uint8_t rd_back;
+	//	Status = ad9361_reg_read(ad9361_1_reg_inst, 0x0002, &rd_back);
+	//	Status = ad9361_reg_read(ad9361_2_reg_inst, 0x0002, &rd_back);
+
+	/**********************************************************/
+	/******* AD9361 Baseband Multichip Synchronization ********/
+	/**********************************************************/
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_SYNC, AD9361_GPIO_OUTPUT);
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_RX_FIFO_RST, AD9361_GPIO_OUTPUT);
+
+	// SYNC BBPLL and DIGITAL SAMPLING CLOCKS
+	ad9361_reg_write(ad9361_1_reg_inst, 0x0001, 0x0D); // MCS RF Enable; MCS BBPLL Enable; MCS BB Enable
+	ad9361_reg_write(ad9361_2_reg_inst, 0x0001, 0x0D);
+	ad9361_reg_write(ad9361_1_reg_inst, 0x0047, 0x80); // MCS refclk Scale Enable
+	ad9361_reg_write(ad9361_2_reg_inst, 0x0047, 0x80);
+	XGpioPs_WritePin(&Gpio, AD9361_SYNC, 0);
+	mdelay(20);
+	XGpioPs_WritePin(&Gpio, AD9361_SYNC, 1); // Input a rising-edge pulse to the SYNC_IN pin
+	mdelay(500);
+	XGpioPs_WritePin(&Gpio, AD9361_SYNC, 0);
+	mdelay(2000);
+	ad9361_reg_write(ad9361_1_reg_inst, 0x0001, 0x0B); // MCS RF Enable; MCS Digital CLK Enable ; MCS BB Enable
+	ad9361_reg_write(ad9361_2_reg_inst, 0x0001, 0x0B);
+	XGpioPs_WritePin(&Gpio, AD9361_SYNC, 1); // Input another rising-edge pulse to the SYNC_IN pin
+	mdelay(500);
+	XGpioPs_WritePin(&Gpio, AD9361_SYNC, 0);
+	ad9361_reg_write(ad9361_1_reg_inst, 0x0001, 0x08); // clear MCS bits
+	ad9361_reg_write(ad9361_2_reg_inst, 0x0001, 0x08);
+
+	XGpioPs_WritePin(&Gpio, AD9361_RX_FIFO_RST, 0);
+	mdelay(20);
+	XGpioPs_WritePin(&Gpio, AD9361_RX_FIFO_RST, 1);
+	mdelay(20);
+	XGpioPs_WritePin(&Gpio, AD9361_RX_FIFO_RST, 0);
+
+	/**********************************************************/
+	/********* AD9361 Multichip Rx Phase Calibration **********/
+	/**********************************************************/
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_TX_SWITCH, AD9361_GPIO_OUTPUT);
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_CAL_START, AD9361_GPIO_OUTPUT);
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_CAL_DONE, AD9361_GPIO_INPUT);
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_CAL_START, AD9361_GPIO_OUTPUT);
+	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_CAL_DONE, AD9361_GPIO_INPUT);
+
+	// switch to lower frequency
+	Status = Hardware_SwitchFreq(ad9361_1_reg_inst, TX_FREQ_126);
+	XGpioPs_WritePin(&Gpio, AD9361_TX_SWITCH, 1);
+	mdelay(20);
+
+	// switch rx channel
+	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0004, 0x30);
+	Status = ad9361_reg_write(ad9361_2_reg_inst, 0x0004, 0x30);
+
+	// enable dual ad9361 tx channels
+	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0002, 0xE4); // Setup Tx Digital Filters/ Channels
+
+	// switch ad9361 tx channel
+	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0004, 0x70); // Select Rx input pin(A,B,C)/ Tx out pin (A,B)
+	mdelay(20);
+
+	// begin to calibrate the 1st ad9361
+	XGpioPs_WritePin(&Gpio, AD9361_1_CAL_START, 0);
+	XGpioPs_WritePin(&Gpio, AD9361_1_CAL_START, 1);
+	mdelay(1);
+	XGpioPs_WritePin(&Gpio, AD9361_1_CAL_START, 0);
+
+	// read calibration status
+	int32_t time_out_cnt = 0;
+	do
+	{
+		mdelay(1); // Wait 1ms
+		time_out_cnt++;
+	} while (((XGpioPs_ReadPin(&Gpio, AD9361_1_CAL_DONE) == 0) && time_out_cnt <= AD9361_TIMEOUT_TH));
+
+	if (time_out_cnt == AD9361_TIMEOUT_TH)
+	{
+		return FAILURE;
+	}
+
+	// begin to calibrate the 2nd ad9361
+	XGpioPs_WritePin(&Gpio, AD9361_2_CAL_START, 1);
+	mdelay(1);
+	XGpioPs_WritePin(&Gpio, AD9361_2_CAL_START, 0);
+
+	// read calibration status
+	time_out_cnt = 0;
+	do
+	{
+		mdelay(1); // Wait 1ms
+		time_out_cnt++;
+	} while (((XGpioPs_ReadPin(&Gpio, AD9361_2_CAL_DONE) == 0) && time_out_cnt <= AD9361_TIMEOUT_TH));
+
+	if (time_out_cnt == AD9361_TIMEOUT_TH)
+	{
+		return FAILURE;
+	}
+
+	// enable single ad9361 tx channels
+	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0002, 0xA4); // Setup Tx Digital Filters/ Channels
+
+	// switch ad9361 tx & rx channel
+	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0004, 0x03);
+	Status = ad9361_reg_write(ad9361_2_reg_inst, 0x0004, 0x03);
+
+	// switch to higher frequency
+	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;
+}
+
+/*****************************************************************************/
+/**
+ * @brief   Hardware_SwitchFreq
+ *
+ * @param   devSysMonitor_UpdateHardwareStatus(newHwState);
+ * @param   freq
+ *
+ * @return  None.
+ *
+ ******************************************************************************/
+int32_t Hardware_SwitchFreq(struct ad9361_reg_dev *dev, ad9361TxFreq freq)
+{
+	int32_t status = 0;
+	uint8_t value = 0;
+	int32_t time_out_cnt = 0;
+
+	switch (freq)
+	{
+	case TX_FREQ_125:
+	{
+		//************************************************************
+		// Setup Tx Frequency-Dependent Syntheisizer Registers
+		//************************************************************
+		status = ad9361_reg_write(dev, 0x027A, 0x4A); // Set VCO Output level[3:0]
+		status = ad9361_reg_write(dev, 0x0279, 0xC1); // Set Init ALC Value[3:0] and VCO Varactor[3:0]
+		status = ad9361_reg_write(dev, 0x0282, 0x0E); // Set VCO Bias Tcf[1:0] and VCO Bias Ref[2:0]
+		status = ad9361_reg_write(dev, 0x0278, 0x78); // Set VCO Cal Offset[3:0]
+		status = ad9361_reg_write(dev, 0x0285, 0x00); // Set VCO Cal Ref Tcf[2:0]
+		status = ad9361_reg_write(dev, 0x0291, 0x0B); // Set VCO Varactor Reference[3:0]
+		status = ad9361_reg_write(dev, 0x0290, 0x70); // Set VCO Varactor Ref Tcf[2:0] and VCO Varactor Offset[3:0]
+		status = ad9361_reg_write(dev, 0x027B, 0x94); // Set Synth Loop Filter charge pump current (Icp)
+		status = ad9361_reg_write(dev, 0x027E, 0xF4); // Set Synth Loop Filter C2 and C1
+		status = ad9361_reg_write(dev, 0x027F, 0xDF); // Set Synth Loop Filter  R1 and C3
+		status = ad9361_reg_write(dev, 0x0280, 0x0A); // Set Synth Loop Filter R3
+
+		//************************************************************
+		// Write Tx Frequency Words
+		//************************************************************
+		status = ad9361_reg_write(dev, 0x0273, 0x00); // Write Tx Synth Fractional Freq Word[7:0]
+		status = ad9361_reg_write(dev, 0x0274, 0x00); // Write Tx Synth Fractional Freq Word[15:8]
+		status = ad9361_reg_write(dev, 0x0275, 0x00); // Write Tx Synth Fractional Freq Word[22:16]
+		status = ad9361_reg_write(dev, 0x0272, 0x00); // Write Tx Synth Integer Freq Word[10:8]
+		status = ad9361_reg_write(dev, 0x0271, 0xA0); // Write Tx Synth Integer Freq Word[7:0] (starts VCO cal)
+		status = ad9361_reg_write(dev, 0x0005, 0x57); // Set LO divider setting
+
+		//************************************************************
+		// Tx Quadrature Calibration Settings
+		//************************************************************
+		status = ad9361_reg_write(dev, 0x00A0, 0x75); // Set TxQuadcal NCO frequency
+		status = ad9361_reg_write(dev, 0x00A3, 0xC0); // Set TxQuadcal NCO frequency (Only update bits [7:6])
+		status = ad9361_reg_write(dev, 0x00A1, 0x7B); // Tx Quad Cal Configuration, Phase and Gain Cal Enable
+		status = ad9361_reg_write(dev, 0x00A9, 0xFF); // Set Tx Quad Cal Count
+		status = ad9361_reg_write(dev, 0x00A2, 0x7F); // Set Tx Quad Cal Kexp
+		status = ad9361_reg_write(dev, 0x00A5, 0x01); // Set Tx Quad Cal Magnitude Threshhold
+		status = ad9361_reg_write(dev, 0x00A6, 0x01); // Set Tx Quad Cal Magnitude Threshhold
+		status = ad9361_reg_write(dev, 0x00AA, 0x22); // Set Tx Quad Cal Gain Table index
+		status = ad9361_reg_write(dev, 0x00A4, 0xF0); // Set Tx Quad Cal Settle Count
+		status = ad9361_reg_write(dev, 0x00AE, 0x00); // Set Tx Quad Cal LPF Gain index incase Split table mode used
+
+		status = ad9361_reg_write(dev, 0x0169, 0xC0); // Disable Rx Quadrature Calibration before Running Tx Quadrature Calibration
+		status = ad9361_reg_write(dev, 0x0016, 0x10); // Start Tx Quad cal
+
+		break;
+	}
+	case TX_FREQ_126:
+	{
+		//************************************************************
+		// Setup Tx Frequency-Dependent Syntheisizer Registers
+		//************************************************************
+		status = ad9361_reg_write(dev, 0x027A, 0x4A); // Set VCO Output level[3:0]
+		status = ad9361_reg_write(dev, 0x0279, 0xC1); // Set Init ALC Value[3:0] and VCO Varactor[3:0]
+		status = ad9361_reg_write(dev, 0x0282, 0x0E); // Set VCO Bias Tcf[1:0] and VCO Bias Ref[2:0]
+		status = ad9361_reg_write(dev, 0x0278, 0x78); // Set VCO Cal Offset[3:0]
+		status = ad9361_reg_write(dev, 0x0285, 0x00); // Set VCO Cal Ref Tcf[2:0]
+		status = ad9361_reg_write(dev, 0x0291, 0x0B); // Set VCO Varactor Reference[3:0]
+		status = ad9361_reg_write(dev, 0x0290, 0x70); // Set VCO Varactor Ref Tcf[2:0] and VCO Varactor Offset[3:0]
+		status = ad9361_reg_write(dev, 0x027B, 0x93); // Set Synth Loop Filter charge pump current (Icp)
+		status = ad9361_reg_write(dev, 0x027E, 0xF4); // Set Synth Loop Filter C2 and C1
+		status = ad9361_reg_write(dev, 0x027F, 0xDF); // Set Synth Loop Filter  R1 and C3
+		status = ad9361_reg_write(dev, 0x0280, 0x0A); // Set Synth Loop Filter R3
+
+		//************************************************************
+		// Write Tx Frequency Words
+		//************************************************************
+		status = ad9361_reg_write(dev, 0x0273, 0x06); // Write Tx Synth Fractional Freq Word[7:0]
+		status = ad9361_reg_write(dev, 0x0274, 0xD7); // Write Tx Synth Fractional Freq Word[15:8]
+		status = ad9361_reg_write(dev, 0x0275, 0x23); // Write Tx Synth Fractional Freq Word[22:16]
+		status = ad9361_reg_write(dev, 0x0272, 0x00); // Write Tx Synth Integer Freq Word[10:8]
+		status = ad9361_reg_write(dev, 0x0271, 0xA1); // Write Tx Synth Integer Freq Word[7:0] (starts VCO cal)
+		status = ad9361_reg_write(dev, 0x0005, 0x57); // Set LO divider setting
+
+		//************************************************************
+		// Tx Quadrature Calibration Settings
+		//************************************************************
+		status = ad9361_reg_write(dev, 0x00A0, 0x75); // Set TxQuadcal NCO frequency
+		status = ad9361_reg_write(dev, 0x00A3, 0xC0); // Set TxQuadcal NCO frequency (Only update bits [7:6])
+		status = ad9361_reg_write(dev, 0x00A1, 0x7B); // Tx Quad Cal Configuration, Phase and Gain Cal Enable
+		status = ad9361_reg_write(dev, 0x00A9, 0xFF); // Set Tx Quad Cal Count
+		status = ad9361_reg_write(dev, 0x00A2, 0x7F); // Set Tx Quad Cal Kexp
+		status = ad9361_reg_write(dev, 0x00A5, 0x01); // Set Tx Quad Cal Magnitude Threshhold
+		status = ad9361_reg_write(dev, 0x00A6, 0x01); // Set Tx Quad Cal Magnitude Threshhold
+		status = ad9361_reg_write(dev, 0x00AA, 0x22); // Set Tx Quad Cal Gain Table index
+		status = ad9361_reg_write(dev, 0x00A4, 0xF0); // Set Tx Quad Cal Settle Count
+		status = ad9361_reg_write(dev, 0x00AE, 0x00); // Set Tx Quad Cal LPF Gain index incase Split table mode used
+
+		status = ad9361_reg_write(dev, 0x0169, 0xC0); // Disable Rx Quadrature Calibration before Running Tx Quadrature Calibration
+		status = ad9361_reg_write(dev, 0x0016, 0x10); // Start Tx Quad cal
+
+		break;
+	}
+	case TX_FREQ_4125:
+	{
+		//************************************************************
+		// Setup Tx Frequency-Dependent Syntheisizer Registers
+		//************************************************************
+		status = ad9361_reg_write(dev, 0x027A, 0x4A); // Set VCO Output level[3:0]
+		status = ad9361_reg_write(dev, 0x0279, 0xC1); // Set Init ALC Value[3:0] and VCO Varactor[3:0]
+		status = ad9361_reg_write(dev, 0x0282, 0x0E); // Set VCO Bias Tcf[1:0] and VCO Bias Ref[2:0]
+		status = ad9361_reg_write(dev, 0x0278, 0x78); // Set VCO Cal Offset[3:0]
+		status = ad9361_reg_write(dev, 0x0285, 0x00); // Set VCO Cal Ref Tcf[2:0]
+		status = ad9361_reg_write(dev, 0x0291, 0x0B); // Set VCO Varactor Reference[3:0]
+		status = ad9361_reg_write(dev, 0x0290, 0x70); // Set VCO Varactor Ref Tcf[2:0] and VCO Varactor Offset[3:0]
+		status = ad9361_reg_write(dev, 0x027B, 0x93); // Set Synth Loop Filter charge pump current (Icp)
+		status = ad9361_reg_write(dev, 0x027E, 0xF4); // Set Synth Loop Filter C2 and C1
+		status = ad9361_reg_write(dev, 0x027F, 0xDF); // Set Synth Loop Filter  R1 and C3
+		status = ad9361_reg_write(dev, 0x0280, 0x0A); // Set Synth Loop Filter R3
+
+		//************************************************************
+		// Write Rx Frequency Words
+		//************************************************************
+		status = ad9361_reg_write(dev, 0x0273, 0x00); // Write Tx Synth Fractional Freq Word[7:0]
+		status = ad9361_reg_write(dev, 0x0274, 0x00); // Write Tx Synth Fractional Freq Word[15:8]
+		status = ad9361_reg_write(dev, 0x0275, 0x00); // Write Tx Synth Fractional Freq Word[22:16]
+		status = ad9361_reg_write(dev, 0x0272, 0x00); // Write Tx Synth Integer Freq Word[10:8]
+		status = ad9361_reg_write(dev, 0x0271, 0xA5); // Write Tx Synth Integer Freq Word[7:0] (starts VCO cal)
+		status = ad9361_reg_write(dev, 0x0005, 0x07); // Set LO divider setting
+
+		//************************************************************
+		// Tx Quadrature Calibration Settings
+		//************************************************************
+		status = ad9361_reg_write(dev, 0x00A0, 0x75); // Set TxQuadcal NCO frequency
+		status = ad9361_reg_write(dev, 0x00A3, 0xC0); // Set TxQuadcal NCO frequency (Only update bits [7:6])
+		status = ad9361_reg_write(dev, 0x00A1, 0x7B); // Tx Quad Cal Configuration, Phase and Gain Cal Enable
+		status = ad9361_reg_write(dev, 0x00A9, 0xFF); // Set Tx Quad Cal Count
+		status = ad9361_reg_write(dev, 0x00A2, 0x7F); // Set Tx Quad Cal Kexp
+		status = ad9361_reg_write(dev, 0x00A5, 0x01); // Set Tx Quad Cal Magnitude Threshhold
+		status = ad9361_reg_write(dev, 0x00A6, 0x01); // Set Tx Quad Cal Magnitude Threshhold
+		status = ad9361_reg_write(dev, 0x00AA, 0x28); // Set Tx Quad Cal Gain Table index
+		status = ad9361_reg_write(dev, 0x00A4, 0xF0); // Set Tx Quad Cal Settle Count
+		status = ad9361_reg_write(dev, 0x00AE, 0x04); // Set Tx Quad Cal LPF Gain index incase Split table mode used
+
+		status = ad9361_reg_write(dev, 0x0169, 0xC0); // Disable Rx Quadrature Calibration before Running Tx Quadrature Calibration
+		status = ad9361_reg_write(dev, 0x0016, 0x10); // Start Tx Quad cal
+
+		break;
+	}
+
+		// Wait for cal to complete (Done when 0x016[4]==0)
+		time_out_cnt = 0;
+		do
+		{
+			status |= ad9361_reg_read(dev, 0x0016, &value);
+			mdelay(1); // Wait 1ms
+			time_out_cnt++;
+		} while ((value & 0x10) != 0x00 && time_out_cnt <= AD9361_TIMEOUT_TH);
+	}
+
+	return status;
+}
+
+// @ Get AD9361 - 1 temperature (Celsius Degree)
+/**
+ * Read corresponding register to get AD9361 - 1 current temperature.
+ */
+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
+
+	temp = ((double)scaleTemp + 64)/1.16;
+	return ((temp > INT8_MAX) ? INT8_MAX : (int8_t)temp);
+}
+
+// @ Get AD9361 - 2 temperature (Celsius Degree)
+/**
+ * Read corresponding register to get AD9361 - 2 current temperature.
+ */
+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 ((temp > INT8_MAX) ? INT8_MAX : (int8_t)temp);
+}
+
+// @ Determine AD9361 lock state
+/**
+ * Read corresponding register to determine AD9361(both) lock state.
+ */
+uint8_t Hardware_GetAD9361LockStatus(void)
+{
+	uint8_t ret = 0;
+	uint8_t regVal;
+
+	// bbpll
+	ad9361_reg_read(ad9361_1_reg_inst, 0x005E, &regVal); // [D7] is lock indicator
+	ret |= ((regVal & 0x80) == 0x80) ? CLK_AD0_BBPLL_LOCK : 0;
+	ad9361_reg_read(ad9361_2_reg_inst, 0x005E, &regVal); // [D7] is lock indicator
+	ret |= ((regVal & 0x80) == 0x80) ? CLK_AD1_BBPLL_LOCK : 0;
+
+	// rfpll
+	ad9361_reg_read(ad9361_1_reg_inst, 0x0287, &regVal); // [D1] is lock indicator
+	ret |= ((regVal & 0x02) == 0x02) ? CLK_AD0_RFPLL_LOCK : 0;
+	ad9361_reg_read(ad9361_2_reg_inst, 0x0287, &regVal); // [D1] is lock indicator
+	ret |= ((regVal & 0x02) == 0x02) ? CLK_AD1_RFPLL_LOCK : 0;
+
+	return ret;
+}
+
+// @ Determine HMC7044 lock state
+/**
+ * Read corresponding register to determine clock lock state.
+ */
+uint8_t Hardware_GetHMC7044LockStatus(void)
+{
+	uint8_t ret = 0;
+	uint8_t regVal;
+
+	// pll1
+	hmc7044_read(hmc7044_inst, 0x007C, &regVal); // [D5] is lock indicator
+	ret |= ((regVal & 0xE0) != 0x00) ? CLK_SP_PLL0_LOCK : 0;
+
+	// pll2
+	hmc7044_read(hmc7044_inst, 0x007D, &regVal); // [D0] is lock indicator
+	ret |= ((regVal & 0x01) == 0x01) ? CLK_SP_PLL1_LOCK : 0;
+
+	return ret;
+}
@@ -0,0 +1,33 @@
+/*****************************************************************************/
+/**
+ * Description: hwconfig.h
+ *
+
+ * Date: 2024-02-20 13:19
+ * Last Edit Time: [2024-02-20 13:19]
+ *
+ * Revisions: Rev 0.0
+ * History:
+ * [2023-05-07]: Initial edition.
+ *
+ * Copyright(c) 2024 Beijing Institute of Technology.
+ *
+ ******************************************************************************/
+#ifndef HWCONFIG_H_
+#define HWCONFIG_H_
+/***************************** Include Files *********************************/
+// Standard
+#include <stdint.h>
+#include "config/app_config.h"
+#include "drivers/rf-transceiver/ad9361_reg/ad9361_reg.h"
+#include "drivers/rf-transceiver/ad9361/ad9361_api.h"
+
+/************************** Function Prototypes ******************************/
+int32_t Hardware_Init(void);
+int32_t Hardware_SwitchFreq(struct ad9361_reg_dev *dev, ad9361TxFreq freq);
+int8_t Hardware_GetAD9361Temp_1(void);
+int8_t Hardware_GetAD9361Temp_2(void);
+uint8_t Hardware_GetAD9361LockStatus(void);
+uint8_t Hardware_GetHMC7044LockStatus(void);
+
+#endif // HWCONFIG_H_
@@ -1,33 +1,25 @@
 /*****************************************************************************/
 /**
- * Description: A simple circular FIFO bounded queue
+ * @file circ_queue.h
+ * @author FanHao ([email protected])
+ * @brief A simple circular FIFO bounded queue
+ * @version 0.1
+ * @date 2023-02-23
+ * @note Forked from https://github.com/chrismerck/rpa_queue.git
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
- * Author: Fan Hao
- * Date: 2023-02-23 10:29
- * LastEditors: Fan Hao
- * LastEditTime: 2023-02-23 12:53
- * Revisions: Rev 0.0
- * History: 
- * [2023-02-23]: Initial Version.
- * 
- * Copyright(c) 2023 Beijing Institute of Technology.
- * Lab of Communication and Networking
- * NOTE: Forked from https://github.com/chrismerck/rpa_queue.git
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.
- * The ASF licenses this file to You under the Apache License, Version 2.0
- * (the "License"); you may not use this file except in compliance with
- * the License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
-******************************************************************************/
+ ******************************************************************************/
+
+/**
+ * @addtogroup Utility
+ * @{
+ */
+
+/**
+ * @defgroup CircularQueue
+ * @{
+ */

 #ifndef CIRC_QUEUE_H
 #define CIRC_QUEUE_H
@@ -36,76 +28,73 @@
 #include <stdint.h>
 #include <stddef.h>

-
 /**
- * opaque structure
+ * @struct CIRC_QUEUE
+ * @brief Circular queue Instance
 */
-typedef struct {
-  void **data;
-  volatile uint32_t nelts; /**< # elements */
-  uint32_t in;  /**< next empty location */
-  uint32_t out;   /**< next filled location */
-  uint32_t bounds;/**< max size of queue */
+typedef struct
+{
+    void **data;
+    volatile uint32_t nelts; ///< number of elements
+    uint32_t in;             ///< next empty location
+    uint32_t out;            ///< next filled location
+    uint32_t bounds;         ///< max size of queue
 } CIRC_QUEUE;

-
-
 /**
- * create a FIFO queue
+ * @brief create a FIFO queue
 * @param queue The new queue
 * @param queue_capacity maximum size of the queue
- * @param a pool to allocate queue from
 */
 bool CircQueueCreate(CIRC_QUEUE **queue, uint32_t queue_capacity);

-/** free queue memory -- call after destroy 
- * @note we do not free in destroy() to follow pthreads convention
-*/
-void CircQueueFree(CIRC_QUEUE * queue);
+/**
+ * @brief free queue memory -- call after destroy
+ */
+void CircQueueFree(CIRC_QUEUE *queue);

 /**
- * Detects when the CIRC_QUEUE is full. This utility function is expected
+ * @brief Detects when the CIRC_QUEUE is full. This utility function is expected
 * to be called from within critical sections, and is not threadsafe.
 */
 bool isCircQueueFull(CIRC_QUEUE *queue);

 /**
- * Detects when the CIRC_QUEUE is empty. This utility function is expected
+ * @brief Detects when the CIRC_QUEUE is empty. This utility function is expected
 * to be called from within critical sections, and is not threadsafe.
 */
 bool isCircQueueEmpty(CIRC_QUEUE *queue);

 /**
- * push/add an object to the queue, blocking if the queue is already full
+ * @brief push/add an object to the queue, blocking if the queue is already full
 *
 * @param queue the queue
 * @param data the data
- * @returns RPA_EINTR the blocking was interrupted (try again)
- * @returns RPA_EOF the queue has been terminated
- * @returns RPA_SUCCESS on a successful push
+ * @return True on a successful push
+ * @return False push failed
 */
 bool CircQueuePush(CIRC_QUEUE *queue, void *data);

-
 /**
- * pop/get an object from the queue, blocking if the queue is already empty
+ * @brief pop/get an object from the queue, blocking if the queue is already empty
 *
 * @param queue the queue
 * @param data the data
- * @returns RPA_EINTR the blocking was interrupted (try again)
- * @returns RPA_EOF if the queue has been terminated
- * @returns RPA_SUCCESS on a successful pop
+ * @return false pop failed
+ * @return true on a successful pop
 */
 bool CircQueuePop(CIRC_QUEUE *queue, void **data);

 /**
- * returns the size of the queue.
+ * @brief returns the size of the queue.
 *
- * @warning this is not threadsafe, and is intended for reporting/monitoring
- * of the queue.
 * @param queue the queue
- * @returns the size of the queue
+ * @return the size of the queue
 */
 uint32_t CircQueueSize(CIRC_QUEUE *queue);

 #endif /* CIRC_QUEUE_H */
+
+/** @} CircularQueue*/
+
+/** @} Utility*/
@@ -1,9 +1,25 @@
+/*****************************************************************************/
+/**
+ * @file clist.h
+ * @author FanHao ([email protected])
+ * @brief A basic list data structure
+ * @version 0.1
+ * @date 2023-02-23
+ * @note Forked from https://github.com/clibs/list
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
+ *
+ ******************************************************************************/

-//
-// clist.h
-//
-// Copyright (c) 2010 TJ Holowaychuk <[email protected]>
-//
+/**
+ * @addtogroup Utility
+ * @{
+ */
+
+/**
+ * @defgroup cList
+ * @{
+ */

 #ifndef __CLIST_H__
 #define __CLIST_H__
@@ -16,103 +32,107 @@ extern "C"
 #include <stdlib.h>
 #include <stdint.h>

-  /*
-   * clist_t iterator direction.
-   */
+	/**
+	 * @enum clist_direction_t
+	 * @brief clist_t iterator direction.
+	 */
+	typedef enum
+	{
+		LIST_HEAD,
+		LIST_TAIL
+	} clist_direction_t;

-  typedef enum
-  {
-    LIST_HEAD,
-    LIST_TAIL
-  } clist_direction_t;
+	/**
+	 * @struct clist_node_t
+	 * @brief clist_t node struct.
+	 */
+	typedef struct clist_node
+	{
+		struct clist_node *prev; ///< previous node
+		struct clist_node *next; ///< next node
+		void *val;
+	} clist_node_t;

-  /*
-   * clist_t node struct.
-   */
+	/**
+	 * @struct clist_t
+	 * @brief clist_t struct.
+	 */
+	typedef struct
+	{
+		clist_node_t *head;					 ///< first node
+		clist_node_t *tail;					 ///< last node
+		uint32_t len;						 ///< list length
+		void (*free)(void *val);			 ///< node free function handle
+		int8_t (*compare)(void *a, void *b); ///< node compare function handle
+	} clist_t;

-  typedef struct clist_node
-  {
-    struct clist_node *prev;
-    struct clist_node *next;
-    void *val;
-  } clist_node_t;
+	/**
+	 * @struct clist_iterator_t
+	 * @brief clist_t iterator struct.
+	 */
+	typedef struct
+	{
+		clist_node_t *next;			 ///< next element
+		clist_direction_t direction; ///< iter direction
+	} clist_iterator_t;

-  /*
-   * clist_t struct.
-   */
+	// Node prototypes.

-  typedef struct
-  {
-    clist_node_t *head;
-    clist_node_t *tail;
-    uint32_t len;
-    void (*free)(void *val);
-    int8_t (*compare)(void *a, void *b);
-  } clist_t;
+	clist_node_t *
+	clist_node_new(void *val);

-  /*
-   * clist_t iterator struct.
-   */
+	// clist_t prototypes.

-  typedef struct
-  {
-    clist_node_t *next;
-    clist_direction_t direction;
-  } clist_iterator_t;
+	clist_t *
+	clist_new(void);

-  // Node prototypes.
+	clist_node_t *
+	clist_rpush(clist_t *self, clist_node_t *node);

-  clist_node_t *
-  clist_node_new(void *val);
+	clist_node_t *
+	clist_lpush(clist_t *self, clist_node_t *node);

-  // clist_t prototypes.
+	clist_node_t *
+	clist_find(clist_t *self, void *val);

-  clist_t *
-  clist_new(void);
+	clist_node_t *
+	clist_at(clist_t *self, int index);

-  clist_node_t *
-  clist_rpush(clist_t *self, clist_node_t *node);
+	clist_node_t *
+	clist_rpop(clist_t *self);

-  clist_node_t *
-  clist_lpush(clist_t *self, clist_node_t *node);
+	clist_node_t *
+	clist_lpop(clist_t *self);

-  clist_node_t *
-  clist_find(clist_t *self, void *val);
+	void
+	clist_remove(clist_t *self, clist_node_t *node);

-  clist_node_t *
-  clist_at(clist_t *self, int index);
+	void
+	clist_clear(clist_t *self);

-  clist_node_t *
-  clist_rpop(clist_t *self);
+	void
+	clist_destroy(clist_t *self);

-  clist_node_t *
-  clist_lpop(clist_t *self);
+	// clist_t iterator prototypes.

-  void
-  clist_remove(clist_t *self, clist_node_t *node);
+	clist_iterator_t *
+	clist_iterator_new(clist_t *list, clist_direction_t direction);

-  void
-  clist_clear(clist_t *self);
+	clist_iterator_t *
+	clist_iterator_new_from_node(clist_node_t *node, clist_direction_t direction);

-  void
-  clist_destroy(clist_t *self);
+	clist_node_t *
+	clist_iterator_next(clist_iterator_t *self);

-  // clist_t iterator prototypes.
-
-  clist_iterator_t *
-  clist_iterator_new(clist_t *list, clist_direction_t direction);
-
-  clist_iterator_t *
-  clist_iterator_new_from_node(clist_node_t *node, clist_direction_t direction);
-
-  clist_node_t *
-  clist_iterator_next(clist_iterator_t *self);
-
-  void
-  clist_iterator_destroy(clist_iterator_t *self);
+	void
+	clist_iterator_destroy(clist_iterator_t *self);

 #ifdef __cplusplus
 }
 #endif

 #endif /* __CLIBS_LIST_H__ */
+
+/** @} cList*/
+
+/** @} Utility*/
@@ -1,20 +1,19 @@
 /*****************************************************************************/
 /**
- * Description: Common definitions
- *
- * Date: 2023-12-21 16:32
- * LastEditors: Fan Hao
- * LastEditTime: 2022-07-16 17:13
- * Revisions: Rev 0.1
- * History:
- * [2023-12-21]: Ensure the code conform ISO C11 standard.
- * [2022-07-16]: New branch for Dijian.
- * [2021-11-16]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @file common.h
+ * @author FanHao ([email protected])
+ * @brief Common macros
+ * @version 0.0
+ * @date 2022-07-16
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/
+/**
+ * @defgroup COMMON_MACRO
+ * @{
+ */
+
 /***************************** Include Files *********************************/
 #ifndef __COMMON_H_
 #define __COMMON_H_
@@ -47,8 +46,8 @@
 #endif
 #if _DEBUG_LEVEL >= 1
 #define DBG_ERROR(...) __PRINT_BLOCK( \
-    printf("in "__FILE__               \
-           ":%d [error]\t",         \
+    printf("in "__FILE__              \
+           ":%d [error]\t",           \
           __LINE__);                 \
    printf(__VA_ARGS__);)
 #endif
@@ -90,3 +89,5 @@
 /************************** Function Prototypes ******************************/
 void AppAssert(const char *file, int line);
 #endif /* __COMMON_H_ */
+
+/** @} */
@@ -1,19 +1,19 @@
 /*****************************************************************************/
 /**
- * Description: Error code definitions.
+ * @file common.h
+ * @author FanHao ([email protected])
+ * @brief Common error numbers
+ * @version 0.0
+ * @date 2022-06-18
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
- * Author: Fan Hao
- * Date: 2022-06-18 16:37
- * LastEditors: Fan Hao
- * LastEditTime: 2022-06-18 17:12
- * Revisions: Rev 0.0
- * History:
- * [2022-06-18]: Initial version.
- *
- * Copyright(c) 2022 Beijing Institute of Technology.
- * Lab of Communication and Networking
- *
-******************************************************************************/
+ ******************************************************************************/
+
+/**
+ * @addtogroup COMMON_MACRO
+ * @{
+ */

 #ifndef SRC_ERROR_H_
 #define SRC_ERROR_H_
@@ -24,6 +24,11 @@
 /********************** Macros and Constants Definitions **********************/
 /******************************************************************************/

+/**
+ * @name ERRORNO
+ * @{
+ */
+
 #ifdef SUCCESS
 #undef SUCCESS
 #endif
@@ -45,3 +50,7 @@
 #define IS_ERR_VALUE(x)	((x) != SUCCESS)

 #endif // ERROR_H_
+
+/** @} ERRORNO*/
+
+/** @} COMMON_MACRO*/
@@ -1,41 +1,21 @@
-/*******************************************************************************
- *   @file   util.h
- *   @brief  Implementation of utility functions.
- *   @author DBogdan (dragos.bogdan@analog.com)
-********************************************************************************
- * Copyright 2018(c) Analog Devices, Inc.
+/*****************************************************************************/
+/**
+ * @file util.h
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief Utility functions header file
+ * @version 0.0
+ * @date 2023-05-06
 *
- * All rights reserved.
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions are met:
- *  - Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- *  - Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- *  - Neither the name of Analog Devices, Inc. nor the names of its
- *    contributors may be used to endorse or promote products derived
- *    from this software without specific prior written permission.
- *  - The use of this software may or may not infringe the patent rights
- *    of one or more patent holders.  This license does not release you
- *    from the requirement that you obtain separate licenses from these
- *    patent holders to use this software.
- *  - Use of the software either in source or binary form, must be run
- *    on or directly connected to an Analog Devices Inc. component.
- *
- * THIS SOFTWARE IS PROVIDED BY ANALOG DEVICES "AS IS" AND ANY EXPRESS OR
- * IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, NON-INFRINGEMENT,
- * MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED.
- * IN NO EVENT SHALL ANALOG DEVICES BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
- * LIMITED TO, INTELLECTUAL PROPERTY RIGHTS, PROCUREMENT OF SUBSTITUTE GOODS OR
- * SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
- * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
- * OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
- * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-*******************************************************************************/
+ ******************************************************************************/
+
+/**
+ * @defgroup Utility
+ * @{
+ */
+
 #ifndef __UTIL_H_
 #define __UTIL_H_

@@ -193,3 +173,5 @@ bool crc16_check(uint8_t *buffPtr, uint32_t dataLen, uint32_t crcOffset, uint16_
 int crc8_gen(uint8_t *buffPtr, uint32_t dataLen, uint16_t poly, uint8_t *crcVal);
 bool crc8_check(uint8_t *buffPtr, uint32_t dataLen, uint32_t crcOffset, uint16_t poly);
 #endif // __UTIL_H_
+
+/** @} */
@@ -23,9 +23,10 @@ _UNDEF_STACK_SIZE = DEFINED(_UNDEF_STACK_SIZE) ? _UNDEF_STACK_SIZE : 1024;

 MEMORY
 {
-   phy_data_interface_rx_frame_bram_ctrl_Mem0 : ORIGIN = 0x40000000, LENGTH = 0x2000
-   phy_data_interface_tx_frame_bram_ctrl_Mem0 : ORIGIN = 0x40002000, LENGTH = 0x2000
-   phy_data_interface_ant_info_bram_ctrl_Mem0 : ORIGIN = 0x40004000, LENGTH = 0x2000
+   phy_data_interface_rx_frame_bram_ctrl_Mem0 : ORIGIN = 0x40000000, LENGTH = 0x1000
+   phy_data_interface_tx_frame_bram_ctrl_Mem0 : ORIGIN = 0x40002000, LENGTH = 0x1000
+   phy_data_interface_ant_config_bram_ctrl_Mem0 : ORIGIN = 0x40004000, LENGTH = 0x2000
+   phy_data_interface_ant_beam_bram_ctrl_Mem0 : ORIGIN = 0x42000000, LENGTH = 0x1000
   ps7_ddr_0 : ORIGIN = 0x100000, LENGTH = 0x1FF00000
   ps7_qspi_linear_0 : ORIGIN = 0xFC000000, LENGTH = 0x1000000
   ps7_ram_0 : ORIGIN = 0x0, LENGTH = 0x30000
@@ -10,7 +10,7 @@
 * History:
 * [2023-05-07]: Initial edition.
 *
- * Copyright(c) 2021 Beijing Institute of Technology.
+ * Copyright(c) 2024 Beijing Institute of Technology.
 *
 ******************************************************************************/

@@ -20,19 +20,15 @@
 #include <stdint.h>
 #include <stdbool.h>
 // Xilinx
-#include "sleep.h"
-#include "xil_cache.h"
 #include "xscugic.h"
-#include "xscutimer.h"
-#include "xgpiops.h"
 #include "drivers/platform/xilinx_irq.h"
 #include "drivers/platform/xilinx_timer.h"
-#include "drivers/rf-transceiver/ad9361/ad9361_api.h"
-#include "drivers/axi_core/spi_engine/spi_engine.h"
 // App
 #include "common.h"
 #include "error.h"
 #include "timer.h"
+#include "hwconfig.h"
+#include "system_monitor.h"
 #include "config/app_config.h"
 #include "dev_profile/dev_profile.h"
 #include "systembus/systembus.h"
@@ -46,6 +42,7 @@ void PeriodicPull_Handler(void *callBackRef);
 void ScuTimer_IntrHandler(void *context);
 void Systembus_RxIntrHandler(void *context);
 void Systembus_TxIntrHandler(void *context);
+
 /************************** Constant Definitions *****************************/
 struct callback_desc phy_callback_desc = {
 	.callback = Phy_IntrHandler,
@@ -75,58 +72,57 @@ struct callback_desc scutm_callback_desc = {

 L2_CONFIG linkConfig = {
 	.myType = L2_NODE_HEAD,
-	.clustId = 1,
-	.myId = 1,
-	.headId = 1,
-	.bkpHeadId = 0,
-	.netScale = 2,
+	.clustId = 1U,
+	.myId = 1U,
+	.headId = 1U,
+	.netScale = 2U,
 	.phyInstPtr = NULL, // physical layer reference
 	.tmcInstPtr = NULL
 };

 // L2_CONFIG linkConfig = {
 // 	.myType = L2_NODE_MEMBER,
-// 	.clustId = 1,
-// 	.myId = 2,
-// 	.headId = 1,
-// 	.bkpHeadId = 0,
-// 	.netScale = 2,
+// 	.clustId = 1U,
+// 	.myId = 2U,
+// 	.headId = 1U,
+// 	.netScale = 2U,
 // 	.phyInstPtr = NULL, // physical layer reference
 // 	.tmcInstPtr = NULL
 // };

 static PHY_CONFIG phyConfig = {
-	.devId = 0,
+	.devId = PHY_DEVICE_ID,
 	.baseAddr = PHY_BASEADDR,
 	.antBramId = PHY_ANTCONFIG_BRAM_DEVICE_ID,
+	.antInfoBramId = PHY_ANTINFO_BRAM_DEVICE_ID,
 	.txBramId = PHY_TXBUFF_BRAM_DEVICE_ID,
 	.rxBramId = PHY_RXBUFF_BRAM_DEVICE_ID,
-	.hwXadcId = PHY_HW_XADC_DEVICE_ID
+	.hwXadcId = PHY_HW_XADC_DEVICE_ID,
+	.get_clk_state = Hardware_GetHMC7044LockStatus,
+	.get_ad_lock_state = Hardware_GetAD9361LockStatus,
+	.get_ad0_temp = Hardware_GetAD9361Temp_1,
+	.get_ad1_temp = Hardware_GetAD9361Temp_2
 };

 TMC_CONFIG tmcConfig = {
 	.baseAddr = TIME_CONTROLLER_BASEADDR,
-	.reset = 10
+	.reset = 10U
 };

 static SYSBUS_CONFIG sysbusConfig = {
 	.baseAddr = SYSBUS_BASE_ADDR,
-	.txQueueMax = 16,
-	.rxQueueMax = 16
+	.txQueueMax = 16U,
+	.rxQueueMax = 16U
 };
 /*********************** Driver Instance Definitions **************************/
-static struct irq_ctrl_desc *intcDescPtr; // General interrupt controller descriptor
-static struct timer_desc *logTmPtr;
-static SYSBUS *sysbusDescPtr;
-static PHY_INST *phyInstPtr;
+static struct irq_ctrl_desc *intcDescPtr = NULL; // General interrupt controller descriptor
+static struct timer_desc *logTmPtr = NULL;
+static SYSBUS *sysbusDescPtr = NULL;
+static PHY_INST *phyInstPtr = NULL;
 static TMC_INST *tmcInstPtr = NULL;
-L2_INST *linkInstPtr;
+L2_INST *linkInstPtr = NULL;
+

-static struct hmc7044_dev *hmc7044_inst;
-static struct ad9361_reg_dev *ad9361_1_reg_inst;
-static struct ad9361_reg_dev *ad9361_2_reg_inst;
-// static struct ad9361_rf_phy *ad9361_phy;
-// static struct ad9361_rf_phy *ad9361_2_phy;
 /****************************************************************************/
 /**
 * This function is responsible for initializing the SCUGIC instance, looking
@@ -362,6 +358,11 @@ void ScuTimer_IntrHandler(void *context)
 	{
 		// Refresh log
 		Phy_RefreshHwSate(phyInstPtr);
+		if (TimeCtrl_GetIntCnt(tmcInstPtr) - phyInstPtr->lastLogTime >= PHY_LOG_EXPIRE)
+		{
+			Phy_UpdateLogging(phyInstPtr);
+		}
+
 		XScuTimer_ClearInterruptStatus((XScuTimer *)xdesc->instance);
 	}
 	else
@@ -370,355 +371,6 @@ void ScuTimer_IntrHandler(void *context)
 	}
 }

-/*****************************************************************************/
-/**
- * @brief   Hardware_SwitchFreq
- *
- * @param   devSysMonitor_UpdateHardwareStatus(newHwState);
- * @param   freq
- *
- * @return  None.
- *
- ******************************************************************************/
-int Hardware_SwitchFreq(struct ad9361_reg_dev *dev, ad9361TxFreq freq)
-{
-	int32_t status = 0;
-	uint8_t value = 0;
-	int32_t time_out_cnt = 0;
-
-	switch (freq)
-	{
-	case TX_FREQ_125:
-	{
-		//************************************************************
-		// Setup Tx Frequency-Dependent Syntheisizer Registers
-		//************************************************************
-		status = ad9361_reg_write(dev, 0x027A, 0x4A); // Set VCO Output level[3:0]
-		status = ad9361_reg_write(dev, 0x0279, 0xC1); // Set Init ALC Value[3:0] and VCO Varactor[3:0]
-		status = ad9361_reg_write(dev, 0x0282, 0x0E); // Set VCO Bias Tcf[1:0] and VCO Bias Ref[2:0]
-		status = ad9361_reg_write(dev, 0x0278, 0x78); // Set VCO Cal Offset[3:0]
-		status = ad9361_reg_write(dev, 0x0285, 0x00); // Set VCO Cal Ref Tcf[2:0]
-		status = ad9361_reg_write(dev, 0x0291, 0x0B); // Set VCO Varactor Reference[3:0]
-		status = ad9361_reg_write(dev, 0x0290, 0x70); // Set VCO Varactor Ref Tcf[2:0] and VCO Varactor Offset[3:0]
-		status = ad9361_reg_write(dev, 0x027B, 0x94); // Set Synth Loop Filter charge pump current (Icp)
-		status = ad9361_reg_write(dev, 0x027E, 0xF4); // Set Synth Loop Filter C2 and C1
-		status = ad9361_reg_write(dev, 0x027F, 0xDF); // Set Synth Loop Filter  R1 and C3
-		status = ad9361_reg_write(dev, 0x0280, 0x0A); // Set Synth Loop Filter R3
-
-		//************************************************************
-		// Write Tx Frequency Words
-		//************************************************************
-		status = ad9361_reg_write(dev, 0x0273, 0x00); // Write Tx Synth Fractional Freq Word[7:0]
-		status = ad9361_reg_write(dev, 0x0274, 0x00); // Write Tx Synth Fractional Freq Word[15:8]
-		status = ad9361_reg_write(dev, 0x0275, 0x00); // Write Tx Synth Fractional Freq Word[22:16]
-		status = ad9361_reg_write(dev, 0x0272, 0x00); // Write Tx Synth Integer Freq Word[10:8]
-		status = ad9361_reg_write(dev, 0x0271, 0xA0); // Write Tx Synth Integer Freq Word[7:0] (starts VCO cal)
-		status = ad9361_reg_write(dev, 0x0005, 0x57); // Set LO divider setting
-
-		//************************************************************
-		// Tx Quadrature Calibration Settings
-		//************************************************************
-		status = ad9361_reg_write(dev, 0x00A0, 0x75); // Set TxQuadcal NCO frequency
-		status = ad9361_reg_write(dev, 0x00A3, 0xC0); // Set TxQuadcal NCO frequency (Only update bits [7:6])
-		status = ad9361_reg_write(dev, 0x00A1, 0x7B); // Tx Quad Cal Configuration, Phase and Gain Cal Enable
-		status = ad9361_reg_write(dev, 0x00A9, 0xFF); // Set Tx Quad Cal Count
-		status = ad9361_reg_write(dev, 0x00A2, 0x7F); // Set Tx Quad Cal Kexp
-		status = ad9361_reg_write(dev, 0x00A5, 0x01); // Set Tx Quad Cal Magnitude Threshhold
-		status = ad9361_reg_write(dev, 0x00A6, 0x01); // Set Tx Quad Cal Magnitude Threshhold
-		status = ad9361_reg_write(dev, 0x00AA, 0x22); // Set Tx Quad Cal Gain Table index
-		status = ad9361_reg_write(dev, 0x00A4, 0xF0); // Set Tx Quad Cal Settle Count
-		status = ad9361_reg_write(dev, 0x00AE, 0x00); // Set Tx Quad Cal LPF Gain index incase Split table mode used
-
-		status = ad9361_reg_write(dev, 0x0169, 0xC0); // Disable Rx Quadrature Calibration before Running Tx Quadrature Calibration
-		status = ad9361_reg_write(dev, 0x0016, 0x10); // Start Tx Quad cal
-
-		break;
-	}
-	case TX_FREQ_126:
-	{
-		//************************************************************
-		// Setup Tx Frequency-Dependent Syntheisizer Registers
-		//************************************************************
-		status = ad9361_reg_write(dev, 0x027A, 0x4A); // Set VCO Output level[3:0]
-		status = ad9361_reg_write(dev, 0x0279, 0xC1); // Set Init ALC Value[3:0] and VCO Varactor[3:0]
-		status = ad9361_reg_write(dev, 0x0282, 0x0E); // Set VCO Bias Tcf[1:0] and VCO Bias Ref[2:0]
-		status = ad9361_reg_write(dev, 0x0278, 0x78); // Set VCO Cal Offset[3:0]
-		status = ad9361_reg_write(dev, 0x0285, 0x00); // Set VCO Cal Ref Tcf[2:0]
-		status = ad9361_reg_write(dev, 0x0291, 0x0B); // Set VCO Varactor Reference[3:0]
-		status = ad9361_reg_write(dev, 0x0290, 0x70); // Set VCO Varactor Ref Tcf[2:0] and VCO Varactor Offset[3:0]
-		status = ad9361_reg_write(dev, 0x027B, 0x93); // Set Synth Loop Filter charge pump current (Icp)
-		status = ad9361_reg_write(dev, 0x027E, 0xF4); // Set Synth Loop Filter C2 and C1
-		status = ad9361_reg_write(dev, 0x027F, 0xDF); // Set Synth Loop Filter  R1 and C3
-		status = ad9361_reg_write(dev, 0x0280, 0x0A); // Set Synth Loop Filter R3
-
-		//************************************************************
-		// Write Tx Frequency Words
-		//************************************************************
-		status = ad9361_reg_write(dev, 0x0273, 0x06); // Write Tx Synth Fractional Freq Word[7:0]
-		status = ad9361_reg_write(dev, 0x0274, 0xD7); // Write Tx Synth Fractional Freq Word[15:8]
-		status = ad9361_reg_write(dev, 0x0275, 0x23); // Write Tx Synth Fractional Freq Word[22:16]
-		status = ad9361_reg_write(dev, 0x0272, 0x00); // Write Tx Synth Integer Freq Word[10:8]
-		status = ad9361_reg_write(dev, 0x0271, 0xA1); // Write Tx Synth Integer Freq Word[7:0] (starts VCO cal)
-		status = ad9361_reg_write(dev, 0x0005, 0x57); // Set LO divider setting
-
-		//************************************************************
-		// Tx Quadrature Calibration Settings
-		//************************************************************
-		status = ad9361_reg_write(dev, 0x00A0, 0x75); // Set TxQuadcal NCO frequency
-		status = ad9361_reg_write(dev, 0x00A3, 0xC0); // Set TxQuadcal NCO frequency (Only update bits [7:6])
-		status = ad9361_reg_write(dev, 0x00A1, 0x7B); // Tx Quad Cal Configuration, Phase and Gain Cal Enable
-		status = ad9361_reg_write(dev, 0x00A9, 0xFF); // Set Tx Quad Cal Count
-		status = ad9361_reg_write(dev, 0x00A2, 0x7F); // Set Tx Quad Cal Kexp
-		status = ad9361_reg_write(dev, 0x00A5, 0x01); // Set Tx Quad Cal Magnitude Threshhold
-		status = ad9361_reg_write(dev, 0x00A6, 0x01); // Set Tx Quad Cal Magnitude Threshhold
-		status = ad9361_reg_write(dev, 0x00AA, 0x22); // Set Tx Quad Cal Gain Table index
-		status = ad9361_reg_write(dev, 0x00A4, 0xF0); // Set Tx Quad Cal Settle Count
-		status = ad9361_reg_write(dev, 0x00AE, 0x00); // Set Tx Quad Cal LPF Gain index incase Split table mode used
-
-		status = ad9361_reg_write(dev, 0x0169, 0xC0); // Disable Rx Quadrature Calibration before Running Tx Quadrature Calibration
-		status = ad9361_reg_write(dev, 0x0016, 0x10); // Start Tx Quad cal
-
-		break;
-	}
-	case TX_FREQ_4125:
-	{
-		//************************************************************
-		// Setup Tx Frequency-Dependent Syntheisizer Registers
-		//************************************************************
-		status = ad9361_reg_write(dev, 0x027A, 0x4A); // Set VCO Output level[3:0]
-		status = ad9361_reg_write(dev, 0x0279, 0xC1); // Set Init ALC Value[3:0] and VCO Varactor[3:0]
-		status = ad9361_reg_write(dev, 0x0282, 0x0E); // Set VCO Bias Tcf[1:0] and VCO Bias Ref[2:0]
-		status = ad9361_reg_write(dev, 0x0278, 0x78); // Set VCO Cal Offset[3:0]
-		status = ad9361_reg_write(dev, 0x0285, 0x00); // Set VCO Cal Ref Tcf[2:0]
-		status = ad9361_reg_write(dev, 0x0291, 0x0B); // Set VCO Varactor Reference[3:0]
-		status = ad9361_reg_write(dev, 0x0290, 0x70); // Set VCO Varactor Ref Tcf[2:0] and VCO Varactor Offset[3:0]
-		status = ad9361_reg_write(dev, 0x027B, 0x93); // Set Synth Loop Filter charge pump current (Icp)
-		status = ad9361_reg_write(dev, 0x027E, 0xF4); // Set Synth Loop Filter C2 and C1
-		status = ad9361_reg_write(dev, 0x027F, 0xDF); // Set Synth Loop Filter  R1 and C3
-		status = ad9361_reg_write(dev, 0x0280, 0x0A); // Set Synth Loop Filter R3
-
-		//************************************************************
-		// Write Rx Frequency Words
-		//************************************************************
-		status = ad9361_reg_write(dev, 0x0273, 0x00); // Write Tx Synth Fractional Freq Word[7:0]
-		status = ad9361_reg_write(dev, 0x0274, 0x00); // Write Tx Synth Fractional Freq Word[15:8]
-		status = ad9361_reg_write(dev, 0x0275, 0x00); // Write Tx Synth Fractional Freq Word[22:16]
-		status = ad9361_reg_write(dev, 0x0272, 0x00); // Write Tx Synth Integer Freq Word[10:8]
-		status = ad9361_reg_write(dev, 0x0271, 0xA5); // Write Tx Synth Integer Freq Word[7:0] (starts VCO cal)
-		status = ad9361_reg_write(dev, 0x0005, 0x07); // Set LO divider setting
-
-		//************************************************************
-		// Tx Quadrature Calibration Settings
-		//************************************************************
-		status = ad9361_reg_write(dev, 0x00A0, 0x75); // Set TxQuadcal NCO frequency
-		status = ad9361_reg_write(dev, 0x00A3, 0xC0); // Set TxQuadcal NCO frequency (Only update bits [7:6])
-		status = ad9361_reg_write(dev, 0x00A1, 0x7B); // Tx Quad Cal Configuration, Phase and Gain Cal Enable
-		status = ad9361_reg_write(dev, 0x00A9, 0xFF); // Set Tx Quad Cal Count
-		status = ad9361_reg_write(dev, 0x00A2, 0x7F); // Set Tx Quad Cal Kexp
-		status = ad9361_reg_write(dev, 0x00A5, 0x01); // Set Tx Quad Cal Magnitude Threshhold
-		status = ad9361_reg_write(dev, 0x00A6, 0x01); // Set Tx Quad Cal Magnitude Threshhold
-		status = ad9361_reg_write(dev, 0x00AA, 0x28); // Set Tx Quad Cal Gain Table index
-		status = ad9361_reg_write(dev, 0x00A4, 0xF0); // Set Tx Quad Cal Settle Count
-		status = ad9361_reg_write(dev, 0x00AE, 0x04); // Set Tx Quad Cal LPF Gain index incase Split table mode used
-
-		status = ad9361_reg_write(dev, 0x0169, 0xC0); // Disable Rx Quadrature Calibration before Running Tx Quadrature Calibration
-		status = ad9361_reg_write(dev, 0x0016, 0x10); // Start Tx Quad cal
-
-		break;
-	}
-
-		// Wait for cal to complete (Done when 0x016[4]==0)
-		time_out_cnt = 0;
-		do
-		{
-			status |= ad9361_reg_read(dev, 0x0016, &value);
-			mdelay(1); // Wait 1ms
-			time_out_cnt++;
-		} while ((value & 0x10) != 0x00 && time_out_cnt <= AD9361_TIMEOUT_TH);
-	}
-
-	return status;
-}
-
-/*****************************************************************************/
-/**
- * @brief   Hardware_Init
- *
- * @param   none.
- *
- * @return  None.
- *
- ******************************************************************************/
-int Hardware_Init(void)
-{
-	int32_t Status;
-	XGpioPs Gpio;
-	XGpioPs_Config *ConfigPtr;
-	ConfigPtr = XGpioPs_LookupConfig(AD9361_GPIO_DEVICE_ID);
-	Status = XGpioPs_CfgInitialize(&Gpio, ConfigPtr, ConfigPtr->BaseAddr);
-	if (Status != SUCCESS)
-	{
-		return FAILURE;
-	}
-
-	/**********************************************************/
-	/****************** HMC7044 Configuration *****************/
-	/**********************************************************/
-	Status = hmc7044_init(&hmc7044_inst, &hmc7044_default_init_param);
-	if (Status != SUCCESS)
-	{
-		DBG_ERROR("hmc7044_init() error: %" PRId32 "\n", Status);
-		return FAILURE;
-	}
-
-	/**********************************************************/
-	/***************** AD9361-1 Configuration *****************/
-	/**********************************************************/
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_TXNRX, AD9361_GPIO_OUTPUT);
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_ENABLE, AD9361_GPIO_OUTPUT);
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_EN_AGC, AD9361_GPIO_OUTPUT);
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_RESET_B, AD9361_GPIO_OUTPUT);
-
-	ad9361_reg_init(&ad9361_1_reg_inst, &ad9361_1_reg_default_init_param);
-	XGpioPs_WritePin(&Gpio, AD9361_1_ENABLE, 0);
-	ad9361_reg_config(ad9361_1_reg_inst);
-	XGpioPs_WritePin(&Gpio, AD9361_1_ENABLE, 1);
-
-	//	Status = ad9361_init(&ad9361_phy, &ad9361_default_init_param);
-	//	if (Status != XST_SUCCESS){
-	//		return XST_FAILURE;
-	//	}else{
-	//		printf("Configurate AD9361 Completely!\n");
-	//	}
-	//	ad9361_set_tx_fir_config(ad9361_phy, tx_fir_config);
-	//	ad9361_set_rx_fir_config(ad9361_phy, rx_fir_config);
-
-	/**********************************************************/
-	/***************** AD9361-2 Configuration *****************/
-	/**********************************************************/
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_TXNRX, AD9361_GPIO_OUTPUT);
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_ENABLE, AD9361_GPIO_OUTPUT);
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_EN_AGC, AD9361_GPIO_OUTPUT);
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_RESET_B, AD9361_GPIO_OUTPUT);
-
-	ad9361_reg_init(&ad9361_2_reg_inst, &ad9361_2_reg_default_init_param);
-	XGpioPs_WritePin(&Gpio, AD9361_2_ENABLE, 0);
-	ad9361_reg_config(ad9361_2_reg_inst);
-	XGpioPs_WritePin(&Gpio, AD9361_2_ENABLE, 1);
-
-	//	uint8_t rd_back;
-	//	Status = ad9361_reg_read(ad9361_1_reg_inst, 0x0002, &rd_back);
-	//	Status = ad9361_reg_read(ad9361_2_reg_inst, 0x0002, &rd_back);
-
-	/**********************************************************/
-	/******* AD9361 Baseband Multichip Synchronization ********/
-	/**********************************************************/
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_SYNC, AD9361_GPIO_OUTPUT);
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_RX_FIFO_RST, AD9361_GPIO_OUTPUT);
-
-	// SYNC BBPLL and DIGITAL SAMPLING CLOCKS
-	ad9361_reg_write(ad9361_1_reg_inst, 0x0001, 0x0D); // MCS RF Enable; MCS BBPLL Enable; MCS BB Enable
-	ad9361_reg_write(ad9361_2_reg_inst, 0x0001, 0x0D);
-	ad9361_reg_write(ad9361_1_reg_inst, 0x0047, 0x80); // MCS refclk Scale Enable
-	ad9361_reg_write(ad9361_2_reg_inst, 0x0047, 0x80);
-	XGpioPs_WritePin(&Gpio, AD9361_SYNC, 0);
-	mdelay(20);
-	XGpioPs_WritePin(&Gpio, AD9361_SYNC, 1); // Input a rising-edge pulse to the SYNC_IN pin
-	mdelay(500);
-	XGpioPs_WritePin(&Gpio, AD9361_SYNC, 0);
-	mdelay(2000);
-	ad9361_reg_write(ad9361_1_reg_inst, 0x0001, 0x0B); // MCS RF Enable; MCS Digital CLK Enable ; MCS BB Enable
-	ad9361_reg_write(ad9361_2_reg_inst, 0x0001, 0x0B);
-	XGpioPs_WritePin(&Gpio, AD9361_SYNC, 1); // Input another rising-edge pulse to the SYNC_IN pin
-	mdelay(500);
-	XGpioPs_WritePin(&Gpio, AD9361_SYNC, 0);
-	ad9361_reg_write(ad9361_1_reg_inst, 0x0001, 0x08); // clear MCS bits
-	ad9361_reg_write(ad9361_2_reg_inst, 0x0001, 0x08);
-
-	XGpioPs_WritePin(&Gpio, AD9361_RX_FIFO_RST, 0);
-	mdelay(20);
-	XGpioPs_WritePin(&Gpio, AD9361_RX_FIFO_RST, 1);
-	mdelay(20);
-	XGpioPs_WritePin(&Gpio, AD9361_RX_FIFO_RST, 0);
-
-	/**********************************************************/
-	/********* AD9361 Multichip Rx Phase Calibration **********/
-	/**********************************************************/
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_TX_SWITCH, AD9361_GPIO_OUTPUT);
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_CAL_START, AD9361_GPIO_OUTPUT);
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_1_CAL_DONE, AD9361_GPIO_INPUT);
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_CAL_START, AD9361_GPIO_OUTPUT);
-	XGpioPs_SetDirectionPin(&Gpio, AD9361_2_CAL_DONE, AD9361_GPIO_INPUT);
-
-	// switch to lower frequency
-	Status = Hardware_SwitchFreq(ad9361_1_reg_inst, TX_FREQ_126);
-	XGpioPs_WritePin(&Gpio, AD9361_TX_SWITCH, 1);
-	mdelay(20);
-
-	// switch rx channel
-	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0004, 0x30);
-	Status = ad9361_reg_write(ad9361_2_reg_inst, 0x0004, 0x30);
-
-	// enable dual ad9361 tx channels
-	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0002, 0xE4); // Setup Tx Digital Filters/ Channels
-
-	// switch ad9361 tx channel
-	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0004, 0x70); // Select Rx input pin(A,B,C)/ Tx out pin (A,B)
-	mdelay(20);
-
-	// begin to calibrate the 1st ad9361
-	XGpioPs_WritePin(&Gpio, AD9361_1_CAL_START, 0);
-	XGpioPs_WritePin(&Gpio, AD9361_1_CAL_START, 1);
-	mdelay(1);
-	XGpioPs_WritePin(&Gpio, AD9361_1_CAL_START, 0);
-
-	// read calibration status
-	int32_t time_out_cnt = 0;
-	do
-	{
-		mdelay(1); // Wait 1ms
-		time_out_cnt++;
-	} while (((XGpioPs_ReadPin(&Gpio, AD9361_1_CAL_DONE) == 0) && time_out_cnt <= AD9361_TIMEOUT_TH));
-
-	if (time_out_cnt == AD9361_TIMEOUT_TH)
-	{
-		return FAILURE;
-	}
-
-	// begin to calibrate the 2nd ad9361
-	XGpioPs_WritePin(&Gpio, AD9361_2_CAL_START, 1);
-	mdelay(1);
-	XGpioPs_WritePin(&Gpio, AD9361_2_CAL_START, 0);
-
-	// read calibration status
-	time_out_cnt = 0;
-	do
-	{
-		mdelay(1); // Wait 1ms
-		time_out_cnt++;
-	} while (((XGpioPs_ReadPin(&Gpio, AD9361_2_CAL_DONE) == 0) && time_out_cnt <= AD9361_TIMEOUT_TH));
-
-	if (time_out_cnt == AD9361_TIMEOUT_TH)
-	{
-		return FAILURE;
-	}
-
-	// enable single ad9361 tx channels
-	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0002, 0xA4); // Setup Tx Digital Filters/ Channels
-
-	// switch ad9361 tx & rx channel
-	Status = ad9361_reg_write(ad9361_1_reg_inst, 0x0004, 0x03);
-	Status = ad9361_reg_write(ad9361_2_reg_inst, 0x0004, 0x03);
-
-	// switch to higher frequency
-	Status = Hardware_SwitchFreq(ad9361_1_reg_inst, TX_FREQ_4125);
-	XGpioPs_WritePin(&Gpio, AD9361_TX_SWITCH, 0);
-
-	DBG_PRINT("Done.\n");
-
-	return 0;
-}
-
 /*****************************************************************************/
 /**
 * @brief	Main function, initialize all the device needed, initialize
@@ -771,7 +423,7 @@ int main(void)
 	}

 	/* Physical Layer Initialize */
-	Status = Phy_InstInit(&phyInstPtr, &phyConfig);
+	Status = Phy_Init(&phyInstPtr, &phyConfig);
 	if (Status == SUCCESS)
 	{
 		DBG_PRINT("Physical layer Init SUCCESS! \n");
@@ -835,7 +487,7 @@ int main(void)
 	while (true)
 	{
 		// System bus handler
-		if (SystemBus_IsReqPendding(sysbusDescPtr))
+		if (SystemBus_IsReqPending(sysbusDescPtr))
 		{
 			Status = SystemBus_HandleCmd(sysbusDescPtr);
 			if (Status != SUCCESS)
@@ -843,7 +495,7 @@ int main(void)
 				DBG_ERROR("SystemBus_HandleCmd exit with ErrorCode: %" PRId32 ".\n", Status);
 			}
 		}
-		if (SystemBus_IsRsqPendding(sysbusDescPtr) && (!SystemBus_IsTxBusy(sysbusDescPtr)))
+		if (SystemBus_IsRsqPending(sysbusDescPtr) && (!SystemBus_IsTxBusy(sysbusDescPtr)))
 		{
 			// FIXME: Required by 12 (CASC)
 			udelay(4000);
@@ -1,19 +1,25 @@
 /*****************************************************************************/
 /**
- * Description:  Functions for framing operations.
+ * @file framing.h
+ * @author FanHao ([email protected])
+ * @brief DF Linklayer framing functions.
+ * @version 0.0
+ * @date 2023-05-06
 *
- * Date: 2022-07-16 14:17
- * LastEditors: Fan Hao
- * LastEditTime: 2022-07-16 17:11
- * Revisions: Rev 0.0
- * History:
- * [2022-07-16]: Description of modification.
- *
- * Copyright(c) 2022 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayer_Framing
+ * @{
+ */
 /***************************** Include Files *********************************/
 #include <stdint.h>
 #include <string.h>
@@ -159,7 +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)
 	{
@@ -177,3 +183,7 @@ bool L2_CrcCheck(uint8_t *dataBuff, uint32_t dataLen, L2_CRC_TYPE crcType)
 		return false;
 	}
 }
+
+/** @} LinkLayer_Framing*/
+
+/** @} LinkLayer*/
@@ -1,8 +1,28 @@
-//
-// Copyright (C) 2020 OpenSim Ltd.
-//
-// SPDX-License-Identifier: LGPL-3.0-or-later
-//
+/*****************************************************************************/
+/**
+ * @file coord.c
+ * @author FanHao ([email protected])
+ * @version 0.0
+ * @date 2023-05-06
+ *
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
+ *
+ ******************************************************************************/
+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayerGeometry
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayerGeometry_Coord
+ * @{
+ */

 #include <math.h>
 #include "coord.h"
@@ -17,132 +37,139 @@ const COORD COORD_Z_AXIS = {0.0, 0.0, 1.0};
 /** @brief Subtracts two coordinate vectors. */
 COORD Coord_Sub(COORD a, COORD b)
 {
-    COORD ret;
-    ret.x = a.x - b.x;
-    ret.y = a.y - b.y;
-    ret.z = a.z - b.z;
-    return ret;
+	COORD ret;
+	ret.x = a.x - b.x;
+	ret.y = a.y - b.y;
+	ret.z = a.z - b.z;
+	return ret;
 }

 /** @brief Adds two coordinate vectors. */
 COORD Coord_Add(COORD a, COORD b)
 {
-    COORD ret;
-    ret.x = a.x + b.x;
-    ret.y = a.y + b.y;
-    ret.z = a.z + b.z;
-    return ret;
+	COORD ret;
+	ret.x = a.x + b.x;
+	ret.y = a.y + b.y;
+	ret.z = a.z + b.z;
+	return ret;
 }

 /** @brief Multiplies a coordinate vector by a real number. */
 void Coord_ScalarMult(COORD *a, double t)
 {
-    a->x *= t;
-    a->y *= t;
-    a->z *= t;
+	a->x *= t;
+	a->y *= t;
+	a->z *= t;
 }

 /** @brief Multiplies a coordinate vector by a real number. */
 COORD Coord_GetScalarMult(COORD a, double t)
 {
-    COORD ret;
-    ret.x = a.x * t;
-    ret.y = a.y * t;
-    ret.z = a.z * t;
-    return ret;
+	COORD ret;
+	ret.x = a.x * t;
+	ret.y = a.y * t;
+	ret.z = a.z * t;
+	return ret;
 }

 /** @brief Divides a coordinate vector by a real number. */
 void Coord_ScalarDiv(COORD *a, double t)
 {
-    a->x /= t;
-    a->y /= t;
-    a->z /= t;
+	if (t == 0.0) {
+		*a = COORD_NIL;
+		return;
+	}
+	a->x /= t;
+	a->y /= t;
+	a->z /= t;
 }

 /** @brief Divides a coordinate vector by a real number. */
 COORD Coord_GetScalarDiv(COORD a, double t)
 {
-    COORD ret;
-    ret.x = a.x / t;
-    ret.y = a.y / t;
-    ret.z = a.z / t;
-    return ret;
+	if (t == 0.0) {
+		return COORD_NIL;
+	}
+	COORD ret;
+	ret.x = a.x / t;
+	ret.y = a.y / t;
+	ret.z = a.z / t;
+	return ret;
 }

 /** @brief Dot product. */
 inline double Coord_Dot(COORD a, COORD b)
 {
-    return (a.x * b.x + a.y * b.y + a.z * b.z);
+	return (a.x * b.x + a.y * b.y + a.z * b.z);
 }

 /** @brief Cross product. */
 COORD Coord_Cross(COORD a, COORD b)
 {
-    COORD ret;
-    ret.x = a.y * b.z - a.z * b.y;
-    ret.y = a.z * b.x - a.x * b.z;
-    ret.z = a.x * b.y - a.y * b.x;
-    return ret;
+	COORD ret;
+	ret.x = a.y * b.z - a.z * b.y;
+	ret.y = a.z * b.x - a.x * b.z;
+	ret.z = a.x * b.y - a.y * b.x;
+	return ret;
 }

 /** @brief Multiplies two coordinate vector in elementwise. */
 COORD Coord_ElementwiseMult(COORD a, COORD b)
 {
-    COORD ret;
-    ret.x = a.x * b.x;
-    ret.y = a.y * b.y;
-    ret.z = a.z * b.z;
-    return ret;
+	COORD ret;
+	ret.x = a.x * b.x;
+	ret.y = a.y * b.y;
+	ret.z = a.z * b.z;
+	return ret;
 }

 /** @brief Divides two coordinate vector in elementwise. */
 COORD Coord_ElementwiseDiv(COORD a, COORD b)
 {
-    COORD ret;
-    ret.x = a.x / b.x;
-    ret.y = a.y / b.y;
-    ret.z = a.z / b.z;
-    return ret;
+	COORD ret;
+	ret.x = a.x / b.x;
+	ret.y = a.y / b.y;
+	ret.z = a.z / b.z;
+	return ret;
 }

 /** @brief Calculate a coordinate vector length^2 (omits calling square root). */
 double Coord_SquareLength(COORD a)
 {
-    return (a.x * a.x + a.y * a.y + a.z * a.z);
+	return (a.x * a.x + a.y * a.y + a.z * a.z);
 }

 /** @brief Calculate a coordinate vector length. */
 double Coord_Length(COORD a)
 {
-    return sqrt(Coord_SquareLength(a));
+	return sqrt(Coord_SquareLength(a));
 }

 /** @brief Calculate two coordinates' distance. */
 double Coord_Distance(COORD a, COORD b)
 {
-    return Coord_Length(Coord_Sub(a, b));
+	return Coord_Length(Coord_Sub(a, b));
 }

 /** @brief Normalize coordinate vector. */
 void Coord_Normalize(COORD *a)
 {
-    Coord_ScalarDiv(a, Coord_Length(*a));
+	Coord_ScalarDiv(a, Coord_Length(*a));
 }

 /** @brief Normalize coordinate vector. */
 COORD Coord_GetNormalized(COORD a)
 {
-    Coord_Normalize(&a);
-    return a;
+	Coord_Normalize(&a);
+	return a;
 }

 /** @brief Returns the angle between the two vectors. */
 double Coord_Angle(COORD a, COORD b)
 {
-    Coord_Normalize(&a);
-    Coord_Normalize(&b);
-    return acos(Coord_Dot(a, b));
+	Coord_Normalize(&a);
+	Coord_Normalize(&b);
+	return acos(Coord_Dot(a, b));
 }

 // Additional Coordinates convert
@@ -150,62 +177,68 @@ double Coord_Angle(COORD a, COORD b)
 /** @brief Convert coordinate from Launch coordinate system to ECEF. */
 COORD Coord_Launch2Ecef(COORD o, COORD p, double A, double B, double lambda)
 {
-    COORD ret;
-    double sinA, cosA, sinB, cosB, sinL, cosL;
-    double S11, S12, S13, S21, S22, S23, S31, S32, S33;
-    sinA = sin(A);
-    cosA = cos(A);
-    sinB = sin(B);
-    cosB = cos(B);
-    sinL = sin(lambda);
-    cosL = cos(lambda);
+	COORD ret;
+	double sinA, cosA, sinB, cosB, sinL, cosL;
+	double S11, S12, S13, S21, S22, S23, S31, S32, S33;
+	sinA = sin(A);
+	cosA = cos(A);
+	sinB = sin(B);
+	cosB = cos(B);
+	sinL = sin(lambda);
+	cosL = cos(lambda);

-    S11 = -sinA * sinL - cosA * sinB * cosL;
-    S12 = cosB * cosL;
-    S13 = -cosA * sinL + sinA * sinB * cosL;
+	S11 = -sinA * sinL - cosA * sinB * cosL;
+	S12 = cosB * cosL;
+	S13 = -cosA * sinL + sinA * sinB * cosL;

-    S21 = sinA * cosL - cosA * sinB * sinL;
-    S22 = cosB * sinL;
-    S23 = cosA * cosL + sinA * sinB * sinL;
+	S21 = sinA * cosL - cosA * sinB * sinL;
+	S22 = cosB * sinL;
+	S23 = cosA * cosL + sinA * sinB * sinL;

-    S31 = cosA * cosB;
-    S32 = sinB;
-    S33 = -sinA * cosB;
+	S31 = cosA * cosB;
+	S32 = sinB;
+	S33 = -sinA * cosB;

-    ret.x = p.x * (S11 + S21 + S31) + o.x;
-    ret.y = p.y * (S12 + S22 + S32) + o.y;
-    ret.z = p.z * (S13 + S23 + S33) + o.z;
+	ret.x = p.x * (S11 + S21 + S31) + o.x;
+	ret.y = p.y * (S12 + S22 + S32) + o.y;
+	ret.z = p.z * (S13 + S23 + S33) + o.z;

-    return ret;
+	return ret;
 }

 /** @brief Convert coordinate from launch coordinate system to Inertia coordinate system. */
 COORD Coord_Launch2Inertia(COORD o, COORD p, double A, double B, double we, double t)
 {
-    COORD ret;
-    double OmgX, OmgY, OmgZ, sinwet, coswet;
-    double M11, M12, M13, M21, M22, M23, M31, M32, M33;
-    OmgX = cos(A) * cos(B);
-    OmgY = sin(B);
-    OmgZ = -sin(A) * cos(B);
-    sinwet = sin(we * t);
-    coswet = cos(we * t);
+	COORD ret;
+	double OmgX, OmgY, OmgZ, sinwet, coswet;
+	double M11, M12, M13, M21, M22, M23, M31, M32, M33;
+	OmgX = cos(A) * cos(B);
+	OmgY = sin(B);
+	OmgZ = -sin(A) * cos(B);
+	sinwet = sin(we * t);
+	coswet = cos(we * t);

-    M11 = 1 - (1 - OmgX * OmgX) * (1 - coswet);
-    M12 = OmgX * OmgY * (1 - coswet) + OmgZ * sinwet;
-    M13 = OmgX * OmgZ * (1 - coswet) - OmgY * sinwet;
+	M11 = 1 - (1 - OmgX * OmgX) * (1 - coswet);
+	M12 = OmgX * OmgY * (1 - coswet) + OmgZ * sinwet;
+	M13 = OmgX * OmgZ * (1 - coswet) - OmgY * sinwet;

-    M21 = OmgY * OmgX * (1 - coswet) - OmgZ * sinwet;
-    M22 = 1 - (1 - OmgY * OmgY) * (1 - coswet);
-    M23 = OmgY * OmgZ * (1 - coswet) + OmgX * sinwet;
+	M21 = OmgY * OmgX * (1 - coswet) - OmgZ * sinwet;
+	M22 = 1 - (1 - OmgY * OmgY) * (1 - coswet);
+	M23 = OmgY * OmgZ * (1 - coswet) + OmgX * sinwet;

-    M31 = OmgZ * OmgX * (1 - coswet) + OmgY * sinwet;
-    M32 = OmgZ * OmgY * (1 - coswet) - OmgX * sinwet;
-    M33 = 1 - (1 - OmgZ * OmgZ) * (1 - coswet);
+	M31 = OmgZ * OmgX * (1 - coswet) + OmgY * sinwet;
+	M32 = OmgZ * OmgY * (1 - coswet) - OmgX * sinwet;
+	M33 = 1 - (1 - OmgZ * OmgZ) * (1 - coswet);

-    ret.x = p.x * (M11 + M21 + M31) + o.x;
-    ret.y = p.y * (M12 + M22 + M32) + o.y;
-    ret.z = p.z * (M13 + M23 + M33) + o.z;
+	ret.x = p.x * (M11 + M21 + M31) + o.x;
+	ret.y = p.y * (M12 + M22 + M32) + o.y;
+	ret.z = p.z * (M13 + M23 + M33) + o.z;

-    return ret;
+	return ret;
 }
+
+/** @} LinkLayerGeometry_Coord */
+
+/** @} LinkLayerGeometry */
+
+/** @} LinkLayer */
@@ -1,25 +1,41 @@
-//
-// Copyright (C) 2020 OpenSim Ltd.
-//
-// SPDX-License-Identifier: LGPL-3.0-or-later
-//
+/*****************************************************************************/
+/**
+ * @file coord.h
+ * @author FanHao ([email protected])
+ * @version 0.0
+ * @date 2023-05-06
+ *
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
+ *
+ ******************************************************************************/

 #ifndef _COORD_H
 #define _COORD_H
-
 /**
- * @brief Structure for storing 3D coordinates.
- *
- * Some comparison and basic arithmetic operators are implemented.
- *
- * @ingroup utils
+ * @addtogroup LinkLayer
+ * @{
 */

+/**
+ * @defgroup LinkLayerGeometry
+ * @{
+ */
+
+/**
+ * @defgroup LinkLayerGeometry_Coord
+ * @{
+ */
+
+/**
+ * @struct COORD
+ * @brief Structure for storing 3D coordinates.
+ */
 typedef struct
 {
-    double x;
-    double y;
-    double z;
+	double x;
+	double y;
+	double z;
 } COORD;

 extern const COORD COORD_NIL;
@@ -78,3 +94,9 @@ COORD Coord_GetNormalized(COORD a);
 double Coord_Angle(COORD a, COORD b);

 #endif
+
+/** @} LinkLayerGeometry_Coord */
+
+/** @} LinkLayerGeometry */
+
+/** @} LinkLayer */
@@ -1,8 +1,29 @@
-//
-// Copyright (C) 2020 OpenSim Ltd.
-//
-// SPDX-License-Identifier: LGPL-3.0-or-later
-//
+/*****************************************************************************/
+/**
+ * @file eulerangles.c
+ * @author FanHao ([email protected])
+ * @version 0.0
+ * @date 2023-05-06
+ *
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
+ *
+ ******************************************************************************/
+
+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayerGeometry
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayerGeometry_EulerAngles
+ * @{
+ */

 #include <math.h>
 #include "eulerangles.h"
@@ -13,49 +34,55 @@ const EULERANGLES EULERANGLES_ZERO = {0.0, 0.0, 0.0};
 /** @brief Add two EulerAngles. */
 EULERANGLES EulerAngles_Add(EULERANGLES e1, EULERANGLES e2)
 {
-    EULERANGLES ret;
-    ret.alpha = e1.alpha + e2.alpha;
-    ret.beta = e1.beta + e2.beta;
-    ret.gamma = e1.gamma + e2.gamma;
-    return ret;
+	EULERANGLES ret;
+	ret.alpha = e1.alpha + e2.alpha;
+	ret.beta = e1.beta + e2.beta;
+	ret.gamma = e1.gamma + e2.gamma;
+	return ret;
 }

 /** @brief Subtracts two EulerAngles. */
 EULERANGLES EulerAngles_Sub(EULERANGLES e1, EULERANGLES e2)
 {
-    EULERANGLES ret;
-    ret.alpha = e1.alpha - e2.alpha;
-    ret.beta = e1.beta - e2.beta;
-    ret.gamma = e1.gamma - e2.gamma;
-    return ret;
+	EULERANGLES ret;
+	ret.alpha = e1.alpha - e2.alpha;
+	ret.beta = e1.beta - e2.beta;
+	ret.gamma = e1.gamma - e2.gamma;
+	return ret;
 }

 /** @brief Multiplies EulerAngles by a real number. */
 void EulerAngles_ScalarMult(EULERANGLES *e, double f)
 {
-    e->alpha *= f;
-    e->beta *= f;
-    e->gamma *= f;
+	e->alpha *= f;
+	e->beta *= f;
+	e->gamma *= f;
 }

 /** @brief Multiplies EulerAngles by a real number. */
 EULERANGLES EulerAngles_GetScalarMult(EULERANGLES e, double f)
 {
-    EulerAngles_ScalarMult(&e, f);
-    return e;
+	EulerAngles_ScalarMult(&e, f);
+	return e;
 }

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

 /** @brief Normalize EulerAngles. */
 EULERANGLES EulerAngles_GetNormalize(EULERANGLES e)
 {
-    EulerAngles_Normalize(&e);
-    return e;
+	EulerAngles_Normalize(&e);
+	return e;
 }
+
+/** @} LinkLayerGeometry_EulerAngles */
+
+/** @} LinkLayerGeometry */
+
+/** @} LinkLayer */
@@ -1,10 +1,37 @@
+/*****************************************************************************/
+/**
+ * @file eulerangles.h
+ * @author FanHao ([email protected])
+ * @version 0.0
+ * @date 2023-05-06
+ *
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
+ *
+ ******************************************************************************/
+
+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayerGeometry
+ * @{
+ */
+
+/**
+ * @defgroup LinkLayerGeometry_EulerAngles
+ * @{
+ */
+
 #ifndef __EULERANGLES_H
 #define __EULERANGLES_H

 #define EUL_PI 3.14159265358979323846

-#define DEG2RAD(d) ((EUL_PI / 180.0) * d)
-#define RAD2DEG(r) ((180.0 / EUL_PI) * r)
+#define DEG2RAD(d) ((EUL_PI / 180.0) * (d))
+#define RAD2DEG(r) ((180.0 / EUL_PI) * (r))

 /**
 * Orientations are represented by 3D double precision Tait-Bryan (Euler) tuples
@@ -16,6 +43,11 @@
 * rotation along the Y axis rotates Z into X (leans forward), positive rotation
 * along the X axis rotates Y into Z (leans right).
 */
+
+/**
+ * @struct EULERANGLES
+ * @brief Structure for standard quaternion
+ */
 typedef struct
 {
 	double alpha; // unit rad
@@ -53,3 +85,9 @@ void EulerAngles_Normalize(EULERANGLES *e);
 EULERANGLES EulerAngles_GetNormalize(EULERANGLES e);

 #endif
+
+/** @} LinkLayerGeometry_EulerAngles */
+
+/** @} LinkLayerGeometry */
+
+/** @} LinkLayer */
@@ -1,8 +1,29 @@
-//
-// Copyright (C) 2014 OpenSim Ltd.
-//
-// SPDX-License-Identifier: LGPL-3.0-or-later
-//
+/*****************************************************************************/
+/**
+ * @file quaternion.c
+ * @author FanHao ([email protected])
+ * @version 0.0
+ * @date 2023-05-06
+ *
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
+ *
+ ******************************************************************************/
+
+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayerGeometry
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayerGeometry_Quaternion
+ * @{
+ */

 #include <math.h>
 #include <stdint.h>
@@ -13,14 +34,14 @@

 typedef union
 {
-    float value;
-    uint32_t raw;
+	float value;
+	uint32_t raw;
 } SOFT_FLOAT;

 typedef union
 {
-    double value;
-    uint64_t raw;
+	double value;
+	uint64_t raw;
 } SOFT_DOUBLE;

 const SOFT_FLOAT EPS_FLOAT = {.raw = 0x34000000};
@@ -28,425 +49,451 @@ const SOFT_DOUBLE EPS_DOUBLE = {.raw = 0x3CB0000000000000};

 const QUATERNION QUATERNION_IDENTITY = {1.0, 0.0, 0.0, 0.0};
 const QUATERNION QUATERNION_NIL = {NAN, NAN, NAN, NAN};
+
 /** @brief Subtracts two quaternions. */
 QUATERNION Quaternion_Sub(QUATERNION q1, QUATERNION q2)
 {
-    QUATERNION ret;
-    ret.s = q1.s - q2.s;
-    ret.i = q1.i - q2.i;
-    ret.j = q1.j - q2.j;
-    ret.k = q1.k - q2.k;
-    return ret;
+	QUATERNION ret;
+	ret.s = q1.s - q2.s;
+	ret.i = q1.i - q2.i;
+	ret.j = q1.j - q2.j;
+	ret.k = q1.k - q2.k;
+	return ret;
 }

 /** @brief Adds two quaternions. */
 QUATERNION Quaternion_Add(QUATERNION q1, QUATERNION q2)
 {
-    QUATERNION ret;
-    ret.s = q1.s + q2.s;
-    ret.i = q1.i + q2.i;
-    ret.j = q1.j + q2.j;
-    ret.k = q1.k + q2.k;
-    return ret;
+	QUATERNION ret;
+	ret.s = q1.s + q2.s;
+	ret.i = q1.i + q2.i;
+	ret.j = q1.j + q2.j;
+	ret.k = q1.k + q2.k;
+	return ret;
 }

 /** @brief Multiplies a quaternion by a real number. */
 void Quaternion_ScalarMult(QUATERNION *q, double t)
 {
-    q->s *= t;
-    q->i *= t;
-    q->j *= t;
-    q->k *= t;
+	q->s *= t;
+	q->i *= t;
+	q->j *= t;
+	q->k *= t;
 }

 /** @brief Multiplies a quaternion by a real number. */
 QUATERNION Quaternion_GetScalarMult(QUATERNION a, double t)
 {
-    Quaternion_ScalarMult(&a, t);
-    return a;
+	Quaternion_ScalarMult(&a, t);
+	return a;
 }

 /** @brief Divides a quaternion by a real number. */
 void Quaternion_ScalarDiv(QUATERNION *q, double t)
 {
-    q->s /= t;
-    q->i /= t;
-    q->j /= t;
-    q->k /= t;
+	if (t == 0.0) {
+		*q = QUATERNION_NIL;
+		return;
+	}
+	q->s /= t;
+	q->i /= t;
+	q->j /= t;
+	q->k /= t;
 }

 /** @brief Divides a quaternion by a real number. */
 QUATERNION Quaternion_GetScalarDiv(QUATERNION q, double t)
 {
-    Quaternion_ScalarDiv(&q, t);
-    return q;
+	Quaternion_ScalarDiv(&q, t);
+	return q;
 }

 /** @brief Multiplies two quaternions. */
 QUATERNION Quaternion_Mult(QUATERNION q1, QUATERNION q2)
 {
-    QUATERNION ret;
-    ret.s = q1.s * q2.s - (q1.i * q2.i + q1.j * q2.j + q1.k * q2.k);
-    ret.i = q1.j * q2.k - q1.k * q2.j + q1.s * q2.i + q1.i * q2.s;
-    ret.j = q1.k * q2.i - q1.i * q2.k + q1.s * q2.j + q1.j * q2.s;
-    ret.k = q1.i * q2.j - q1.j * q2.i + q1.s * q2.k + q1.k * q2.s;
-    return ret;
+	QUATERNION ret;
+	ret.s = q1.s * q2.s - (q1.i * q2.i + q1.j * q2.j + q1.k * q2.k);
+	ret.i = q1.j * q2.k - q1.k * q2.j + q1.s * q2.i + q1.i * q2.s;
+	ret.j = q1.k * q2.i - q1.i * q2.k + q1.s * q2.j + q1.j * q2.s;
+	ret.k = q1.i * q2.j - q1.j * q2.i + q1.s * q2.k + q1.k * q2.s;
+	return ret;
 }

 /** @brief Divides two quaternions. */
 QUATERNION Quaternion_Div(QUATERNION q1, QUATERNION q2)
 {
-    Quaternion_Inverse(&q2);
-    return Quaternion_Mult(q1, q2);
+	Quaternion_Inverse(&q2);
+	return Quaternion_Mult(q1, q2);
 }

 /** @brief Dot product. */
 inline double Quaternion_Dot(QUATERNION q1, QUATERNION q2)
 {
-    return (q1.s * q2.s + q1.i * q2.i + q1.j * q2.j + q1.k * q2.k);
+	return (q1.s * q2.s + q1.i * q2.i + q1.j * q2.j + q1.k * q2.k);
 }

 /** @brief Calculate a quaternion length^2 (omits calling square root). */
 inline double Quaternion_SquareLength(QUATERNION q)
 {
-    return (q.s * q.s + q.i * q.i + q.j * q.j + q.k * q.k);
+	return (q.s * q.s + q.i * q.i + q.j * q.j + q.k * q.k);
 }

 /** @brief Calculate a quaternion length. */
 inline double Quaternion_Length(QUATERNION q)
 {
-    return sqrt(Quaternion_SquareLength(q));
+	return sqrt(Quaternion_SquareLength(q));
 }

 /** @brief Normalize quaternion. */
 void Quaternion_Normalize(QUATERNION *q)
 {
-    Quaternion_ScalarDiv(q, Quaternion_Length(*q));
+	Quaternion_ScalarDiv(q, Quaternion_Length(*q));
 }

 /** @brief Normalize quaternion. */
 QUATERNION Quaternion_GetNormalized(QUATERNION q)
 {
-    Quaternion_Normalize(&q);
-    return q;
+	Quaternion_Normalize(&q);
+	return q;
 }

 /** @brief Conjugated quaternion. */
 void Quaternion_Conjugated(QUATERNION *q)
 {
-    q->i = -q->i;
-    q->j = -q->j;
-    q->k = -q->k;
+	q->i = -q->i;
+	q->j = -q->j;
+	q->k = -q->k;
 }

 /** @brief Conjugated quaternion. */
 QUATERNION Quaternion_GetConjugated(QUATERNION q)
 {
-    Quaternion_Conjugated(&q);
-    return q;
+	Quaternion_Conjugated(&q);
+	return q;
 }

 /** @brief Inverse quaternion. */
 void Quaternion_Inverse(QUATERNION *q)
 {
-    Quaternion_Conjugated(q);
-    Quaternion_ScalarDiv(q, Quaternion_SquareLength(*q));
+	Quaternion_Conjugated(q);
+	Quaternion_ScalarDiv(q, Quaternion_SquareLength(*q));
 }

 /** @brief Inverse quaternion. */
 QUATERNION Quaternion_GeInverse(QUATERNION q)
 {
-    Quaternion_Inverse(&q);
-    return q;
+	Quaternion_Inverse(&q);
+	return q;
 }

 inline double Quaternion_GetRotationAngle(QUATERNION q)
 {
-    return (acos(q.s) * 2);
+	return (acos(q.s) * 2);
 }

 /** @brief Get axis of quaternion. */
 COORD Quaternion_GetRotationAxis(QUATERNION q)
 {
-    double sin_theta_inv;
-    COORD ret;
-    sin_theta_inv = 1.0 / sin(acos(q.s));
-    ret.x = q.i * sin_theta_inv;
-    ret.y = q.j * sin_theta_inv;
-    ret.z = q.k * sin_theta_inv;
-    return ret;
+	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));
+	ret.x = q.i * sin_theta_inv;
+	ret.y = q.j * sin_theta_inv;
+	ret.z = q.k * sin_theta_inv;
+	return ret;
 }

 /** @brief Get the axis and rotate angle of a unit Quaternion */
 void Quaternion_GetRotationAxisAndAngle(QUATERNION q, COORD *axis, double *angle)
 {
-    double sin_theta_inv;
-    *angle = acos(q.s);
+	if ((q.s > 1.0) || (q.s < -1.0)) {
+		*axis = COORD_NIL;
+		*angle = NAN;
+		return;
+	}

-    // pre-compute to save time
-    sin_theta_inv = 1.0 / sin(*angle);
+	double sin_theta_inv;
+	*angle = acos(q.s);

-    // now the vector
-    axis->x = q.i * sin_theta_inv;
-    axis->y = q.j * sin_theta_inv;
-    axis->z = q.k * sin_theta_inv;
-    *angle = (*angle) * 2;
+	// pre-compute to save time
+	sin_theta_inv = 1.0 / sin(*angle);
+
+	// now the vector
+	axis->x = q.i * sin_theta_inv;
+	axis->y = q.j * sin_theta_inv;
+	axis->z = q.k * sin_theta_inv;
+	*angle = (*angle) * 2;
 }

 /** @brief Decompose the rotation on to 2 parts. */
 void Quaternion_GetSwingAndTwist(QUATERNION q, COORD axis, QUATERNION *swing, QUATERNION *twist)
 {
-    double p;
-    COORD v;
-    v.x = q.i;
-    v.y = q.j;
-    v.z = q.k;
-    // return projection v1 on to v2  (parallel component)
-    p = Coord_Dot(v, axis);
-    v = Coord_GetScalarMult(axis, p);
-    twist->s = q.s;
-    twist->i = v.x;
-    twist->j = v.y;
-    twist->k = v.z;
-    Quaternion_Normalize(twist);
-    *swing = Quaternion_Mult(q, Quaternion_GetConjugated(*twist));
+	if ((swing == NULL) || (twist == NULL))
+	{
+		return;
+	}
+
+	double p;
+	COORD v;
+	v.x = q.i;
+	v.y = q.j;
+	v.z = q.k;
+	// return projection v1 on to v2  (parallel component)
+	p = Coord_Dot(v, axis);
+	v = Coord_GetScalarMult(axis, p);
+	twist->s = q.s;
+	twist->i = v.x;
+	twist->j = v.y;
+	twist->k = v.z;
+	Quaternion_Normalize(twist);
+	*swing = Quaternion_Mult(q, Quaternion_GetConjugated(*twist));
 }

 /** @brief rotates v by this quaternion (quaternion must be unit) */
 COORD Quaternion_Rotate(QUATERNION q, COORD v)
 {
-    QUATERNION temp;
-    COORD ret;
-    temp.s = 0;
-    temp.i = v.x;
-    temp.j = v.y;
-    temp.k = v.z;
-    temp = Quaternion_Mult(q, temp);
-    Quaternion_Conjugated(&q);
-    temp = Quaternion_Mult(temp, q);
-    ret.x = temp.i;
-    ret.y = temp.j;
-    ret.z = temp.k;
-    return ret;
+	QUATERNION temp;
+	COORD ret;
+	temp.s = 0;
+	temp.i = v.x;
+	temp.j = v.y;
+	temp.k = v.z;
+	temp = Quaternion_Mult(q, temp);
+	Quaternion_Conjugated(&q);
+	temp = Quaternion_Mult(temp, q);
+	ret.x = temp.i;
+	ret.y = temp.j;
+	ret.z = temp.k;
+	return ret;
 }

 /** @brief returns the euler angles from a rotation Quaternion */
 EULERANGLES Quaternion_ToEulerAngles(QUATERNION q, EULERANGLES_TYPE type)
 {
-    EULERANGLES ret;
-    switch (type)
-    {
-    case EULERANGLES_ZYX:
-    {
-        /* Covert form matlab 2023a */
-        // Cap all inputs to asin to 1, since values >1 produce complex
-        // results
-        // Since the quaternion is of unit length, this should never happen,
-        // but some code generation configuration seem to hit this edge case
-        // under some circumstances.
+	EULERANGLES ret;
+	switch (type)
+	{
+	case EULERANGLES_ZYX:
+	{
+		/* Covert form matlab 2023a */
+		// Cap all inputs to asin to 1, since values >1 produce complex
+		// results
+		// Since the quaternion is of unit length, this should never happen,
+		// but some code generation configuration seem to hit this edge case
+		// under some circumstances.

-        double asinValue;
-        bool mask1, mask2;
+		double asinValue;
+		bool mask1, mask2;

-        asinValue = -2.0 * (q.i * q.k - q.s * q.j);
-        mask1 = asinValue >= 1.0 - 10 * EPS_DOUBLE.value;
-        mask2 = asinValue <= -1.0 + 10 * EPS_DOUBLE.value;
-        if (mask1)
-            asinValue = 1;
-        if (mask2)
-            asinValue = -1;
+		asinValue = -2.0 * (q.i * q.k - q.s * q.j);
+		mask1 = asinValue >= 1.0 - 10 * EPS_DOUBLE.value;
+		mask2 = asinValue <= -1.0 + 10 * EPS_DOUBLE.value;
+		if (mask1)
+			asinValue = 1;
+		if (mask2)
+			asinValue = -1;

-        if (mask1 || mask2)
-        {
-            ret.alpha = (asinValue > 0) ? (-2.0 * atan2(q.i, q.s)) : (2.0 * atan2(q.i, q.s));
-            ret.gamma = 0;
-        }
-        else
-        {
-            ret.alpha = atan2(2.0 * (q.i * q.j + q.s * q.k), q.s * q.s + q.i * q.i - q.j * q.j - q.k * q.k);
-            ret.gamma = atan2(2.0 * (q.j * q.k + q.s * q.i), q.s * q.s - q.i * q.i - q.j * q.j + q.k * q.k);
-        }
-        ret.beta = asin(asinValue);
-        break;
-    }
+		if (mask1 || mask2)
+		{
+			ret.alpha = (asinValue > 0) ? (-2.0 * atan2(q.i, q.s)) : (2.0 * atan2(q.i, q.s));
+			ret.gamma = 0;
+		}
+		else
+		{
+			ret.alpha = atan2(2.0 * (q.i * q.j + q.s * q.k), q.s * q.s + q.i * q.i - q.j * q.j - q.k * q.k);
+			ret.gamma = atan2(2.0 * (q.j * q.k + q.s * q.i), q.s * q.s - q.i * q.i - q.j * q.j + q.k * q.k);
+		}
+		ret.beta = asin(asinValue);
+		break;
+	}

-    case EULERANGLES_ZYZ:
-    {
-        // TODO;
-        ret = EULERANGLES_NIL;
-        break;
-    }
+	case EULERANGLES_ZYZ:
+	{
+		// TODO;
+		ret = EULERANGLES_NIL;
+		break;
+	}

-    case EULERANGLES_XYZ:
-    {
-        /* Covert form matlab 2023a */
-        // Prevent singularities as done in ZYX case
-        // Alternative to rotm2eul(quat2rotm(q), 'XYZ') with fewer
-        // operations
-        // sin(y) = R13 = 2 * (qx*qz + qy*qw)
-        // tan(x) = sin(x) / cos(x) = -R23 / R33
-        //        = -2 * (qy*qz - qx*qw) / (1 - 2*(qx^2 + qy^2))
-        //        = -2 * (qy*qz - qx*qw) / (qw^2 - qx^2 - qy^2 + qz^2)
-        // tan(z) = sin(z) / cos(z) = -R12 / R11
-        //        = -2 * (qx*qy - qz*qw) / (1 - 2*(qy^2 + qz^2))
-        //        = -2 * (qy*qz - qx*qw) / (qw^2 + qx^2 - qy^2 - qz^2)
+	case EULERANGLES_XYZ:
+	{
+		/* Covert form matlab 2023a */
+		// Prevent singularities as done in ZYX case
+		// Alternative to rotm2eul(quat2rotm(q), 'XYZ') with fewer
+		// operations
+		// sin(y) = R13 = 2 * (qx*qz + qy*qw)
+		// tan(x) = sin(x) / cos(x) = -R23 / R33
+		//        = -2 * (qy*qz - qx*qw) / (1 - 2*(qx^2 + qy^2))
+		//        = -2 * (qy*qz - qx*qw) / (qw^2 - qx^2 - qy^2 + qz^2)
+		// tan(z) = sin(z) / cos(z) = -R12 / R11
+		//        = -2 * (qx*qy - qz*qw) / (1 - 2*(qy^2 + qz^2))
+		//        = -2 * (qy*qz - qx*qw) / (qw^2 + qx^2 - qy^2 - qz^2)

-        double asinValue;
-        bool mask1, mask2;
+		double asinValue;
+		bool mask1, mask2;

-        asinValue = 2.0 * (q.i * q.k + q.s * q.j);
-        mask1 = asinValue >= 1.0 - 10 * EPS_DOUBLE.value;
-        mask2 = asinValue <= -1.0 + 10 * EPS_DOUBLE.value;
-        if (mask1)
-            asinValue = 1;
-        if (mask2)
-            asinValue = -1;
-        if (mask1 || mask2)
-        {
-            ret.alpha = 0;
-            ret.gamma = (asinValue > 0) ? (2.0 * atan2(q.i, q.s)) : (-2.0 * atan2(q.i, q.s));
-        }
-        else
-        {
-            ret.alpha = atan2(-2.0 * (q.j * q.k - q.s * q.i), q.s * q.s - q.i * q.i - q.j * q.j + q.k * q.k);
-            ret.gamma = atan2(-2.0 * (q.i * q.j - q.s * q.k), q.s * q.s + q.i * q.i - q.j * q.j - q.k * q.k);
-        }
-        ret.beta = asin(asinValue);
-        break;
-    }
+		asinValue = 2.0 * (q.i * q.k + q.s * q.j);
+		mask1 = asinValue >= 1.0 - 10 * EPS_DOUBLE.value;
+		mask2 = asinValue <= -1.0 + 10 * EPS_DOUBLE.value;
+		if (mask1)
+			asinValue = 1;
+		if (mask2)
+			asinValue = -1;
+		if (mask1 || mask2)
+		{
+			ret.alpha = 0;
+			ret.gamma = (asinValue > 0.0) ? (2.0 * atan2(q.i, q.s)) : (-2.0 * atan2(q.i, q.s));
+		}
+		else
+		{
+			ret.alpha = atan2(-2.0 * (q.j * q.k - q.s * q.i), q.s * q.s - q.i * q.i - q.j * q.j + q.k * q.k);
+			ret.gamma = atan2(-2.0 * (q.i * q.j - q.s * q.k), q.s * q.s + q.i * q.i - q.j * q.j - q.k * q.k);
+		}
+		ret.beta = asin(asinValue);
+		break;
+	}

-    default:
-        ret = EULERANGLES_NIL;
-    }
-    return ret;
+	default:
+		ret = EULERANGLES_NIL;
+		break;
+	}
+	return ret;
 }

 /** @brief returns the rotation Quaternion from a euler angles */
 QUATERNION Quaternion_FromeEulerAngles(EULERANGLES e, EULERANGLES_TYPE type)
 {
-    QUATERNION ret;
-    double cosx, sinx, cosy, siny, cosz, sinz;
-    cosx = cos(e.alpha * 0.5);
-    sinx = sin(e.alpha * 0.5);
-    cosy = cos(e.beta * 0.5);
-    siny = sin(e.beta * 0.5);
-    cosz = cos(e.gamma * 0.5);
-    sinz = sin(e.gamma * 0.5);
-    switch (type)
-    {
-    case EULERANGLES_ZYX:
-        ret.s = cosx * cosy * cosz + sinx * siny * sinz;
-        ret.i = cosx * cosy * sinz - sinx * siny * cosz;
-        ret.j = cosx * siny * cosz + sinx * cosy * sinz;
-        ret.k = sinx * cosy * cosz - cosx * siny * sinz;
-        break;
-    case EULERANGLES_ZYZ:
-        ret.s = cosx * cosy * cosz - sinx * cosy * sinz;
-        ret.i = cosx * siny * sinz - sinx * siny * cosz;
-        ret.j = cosx * siny * cosz + sinx * siny * sinz;
-        ret.k = sinx * cosy * cosz + cosx * cosy * sinz;
-        break;
-    case EULERANGLES_XYZ:
-        ret.s = cosx * cosy * cosz - sinx * siny * sinz;
-        ret.i = sinx * cosy * cosz + cosx * siny * sinz;
-        ret.j = -sinx * cosy * sinz + cosx * siny * cosz;
-        ret.k = cosx * cosy * sinz + sinx * siny * cosz;
-        break;
-    default:
-        ret = QUATERNION_NIL;
-        break;
-    }
-    return ret;
+	QUATERNION ret;
+	double cosx, sinx, cosy, siny, cosz, sinz;
+	cosx = cos(e.alpha * 0.5);
+	sinx = sin(e.alpha * 0.5);
+	cosy = cos(e.beta * 0.5);
+	siny = sin(e.beta * 0.5);
+	cosz = cos(e.gamma * 0.5);
+	sinz = sin(e.gamma * 0.5);
+	switch (type)
+	{
+	case EULERANGLES_ZYX:
+		ret.s = cosx * cosy * cosz + sinx * siny * sinz;
+		ret.i = cosx * cosy * sinz - sinx * siny * cosz;
+		ret.j = cosx * siny * cosz + sinx * cosy * sinz;
+		ret.k = sinx * cosy * cosz - cosx * siny * sinz;
+		break;
+	case EULERANGLES_ZYZ:
+		ret.s = cosx * cosy * cosz - sinx * cosy * sinz;
+		ret.i = cosx * siny * sinz - sinx * siny * cosz;
+		ret.j = cosx * siny * cosz + sinx * siny * sinz;
+		ret.k = sinx * cosy * cosz + cosx * cosy * sinz;
+		break;
+	case EULERANGLES_XYZ:
+		ret.s = cosx * cosy * cosz - sinx * siny * sinz;
+		ret.i = sinx * cosy * cosz + cosx * siny * sinz;
+		ret.j = -sinx * cosy * sinz + cosx * siny * cosz;
+		ret.k = cosx * cosy * sinz + sinx * siny * cosz;
+		break;
+	default:
+		ret = QUATERNION_NIL;
+		break;
+	}
+	return ret;
 }

 /** @brief adapted from https://svn.code.sf.net/p/irrlicht/code/trunk/include/quaternion.h */
 QUATERNION Quaternion_RotationFromTo(COORD from, COORD to)
 {
-    // Based on Stan Melax's article in Game Programming Gems
-    COORD axis;
-    QUATERNION ret;
-    double c, s;
-    Coord_Normalize(&from);
-    Coord_Normalize(&to);
+	// Based on Stan Melax's article in Game Programming Gems
+	COORD axis;
+	QUATERNION ret;
+	double c, s;
+	Coord_Normalize(&from);
+	Coord_Normalize(&to);

-    c = Coord_Dot(from, to);
+	c = Coord_Dot(from, to);

-    if (c >= 1.0)
-    {                               // If dot == 1, vectors are the same
-        return QUATERNION_IDENTITY; // identity
-    }
-    else if (c <= -1.0)
-    { // exactly opposite
-        axis = Coord_Cross(COORD_X_AXIS, from);
+	if (c >= 1.0)
+	{								// If dot == 1, vectors are the same
+		return QUATERNION_IDENTITY; // identity
+	}
+	else if (c <= -1.0)
+	{ // exactly opposite
+		axis = Coord_Cross(COORD_X_AXIS, from);

-        if (Coord_Length(axis) == 0)
-            axis = Coord_Cross(COORD_Y_AXIS, from);
+		if (Coord_Length(axis) == 0)
+			axis = Coord_Cross(COORD_Y_AXIS, from);

-        // same as fromAxisAngle(axis, PI).normalize();
-        ret.s = 0;
-        ret.i = axis.x;
-        ret.j = axis.y;
-        ret.k = axis.z;
-        Quaternion_Normalize(&ret);
-        return ret;
-    }
+		// same as fromAxisAngle(axis, PI).normalize();
+		ret.s = 0;
+		ret.i = axis.x;
+		ret.j = axis.y;
+		ret.k = axis.z;
+		Quaternion_Normalize(&ret);
+		return ret;
+	}

-    s = sqrt((1 + c) * 2);
-    axis = Coord_Cross(from, to);
-    Coord_ScalarDiv(&axis, s);
-    ret.s = s * 0.5;
-    ret.i = axis.x;
-    ret.j = axis.y;
-    ret.k = axis.z;
-    Quaternion_Normalize(&ret);
-    return ret;
+	s = sqrt((1 + c) * 2);
+	axis = Coord_Cross(from, to);
+	Coord_ScalarDiv(&axis, s);
+	ret.s = s * 0.5;
+	ret.i = axis.x;
+	ret.j = axis.y;
+	ret.k = axis.z;
+	Quaternion_Normalize(&ret);
+	return ret;
 }

 /** @brief linear quaternion interpolation */
 QUATERNION Quaternion_Lerp(QUATERNION q1, QUATERNION q2, double t)
 {
-    QUATERNION ret;
-    Quaternion_ScalarMult(&q1, 1 - t);
-    Quaternion_ScalarMult(&q1, t);
-    ret = Quaternion_Add(q1, q2);
-    Quaternion_Normalize(&ret);
-    return ret;
+	QUATERNION ret;
+	Quaternion_ScalarMult(&q1, 1.0 - t);
+	Quaternion_ScalarMult(&q1, t);
+	ret = Quaternion_Add(q1, q2);
+	Quaternion_Normalize(&ret);
+	return ret;
 }

 /** @brief spherical linear interpolation */
 QUATERNION Quaternion_Slerp(QUATERNION q1, QUATERNION q2, double t)
 {
-    double dot;
-    QUATERNION q3, ret;
-    dot = Quaternion_Dot(q1, q2);
-    /*  dot = cos(theta)
-        if (dot < 0), q1 and q2 are more than 90 degrees apart,
-        so we can invert one to reduce spinning */
-    if (dot < 0)
-    {
-        dot = -dot;
-        q3.s = -q2.s;
-        q3.i = -q2.i;
-        q3.j = -q2.j;
-        q3.k = -q2.k;
-    }
-    else
-    {
-        q3 = q2;
-    }
+	double dot;
+	QUATERNION q3, ret;
+	dot = Quaternion_Dot(q1, q2);
+	/*  dot = cos(theta)
+		if (dot < 0), q1 and q2 are more than 90 degrees apart,
+		so we can invert one to reduce spinning */
+	if (dot < 0)
+	{
+		dot = -dot;
+		q3.s = -q2.s;
+		q3.i = -q2.i;
+		q3.j = -q2.j;
+		q3.k = -q2.k;
+	}
+	else
+	{
+		q3 = q2;
+	}

-    if (dot < 0.95)
-    {
-        double angle = acos(dot);
-        Quaternion_ScalarMult(&q1, sin(angle * (1 - t)));
-        Quaternion_ScalarMult(&q3, sin(angle * t));
-        ret = Quaternion_Add(q1, q3);
-        Quaternion_ScalarDiv(&ret, sin(angle));
-        return ret;
-    }
-    // if the angle is small, use linear interpolation
-    else
-    {
-        return Quaternion_Lerp(q1, q3, t);
-    }
+	if (dot < 0.95)
+	{
+		double angle = acos(dot);
+		Quaternion_ScalarMult(&q1, sin(angle * (1 - t)));
+		Quaternion_ScalarMult(&q3, sin(angle * t));
+		ret = Quaternion_Add(q1, q3);
+		Quaternion_ScalarDiv(&ret, sin(angle));
+		return ret;
+	}
+	// if the angle is small, use linear interpolation
+	else
+	{
+		return Quaternion_Lerp(q1, q3, t);
+	}
 }
+
+/** @} LinkLayerGeometry_Quaternion */
+
+/** @} LinkLayerGeometry */
+
+/** @} LinkLayer */
@@ -1,3 +1,29 @@
+/*****************************************************************************/
+/**
+ * @file quaternion.h
+ * @author FanHao ([email protected])
+ * @version 0.0
+ * @date 2023-05-06
+ *
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
+ *
+ ******************************************************************************/
+
+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayerGeometry
+ * @{
+ */
+
+/**
+ * @defgroup LinkLayerGeometry_Quaternion
+ * @{
+ */

 #ifndef __QUATERNION_H
 #define __QUATERNION_H
@@ -5,13 +31,16 @@
 #include "coord.h"
 #include "eulerangles.h"

-// borrowed and adapted from https://github.com/MegaManSE/willperone/blob/master/Math/quaternion.h
+/**
+ * @struct QUATERNION
+ * @brief Structure for standard quaternion
+ */
 typedef struct
 {
-  double s;
-  double i;
-  double j;
-  double k;
+	double s;
+	double i;
+	double j;
+	double k;
 } QUATERNION;

 extern const QUATERNION QUATERNION_IDENTITY;
@@ -27,13 +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);
@@ -78,13 +107,13 @@ COORD Quaternion_GetRotationAxis(QUATERNION q);
 void Quaternion_GetRotationAxisAndAngle(QUATERNION q, COORD *axis, double *angle);

 /** @brief Decompose the rotation on to 2 parts.
-    1. Twist - rotation around the "direction" vector
-    2. Swing - rotation around axis that is perpendicular to "direction" vector
-    The rotation can be composed back by rotation = swing * twist
+	1. Twist - rotation around the "direction" vector
+	2. Swing - rotation around axis that is perpendicular to "direction" vector
+	The rotation can be composed back by rotation = swing * twist

-    has singularity in case of swing_rotation close to 180 degrees rotation.
-    if the input quaternion is of non-unit length, the outputs are non-unit as well
-    otherwise, outputs are both unit
+	has singularity in case of swing_rotation close to 180 degrees rotation.
+	if the input quaternion is of non-unit length, the outputs are non-unit as well
+	otherwise, outputs are both unit
 */
 void Quaternion_GetSwingAndTwist(QUATERNION q, COORD axis, QUATERNION *swing, QUATERNION *twist);

@@ -107,3 +136,9 @@ QUATERNION Quaternion_Lerp(QUATERNION q1, QUATERNION q2, double t);
 QUATERNION Quaternion_Slerp(QUATERNION q1, QUATERNION q2, double t);

 #endif
+
+/** @} LinkLayerGeometry_Quaternion */
+
+/** @} LinkLayerGeometry */
+
+/** @} LinkLayer */
@@ -1,19 +1,21 @@
 /*****************************************************************************/
 /**
- * Description: A brief description of this file
+ * @file link_layer.c
+ * @author FanHao ([email protected])
+ * @brief DF Linklayer implementation file.
+ * @version 0.1
+ * @date 2023-05-06
 *
- * Date: 2021-11-13 13:32
- * LastEditTime: 2021-11-23 10:57
- * Revisions: Rev 0.0
- * History:
- * [2021-11-23]: Initial version.
- * [2022-03-28]: Add bre test mode.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
 /***************************** Include Files *********************************/
 #include <stdlib.h>
 #include <string.h>
@@ -31,17 +33,30 @@
 #endif
 /************************** Constant Definitions *****************************/
 #define NET_START_TIME_INFTY UINT32_MAX
-#define LINK_BROCK_THRESHOLD (3 * 200) // 3 secods
+#define LINK_BROCK_THRESHOLD L2_SLOTS_PER_FRAME // 0.5 secods
+
 /************************** Variable Definitions *****************************/
 /***************** 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);
 static void L2_UpdateSlotNum(L2_INST *instPtr);
 static void L2_DataAvailUpdate(L2_INST *instPtr, bool status);
+static void L2_FrameStateUpdate(L2_INST *instPtr);
+
+/**
+ * @brief   Shift L2 status record.(newval->next->curr->last)
+ */
+inline void L2_RcdShift(L2_RCD *rcd, uint32_t netxVal)
+{
+	ASSERT(rcd != NULL);
+	rcd->last = rcd->curr;
+	rcd->curr = rcd->next;
+	rcd->next = netxVal;
+}

 /**
 * @brief	helper function to update linkelayer state
@@ -101,6 +116,80 @@ static inline void L2_DataAvailUpdate(L2_INST *instPtr, bool status)
 	instPtr->dataAvail = status;
 }

+/*****************************************************************************/
+/**
+ * @brief   Update L2 frame state, check if there is any valid L2 frame data in
+ * 			data buffer, update receive frame status.
+ *
+ * @param   instPtr		a pointer to linklayer instance
+ *
+ * @return	NONE.
+ *
+ ******************************************************************************/
+static void L2_FrameStateUpdate(L2_INST *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	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)
+	{
+		L2_DataAvailUpdate(instPtr, false);
+	}
+	else
+	{
+		DBG_INFO("A frame received, checking data validation...\n");
+		DBG_INFO("Last frame type is: %" PRId32 ".\n", instPtr->frame.last);
+		Phy_RetrieveRecvData(phyRef, instPtr->recvPktData);
+		instPtr->log.frameRecv++;
+
+		// Update frame state.
+		switch (recvType)
+		{
+		case L2_SCAN_FRAME:
+		case L2_ADV_FRAME:
+			isValid = L2_CrcCheck(instPtr->recvPktData, L2_ADV_PACK_LEN, L2_CRC16_1021);
+			instPtr->log.advRecvCnt++;
+			instPtr->log.advCorrectCnt = isValid ? instPtr->log.advCorrectCnt + 1 : instPtr->log.advCorrectCnt;
+			break;
+		case L2_CFM_FRAME:
+			isValid = L2_CrcCheck(instPtr->recvPktData, L2_CMF_PACK_LEN, L2_CRC16_1021);
+			instPtr->log.cfmRecvCnt++;
+			instPtr->log.cfmCorrectCnt = isValid ? instPtr->log.cfmCorrectCnt + 1 : instPtr->log.cfmCorrectCnt;
+			break;
+		case L2_SVC_FRAME:
+#ifndef DATALINK_ENABLE_BERTEST
+			isValid = L2_CrcCheck(instPtr->recvPktData, L2_SVC_PACK_LEN, L2_CRC16_1021);
+#else
+			isValid = true;
+#endif
+			instPtr->log.svcRecvCnt++;
+			instPtr->log.svcCorrectCnt = isValid ? instPtr->log.svcCorrectCnt + 1 : instPtr->log.svcCorrectCnt;
+			break;
+
+		default:
+			isValid = false;
+			break;
+		}
+		if (isValid)
+		{
+			instPtr->log.frameCorrect++;
+			L2_DataAvailUpdate(instPtr, true);
+		}
+		else
+		{
+			L2_DataAvailUpdate(instPtr, false);
+		}
+	}
+}
+
+/**
+ * @addtogroup LinkLayer_Utility
+ * @{
+ */
+
 /**
 * @brief   Get the current node ID.
 */
@@ -146,6 +235,15 @@ inline L2_NODE_STATE L2_GetMainState(L2_INST *instPtr)
 	return instPtr->mainState;
 }

+/**
+ * @brief   Check if there is a valid l2 frame.
+ */
+inline bool L2_isStarted(L2_INST *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	return instPtr->isEnable;
+}
+
 /**
 * @brief   Check if there is a valid l2 frame.
 */
@@ -164,6 +262,14 @@ inline bool L2_isCxn2Net(L2_INST *instPtr)
 	return instPtr->cxn2Net;
 }

+/**
+ * @brief   Get corresponding frame length in byte of L2 frame.
+ */
+inline uint32_t L2_GetFrameLen(L2_FRAME_TYPE l2FrameType)
+{
+	return Phy_GetFrameLen(L2_L2frame2L1frame(l2FrameType));
+}
+
 /**
 * @brief   Get last frame number.
 */
@@ -271,24 +377,6 @@ inline L2_TOR_TYPE L2_GetNextTor(L2_INST *instPtr)
 	return instPtr->tor.next;
 }

-/*****************************************************************************/
-/**
- * @brief   Shift L2 status record.(newval->next->curr->last)
- *
- * @param   instPtr  A pointer to physical layer control instance.
- *
- * @return  NONE.
- *
- ******************************************************************************/
-inline void L2_RcdShift(L2_RCD *rcd, int32_t netxVal)
-{
-	ASSERT(rcd != NULL);
-	rcd->last = rcd->curr;
-	rcd->curr = rcd->next;
-	rcd->next = netxVal;
-}
-
-// FIXME:
 /*****************************************************************************/
 /**
 * @brief   Infer last received frame type.
@@ -316,292 +404,6 @@ L2_FRAME_TYPE L2_GetLastOptFrameType(L2_INST *instPtr)
 		return L2_NONE_FRAME;
 	}
 }
-
-/*****************************************************************************/
-/**
- * @brief   Update L2 frame state, check if there is any valid L2 frame data in
- * 			data buffer, update receive frame status.
- *
- * @param   instPtr		a pointer to linklayer instance
- *
- * @return	NONE.
- *
- ******************************************************************************/
-void L2_FrameStateUpdate(L2_INST *instPtr)
-{
-	ASSERT(instPtr != NULL);
-	PHY_INST *phyRef = instPtr->config.phyInstPtr;
-	bool isValid;
-	L2_FRAME_TYPE recvType = L2_GetLastOptFrameType(instPtr);
-	// Update frame state.
-	if (Phy_IsFrameValid(phyRef) == false)
-	{
-		L2_DataAvailUpdate(instPtr, false);
-	}
-	else
-	{
-	DBG_INFO("A frame received, checking data validation...\n");
-	DBG_INFO("Last frame type is: %" PRId32 ".\n", instPtr->frame.last);
-	Phy_RetrieveRecvData(phyRef, instPtr->recvPktData);
-	instPtr->log.frameRecv++;
-
-	// Update frame state.
-	switch (recvType)
-	{
-	case L2_SCAN_FRAME:
-	case L2_ADV_FRAME:
-		isValid = L2_CrcCheck(instPtr->recvPktData, L2_ADV_PACK_LEN, L2_CRC16_1021);
-		instPtr->log.advRecvCnt++;
-		instPtr->log.advCorrectCnt = isValid ? instPtr->log.advCorrectCnt + 1 : instPtr->log.advCorrectCnt;
-		break;
-	case L2_CFM_FRAME:
-		isValid = L2_CrcCheck(instPtr->recvPktData, L2_CMF_PACK_LEN, L2_CRC16_1021);
-		instPtr->log.cfmRecvCnt++;
-		instPtr->log.cfmCorrectCnt = isValid ? instPtr->log.cfmCorrectCnt + 1 : instPtr->log.cfmCorrectCnt;
-		break;
-	case L2_SVC_FRAME:
-#ifndef DATALINK_ENABLE_BERTEST
-		isValid = L2_CrcCheck(instPtr->recvPktData, L2_SVC_PACK_LEN, L2_CRC16_1021);
-#else
-		isValid = true;
-#endif
-		instPtr->log.svcRecvCnt++;
-		instPtr->log.svcCorrectCnt = isValid ? instPtr->log.svcCorrectCnt + 1 : instPtr->log.svcCorrectCnt;
-		break;
-
-	default:
-		isValid = false;
-		break;
-	}
-	if(isValid)
-	{
-		instPtr->log.frameCorrect++;
-		L2_DataAvailUpdate(instPtr, true);
-	}
-	else
-	{
-		L2_DataAvailUpdate(instPtr, false);
-	}
-	}
-}
-
-/*****************************************************************************/
-/**
- * @brief   Steer antenna beam to specified node.
- *
- * @param   instPtr	a pointer to link layer descriptor instance
- * @param   nodeId		destination node
- *
- * @return Corresponding frame length
- *         L2_FRAME_NONE_LEN if the frame type code cannot be recognized.
- *
- ******************************************************************************/
-// FIXME: To Complete.
-int32_t L2_SteerBeam2Node(L2_INST *instPtr, uint8_t nodeId)
-{
-	ASSERT(instPtr != NULL);
-	ASSERT(instPtr->config.phyInstPtr != NULL);
-	int32_t Status;
-
-	COORD myPos, dstPos, beamDir;
-	Status = L2_GetNodePos(instPtr->nodeList, nodeId, &dstPos);
-	if (Status != SUCCESS)
-	{
-		DBG_ERROR("Failed to retrieve position info of node %" PRIu8 ", remain last configuration.\n", nodeId);
-		return EPARAM;
-	}
-	myPos.x = instPtr->sysInfo.posX;
-	myPos.y = instPtr->sysInfo.posY;
-	myPos.z = instPtr->sysInfo.posZ;
-
-	// TODO Check data format
-	EULERANGLES attitudeEuler, antAttitudeEuler;
-	attitudeEuler.alpha = DEG2RAD(instPtr->sysInfo.pitch);
-	attitudeEuler.beta = DEG2RAD(instPtr->sysInfo.yaw);
-	attitudeEuler.gamma = DEG2RAD(instPtr->sysInfo.roll);
-
-	// FIXME: confirm date source.
-	antAttitudeEuler.alpha = DEG2RAD(0);
-	antAttitudeEuler.beta = DEG2RAD(0);
-	antAttitudeEuler.gamma = DEG2RAD(0);
-
-	// TODO Check data format
-	QUATERNION attitude, antAttitude;
-	attitude = Quaternion_FromeEulerAngles(attitudeEuler, EULERANGLES_XYZ);
-	antAttitude = Quaternion_FromeEulerAngles(antAttitudeEuler, EULERANGLES_XYZ);
-
-	// --- --- Algorithm --- ---
-	// TODO Check result validation
-	// Compute beam direction vector
-	beamDir = Coord_Sub(dstPos, myPos);
-
-	// Compute antenna attitude respect to ECEF
-	antAttitude = Quaternion_Mult(attitude, antAttitude);
-
-	// Convert beam direction vector to antenna coordinate
-	beamDir = Quaternion_Rotate(Quaternion_GeInverse(antAttitude), beamDir);
-	// Normalize
-	Coord_Normalize(&beamDir);
-
-	double oAxis, rAxis;
-	oAxis = RAD2DEG(atan2(beamDir.z, beamDir.y));
-	rAxis = RAD2DEG(acos(Coord_Dot(beamDir, COORD_X_AXIS)));
-	Status = Phy_SetBeamAngle(instPtr->config.phyInstPtr, oAxis, rAxis);
-	return Status;
-}
-
-/*****************************************************************************/
-/**
- * @brief   Layer 2 setup next slot operation, update current operating frame.
- *
- * @param   instPtr		a pointer to linklayer instance
- * @param   txrxMode	tx/rx state for next slot
- * @param   frameType	frame type of next slot.
- *
- * @return Corresponding frame length
- *         L2_FRAME_NONE_LEN if the frame type code cannot be recognized.
- *
- ******************************************************************************/
-int32_t L2_SetupNextSlot(L2_INST *instPtr, L2_TOR_TYPE txrxMode, L2_FRAME_TYPE frameType)
-{
-	ASSERT(instPtr != NULL);
-	PHY_INST *phyRef = instPtr->config.phyInstPtr;
-	int32_t Status;
-	if (frameType < L2_SCAN_FRAME || frameType > L2_SVC_FRAME)
-	{
-		return FAILURE;
-	}
-
-	// logging
-	if (txrxMode == L2_TOR_TX)
-	{
-		instPtr->log.frameTx++;
-		switch (frameType)
-		{
-		case L2_ADV_FRAME:
-			instPtr->log.advTxCnt++;
-			break;
-		case L2_CFM_FRAME:
-			instPtr->log.cfmTxCnt++;
-			break;
-		case L2_SVC_FRAME:
-			instPtr->log.svcTxCnt++;
-			break;
-		default:
-			break;
-		}
-	}
-	else if (txrxMode == L2_TOR_RX)
-	{
-		instPtr->log.frameRx++;
-		switch (frameType)
-		{
-		case L2_ADV_FRAME:
-			instPtr->log.advRxCnt++;
-			break;
-		case L2_CFM_FRAME:
-			instPtr->log.cfmRxCnt++;
-			break;
-		case L2_SVC_FRAME:
-			instPtr->log.svcRxCnt++;
-			break;
-		default:
-			break;
-		}
-	}
-
-#if _DEBUG_LEVEL >= 3
-	char *torStr = NULL;
-	char *frameStr = NULL;
-	switch (txrxMode)
-	{
-	case L2_TOR_SUSPEND:
-		torStr = "SUSPEND";
-		break;
-	case L2_TOR_TX:
-		torStr = "TX";
-		break;
-	case L2_TOR_RX:
-		torStr = "RX";
-		break;
-	}
-	switch (frameType)
-	{
-	case L2_SCAN_FRAME:
-		frameStr = "Scan";
-		break;
-	case L2_ADV_FRAME:
-		frameStr = "Advertisement";
-		break;
-	case L2_CFM_FRAME:
-		frameStr = "Confirm";
-		break;
-	case L2_SVC_FRAME:
-		frameStr = "Service";
-		break;
-	default:
-		frameStr = "UNKNOWN Frame";
-		break;
-	}
-	DBG_INFO("# Setup Next Slot # [%" PRIu32 "-%" PRIu32 "], %s, %s.\n",
-			 instPtr->frameNum.next,
-			 instPtr->slotNum.next,
-			 torStr, frameStr);
-#endif
-
-	// Update frame and tx/rx mode record.
-	// Frame types shift (last <- curr <- next)
-	L2_RcdShift(&(instPtr->frame), frameType);
-	L2_RcdShift(&(instPtr->tor), txrxMode);
-
-	TIME_WORD pullTime = {0, 0};
-	pullTime.int_part = TimeCtrl_GetIntCnt(instPtr->config.tmcInstPtr) + 1;
-	Status = Phy_SetTimeWord(phyRef, &pullTime, PHY_TIME_WORD_POLL);
-	if (Status != SUCCESS)
-	{
-		DBG_ERROR("Physical set pull time failed, with error code: %" PRId32 "\n", Status);
-	}
-
-	PHY_TOR_TYPE tor;
-	switch (txrxMode)
-	{
-	case L2_TOR_SUSPEND:
-		tor = PHY_TOR_SUSPEND;
-		break;
-	case L2_TOR_TX:
-		tor = PHY_TOR_TX;
-		break;
-	case L2_TOR_RX:
-		tor = PHY_TOR_RX;
-		break;
-	default:
-		DBG_ERROR("Invalid txrx mode :%" PRId8 ".\n", txrxMode);
-		return EPARAM;
-	}
-
-	Status = Phy_SetupNextSlot(phyRef, tor, L2_L2frame2L1frame(frameType), instPtr->sendPktData);
-	if (Status != SUCCESS)
-	{
-		DBG_ERROR("Physical setup failed, with error code: %" PRId32 "\n", Status);
-	}
-	return Status;
-}
-
-/*****************************************************************************/
-/**
- * @brief   Get corresponding frame length in byte of L2 frame.
- *
- * @param   l2FrameType
- *
- * @return Corresponding frame length
- *         L2_FRAME_NONE_LEN if the frame type code cannot be recognized.
- *
- ******************************************************************************/
-uint32_t L2_GetFrameLen(L2_FRAME_TYPE l2FrameType)
-{
-	return Phy_GetFrameLen(L2_L2frame2L1frame(l2FrameType));
-}
-
 /*****************************************************************************/
 /**
 * @brief   Convert L2 frame type to L1 frame type
@@ -626,6 +428,12 @@ L1_FRAME_TYPE L2_L2frame2L1frame(L2_FRAME_TYPE l2Frame)
 		return L1_NONE_FRAME;
 	}
 }
+/** @} LinkLayer_Utility*/
+
+/**
+ * @defgroup LinkLayer_Main
+ * @{
+ */

 /*****************************************************************************/
 /**
@@ -660,7 +468,15 @@ int32_t Linklayer_Init(L2_INST **instPtr, const L2_CONFIG *config)
 		DBG_ERROR("Allocate memory for L2_InstPtr failed.\n");
 		return ENOMEM;
 	}
+
+	// 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
@@ -668,15 +484,15 @@ 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;
-		goto init_error;
+		Linklayer_Destroy(*instPtr);
+		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;
-		goto init_error;
+		Linklayer_Destroy(*instPtr);
+		return ENOMEM;
 	}
 	// Reset basic info
 	(*instPtr)->netStartTime = NET_START_TIME_INFTY;
@@ -684,7 +500,7 @@ int32_t Linklayer_Init(L2_INST **instPtr, const L2_CONFIG *config)
 	(*instPtr)->rtneConfig.curr = NULL;
 	(*instPtr)->rtneConfig.next = NULL;
 	(*instPtr)->isEnable = false;
-	(*instPtr)->cxn2Net = (config->myType == L2_NODE_HEAD) ? true : false;;
+	(*instPtr)->cxn2Net = (config->myType == L2_NODE_HEAD) ? true : false;
 	(*instPtr)->dataAvail = false;
 	(*instPtr)->frameNum.last = 0;
 	(*instPtr)->frameNum.curr = 0;
@@ -719,32 +535,33 @@ 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;
 }

 /*****************************************************************************/
@@ -780,7 +597,7 @@ int32_t Linklayer_Reconfig(L2_INST *instPtr, const L2_CONFIG *config)
 	instPtr->rtneConfig.last = NULL;
 	instPtr->rtneConfig.curr = NULL;
 	instPtr->rtneConfig.next = NULL;
-	instPtr->cxn2Net = false;
+	instPtr->cxn2Net = (config->myType == L2_NODE_HEAD) ? true : false;
 	instPtr->dataAvail = false;
 	instPtr->frameNum.last = 0;
 	instPtr->frameNum.curr = 0;
@@ -828,7 +645,10 @@ 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
@@ -852,7 +672,8 @@ int32_t Linklayer_Start(L2_INST *instPtr)
 {
 	ASSERT(instPtr != NULL);
 	// Set netStartTime at first call.
-	if (instPtr->netStartTime == NET_START_TIME_INFTY) {
+	if (instPtr->netStartTime == NET_START_TIME_INFTY)
+	{
 		instPtr->netStartTime = TimeCtrl_GetIntCnt(instPtr->config.tmcInstPtr) / L2_SLOTS_PER_FRAME + 1;
 	}
 	instPtr->isEnable = true;
@@ -944,7 +765,7 @@ int32_t Linklayer_EventHandler(L2_INST *instPtr, const L2_EVENT *l2Event)
 	case L2_EV_LOST_CXN:
 	{
 		DBG_INFO("Event L2_EV_LOST_CXN asserted....\n");
-		if (instPtr->config.myType == L2_NODE_HEAD)
+		if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
 		{
 			DBG_ERROR("Illegal event, only None_Head node can assert L2_EV_LOST_CXN.\n");
 			break;
@@ -954,6 +775,7 @@ int32_t Linklayer_EventHandler(L2_INST *instPtr, const L2_EVENT *l2Event)
 		L2_Service_Reset(instPtr->serviceFSM);
 		instPtr->cxn2Net = false;
 		UpdateMainSate(instPtr, L2_INIT_STATE);
+		instPtr->log.reconnectCnt++;
 		break;
 	}
 	case L2_EV_LOST_NODE:
@@ -962,6 +784,8 @@ int32_t Linklayer_EventHandler(L2_INST *instPtr, const L2_EVENT *l2Event)
 		L2_Scan_Reset(instPtr->scanFSM);
 		L2_Service_Reset(instPtr->serviceFSM);
 		UpdateMainSate(instPtr, L2_INIT_STATE);
+		// Log reconnect
+		instPtr->log.reconnectCnt++;
 		break;
 	}
 	case L2_ROUTINE_FINISH:
@@ -983,7 +807,8 @@ int32_t Linklayer_EventHandler(L2_INST *instPtr, const L2_EVENT *l2Event)
 		}
 		else
 		{
-			DBG_WARNING("Unsupported routine state [%" PRId8 "], Continue withe previous routine table.\n", instPtr->nextState);
+			DBG_WARNING("Unsupported routine state [%" PRId8 "], "
+					"Continue with previous routine table.\n", instPtr->nextState);
 		}
 		break;
 	}
@@ -1112,7 +937,7 @@ static int32_t Linklayer_Routine(L2_INST *instPtr)
 	case L2_SLOT_CONFIRM:
 		Status = L2_Scan_Routine(instPtr, &rtneEntry);
 		break;
-	 case L2_SLOT_SERVICE:
+	case L2_SLOT_SERVICE:
 		Status = L2_Service_Routine(instPtr, &rtneEntry);
 		break;
 	default:
@@ -1132,15 +957,18 @@ static int32_t Linklayer_Routine(L2_INST *instPtr)
 	L2_IterEditNode(instPtr->nodeList, &increment, IntcNodeTTL);

 #ifdef DATALINK_ENABLE_AUTORECONNECT
-	L2_IterDeleteNode(instPtr->nodeList, IsNodeConnected);
-	if (L2_GetNodeListLen(instPtr->nodeList) < instPtr->config.netScale - 1)
+	if (L2_GetMainState(instPtr) != L2_INIT_STATE)
 	{
-		// reset scan process
-		L2_EVENT l2Event;
-		// Assert Net-Setup Done.
-		l2Event.event = (L2_GetNodeType(instPtr) == L2_NODE_HEAD) ? L2_EV_LOST_NODE : L2_EV_LOST_CXN;
-		l2Event.msg = NULL;
-		AssertL2Event(instPtr, &l2Event);
+		L2_IterDeleteNode(instPtr->nodeList, IsNodeConnected);
+		if (L2_GetNodeListLen(instPtr->nodeList) < instPtr->config.netScale - 1)
+		{
+			// reset scan process
+			L2_EVENT l2Event;
+			// Assert Net-Setup Done.
+			l2Event.event = (L2_GetNodeType(instPtr) == L2_NODE_HEAD) ? L2_EV_LOST_NODE : L2_EV_LOST_CXN;
+			l2Event.msg = NULL;
+			AssertL2Event(instPtr, &l2Event);
+		}
 	}
 #endif
 	return Status;
@@ -1160,6 +988,8 @@ int32_t Linklayer_Proc(L2_INST *instPtr)
 {
 	ASSERT(instPtr != NULL);
 	int32_t Status;
+	PHY_INST *phyRef = instPtr->config.phyInstPtr;
+	TMC_INST *tmcRef = instPtr->config.tmcInstPtr;

 	if (instPtr->isEnable == false)
 	{
@@ -1168,7 +998,7 @@ int32_t Linklayer_Proc(L2_INST *instPtr)
 	}

 	// FIXME: Consider time wrapping.
-	uint32_t nextTimeUnit = (TimeCtrl_GetIntCnt(instPtr->config.tmcInstPtr) + 1) / L2_SLOTS_PER_FRAME;
+	uint32_t nextTimeUnit = (TimeCtrl_GetIntCnt(tmcRef) + 1) / L2_SLOTS_PER_FRAME;
 	if (nextTimeUnit < instPtr->netStartTime)
 	{
 		DBG_WARNING("Linklayer not start yet, next time unit: %" PRIu32 ", start time unit: %" PRIu32 ".\n",
@@ -1200,24 +1030,24 @@ int32_t Linklayer_Proc(L2_INST *instPtr)
 	// Run Link layer routine, setup next slot procedure.
 	if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
 	{
-		Phy_SetMode(instPtr->config.phyInstPtr, PHY_MODE_PULL);
+		Phy_SetMode(phyRef, PHY_MODE_PULL);
 		Status = Linklayer_Routine(instPtr);
 	}
 	else
 	{ // L2_NODE_MEMBER
 		if (L2_isCxn2Net(instPtr))
 		{
-			Phy_SetMode(instPtr->config.phyInstPtr, PHY_MODE_PULL);
+			Phy_SetMode(phyRef, PHY_MODE_PULL);
 			Status = Linklayer_Routine(instPtr);
 		}
 		else
 		{
-			Phy_SetMode(instPtr->config.phyInstPtr, PHY_MODE_LISTEN);
+			Phy_SetMode(phyRef, PHY_MODE_LISTEN);
 			Status = L2_Scan_Proc(instPtr);
 		}
 	}

-		// Check if previous runs has error occurred.
+	// Check if previous runs has error occurred.
 	if (Status != SUCCESS)
 	{
 		return Status;
@@ -1228,17 +1058,16 @@ int32_t Linklayer_Proc(L2_INST *instPtr)

 	// Update link layer state.
 	instPtr->mainState = instPtr->nextState;
-
 	instPtr->linkLog.tuNum = instPtr->frameNum.curr;
 	instPtr->linkLog.slotNum = (uint8_t)instPtr->slotNum.curr;
-	instPtr->linkLog.nodeType = (instPtr->config.myType == L2_NODE_HEAD) ? 0xAA : 0xCC;
-	instPtr->linkLog.cxnStatus = (instPtr->cxn2Net) ? 0x11 : 0x00;
-	instPtr->linkLog.linkStage = (instPtr->mainState == L2_INIT_STATE) ? 0x00 : 0x11;
-	// TODO:
-	// instPtr->linkLog.recxnCnt =
-	// instPtr->linkLog.beamNo =
-	// instPtr->linkLog.beamAz =
-	// instPtr->linkLog.beamEl =
+	instPtr->linkLog.nodeType = (L2_GetNodeType(instPtr) == L2_NODE_HEAD) ? 0xAA : 0xCC;
+	instPtr->linkLog.cxnStatus = (L2_isCxn2Net(instPtr)) ? 0x11 : 0x00;
+	instPtr->linkLog.linkStage = (instPtr->mainState == L2_INIT_STATE) ? 0x11 : 0x22;
+	instPtr->linkLog.recxnCnt = instPtr->log.reconnectCnt;
+	instPtr->linkLog.beamNo = instPtr->scanFSM->beamNo;
+	instPtr->linkLog.beamWidth = instPtr->log.lastBeamWidth;
+	instPtr->linkLog.beamAz = phyRef->antNrrwPattern[instPtr->scanFSM->beamNo].oaxis;
+	instPtr->linkLog.beamEl = phyRef->antNrrwPattern[instPtr->scanFSM->beamNo].raxis;
 	instPtr->linkLog.advTxCnt = (uint16_t)instPtr->log.advTxCnt;
 	instPtr->linkLog.advRecvCnt = (uint16_t)instPtr->log.advRecvCnt;
 	instPtr->linkLog.advCorrectCnt = (uint16_t)instPtr->log.advCorrectCnt;
@@ -1248,10 +1077,212 @@ int32_t Linklayer_Proc(L2_INST *instPtr)
 	instPtr->linkLog.svcTxCnt = instPtr->log.svcTxCnt;
 	instPtr->linkLog.svcRecvCnt = instPtr->log.svcRecvCnt;
 	instPtr->linkLog.svcCorrectCnt = instPtr->log.svcCorrectCnt;
-	instPtr->linkLog.timeDev = instPtr->log.timeDev;
-	instPtr->linkLog.sendId = instPtr->serviceFSM->txLog.dataId;
-	instPtr->linkLog.recvId = instPtr->serviceFSM->rxLog.dataId;
+	instPtr->linkLog.timeDev = (instPtr->log.timeDev > INT32_MAX)
+								? INT32_MAX : ((instPtr->log.timeDev < INT32_MIN) ? INT32_MIN : (int32_t)instPtr->log.timeDev);
+	instPtr->linkLog.sendId = instPtr->log.txLog.dataId;
+	instPtr->linkLog.recvId = instPtr->log.rxLog.dataId;

 	SysMonitor_UpdateLinklayerLog(&(instPtr->linkLog));
 	return SUCCESS;
 }
+
+/*****************************************************************************/
+/**
+ * @brief   Steer antenna beam to specified node.
+ *
+ * @param   instPtr	a pointer to link layer descriptor instance
+ * @param   nodeId		destination node
+ *
+ * @return Corresponding frame length
+ *         L2_FRAME_NONE_LEN if the frame type code cannot be recognized.
+ *
+ ******************************************************************************/
+int32_t L2_SteerBeam2Node(L2_INST *instPtr, uint8_t nodeId)
+{
+	ASSERT(instPtr != NULL);
+	int32_t Status;
+
+	COORD myPos, dstPos, beamDir;
+	Status = L2_GetNodePos(instPtr->nodeList, nodeId, &dstPos);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("Failed to retrieve position info of node %" PRIu8 ", remain last configuration.\n", nodeId);
+		return EPARAM;
+	}
+	myPos.x = instPtr->sysInfo.posX;
+	myPos.y = instPtr->sysInfo.posY;
+	myPos.z = instPtr->sysInfo.posZ;
+
+	// TODO Check data format
+	EULERANGLES attitudeEuler, antAttitudeEuler;
+	attitudeEuler.alpha = DEG2RAD(instPtr->sysInfo.pitch);
+	attitudeEuler.beta = DEG2RAD(instPtr->sysInfo.yaw);
+	attitudeEuler.gamma = DEG2RAD(instPtr->sysInfo.roll);
+
+	// FIXME: confirm date source.
+	antAttitudeEuler.alpha = DEG2RAD(0);
+	antAttitudeEuler.beta = DEG2RAD(0);
+	antAttitudeEuler.gamma = DEG2RAD(0);
+
+	// TODO Check data format
+	QUATERNION attitude, antAttitude;
+	attitude = Quaternion_FromeEulerAngles(attitudeEuler, EULERANGLES_XYZ);
+	antAttitude = Quaternion_FromeEulerAngles(antAttitudeEuler, EULERANGLES_XYZ);
+
+	// --- --- Algorithm --- ---
+	// TODO Check result validation
+	// Compute beam direction vector
+	beamDir = Coord_Sub(dstPos, myPos);
+
+	// Compute antenna attitude respect to ECEF
+	antAttitude = Quaternion_Mult(attitude, antAttitude);
+
+	// Convert beam direction vector to antenna coordinate
+	beamDir = Quaternion_Rotate(Quaternion_GeInverse(antAttitude), beamDir);
+	// Normalize
+	Coord_Normalize(&beamDir);
+
+	double oAxis, rAxis;
+	oAxis = RAD2DEG(atan2(beamDir.z, beamDir.y));
+	rAxis = RAD2DEG(acos(Coord_Dot(beamDir, COORD_X_AXIS)));
+	Status = Phy_SetBeamAngle(instPtr->config.phyInstPtr, oAxis, rAxis);
+	return Status;
+}
+
+/*****************************************************************************/
+/**
+ * @brief   Layer 2 setup next slot operation, update current operating frame.
+ *
+ * @param   instPtr		a pointer to linklayer instance
+ * @param   txrxMode	tx/rx state for next slot
+ * @param   frameType	frame type of next slot.
+ *
+ * @return SUCCESS/FAILURE
+ *
+ ******************************************************************************/
+int32_t L2_SetupNextSlot(L2_INST *instPtr, L2_TOR_TYPE txrxMode, L2_FRAME_TYPE frameType)
+{
+	ASSERT(instPtr != NULL);
+	PHY_INST *phyRef = instPtr->config.phyInstPtr;
+	int32_t Status;
+	if (frameType < L2_SCAN_FRAME || frameType > L2_SVC_FRAME)
+	{
+		return FAILURE;
+	}
+
+	// logging
+	if (txrxMode == L2_TOR_TX)
+	{
+		instPtr->log.frameTx++;
+		switch (frameType)
+		{
+		case L2_ADV_FRAME:
+			instPtr->log.advTxCnt++;
+			break;
+		case L2_CFM_FRAME:
+			instPtr->log.cfmTxCnt++;
+			break;
+		case L2_SVC_FRAME:
+			instPtr->log.svcTxCnt++;
+			break;
+		default:
+			break;
+		}
+	}
+	else if (txrxMode == L2_TOR_RX)
+	{
+		instPtr->log.frameRx++;
+		switch (frameType)
+		{
+		case L2_ADV_FRAME:
+			instPtr->log.advRxCnt++;
+			break;
+		case L2_CFM_FRAME:
+			instPtr->log.cfmRxCnt++;
+			break;
+		case L2_SVC_FRAME:
+			instPtr->log.svcRxCnt++;
+			break;
+		default:
+			break;
+		}
+	}
+
+#if _DEBUG_LEVEL >= 3
+	char *torStr = NULL;
+	char *frameStr = NULL;
+	switch (txrxMode)
+	{
+	case L2_TOR_SUSPEND:
+		torStr = "SUSPEND";
+		break;
+	case L2_TOR_TX:
+		torStr = "TX";
+		break;
+	case L2_TOR_RX:
+		torStr = "RX";
+		break;
+	}
+	switch (frameType)
+	{
+	case L2_SCAN_FRAME:
+		frameStr = "Scan";
+		break;
+	case L2_ADV_FRAME:
+		frameStr = "Advertisement";
+		break;
+	case L2_CFM_FRAME:
+		frameStr = "Confirm";
+		break;
+	case L2_SVC_FRAME:
+		frameStr = "Service";
+		break;
+	default:
+		frameStr = "UNKNOWN Frame";
+		break;
+	}
+	DBG_INFO("# Setup Next Slot # [%" PRIu32 "-%" PRIu32 "], %s, %s.\n",
+			 instPtr->frameNum.next,
+			 instPtr->slotNum.next,
+			 torStr, frameStr);
+#endif
+
+	// Update frame and tx/rx mode record.
+	// Frame types shift (last <- curr <- next)
+	L2_RcdShift(&(instPtr->frame), frameType);
+	L2_RcdShift(&(instPtr->tor), txrxMode);
+
+	TIME_WORD pullTime = {0, 0};
+	pullTime.int_part = TimeCtrl_GetIntCnt(instPtr->config.tmcInstPtr) + 1;
+	Status = Phy_SetTimeWord(phyRef, &pullTime, PHY_TIME_WORD_POLL);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("Physical set pull time failed, with error code: %" PRId32 "\n", Status);
+	}
+
+	PHY_TOR_TYPE tor;
+	switch (txrxMode)
+	{
+	case L2_TOR_SUSPEND:
+		tor = PHY_TOR_SUSPEND;
+		break;
+	case L2_TOR_TX:
+		tor = PHY_TOR_TX;
+		break;
+	case L2_TOR_RX:
+		tor = PHY_TOR_RX;
+		break;
+	default:
+		DBG_ERROR("Invalid txrx mode :%" PRId8 ".\n", txrxMode);
+		return EPARAM;
+	}
+
+	Status = Phy_SetupNextSlot(phyRef, tor, L2_L2frame2L1frame(frameType), instPtr->sendPktData);
+	if (Status != SUCCESS)
+	{
+		DBG_ERROR("Physical setup failed, with error code: %" PRId32 "\n", Status);
+	}
+	return Status;
+}
+/** @} LinkLayer_Main*/
+/** @} LinkLayer*/
@@ -1,19 +1,21 @@
 /*****************************************************************************/
 /**
- * Description: Header file for df linklayer functions
+ * @file link_layer.h
+ * @author FanHao ([email protected])
+ * @brief DF Linklayer header file.
+ * @version 0.1
+ * @date 2023-05-06
 *
- * Date: 2021-11-13 13:33
- * LastEditTime: 2022-07-16 10:12
- * Revisions: Rev 0.1
- * History:
- * [2022-07-16]: New branch for DiJian.
- * [2021-11-23]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

+/**
+ * @defgroup LinkLayer
+ * @{
+ */
+
 #ifndef __LINK_LAYER_H_
 #define __LINK_LAYER_H_

@@ -27,79 +29,97 @@
 #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 *******************************/

+/**
+ * @struct L2_CONFIG
+ * @brief A struct holds all linklayer initialization parameters
+ */
 typedef struct
 {
-	L2_NODE_TYPE myType;
-	bool isInterHead;
-	uint8_t clustId;
-	uint8_t myId;
-	uint8_t headId;
-	uint8_t bkpHeadId;
-	uint8_t netScale;
-	PHY_INST *phyInstPtr;
-	TMC_INST *tmcInstPtr;
+	L2_NODE_TYPE myType;  ///< node type
+	uint8_t clustId;	  ///< node cluster id
+	uint8_t myId;		  ///< node id
+	uint8_t headId;		  ///< head node id
+	uint8_t netScale;	  ///< net scale
+	PHY_INST *phyInstPtr; ///< pointer to system physical layer instance
+	TMC_INST *tmcInstPtr; ///< pointer to system timer controller layer instance
 } L2_CONFIG;

+/**
+ * @struct L2_LOG
+ *  @brief A struct holds linklayer operating log
+ */
 typedef struct
 {
-	uint32_t frameRx;
-	uint32_t frameTx;
-	uint32_t frameRecv;
-	uint32_t frameCorrect;
+	uint32_t frameRx;	   ///< total rx frame count
+	uint32_t frameTx;	   ///< total tx frame count
+	uint32_t frameRecv;	   ///< total received frame count
+	uint32_t frameCorrect; ///< total correctly received frame count

-	uint32_t advRxCnt;
-	uint32_t advTxCnt;
-	uint32_t advRecvCnt;
-	uint32_t advCorrectCnt;
+	uint32_t advRxCnt;		///< advertise rx frame count
+	uint32_t advTxCnt;		///< advertise tx frame count
+	uint32_t advRecvCnt;	///< advertise received frame count
+	uint32_t advCorrectCnt; ///< advertise correctly received frame count

-	uint32_t cfmRxCnt;
-	uint32_t cfmTxCnt;
-	uint32_t cfmRecvCnt;
-	uint32_t cfmCorrectCnt;
+	uint32_t cfmRxCnt;		///< confirm rx frame count
+	uint32_t cfmTxCnt;		///< confirm tx frame count
+	uint32_t cfmRecvCnt;	///< confirm received frame count
+	uint32_t cfmCorrectCnt; ///< confirm correctly received frame count

-	uint32_t svcRxCnt;
-	uint32_t svcTxCnt;
-	uint32_t svcRecvCnt;
-	uint32_t svcCorrectCnt;
+	uint32_t svcRxCnt;		///< service rx frame count
+	uint32_t svcTxCnt;		///< service tx frame count
+	uint32_t svcRecvCnt;	///< service received frame count
+	uint32_t svcCorrectCnt; ///< service correctly received frame count

-	int64_t timeDev;
+	int64_t timeDev;	   ///< last time deviation estimation result
+	uint8_t lastBeamWidth; ///< last beam width
+	uint32_t reconnectCnt; ///< reconnect trial count
+
+	PAYLOAD rxLog;
+	PAYLOAD txLog;
 } L2_LOG;

+/**
+ * @struct L2_INST
+ * @brief A linklayer instance
+ */
 typedef struct
 {
-	L2_CONFIG config;
-	L2_NODE_INFO myInfo;
-	NODE_LIST *nodeList;
-	L2_SCHD_POOL *schdEventPool;
-	uint32_t netStartTime;
-	bool isEnable;			   // if the node is connected to the network
-	bool dataAvail;			   // if there is a valid received frame data in rx buffer
-	bool cxn2Net;			   // if the node is connected to the network
-	L2_RCD frameNum;		   // stores the last current and next frame number.
-	L2_RCD slotNum;			   // stores the last current and next slot number.
-	L2_RCD frame;			   // stores the last current and next link layer frame type.
-	L2_RCD tor;				   // stores the last current and next link layer tx/rx state.
-	L2_NODE_STATE mainState;   // the main state of link layer state
-	L2_NODE_STATE nextState;   // next state of link layer state, which will be applied to mainState every second.
-	L2_RTNE_CONFIG rtneConfig; // current routine table configuration and status.
-	L2_SCAN_FSM *scanFSM;   // FSM of scan net (link set up)
-	L2_SVC_FSM *serviceFSM; // FSM of service net (data service)
-	uint8_t *sendPktData;
-	uint8_t *recvPktData;
-	L2_LOG log;
+	L2_CONFIG config;			 ///< linklayer configuration parameters
+	L2_NODE_INFO myInfo;		 ///< current node info
+	NODE_LIST *nodeList;		 ///< discovered node list
+	L2_SCHD_POOL *schdEventPool; ///< event schedule pool
+	uint32_t netStartTime;		 ///< network start time
+	bool isEnable;				 ///< indicates if the node is connected to the network
+	bool dataAvail;				 ///< indicates if there is a valid received frame data in rx buffer
+	bool cxn2Net;				 ///< indicates if the node is connected to the network
+	L2_RCD frameNum;			 ///< stores the last current and next frame number.
+	L2_RCD slotNum;				 ///< stores the last current and next slot number.
+	L2_RCD frame;				 ///< stores the last current and next link layer frame type.
+	L2_RCD tor;					 ///< stores the last current and next link layer tx/rx state.
+	L2_NODE_STATE mainState;	 ///< the main state of link layer state
+	L2_NODE_STATE nextState;	 ///< next state of link layer state, which will be applied to mainState every second.
+	L2_RTNE_CONFIG rtneConfig;	 ///< current routine table configuration and status.
+	L2_SCAN_FSM *scanFSM;		 ///< FSM of scan net (link set up)
+	L2_SVC_FSM *serviceFSM;		 ///< FSM of service net (data service)
+	uint8_t *sendPktData;		 ///< send data buffer
+	uint8_t *recvPktData;		 ///< received data buffer
+	L2_LOG log;					 ///< Linklayer operating log
 	// for system log
-	SYSINFO sysInfo;
-	LINKLOG linkLog;
+	SYSINFO sysInfo; ///< system info
+	LINKLOG linkLog; ///< linklayer log for system monitor
 } L2_INST;

 /************************** Variable Definitions *****************************/
 extern L2_RTNE_TABLE_ENTRY *initTable[L2_INIT_RTNE_PERIOD];
 extern L2_RTNE_TABLE_ENTRY *normalTable[L2_NORMAL_RTNE_PERIOD];
 /************************** Function Prototypes ******************************/
-// Main
+/**
+ * @defgroup LinkLayer_Main
+ * @{
+ */
 int32_t Linklayer_Init(L2_INST **instPtr, const L2_CONFIG *config);
 int32_t Linklayer_Reconfig(L2_INST *instPtr, const L2_CONFIG *config);
 void Linklayer_Destroy(L2_INST *instPtr);
@@ -110,45 +130,72 @@ int32_t Linklayer_EventHandler(L2_INST *instPtr, const L2_EVENT *l2Event);
 int32_t Linklayer_PktHandler(L2_INST *instPtr, L2_FRAME_TYPE frameType);
 int32_t L2_SteerBeam2Node(L2_INST *instPtr, uint8_t nodeId);
 int32_t L2_SetupNextSlot(L2_INST *instPtr, L2_TOR_TYPE txrxMode, L2_FRAME_TYPE frameType);
-void L2_FrameStateUpdate(L2_INST *instPtr);
-L2_FRAME_TYPE L2_GetLastOptFrameType(L2_INST *instPtr);
-L1_FRAME_TYPE L2_L2frame2L1frame(L2_FRAME_TYPE l2Frame);
+/** @} LinkLayer_Main*/

-// Scheduling Event
+/**
+ * @defgroup LinkLayer_Framing
+ * @{
+ */
+void L2_FrameInsertChunk(uint8_t *frame, size_t offset, size_t bytes, const void *chunk);
+void L2_FrameGetChunk(uint8_t *frame, size_t offset, size_t bytes, void *chunk);
+int32_t L2_CrcAppend(uint8_t *dataBuff, uint32_t dataLen, uint32_t crcPos, L2_CRC_TYPE crcType);
+bool L2_CrcCheck(uint8_t *dataBuff, uint32_t dataLen, L2_CRC_TYPE crcType);
+/** @} LinkLayer_Framing*/
+
+/**
+ * @defgroup LinkLayer_Scheduler
+ * @{
+ */
 void L2_EventPoolHandler(L2_INST *instPtr);
 int32_t L2_ScheduleEventAt(L2_INST *instPtr, L2_SCHD_EVENT *schdEvent, uint32_t frameNo, uint32_t slotNo);
 int32_t L2_ScheduleEventAfter(L2_INST *instPtr, L2_SCHD_EVENT *schdEvent, uint32_t numSlots);
 int32_t L2_RescheduleEventAt(L2_INST *instPtr, L2_SCHD_EVENT *schdEvent, uint32_t frameNo, uint32_t slotNo);
 int32_t L2_RescheduleEventAfter(L2_INST *instPtr, L2_SCHD_EVENT *schdEvent, uint32_t numSlots);
+/** @} LinkLayer_Scheduler*/

-// Framing
-void L2_FrameInsertChunk(uint8_t *frame, size_t offset, size_t bytes, const void *chunk);
-void L2_FrameGetChunk(uint8_t *frame, size_t offset, size_t bytes, void *chunk);
-int32_t L2_CrcAppend(uint8_t *dataBuff, uint32_t dataLen, uint32_t crcPos, L2_CRC_TYPE crcType);
-bool L2_CrcCheck(uint8_t *dataBuff, uint32_t dataLen, L2_CRC_TYPE crcType);
-
-// Scanning
+/**
+ * @defgroup LinkLayer_Scan
+ * @{
+ */
 int32_t L2_Scan_Init(L2_SCAN_FSM **scanFSMPtr);
+void L2_Scan_RefreashScanTable(L2_INST *instPtr);
 void L2_Scan_Reset(L2_SCAN_FSM *scanFSMPtr);
 void L2_Scan_Destroy(L2_SCAN_FSM *scanFSMPtr);
 int32_t L2_Scan_Proc(L2_INST *instPtr);
 int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg);
 int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *schedEntry);
+/** @} LinkLayer_Scan*/

-// Service
+/**
+ * @defgroup LinkLayer_Service
+ * @{
+ */
 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);
 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);
+/** @} LinkLayer_Service*/

-// Miscellaneous
+/**
+ * @defgroup LinkLayer_TimeSync
+ * @{
+ */
+int32_t L2_GetTimeDeviation(L2_INST *instPtr, uint32_t frameNum, uint32_t slotNum, bool relative, int64_t *timeDev);
+void L2_TimeAdjust(L2_INST *instPtr, const int64_t *timeDev);
+/** @} LinkLayer_TimeSync*/
+
+/**
+ * @defgroup LinkLayer_Utility
+ * @{
+ */
 uint8_t L2_GetNodeId(L2_INST *instPtr);
 uint8_t L2_GetClusterId(L2_INST *instPtr);
 uint8_t L2_GetHeadId(L2_INST *instPtr);
 L2_NODE_TYPE L2_GetNodeType(L2_INST *instPtr);
 L2_NODE_STATE L2_GetMainState(L2_INST *instPtr);
+bool L2_isStarted(L2_INST *instPtr);
 bool L2_isDataAvail(L2_INST *instPtr);
 bool L2_isCxn2Net(L2_INST *instPtr);
 uint32_t L2_GetFrameLen(L2_FRAME_TYPE l2FrameType);
@@ -164,10 +211,10 @@ uint32_t L2_GetNextFrameNum(L2_INST *instPtr);
 uint32_t L2_GetNextSlotNum(L2_INST *instPtr);
 L2_FRAME_TYPE L2_GetNextFrameType(L2_INST *instPtr);
 L2_TOR_TYPE L2_GetNextTor(L2_INST *instPtr);
-
-// Time syncronization
-int32_t L2_GetTimeDeviation(L2_INST *instPtr, uint32_t frameNum, uint32_t slotNum, bool relative, int64_t* timeDev);
-void L2_TimeAdjust(L2_INST *instPtr, const int64_t *timeDev);
-
+L2_FRAME_TYPE L2_GetLastOptFrameType(L2_INST *instPtr);
+L1_FRAME_TYPE L2_L2frame2L1frame(L2_FRAME_TYPE l2Frame);
+/** @} LinkLayer_Utility*/

 #endif /* __LINK_LAYER_H_ */
+
+/** @} LinkLayer*/
@@ -1,17 +1,19 @@
 /*****************************************************************************/
 /**
- * Description: A brief description of this file
+ * @file link_layer_types.h
+ * @author FanHao ([email protected])
+ * @brief DF Linklayer types definition.
+ * @version 0.1
+ * @date 2023-05-06
 *
- * Date: 2022-08-28 22:53
- * LastEditTime: 2022-08-29 00:45
- * Revisions: Rev 0.0
- * History:
- * [2022-08-29]: Initial version.
- *
- * Copyright(c) 2022 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/
+/**
+ * @defgroup LinkLayer
+ * @{
+ */

 #ifndef __LINK_LAYER_DEF_H_
 #define __LINK_LAYER_DEF_H_
@@ -26,6 +28,10 @@
 #include "../config/app_config.h"
 #endif
 /************************** Constant Definitions *****************************/
+/**
+ * @name Linklayer_Common_Constants
+ * @{
+ */
 // Common node ID definition
 #define L2_BROADCAST_ID 0xFF
 #define L2_NONE_ID 0
@@ -39,7 +45,7 @@
 #define L2_FRAMENO_NONE 0

 // Common number of slots definition
-#define L2_SLOTS_PER_FRAME 200
+#define L2_SLOTS_PER_FRAME 100
 #define L2_SLOTS_PER_SUBFRAME 20

 #define L2_NUM_SLOTS_NONE UINT32_MAX
@@ -48,9 +54,14 @@
 #define L2_NUM_SLOTS_10MS 2
 #define L2_NUM_SLOTS_5MS 1
 #define L2_NUM_SLOTS_SKIP 0
+/** @} Linklayer_Common_Constants*/

 /**************************** Type Definitions *******************************/

+/**
+ * @struct L2_RCD
+ * @brief Linklayer recode buffer
+ */
 typedef struct
 {
 	uint32_t last;
@@ -58,7 +69,8 @@ typedef struct
 	uint32_t next;
 } L2_RCD;

-/** @name Tx/Rx mode code
+/**
+ * @enum L2_TOR_TYPE
 */
 typedef enum
 {
@@ -67,7 +79,8 @@ typedef enum
 	L2_TOR_RX = 2
 } L2_TOR_TYPE;

-/** @name Prior information type definition
+/**
+ * @enum L2_NODE_TYPE
 */
 typedef enum
 {
@@ -77,7 +90,8 @@ typedef enum
 	L2_NODE_BACKUP = 3
 } L2_NODE_TYPE;

-/** @name Node state type definition
+/**
+ * @enum L2_NODE_STATE
 */
 typedef enum
 {
@@ -89,23 +103,24 @@ typedef enum
 	L2_SEEK_STATE = 5
 } L2_NODE_STATE;

-/** @name Node information type definition
- * The following types define the detail node info which needed by the link layer.
+/**
+ * @struct L2_NODE_INFO
+ * @brief Node information struct contains the detail node info which needed by the link layer.
 */
 typedef struct
 {
-	uint8_t nodeId;
-	uint8_t clustId;
-	uint8_t headId;
-	L2_NODE_TYPE nodeType;
-	uint8_t beamNo;
-	COORD pos;
-	COORD speed;
-	QUATERNION attitude;
+	uint8_t nodeId;		   ///< node ID
+	uint8_t clustId;	   ///< node cluster ID
+	uint8_t headId;		   ///< cluster head ID
+	L2_NODE_TYPE nodeType; ///< node type
+	uint8_t beamNo;		   ///< beam number to this node
+	COORD pos;			   ///< node position
+	COORD speed;		   ///< node speed
+	QUATERNION attitude;   ///< node attitude
 } L2_NODE_INFO;

-/** @name L2 event enum
- * A enum of L2 event types.
+/**
+ * @enum L2_EVENT_TYPE
 */
 typedef enum
 {
@@ -123,17 +138,18 @@ typedef enum
 	L2_ROUTINE_UPDATE = 11
 } L2_EVENT_TYPE;

-/** @name L2 event
- * A definition of L2 event instance.
+/**
+ * @struct L2_EVENT
+ * @brief Linklayer event instance
 */
 typedef struct
 {
-	L2_EVENT_TYPE event;
-	void *msg;
+	L2_EVENT_TYPE event; ///< event type
+	void *msg;			 ///< event message (MUST be a heap item)
 } L2_EVENT;

-/** @name Slot types
- * A definition of different slots.
+/**
+ * @enum L2_SLOT_TYPE
 */
 typedef enum
 {
@@ -145,8 +161,8 @@ typedef enum
 	L2_SLOT_SERVICE = 5,
 } L2_SLOT_TYPE;

-/** @name Frame types
- * A definition of different frame types.
+/**
+ * @enum L2_FRAME_TYPE
 */
 typedef enum
 {
@@ -157,8 +173,8 @@ typedef enum
 	L2_SVC_FRAME = 4
 } L2_FRAME_TYPE;

-/** @name Frame types
- * A definition of different frame types.
+/**
+ * @enum L2_CRC_TYPE
 */
 typedef enum
 {
@@ -168,17 +184,21 @@ typedef enum
 	L2_CRC8_31 = 3
 } L2_CRC_TYPE;

-/** @name Schedule subtable entry
- * A definition of Schedule subtable entry.
+/**
+ * @struct L2_RTNE_TABLE_ENTRY
+ * @brief Linklayer routine table entry
 */
 typedef struct
 {
-	L2_SLOT_TYPE slotType : 8;
-	uint8_t slotSeq;
-	uint8_t src;
-	uint8_t dst;
+	L2_SLOT_TYPE slotType : 8; ///< slot type
+	uint8_t slotSeq;		   ///< slot sequence number
+	uint8_t src;			   ///< source node ID
+	uint8_t dst;			   ///< destination node ID
 } L2_RTNE_TABLE_ENTRY;

+/**
+ * @enum SCAN_STAGE
+ */
 typedef enum
 {
 	L2_SCAN_NONE_STAGE = 0,
@@ -187,46 +207,56 @@ typedef enum
 	L2_SCAN_CFM_STAGE = 3
 } SCAN_STAGE;

-/** @name Scan procedure FSM
+/**
+ * @struct L2_SCAN_FSM
+ * @brief Linklayer scan process FSM instance
 */
 typedef struct
 {
-	bool isLocked;	// init acq done.
-	bool isAdvRecvd; // bm received.
-	bool isAckPending;	// 2way acq done.
-	uint8_t scanCnt;
-	uint8_t beamNo;
-	uint8_t advTimeout;
-	uint8_t cfmTimeout;
-	SCAN_STAGE scanStage;  // only for member node
+	bool isLocked;		  ///< indicates if init acq done(beam locked).
+	bool isAdvRecvd;	  ///< indicates if advertisement frame done(beam locked).
+	bool isAckPending;	  ///< indicates if confirm message acked
+	uint8_t scanCnt;	  ///< scan count
+	uint8_t advTimeout;	  ///< adv receive try count
+	uint8_t cfmTimeout;	  ///< cmf receive try count
+	SCAN_STAGE scanStage; ///< scan stage \n
+						  /// only for member node
+	uint8_t beamNo;		  ///< locked beam number
+	uint8_t tableNo;	  ///< scan table index
 } L2_SCAN_FSM;

-
-/** @name Service procedure FSM
+/**
+ * @struct L2_SVC_FSM
+ * @brief Linklayer service process FSM
 */
 typedef struct
 {
-	PAYLOAD rxLog;
-	PAYLOAD txLog;
-	uint32_t pktRecv;
-	uint32_t pktCorrect;
+	uint32_t txCnt;	 ///< tx frame count
+	uint32_t rxCnt;	 ///< rx frame count
+	uint32_t rxdCnt; ///< received frame count
 #ifdef DATALINK_ENABLE_BERTEST
-	uint32_t bitTotal;
-	uint32_t bitError;
-	double lossRate;
-	double errorRate;
+	uint32_t bitTotal; ///< received bits count
+	uint32_t bitError; ///< error bits count
+	double lossRate;   ///< packet loss rate
+	double errorRate;  ///< bit error rate
 #endif
 } L2_SVC_FSM;

+/**
+ * @struct L2_RTNE_CONFIG
+ * @brief Linklayer routine table configuration
+ */
 typedef struct
 {
-	L2_RTNE_TABLE_ENTRY **rtneTable;
-	uint32_t rtnePrd;
-	L2_RTNE_TABLE_ENTRY *last;
-	L2_RTNE_TABLE_ENTRY *curr;
-	L2_RTNE_TABLE_ENTRY *next;
+	L2_RTNE_TABLE_ENTRY **rtneTable; ///< routine table
+	uint32_t rtnePrd;				 ///< period of routine table
+	L2_RTNE_TABLE_ENTRY *last;		 ///< last routine entry
+	L2_RTNE_TABLE_ENTRY *curr;		 ///< curent routine entry
+	L2_RTNE_TABLE_ENTRY *next;		 ///< next routine entry
 } L2_RTNE_CONFIG;

 /************************** Variable Definitions *****************************/

 #endif /* __LINK_LAYER_DEF_H_ */
+
+/** @} LinkLayer*/
@@ -1,23 +1,31 @@
 /*****************************************************************************/
 /**
- * Description: Header of 814 linklayer messages
+ * @file msg_def.c
+ * @author FanHao ([email protected])
+ * @brief DF Linklayer message definition constants.
+ * @version 0.0
+ * @date 2023-05-06
 *
- * Date: 2022-07-14 00:08
- * LastEditTime: 2022-07-14 22:52
- * Revisions: Rev 0.0
- * History:
- * [2022-07-14]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/
+
+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @name LinkLayer_MSG_Constants
+ * @{
+ */
 #ifndef __L2_MSG_DEF_H_
 #define __L2_MSG_DEF_H_

 #define L2_PACK_LEN_MAX 512 // bytes

-#define L2_ADV_PACK_LEN 28 // bytes
+#define L2_ADV_PACK_LEN 28  // bytes
 #define L2_CMF_PACK_LEN 268 // bytes
 #define L2_SVC_PACK_LEN 268 // bytes

@@ -79,6 +87,10 @@
 #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

@@ -111,5 +123,8 @@
 #define L2_MSG_SVC_CRC 266
 #define L2_MSG_SVC_CRC_LEN 2

-
 #endif //__L2_MSG_DEF_H_
+
+/** @} LinkLayer_MSG_Constants*/
+
+/** @} LinkLayer*/
@@ -1,19 +1,25 @@
 /*****************************************************************************/
 /**
- * Description: Implementations of 814 linklayer local record.
+ * @file node_list.c
+ * @author FanHao ([email protected])
+ * @brief DF Linklayer node list implementation file
+ * @version 0.0
+ * @date 2023-05-06
 *
- * Date: 2022-07-14 00:08
- * LastEditors: Fan Hao
- * LastEditTime: 2022-07-14 22:52
- * Revisions: Rev 0.0
- * History:
- * [2022-07-14]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayer_NodeList
+ * @{
+ */
 /***************************** Include Files *********************************/
 #include <stdlib.h>
 #include <string.h>
@@ -26,6 +32,10 @@
 #include "error.h"

 /***************** Macros (Inline Functions) Definitions *********************/
+/**
+ * @brief Get the node list length
+ * @param list pointer to node list
+ */
 inline uint32_t L2_GetNodeListLen(NODE_LIST *list)
 {
 	ASSERT(list != NULL);
@@ -34,7 +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.
@@ -94,7 +104,7 @@ int32_t L2_NodeList_Init(NODE_LIST **list)
 * @brief   Clear all nodes in the node list, free allocated memory.
 *
 * @param   list
- *NONE
+ * @return NONE
 *
 ******************************************************************************/
 void L2_NodeList_Clear(NODE_LIST *list)
@@ -123,13 +133,17 @@ void L2_NodeList_Destroy(NODE_LIST *list)
 * @param   list
 * @param   nodeId
 *
- * @return  Node entry
+ * @return  Node entry \n
 *          NULL if node dose not exist.
 *
 ******************************************************************************/
 NODE_ENTRY *L2_GetNodeById(NODE_LIST *list, uint8_t nodeId)
 {
 	ASSERT(list != NULL);
+	if (nodeId == L2_BROADCAST_ID || nodeId == L2_NONE_ID)
+	{
+		return NULL;
+	}
 	util_entry.nodeInfo.nodeId = nodeId;
 	clist_node_t *node = clist_find(list, &util_entry);
 	if (node == NULL)
@@ -150,7 +164,7 @@ NODE_ENTRY *L2_GetNodeById(NODE_LIST *list, uint8_t nodeId)
 * @param   nodeId
 * @param   nodeType
 *
- * @return  SUCCESS Node was added successfully.
+ * @return  SUCCESS Node was added successfully.\n
 *          Other       Error occurred.(Node already exist, memory alloc error ect.)
 *
 ******************************************************************************/
@@ -197,7 +211,7 @@ NODE_ENTRY *L2_AppendNode(NODE_LIST *list, uint8_t nodeId, L2_NODE_TYPE nodeType
 * @param   list
 * @param   nodeId
 *
- * @return  SUCCESS Node has been successfully deleted.
+ * @return  SUCCESS Node has been successfully deleted.\n
 *          Other       Node not exist.
 *
 ******************************************************************************/
@@ -223,7 +237,7 @@ int32_t L2_DeleteNodeById(NODE_LIST *list, uint8_t nodeId)
 * @param   list
 * @param   nodeId
 *
- * @return  true node in the list
+ * @return  true node in the list\n
 *          false node not in the list
 *
 ******************************************************************************/
@@ -241,7 +255,7 @@ bool L2_isNodeInList(NODE_LIST *list, uint8_t nodeId)
 * @param   nodeId
 * @param	dst     A pointer to store distance.
 *
- * @return  SUCCESS distance has been successfully store in dst
+ * @return  SUCCESS distance has been successfully store in dst\n
 *          FAILURE Node dose not exit.
 *
 ******************************************************************************/
@@ -269,7 +283,7 @@ int32_t L2_GetDistance(NODE_LIST *list, COORD myCoord, uint8_t nodeId, double *d
 * @param   nodeId
 * @param   newPos A structure stores the corresponding node position info.
 *
- * @return  SUCCESS update successfully.
+ * @return  SUCCESS update successfully.\n
 *          FAILURE node not exist.
 *
 ******************************************************************************/
@@ -296,7 +310,7 @@ int32_t L2_UpdateNodePos(NODE_LIST *list, uint8_t nodeId, const COORD *newPos)
 * @param   nodeId
 * @param   newPos A structure stores the corresponding node position info.
 *
- * @return  SUCCESS update successfully.
+ * @return  SUCCESS update successfully.\n
 *          FAILURE node not exist.
 *
 ******************************************************************************/
@@ -323,7 +337,7 @@ int32_t L2_GetNodePos(NODE_LIST *list, uint8_t nodeId, COORD *pos)
 * @param   nodeId
 * @param   newSpeed A structure stores the corresponding node speed info.
 *
- * @return  SUCCESS update successfully.
+ * @return  SUCCESS update successfully.\n
 *          FAILURE node not exist.
 *
 ******************************************************************************/
@@ -350,7 +364,7 @@ int32_t L2_UpdateNodeSpeed(NODE_LIST *list, uint8_t nodeId, const COORD *newSpee
 * @param   nodeId
 * @param   newSpeed A structure stores the corresponding node speed info.
 *
- * @return  SUCCESS update successfully.
+ * @return  SUCCESS update successfully.\n
 *          FAILURE node not exist.
 *
 ******************************************************************************/
@@ -376,7 +390,7 @@ int32_t L2_GetNodeSpeed(NODE_LIST *list, uint8_t nodeId, COORD *speed)
 * @param   nodeId
 * @param   devi
 *
- * @return  SUCCESS update successfully.
+ * @return  SUCCESS update successfully.\n
 *          FAILURE Node not exist.
 *
 ******************************************************************************/
@@ -428,7 +442,7 @@ int32_t L2_IncNodeTTL(NODE_LIST *list, uint8_t nodeId, uint32_t inc)
 * @param   list
 * @param   nodeId
 *
- * @return  SUCCESS TTL has been successfully cleared.
+ * @return  SUCCESS TTL has been successfully cleared.\n
 *          FAILURE Node not exist.
 *
 ******************************************************************************/
@@ -482,7 +496,7 @@ int32_t L2_GetNodeTTL(NODE_LIST *list, uint8_t nodeId, uint32_t *ttl)
 * @param   operation  A pointer to a function handled "NODE_ENTRY*" as input
 *                  which defines the operations need to be apply.
 *
- * @return SUCCESS Operations has been applied successfully to all nodes.
+ * @return SUCCESS Operations has been applied successfully to all nodes.\n
 *         Other       Error occurred.
 *
 ******************************************************************************/
@@ -516,7 +530,7 @@ int32_t L2_IterEditNode(NODE_LIST *list, const void *param, int32_t (*operation)
 *
 * @param   list
 * @param   condition  A pointer to a function handled "NODE_ENTRY*" as input
- *                  which defines the condition need to be verify.
+ * which defines the condition need to be verify.
 *
 * @return SUCCESS
 *
@@ -541,3 +555,7 @@ int32_t L2_IterDeleteNode(NODE_LIST *list, bool (*condition)(NODE_ENTRY *))
 	clist_iterator_destroy(iter);
 	return SUCCESS;
 }
+
+/** @} LinkLayer_NodeList*/
+
+/** @} LinkLayer*/
@@ -1,19 +1,27 @@
 /*****************************************************************************/
 /**
- * Description: Header of 814 linklayer local record.
+ * @file node_list.h
+ * @author FanHao ([email protected])
+ * @brief DF Linklayer node list header file
+ * @version 0.0
+ * @date 2023-05-06
 *
- * Date: 2022-07-14 00:08
- * LastEditors: Fan Hao
- * LastEditTime: 2022-07-14 22:52
- * Revisions: Rev 0.0
- * History:
- * [2022-07-14]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @defgroup LinkLayer_NodeList
+ * @{
+ */
+
+
 /***************************** Include Files *********************************/
 #ifndef NODE_LIST_H_
 #define NODE_LIST_H_
@@ -29,7 +37,11 @@
 /************************** Constant Definitions *****************************/
 /***************** Macros (Inline Functions) Definitions *********************/
 /**************************** Type Definitions *******************************/
-typedef struct NODE_LIST_ENTRY
+/**
+ * @struct NODE_ENTRY
+ * @brief Linklayer discovered node list node entry
+ */
+typedef struct
 {
 	L2_NODE_INFO nodeInfo;
 	uint32_t ttlCnt;
@@ -62,3 +74,6 @@ int32_t L2_IterEditNode(NODE_LIST *list, const void *param, int32_t (*operation)
 int32_t L2_IterDeleteNode(NODE_LIST *list, bool (*condition)(NODE_ENTRY *));

 #endif /* NODE_LIST_H_ */
+
+/** @} LinkLayer_NodeList*/
+/** @} LinkLayer*/
@@ -1,467 +1,30 @@
 /*****************************************************************************/
 /**
- * Description: Time allocations for df datalink,
- * Date: 2022-07-16 17:05
- * LastEditTime: 2022-07-16 17:05
- * Revisions: Rev 0.1
- * History:
- * [2021-11-13]: Initial version.
+ * @file routine_table.c
+ * @author FanHao ([email protected])
+ * @brief DF Linklayer node list implementation file
+ * @version 0.0
+ * @date 2023-05-06
 *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @name RoutineTable
+ * @{
+ */
+
 #include <inttypes.h>
 #include "link_layer.h"
 #include "link_layer_types.h"

-#define LINKLAYER_INSERT_EXTRGAP
-
-#ifndef LINKLAYER_INSERT_EXTRGAP
-L2_RTNE_TABLE_ENTRY intraScanSubT[L2_SLOTS_PER_FRAME] = {
-// SubFrame 0
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-
-// SubFrame 1
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-
-// SubFrame 2
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-
-// SubFrame 3
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
-	{L2_SLOT_SCAN, 0x01, 0x01, 0xFF},
-	{L2_SLOT_ADVERTISE, 0x00, 0x01, 0xFF},
-	{L2_SLOT_ADVERTISE, 0x01, 0x01, 0xFF},
-	{L2_SLOT_ADVERTISE, 0x02, 0x01, 0xFF},
-	{L2_SLOT_ADVERTISE, 0x03, 0x01, 0xFF},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-// SubFrame 4
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-
-// SubFrame 5
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-
-// SubFrame 6
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-
-// SubFrame 7
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-
-// SubFrame 8
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-
-// SubFrame 9
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-};
-
-L2_RTNE_TABLE_ENTRY normalSub[L2_SLOTS_PER_FRAME] = {
-// SubFrame 0
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-
-// SubFrame 1
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-
-// SubFrame 2
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-
-// SubFrame 3
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-
-// SubFrame 4
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-
-// SubFrame 5
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-
-// SubFrame 6
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-
-// SubFrame 7
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-
-// SubFrame 8
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-
-// SubFrame 9
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-};
-#else
 L2_RTNE_TABLE_ENTRY intraScanSubT[L2_SLOTS_PER_FRAME] = {
 // SubFrame 0
 	{L2_SLOT_SCAN, 0x00, 0x01, 0xFF},
@@ -572,116 +135,6 @@ L2_RTNE_TABLE_ENTRY intraScanSubT[L2_SLOTS_PER_FRAME] = {
 	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
 	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
 	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-
-// SubFrame 5
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-
-// SubFrame 6
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-
-// SubFrame 7
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-
-// SubFrame 8
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-
-// SubFrame 9
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x01, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x02, 0x01, 0xFF},
-	{L2_SLOT_CONFIRM, 0x03, 0x01, 0xFF},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_CONFIRM, 0x00, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x01, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x02, 0xFF, 0x01},
-	{L2_SLOT_CONFIRM, 0x03, 0xFF, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
 };

 L2_RTNE_TABLE_ENTRY normalSub[L2_SLOTS_PER_FRAME] = {
@@ -794,118 +247,7 @@ L2_RTNE_TABLE_ENTRY normalSub[L2_SLOTS_PER_FRAME] = {
 	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
 	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
 	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-
-// SubFrame 5
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-
-// SubFrame 6
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-
-// SubFrame 7
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-
-// SubFrame 8
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-
-// SubFrame 9
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x01, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x02, 0x01, 0x02},
-	{L2_SLOT_SERVICE, 0x03, 0x01, 0x02},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
-	{L2_SLOT_SERVICE, 0x00, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x01, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x02, 0x02, 0x01},
-	{L2_SLOT_SERVICE, 0x03, 0x02, 0x01},
-	{L2_SLOT_IDLE, 0x00, 0x00, 0x00},
 };
-#endif

 L2_RTNE_TABLE_ENTRY *initTable[L2_INIT_RTNE_PERIOD] =
 {
@@ -916,3 +258,6 @@ L2_RTNE_TABLE_ENTRY *normalTable[L2_NORMAL_RTNE_PERIOD] =
 {
 	normalSub
 };
+
+/** @} RoutineTable*/
+/** @} LinkLayer*/
@@ -1,18 +1,24 @@
 /*****************************************************************************/
 /**
- * Description: Implementations of df linklayer scan net.
+ * @file scan.c
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief DF Linklayer scan implementation file.
+ * @version 0.1
+ * @date 2023-05-06
 *
- * Date: 2021-11-10 19:04
- * LastEditTime: 2022-07-16 17:04
- * Revisions: Rev 0.1
- * History:
- * [2022-07-16]: New branch for DiJian.
- * [2021-11-10]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/
+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayer_Scan
+ * @{
+ */

 /***************************** Include Files *********************************/
 #include <string.h>
@@ -26,15 +32,97 @@

 /************************** Constant Definitions *****************************/
 #define ADV_LISTEN_TIMEOUT 40
-#define CFM_LISTEN_TIMEOUT 25
+#define CFM_LISTEN_TIMEOUT 5
 #define ADV_FRAME_SLOTS 4
-#define CFM_FRAME_SLOTS 4
+#define CFM_FRAME_SLOTS 5
 /***************** Macros (In-line Functions) Definitions *********************/

 /**************************** Type Definitions *******************************/

 /************************** Variable Definitions *****************************/
+// Pair by regex
+// Regex: ((\{\.oaxis = [0-9]+[ ,]+\.raxis = [0-9]+[ ]*\}, ){2})
+PHY_ANT_ANGLE antNrrwPattern_0[L1_NUM_ANT_NRRW_PATTERN] =
+{
+	{.oaxis = 0  , .raxis = 0   },
+	{.oaxis = 139, .raxis = 2225},
+	{.oaxis = 152, .raxis = 850 },
+	{.oaxis = 138, .raxis = 3155},
+	{.oaxis = 159, .raxis = 1680},
+	{.oaxis = 168, .raxis = 285 },
+	{.oaxis = 195, .raxis = 2630},
+	{.oaxis = 211, .raxis = 1204},
+	{.oaxis = 225, .raxis = 3429},
+	{.oaxis = 249, .raxis = 2022},
+	{.oaxis = 272, .raxis = 629 },
+	{.oaxis = 265, .raxis = 2934},
+	{.oaxis = 277, .raxis = 1499},
+	{.oaxis = 289, .raxis = 124 },
+	{.oaxis = 300, .raxis = 2349},
+	{.oaxis = 311, .raxis = 959 },
+	{.oaxis = 321, .raxis = 3199},
+	{.oaxis = 331, .raxis = 1824},
+	{.oaxis = 341, .raxis = 389 },
+	{.oaxis = 351, .raxis = 2674},
+	{.oaxis = 360, .raxis = 1268},
+	{.oaxis = 364, .raxis = 3483},
+	{.oaxis = 378, .raxis = 2118},
+	{.oaxis = 387, .raxis = 733 },
+	{.oaxis = 416, .raxis = 3028},
+	{.oaxis = 404, .raxis = 1623},
+	{.oaxis = 433, .raxis = 248 },
+	{.oaxis = 421, .raxis = 2473},
+	{.oaxis = 429, .raxis = 1098},
+	{.oaxis = 437, .raxis = 3303},
+	{.oaxis = 445, .raxis = 1948},
+	{.oaxis = 443, .raxis = 543 },
+	{.oaxis = 450, .raxis = 2828},
+	{.oaxis = 448, .raxis = 1422},
+	{.oaxis = 455, .raxis = 47  },
+	{.oaxis = 453, .raxis = 2272},
+	{.oaxis = 450, .raxis = 897 }
+};

+PHY_ANT_ANGLE antNrrwPattern_1[L1_NUM_ANT_NRRW_PATTERN] =
+{
+	{.oaxis = 0  , .raxis = 0   },
+	{.oaxis = 139, .raxis = 1155},
+	{.oaxis = 152, .raxis = 3380},
+	{.oaxis = 138, .raxis = 2085},
+	{.oaxis = 159, .raxis = 610 },
+	{.oaxis = 168, .raxis = 2815},
+	{.oaxis = 195, .raxis = 1560},
+	{.oaxis = 211, .raxis = 134 },
+	{.oaxis = 225, .raxis = 2359},
+	{.oaxis = 249, .raxis = 952 },
+	{.oaxis = 272, .raxis = 3159},
+	{.oaxis = 265, .raxis = 1864},
+	{.oaxis = 277, .raxis = 429 },
+	{.oaxis = 289, .raxis = 2654},
+	{.oaxis = 300, .raxis = 1279},
+	{.oaxis = 311, .raxis = 3489},
+	{.oaxis = 321, .raxis = 2129},
+	{.oaxis = 331, .raxis = 754 },
+	{.oaxis = 341, .raxis = 2919},
+	{.oaxis = 351, .raxis = 1604},
+	{.oaxis = 360, .raxis = 198 },
+	{.oaxis = 364, .raxis = 2413},
+	{.oaxis = 378, .raxis = 1048},
+	{.oaxis = 387, .raxis = 3263},
+	{.oaxis = 416, .raxis = 1958},
+	{.oaxis = 404, .raxis = 553 },
+	{.oaxis = 433, .raxis = 2778},
+	{.oaxis = 421, .raxis = 1403},
+	{.oaxis = 429, .raxis = 28  },
+	{.oaxis = 437, .raxis = 2233},
+	{.oaxis = 445, .raxis = 878 },
+	{.oaxis = 443, .raxis = 3073},
+	{.oaxis = 450, .raxis = 1758},
+	{.oaxis = 448, .raxis = 352 },
+	{.oaxis = 455, .raxis = 2577},
+	{.oaxis = 453, .raxis = 1202},
+	{.oaxis = 450, .raxis = 3427},
+};
 /************************** Function Prototypes ******************************/
 static void LockStateUpdate(L2_SCAN_FSM *scanFsmPtr, bool state);
 static void AdvRecvStateUpdate(L2_SCAN_FSM *scanFsmPtr, bool state);
@@ -94,7 +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;
@@ -112,26 +200,43 @@ static void StageUpdate(L2_SCAN_FSM *scanFsmPtr, SCAN_STAGE newStage)
 static int32_t Scan_InitScanHandler(L2_INST *instPtr)
 {
 	ASSERT(instPtr != NULL);
+	PHY_INST *phyRef = instPtr->config.phyInstPtr;
 	L2_SCAN_FSM *scanFsmPtr = instPtr->scanFSM;
 	DBG_INFO("** Net-Setup - InitScan Procedure (Attempts: %" PRIu8 ")**\n", scanFsmPtr->scanCnt);

+	if (scanFsmPtr->scanCnt == 0)
+	{
+		// Update scan beam table
+		L2_Scan_RefreashScanTable(instPtr);
+	}
+	else if (Phy_IsFrameDetected(phyRef))
+	{
+		// last scan beam number
+		scanFsmPtr->beamNo = Phy_LastScanBeamNo(phyRef);
+		// Update scan beam table
+		L2_Scan_RefreashScanTable(instPtr);
+	}
+
 	if (scanFsmPtr->isLocked == true)
 	{
-		StageUpdate(scanFsmPtr, L2_SCAN_ADV_STAGE);
-		/* Antenna setting (reserved.) */
+		scanFsmPtr->beamNo = Phy_LastScanBeamNo(phyRef);
+		Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
 		L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_ADV_FRAME);
+		StageUpdate(scanFsmPtr, L2_SCAN_ADV_STAGE);
+		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
 	} /* Otherwise remain L2_SCAN_INIT_STAGE */
 	else
 	{
-		/* Antenna setting (reserved.) */
+		/* Antenna steering (reserved, automatically accomplished by physical layer) */
+		Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
 		L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_SCAN_FRAME);
 		scanFsmPtr->scanCnt++;
+		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
 	}
 	return SUCCESS;
 }

 /*****************************************************************************/
-
 /**
 * @brief   Member node scan net BmAdvt stage handler.
 *
@@ -143,16 +248,36 @@ static int32_t Scan_InitScanHandler(L2_INST *instPtr)
 ******************************************************************************/
 static int32_t Scan_AdvHandler(L2_INST *instPtr)
 {
+	ASSERT(instPtr != NULL);
 	L2_SCAN_FSM *scanFsmPtr = instPtr->scanFSM;
+	PHY_INST *phyRef = instPtr->config.phyInstPtr;
+	TMC_INST *tmcRef = instPtr->config.tmcInstPtr;
 	DBG_INFO("** Net-Setup - Advertisement Procedure (Timeout: %" PRIu8 ") **\n", scanFsmPtr->advTimeout);

 	// if received a valid bm frame.
 	if (scanFsmPtr->isAdvRecvd == true)
 	{
-		scanFsmPtr->advTimeout = 0; /* reset listen counter. */
-		DBG_INFO("Received Adv frame, skipping 10ms for turn around...\n");
-		// TODO: check functionality.
+		// last scan beam number
+		scanFsmPtr->beamNo = Phy_LastScanBeamNo(phyRef);
+		// reset listen counter.
+		scanFsmPtr->advTimeout = 0;
+
+		// Update scan stage
 		StageUpdate(scanFsmPtr, L2_SCAN_CFM_STAGE);
+
+		// start a confirm frame reception if in the target slot
+		if ((TimeCtrl_GetIntCnt(tmcRef) + 1) % CFM_FRAME_SLOTS == 0)
+		{
+			// using pull mode to receive confirm frame
+			// since first time sync procedure is accomplished in ADV stage.
+			(void)Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
+			(void)Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
+			(void)Phy_SetMode(phyRef, PHY_MODE_PULL);
+			(void)L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_CFM_FRAME);
+			scanFsmPtr->cfmTimeout++; // increase counter.
+			instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
+		}
+		// otherwise skip...
 		return SUCCESS;
 	}
 	// no valid bm frame was received.
@@ -161,16 +286,20 @@ static int32_t Scan_AdvHandler(L2_INST *instPtr)
 		/* if time out reached, go back to init scan stage. */
 		if (scanFsmPtr->advTimeout > ADV_LISTEN_TIMEOUT)
 		{
-			/* Antenna setting (reserved.) */
-			L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_SCAN_FRAME);
+			/* Antenna steering (reserved, automatically accomplished by physical layer) */
+			(void)Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
+			(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 setting (reserved.) */
-			L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_ADV_FRAME);
+			/* Antenna steering (reserved, automatically accomplished by physical layer) */
+			(void)Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
+			(void)L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_ADV_FRAME);
 			scanFsmPtr->advTimeout++;
+			instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
 		}
 		return SUCCESS;
 	}
@@ -187,7 +316,9 @@ static int32_t Scan_AdvHandler(L2_INST *instPtr)
 ******************************************************************************/
 static int32_t Scan_CfmHandler(L2_INST *instPtr)
 {
+	ASSERT(instPtr != NULL);
 	L2_SCAN_FSM *scanFsmPtr = instPtr->scanFSM;
+	PHY_INST *phyRef = instPtr->config.phyInstPtr;
 	DBG_INFO("** Net-Setup - Confirm Procedure (Timeout: %" PRIu8 ") **\n", scanFsmPtr->cfmTimeout);

 	// 2 way acq failed, back to init stage.
@@ -201,9 +332,12 @@ 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_SetMode(instPtr->config.phyInstPtr, PHY_MODE_PULL);
-		L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_CFM_FRAME);
+		(void)Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
+		(void)Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
+		(void)Phy_SetMode(phyRef, PHY_MODE_PULL);
+		(void)L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_CFM_FRAME);
 		scanFsmPtr->cfmTimeout++; // increase counter.
+		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
 	}
 	return SUCCESS;
 }
@@ -225,12 +359,13 @@ 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;
 	}

+	// Common section of link layer package
 	dataChunk = L2_GetNextFrameNum(instPtr);
 	L2_FrameInsertChunk(buff, L2_MSG_FRAME_NUM, L2_MSG_FRAME_NUM_LEN, &dataChunk);
 	dataChunk = L2_GetNextSlotNum(instPtr);
@@ -278,6 +413,23 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 		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)
@@ -285,6 +437,10 @@ 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:
@@ -296,68 +452,11 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 	return SUCCESS;
 }

-/*****************************************************************************/
-/**
- * @brief   Initialize scan FSM.
- *
- * @param   instPtr
- *
- * @return
- *
- ******************************************************************************/
-int32_t L2_Scan_Init(L2_SCAN_FSM **scanFSMPtr)
-{
-	ASSERT(scanFSMPtr != NULL);
-	*scanFSMPtr = (L2_SCAN_FSM *)malloc(sizeof(L2_SCAN_FSM));
-	if (*scanFSMPtr == NULL)
-	{
-		DBG_ERROR("Failed to allocate memory for scanFsmPtr.\n");
-		return ENOMEM;
-	}
-	L2_Scan_Reset(*scanFSMPtr);
-	return SUCCESS;
-}
-
-/*****************************************************************************/
-/**
- * @brief  Reset ScanNet FSM
- *
- * @param   scanFsmPtr a pointer to scan net  finite state machine
- *
- * @return  NONE
- *
- ******************************************************************************/
-void L2_Scan_Reset(L2_SCAN_FSM *scanFSMPtr)
-{
-	ASSERT(scanFSMPtr != NULL);
-	scanFSMPtr->isLocked = false;
-	scanFSMPtr->isAdvRecvd = false;
-	scanFSMPtr->isAckPending = false;
-	scanFSMPtr->scanCnt = 0;
-	scanFSMPtr->beamNo = 0;
-	scanFSMPtr->advTimeout = 0;
-	scanFSMPtr->cfmTimeout = 0;
-	scanFSMPtr->scanStage = L2_SCAN_NONE_STAGE;
-}
-
-/*****************************************************************************/
-/**
- * @brief  Destroy ScanNet FSM, free memory
- *
- * @param   scanFsmPtr a pointer to scan net  finite state machine
- *
- * @return  NONE
- *
- ******************************************************************************/
-void L2_Scan_Destroy(L2_SCAN_FSM *scanFSMPtr)
-{
-	free(scanFSMPtr);
-}
-
 /*****************************************************************************/
 /**
 * @brief   Scan net packet handler.
 *
+ * @param   instPtr	a pointer to linklayer layer instance
 * @param   msg A pointer to frame data buffer.
 *
 * @return
@@ -369,15 +468,19 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
 	ASSERT(msg != NULL);
 	int32_t Status;
 	L2_SCAN_FSM *scanFsmPtr = instPtr->scanFSM;
-	L2_FRAME_TYPE frameType = L2_GetLastOptFrameType(instPtr);
+	L2_FRAME_TYPE frameType = L2_NONE_FRAME;
+	L2_FrameGetChunk(msg, L2_MSG_TYPE, L2_MSG_TYPE_LEN, &frameType);
 	switch (frameType)
 	{
 	case L2_SCAN_FRAME:
-		LockStateUpdate(scanFsmPtr, true);
-		StageUpdate(scanFsmPtr, L2_SCAN_ADV_STAGE);
 	case L2_ADV_FRAME:
 	{
-		if (instPtr->config.myType == L2_NODE_HEAD)
+		if (L2_GetLastOptFrameType(instPtr) == L2_SCAN_FRAME)
+		{
+			LockStateUpdate(scanFsmPtr, true);
+			StageUpdate(scanFsmPtr, L2_SCAN_ADV_STAGE);
+		}
+		if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
 		{
 			DBG_ERROR("Unexpected call from head node, only member Node can handle L2_SCAN_FRAME and L2_ADV_FRAME.\n");
 			Status = EUNEXP;
@@ -390,7 +493,7 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
 		if (node == NULL)
 		{
 			node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
-			if(node == NULL)
+			if (node == NULL)
 			{
 				DBG_ERROR("Failed to append new node [id: %" PRId8 "]", nodeId);
 				Status = ENOMEM;
@@ -400,11 +503,12 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
 		// Update node info.
 		float nodePos;
 		L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_POSX, L2_MSG_ADV_SRC_POSX_LEN, &nodePos);
-		node->nodeInfo.pos.x = (double) nodePos;
+		node->nodeInfo.pos.x = (double)nodePos;
 		L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_POSY, L2_MSG_ADV_SRC_POSY_LEN, &nodePos);
-		node->nodeInfo.pos.y = (double) nodePos;
+		node->nodeInfo.pos.y = (double)nodePos;
 		L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_POSZ, L2_MSG_ADV_SRC_POSZ_LEN, &nodePos);
-		node->nodeInfo.pos.z = (double) nodePos;
+		node->nodeInfo.pos.z = (double)nodePos;
+		node->nodeInfo.beamNo = Phy_LastScanBeamNo(instPtr->config.phyInstPtr);

 		// Reset node ttl
 		node->ttlCnt = 0;
@@ -445,7 +549,7 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
 		if (node == NULL)
 		{
 			node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
-			if(node == NULL)
+			if (node == NULL)
 			{
 				DBG_ERROR("Failed to append new node [id: %" PRId8 "]", nodeId);
 				Status = ENOMEM;
@@ -455,18 +559,18 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
 		// Update node info.
 		float nodePos;
 		L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_POSX, L2_MSG_CFM_SRC_POSX_LEN, &nodePos);
-		node->nodeInfo.pos.x = (double) nodePos;
+		node->nodeInfo.pos.x = (double)nodePos;
 		L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_POSY, L2_MSG_CFM_SRC_POSY_LEN, &nodePos);
-		node->nodeInfo.pos.y = (double) nodePos;
+		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;
+		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;
+		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;
+		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;
+		node->nodeInfo.speed.z = (double)nodePos;

 		// Reset node ttl
 		node->ttlCnt = 0;
@@ -496,15 +600,17 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
 				// Assert update routine event...
 				L2_RTNE_CONFIG newRtneConfig = {0};
 				L2_EVENT rtneUpEvent =
-				{
-					.event = L2_ROUTINE_UPDATE,
-					.msg = &newRtneConfig
-				};
+					{
+						.event = L2_ROUTINE_UPDATE,
+						.msg = &newRtneConfig
+					};
 				newRtneConfig.rtneTable = initTable;
 				newRtneConfig.rtnePrd = ARRAY_SIZE(initTable);
-				AssertL2Event(instPtr, &rtneUpEvent);
+				(void)AssertL2Event(instPtr, &rtneUpEvent);
 			}
 			PendCfmAck(instPtr->scanFSM);
+			// Time sync.
+			L2_TimeAdjust(instPtr, &(instPtr->log.timeDev));
 		}
 		else
 		{
@@ -516,11 +622,27 @@ 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);
 			}
-			// Time sync.
-			L2_TimeAdjust(instPtr, &(instPtr->log.timeDev));
 		}
+
+		// 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;
 	}
@@ -532,6 +654,90 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
 	return Status;
 }

+/*****************************************************************************/
+/**
+ * @brief   Initialize scan FSM.
+ *
+ * @param   instPtr
+ *
+ * @return
+ *
+ ******************************************************************************/
+int32_t L2_Scan_Init(L2_SCAN_FSM **scanFSMPtr)
+{
+	ASSERT(scanFSMPtr != NULL);
+	*scanFSMPtr = (L2_SCAN_FSM *)malloc(sizeof(L2_SCAN_FSM));
+	if (*scanFSMPtr == NULL)
+	{
+		DBG_ERROR("Failed to allocate memory for scanFsmPtr.\n");
+		return ENOMEM;
+	}
+	L2_Scan_Reset(*scanFSMPtr);
+	(*scanFSMPtr)->beamNo = 0;
+	(*scanFSMPtr)->tableNo = 0;
+	return SUCCESS;
+}
+
+/*****************************************************************************/
+/**
+ * @brief  Reset ScanNet FSM
+ *
+ * @param   scanFsmPtr a pointer to scan net  finite state machine
+ *
+ * @return  NONE
+ *
+ ******************************************************************************/
+void L2_Scan_Reset(L2_SCAN_FSM *scanFSMPtr)
+{
+	ASSERT(scanFSMPtr != NULL);
+	scanFSMPtr->isLocked = false;
+	scanFSMPtr->isAdvRecvd = false;
+	scanFSMPtr->isAckPending = false;
+	scanFSMPtr->scanCnt = 0;
+	scanFSMPtr->advTimeout = 0;
+	scanFSMPtr->cfmTimeout = 0;
+	scanFSMPtr->scanStage = L2_SCAN_NONE_STAGE;
+}
+
+/*****************************************************************************/
+/**
+ * @brief  Destroy ScanNet FSM, free memory
+ *
+ * @param   scanFsmPtr a pointer to scan net  finite state machine
+ *
+ * @return  NONE
+ *
+ ******************************************************************************/
+void L2_Scan_Destroy(L2_SCAN_FSM *scanFSMPtr)
+{
+	free(scanFSMPtr);
+}
+
+/*****************************************************************************/
+/**
+ * @brief  Refresh scan beam table.
+ *
+ * @param   instPtr	a pointer to linklayer layer instance
+ *
+ * @return  NONE
+ *
+ ******************************************************************************/
+void L2_Scan_RefreashScanTable(L2_INST *instPtr)
+{
+	ASSERT(instPtr != NULL);
+	L2_SCAN_FSM *scanFsmPtr = instPtr->scanFSM;
+	PHY_INST *phyRef = instPtr->config.phyInstPtr;
+	if (scanFsmPtr->tableNo == 0)
+	{
+		Phy_SetBeamTable(phyRef, antNrrwPattern_0, scanFsmPtr->beamNo);
+		scanFsmPtr->tableNo = 1;
+	}
+	else
+	{
+		Phy_SetBeamTable(phyRef, antNrrwPattern_1, scanFsmPtr->beamNo);
+		scanFsmPtr->tableNo = 0;
+	}
+}

 /*****************************************************************************/
 /**
@@ -590,7 +796,8 @@ 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");

 	if (rtneEntry->slotSeq != 0)
@@ -603,15 +810,25 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 		if (rtneEntry->dst == L2_GetNodeId(instPtr) || rtneEntry->dst == L2_BROADCAST_ID)
 		{
 			torState = L2_TOR_RX;
+			commNode = L2_GetNodeById(instPtr->nodeList, rtneEntry->src);
 		}
 		else if (rtneEntry->src == L2_GetNodeId(instPtr) || rtneEntry->src == L2_BROADCAST_ID)
 		{
 			torState = L2_TOR_TX;
+			commNode = L2_GetNodeById(instPtr->nodeList, rtneEntry->dst);
 		}
 		else
 		{
 			torState = L2_TOR_SUSPEND;
 		}
+
+		// Setup antenna beam
+		Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
+		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
+		if (commNode != NULL)
+		{
+			(void)Phy_SetBeamNo(phyRef, commNode->nodeInfo.beamNo, PHY_ANT_BEAM_16);
+		}
 	}
 	else
 	{
@@ -627,6 +844,9 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 		{
 			torState = L2_TOR_SUSPEND;
 		}
+		// Setup antenna beam
+		(void)Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_120);
+		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_120;
 	}

 	switch (rtneEntry->slotType)
@@ -635,10 +855,9 @@ 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;
-			goto routine_err;
+			return FAILURE;
 		}
-		L2_SetupNextSlot(instPtr, torState, L2_SCAN_FRAME);
+		(void)L2_SetupNextSlot(instPtr, torState, L2_SCAN_FRAME);
 		break;

 	case L2_SLOT_ADVERTISE:
@@ -647,18 +866,16 @@ 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;
-				goto routine_err;
+				return FAILURE;
 			}
 			memset(instPtr->sendPktData, 0xAA, L2_PACK_LEN_MAX);
 			if (ScanMsg_Packing(instPtr, L2_ADV_FRAME, rtneEntry->dst) != SUCCESS)
 			{
-				Status = FAILURE;
-				goto routine_err;
+				return FAILURE;
 			}
 		}
 		/* Antenna setting (reserved.) */
-		L2_SetupNextSlot(instPtr, torState, L2_ADV_FRAME);
+		(void)L2_SetupNextSlot(instPtr, torState, L2_ADV_FRAME);
 		break;

 	case L2_SLOT_CONFIRM:
@@ -675,19 +892,18 @@ 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;
-				goto routine_err;
+				return FAILURE;
 			}
 		}
 		/* 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;
-		goto routine_err;
+		return FAILURE;
 	}
 	return SUCCESS;
-routine_err:
-	return Status;
 }
+
+/** @} LinkLayer_Scan*/
+/** @} LinkLayer*/
@@ -1,19 +1,24 @@
 /*****************************************************************************/
 /**
- * Description: Event scheduling implementation
+ * @file schdevent.c
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief DF Linklayer Event scheduling implementation file.
+ * @version 0.1
+ * @date 2023-05-06
 *
- * Date: 2023-12-21 13:32
- * LastEditors: Fan Hao
- * LastEditTime: 2023-12-21 13:32
- * Revisions: Rev 0.0
- * History:
- * [2023-12-21]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/
+/**
+ * @addtogroup LinkLayer
+ * @{
+ */

+/**
+ * @addtogroup LinkLayer_Scheduler
+ * @{
+ */
 /***************************** Include Files *********************************/
 #include <stdlib.h>
 #include "schdevent.h"
@@ -360,7 +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);
@@ -428,3 +433,6 @@ inline bool L2_isEventScheduled(const L2_SCHD_EVENT *schdEvent)
 	ASSERT(schdEvent != NULL);
 	return schdEvent->isSchd;
 }
+
+/** @} LinkLayer_Scheduler*/
+/** @} LinkLayer*/
@@ -1,18 +1,24 @@
 /*****************************************************************************/
 /**
- * Description: Event scheduling implementation
+ * @file schdevent.c
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief DF Linklayer Event scheduling header file.
+ * @version 0.1
+ * @date 2023-05-06
 *
- * Date: 2023-12-21 13:32
- * LastEditors: Fan Hao
- * LastEditTime: 2023-12-21 13:32
- * Revisions: Rev 0.0
- * History:
- * [2023-12-21]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/
+/**
+ * @addtogroup LinkLayer
+ * @{
+ */
+
+/**
+ * @addtogroup LinkLayer_Scheduler
+ * @{
+ */
 #ifndef SCHDEVENT_H_
 #define SCHDEVENT_H_

@@ -24,8 +30,9 @@
 #include "clist.h"
 /***************** Macros (Inline Functions) Definitions *********************/
 /**************************** Type Definitions *******************************/
-/** @name L2 event
- * A definition of L2 event instance.
+/**
+ * @struct L2_SCHD_EVENT
+ * @brief Linklayer scheduled event descriptor
 */
 typedef struct
 {
@@ -38,8 +45,9 @@ typedef struct
 	uint32_t schdSlot;
 } L2_SCHD_EVENT;

-/** @name L2 event
- * A definition of L2 event instance.
+/**
+ * @struct L2_SCHD_POOL
+ * @brief Linklayer schedule event pool instance
 */
 typedef struct
 {
@@ -63,3 +71,6 @@ bool L2_isEventScheduled(const L2_SCHD_EVENT *schdEvent);
 int32_t L2_CancelEvent(L2_SCHD_EVENT *schdEvent);

 #endif // SCHDEVENT_H_
+
+/** @} LinkLayer_Scheduler*/
+/** @} LinkLayer*/
@@ -1,18 +1,24 @@
 /*****************************************************************************/
 /**
- * Description: Implementations for df datalink service net.
- * Date: 2021-11-16 00:08
- * LastEditTime: 2022-07-16 17:04
- * Revisions: Rev 0.1
- * History:
- * [2022-07-16]: New branch for DiJian.
- * [2021-11-16]: Initial version.
+ * @file service.c
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief DF Linklayer service implementation file.
+ * @version 0.0
+ * @date 2023-05-06
 *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/
+/**
+ * @addtogroup LinkLayer
+ * @{
+ */

+/**
+ * @addtogroup LinkLayer_Service
+ * @{
+ */
 /***************************** Include Files *********************************/
 #include <string.h>
 #include <stdint.h>
@@ -88,6 +94,7 @@ static int32_t Service_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 	uint32_t dataChunk;
 	uint8_t *buff = instPtr->sendPktData;

+	// Common section of link layer package
 	dataChunk = L2_GetNextFrameNum(instPtr);
 	L2_FrameInsertChunk(buff, L2_MSG_FRAME_NUM, L2_MSG_FRAME_NUM_LEN, &dataChunk);
 	dataChunk = L2_GetNextSlotNum(instPtr);
@@ -113,7 +120,7 @@ static int32_t Service_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 		L2_FrameInsertChunk(buff, L2_MSG_SVC_SRC_SPEEDZ, L2_MSG_SVC_SRC_SPEEDZ_LEN, &(instPtr->sysInfo.vZ));

 		uint32_t dataId;
-		if(L2_GetNodeType(instPtr) == L2_NODE_HEAD)
+		if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
 		{
 			SysMonitor_GetSendPayload(buff + L2_MSG_SVC_PAYLOAD, &dataId, PAYLOAD_LEN_FLJ_TX);
 		}
@@ -128,13 +135,6 @@ static int32_t Service_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 			L2_FrameInsertChunk(buff, L2_MSG_SVC_PAYLOAD, L2_MSG_SVC_PAYLOAD_LEN, testData);
 		}

-		// // packing payload
-		// uint32_t dataId;
-		// dataId = DATA_ID_TEST;
-		// L2_FrameInsertChunk(buff, L2_MSG_SVC_PAYLOAD_ID, L2_MSG_SVC_PAYLOAD_ID_LEN, &dataId);
-		// L2_FrameInsertChunk(buff, L2_MSG_SVC_PAYLOAD, L2_MSG_SVC_PAYLOAD_LEN, testData);
-
-
 		Status = L2_CrcAppend(buff, L2_SVC_PACK_LEN - L2_MSG_SVC_CRC_LEN, L2_MSG_SVC_CRC, L2_CRC16_1021);
 		if (Status != SUCCESS)
 		{
@@ -142,8 +142,8 @@ static int32_t Service_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 			return Status;
 		}

-		memcpy(instPtr->serviceFSM->txLog.data, buff, L2_SVC_PACK_LEN);
-		instPtr->serviceFSM->txLog.dataId = dataId;
+		memcpy(instPtr->log.txLog.data, buff, L2_SVC_PACK_LEN);
+		instPtr->log.txLog.dataId = dataId;
 		break;
 	}
 	default:
@@ -160,62 +160,6 @@ static int32_t Service_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 #endif
 }

-/*****************************************************************************/
-/**
- * @brief   Initialize service net FSM
- *
- * @param   serviceFSM  A pointer to service FSM instance.
- *
- * @return  SUCCESS Initialize successfully.
- *          Other       Initialize failed.
- *
- ******************************************************************************/
-int32_t L2_Service_Init(L2_SVC_FSM **svcFSMPtr)
-{
-	ASSERT(svcFSMPtr != NULL);
-	*svcFSMPtr = (L2_SVC_FSM *)malloc(sizeof(L2_SVC_FSM));
-	if (*svcFSMPtr == NULL)
-	{
-		return ENOMEM;
-	}
-	L2_Service_Reset(*svcFSMPtr);
-	return SUCCESS;
-}
-
-/*****************************************************************************/
-/**
- * @brief  Reset ServiceNet FSM
- *
- * @param   scanFsmPtr a pointer to service net finite state machine
- *
- * @return  NONE
- *
- ******************************************************************************/
-void L2_Service_Reset(L2_SVC_FSM *svcFSMPtr)
-{
-	ASSERT(svcFSMPtr != NULL);
-	memset((&svcFSMPtr->rxLog), 0x00, sizeof(PAYLOAD));
-	memset((&svcFSMPtr->txLog), 0x00, sizeof(PAYLOAD));
-#ifdef DATALINK_ENABLE_BERTEST
-	svcFSMPtr->bitTotal = 0;
-	svcFSMPtr->bitError = 0;
-#endif
-}
-
-/*****************************************************************************/
-/**
- * @brief  Destroy ServiceNet FSM, free memory
- *
- * @param   scanFsmPtr a pointer to service net finite state machine
- *
- * @return  NONE
- *
- ******************************************************************************/
-void L2_Service_Destroy(L2_SVC_FSM *serviceFSM)
-{
-	free(serviceFSM);
-}
-
 /*****************************************************************************/
 /**
 * @brief   Handle service received packet. Send data up to MPC
@@ -232,7 +176,7 @@ int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg)
 	ASSERT(msg != NULL);
 	int32_t Status;
 #ifndef DATALINK_ENABLE_BERTEST
-	uint8_t frameType;
+	L2_FRAME_TYPE frameType = L2_NONE_FRAME;
 	L2_FrameGetChunk(msg, L2_MSG_TYPE, L2_MSG_TYPE_LEN, &frameType);
 	switch (frameType)
 	{
@@ -245,7 +189,7 @@ int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg)
 		if (node == NULL)
 		{
 			node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
-			if(node == NULL)
+			if (node == NULL)
 			{
 				DBG_ERROR("Failed to append new node [id: %" PRIu8 "]", nodeId);
 				Status = ENOMEM;
@@ -256,18 +200,18 @@ int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg)
 		// Update node info.
 		float nodePos;
 		L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_POSX, L2_MSG_SVC_SRC_POSX_LEN, &nodePos);
-		node->nodeInfo.pos.x = (double) nodePos;
+		node->nodeInfo.pos.x = (double)nodePos;
 		L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_POSY, L2_MSG_SVC_SRC_POSY_LEN, &nodePos);
-		node->nodeInfo.pos.y = (double) nodePos;
+		node->nodeInfo.pos.y = (double)nodePos;
 		L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_POSZ, L2_MSG_SVC_SRC_POSZ_LEN, &nodePos);
-		node->nodeInfo.pos.z = (double) nodePos;
+		node->nodeInfo.pos.z = (double)nodePos;
 		float nodeSpeed;
 		L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_SPEEDX, L2_MSG_SVC_SRC_SPEEDX_LEN, &nodeSpeed);
-		node->nodeInfo.speed.x = (double) nodePos;
+		node->nodeInfo.speed.x = (double)nodePos;
 		L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_SPEEDY, L2_MSG_SVC_SRC_SPEEDY_LEN, &nodeSpeed);
-		node->nodeInfo.speed.y = (double) nodePos;
+		node->nodeInfo.speed.y = (double)nodePos;
 		L2_FrameGetChunk(msg, L2_MSG_SVC_SRC_SPEEDZ, L2_MSG_SVC_SRC_SPEEDZ_LEN, &nodeSpeed);
-		node->nodeInfo.speed.z = (double) nodePos;
+		node->nodeInfo.speed.z = (double)nodePos;

 		// Reset node ttl
 		node->ttlCnt = 0;
@@ -286,21 +230,19 @@ int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg)
 		uint32_t dataId;
 		L2_FrameGetChunk(msg, L2_MSG_SVC_PAYLOAD_ID, L2_MSG_SVC_PAYLOAD_ID_LEN, &dataId);

-		if(dataId != DATA_ID_NONE)
+		if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
 		{
-			if(L2_GetNodeType(instPtr) == L2_NODE_HEAD)
-			{
-				SysMonitor_UpdateRecvPayload(msg+L2_MSG_SVC_PAYLOAD, PAYLOAD_LEN_FLJ_RX);
-			}
-			else
-			{
-				SysMonitor_UpdateRecvPayload(msg+L2_MSG_SVC_PAYLOAD, PAYLOAD_LEN_LJ_RX);
-			}
+			SysMonitor_UpdateRecvPayload(msg + L2_MSG_SVC_PAYLOAD, dataId, PAYLOAD_LEN_FLJ_RX);
+		}
+		else
+		{
+			SysMonitor_UpdateRecvPayload(msg + L2_MSG_SVC_PAYLOAD, dataId, PAYLOAD_LEN_LJ_RX);
 		}

 		// Logging
-		memcpy(instPtr->serviceFSM->rxLog.data, msg, L2_SVC_PACK_LEN);
-		instPtr->serviceFSM->rxLog.dataId = dataId;
+		memcpy(instPtr->log.rxLog.data, msg, L2_SVC_PACK_LEN);
+		instPtr->log.rxLog.dataId = dataId;
+		instPtr->serviceFSM->rxdCnt++;

 #ifdef DATALINK_ENABLE_AUTOTIMESYNC
 		// Implement a auto time sync.
@@ -347,6 +289,65 @@ int32_t L2_Service_PktHandler(L2_INST *instPtr, uint8_t *msg)
 #endif
 }

+/*****************************************************************************/
+/**
+ * @brief   Initialize service net FSM
+ *
+ * @param   serviceFSM  A pointer to service FSM instance.
+ *
+ * @return  SUCCESS Initialize successfully.
+ *          Other       Initialize failed.
+ *
+ ******************************************************************************/
+int32_t L2_Service_Init(L2_SVC_FSM **svcFSMPtr)
+{
+	ASSERT(svcFSMPtr != NULL);
+	*svcFSMPtr = (L2_SVC_FSM *)malloc(sizeof(L2_SVC_FSM));
+	if (*svcFSMPtr == NULL)
+	{
+		return ENOMEM;
+	}
+	L2_Service_Reset(*svcFSMPtr);
+	return SUCCESS;
+}
+
+/*****************************************************************************/
+/**
+ * @brief  Reset ServiceNet FSM
+ *
+ * @param   scanFsmPtr a pointer to service net finite state machine
+ *
+ * @return  NONE
+ *
+ ******************************************************************************/
+void L2_Service_Reset(L2_SVC_FSM *svcFSMPtr)
+{
+	ASSERT(svcFSMPtr != NULL);
+	svcFSMPtr->txCnt = 0;
+	svcFSMPtr->rxCnt = 0;
+	svcFSMPtr->rxdCnt = 0;
+#ifdef DATALINK_ENABLE_BERTEST
+	svcFSMPtr->bitTotal = 0;
+	svcFSMPtr->bitError = 0;
+	svcFSMPtr->lossRate = 0;
+	svcFSMPtr->errorRate = 0;
+#endif
+}
+
+/*****************************************************************************/
+/**
+ * @brief  Destroy ServiceNet FSM, free memory
+ *
+ * @param   scanFsmPtr a pointer to service net finite state machine
+ *
+ * @return  NONE
+ *
+ ******************************************************************************/
+void L2_Service_Destroy(L2_SVC_FSM *serviceFSM)
+{
+	free(serviceFSM);
+}
+
 /*****************************************************************************/
 /**
 * @brief   Service FSM Routine.
@@ -367,26 +368,44 @@ int32_t L2_Service_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntr
 		return SUCCESS; // skip
 	}

-	PHY_INST* phyRef = instPtr->config.phyInstPtr;
+	PHY_INST *phyRef = instPtr->config.phyInstPtr;
+	L2_SVC_FSM *svcFSMPtr = instPtr->serviceFSM;
 	L2_TOR_TYPE torState;
+	const NODE_ENTRY *commNode;
 	if (rtneEntry->src == L2_GetNodeId(instPtr))
 	{
 		torState = L2_TOR_TX;
+		commNode = L2_GetNodeById(instPtr->nodeList, rtneEntry->dst);
 	}
 	else if (rtneEntry->dst == L2_GetNodeId(instPtr))
 	{
 		torState = L2_TOR_RX;
+		commNode = L2_GetNodeById(instPtr->nodeList, rtneEntry->src);
 	}
 	else
 	{
 		torState = L2_TOR_SUSPEND;
 	}

+	// Setup antenna beam
+	if (L2_GetNodeType(instPtr) != L2_NODE_HEAD && commNode != NULL)
+	{
+		Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
+		Phy_SetBeamNo(phyRef, commNode->nodeInfo.beamNo, PHY_ANT_BEAM_16);
+		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
+	}
+	else
+	{
+		Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_120);
+		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_120;
+	}
+
 	switch (rtneEntry->slotType)
 	{
 	case L2_SLOT_SERVICE:
 		if (torState == L2_TOR_TX)
 		{
+			svcFSMPtr->txCnt++;
 #ifndef DATALINK_ENABLE_BERTEST
 			// Packing service data
 			Service_Packing(instPtr, L2_SVC_FRAME, rtneEntry->dst);
@@ -394,9 +413,10 @@ int32_t L2_Service_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntr
 			memcpy(instPtr->sendPktData, testData, L2_SVC_PACK_LEN);
 #endif
 		}
-		// FIXME: Steer antenna to point to destination.
-		Phy_SetBeamAngle(phyRef, 0.0, 0.0);
-		Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_8);
+		else
+		{
+			svcFSMPtr->rxCnt++;
+		}
 		L2_SetupNextSlot(instPtr, torState, L2_SVC_FRAME);
 		break;
 	default:
@@ -405,11 +425,14 @@ int32_t L2_Service_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntr
 	}
 #ifdef DATALINK_ENABLE_BERTEST
 	uint32_t pktLoss;
-	pktLoss = instPtr->log.svcRecvCnt - instPtr->log.svcCorrectCnt;
-	instPtr->serviceFSM->lossRate = (instPtr->log.svcRecvCnt == 0) ? 0 : (double)pktLoss / (double)instPtr->serviceFSM->pktRecv;
-	instPtr->serviceFSM->errorRate = (instPtr->serviceFSM->bitTotal == 0) ? 0 : (double)instPtr->serviceFSM->bitError / (double)instPtr->serviceFSM->bitTotal;
-	DBG_PRINT("Packet Loss Rate -- Total: %lu, Loss: %lu.\n", instPtr->serviceFSM->pktRecv, pktLoss);
-	DBG_PRINT("Bit Error Rate -- Total:%lu, Error:%lu.\n", instPtr->serviceFSM->bitTotal, instPtr->serviceFSM->bitError);
+	pktLoss = svcFSMPtr->rxCnt - svcFSMPtr->rxdCnt;
+	svcFSMPtr->lossRate = (svcFSMPtr->rxCnt == 0) ? 0 : (double)pktLoss / (double)svcFSMPtr->rxCnt;
+	svcFSMPtr->errorRate = (svcFSMPtr->bitTotal == 0) ? 0 : (double)svcFSMPtr->bitError / (double)svcFSMPtr->bitTotal;
+	DBG_PRINT("Packet Loss Rate -- Total: %lu, Loss: %lu.\n", instPtr->log.svcRxCnt, pktLoss);
+	DBG_PRINT("Bit Error Rate -- Total:%lu, Error:%lu.\n", svcFSMPtr->bitTotal, svcFSMPtr->bitError);
 #endif
 	return SUCCESS;
 }
+
+/** @} LinkLayer_Service*/
+/** @} LinkLayer*/
@@ -1,21 +1,24 @@
 /*****************************************************************************/
 /**
- * Description: Time sync implementation file.
+ * @file time_sync.c
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief DF Linklayer time sync implementation file.
+ * @version 0.0
+ * @date 2023-05-06
 *
- * Author: Author's name
- * Date: 2021-12-04 16:32
- * LastEditors: FanHao
- * LastEditTime: 2022-07-10 20:43
- * Revisions: Rev 0.0
- * History:
- * [2022-07-10]: New branch for Dijian.
- * [2021-12-04]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/
+/**
+ * @addtogroup LinkLayer
+ * @{
+ */

+/**
+ * @addtogroup LinkLayer_TimeSync
+ * @{
+ */
 /***************************** Include Files *********************************/
 #include <string.h>
 #include <stdlib.h>
@@ -49,7 +52,8 @@ int32_t L2_GetTimeDeviation(L2_INST *instPtr, uint32_t frameNum, uint32_t slotNu
 	ASSERT(instPtr != NULL);
 	ASSERT(timeDev != NULL);
 	L1_FRAME_TYPE lastRecvdFrame;
-	lastRecvdFrame = Phy_GetLastRecvFrameType(instPtr->config.phyInstPtr);
+	PHY_INST *phyRef = instPtr->config.phyInstPtr;
+	lastRecvdFrame = Phy_GetLastRecvFrameType(phyRef);
 	if (lastRecvdFrame == L1_NONE_FRAME)
 	{
 		DBG_ERROR("Invalid TimeAlign operation, no frame was received.");
@@ -68,7 +72,7 @@ int32_t L2_GetTimeDeviation(L2_INST *instPtr, uint32_t frameNum, uint32_t slotNu
 		expectTime += (uint64_t)instPtr->netStartTime * L2_SLOTS_PER_FRAME * TIME_FRAC_MAX;
 	}

-	Phy_GetLastReceivedFrameSyncTimeStamp(instPtr->config.phyInstPtr, &timeStamp);
+	Phy_GetLastReceivedFrameSyncTimeStamp(phyRef, &timeStamp);
 	currTime = (uint64_t)timeStamp.frac_part;
 	currTime += ((uint64_t)timeStamp.int_part) * TIME_FRAC_MAX;

@@ -76,7 +80,6 @@ int32_t L2_GetTimeDeviation(L2_INST *instPtr, uint32_t frameNum, uint32_t slotNu
 	return SUCCESS;
 }

-
 /*****************************************************************************/
 /**
 * @brief    Implement time adjustment by applying time deviation.
@@ -96,3 +99,7 @@ void L2_TimeAdjust(L2_INST *instPtr, const int64_t *timeDev)
 	slotTimerAdjmet.frac_part = (uint32_t)(*timeDev % TIME_FRAC_MAX);
 	TimeCtrl_TimeAdjust(instPtr->config.tmcInstPtr, &slotTimerAdjmet, TM_ADJ_ADD);
 }
+
+/** @} LinkLayer_TimeSync*/
+
+/** @} LinkLayer*/
@@ -1,26 +1,36 @@
 /*****************************************************************************/
 /**
- * Description: Antenna configuration functions.
+ * @file phy_antenna.h
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief Physical layer control antenna configuration functions.
+ * @version 0.0
+ * @date 2023-04-24
 *
- * Author: Fan Hao
- * Date: 2022-06-18 16:37
- * LastEditors: Fan Hao
- * LastEditTime: 2022-06-18 17:15
- * Revisions: Rev 0.0
- * History:
- * [2024-01-20]: New branch for duifei.
- * [2022-06-18]: Initial version.
- *
- * Copyright(c) 2022 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/
+
+/**
+ * @addtogroup PhysicalLayer
+ * @{
+ */
+
+/**
+ * @addtogroup PhysicalLayer_AntennaControl
+ * @{
+ */
 #include <string.h>
 #include <stdint.h>
 #include <math.h>
 #include "error.h"
 #include "phy_layer.h"

+/**
+ * @name PhysicalLayer_AntennaConfig_Constants
+ * @{
+ */
+
 #define ANT_PI 3.14159265358979323846

 #define ANT_COINFO_HEAD 0xAA
@@ -29,16 +39,19 @@
 #define CTRL_WORD_DEFAULT 0x00

 #define ANT_MODE_BEAM_MASK 0xF0
-#define ANT_MODE_NARROR_BEAM 0x00 // 8
-#define ANT_MODE_WIDE_BEAM_1 0x10 // 25
-#define ANT_MODE_WIDE_BEAM_2 0x20 // 60
-#define ANT_MODE_WIDE_BEAM_3 0x30 // 120
+#define ANT_BEAM_NARROR 0x00	  // 8
+#define ANT_BEAM_SUBNARROR_0 0x10 // 25
+#define ANT_BEAM_SUBNARROR_1 0x20 // 60
+#define ANT_BEAM_WIDE 0x30		  // 120

-#define ANT_MODE_HIGH_POWER 0x00
-#define ANT_MODE_LOW_POWER 0x04
-#define ANT_MODE_STANDBY 0x0F
-#define ATN_MODE_DEFAULT (ANT_MODE_WIDE_BEAM_1 | ANT_MODE_LOW_POWER)
-#define ATN_MODE_HIGH (ANT_MODE_WIDE_BEAM_1 | ANT_MODE_HIGH_POWER)
+#define ANT_MODE_POWER_MASK 0x0F
+#define ANT_POWER_FULL 0x00
+#define ANT_POWER_LOW 0x04
+#define ANT_POWER_STANDBY 0x0F
+#define ATN_MODE_SILENT (ANT_BEAM_SUBNARROR_0 | ANT_POWER_STANDBY)
+#define ATN_MODE_LOWPOWER (ANT_BEAM_SUBNARROR_0 | ANT_POWER_LOW)
+#define ATN_MODE_FULLPOWER (ANT_BEAM_SUBNARROR_0 | ANT_POWER_FULL)
+#define ATN_MODE_DEFAULT ATN_MODE_SILENT

 #define DEFAULT_CENTRTAL_FREQ 0x06D7 // 26.25GHz

@@ -54,141 +67,134 @@

 // Pair by regex
 // Regex: (([0-9]+, ){8})
-uint16_t hopPattern_Config[L1_FRAME_MAX_HOPS] = 
+const uint16_t freqTable[L1_FRAME_MAX_HOPS] =
+{
+	1084U, 1097U, 1110U, 1123U, 1136U, 1149U, 1162U, 1175U,
+	1188U, 1201U, 1214U, 1227U, 1240U, 1253U, 1266U, 1279U,
+	1292U, 1305U, 1318U, 1331U, 1344U, 1357U, 1370U, 1383U,
+	1396U, 1409U, 1422U, 1435U, 1448U, 1461U, 1474U, 1487U,
+	1500U, 1513U, 1526U, 1539U, 1552U, 1565U, 1578U, 1591U,
+	1604U, 1617U, 1630U, 1643U, 1656U, 1669U, 1682U, 1695U,
+	1708U, 1721U, 1734U, 1747U, 1760U, 1773U, 1786U, 1799U,
+	1812U, 1825U, 1838U, 1851U, 1864U, 1877U, 1890U, 1903U,
+	1916U, 1929U, 1942U, 1955U, 1968U, 1981U, 1994U, 2007U,
+	2020U, 2033U, 2046U, 2059U, 2072U, 2085U, 2098U, 2111U,
+	2124U
+};
+
+const int16_t antCalTable[L1_FRAME_MAX_HOPS][L1_ANT_NUM_CH] =
+//Antenna-JG01
+{
+	{     0,   2525,  -7533,  -6846}, {     0,  12726,  -7818,  -6860},
+	{     0,   2490,  -7836,  -6907}, {     0,   4479,  -7716,  -6837},
+	{     0,   6409,  -7770,  -6776}, {     0,  14616,  -7977,  -6816},
+	{     0, -22557,  -8002,  -6911}, {     0, -22587,  -8121,  -6918},
+	{     0,  -1124,  -8123,  -7030}, {     0,   -152,  -8219,  -7042},
+	{     0,   1823,  -8209,  -7130}, {     0,   1790,  -8290,  -7214},
+	{     0,   1669,  -8362,  -7283}, {     0,   1634,  -8459,  -7276},
+	{     0,   1615,  -8315,  -7415}, {     0,   1698,  -8168,  -7366},
+	{     0,   1535,  -8285,  -7520}, {     0,   1619,  -8285,  -7532},
+	{     0,   1609,  -8201,  -7693}, {     0,   1671,  -8145,  -7769},
+	{     0,   1676,  -8135,  -7805}, {     0,    951, -10279,  -8871},
+	{     0,    976, -10235,  -8978}, {     0,   1118, -10127,  -9019},
+	{     0,   1175, -10003,  -9007}, {     0,   1386,  -9847,  -9039},
+	{     0,   1535,  -9572,  -9058}, {     0,   1729,  -9493,  -9006},
+	{     0,  -1158,  -9312,  -9003}, {     0,  23771,  -9147,  -8928},
+	{     0,  20733,  -9074,  -8924}, {     0,   2455,  -8841,  -8886},
+	{     0,   2622,  -8718,  -8735}, {     0,   2791,  -8615,  -8705},
+	{     0,   2861,  -8168,  -8331}, {     0,   3076,  -8091,  -8218},
+	{     0,   3257,  -8046,  -8100}, {     0,   3331,  -7923,  -8073},
+	{     0,   3396,  -7826,  -7994}, {     0,   3478,  -7842,  -8016},
+	{     0,   3518,  -7846,  -7765}, {     0,   3585,  -7753,  -7715},
+	{     0,    150,  -8145,  -8591}, {     0,    192,  -8090,  -8570},
+	{     0,    207,  -8150,  -8597}, {     0,    178,  -8142,  -8656},
+	{     0,     89,  -8557,  -8688}, {     0,    107,  -8614,  -8733},
+	{     0,    194,  -8605,  -8782}, {     0,    153,  -8655,  -8881},
+	{     0,     70,  -8615,  -8952}, {     0,     35,  -8596,  -9148},
+	{     0,     49,  -8636,  -9286}, {     0,      6,  -8587,  -9435},
+	{     0,    -51,  -8540,  -9549}, {     0,    -65,  -8588,  -9700},
+	{     0,    -55,  -8503,  -9820}, {     0,    -20,  -8414,  -9907},
+	{     0,   -112,  -8481, -10031}, {     0,    -69,  -8535, -10185},
+	{     0,      2,  -8550, -10052}, {     0,     -1,  -8493, -10291},
+	{     0,    -73,  -8441, -10380}, {     0,   1958,  -6930,  -8295},
+	{     0,  -1148,  -6939,  -8396}, {     0,   1915,  -6784,  -8370},
+	{     0,   1871,  -6970,  -8514}, {     0,   1821,  -6974,  -8387},
+	{     0,   1781,  -6906,  -8431}, {     0,   1736,  -6897,  -8462},
+	{     0,   1664,  -7024,  -8377}, {     0,   1629,  -7127,  -8436},
+	{     0,   1603,  -7148,  -8528}, {     0,   1577,  -7198,  -8500},
+	{     0,   1528,  -7311,  -8512}, {     0,   1577,  -7390,  -8570},
+	{     0,   1616,  -7436,  -8572}, {     0,   1589,  -7597,  -8590},
+	{     0,   1722,  -7550,  -8568}, {     0,   1741,  -7691,  -8449},
+	{     0,   1767,  -7775,  -8328},
+};
+
+const uint8_t hopPattern_2KBPS_20MS[L1_FRAME_2KBPS_20MS_HOPS] =
 {
 	0
 };

-uint16_t hopPattern_2KBPS_20MS[L1_FRAME_2KBPS_20MS_HOPS] = 
+const uint8_t hopPattern_2KBPS_100MS[L1_FRAME_2KBPS_100MS_HOPS] =
 {
-	1500
+	 0U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
+	 8U,  9U, 10U, 11U, 12U, 13U, 14U, 15U,
+	16U, 17U, 18U, 19U, 20U, 21U, 22U, 23U,
+	24U, 25U, 26U, 27U, 28U, 29U, 30U, 31U,
+	32U, 33U, 34U, 35U, 36U, 37U, 38U, 39U,
+	40U, 41U, 42U, 43U, 44U, 45U, 46U, 47U,
+	48U, 49U, 50U, 51U, 52U, 53U, 54U, 55U,
+	56U, 57U, 58U, 59U, 60U, 61U, 62U, 63U,
+	64U, 65U, 66U, 67U, 68U, 69U, 70U, 71U,
+	72U, 73U, 74U, 75U, 76U, 77U, 78U, 79U,
+	80U
 };

-uint16_t hopPattern_2KBPS_100MS[L1_FRAME_2KBPS_100MS_HOPS] = 
+const uint8_t hopPattern_10KBPS_10MS[L1_FRAME_10KBPS_10MS_HOPS] =
 {
-	0,   44,    88,   131,  175,  219,  263,  306,
-	350,  394,  438,  481,  525,  569,  613,  656,
-	700,  744,  788,  831,  875,  919,  963,  1006,
-	1050, 1094, 1138, 1181, 1225, 1269, 1313, 1356,
-	1400, 1444, 1488, 1531, 1575, 1619, 1663, 1706,
-	1750, 1794, 1838, 1881, 1925, 1969, 2013, 2056,
-	2100, 2144, 2188, 2231, 2275, 2319, 2363, 2406,
-	2450, 2494, 2538, 2581, 2625, 2669, 2713, 2756,
-	2800, 2844, 2888, 2931, 2975, 3019, 3063, 3106,
-	3150, 3194, 3238, 3281, 3325, 3369, 3413, 3456,
-	3500
+	80U
 };

-uint16_t hopPattern_10KBPS_10MS[L1_FRAME_10KBPS_10MS_HOPS] = 
+const uint8_t hopPattern_10KBPS_20MS[L1_FRAME_10KBPS_20MS_HOPS] =
 {
-	1500
+	 80U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
+	  8U,  9U, 10U
 };

-uint16_t hopPattern_10KBPS_20MS[L1_FRAME_10KBPS_20MS_HOPS] = 
+const uint8_t hopPattern_40KBPS_10MS[L1_FRAME_40KBPS_10MS_HOPS] =
 {
-	1500
+	 0U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
+	 8U,
 };

-uint16_t hopPattern_40KBPS_10MS[L1_FRAME_40KBPS_10MS_HOPS] = 
+const uint8_t hopPattern_40KBPS_20MS[L1_FRAME_40KBPS_20MS_HOPS] =
 {
-	1600
+	 0U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
+	 8U,  9U, 10U, 11U, 12U, 13U, 14U, 15U,
+	16U, 17U, 18U
 };

-uint16_t hopPattern_40KBPS_20MS[L1_FRAME_40KBPS_20MS_HOPS] = 
+const uint8_t hopPattern_200KBPS_5MS[L1_FRAME_200KBPS_5MS_HOPS] =
 {
-	1600
+	 0U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
+	 8U,  9U, 10U, 11U, 12U, 13U, 14U, 15U,
+	16U, 17U, 18U, 19U
 };

-uint16_t hopPattern_200KBPS_5MS[L1_FRAME_200KBPS_5MS_HOPS] =
+const uint8_t hopPattern_1M2BPS_5MS[L1_FRAME_1M2BPS_5MS_HOPS] =
 {
-	500,  1600, 1700, 1800, 1900, 2000, 1500, 1600,
-	1700, 1800, 1900, 2000, 1500, 1600, 1700, 1800,
-	1900, 2000, 1500, 1500
+	 0U,  1U,  2U,  3U,  4U,  5U,  6U,  7U,
+	 8U,  9U, 10U, 11U, 12U, 13U, 14U, 15U,
+	16U, 17U, 18U, 19U
 };

-uint16_t hopPattern_1M2BPS_5MS[L1_FRAME_1M2BPS_5MS_HOPS] = 
-{
-	500, 600, 700, 800, 900, 1000, 500, 600,
-	700, 800, 900, 1000, 500, 600, 700, 800,
-	900, 1000, 500, 500
-};
+/** @} PhysicalLayer_AntennaConfig_Constants*/

-// Pair by regex
-// Regex: ((\{\.oaxis = [0-9]+[ ,]+\.raxis = [0-9]+[ ]*\}, ){2})
-#ifdef PHY_BEAM_SET_PRESET
-PHY_ANT_ANGLE antSubnrrwPattern[L1_NUM_ANT_SUBNRRW_PATTERN] = 
-{
-	{.oaxis = 0 , .raxis = 222}, {.oaxis = 10, .raxis = 85 },
-	{.oaxis = 14, .raxis = 307}, {.oaxis = 17, .raxis = 170},
-	{.oaxis = 19, .raxis = 32 }, {.oaxis = 21, .raxis = 255},
-	{.oaxis = 24, .raxis = 117}, {.oaxis = 25, .raxis = 340},
-	{.oaxis = 27, .raxis = 202}, {.oaxis = 29, .raxis = 65 },
-	{.oaxis = 31, .raxis = 287}, {.oaxis = 32, .raxis = 150},
-	{.oaxis = 34, .raxis = 12 }, {.oaxis = 35, .raxis = 235},
-	{.oaxis = 36, .raxis = 97 }, {.oaxis = 38, .raxis = 320},
-	{.oaxis = 39, .raxis = 182}, {.oaxis = 40, .raxis = 45 },
-	{.oaxis = 41, .raxis = 267}, {.oaxis = 43, .raxis = 130},
-	{.oaxis = 44, .raxis = 352}, {.oaxis = 45, .raxis = 215},
-	{.oaxis = 46, .raxis = 77 }, {.oaxis = 47, .raxis = 300},
-	{.oaxis = 48, .raxis = 162}, {.oaxis = 49, .raxis = 25 },
-	{.oaxis = 50, .raxis = 247}, {.oaxis = 51, .raxis = 110},
-	{.oaxis = 52, .raxis = 332}, {.oaxis = 53, .raxis = 195},
-	{.oaxis = 54, .raxis = 57 }, {.oaxis = 55, .raxis = 280},
-	{.oaxis = 56, .raxis = 142}, {.oaxis = 57, .raxis = 5  },
-	{.oaxis = 58, .raxis = 227}, {.oaxis = 59, .raxis = 90 },
-	{.oaxis = 60, .raxis = 312}
-};
-PHY_ANT_ANGLE antNrrwPattern[L1_NUM_ANT_NRRW_PATTERN] = 
-{
-	{.oaxis = 0 , .raxis = 222}, {.oaxis = 7 , .raxis = 85 },
-	{.oaxis = 10, .raxis = 307}, {.oaxis = 13, .raxis = 170},
-	{.oaxis = 15, .raxis = 32 }, {.oaxis = 17, .raxis = 255},
-	{.oaxis = 18, .raxis = 117}, {.oaxis = 20, .raxis = 340},
-	{.oaxis = 21, .raxis = 202}, {.oaxis = 22, .raxis = 65 },
-	{.oaxis = 24, .raxis = 287}, {.oaxis = 25, .raxis = 150},
-	{.oaxis = 26, .raxis = 12 }, {.oaxis = 27, .raxis = 235},
-	{.oaxis = 28, .raxis = 97 }, {.oaxis = 29, .raxis = 320},
-	{.oaxis = 30, .raxis = 182}, {.oaxis = 31, .raxis = 45 },
-	{.oaxis = 32, .raxis = 267}, {.oaxis = 33, .raxis = 130},
-	{.oaxis = 34, .raxis = 352}, {.oaxis = 34, .raxis = 215},
-	{.oaxis = 35, .raxis = 77 }, {.oaxis = 36, .raxis = 300},
-	{.oaxis = 37, .raxis = 162}, {.oaxis = 38, .raxis = 25 },
-	{.oaxis = 38, .raxis = 247}, {.oaxis = 39, .raxis = 110},
-	{.oaxis = 40, .raxis = 332}, {.oaxis = 41, .raxis = 195},
-	{.oaxis = 41, .raxis = 57 }, {.oaxis = 42, .raxis = 280},
-	{.oaxis = 43, .raxis = 142}, {.oaxis = 44, .raxis = 5  },
-	{.oaxis = 44, .raxis = 227}, {.oaxis = 45, .raxis = 90 },
-	{.oaxis = 46, .raxis = 312}, {.oaxis = 46, .raxis = 175},
-	{.oaxis = 47, .raxis = 37 }, {.oaxis = 48, .raxis = 260},
-	{.oaxis = 48, .raxis = 122}, {.oaxis = 49, .raxis = 345},
-	{.oaxis = 49, .raxis = 207}, {.oaxis = 50, .raxis = 70 },
-	{.oaxis = 51, .raxis = 292}, {.oaxis = 51, .raxis = 155},
-	{.oaxis = 52, .raxis = 17 }, {.oaxis = 53, .raxis = 240},
-	{.oaxis = 53, .raxis = 102}, {.oaxis = 54, .raxis = 325},
-	{.oaxis = 54, .raxis = 187}, {.oaxis = 55, .raxis = 50 },
-	{.oaxis = 55, .raxis = 272}, {.oaxis = 56, .raxis = 135},
-	{.oaxis = 57, .raxis = 357}, {.oaxis = 57, .raxis = 220},
-	{.oaxis = 58, .raxis = 82 }, {.oaxis = 58, .raxis = 305},
-	{.oaxis = 59, .raxis = 167}, {.oaxis = 59, .raxis = 30 },
-	{.oaxis = 60, .raxis = 252}
-};
-#else
-PHY_ANT_ANGLE antSubnrrwPattern[L1_NUM_ANT_SUBNRRW_PATTERN]  = 
-{
-	0
-};
-PHY_ANT_ANGLE antNrrwPattern[L1_NUM_ANT_NRRW_PATTERN] = 
-{
-	0
-};
-#endif
 /*****************************************************************************/
 /**
- * @brief
+ * @brief	Initialize antenna configurations (load preset values)
 *
- * @param   antConfig
+ * @param   antConfig	pointer to antenna configure
 *
- * @return
+ * @return	None.
 *
 ******************************************************************************/
 void Phy_AntConfigInit(PHY_ANT_CONFIG *antConfig)
@@ -214,7 +220,7 @@ void Phy_AntConfigInit(PHY_ANT_CONFIG *antConfig)
 	// trSelect
 	antConfig->trSlect = 0;
 	// Antenna attenuation setting
-	antConfig->antAtt = 20;
+	antConfig->antAtt = 0;
 	// phase setting
 	antConfig->phase = 0;
 	// ***********************
@@ -242,32 +248,80 @@ void Phy_AntConfigInit(PHY_ANT_CONFIG *antConfig)
 	// ***********************
 }

+/*****************************************************************************/
+/**
+ * @brief	Update antenna power mode setting
+ *
+ * @param   instPtr	pointer to physical layer instance
+ * @param   mode	new antenna mode
+ *
+ * @return	None.
+ *
+ ******************************************************************************/
 void Phy_AntConfigMode(PHY_INST *instPtr, PHY_ANT_MODE mode)
 {
 	ASSERT(instPtr != NULL);
 	uint8_t config = instPtr->antConfig.antMode & ANT_MODE_BEAM_MASK;
 	switch (mode)
 	{
-	case PHY_ANT_MODE_SILENT:
-		config |= ANT_MODE_STANDBY;
+	case PHY_ANT_MODE_STANDBY:
+		config |= ANT_POWER_STANDBY;
 		break;
-	case PHY_ANT_MODE_LOW_POWER:
-		config |= ANT_MODE_LOW_POWER;
+	case PHY_ANT_MODE_POWER_LOW:
+		config |= ANT_POWER_LOW;
 		break;
-	case PHY_ANT_MODE_HIGH_POWER:
-		config |= ANT_MODE_HIGH_POWER;
+	case PHY_ANT_MODE_POWER_FULL:
+		config |= ANT_POWER_FULL;
 		break;
 	default:
 		DBG_ERROR("Unknown antenna mode: %" PRIu8 ", remain previous mode.\n", mode);
 		return;
 	}
+	instPtr->phyLog.antMode = mode;
 	instPtr->antConfig.antMode = config;
+	// Sync logs to system monitor
+	SysMonitor_UpdatePhysicalLayerLog(&(instPtr->phyLog));
 }

-int32_t Phy_SetBeamNo(PHY_INST *instPtr, int32_t beamNo)
+/*****************************************************************************/
+/**
+ * @brief	Update antenna beam table
+ *
+ * @param   instPtr	pointer to physical layer instance
+ * @param   table	new beam table
+ * @param   offset	table offset
+ *
+ * @return	None
+ *
+ ******************************************************************************/
+void Phy_SetBeamTable(PHY_INST *instPtr, PHY_ANT_ANGLE *table, uint32_t offset)
 {
 	ASSERT(instPtr != NULL);
-	if (instPtr->beamWd.next == PHY_ANT_BEAM_8)
+	ASSERT(table != NULL);
+	for (int i = 0; i < L1_NUM_ANT_NRRW_PATTERN; i++)
+	{
+		instPtr->antNrrwPattern[i] = table[(i + offset) % L1_NUM_ANT_NRRW_PATTERN];
+	}
+	memcpy((uint32_t *)instPtr->antInfoAddr, instPtr->antNrrwPattern,
+		   L1_NUM_ANT_NRRW_PATTERN * sizeof(PHY_ANT_ANGLE));
+}
+
+/*****************************************************************************/
+/**
+ * @brief	Update antenna point direction using predefined beam table
+ *
+ * @param   instPtr	pointer to physical layer instance
+ * @param   beamNo	new beam index
+ *
+ * @return	SUCCESS.
+ * 			FAILURE beamNo exceeds the table size
+ *
+ ******************************************************************************/
+int32_t Phy_SetBeamNo(PHY_INST *instPtr, size_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth)
+{
+	ASSERT(instPtr != NULL);
+
+	if (beamWidth == PHY_ANT_BEAM_16)
 	{
 		if (beamNo >= L1_NUM_ANT_NRRW_PATTERN)
 		{
@@ -276,26 +330,10 @@ int32_t Phy_SetBeamNo(PHY_INST *instPtr, int32_t beamNo)
 		else
 		{
 			instPtr->beamNo.next = beamNo;
-			instPtr->antConfig.oaxis[1] = (uint8_t)(antNrrwPattern[beamNo].oaxis);
-			instPtr->antConfig.oaxis[0] = (uint8_t)((antNrrwPattern[beamNo].oaxis) >> 8);
-			instPtr->antConfig.raxis[1] = (uint8_t)(antNrrwPattern[beamNo].raxis);
-			instPtr->antConfig.raxis[0] = (uint8_t)((antNrrwPattern[beamNo].raxis) >> 8);
-			return SUCCESS;
-		}
-	}
-	else if (instPtr->beamWd.next == PHY_ANT_BEAM_25)
-	{
-		if (beamNo >= L1_NUM_ANT_SUBNRRW_PATTERN)
-		{
-			return FAILURE;
-		}
-		else
-		{
-			instPtr->beamNo.next = beamNo;
-			instPtr->antConfig.oaxis[1] = (uint8_t)(antSubnrrwPattern[beamNo].oaxis);
-			instPtr->antConfig.oaxis[0] = (uint8_t)((antSubnrrwPattern[beamNo].oaxis) >> 8);
-			instPtr->antConfig.raxis[1] = (uint8_t)(antSubnrrwPattern[beamNo].raxis);
-			instPtr->antConfig.raxis[0] = (uint8_t)((antSubnrrwPattern[beamNo].raxis) >> 8);
+			instPtr->antConfig.oaxis[0] = (uint8_t)(instPtr->antNrrwPattern[beamNo].oaxis >> 8);
+			instPtr->antConfig.oaxis[1] = (uint8_t)(instPtr->antNrrwPattern[beamNo].oaxis);
+			instPtr->antConfig.raxis[0] = (uint8_t)(instPtr->antNrrwPattern[beamNo].raxis >> 8);
+			instPtr->antConfig.raxis[1] = (uint8_t)(instPtr->antNrrwPattern[beamNo].raxis);
 			return SUCCESS;
 		}
 	}
@@ -304,15 +342,26 @@ int32_t Phy_SetBeamNo(PHY_INST *instPtr, int32_t beamNo)
 		// Beam number assign not support.
 		// Assign default angle (0,0)
 		instPtr->beamNo.next = 0;
-		instPtr->antConfig.oaxis[1] = 0;
 		instPtr->antConfig.oaxis[0] = 0;
-		instPtr->antConfig.raxis[1] = 0;
+		instPtr->antConfig.oaxis[1] = 0;
 		instPtr->antConfig.raxis[0] = 0;
+		instPtr->antConfig.raxis[1] = 0;
 		DBG_WARNING("Using default beam number...\n");
 		return SUCCESS;
 	}
 }

+/*****************************************************************************/
+/**
+ * @brief	Update antenna beam width setting
+ *
+ * @param   instPtr		pointer to physical layer instance
+ * @param   beamWidth	new beam width
+ *
+ * @return	SUCCESS.
+ * 			EPARAM
+ *
+ ******************************************************************************/
 int32_t Phy_SetBeamWidth(PHY_INST *instPtr, PHY_ANT_BEAM_WIDTH beamWidth)
 {
 	ASSERT(instPtr != NULL);
@@ -320,35 +369,45 @@ int32_t Phy_SetBeamWidth(PHY_INST *instPtr, PHY_ANT_BEAM_WIDTH beamWidth)
 	switch (beamWidth)
 	{
 	case PHY_ANT_BEAM_120:
-		beamConfig |= ANT_MODE_WIDE_BEAM_3;
+		beamConfig |= ANT_BEAM_WIDE;
 		break;
 	case PHY_ANT_BEAM_60:
-		beamConfig |= ANT_MODE_WIDE_BEAM_2;
+		beamConfig |= ANT_BEAM_SUBNARROR_1;
 		break;
 	case PHY_ANT_BEAM_25:
-		beamConfig |= ANT_MODE_WIDE_BEAM_1;
+		beamConfig |= ANT_BEAM_SUBNARROR_0;
 		break;
-	case PHY_ANT_BEAM_8:
-		beamConfig |= ANT_MODE_NARROR_BEAM;
+	case PHY_ANT_BEAM_16:
+		beamConfig |= ANT_BEAM_NARROR;
 		break;
 	default:
 		DBG_ERROR("Beam width code: 0x%08X is illegal.\n\r", beamWidth);
 		return EPARAM;
-		break;
 	}
 	instPtr->antConfig.antMode = beamConfig;
 	instPtr->beamWd.next = beamWidth;
 	return SUCCESS;
 }

-// Common version radius double input
+/*****************************************************************************/
+/**
+ * @brief	Set antenna to a specific direction
+ *
+ * @param   instPtr	pointer to physical layer instance
+ * @param   offAx	elevation angle
+ * @param   rndAx	azimuth angle
+ *
+ * @return	SUCCESS.
+ * 			EPARAM - the direction is exceeds predefined range
+ *
+ ******************************************************************************/
 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);
-	rndAxDeg = (rndAx >= 0) ? (((int32_t)(rndAx * 180 / ANT_PI)) % 360) : (((int32_t)(rndAx * 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 * 180.0 / 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",
@@ -357,9 +416,13 @@ int32_t Phy_SetBeamAngle(PHY_INST *instPtr, double offAx, double rndAx)
 	}
 	offAxDeg = offAxDeg * 10;
 	rndAxDeg = rndAxDeg * 10;
-	instPtr->antConfig.oaxis[1] = (uint8_t)offAxDeg;
 	instPtr->antConfig.oaxis[0] = (uint8_t)(offAxDeg >> 8);
-	instPtr->antConfig.raxis[1] = (uint8_t)rndAxDeg;
+	instPtr->antConfig.oaxis[1] = (uint8_t)offAxDeg;
 	instPtr->antConfig.raxis[0] = (uint8_t)(rndAxDeg >> 8);
+	instPtr->antConfig.raxis[1] = (uint8_t)rndAxDeg;
 	return SUCCESS;
 }
+
+/** @} PhysicalLayer_AntennaControl*/
+
+/** @} PhysicalLayer*/
@@ -1,63 +1,63 @@
 /*****************************************************************************/
 /**
- * Description: Physical layer control definitions and function prototypes.
+ * @file phy_layer.c
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief Physical layer control header file.
+ * @version 0.0
+ * @date 2023-04-24
 *
- * Date: 2021-12-04 16:32
- * LastEditTime: 2024-01-20 17:41
- * Revisions: Rev 0.1
- * History:
- * [2021-12-08]: Initial version.
- * [2022-06-18]: New branch for glink control purpose:
- * 				 -Add poll mode, physical layer will start Tx/Rx procedure
- * 				  at specific time stamp.
- * 				 -Add 61/37 beam switch
- * 				 -Code simplification.
- * [2023-04-24]: Feature add:
- * 				- Read frame type from PL status register.
- * [2024-01-20]: New branch for DUIFEI.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

+/**
+ * @defgroup PhysicalLayer
+ * @{
+ */
+
 #ifndef PHY_CTRL_H_
 #define PHY_CTRL_H_

 /***************************** Include Files *********************************/
 #include <stdint.h>
-#include "phy_reg.h"
 #include "common.h"
 #ifndef EMULATION
 #include "xbram.h"
 #include "xadcps.h"
+#include "../config/app_config.h"
 #endif
 #include "../../system_monitor.h"
 #include "../../time_ctrl/time_ctrl.h"
 /************************** Constant Definitions *****************************/
-#define L1_NUM_ANT_SUBNRRW_PATTERN 37
-#define L1_NUM_ANT_NRRW_PATTERN 61
-#define L1_INIT_BEAM_NO 0
+/**
+ * @name PhysicalLayer_Common_Constant
+ * @{
+ */
+#define L1_NUM_ANT_NRRW_PATTERN 37U
+#define L1_INIT_BEAM_NO 0U
 #define L1_INIT_ANT_WD PHY_ANT_BEAM_120
-#define L1_INIT_ANT_NO 0
+#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_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_2KBPS_20MS_HOPS 1
-#define L1_FRAME_2KBPS_100MS_HOPS 81
-#define L1_FRAME_10KBPS_10MS_HOPS 1
-#define L1_FRAME_10KBPS_20MS_HOPS 11
-#define L1_FRAME_40KBPS_20MS_HOPS 19
-#define L1_FRAME_40KBPS_10MS_HOPS 9
-#define L1_FRAME_200KBPS_5MS_HOPS 20
-#define L1_FRAME_1M2BPS_5MS_HOPS 20
-
-#define PHY_TIME_WORD_H_MAX UINT32_MAX
-#define PHY_TIME_WORD_L_MAX 0x0007A120 // 5ms/10ns
+#define L1_FRAME_MAX_HOPS 81U
+#define L1_FRAME_2KBPS_20MS_HOPS 1U
+#define L1_FRAME_2KBPS_100MS_HOPS 81U
+#define L1_FRAME_10KBPS_10MS_HOPS 1U
+#define L1_FRAME_10KBPS_20MS_HOPS 11U
+#define L1_FRAME_40KBPS_20MS_HOPS 19U
+#define L1_FRAME_40KBPS_10MS_HOPS 9U
+#define L1_FRAME_200KBPS_5MS_HOPS 20U
+#define L1_FRAME_1M2BPS_5MS_HOPS 20U
+#define PHY_LOG_EXPIRE 40U // 50*5ms
+/** @} */
 /***************** Macros (Inline Functions) Definitions *********************/
 /**************************** Type Definitions *******************************/
+/**
+ * @enum L1_FRAME_TYPE
+ */
 typedef enum
 {
 	L1_NONE_FRAME = 0,
@@ -71,71 +71,67 @@ typedef enum
 	L1_1M2BPS_5MS_FRAME = 8
 } L1_FRAME_TYPE;

+/**
+ * @struct PHY_ANT_CONFIG
+ * @brief PhysicalLayer antenna config
+ */
 typedef struct
 {
 	/*** Ant Control ***/
-	/* Antenna control frame head 0xAA */
-	/* default 0, reserved for further use */
-	uint8_t ctrlWord;
-	/* high 4 bits specified beam mode.
-	 * low 4 bits specified power control */
-	uint8_t antMode;
-	/* off-axis angle range is 0~60,
-	 * 0.1 degree each LSB */
-	uint8_t oaxis[2];
-	/* round-axis angle range is 0~360,
-	 * 0.1 degree each LSB */
-	uint8_t raxis[2];
-	/* 0~3500Mhz, step 1MHz */
-	uint8_t antFreq[2];
-	/* in single tr mode, 0~63 specified tr channel
-	 * in single subarray mode, 0~3 specified the subarray
-	 * Only in debug mode*/
-	uint8_t trSlect;
-	/* Antenna attenuation 0~31, 0.5dB each LSB, Only in debug mode */
-	uint8_t antAtt;
-	/* 0~63, 5.625 degree each LSB, Only in debug mode*/
-	uint8_t phase;
-	/* Only for debug */
-	/* default 0x00 */
-	uint8_t rxtxMode;
-	/* 0x00 Normal, 0x01 single tr calibration */
-	uint8_t calibrMode;
-	/* reserved for further use */
-	uint8_t antReserved;
+	uint8_t ctrlWord;	 ///< Antenna control frame head 0xAA\n
+						 /// default 0, reserved for further use
+	uint8_t antMode;	 ///< high 4 bits specified beam mode.\n
+						 /// low 4 bits specified power control
+	uint8_t oaxis[2];	 ///< off-axis angle range is 0~60 \n
+						 /// 0.1 degree each LSB
+	uint8_t raxis[2];	 ///< round-axis angle range is 0~360, \n
+						 /// 0.1 degree each LSB
+	uint8_t antFreq[2];	 ///< 0~3500Mhz, step 1MHz
+	uint8_t trSlect;	 ///< in single tr mode, 0~63 specified tr channel \n
+						 /// in single subarray mode, 0~3 specified the subarray
+						 /// ! Only in debug mode!
+	uint8_t antAtt;		 ///< Antenna attenuation 0~31, 0.5dB each LSB, Only in debug mode
+	uint8_t phase;		 ///< 0~63, 5.625 degree each LSB, Only in debug mode
+	uint8_t rxtxMode;	 ///< Only for debug \n
+						 /// default 0x00
+	uint8_t calibrMode;	 ///< 0x00 Normal, 0x01 single tr calibration
+	uint8_t antReserved; ///< reserved for further use

 	/*** RF Control ***/
-	/* [7:4]RF enable: 0-On, 1-Off(Default); [3:0]Work mode: 0(default) */
-	uint8_t rfCtrl;
-	/* 0~3500Mhz, step 1MHz */
-	uint8_t rfFreq[2];
-	/* RF MGC control: 0~31, 1dB each LSB*/
-	uint8_t rfTxMgc;
-	/* RF channel 1&2 calibration mgc: [7:4] Channle1 - max 15db, 1dB each LSB
-	 * 								   [3:0] Channle2 - max 15db, 1dB each LSB*/
-	uint8_t rf12CalMgc;
-	/* RF channel 3&4 calibration mgc: [7:4] Channle3 - max 15db, 1dB each LSB
-	 * 								   [3:0] Channle4 - max 15db, 1dB each LSB*/
-	uint8_t rf34CalMgc;
-	/* Receive channel 1-4 MGC: 0~31, 1dB each LSB */
-	uint8_t rcvMgc;
-	/* Receive monitor, 0-normal, 1-switch to monitor port */
-	uint8_t rfMonitor;
-	/* reserved for further use */
-	uint8_t rfReserved0;
-	uint8_t rfReserved1;
+	uint8_t rfCtrl;		 ///< [7:4]RF enable: 0-On, 1-Off(Default); [3:0]Work mode: 0(default)
+	uint8_t rfFreq[2];	 ///< 0~3500Mhz, step 1MHz
+	uint8_t rfTxMgc;	 ///< RF MGC control: 0~31, 1dB each LSB
+	uint8_t rf12CalMgc;	 ///< RF channel 1&2 calibration mgc\n
+						 /// [7:4] Channle1 - max 15db, 1dB each LSB \n
+						 /// [3:0] Channle2 - max 15db, 1dB each LSB
+	uint8_t rf34CalMgc;	 ///< RF channel 3&4 calibration mgc\n
+						 /// [7:4] Channle3 - max 15db, 1dB each LSB
+						 /// [3:0] Channle4 - max 15db, 1dB each LSB
+	uint8_t rcvMgc;		 ///< Receive channel 1-4 MGC: 0~31, 1dB each LSB
+	uint8_t rfMonitor;	 ///< Receive monitor, 0-normal, 1-switch to monitor port
+	uint8_t rfReserved0; ///< reserved for further use
+	uint8_t rfReserved1; ///< reserved for further use
+	uint8_t ch0Cal[2];
+	uint8_t ch1Cal[2];
+	uint8_t ch2Cal[2];
+	uint8_t ch3Cal[2];
 } PHY_ANT_CONFIG;

+/**
+ * @struct PHY_ANT_ANGLE
+ * @brief Describe the PhysicalLayer antenna angle
+ */
 typedef struct
 {
-	/* off-axis angle range is 0~60,
-	 * 0.1 degree each LSB */
-	uint16_t oaxis;
-	/* round-axis angle range is 0~360,
-	 * 0.1 degree each LSB */
-	uint16_t raxis;
+	uint16_t oaxis; ///< off-axis angle range is 0~60
+					/// 0.1 degree each LSB
+	uint16_t raxis; ///< round-axis angle range is 0~360
+					/// 0.1 degree each LSB
 } PHY_ANT_ANGLE;

+/**
+ * @enum PHY_TIME_WORD_TYPE
+ */
 typedef enum
 {
 	PHY_TIME_WORD_NONE = 0,
@@ -143,15 +139,21 @@ typedef enum
 	PHY_TIME_WORD_LISTEN_TIMEOUT = 2
 } PHY_TIME_WORD_TYPE;

+/**
+ * @enum PHY_ANT_BEAM_WIDTH
+ */
 typedef enum
 {
 	PHY_ANT_BEAM_NONE = 0,
 	PHY_ANT_BEAM_120 = 1,
 	PHY_ANT_BEAM_60 = 2,
 	PHY_ANT_BEAM_25 = 3,
-	PHY_ANT_BEAM_8 = 4
+	PHY_ANT_BEAM_16 = 4
 } PHY_ANT_BEAM_WIDTH;

+/**
+ * @enum PHY_TOR_TYPE
+ */
 typedef enum
 {
 	PHY_TOR_SUSPEND = 0,
@@ -159,6 +161,9 @@ typedef enum
 	PHY_TOR_RX = 2
 } PHY_TOR_TYPE;

+/**
+ * @enum PHY_MODE
+ */
 typedef enum
 {
 	PHY_MODE_NONE = 0,
@@ -167,24 +172,21 @@ typedef enum
 	PHY_MODE_PULL = 3
 } PHY_MODE;

+/**
+ * @enum PHY_ANT_MODE
+ */
 typedef enum
 {
 	PHY_ANT_MODE_NONE = 0,
-	PHY_ANT_MODE_SILENT = 1,
-	PHY_ANT_MODE_LOW_POWER = 2,
-	PHY_ANT_MODE_HIGH_POWER = 3,
+	PHY_ANT_MODE_STANDBY = 1,
+	PHY_ANT_MODE_POWER_LOW = 2,
+	PHY_ANT_MODE_POWER_FULL = 3,
 } PHY_ANT_MODE;

-typedef struct
-{
-	uint32_t devId;
-	uint32_t txBramId;
-	uint32_t rxBramId;
-	uint32_t antBramId;
-	uint32_t hwXadcId;
-	uintptr_t baseAddr;
-} PHY_CONFIG;
-
+/**
+ * @struct PHY_RCD
+ * @brief Physical Layer recode buffer
+ */
 typedef struct
 {
 	int32_t last;
@@ -192,84 +194,101 @@ typedef struct
 	int32_t next;
 } PHY_RCD;

+/**
+ * @struct PHY_CONFIG
+ * @brief struct holds all physical layer initialization parameters
+ */
 typedef struct
 {
-	PHY_CONFIG phyCofig; // Device address configs
-	uintptr_t recvDataAddr;
-	uintptr_t sendDataAddr;
-	uintptr_t antConfigAddr;
-	bool isPhyEn;			  // if physical layer running
-	bool isAcq;				  // if last reception acquisition success
-	bool isFrameSync;		  // if last reception frame sync success
-	bool isDecode;			  // if last reception decode success
-	bool isValid;			  // if last reception frame data valid (crc check pass)
-	bool isPresetHop;		  // if using preset frequency hop
-	TIME_WORD recvSlotTime;	  // last slot start time stamp
-	TIME_WORD recvFsTime;	  // last frame sync time stamp
-	PHY_RCD antNo;			  // antenna number record
-	PHY_RCD beamNo;			  // beam number record
-	PHY_RCD beamWd;			  // beam width record
-	PHY_RCD tor;			  // tx rx state record
-	PHY_RCD frameType;		  // frame type record
-	uint32_t sendDataOffset;  // antenna configuration bram offset (to implement ping-pong data flow)
-	uint32_t antConfigOffset; // antenna configuration bram offset (to implement ping-pong data flow)
-	PHY_ANT_CONFIG antConfig; // antenna configuration pointer
+	uint32_t devId;			///< device ID
+	uint32_t txBramId;		///< tx bram ID
+	uint32_t rxBramId;		///< rx bram ID
+	uint32_t antBramId;		///< antenna config bram ID
+	uint32_t antInfoBramId; ///< antenna beam info bram ID
+	uint32_t hwXadcId;		///< hardware xadc device ID
+	uintptr_t baseAddr;		///< Physical layer controller base address
 #ifndef EMULATION
-	XAdcPs hwXadc;
+	uint8_t (*get_clk_state)(void);		///< function handle returns hardware clock state
+	uint8_t (*get_ad_lock_state)(void); ///< function handle returns adc lock state
+	int8_t (*get_ad0_temp)(void);		///< function handle returns adc0 temperature state
+	int8_t (*get_ad1_temp)(void);		///< function handle returns adc1 temperature state
 #endif
-	HWSTATE hwSate;
-	PHYLOG phyLog;
+} PHY_CONFIG;
+
+/**
+ * @struct PHY_INST
+ * @brief Physical Layer operating instance
+ */
+typedef struct
+{
+	PHY_CONFIG phyCofig;	  ///< physical layer configuration parameters
+	uintptr_t recvDataAddr;	  ///< receive data bram address
+	uintptr_t sendDataAddr;	  ///< send data bram address
+	uintptr_t antConfigAddr;  ///< antenna config data bram address
+	uintptr_t antInfoAddr;	  ///< antenna beam info data bram address
+	bool isPhyEn;			  ///< indicates if physical layer running
+	bool isAcq;				  ///< indicates if last reception acquisition success
+	bool isFrameSync;		  ///< indicates if last reception frame sync success
+	bool isDecode;			  ///< indicates if last reception decode success
+	bool isValid;			  ///< indicates if last reception frame data valid (crc check pass)
+	TIME_WORD recvSlotTime;	  ///< last slot start time stamp
+	TIME_WORD recvFsTime;	  ///< last frame sync time stamp
+	PHY_RCD beamNo;			  ///< beam number record
+	PHY_RCD beamWd;			  ///< beam width record
+	PHY_RCD tor;			  ///< tx rx state record
+	PHY_RCD frameType;		  ///< frame type record
+	uint32_t sendDataOffset;  ///< antenna configuration bram offset (to implement ping-pong data flow)
+	uint32_t antConfigOffset; ///< antenna configuration bram offset (to implement ping-pong data flow)
+	PHY_ANT_CONFIG antConfig; ///< antenna configuration pointer
+#ifndef EMULATION
+	XAdcPs hwXadc; ///< hardware Xadc instance
+#endif
+	PHY_ANT_ANGLE antNrrwPattern[L1_NUM_ANT_NRRW_PATTERN]; ///< antenna beam scan pattern
+	HWSTATE hwSate;										   ///< hardware state log
+	PHYLOG phyLog;										   ///< physical state log
+	uint32_t lastLogTime;								   /// physical state log time stamp
 } PHY_INST;

-/************************** Variable Definitions *****************************/
-extern uint16_t hopPattern_Config[L1_FRAME_MAX_HOPS];
-extern uint16_t hopPattern_2KBPS_20MS[L1_FRAME_2KBPS_20MS_HOPS];
-extern uint16_t hopPattern_2KBPS_100MS[L1_FRAME_2KBPS_100MS_HOPS];
-extern uint16_t hopPattern_10KBPS_10MS[L1_FRAME_10KBPS_10MS_HOPS];
-extern uint16_t hopPattern_10KBPS_20MS[L1_FRAME_10KBPS_20MS_HOPS];
-extern uint16_t hopPattern_40KBPS_10MS[L1_FRAME_40KBPS_10MS_HOPS];
-extern uint16_t hopPattern_40KBPS_20MS[L1_FRAME_40KBPS_20MS_HOPS];
-
-extern uint16_t hopPattern_200KBPS_5MS[L1_FRAME_200KBPS_5MS_HOPS];
-extern uint16_t hopPattern_1M2BPS_5MS[L1_FRAME_1M2BPS_5MS_HOPS];
-
-extern PHY_ANT_ANGLE antSubnrrwPattern[L1_NUM_ANT_SUBNRRW_PATTERN];
-extern PHY_ANT_ANGLE antNrrwPattern[L1_NUM_ANT_NRRW_PATTERN];
-
 /************************** Function Prototypes ******************************/
-int32_t Phy_InstInit(PHY_INST **instPtr, PHY_CONFIG *phyConfig);
+
+/**
+ * @defgroup PhysicalLayer_Main
+ * @{
+ */
+int32_t Phy_Init(PHY_INST **instPtr, PHY_CONFIG *phyConfig);
 void Phy_Destroy(PHY_INST *instPtr);
-
-void Phy_UpdateState(PHY_INST *instPtr);
-void Phy_RefreshHwSate(PHY_INST *instPtr);
-
 void Phy_Start(PHY_INST *instPtr);
 void Phy_Halt(PHY_INST *instPtr);
-int32_t Phy_SetMode(PHY_INST *instPtr, PHY_MODE modeCod);

+int32_t Phy_SetMode(PHY_INST *instPtr, PHY_MODE modeCod);
+int32_t Phy_SetTimeWord(PHY_INST *instPtr, const TIME_WORD *tmWord, PHY_TIME_WORD_TYPE tmType);
 int32_t Phy_SetupNextSlot(PHY_INST *instPtr, PHY_TOR_TYPE txrxMode, L1_FRAME_TYPE frameType, uint8_t *dataBuff);
+void Phy_UpdateState(PHY_INST *instPtr);
 void Phy_PeekRecvData(PHY_INST *instPtr, uint8_t *dataBuff);
 void Phy_RetrieveRecvData(PHY_INST *instPtr, uint8_t *dataBuff);
+void Phy_UpdateLogging(PHY_INST *instPtr);
+void Phy_RefreshHwSate(PHY_INST *instPtr);
+/** @} PhysicalLayer_Main*/

+/**
+ * @defgroup PhysicalLayer_Utility
+ * @{
+ */
 bool Phy_IsFrameDetected(PHY_INST *instPtr);
 bool Phy_IsFrameReceived(PHY_INST *instPtr);
 bool Phy_IsFrameValid(PHY_INST *instPtr);
 uint32_t Phy_GetFrameLen(L1_FRAME_TYPE frameType);
-
-L1_FRAME_TYPE Phy_GetLastRecvFrameType(PHY_INST *instPtr);
-L1_FRAME_TYPE Phy_GetLastSendFrameType(PHY_INST *instPtr);
-
-int32_t Phy_SetHopPattern(void *patternBuff, uint32_t patternLen);
 uint32_t Phy_GetHopLength(L1_FRAME_TYPE frameType);
 uint32_t Phy_GetTimeComp(L1_FRAME_TYPE frameType);
+L1_FRAME_TYPE Phy_GetLastRecvFrameType(PHY_INST *instPtr);
+L1_FRAME_TYPE Phy_GetLastSendFrameType(PHY_INST *instPtr);
+/** @} PhysicalLayer_Utility*/

-void Phy_AntConfigInit(PHY_ANT_CONFIG *antConfig);
-void Phy_AntConfigMode(PHY_INST *instPtr, PHY_ANT_MODE mode);
-int32_t Phy_SetBeamWidth(PHY_INST *instPtr, PHY_ANT_BEAM_WIDTH beamWidth);
-int32_t Phy_SetBeamNo(PHY_INST *instPtr, int32_t beamNo);
-int32_t Phy_SetBeamAngle(PHY_INST *phyInstPtr, double offAx, double rndAx);
-int32_t Phy_SetTimeWord(PHY_INST *instPtr, const TIME_WORD *tmWord, PHY_TIME_WORD_TYPE tmType);
-
+/**
+ * @defgroup PhysicalLayer_Receive_Estimations
+ * @{
+ */
+uint8_t Phy_LastScanBeamNo(PHY_INST *instPtr);
 double Phy_GetFreqEst(PHY_INST *instPtr);
 double Phy_GetCoarseFreqEst(PHY_INST *instPtr);
 double Phy_GetFineFreqEst(PHY_INST *instPtr);
@@ -277,4 +296,20 @@ void Phy_GetFrameSyncTimeStamp(PHY_INST *instPtr, TIME_WORD *frameSyncT);
 void Phy_GetLastReceivedFrameSyncTimeStamp(PHY_INST *instPtr, TIME_WORD *frameSyncT);
 void Phy_GetSlotStartTimeStamp(PHY_INST *instPtr, TIME_WORD *slotStart);
 void Phy_GetLastReceivedSlotStartTimeStamp(PHY_INST *instPtr, TIME_WORD *slotStart);
-#endif /* PHY_CTRL_H_ */
+/** @} PhysicalLayer_Receive_Estimations*/
+
+/**
+ * @defgroup PhysicalLayer_AntennaControl
+ * @{
+ */
+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, size_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth);
+int32_t Phy_SetBeamAngle(PHY_INST *phyInstPtr, double offAx, double rndAx);
+/** @} PhysicalLayer_AntennaControl*/
+
+#endif // PHY_CTRL_H_
+
+/** @} PhysicalLayer*/
@@ -1,24 +1,24 @@
 /*****************************************************************************/
 /**
- * Description: Physical layer register definitions
+ * @file phy_layer.h
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief Physical layer controller register definition
+ * @version 0.0
+ * @date 2023-04-24
 *
- * Author: Fan Hao
- * Date: 2021-11-16 00:08
- * LastEditors: Fan Hao
- * LastEditTime: 2023-04-24 17:32
- * Revisions: Rev 0.1
- * History:
- * [2021-11-16]: Initial version.
- * [2022-06-18]: New branch for glink control purpose:
- *               -Add poll mode physical layer will start Tx/Rx procedure
- * 				  at specific time stamp.
- * [2023-04-24]: Porting for DUIFEI.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/
+/**
+ * @defgroup PhysicalLayer
+ * @{
+ */

+/**
+ * @name  PhysicalLayer_REG_Constants
+ * @{
+ */
 #ifndef PHY_REG_H_
 #define PHY_REG_H_

@@ -26,8 +26,8 @@
 #include "util.h"

 /***************** Macros (Inline Functions) Definitions *********************/
-#define PhyRead(instPtr, addr) IO_In32(instPtr->phyCofig.baseAddr + addr)
-#define PhyWrite(instPtr, addr, value) IO_Out32(instPtr->phyCofig.baseAddr + addr, value)
+#define PhyRead(instPtr, addr) IO_In32((instPtr)->phyCofig.baseAddr + (addr))
+#define PhyWrite(instPtr, addr, value) IO_Out32((instPtr)->phyCofig.baseAddr + (addr), (value))

 /************************** Constant Definitions *****************************/
 /**
@@ -40,6 +40,9 @@
 #define PHY_MAIN_CTRL_MODE_SHIFT 8
 #define PHY_MAIN_CTRL_MODE_WIDTH 8
 #define PHY_MAIN_CTRL_MODE_MASK 0x0000FF00U
+#define PHY_MAIN_CTRL_NSCAN_SHIFT 16
+#define PHY_MAIN_CTRL_NSCAN_WIDTH 8
+#define PHY_MAIN_CTRL_NSCAN_MASK 0x00FF0000U

 #define PHY_MAIN_CTRL_EN_EN 0x00000001U
 #define PHY_MAIN_CTRL_EN_DSBL 0x00000000U
@@ -296,7 +299,7 @@
 #define ANT_STATUS_CODE_SHIFT 24
 #define ANT_STATUS_CODE_WIDTH 8
 #define ANT_STATUS_CODE_MASK 0xFF000000U
-#define ANT_STATUS_CODE_OK 0x01000000U
+#define ANT_STATUS_CODE_OK 0x00000000U

 /**
 * Register: ANT_FRAME_CNT
@@ -488,3 +491,7 @@
 #define PHY_DEINTLV_AMPEST_MASK 0x0000FFFFU

 #endif /* PHY_REG_H_ */
+
+/** @} PhysicalLayer_REG_Constants*/
+
+/** @} PhysicalLayer*/
@@ -1,9 +1,19 @@
+/**
+ * @addtogroup SystemMonitor
+ * @{
+ */
+
+/***************************** Include Files *********************************/
 #include <string.h>
 #include <stdlib.h>
 #include <stdint.h>
 #include "common.h"
 #include "system_monitor.h"
-
+/************************** Constant Definitions *****************************/
+/**
+ * @name SystemMonitor_Private_Constants
+ * @{
+ */
 #define BUFF_A 0x00
 #define BUFF_B 0x01
 #define BUFF_NONE 0xFF
@@ -13,14 +23,23 @@
 #define SLOTLOG_PACK_LEN 88	 // bytes
 #define PRTCLLOG_PACK_ELN 24 // bytes
 #define HWSTATE_PACK_ELN 12	 // bytes
-
+/** @} SystemMonitor_Private_Constants*/
+/************************** Data Type Definitions ****************************/
+/**
+ * @struct PINGPONG
+ * @brief PingPing Control
+ */
 typedef struct
 {
-	uint8_t latest;
-	uint8_t rBusy;
-	uint8_t wBusy;
+	uint8_t latest; ///< latest available index
+	uint8_t rBusy;	///< current read busy index
+	uint8_t wBusy;	///< current write busy index
 } PINGPONG;

+/**
+ * @struct SYSMONITOR
+ * @brief System Monitor struct holds all the system log info
+ */
 typedef struct
 {
 	PINGPONG recvCtrl;
@@ -37,12 +56,14 @@ typedef struct
 	HWSTATE hwState[2];
 } SYSMONITOR;

+/************************** Function Prototypes ******************************/
+static uint8_t GetWritable(PINGPONG ctrllor);
+static uint8_t GetReadable(PINGPONG ctrllor);
+/************************** Variable Definitions *****************************/
 static SYSMONITOR *sysMonitorInst;

-uint8_t GetWritable(PINGPONG ctrllor);
-uint8_t GetReadable(PINGPONG ctrllor);
-
-inline uint8_t GetWritable(PINGPONG ctrllor)
+/*********************** Function Implementations  ***************************/
+inline static uint8_t GetWritable(PINGPONG ctrllor)
 {
 	// Allow only one write.
 	ASSERT(ctrllor.wBusy == BUFF_NONE);
@@ -52,7 +73,7 @@ inline uint8_t GetWritable(PINGPONG ctrllor)
 		return ((ctrllor.rBusy == BUFF_B) ? BUFF_A : BUFF_B);
 }

-inline uint8_t GetReadable(PINGPONG ctrllor)
+inline static uint8_t GetReadable(PINGPONG ctrllor)
 {
 	if (ctrllor.wBusy == BUFF_NONE || ctrllor.wBusy != ctrllor.latest)
 		return ((ctrllor.latest == BUFF_NONE) ? BUFF_A : BUFF_B);
@@ -60,7 +81,11 @@ inline uint8_t GetReadable(PINGPONG ctrllor)
 		return ((ctrllor.wBusy == BUFF_B) ? BUFF_A : BUFF_B);
 }

-// System monitor initialise
+/**
+ * @brief Initialize System monitor
+ *
+ * @return SUCCESS
+ */
 int32_t SysMonitor_Init(void)
 {
 	sysMonitorInst = calloc(1, sizeof(SYSMONITOR));
@@ -82,18 +107,27 @@ int32_t SysMonitor_Init(void)
 	return SUCCESS;
 }

-// System monitor initialise
+/**
+ * @brief Destroy system monitor release all allocated memory
+ */
 void SysMonitor_Destroy(void)
 {
 	free(sysMonitorInst);
 }

-// @System Info
 /**
- * Update system info.
+ * @name SystemInfo_API
+ * @{
+ */
+
+/**
+ * @brief Update system info.
+ *
+ * @param info
 */
 void SysMonitor_UpdateSysinfo(const SYSINFO *info)
 {
+	ASSERT(info != NULL);
 	uint8_t buffIndx;
 	buffIndx = GetWritable(sysMonitorInst->sysInfoCtrl);
 	sysMonitorInst->sysInfoCtrl.wBusy = buffIndx;
@@ -103,11 +137,14 @@ void SysMonitor_UpdateSysinfo(const SYSINFO *info)
 }

 /**
- * Get system info.
+ * @brief Get system info.
+ *
+ * @param 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)
@@ -118,14 +155,26 @@ void SysMonitor_GetSysinfo(SYSINFO *info)
 	memcpy(info, &(sysMonitorInst->sysInfo[buffIndx]), sizeof(SYSINFO));
 	sysMonitorInst->sysInfoCtrl.rBusy = buffIndex_old;
 }
+/** @} SystemInfo_API*/

-// @Send Payload
 /**
- * Update send payload by.
+ * @name ServicePayload_API
+ * @{
+ */
+
+/**
+ * @brief Update send payload by
+ *
+ * @param buff
+ * @param len
 */
 void SysMonitor_UpdateSendPayload(const uint8_t *buff, size_t len)
 {
 	ASSERT(sysMonitorInst != NULL);
+	if (len > PAYLOAD_LEN_MAX)
+	{
+		return;
+	}
 	uint8_t buffIndx;
 	buffIndx = GetWritable(sysMonitorInst->sendCtrl);
 	sysMonitorInst->sendCtrl.wBusy = buffIndx;
@@ -136,17 +185,31 @@ void SysMonitor_UpdateSendPayload(const uint8_t *buff, size_t len)
 }

 /**
- * Get the latest send payload.
+ * @brief Get the latest send payload.
+ *
+ * @param buff
+ * @param id
+ * @param len
 */
 void SysMonitor_GetSendPayload(uint8_t *buff, uint32_t *id, size_t len)
 {
 	ASSERT(sysMonitorInst != NULL);
+	ASSERT(buff != NULL);
+	ASSERT(id != NULL);
+	if (len > PAYLOAD_LEN_MAX)
+	{
+		return;
+	}
 	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)
 	{
@@ -156,28 +219,46 @@ void SysMonitor_GetSendPayload(uint8_t *buff, uint32_t *id, size_t len)
 	sysMonitorInst->sendCtrl.rBusy = buffIndex_old;
 }

-// @Receive Payload
 /**
- * Update receive payload.
+ * @brief Update receive payload.
+ *
+ * @param buff
+ * @param id
+ * @param len
 */
-void SysMonitor_UpdateRecvPayload(const uint8_t *buff, size_t len)
+void SysMonitor_UpdateRecvPayload(const uint8_t *buff, uint32_t id, size_t len)
 {
 	ASSERT(sysMonitorInst != NULL);
+	ASSERT(buff != NULL);
+	if (id == DATA_ID_NONE || len > PAYLOAD_LEN_MAX)
+	{
+		return;
+	}
 	uint8_t buffIndx;
 	buffIndx = GetWritable(sysMonitorInst->recvCtrl);
 	sysMonitorInst->recvCtrl.wBusy = buffIndx;
 	memcpy(sysMonitorInst->recv[buffIndx].data, buff, len);
-	sysMonitorInst->recv[buffIndx].dataId++;
+	sysMonitorInst->recv[buffIndx].dataId = id;
 	sysMonitorInst->recvCtrl.latest = buffIndx;
 	sysMonitorInst->recvCtrl.wBusy = BUFF_NONE;
 }

 /**
- * Get the latest receive payload.
+ * @brief Get the latest receive payload.
+ *
+ * @param buff
+ * @param id
+ * @param len
 */
 void SysMonitor_GetRecvPayload(uint8_t *buff, uint32_t *id, size_t len)
 {
 	ASSERT(sysMonitorInst != NULL);
+	ASSERT(buff != NULL);
+	ASSERT(id != NULL);
+	if (len > PAYLOAD_LEN_MAX)
+	{
+		return;
+	}
 	uint8_t buffIndx, buffIndex_old;
 	buffIndex_old = sysMonitorInst->recvCtrl.rBusy;
 	if (buffIndex_old != BUFF_NONE)
@@ -192,14 +273,22 @@ void SysMonitor_GetRecvPayload(uint8_t *buff, uint32_t *id, size_t len)
 	*id = sysMonitorInst->recv[buffIndx].dataId;
 	sysMonitorInst->recvCtrl.rBusy = buffIndex_old;
 }
+/** @} ServicePayload_API*/

-// @Link layer log
 /**
- * Update link layer log
+ * @name Linklayer_Log_API
+ * @{
+ */
+
+/**
+ * @brief Update link layer log
+ *
+ * @param log
 */
 void SysMonitor_UpdateLinklayerLog(const LINKLOG *log)
 {
 	ASSERT(sysMonitorInst != NULL);
+	ASSERT(log != NULL);
 	uint8_t buffIndx;
 	buffIndx = GetWritable(sysMonitorInst->linkLogCtrl);
 	sysMonitorInst->linkLogCtrl.wBusy = buffIndx;
@@ -209,11 +298,14 @@ void SysMonitor_UpdateLinklayerLog(const LINKLOG *log)
 }

 /**
- * Get the latest link layer log
+ * @brief Get the latest link layer log
+ *
+ * @param log
 */
 void SysMonitor_GetLinklayerLog(LINKLOG *log)
 {
 	ASSERT(sysMonitorInst != NULL);
+	ASSERT(log != NULL);
 	uint8_t buffIndx, buffIndex_old;
 	buffIndex_old = sysMonitorInst->linkLogCtrl.rBusy;
 	if (buffIndex_old != BUFF_NONE)
@@ -224,14 +316,22 @@ void SysMonitor_GetLinklayerLog(LINKLOG *log)
 	memcpy(log, &(sysMonitorInst->linkLog[buffIndx]), sizeof(LINKLOG));
 	sysMonitorInst->linkLogCtrl.rBusy = buffIndex_old;
 }
+/** @} Linklayer_Log_API*/

-// @Physical layer log
 /**
- * Update physical layer log
+ * @name PhysicalLayer_Log_API
+ * @{
+ */
+
+/**
+ * @brief Update physical layer log
+ *
+ * @param log
 */
 void SysMonitor_UpdatePhysicalLayerLog(const PHYLOG *log)
 {
 	ASSERT(sysMonitorInst != NULL);
+	ASSERT(log != NULL);
 	uint8_t buffIndx;
 	buffIndx = GetWritable(sysMonitorInst->phyLogCtrl);
 	sysMonitorInst->phyLogCtrl.wBusy = buffIndx;
@@ -241,11 +341,14 @@ void SysMonitor_UpdatePhysicalLayerLog(const PHYLOG *log)
 }

 /**
- * Get the latest physical layer log
+ * @brief Get the latest physical layer log
+ *
+ * @param log
 */
 void SysMonitor_GetPhysicalLayerLog(PHYLOG *log)
 {
 	ASSERT(sysMonitorInst != NULL);
+	ASSERT(log != NULL);
 	uint8_t buffIndx, buffIndex_old;
 	buffIndex_old = sysMonitorInst->phyLogCtrl.rBusy;
 	if (buffIndex_old != BUFF_NONE)
@@ -256,15 +359,22 @@ void SysMonitor_GetPhysicalLayerLog(PHYLOG *log)
 	memcpy(log, &(sysMonitorInst->phyLog[buffIndx]), sizeof(PHYLOG));
 	sysMonitorInst->phyLogCtrl.rBusy = buffIndex_old;
 }
+/** @} */

-
-// @Hardware state
 /**
- * Log hardware running status.
+ * @name HardwareState_Log_API
+ * @{
+ */
+
+/**
+ * @brief Log hardware running status.
+ *
+ * @param state
 */
 void SysMonitor_UpdateHardwareStatus(const HWSTATE *state)
 {
 	ASSERT(sysMonitorInst != NULL);
+	ASSERT(state != NULL);
 	uint8_t buffIndx;
 	buffIndx = GetWritable(sysMonitorInst->hwStateCtrl);
 	sysMonitorInst->hwStateCtrl.wBusy = buffIndx;
@@ -274,11 +384,14 @@ void SysMonitor_UpdateHardwareStatus(const HWSTATE *state)
 }

 /**
- * Get the latest hardware running status.
+ * @brief Get the latest hardware running status.
+ *
+ * @param state
 */
 void SysMonitor_GetHardwareStatus(HWSTATE *state)
 {
 	ASSERT(sysMonitorInst != NULL);
+	ASSERT(state != NULL);
 	uint8_t buffIndx, buffIndex_old;
 	buffIndex_old = sysMonitorInst->hwStateCtrl.rBusy;
 	if (buffIndex_old != BUFF_NONE)
@@ -290,14 +403,6 @@ void SysMonitor_GetHardwareStatus(HWSTATE *state)
 	sysMonitorInst->hwStateCtrl.rBusy = buffIndex_old;
 }

+/** @} HardwareState_Log_API */

-// @System log
-/**
- * Get the latest system running log.
- */
-void SysMonitor_GetSyslog(SYSLOG *log)
-{
-	ASSERT(sysMonitorInst != NULL);
-	SysMonitor_GetLinklayerLog(&(log->linkLog));
-	SysMonitor_GetPhysicalLayerLog(&(log->phyLog));
-}
+/** @} SystemMonitor*/
@@ -1,9 +1,21 @@
+/**
+ * @defgroup SystemMonitor
+ * @{
+ */
+
 #ifndef __SYSTEM_MONITOR_H_
 #define __SYSTEM_MONITOR_H_

+/***************************** Include Files *********************************/
 #include <stdint.h>
 #include <stdbool.h>
+#include "util.h"

+/************************* Constant Definitions ******************************/
+/**
+ * @name SystemMonitor_Constants
+ * @{
+ */
 #define PAYLOAD_LEN_MAX 256
 #define PAYLOAD_LEN_FLJ_RX 168
 #define PAYLOAD_LEN_FLJ_TX 66
@@ -23,141 +35,189 @@
 #define VOLT_PLAUX_STD 1.8
 #define VOLT_BRAM_STD 1.0

-#define IS_PS_VALID(x) (x <= 0.95 && x >= 1.05)
-#define IS_PSAUX_VALID(x) (x <= 1.89 && x >= 1.71)
-#define IS_DDR_VALID(x) (x <= 1.14 && x >= 1.89)
-#define IS_PL_VALID(x) (x <= 0.97 && x >= 1.03)
-#define IS_PLAUX_VALID(x) (x <= 1.89 && x >= 1.71)
-#define IS_BRAM_VALID(x) (x <= 0.97 && x >= 1.03)
+#define VOLT_PS_OK BIT(0)
+#define VOLT_PSAUX_OK BIT(1)
+#define VOLT_DDR_OK BIT(2)
+#define VOLT_PL_OK BIT(3)
+#define VOLT_PLAUX_OK BIT(4)
+#define VOLT_BRAM_OK BIT(5)

-#define TEMPERATURE_LSB 1.0 // Celsius degree
-#define TEMPERATURE_MAX 127.0 // Celsius degree
+#define VOLT_ANT_PROC_OK BIT(0)
+#define VOLT_ANT_RF_OK BIT(2)
+#define VOLT_ANT_NIL_OK BIT(4)
+#define ANT_STATE_OK BIT(6)
+
+// Xilinx Recommended
+// #define IS_PS_VALID(x) (x <= 1.05 && x >= 0.95)
+// #define IS_PSAUX_VALID(x) (x <= 1.89 && x >= 1.71)
+// #define IS_DDR_VALID(x) (x <= 1.89 && x >= 1.14)
+// #define IS_PL_VALID(x) (x <= 1.03 && x >= 0.97)
+// #define IS_PLAUX_VALID(x) (x <= 1.89 && x >= 1.71)
+// #define IS_BRAM_VALID(x) (x <= 1.03 && x >= 0.97)
+#define IS_PS_VALID(x) ((x) <= 1.1 && (x) >= 0.9)
+#define IS_PSAUX_VALID(x) ((x) <= 2.0 && (x) >= 1.6)
+#define IS_DDR_VALID(x) ((x) <= 1.7 && (x) >= 1.3)
+#define IS_PL_VALID(x) (x <= 1.1 && (x) >= 0.9)
+#define IS_PLAUX_VALID(x) ((x) <= 2.0 && (x) >= 1.6)
+#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)
+
+#define CLK_AD0_BBPLL_LOCK BIT(0)
+#define CLK_AD0_RFPLL_LOCK BIT(2)
+#define CLK_AD1_BBPLL_LOCK BIT(4)
+#define CLK_AD1_RFPLL_LOCK BIT(6)
+
+#define CLK_ANT_BBPLL_LOCK BIT(0)
+#define CLK_ANT_RFPLL0_LOCK BIT(2)
+#define CLK_ANT_RFPLL1_LOCK BIT(4)
+
+#define TEMPERATURE_LSB 1.0	   // Celsius degree
+#define TEMPERATURE_MAX 127.0  // Celsius degree
 #define TEMPERATURE_MIN -128.0 // Celsius degree
+/** @} SystemMonitor_Constants */

+/************************* Data Type Definitions ****************************/
+
+/**
+ * @struct SYSINFO
+ * @brief System Infomation log
+ */
 typedef struct __attribute__((packed))
 {
-	// -- unit: ms, 0~604799999
-	uint32_t psBDS;
-	// -- unit: week, 0~0~8191
-	uint16_t pBDS;
-	// -- unit: ms, 0~604799999
-	uint32_t psGPS;
-	// -- unit: week, 0~0~8191
-	uint16_t pGPS;
-	// Time validation indicator
-	// -- [0] GPS
-	// -- [1] reserve.
-	// -- [2] UTC
-	// -- [3] BDS
-	uint8_t tmInd;
-	// Time of flying
-	// uint: s
-	float tmFly;
-	// Status of flying
-	// [7:6] departure status 11 - departed/00 - not departed
-	// [5:4] ready status 11 - ready/00 - not ready
-	// [3:2] attitude status 11 - attitude ok/00 - attitude not ok
-	// [1:0] attitude adjust status 11 - adjusted/00 - not adjusted
-	uint8_t stFly;
-	// Position in launch coordinate system
-	float posX;
-	float posY;
-	float posZ;
-	// Speed in launch coordinate system
-	float vX;
-	float vY;
-	float vZ;
-	// Attitude in launch inertia coordinate system
-	float pitch;
-	float yaw;
-	float roll;
+	uint32_t psBDS; ///< -- unit: ms, 0~604799999
+	uint16_t pBDS;	///< -- unit: week, 0~0~8191
+	uint32_t psGPS; ///< -- unit: ms, 0~604799999
+	uint16_t pGPS;	///< -- unit: week, 0~0~8191
+	uint8_t tmInd;	///< Time validation indicator \n
+					// -- [0] GPS\n
+					// -- [1] reserve.\n
+					// -- [2] UTC\n
+					// -- [3] BDS\n
+	float tmFly;	///< Time of flying uint: s
+	uint8_t stFly;	///< Status of flying \n
+					// [7:6] departure status 11 - departed/00 - not departed \n
+					// [5:4] ready status 11 - ready/00 - not ready \n
+					// [3:2] attitude status 11 - attitude ok/00 - attitude not ok \n
+					// [1:0] attitude adjust status 11 - adjusted/00 - not adjusted
+	float posX;		///< coord X Position in launch coordinate system
+	float posY;		///< coord Y Position in launch coordinate system
+	float posZ;		///< coord Z Position in launch coordinate system
+	float vX;		///< Speed X in launch coordinate system
+	float vY;		///< Speed Y in launch coordinate system
+	float vZ;		///< Speed Z in launch coordinate system
+	float pitch;	///< Pitch Attitude in launch inertia coordinate system
+	float yaw;		///< Yaw Attitude in launch inertia coordinate system
+	float roll;		///< Roll Attitude in launch inertia coordinate system
 } SYSINFO;

+/**
+ * @struct SYSBUSLOG
+ * @brief System Info holds the system bus log
+ */
+typedef struct __attribute__((packed))
+{
+	// SystemBus log
+
+	uint8_t lastConfig[2]; ///< Last valid config \n
+						   //  byte 0: 0x11 FLJ, 0x00 LJ \n
+						   //   byte 1: 0x66 Full Power, 0x88 Low Power
+	uint32_t pollCnt;	   ///< number of poll commands
+	uint32_t svcCnt;	   ///< number of service commands
+	uint32_t remoteCnt;	   ///< number of remote check commands
+} SYSBUSLOG;
+
+/**
+ * @struct LINKLOG
+ * @brief Linklayer Log struct holds the Linklayer log
+ */
 typedef struct __attribute__((packed))
 {
 	// Network log
-	uint32_t tuNum;
-	uint8_t slotNum;
-	uint8_t nodeType;
-	uint8_t cxnStatus;
-	uint8_t linkStage;
-	uint32_t recxnCnt;
-	uint8_t beamNo;
-	uint16_t beamAz;
-	uint16_t beamEl;
-	uint16_t advTxCnt;
-	uint16_t advRecvCnt;
-	uint16_t advCorrectCnt;
-	uint32_t cfmTxCnt;
-	uint32_t cfmRecvCnt;
-	uint32_t cfmCorrectCnt;
-	uint32_t svcTxCnt;
-	uint32_t svcRecvCnt;
-	uint32_t svcCorrectCnt;
-	int64_t	timeDev;
-	uint32_t sendId;
-	uint32_t recvId;
+	uint32_t tuNum;			///< current time unite number
+	uint8_t slotNum;		///< current slot number
+	uint8_t nodeType;		///< current node type
+	uint8_t cxnStatus;		///< current connection status
+	uint8_t linkStage;		///< current linklayer working stage
+	uint32_t recxnCnt;		///< reconnect trial count
+	uint8_t beamNo;			///< current working beam number
+	uint8_t beamWidth;		///< current working beam width
+	uint16_t beamAz;		///< current working beam angle Az
+	uint16_t beamEl;		///< current working beam angle Ez
+	uint16_t advTxCnt;		///< adv frame send count
+	uint16_t advRecvCnt;	///< adv frame received count
+	uint16_t advCorrectCnt; ///< adv frame received correctly count
+	uint32_t cfmTxCnt;		///< cfm frame send count
+	uint32_t cfmRecvCnt;	///< cfm frame received count
+	uint32_t cfmCorrectCnt; ///< adv frame received correctly count
+	uint32_t svcTxCnt;		///< svc frame send count
+	uint32_t svcRecvCnt;	///< svc frame received count
+	uint32_t svcCorrectCnt; ///< svc frame received correctly count
+	int32_t timeDev;		///< last time deviation result
+	uint32_t sendId;		///< last send data id
+	uint32_t recvId;		///< last received data id
+	uint8_t reserve[4];		///< reserved data
 } LINKLOG;

+/**
+ * @struct PHYLOG
+ * @brief Physical Layer Log struct holds the Linklayer log
+ */
 typedef struct __attribute__((packed))
 {
-	uint32_t acqCnt;
-	uint32_t fsyncCnt;
-	uint32_t decodeCnt;
-	uint32_t crcCnt;
-	double doppler;
-	uint64_t recvStamp;
-	uint64_t acqPeak;
-	uint64_t acqMean;
-	uint8_t acqPhase;
-	uint8_t acqFreqCh;
-	uint8_t fsyncPeak;
-	uint8_t fsyncMean;
-	uint8_t fsyncFreqCh;
-	uint16_t deintlvAmpEst;
-	uint16_t reserve;
+	uint32_t acqCnt;		///< aquisition count
+	uint32_t fsyncCnt;		///< frame sync count
+	uint32_t decodeCnt;		///< decode count
+	uint32_t crcCnt;		///< crc valid count
+	double doppler;			///< last doppler estimation result
+	uint64_t recvStamp;		///< last frame arrival time
+	double acqPAPR;			///< last acquisition peak-average ration
+	uint8_t acqPhase;		///< last acquisition phase estimation
+	uint8_t acqFreqCh;		///< last acquisition frequency deviation estimation
+	double fsyncPAPR;		///< last frame sync peak-average ration
+	uint8_t fsyncFreqCh;	///< last frame sync frequency estimation
+	uint16_t deintlvAmpEst; ///< de-interleave amplitude estimation
+	uint8_t antMode;		///< current antenna working mode
+	uint8_t reserve[3];		///< reserved data
 } PHYLOG;

+/**
+ * @struct HWSTATE
+ * @brief Hardware Status Log struct holds all hardware status
+ */
 typedef struct __attribute__((packed))
 {
-	// Hardware status
-	bool isSpOk;
-	bool isAntOk;
+	bool isSpOk;  ///< signal processor state
+	bool isAntOk; ///< antenna state
 	// -- Signal processor status
-	uint8_t spPsVolt;
-	uint8_t spPsAuxVolt;
-	uint8_t spDdrVolt;
-	uint8_t spPlVolt;
-	uint8_t spPlAuxVolt;
-	uint8_t spBramVolt;
-	int8_t spTemp;
+	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
+	int8_t spAdTemp_0;     ///< Signal processor adc0 temperature
+	int8_t spAdTemp_1;     ///< Signal processor adc1 temperature
+	int8_t spFpgaTemp;     ///< Signal processor FPGA temperature
 	// -- Antenna status
-	uint8_t antVolt;
-	uint8_t antTemp;
-	uint8_t antPll;
-	uint8_t antMgc0;
-	uint8_t antMgc1;
-	uint8_t dummy;
+	uint8_t antVolt; ///< Antenna voltage state indicator
+	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
+	uint8_t phyId;
+	uint8_t reserve[1];
 } HWSTATE;

-typedef struct
-{
-	// Link layer log
-	LINKLOG linkLog;
-
-	// Physical layer log
-	PHYLOG phyLog;
-
-	// Hardware status
-	HWSTATE hwState;
-} SYSLOG;
-
+/**
+ * @struct PAYLOAD
+ * @brief Payload struct holds the service payload
+ */
 typedef struct
 {
 	uint32_t dataId;
 	uint8_t data[PAYLOAD_LEN_MAX];
 } PAYLOAD;

+/************************** Function Prototypes ******************************/
 int32_t SysMonitor_Init(void);
 void SysMonitor_Destroy(void);

@@ -165,7 +225,7 @@ void SysMonitor_UpdateSysinfo(const SYSINFO *info);
 void SysMonitor_GetSysinfo(SYSINFO *info);

 void SysMonitor_UpdateSendPayload(const uint8_t *buff, size_t len);
-void SysMonitor_UpdateRecvPayload(const uint8_t *buff, size_t len);
+void SysMonitor_UpdateRecvPayload(const uint8_t *buff, uint32_t id, size_t len);
 void SysMonitor_GetSendPayload(uint8_t *buff, uint32_t *id, size_t len);
 void SysMonitor_GetRecvPayload(uint8_t *buff, uint32_t *id, size_t len);

@@ -176,6 +236,6 @@ void SysMonitor_GetLinklayerLog(LINKLOG *log);
 void SysMonitor_GetPhysicalLayerLog(PHYLOG *log);
 void SysMonitor_GetHardwareStatus(HWSTATE *state);

-void SysMonitor_GetSyslog(SYSLOG *log);
-
 #endif //__SYSTEM_MONITOR_H_
+
+/** @} */
@@ -1,22 +1,22 @@
 /*****************************************************************************/
 /**
- * Description: System bus protocol implementation file.
+ * @file systembus.c
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief System bus protocol implementation file.
+ * @version 0.1
+ * @date 2023-05-06
 *
- * Date: 2023-05-06 10:13
- * Last Edit Time: [2023-05-06 21:45]
- *
- * Revisions: Rev 0.0
- * History:
- * [2023-05-06]: Initial version.
- * [2023-09-13]: Update to 485 protocol-20220816
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
 * Lab of Communication and Network
 *
 ******************************************************************************/

-/***************************** Include Files *********************************/
+/**
+ * @addtogroup SystemBus
+ * @{
+ */

+/***************************** Include Files *********************************/
 #include <stdlib.h>
 #include <string.h>
 #include <stdint.h>
@@ -27,10 +27,18 @@
 #include "common.h"
 #include "error.h"
 #include "circ_queue.h"
-
 #include "../system_monitor.h"

+/**
+ * @addtogroup SystemBus_Protocol_Routine
+ * @{
+ */
+
 /************************** Constant Definitions *****************************/
+/**
+ * @name SystemBus_MSG_Constants
+ * @{
+ */
 // Common Field
 // -- Command word
 #define WD_CMD 0x00
@@ -53,31 +61,30 @@
 #define ST_RET_ERROR 0x55
 #define ST_RET_INFO_LEN 13
 // -- -- Signal processor PS voltage
-#define WD_SP_PS_VOLT 0x03
+#define WD_SP_FPGA_VOLT 0x03
 // -- -- Signal processor PS AUX voltage
-#define WD_SP_PSAUX_VOLT 0x04
+#define WD_SP_CLK_STATE 0x04
 // -- -- Signal processor DDR voltage
-#define WD_SP_DDR_VOLT 0x05
+#define WD_SP_AD_LOCK_STATE 0x05
 // -- -- Signal processor PL voltage
-#define WD_SP_PL_VOLT 0x06
+#define WD_SP_AD_TEMP_0 0x06
 // -- -- Signal processor PL AUX voltage
-#define WD_SP_PLAUX_VOLT 0x07
+#define WD_SP_AD_TEMP_1 0x07
 // -- -- Signal processor Bram voltage
-#define WD_SP_BRAM_VOLT 0x08
-// -- -- Signal processor temperature
-#define WD_SP_TEMP 0x09
+#define WD_SP_FPGA_TEMP 0x08

 // -- -- Signal processor antenna voltage status
-#define WD_ANT_VOLT 0x0A
+#define WD_ANT_VOLT 0x09
+
 // -- -- Signal processor antenna RF temperature
-#define WD_ANT_RF_TEMP 0x0B
+#define WD_ANT_RF_TEMP 0x0A
 // -- -- Signal processor antenna PLL lock status
-#define WD_ANT_RF_PLL 0x0C
+#define WD_ANT_RF_PLL 0x0B
 // -- -- Signal processor antenna MGC
-#define WD_ANT_MGC_0 0x0D
-#define WD_ANT_MGC_1 0x0E
-// -- -- Dummy must be 0x00
-#define WD_ST_DUMMY 0x0F
+#define WD_ANT_MGC_0 0x0C
+#define WD_ANT_MGC_1 0x0D
+// -- -- Reserved
+#define WD_ANT_RESERVE 0x0E

 // Data Send Test Command
 #define CMD_DATA_TEST_A 0xE2
@@ -102,7 +109,8 @@
 // -- Request
 #define WD_EN_CMD 0x02
 #define EN_CMD_ON_HIGH_POWER 0x66
-#define EN_CMD_ON_LOW_POWER 0x88
+#define EN_CMD_ON_LOW_POWER 0x77
+#define EN_CMD_SILENT 0x88

 #define WD_MODE_CMD 0x03
 #define MODE_CMD_HEAD 0x11
@@ -158,6 +166,17 @@
 #define WD_FLJ_RM_TEST 0x02
 #define FLJ_RM_TEST_CODE 0x99
 // -- Response
+#define WD_FLJ_TIME_STAMP 0x02
+#define WD_FLJ_TIME_STAMP_LEN 8
+#define WD_FLJ_SYSBUS_LOG 0x0A
+#define WD_FLJ_SYSBUS_LOG_LEN 14
+#define WD_FLJ_LINK_LOG 0x18
+#define WD_FLJ_LINK_LOG_LEN 64
+#define WD_FLJ_PHY_LOG 0x58
+#define WD_FLJ_PHY_LOG_LEN 57
+#define WD_FLJ_HARDWARE_ST 0x91
+#define WD_FLJ_HARDWARE_ST_LEN 13
+
 #define FLJ_RM_TEST_RESP_LEN 158

 // Remote Test LJ
@@ -168,20 +187,26 @@
 // -- Response
 #define WD_LJ_TIME_STAMP 0x02
 #define WD_LJ_TIME_STAMP_LEN 8
-#define WD_LJ_LINK_LOG 0x0A
+#define WD_LJ_SYSBUS_LOG 0x0A
+#define WD_LJ_SYSBUS_LOG_LEN 14
+#define WD_LJ_LINK_LOG 0x18
 #define WD_LJ_LINK_LOG_LEN 64
-#define WD_LJ_PHY_LOG 0x4A
-#define WD_LJ_PHY_LOG_LEN 81
+#define WD_LJ_PHY_LOG 0x58
+#define WD_LJ_PHY_LOG_LEN 57
 #define WD_LJ_HARDWARE_ST 0x91
 #define WD_LJ_HARDWARE_ST_LEN 13

 #define LJ_RM_TEST_RESP_LEN 158

-
 // My Production Type
 #define MY_PRD_ID PRD_DL_K
-
+/** @} SystemBus_MSG_Constants*/
 /************************** Function Prototypes ******************************/
+static int32_t SystemBus_GenSelfTestRsp(SYSBUS *instPtr);
+static int32_t SystemBus_SystemConfig(SYSBUS *instPtr, uint8_t *msg);
+static int32_t SystemBus_Echo(SYSBUS *instPtr, SYSBUS_UART_FRAME *frame);
+static int32_t SystemBus_GenPollRsp(SYSBUS *instPtr, uint8_t *msg);
+static int32_t SystemBus_GenRemoteTestRsp(SYSBUS *instPtr, uint8_t *msg);
 /**************************** Type Definitions *******************************/
 /************************** Variable Definitions *****************************/
 // TODO: better approach?
@@ -190,13 +215,13 @@
 extern L2_INST *linkInstPtr;
 extern L2_CONFIG linkConfig;

-inline bool SystemBus_IsReqPendding(SYSBUS *instPtr)
+inline bool SystemBus_IsReqPending(SYSBUS *instPtr)
 {
 	ASSERT(instPtr != NULL);
 	return (!isCircQueueEmpty(instPtr->rxQueue));
 }

-inline bool SystemBus_IsRsqPendding(SYSBUS *instPtr)
+inline bool SystemBus_IsRsqPending(SYSBUS *instPtr)
 {
 	ASSERT(instPtr != NULL);
 	return (!isCircQueueEmpty(instPtr->txQueue));
@@ -213,59 +238,269 @@ inline bool SystemBus_IsRxBusy(SYSBUS *instPtr)
 	return SysbusUart_IsRxBusy(instPtr->uartInst);
 }

-/*****************************************************************************/
 /**
- * @brief   Initialize System Bus instance.
- *
- * @param   InstPtr A double pointer to System Bus instance.
- * @param   config  A pointer to System Bus configurations.
- *
- * @return  None.
- *
- ******************************************************************************/
-int32_t SystemBus_Init(SYSBUS **instPtr, SYSBUS_CONFIG *config)
+ * @brief   Generate System Bus SelfTest response.
+ */
+static int32_t SystemBus_GenSelfTestRsp(SYSBUS *instPtr)
 {
 	ASSERT(instPtr != NULL);
-	ASSERT(config != NULL);
-	SYSBUS_UART_CONFIG uartConfig;
-	int32_t Status;
-	(*instPtr) = malloc(sizeof(SYSBUS));
-	if ((*instPtr) == NULL)
+	SYSBUS_UART_FRAME *sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
+	if (sysbusRsp == NULL)
 	{
-		return FAILURE;
+		DBG_ERROR("Failed to allocate memory for SELF TEST Response!\n");
+		return ENOMEM;
 	}
-	(*instPtr)->rxQueue = NULL;
-	(*instPtr)->txQueue = NULL;
-	(*instPtr)->uartInst = NULL;
-	memcpy(&((*instPtr)->config), config, sizeof(SYSBUS_CONFIG));
-	memset(&((*instPtr)->sysLog), 0x00, sizeof(SYSLOG));
-	uartConfig.baseAddr = config->baseAddr;
-	Status = SysbusUart_Init(&((*instPtr)->uartInst), &uartConfig);
-	if (Status != SUCCESS)
+	HWSTATE *hwStatsPtr = &(instPtr->hwState);
+	sysbusRsp->len = ST_RSP_LEN;
+	memset(sysbusRsp->data, 0x00, ST_RSP_LEN);
+	sysbusRsp->data[WD_CMD] = CMD_SELF_TEST;
+	sysbusRsp->data[WD_PRD] = MY_PRD_ID;
+	SysMonitor_GetHardwareStatus(hwStatsPtr);
+	if (L2_isStarted(linkInstPtr))
 	{
-		Status = ENOMEM;
-		goto sysbus_init_error;
+		sysbusRsp->data[WD_ST_RET] = (hwStatsPtr->isSpOk && hwStatsPtr->isAntOk) ? ST_RET_OK : ST_RET_ERROR;
 	}
-	if (CircQueueCreate(&((*instPtr)->txQueue), (*instPtr)->config.txQueueMax) == false)
+	else
 	{
-		Status = ENOMEM;
-		goto sysbus_init_error;
+		sysbusRsp->data[WD_ST_RET] = (hwStatsPtr->isSpOk) ? ST_RET_OK : ST_RET_ERROR;
 	}
-	if (CircQueueCreate(&((*instPtr)->rxQueue), (*instPtr)->config.rxQueueMax) == false)
-	{
-		Status = ENOMEM;
-		goto sysbus_init_error;
-	}
-	(*instPtr)->isRxDone = false; // nothing received.
-	(*instPtr)->isTxDone = true;  // nothing to be sent.
-	return SUCCESS;
+	// apply status and omit 2 bytes of overhead.
+	memcpy(sysbusRsp->data + WD_SP_FPGA_VOLT, &(hwStatsPtr->spFpgaVolt), ST_RET_INFO_LEN);

-sysbus_init_error:
-	free((*instPtr)->uartInst);
-	free((*instPtr)->txQueue);
-	free((*instPtr)->rxQueue);
-	free(*instPtr);
-	return Status;
+	if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false)
+	{
+		free(sysbusRsp);
+		DBG_ERROR("SystemBus::TX Queue overflowed!\n");
+		return EQUEUE;
+	}
+	return SUCCESS;
+}
+
+/**
+ * @brief   Apply system configuration
+ */
+static int32_t SystemBus_SystemConfig(SYSBUS *instPtr, uint8_t *msg)
+{
+	ASSERT(instPtr != NULL);
+	ASSERT(msg != NULL);
+	PHY_INST *phyRef = linkInstPtr->config.phyInstPtr;
+	TMC_INST *tmcRef = linkInstPtr->config.tmcInstPtr;
+	bool reconfig = false;
+
+	if (msg[WD_MODE_CMD] == MODE_CMD_HEAD)
+	{
+		// head node config
+		reconfig = (L2_NODE_HEAD != L2_GetNodeType(linkInstPtr));
+		linkConfig.myType = L2_NODE_HEAD;
+		linkConfig.myId = 1;
+	}
+
+	else if (msg[WD_MODE_CMD] == MODE_CMD_MEMBER)
+	{
+		// member node config
+		reconfig = (L2_NODE_MEMBER != L2_GetNodeType(linkInstPtr));
+		linkConfig.myType = L2_NODE_MEMBER;
+		linkConfig.myId = 2;
+	}
+	else
+	{
+		// Ignore current command
+		DBG_ERROR("Unexpected config command 0x%02X:0x%02X",
+				  WD_MODE_CMD, msg[WD_MODE_CMD]);
+		return EPARAM;
+	}
+
+	if (msg[WD_EN_CMD] == EN_CMD_ON_HIGH_POWER)
+	{
+		// full power config
+		Phy_AntConfigMode(phyRef, PHY_ANT_MODE_POWER_FULL);
+		if (reconfig || !L2_isStarted(linkInstPtr))
+		{
+			Linklayer_Reconfig(linkInstPtr, &linkConfig);
+		}
+		Linklayer_Start(linkInstPtr);
+	}
+	else if (msg[WD_EN_CMD] == EN_CMD_ON_LOW_POWER)
+	{
+		// low power config
+		Phy_AntConfigMode(phyRef, PHY_ANT_MODE_POWER_LOW);
+		if (reconfig || !L2_isStarted(linkInstPtr))
+		{
+			Linklayer_Reconfig(linkInstPtr, &linkConfig);
+		}
+		Linklayer_Start(linkInstPtr);
+	}
+	else if (msg[WD_EN_CMD] == EN_CMD_SILENT)
+	{
+		// silence config
+		// TODO: better approach?
+		Linklayer_Halt(linkInstPtr);
+		Phy_AntConfigMode(phyRef, PHY_ANT_MODE_STANDBY);
+		TIME_WORD pullTime = {0, 0};
+		pullTime.int_part = TimeCtrl_GetIntCnt(tmcRef) + 1;
+		if (Phy_SetTimeWord(phyRef, &pullTime, PHY_TIME_WORD_POLL) != SUCCESS)
+		{
+			DBG_ERROR("Physical set pull time failed.\n");
+		}
+		Phy_SetupNextSlot(phyRef, PHY_TOR_RX, L1_10KBPS_10MS_FRAME, NULL);
+	}
+	else
+	{
+		// Ignore current command
+		DBG_ERROR("Unexpected config command 0x%02X:0x%02X",
+				  WD_EN_CMD, msg[WD_EN_CMD]);
+		return EIGNORE;
+	}
+	instPtr->sysbusLog.lastConfig[0] = msg[WD_MODE_CMD];
+	instPtr->sysbusLog.lastConfig[1] = msg[WD_EN_CMD];
+	return SUCCESS;
+}
+
+/**
+ * @brief   Echo System Bus frame
+ */
+static int32_t SystemBus_Echo(SYSBUS *instPtr, SYSBUS_UART_FRAME *frame)
+{
+	ASSERT(instPtr != NULL);
+	ASSERT(frame != NULL);
+	SYSBUS_UART_FRAME *sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
+	if (sysbusRsp == NULL)
+	{
+		DBG_ERROR("Failed to allocate memory for DATA TEST A Response!\n");
+		return ENOMEM;
+	}
+	sysbusRsp->len = frame->len;
+	memcpy(sysbusRsp->data, frame->data, sysbusRsp->len);
+	if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false)
+	{
+		free(sysbusRsp);
+		DBG_ERROR("SystemBus::TX Queue overflowed!\n");
+		return EQUEUE;
+	}
+	return SUCCESS;
+}
+
+/**
+ * @brief   Generate System Bus poll call command response
+ */
+static int32_t SystemBus_GenPollRsp(SYSBUS *instPtr, uint8_t *msg)
+{
+	ASSERT(instPtr != NULL);
+	ASSERT(msg != NULL);
+	size_t dataLen;
+	uint8_t *payload;
+	SYSBUS_UART_FRAME *sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
+	if (sysbusRsp == NULL)
+	{
+		DBG_ERROR("Failed to allocate memory for FLJ POLL Response!\n");
+		return ENOMEM;
+	}
+
+	if (msg[WD_CMD] == CMD_FLJ_POLL)
+	{
+		sysbusRsp->len = FLJ_POLL_RESP_LEN;
+		sysbusRsp->data[WD_CMD] = CMD_FLJ_POLL;
+		sysbusRsp->data[WD_PRD] = MY_PRD_ID;
+		dataLen = PAYLOAD_LEN_FLJ_RX;
+		payload = sysbusRsp->data + FLJ_DATA_OFFSET;
+	}
+	else if (msg[WD_CMD] == CMD_LJ_POLL)
+	{
+		sysbusRsp->len = LJ_POLL_RESP_LEN;
+		sysbusRsp->data[WD_CMD] = CMD_LJ_POLL;
+		sysbusRsp->data[WD_PRD] = MY_PRD_ID;
+		dataLen = PAYLOAD_LEN_LJ_RX;
+		payload = sysbusRsp->data + LJ_DATA_OFFSET;
+	}
+	else
+	{
+		DBG_ERROR("Unexpected command 0x%02X.\n", msg[WD_CMD]);
+		free(sysbusRsp);
+		return EUNEXP;
+	}
+	uint32_t dataId;
+	SysMonitor_GetRecvPayload(payload, &dataId, dataLen); // omit control info
+	if (dataId == DATA_ID_NONE)
+	{
+		free(sysbusRsp);
+		DBG_WARNING("SystemBus::no RX data!\n");
+		return SUCCESS;
+	}
+	if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false)
+	{
+		free(sysbusRsp);
+		DBG_WARNING("SystemBus::TX Queue overflowed!\n");
+		return EQUEUE;
+	}
+	instPtr->sysbusLog.pollCnt++;
+	return SUCCESS;
+}
+
+/**
+ * @brief   Generate System Bus remote test command response
+ */
+static int32_t SystemBus_GenRemoteTestRsp(SYSBUS *instPtr, uint8_t *msg)
+{
+	ASSERT(instPtr != NULL);
+	ASSERT(msg != NULL);
+	SYSBUS_UART_FRAME *sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
+	if (sysbusRsp == NULL)
+	{
+		DBG_ERROR("Failed to allocate memory for LJ REMOTE TEST Response!\n");
+		return ENOMEM;
+	}
+
+	TIME_WORD tmWord;
+	uint64_t time;
+	TimeCtrl_GetCurrentTime(linkInstPtr->config.tmcInstPtr, &tmWord);
+	time = (uint64_t)tmWord.int_part * TIME_FRAC_MAX + tmWord.frac_part;
+
+	if (msg[WD_CMD] == CMD_FLJ_RM_TEST)
+	{
+		sysbusRsp->len = FLJ_RM_TEST_RESP_LEN;
+		memset(sysbusRsp->data, 0x00, FLJ_RM_TEST_RESP_LEN);
+		sysbusRsp->data[WD_CMD] = CMD_FLJ_RM_TEST;
+		sysbusRsp->data[WD_PRD] = MY_PRD_ID;
+
+		memcpy(sysbusRsp->data + WD_FLJ_TIME_STAMP, &time, WD_FLJ_TIME_STAMP_LEN);
+		SysMonitor_GetLinklayerLog(&(instPtr->linkLog));
+		SysMonitor_GetPhysicalLayerLog(&(instPtr->phyLog));
+		SysMonitor_GetHardwareStatus(&(instPtr->hwState));
+		memcpy(sysbusRsp->data + WD_FLJ_SYSBUS_LOG, &(instPtr->sysbusLog), WD_FLJ_SYSBUS_LOG_LEN);
+		memcpy(sysbusRsp->data + WD_FLJ_LINK_LOG, &(instPtr->linkLog), WD_FLJ_LINK_LOG_LEN);
+		memcpy(sysbusRsp->data + WD_FLJ_PHY_LOG, &(instPtr->phyLog), WD_FLJ_PHY_LOG_LEN);
+		memcpy(sysbusRsp->data + WD_FLJ_HARDWARE_ST, &(instPtr->hwState.spFpgaVolt), WD_FLJ_HARDWARE_ST_LEN);
+	}
+	else if (msg[WD_CMD] == CMD_LJ_RM_TEST)
+	{
+		sysbusRsp->len = LJ_RM_TEST_RESP_LEN;
+		sysbusRsp->data[WD_CMD] = CMD_LJ_RM_TEST;
+		sysbusRsp->data[WD_PRD] = MY_PRD_ID;
+
+		memcpy(sysbusRsp->data + WD_LJ_TIME_STAMP, &time, WD_LJ_TIME_STAMP_LEN);
+		SysMonitor_GetLinklayerLog(&(instPtr->linkLog));
+		SysMonitor_GetPhysicalLayerLog(&(instPtr->phyLog));
+		SysMonitor_GetHardwareStatus(&(instPtr->hwState));
+		memcpy(sysbusRsp->data + WD_LJ_SYSBUS_LOG, &(instPtr->sysbusLog), WD_LJ_SYSBUS_LOG_LEN);
+		memcpy(sysbusRsp->data + WD_LJ_LINK_LOG, &(instPtr->linkLog), WD_LJ_LINK_LOG_LEN);
+		memcpy(sysbusRsp->data + WD_LJ_PHY_LOG, &(instPtr->phyLog), WD_LJ_PHY_LOG_LEN);
+		memcpy(sysbusRsp->data + WD_LJ_HARDWARE_ST, &(instPtr->hwState.spFpgaVolt), WD_LJ_HARDWARE_ST_LEN);
+	}
+	else
+	{
+		DBG_ERROR("Unexpected command 0x%02X.\n", msg[WD_CMD]);
+		free(sysbusRsp);
+		return EUNEXP;
+	}
+
+	if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false)
+	{
+		free(sysbusRsp);
+		DBG_WARNING("SystemBus::TX Queue overflowed!\n");
+		return EQUEUE;
+	}
+	instPtr->sysbusLog.remoteCnt++;
+	return SUCCESS;
 }

 /*****************************************************************************/
@@ -282,328 +517,106 @@ int32_t SystemBus_HandleCmd(SYSBUS *instPtr)
 {
 	ASSERT(instPtr != NULL);
 	int32_t Status;
-	SYSBUS_UART_FRAME *sysbusReq, *sysbusRsp;
-	uint8_t *data;
+	SYSBUS_UART_FRAME *sysbusReq;
+	uint8_t *msg;
 	if (CircQueuePop(instPtr->rxQueue, (void **)(&sysbusReq)) == false)
 	{
 		DBG_WARNING("SystemBus::Nothing to be handled.\n");
 		return EIGNORE;
 	}
-	data = sysbusReq->data;
-	if (data[WD_PRD] != MY_PRD_ID && data[WD_PRD] != PRD_ALL)
+	msg = sysbusReq->data;
+	if (msg[WD_PRD] != MY_PRD_ID && msg[WD_PRD] != PRD_ALL)
 	{
 		DBG_WARNING("SystemBus::Production code mismatch!\n");
 		return EIGNORE;
 	}
-	switch (data[WD_CMD])
+
+	switch (msg[WD_CMD])
 	{
 	case CMD_SELF_TEST:
 	{
-		HWSTATE *hwStatsPtr = &(instPtr->sysLog.hwState);
-		sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
-		if (sysbusRsp == NULL) {
-			DBG_ERROR("Failed to allocate memory for SELF TEST Response!\n");
-			Status = ENOMEM;
-			break;
-		}
-		sysbusRsp->len = ST_RSP_LEN;
-		memset(sysbusRsp->data, 0x00, ST_RSP_LEN);
-		sysbusRsp->data[WD_CMD] = CMD_SELF_TEST;
-		sysbusRsp->data[WD_PRD] = MY_PRD_ID;
-		SysMonitor_GetHardwareStatus(hwStatsPtr);
-		if (linkInstPtr->isEnable == false)
-		{
-			sysbusRsp->data[WD_ST_RET] = (hwStatsPtr->isSpOk) ? ST_RET_OK : ST_RET_ERROR;
-		}
-		else
-		{
-			sysbusRsp->data[WD_ST_RET] = (hwStatsPtr->isSpOk && hwStatsPtr->isAntOk) ? ST_RET_OK : ST_RET_ERROR;
-		}
-		// apply status and omit 2 bytes of overhead.
-		memcpy(sysbusRsp->data + WD_SP_PS_VOLT, &(hwStatsPtr->spPlAuxVolt), ST_RET_INFO_LEN);
-
-		if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false)
-		{
-			free(sysbusRsp);
-			DBG_ERROR("SystemBus::TX Queue overflowed!\n");
-			Status = EQUEUE;
-			break;
-		}
-		Status = SUCCESS;
+		Status = SystemBus_GenSelfTestRsp(instPtr);
 		break;
 	}
 	case CMD_DATA_TEST_A:
-	{
-		sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
-		if (sysbusRsp == NULL) {
-			DBG_ERROR("Failed to allocate memory for DATA TEST A Response!\n");
-			Status = ENOMEM;
-			break;
-		}
-		sysbusRsp->len = DATA_TEST_RSP_A_LEN;
-		memcpy(sysbusRsp->data, sysbusReq->data, DATA_TEST_RSP_A_LEN);
-		if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false)
-		{
-			free(sysbusRsp);
-			DBG_ERROR("SystemBus::TX Queue overflowed!\n");
-			Status = EQUEUE;
-			break;
-		}
-		Status = SUCCESS;
-		break;
-	}
 	case CMD_DATA_TEST_B:
 	{
-		sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
-		if (sysbusRsp == NULL) {
-			DBG_ERROR("Failed to allocate memory for DATA TEST B Response!\n");
-			Status = ENOMEM;
-			break;
-		}
-		sysbusRsp->len = DATA_TEST_RSP_B_LEN;
-		memcpy(sysbusRsp->data, sysbusReq->data, DATA_TEST_RSP_B_LEN);
-		if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false)
-		{
-			free(sysbusRsp);
-			DBG_ERROR("SystemBus::TX Queue overflowed!\n");
-			Status = EQUEUE;
-			break;
-		}
-		Status = SUCCESS;
+		Status = SystemBus_Echo(instPtr, sysbusReq);
 		break;
 	}
 	case CMD_CONFIG:
 	{
-		PHY_INST *phyRef = linkInstPtr->config.phyInstPtr;
-		TMC_INST *tmcRef = linkInstPtr->config.tmcInstPtr;
-
-		if (data[WD_MODE_CMD] == MODE_CMD_HEAD)
-		{
-			// omit unnecessary reconfiguration
-			if (L2_GetNodeType(linkInstPtr) != L2_NODE_HEAD)
-			{
-				// head node config
-				linkConfig.myType = L2_NODE_HEAD;
-				linkConfig.myId = 1;
-				Linklayer_Reconfig(linkInstPtr, &linkConfig);
-			}
-		}
-
-		else if (data[WD_MODE_CMD] == MODE_CMD_MEMBER )
-		{
-			// omit unnecessary reconfiguration
-			if (L2_GetNodeType(linkInstPtr) != L2_NODE_MEMBER)
-			{
-				// member node config
-				linkConfig.myType = L2_NODE_MEMBER;
-				linkConfig.myId = 2;
-				Linklayer_Reconfig(linkInstPtr, &linkConfig);
-			}
-		}
-		else
-		{
-			// FIXME: to confirm
-			// Halt linklayer
-			Linklayer_Halt(linkInstPtr);
-			DBG_ERROR("Unexpected config command 0x%02X:0x%02X",
-				WD_MODE_CMD, data[WD_MODE_CMD]);
-			Status = EPARAM;
-			break;
-		}
-
-		if(data[WD_EN_CMD] == EN_CMD_ON_HIGH_POWER)
-		{
-			// high power config
-			Phy_AntConfigMode(phyRef, PHY_ANT_MODE_HIGH_POWER);
-		}
-		else if(data[WD_EN_CMD] == EN_CMD_ON_LOW_POWER)
-		{
-			// low power config
-			Phy_AntConfigMode(phyRef, PHY_ANT_MODE_LOW_POWER);
-		}
-		else
-		{
-			// silence config
-			// FIXME: confirm
-			// TODO: better approach?
-			Linklayer_Halt(linkInstPtr);
-			Phy_AntConfigMode(phyRef, PHY_ANT_MODE_SILENT);
-			TIME_WORD pullTime = {0, 0};
-			pullTime.int_part = TimeCtrl_GetIntCnt(tmcRef) + 1;
-			Status = Phy_SetTimeWord(phyRef, &pullTime, PHY_TIME_WORD_POLL);
-			if (Status != SUCCESS)
-			{
-				DBG_ERROR("Physical set pull time failed, with error code: %" PRId32 ".\n", Status);
-			}
-			Phy_SetupNextSlot(phyRef, PHY_TOR_RX, L1_10KBPS_10MS_FRAME, NULL);
-			break;
-		}
-
-		Linklayer_Start(linkInstPtr);
-		Status = SUCCESS;
+		Status = SystemBus_SystemConfig(instPtr, msg);
 		break;
 	}
 	case CMD_SYS_INFO:
 	{
-		SysMonitor_UpdateSysinfo((SYSINFO *)(data + SYS_INFO_OFFSET));
+		SysMonitor_UpdateSysinfo((SYSINFO *)(msg + SYS_INFO_OFFSET));
 		Status = SUCCESS;
 		break;
 	}
-	// TODO
 	case CMD_FLJ_SEND:
 	{
-		SysMonitor_UpdateSendPayload(data + FLJ_DATA_OFFSET, PAYLOAD_LEN_FLJ_TX); // omit control info
+		SysMonitor_UpdateSendPayload(msg + FLJ_DATA_OFFSET, PAYLOAD_LEN_FLJ_TX); // omit control info
+		instPtr->sysbusLog.svcCnt++;
+		Status = SUCCESS;
 		break;
 	}
 	case CMD_LJ_SEND:
 	{
-		SysMonitor_UpdateSendPayload(data + LJ_DATA_OFFSET, PAYLOAD_LEN_LJ_TX); // omit control info
+		SysMonitor_UpdateSendPayload(msg + LJ_DATA_OFFSET, PAYLOAD_LEN_LJ_TX); // omit control info
+		instPtr->sysbusLog.svcCnt++;
+		Status = SUCCESS;
 		break;
 	}
 	case CMD_FLJ_POLL:
 	{
-		if (data[WD_FLJ_POLL] != FLJ_POLL_CODE)
+		if (msg[WD_FLJ_POLL] != FLJ_POLL_CODE)
 		{
 			DBG_ERROR("SystemBus::Invalid roll call code!\n");
 			Status = EIGNORE;
 			break;
 		}
-		sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
-		if (sysbusRsp == NULL) {
-			DBG_ERROR("Failed to allocate memory for FLJ POLL Response!\n");
-			Status = ENOMEM;
-			break;
-		}
-		sysbusRsp->len = FLJ_POLL_RESP_LEN;
-		sysbusRsp->data[WD_CMD] = CMD_FLJ_POLL;
-		sysbusRsp->data[WD_PRD] = MY_PRD_ID;
-		uint32_t dataId;
-		SysMonitor_GetRecvPayload(sysbusRsp->data + FLJ_DATA_OFFSET, &dataId, PAYLOAD_LEN_FLJ_RX); // omit control info
-		if (dataId == DATA_ID_NONE)
-		{
-			free(sysbusRsp);
-			DBG_WARNING("SystemBus::no RX data!\n");
-			Status = SUCCESS;
-			break;
-		}
-		if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false)
-		{
-			free(sysbusRsp);
-			DBG_WARNING("SystemBus::TX Queue overflowed!\n");
-			Status = EQUEUE;
-			break;
-		}
-		Status = SUCCESS;
+		Status = SystemBus_GenPollRsp(instPtr, msg);
 		break;
 	}
 	case CMD_LJ_POLL:
 	{
-		if (data[WD_LJ_POLL] != LJ_POLL_CODE)
+		if (msg[WD_LJ_POLL] != LJ_POLL_CODE)
 		{
 			DBG_WARNING("SystemBus::Invalid roll call code!\n");
 			Status = EIGNORE;
 			break;
 		}
-		sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
-		if (sysbusRsp == NULL) {
-			DBG_ERROR("Failed to allocate memory for LJ POLL Response!\n");
-			Status = ENOMEM;
-			break;
-		}
-		sysbusRsp->len = LJ_POLL_RESP_LEN;
-		sysbusRsp->data[WD_CMD] = CMD_LJ_POLL;
-		sysbusRsp->data[WD_PRD] = MY_PRD_ID;
-		uint32_t dataId;
-		SysMonitor_GetRecvPayload(sysbusRsp->data + LJ_DATA_OFFSET, &dataId, PAYLOAD_LEN_LJ_RX); // omit control info
-		if (dataId == DATA_ID_NONE)
-		{
-			free(sysbusRsp);
-			DBG_WARNING("SystemBus::no RX data!\n");
-			Status = SUCCESS;
-			break;
-		}
-		if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false)
-		{
-			free(sysbusRsp);
-			DBG_WARNING("SystemBus::TX Queue overflowed!\n");
-			Status = EQUEUE;
-			break;
-		}
-		Status = SUCCESS;
+		Status = SystemBus_GenPollRsp(instPtr, msg);
 		break;
 	}
 	case CMD_FLJ_RM_TEST:
 	{
-		SYSLOG *sysLogPtr = &(instPtr->sysLog);
-		if (data[WD_FLJ_RM_TEST] != FLJ_RM_TEST_CODE)
+		if (msg[WD_FLJ_RM_TEST] != FLJ_RM_TEST_CODE)
 		{
 			DBG_WARNING("SystemBus::Invalid remote test code!\n");
 			Status = EIGNORE;
 			break;
 		}
-		sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
-		if (sysbusRsp == NULL) {
-			DBG_ERROR("Failed to allocate memory for FLJ REMOTE TEST Response!\n");
-			Status = ENOMEM;
-			break;
-		}
-		sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
-		sysbusRsp->len = FLJ_RM_TEST_RESP_LEN;
-		memset(sysbusRsp->data, 0x00, FLJ_RM_TEST_RESP_LEN);
-		sysbusRsp->data[WD_CMD] = CMD_FLJ_RM_TEST;
-		sysbusRsp->data[WD_PRD] = MY_PRD_ID;
-
-		TIME_WORD tmWord;
-		uint64_t time;
-		TimeCtrl_GetCurrentTime(linkInstPtr->config.tmcInstPtr, &tmWord);
-		time = tmWord.int_part * TIME_FRAC_MAX + tmWord.frac_part;
-		memcpy(sysbusRsp->data + WD_LJ_TIME_STAMP, &time, WD_LJ_TIME_STAMP_LEN);
-		SysMonitor_GetSyslog(sysLogPtr);
-		memcpy(sysbusRsp->data + WD_LJ_LINK_LOG, &(sysLogPtr->linkLog), WD_LJ_LINK_LOG_LEN);
-		memcpy(sysbusRsp->data + WD_LJ_PHY_LOG, &(sysLogPtr->phyLog), WD_LJ_PHY_LOG_LEN);
-		memcpy(sysbusRsp->data + WD_LJ_HARDWARE_ST, &(sysLogPtr->hwState.spPsVolt), WD_LJ_HARDWARE_ST_LEN);
-
-		if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false){
-			free(sysbusRsp);
-			DBG_WARNING("SystemBus::TX Queue overflowed!\n");
-			Status = EQUEUE;
-			break;
-		}
-		Status = SUCCESS;
+		Status = SystemBus_GenRemoteTestRsp(instPtr, msg);
 		break;
 	}
 	case CMD_LJ_RM_TEST:
 	{
-		if (data[WD_LJ_RM_TEST] != LJ_RM_TEST_CODE)
+		if (msg[WD_LJ_RM_TEST] != LJ_RM_TEST_CODE)
 		{
 			DBG_WARNING("SystemBus::Invalid remote test code!\n");
 			Status = EIGNORE;
 			break;
 		}
-		sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
-		if (sysbusRsp == NULL) {
-			DBG_ERROR("Failed to allocate memory for LJ REMOTE TEST Response!\n");
-			Status = ENOMEM;
-			break;
-		}
-		sysbusRsp = malloc(sizeof(SYSBUS_UART_FRAME));
-		sysbusRsp->len = LJ_RM_TEST_RESP_LEN;
-		memset(sysbusRsp->data, 0x00, LJ_RM_TEST_RESP_LEN);
-		sysbusRsp->data[WD_CMD] = CMD_LJ_RM_TEST;
-		sysbusRsp->data[WD_PRD] = MY_PRD_ID;
-
-		if (CircQueuePush(instPtr->txQueue, (void *)sysbusRsp) == false){
-			free(sysbusRsp);
-			DBG_WARNING("SystemBus::TX Queue overflowed!\n");
-			Status = EQUEUE;
-			break;
-		}
-		Status = SUCCESS;
+		Status = SystemBus_GenRemoteTestRsp(instPtr, msg);
 		break;
 	}
 	default:
 	{
 		DBG_ERROR("SystemBus::Unknown command code!\n");
+		Status = FAILURE;
 		break;
 	}
 	}
@@ -636,6 +649,82 @@ int32_t SystemBus_MakeResp(SYSBUS *instPtr)
 	return Status;
 }

+/** @} */
+
+/*****************************************************************************/
+/**
+ * @brief   Initialize System Bus instance.
+ *
+ * @param   InstPtr A double pointer to System Bus instance.
+ * @param   config  A pointer to System Bus configurations.
+ *
+ * @return  Error code.
+ *
+ ******************************************************************************/
+int32_t SystemBus_Init(SYSBUS **instPtr, SYSBUS_CONFIG *config)
+{
+	ASSERT(instPtr != NULL);
+	ASSERT(config != NULL);
+	SYSBUS_UART_CONFIG uartConfig;
+	int32_t Status;
+	(*instPtr) = malloc(sizeof(SYSBUS));
+	if ((*instPtr) == NULL)
+	{
+		return ENOMEM;
+	}
+	(*instPtr)->rxQueue = NULL;
+	(*instPtr)->txQueue = NULL;
+	(*instPtr)->uartInst = NULL;
+	memcpy(&((*instPtr)->config), config, sizeof(SYSBUS_CONFIG));
+	memset(&((*instPtr)->sysbusLog), 0x00, sizeof(SYSBUSLOG));
+	memset(&((*instPtr)->linkLog), 0x00, sizeof(LINKLOG));
+	memset(&((*instPtr)->phyLog), 0x00, sizeof(PHYLOG));
+	memset(&((*instPtr)->hwState), 0x00, sizeof(HWSTATE));
+	uartConfig.baseAddr = config->baseAddr;
+	Status = SysbusUart_Init(&((*instPtr)->uartInst), &uartConfig);
+	if (Status != SUCCESS)
+	{
+		SystemBus_Destroy(*instPtr);
+		return ENOMEM;
+	}
+	if (CircQueueCreate(&((*instPtr)->txQueue), (*instPtr)->config.txQueueMax) == false)
+	{
+		SystemBus_Destroy(*instPtr);
+		return ENOMEM;
+	}
+	if (CircQueueCreate(&((*instPtr)->rxQueue), (*instPtr)->config.rxQueueMax) == false)
+	{
+		SystemBus_Destroy(*instPtr);
+		return ENOMEM;
+	}
+	(*instPtr)->isRxDone = false; // nothing received.
+	(*instPtr)->isTxDone = true;  // nothing to be sent.
+	return SUCCESS;
+}
+
+
+/*****************************************************************************/
+/**
+ * @brief   Destroy System Bus instance.
+ *
+ * @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);
+}
+
 /*****************************************************************************/
 /**
 * @brief   This function handles the systembus tx irq events.
@@ -665,10 +754,9 @@ int32_t SystemBus_TxIntrHandler(SYSBUS *instPtr)
 int32_t SystemBus_RxIntrHandler(SYSBUS *instPtr)
 {
 	ASSERT(instPtr != NULL);
-	int32_t Status;
-	SYSBUS_UART_FRAME *sysbusReq;
 	instPtr->isRxDone = true; // whether reception successes or not, receiving procedure ended.
-	sysbusReq = malloc(sizeof(SYSBUS_UART_FRAME));
+	int32_t Status;
+	SYSBUS_UART_FRAME *sysbusReq = malloc(sizeof(SYSBUS_UART_FRAME));
 	if (sysbusReq == NULL)
 	{
 		return ENOMEM;
@@ -676,17 +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;
-		goto recv_error;
+		free(sysbusReq);
+		return EQUEUE;
 	}
 	instPtr->isRxDone = false; // another reception is undergoing.
 	return SUCCESS;
-recv_error:
-	free(sysbusReq);
-	return Status;
 }
+
+/** @} SystemBus*/
@@ -1,18 +1,20 @@
 /*****************************************************************************/
 /**
- * Description: System bus protocol head file.
+ * @file systembus.h
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief System bus protocol header file.
+ * @version 0.1
+ * @date 2023-05-06
 *
- * Date: 2023-05-06 10:12
- * Last Edit Time: [2023-05-06 10:13]
- *
- * Revisions: Rev 0.0
- * History:
- * [2023-05-06]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

+/**
+ * @defgroup SystemBus
+ * @{
+ */
 #ifndef __SYSTEMBUS_H_
 #define __SYSTEMBUS_H_

@@ -25,39 +27,58 @@

 /************************** Constant Definitions *****************************/
 /************************** Data Type Definitions ****************************/
-// Definition of SystemBus instance.
+
+/**
+ * @struct SYSBUS_CONFIG
+ * @brief SystemBus Config struct holds SystemBus initialization parameters
+ */
 typedef struct
 {
-    uintptr_t baseAddr;
-    uint32_t txQueueMax;
-    uint32_t rxQueueMax;
+	uintptr_t baseAddr;	 ///< base address in memory
+	uint32_t txQueueMax; ///< maximum tx queue length
+	uint32_t rxQueueMax; ///< maximum rx queue length
 } SYSBUS_CONFIG;

+/**
+ * @struct SYSBUS
+ * @brief SystemBus Instance struct
+ */
 typedef struct
 {
-    SYSBUS_CONFIG config;
-    SYSLOG sysLog;
-    SYSBUS_UART *uartInst;
-    CIRC_QUEUE *txQueue;
-    CIRC_QUEUE *rxQueue;
-    bool isRxDone;
-    bool isTxDone;
+	SYSBUS_CONFIG config;  ///< SystemBus initialization parameters
+	SYSBUSLOG sysbusLog;   ///< SystemBus log
+	LINKLOG linkLog;	   ///< Link layer log
+	PHYLOG phyLog;		   ///< Physical layer log
+	HWSTATE hwState;	   ///< Hardware status
+	SYSBUS_UART *uartInst; ///< physical uart controller instance
+	CIRC_QUEUE *txQueue;   ///< tx queue
+	CIRC_QUEUE *rxQueue;   ///< rx queue
+	bool isTxDone;		   ///< tx done indicator
+	bool isRxDone;		   ///< rx done indicator
 } SYSBUS;

 /************************** Function Prototypes ******************************/

 int32_t SystemBus_Init(SYSBUS **instPtr, SYSBUS_CONFIG *config);
+void SystemBus_Destroy(SYSBUS *instPtr);

+/**
+ * @defgroup SystemBus_Protocol_Routine
+ * @{
+ */
 int32_t SystemBus_HandleCmd(SYSBUS *instPtr);
 int32_t SystemBus_MakeResp(SYSBUS *instPtr);
+/** @} */

 int32_t SystemBus_TxIntrHandler(SYSBUS *instPtr);
 int32_t SystemBus_RxIntrHandler(SYSBUS *instPtr);

-bool SystemBus_IsReqPendding(SYSBUS *instPtr);
-bool SystemBus_IsRsqPendding(SYSBUS *instPtr);
+bool SystemBus_IsReqPending(SYSBUS *instPtr);
+bool SystemBus_IsRsqPending(SYSBUS *instPtr);

 bool SystemBus_IsTxBusy(SYSBUS *instPtr);
 bool SystemBus_IsRxBusy(SYSBUS *instPtr);

 #endif //__SYSTEMBUS_H_
+
+/** @} SystemBus*/
@@ -1,18 +1,27 @@
 /*****************************************************************************/
 /**
- * Description: System bus uart driver implementation file.
+ * @file systembus_uart.h
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief System bus uart driver implementation file.
+ * @version 0.1
+ * @date 2023-05-06
 *
- * Date: 2023-05-06 10:59
- * LastEditTime: 2023-05-06 21:56
- * Revisions: Rev 0.0
- * History:
- * [2023-05-06]: Initial version.
- *
- * Copyright(c) 2022 Beijing Institute of Technology.
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

-/***************************** Include Files *******************************/
+/**
+ * @addtogroup SystemBus
+ * @{
+ */
+
+/**
+ * @addtogroup SystemBus_UART
+ * @{
+ */
+
+
 #include <stdlib.h>
 #include <string.h>
 #include <stdint.h>
@@ -20,6 +29,10 @@
 #include "systembus_uart.h"
 #include "common.h"

+/**
+ * @name SystemBus_UART_Driver_Constants
+ * @{
+ */
 // Control and status register
 #define MODULE_VERSION 0
 #define UART_STATUS 4
@@ -30,9 +43,9 @@
 #define UART_STATUS_TX_BUSY 0x00010000
 #define UART_STATUS_RX_BUSY 0x01000000
 // Data buffer register
-#define UART_TXBUFF_LOW 1024
+#define UART_TXBUFF_OFFSET 1024
 #define UART_TXBUFF_MAX 1024
-#define UART_RXBUFF_LOW 2048
+#define UART_RXBUFF_OFFSET 2048
 #define UART_RXBUFF_MAX 1024

 // Frame Data offsets
@@ -47,7 +60,7 @@
 #define FRAME_CHECK_LEN 1	 // CheckSum
 #define FRAME_INFO_LEN 3	 // CheckSum, Dummy and DataLen
 #define FRAME_OVERHEAD_LEN 7 // CheckSum, Dummy and DataLen
-/*************************** Function Definitions ****************************/
+/** @} SystemBus_UART_Driver_Constants*/

 /*****************************************************************************/
 /**
@@ -133,7 +146,7 @@ int SysbusUart_Send(SYSBUS_UART *instPtr, SYSBUS_UART_FRAME *frame)
 		free(sendBuff);
 		return FAILURE;
 	}
-	memcpy((void *)(instPtr->config.baseAddr + UART_TXBUFF_LOW), sendBuff, (sendLen + sizeof(uint32_t) - 1) / sizeof(uint32_t) * sizeof(uint32_t));
+	memcpy((void *)(instPtr->config.baseAddr + UART_TXBUFF_OFFSET), sendBuff, (sendLen + sizeof(uint32_t) - 1) / sizeof(uint32_t) * sizeof(uint32_t));
 	free(sendBuff);
 	// Start Sending
 	SYSTEMBUS_UART_mWriteReg(instPtr->config.baseAddr, UART_SEND_CMD, sendLen);
@@ -169,7 +182,7 @@ int SysbusUart_Recv(SYSBUS_UART *instPtr, SYSBUS_UART_FRAME *frame)
 	{
 		return ENOMEM;
 	}
-	memcpy(dBuff, (void *)(instPtr->config.baseAddr + UART_RXBUFF_LOW), sizeof(uint32_t) * dWLen);
+	memcpy(dBuff, (void *)(instPtr->config.baseAddr + UART_RXBUFF_OFFSET), sizeof(uint32_t) * dWLen);
 	plBuff = dBuff + FRAME_HEAD_LEN;
 	checkSumCal = 0;
 	checkSum = plBuff[dLen + FRAME_DUMMY_LEN];
@@ -246,3 +259,7 @@ bool SysbusUart_IsTxBusy(SYSBUS_UART *instPtr)
 		return false;
 	}
 }
+
+/** @} SystemBus_UART*/
+
+/** @} SystemBus*/
@@ -1,17 +1,25 @@
 /*****************************************************************************/
 /**
- * Description: System bus uart driver implementation file.
+ * @file systembus_uart.h
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief System bus uart driver header file.
+ * @version 0.1
+ * @date 2023-05-06
 *
- * Date: 2023-05-06 10:59
- * LastEditTime: 2023-05-06 21:48
- * Revisions: Rev 0.0
- * History:
- * [2023-05-06]: Initial version.
- *
- * Copyright(c) 2022 Beijing Institute of Technology.
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

+/**
+ * @addtogroup SystemBus
+ * @{
+ */
+
+/**
+ * @defgroup SystemBus_UART
+ * @{
+ */
 #ifndef SYSTEMBUS_UART_H
 #define SYSTEMBUS_UART_H

@@ -61,22 +69,33 @@
 	IO_In32((baseAddr) + (offset))

 /************************** Data Type Definitions ****************************/
+/**
+ * @struct SYSBUS_UART_CONFIG
+ * @brief SystemBus UART driver initialization parameters
+ */
 typedef struct
 {
 	uintptr_t baseAddr;
 } SYSBUS_UART_CONFIG;

+/**
+ * @struct  SYSBUS_UART
+ * @brief SystemBus UART driver instance
+ */
 typedef struct
 {
 	SYSBUS_UART_CONFIG config;
 } SYSBUS_UART;

+/**
+ * @struct  SYSBUS_UART_FRAME
+ * @brief SystemBus UART frame definition
+ */
 typedef struct
 {
-	uint8_t len;
+	uint16_t len;
 	uint8_t checkSum;
 	uint8_t isValid;
-	uint8_t dummy;
 	uint8_t data[256];
 } SYSBUS_UART_FRAME;

@@ -97,3 +116,7 @@ bool SysbusUart_IsRxBusy(SYSBUS_UART *instPtr);
 bool SysbusUart_IsTxBusy(SYSBUS_UART *instPtr);

 #endif // SYSTEMBUS_UART_H
+
+/** @} SystemBus_UART*/
+
+/** @} SystemBus*/
@@ -1,20 +1,21 @@
 /*****************************************************************************/
 /**
- * Description: Time sync implementation file.
- *
- * Author: Author's name
- * Date: 2023-12-20 16:32
- * LastEditors: FanHao
- * LastEditTime: 2023-12-22 20:43
- * Revisions: Rev 0.0
- * History:
- * [2023-12-20]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @file time_ctrl.c
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief Time sync controller driver implementation file.
+ * @version 0.0
+ * @date 2023-12-20
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

+/**
+ * @addtogroup TimeController_Driver
+ * @{
+ */
+
+
 /***************************** Include Files *********************************/
 #include <string.h>
 #include "time_ctrl.h"
@@ -23,6 +24,10 @@
 #include "util.h"

 /************************** Constant Definitions *****************************/
+/**
+ * @name TimeController_REG_Constants
+ * @{
+ */
 #define VERSION_REG 0x00000004
 #define TIME_INT_REG 0x00000008
 #define TIME_FRAC_REG 0x0000000C
@@ -36,6 +41,9 @@
 #define CNTSTEP_OPT 0x0000002c

 #define TM_RESET_CODE 0x5253542E
+
+/** @} TimeController_REG_Constants*/
+
 /***************** Macros (Inline Functions) Definitions *********************/
 #define TMC_Read(instPtr, addr) IO_In32(instPtr->config.baseAddr + addr)
 #define TMC_Write(instPtr, addr, value) IO_Out32(instPtr->config.baseAddr + addr, value)
@@ -296,3 +304,5 @@ void TimeCtrl_CalculateTimeGap(const TIME_WORD *a, const TIME_WORD *b, TIME_WORD
 	gap->frac_part = (TIME_FRAC)(timeDiff % TIME_FRAC_MAX);
 	gap->frac_part = (TIME_INT)(timeDiff / TIME_FRAC_MAX);
 }
+
+/** @} TimeController_Driver*/
@@ -1,19 +1,20 @@
 /*****************************************************************************/
 /**
- * Description: A simplified version of timesync for datalink 814 (Dijian)
- *
- * Date: 2023-12-20-04 16:32
- * LastEditors: Fan Hao
- * LastEditTime: 2023-12-20 16:32
- * Revisions: Rev 0.0
- * History:
- * [2023-12-20]: Initial version.
- *
- * Copyright(c) 2021 Beijing Institute of Technology.
- * Lab of Communication and Networking
+ * @file time_ctrl.h
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief Time sync controller driver header file.
+ * @version 0.0
+ * @date 2023-12-20
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
 ******************************************************************************/

+/**
+ * @defgroup TimeController_Driver
+ * @{
+ */
+
 #ifndef TIME_CTRL_H_
 #define TIME_CTRL_H_

@@ -23,30 +24,44 @@
 #define TIME_FRAC_MAX 500000 // how many 10ns in a 5ms
 /***************** Macros (Inline Functions) Definitions *********************/
 /**************************** Type Definitions *******************************/
+/**
+ * @enum TIMECTRL_ADJ_TYPE
+ * @brief defines the time adjustment methods
+ */
 typedef enum
 {
-	TM_ADJ_NONE = 0,
-	TM_ADJ_ADD = 1,
-	TM_ADJ_SET = 2
+	TM_ADJ_NONE = 0, ///< none
+	TM_ADJ_ADD = 1, ///< adjust time by add
+	TM_ADJ_SET = 2  ///< adjust time by set
 } TIMECTRL_ADJ_TYPE;

 typedef uint32_t TIME_FRAC;
 typedef uint32_t TIME_INT;

+/**
+ * @struct TIME_WORD
+ * @brief Time controller time word
+ */
 typedef struct
 {
-	/* 5ms each LSB */
-	TIME_INT int_part;
-	/* 10ns each LSB */
-	TIME_FRAC frac_part;
+	TIME_INT int_part; ///< 5ms each LSB
+	TIME_FRAC frac_part; ///< 10ns each LSB
 } TIME_WORD;

+/**
+ * @struct TMC_CONFIG
+ * @brief TmcConfig holds the initialization parameters of time controller
+ */
 typedef struct
 {
 	uintptr_t baseAddr;
 	uint32_t reset; // time for reset (unit: us)
 } TMC_CONFIG;

+/**
+ * @struct TMC_INST
+ * @brief An instance struct of time controller
+ */
 typedef struct
 {
 	TMC_CONFIG config;
@@ -72,3 +87,5 @@ void TimeCtrl_TimeAdjust(TMC_INST *instPtr, const TIME_WORD *tmWord, TIMECTRL_AD
 void TimeCtrl_CalculateTimeGap(const TIME_WORD *a, const TIME_WORD *b, TIME_WORD *gap);

 #endif /* TIME_SYNC_H_ */
+
+/** @} */
@@ -1,34 +1,25 @@
 /*****************************************************************************/
 /**
- * Description: A simple circular FIFO bounded queue
+ * @file circ_queue.c
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief A simple circular FIFO bounded queue
+ * @version 0.1
+ * @date 2023-02-23
+ * @note Forked from https://github.com/chrismerck/rpa_queue.git
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
 *
- * Author: Fan Hao
- * Date: 2023-02-23 10:29
- * LastEditors: Fan Hao
- * LastEditTime: 2023-02-23 13:18
- * Revisions: Rev 0.0
- * History:
- * [2023-02-23]: Initial Version.
- *
- * Copyright(c) 2023 Beijing Institute of Technology.
- * Lab of Communication and Networking
- * NOTE: Forked from https://github.com/chrismerck/rpa_queue.git
- * Licensed to the Apache Software Foundation (ASF) under one or more
- * contributor license agreements.  See the NOTICE file distributed with
- * this work for additional information regarding copyright ownership.
- * The ASF licenses this file to You under the Apache License, Version 2.0
- * (the "License"); you may not use this file except in compliance with
- * the License.  You may obtain a copy of the License at
- *
- *   http://www.apache.org/licenses/LICENSE-2.0
- *
- * Unless required by applicable law or agreed to in writing, software
- * distributed under the License is distributed on an "AS IS" BASIS,
- * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
- * See the License for the specific language governing permissions and
- * limitations under the License.
 ******************************************************************************/

+/**
+ * @addtogroup Utility
+ * @{
+ */
+
+/**
+ * @addtogroup CircularQueue
+ * @{
+ */
 #include "circ_queue.h"
 #include "common.h"
 #include <stdio.h>
@@ -37,105 +28,105 @@

 inline bool isCircQueueFull(CIRC_QUEUE *queue)
 {
-  ASSERT(queue != NULL);
-  return ((queue)->nelts == (queue)->bounds);
+	ASSERT(queue != NULL);
+	return ((queue)->nelts == (queue)->bounds);
 }

 inline bool isCircQueueEmpty(CIRC_QUEUE *queue)
 {
-  ASSERT(queue != NULL);
-  return ((queue)->nelts == 0);
+	ASSERT(queue != NULL);
+	return ((queue)->nelts == 0);
 }

 void CircQueueFree(CIRC_QUEUE *queue)
 {
-  ASSERT(queue != NULL);
-  if (queue->data)
-    free(queue->data);
-  free(queue);
+	ASSERT(queue != NULL);
+	if (queue->data)
+		free(queue->data);
+	free(queue);
 }

 /**
- * Initialize the CIRC_QUEUE.
+ * @brief Initialize the CIRC_QUEUE.
 */
 bool CircQueueCreate(CIRC_QUEUE **q, uint32_t queueCapacity)
 {
-  ASSERT(q != NULL);
-  CIRC_QUEUE *queue;
-  queue = malloc(sizeof(CIRC_QUEUE));
-  if (!queue)
-  {
-    return false;
-  }
-  *q = queue;
-  memset(queue, 0, sizeof(CIRC_QUEUE));
+	ASSERT(q != NULL);
+	CIRC_QUEUE *queue;
+	queue = malloc(sizeof(CIRC_QUEUE));
+	if (queue == NULL)
+	{
+		return false;
+	}
+	*q = queue;
+	memset(queue, 0, sizeof(CIRC_QUEUE));

-  /* Set all the data in the queue to NULL */
-  queue->data = malloc(queueCapacity * sizeof(void *));
-  if (queue->data == NULL)
-  {
-    goto error;
-  }
-  queue->bounds = queueCapacity;
-  queue->nelts = 0;
-  queue->in = 0;
-  queue->out = 0;
-  return true;
-error:
-  free(queue);
-  return false;
+	/* Set all the data in the queue to NULL */
+	queue->data = malloc(queueCapacity * sizeof(void *));
+	if (queue->data == NULL)
+	{
+		free(queue);
+		return false;
+	}
+	queue->bounds = queueCapacity;
+	queue->nelts = 0;
+	queue->in = 0;
+	queue->out = 0;
+	return true;
 }

 /**
- * Push new data onto the queue.
+ * @brief Push new data onto the queue.
 */
 bool CircQueuePush(CIRC_QUEUE *queue, void *data)
 {
-  ASSERT(queue != NULL);
+	ASSERT(queue != NULL);

-  if (isCircQueueFull(queue))
-  {
-    return false;
-  }
+	if (isCircQueueFull(queue))
+	{
+		return false;
+	}

-  queue->data[queue->in] = data;
-  queue->in++;
-  if (queue->in >= queue->bounds)
-  {
-    queue->in -= queue->bounds;
-  }
-  queue->nelts++;
+	queue->data[queue->in] = data;
+	queue->in++;
+	if (queue->in >= queue->bounds)
+	{
+		queue->in -= queue->bounds;
+	}
+	queue->nelts++;

-  return true;
+	return true;
 }

 /**
- * Return current number of element in queue.
+ * @brief Return current number of element in queue.
 */
 inline uint32_t CircQueueSize(CIRC_QUEUE *queue)
 {
-  return queue->nelts;
+	return queue->nelts;
 }

 /**
- * Retrieves the next item from the queue.
+ * @brief Retrieves the next item from the queue.
 */
 bool CircQueuePop(CIRC_QUEUE *queue, void **data)
 {
-  ASSERT(queue != NULL);
+	ASSERT(queue != NULL);

-  if (isCircQueueEmpty(queue))
-  {
-    return false;
-  }
+	if (isCircQueueEmpty(queue))
+	{
+		return false;
+	}

-  *data = queue->data[queue->out];
-  queue->nelts--;
+	*data = queue->data[queue->out];
+	queue->nelts--;

-  queue->out++;
-  if (queue->out >= queue->bounds)
-  {
-    queue->out -= queue->bounds;
-  }
-  return true;
+	queue->out++;
+	if (queue->out >= queue->bounds)
+	{
+		queue->out -= queue->bounds;
+	}
+	return true;
 }
+/** @} CircularQueue*/
+/** @} Utility*/
@@ -1,3 +1,25 @@
+/*****************************************************************************/
+/**
+ * @file clist.c
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief A basic list data structure
+ * @version 0.1
+ * @date 2023-02-23
+ * @note Forked from https://github.com/clibs/list
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
+ *
+ ******************************************************************************/
+
+/**
+ * @addtogroup Utility
+ * @{
+ */
+
+/**
+ * @addtogroup cList
+ * @{
+ */
 #ifndef LIST_MALLOC
 #define LIST_MALLOC malloc
 #endif
@@ -6,337 +28,326 @@
 #define LIST_FREE free
 #endif

-//
-// list.c
-//
-// Copyright (c) 2010 TJ Holowaychuk <[email protected]>
-//
-
 #include <stdint.h>
 #include "clist.h"

-/*
- * Allocates a new clist_node_t. NULL on failure.
+/**
+ * @brief a new clist_node_t. NULL on failure.
 */
-
 clist_node_t *
 clist_node_new(void *val)
 {
-  clist_node_t *self;
-  if (!(self = LIST_MALLOC(sizeof(clist_node_t))))
-    return NULL;
-  self->prev = NULL;
-  self->next = NULL;
-  self->val = val;
-  return self;
+	clist_node_t *self;
+	if (!(self = LIST_MALLOC(sizeof(clist_node_t))))
+		return NULL;
+	self->prev = NULL;
+	self->next = NULL;
+	self->val = val;
+	return self;
 }

-/*
- * Allocate a new clist_t. NULL on failure.
+/**
+ * @brief Allocate a new clist_t. NULL on failure.
 */
-
 clist_t *
 clist_new(void)
 {
-  clist_t *self;
-  if (!(self = LIST_MALLOC(sizeof(clist_t))))
-    return NULL;
-  self->head = NULL;
-  self->tail = NULL;
-  self->free = NULL;
-  self->compare = NULL;
-  self->len = 0;
-  return self;
+	clist_t *self;
+	if (!(self = LIST_MALLOC(sizeof(clist_t))))
+		return NULL;
+	self->head = NULL;
+	self->tail = NULL;
+	self->free = NULL;
+	self->compare = NULL;
+	self->len = 0;
+	return self;
 }

-/*
- * Remove all the node in list.
- * @self: Pointer to the list
+/**
+ * @brief Remove all the node in list.
+ * @param self: Pointer to the list
 */
-
 void clist_clear(clist_t *self)
 {
-  clist_node_t *next;
-  clist_node_t *curr = self->head;
+	clist_node_t *next;
+	clist_node_t *curr = self->head;

-  while (curr != NULL)
-  {
-    next = curr->next;
-    if (self->free)
-      self->free(curr->val);
-    LIST_FREE(curr);
-    curr = next;
-  }
-  self->len = 0;
-  self->head = NULL;
+	while (curr != NULL)
+	{
+		next = curr->next;
+		if (self->free)
+			self->free(curr->val);
+		LIST_FREE(curr);
+		curr = next;
+	}
+	self->len = 0;
+	self->head = NULL;
 }

-/*
- * Free the list.
- * @self: Pointer to the list
+/**
+ * @brief Free the list.
+ * @param self: Pointer to the list
 */
-
 void clist_destroy(clist_t *self)
 {
-  clist_clear(self);
-  LIST_FREE(self);
+	clist_clear(self);
+	LIST_FREE(self);
 }

-/*
- * Append the given node to the list
- * and return the node, NULL on failure.
- * @self: Pointer to the list for popping node
- * @node: the node to push
+/**
+ * @brief Append the given node to the list and return the node, NULL on failure.
+ * @param self: Pointer to the list for popping node
+ * @param node: the node to push
 */
-
 clist_node_t *
 clist_rpush(clist_t *self, clist_node_t *node)
 {
-  if (!node)
-    return NULL;
+	if (!node)
+		return NULL;

-  if (self->len)
-  {
-    node->prev = self->tail;
-    node->next = NULL;
-    self->tail->next = node;
-    self->tail = node;
-  }
-  else
-  {
-    self->head = self->tail = node;
-    node->prev = node->next = NULL;
-  }
+	if (self->len)
+	{
+		node->prev = self->tail;
+		node->next = NULL;
+		self->tail->next = node;
+		self->tail = node;
+	}
+	else
+	{
+		self->head = self->tail = node;
+		node->prev = node->next = NULL;
+	}

-  ++self->len;
-  return node;
+	++self->len;
+	return node;
 }

-/*
- * Return / detach the last node in the list, or NULL.
- * @self: Pointer to the list for popping node
+/**
+ * @brief Return / detach the last node in the list, or NULL.
+ * @param self: Pointer to the list for popping node
 */

 clist_node_t *
 clist_rpop(clist_t *self)
 {
-  if (!self->len)
-    return NULL;
+	if (!self->len)
+		return NULL;

-  clist_node_t *node = self->tail;
+	clist_node_t *node = self->tail;

-  if (--self->len)
-  {
-    (self->tail = node->prev)->next = NULL;
-  }
-  else
-  {
-    self->tail = self->head = NULL;
-  }
+	if (--self->len)
+	{
+		(self->tail = node->prev)->next = NULL;
+	}
+	else
+	{
+		self->tail = self->head = NULL;
+	}

-  node->next = node->prev = NULL;
-  return node;
+	node->next = node->prev = NULL;
+	return node;
 }

-/*
- * Return / detach the first node in the list, or NULL.
- * @self: Pointer to the list for popping node
+/**
+ * @brief Return / detach the first node in the list, or NULL.
+ * @param self: Pointer to the list for popping node
 */

 clist_node_t *
 clist_lpop(clist_t *self)
 {
-  if (!self->len)
-    return NULL;
+	if (!self->len)
+		return NULL;

-  clist_node_t *node = self->head;
+	clist_node_t *node = self->head;

-  if (--self->len)
-  {
-    (self->head = node->next)->prev = NULL;
-  }
-  else
-  {
-    self->head = self->tail = NULL;
-  }
+	if (--self->len)
+	{
+		(self->head = node->next)->prev = NULL;
+	}
+	else
+	{
+		self->head = self->tail = NULL;
+	}

-  node->next = node->prev = NULL;
-  return node;
+	node->next = node->prev = NULL;
+	return node;
 }

-/*
- * Prepend the given node to the list
- * and return the node, NULL on failure.
- * @self: Pointer to the list for pushing node
- * @node: the node to push
+/**
+ * @brief Prepend the given node to the list and return the node, NULL on failure.
+ * @param self: Pointer to the list for pushing node
+ * @param node: the node to push
 */

 clist_node_t *
 clist_lpush(clist_t *self, clist_node_t *node)
 {
-  if (!node)
-    return NULL;
+	if (!node)
+		return NULL;

-  if (self->len)
-  {
-    node->next = self->head;
-    node->prev = NULL;
-    self->head->prev = node;
-    self->head = node;
-  }
-  else
-  {
-    self->head = self->tail = node;
-    node->prev = node->next = NULL;
-  }
+	if (self->len)
+	{
+		node->next = self->head;
+		node->prev = NULL;
+		self->head->prev = node;
+		self->head = node;
+	}
+	else
+	{
+		self->head = self->tail = node;
+		node->prev = node->next = NULL;
+	}

-  ++self->len;
-  return node;
+	++self->len;
+	return node;
 }

-/*
- * Return the node associated to val or NULL.
- * @self: Pointer to the list for finding given value
- * @val: Value to find
+/**
+ * @brief Return the node associated to val or NULL.
+ * @param self: Pointer to the list for finding given value
+ * @param val: Value to find
 */

 clist_node_t *
 clist_find(clist_t *self, void *val)
 {
-  clist_iterator_t *it = clist_iterator_new(self, LIST_HEAD);
-  clist_node_t *node;
+	clist_iterator_t *it = clist_iterator_new(self, LIST_HEAD);
+	clist_node_t *node;

-  while ((node = clist_iterator_next(it)))
-  {
-    if (self->compare)
-    {
-      if (self->compare(val, node->val) == 0)
-      {
-        clist_iterator_destroy(it);
-        return node;
-      }
-    }
-    else
-    {
-      if (val == node->val)
-      {
-        clist_iterator_destroy(it);
-        return node;
-      }
-    }
-  }
+	while ((node = clist_iterator_next(it)))
+	{
+		if (self->compare)
+		{
+			if (self->compare(val, node->val) == 0)
+			{
+				clist_iterator_destroy(it);
+				return node;
+			}
+		}
+		else
+		{
+			if (val == node->val)
+			{
+				clist_iterator_destroy(it);
+				return node;
+			}
+		}
+	}

-  clist_iterator_destroy(it);
-  return NULL;
+	clist_iterator_destroy(it);
+	return NULL;
 }

-/*
- * Return the node at the given index or NULL.
- * @self: Pointer to the list for finding given index
- * @index: the index of node in the list
+/**
+ * @brief Return the node at the given index or NULL.
+ * @param self: Pointer to the list for finding given index
+ * @param index: the index of node in the list
 */

 clist_node_t *
 clist_at(clist_t *self, int index)
 {
-  clist_direction_t direction = LIST_HEAD;
+	clist_direction_t direction = LIST_HEAD;

-  if (index < 0)
-  {
-    direction = LIST_TAIL;
-    index = ~index;
-  }
+	if (index < 0)
+	{
+		direction = LIST_TAIL;
+		index = ~index;
+	}

-  if ((unsigned)index < self->len)
-  {
-    clist_iterator_t *it = clist_iterator_new(self, direction);
-    clist_node_t *node = clist_iterator_next(it);
-    while (index--)
-      node = clist_iterator_next(it);
-    clist_iterator_destroy(it);
-    return node;
-  }
+	if ((unsigned)index < self->len)
+	{
+		clist_iterator_t *it = clist_iterator_new(self, direction);
+		clist_node_t *node = clist_iterator_next(it);
+		while (index--)
+			node = clist_iterator_next(it);
+		clist_iterator_destroy(it);
+		return node;
+	}

-  return NULL;
+	return NULL;
 }

-/*
- * Remove the given node from the list, freeing it and it's value.
- * @self: Pointer to the list to delete a node
- * @node: Pointer the node to be deleted
+/**
+ * @brief Remove the given node from the list, freeing it and it's value.
+ * @param self: Pointer to the list to delete a node
+ * @param node: Pointer the node to be deleted
 */

 void clist_remove(clist_t *self, clist_node_t *node)
 {
-  node->prev
-      ? (node->prev->next = node->next)
-      : (self->head = node->next);
+	node->prev
+		? (node->prev->next = node->next)
+		: (self->head = node->next);

-  node->next
-      ? (node->next->prev = node->prev)
-      : (self->tail = node->prev);
+	node->next
+		? (node->next->prev = node->prev)
+		: (self->tail = node->prev);

-  if (self->free)
-    self->free(node->val);
+	if (self->free)
+		self->free(node->val);

-  LIST_FREE(node);
-  --self->len;
+	LIST_FREE(node);
+	--self->len;
 }

-/*
- * Allocate a new clist_iterator_t. NULL on failure.
+/**
+ * @brief Allocate a new clist_iterator_t. NULL on failure.\n
 * Accepts a direction, which may be LIST_HEAD or LIST_TAIL.
 */

 clist_iterator_t *
 clist_iterator_new(clist_t *list, clist_direction_t direction)
 {
-  clist_node_t *node = direction == LIST_HEAD
-                          ? list->head
-                          : list->tail;
-  return clist_iterator_new_from_node(node, direction);
+	clist_node_t *node = direction == LIST_HEAD
+							 ? list->head
+							 : list->tail;
+	return clist_iterator_new_from_node(node, direction);
 }

-/*
- * Allocate a new clist_iterator_t with the given start
+/**
+ * @brief Allocate a new clist_iterator_t with the given start
 * node. NULL on failure.
 */

 clist_iterator_t *
 clist_iterator_new_from_node(clist_node_t *node, clist_direction_t direction)
 {
-  clist_iterator_t *self;
-  if (!(self = LIST_MALLOC(sizeof(clist_iterator_t))))
-    return NULL;
-  self->next = node;
-  self->direction = direction;
-  return self;
+	clist_iterator_t *self;
+	if (!(self = LIST_MALLOC(sizeof(clist_iterator_t))))
+		return NULL;
+	self->next = node;
+	self->direction = direction;
+	return self;
 }

-/*
- * Return the next clist_node_t or NULL when no more
+/**
+ * @brief Return the next clist_node_t or NULL when no more
 * nodes remain in the list.
 */

 clist_node_t *
 clist_iterator_next(clist_iterator_t *self)
 {
-  clist_node_t *curr = self->next;
-  if (curr)
-  {
-    self->next = self->direction == LIST_HEAD
-                     ? curr->next
-                     : curr->prev;
-  }
-  return curr;
+	clist_node_t *curr = self->next;
+	if (curr)
+	{
+		self->next = self->direction == LIST_HEAD
+						 ? curr->next
+						 : curr->prev;
+	}
+	return curr;
 }

-/*
- * Free the list iterator.
+/**
+ * @brief Free the list iterator.
 */

 void clist_iterator_destroy(clist_iterator_t *self)
 {
-  LIST_FREE(self);
-  self = NULL;
+	LIST_FREE(self);
+	self = NULL;
 }
+/** @} cList*/
+/** @} Utility*/
@@ -10,11 +10,14 @@
 * [2022-07-16]: New branch for Dijian.
 * [2021-11-16]: Initial version.
 *
- * Copyright(c) 2021 Beijing Institute of Technology.
+ * Copyright(c) 2024 Beijing Institute of Technology.
 * Lab of Communication and Networking
 *
 ******************************************************************************/
-
+/**
+ * @addtogroup COMMON_MACRO
+ * @{
+ */
 /***************************** Include Files *********************************/
 #include "common.h"
 #include "error.h"
@@ -44,3 +47,5 @@ void AppAssert(const char *file, int line)
 	while (1)
 		;
 }
+
+/** @} */
@@ -11,11 +11,14 @@
 * [2022-07-17]: Add CRC16_0x8005 CRC8_0x31.
 * [2022-01-06]: Initial verion (Basic CRC-16).
 *
- * Copyright(c) 2021 Beijing Institute of Technology.
+ * Copyright(c) 2024 Beijing Institute of Technology.
 * Lab of Communication and Networking
 *
 ******************************************************************************/
-
+/**
+ * @addtogroup Utility
+ * @{
+ */
 #include "util.h"
 #include "error.h"

@@ -24,223 +27,223 @@
 // Reversed
 static const uint16_t crc16_1021_lsb_lut[256] =
 {
-    0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
-    0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7,
-    0x1081, 0x0108, 0x3393, 0x221A, 0x56A5, 0x472C, 0x75B7, 0x643E,
-    0x9CC9, 0x8D40, 0xBFDB, 0xAE52, 0xDAED, 0xCB64, 0xF9FF, 0xE876,
-    0x2102, 0x308B, 0x0210, 0x1399, 0x6726, 0x76AF, 0x4434, 0x55BD,
-    0xAD4A, 0xBCC3, 0x8E58, 0x9FD1, 0xEB6E, 0xFAE7, 0xC87C, 0xD9F5,
-    0x3183, 0x200A, 0x1291, 0x0318, 0x77A7, 0x662E, 0x54B5, 0x453C,
-    0xBDCB, 0xAC42, 0x9ED9, 0x8F50, 0xFBEF, 0xEA66, 0xD8FD, 0xC974,
-    0x4204, 0x538D, 0x6116, 0x709F, 0x0420, 0x15A9, 0x2732, 0x36BB,
-    0xCE4C, 0xDFC5, 0xED5E, 0xFCD7, 0x8868, 0x99E1, 0xAB7A, 0xBAF3,
-    0x5285, 0x430C, 0x7197, 0x601E, 0x14A1, 0x0528, 0x37B3, 0x263A,
-    0xDECD, 0xCF44, 0xFDDF, 0xEC56, 0x98E9, 0x8960, 0xBBFB, 0xAA72,
-    0x6306, 0x728F, 0x4014, 0x519D, 0x2522, 0x34AB, 0x0630, 0x17B9,
-    0xEF4E, 0xFEC7, 0xCC5C, 0xDDD5, 0xA96A, 0xB8E3, 0x8A78, 0x9BF1,
-    0x7387, 0x620E, 0x5095, 0x411C, 0x35A3, 0x242A, 0x16B1, 0x0738,
-    0xFFCF, 0xEE46, 0xDCDD, 0xCD54, 0xB9EB, 0xA862, 0x9AF9, 0x8B70,
-    0x8408, 0x9581, 0xA71A, 0xB693, 0xC22C, 0xD3A5, 0xE13E, 0xF0B7,
-    0x0840, 0x19C9, 0x2B52, 0x3ADB, 0x4E64, 0x5FED, 0x6D76, 0x7CFF,
-    0x9489, 0x8500, 0xB79B, 0xA612, 0xD2AD, 0xC324, 0xF1BF, 0xE036,
-    0x18C1, 0x0948, 0x3BD3, 0x2A5A, 0x5EE5, 0x4F6C, 0x7DF7, 0x6C7E,
-    0xA50A, 0xB483, 0x8618, 0x9791, 0xE32E, 0xF2A7, 0xC03C, 0xD1B5,
-    0x2942, 0x38CB, 0x0A50, 0x1BD9, 0x6F66, 0x7EEF, 0x4C74, 0x5DFD,
-    0xB58B, 0xA402, 0x9699, 0x8710, 0xF3AF, 0xE226, 0xD0BD, 0xC134,
-    0x39C3, 0x284A, 0x1AD1, 0x0B58, 0x7FE7, 0x6E6E, 0x5CF5, 0x4D7C,
-    0xC60C, 0xD785, 0xE51E, 0xF497, 0x8028, 0x91A1, 0xA33A, 0xB2B3,
-    0x4A44, 0x5BCD, 0x6956, 0x78DF, 0x0C60, 0x1DE9, 0x2F72, 0x3EFB,
-    0xD68D, 0xC704, 0xF59F, 0xE416, 0x90A9, 0x8120, 0xB3BB, 0xA232,
-    0x5AC5, 0x4B4C, 0x79D7, 0x685E, 0x1CE1, 0x0D68, 0x3FF3, 0x2E7A,
-    0xE70E, 0xF687, 0xC41C, 0xD595, 0xA12A, 0xB0A3, 0x8238, 0x93B1,
-    0x6B46, 0x7ACF, 0x4854, 0x59DD, 0x2D62, 0x3CEB, 0x0E70, 0x1FF9,
-    0xF78F, 0xE606, 0xD49D, 0xC514, 0xB1AB, 0xA022, 0x92B9, 0x8330,
-    0x7BC7, 0x6A4E, 0x58D5, 0x495C, 0x3DE3, 0x2C6A, 0x1EF1, 0x0F78
+	0x0000, 0x1189, 0x2312, 0x329B, 0x4624, 0x57AD, 0x6536, 0x74BF,
+	0x8C48, 0x9DC1, 0xAF5A, 0xBED3, 0xCA6C, 0xDBE5, 0xE97E, 0xF8F7,
+	0x1081, 0x0108, 0x3393, 0x221A, 0x56A5, 0x472C, 0x75B7, 0x643E,
+	0x9CC9, 0x8D40, 0xBFDB, 0xAE52, 0xDAED, 0xCB64, 0xF9FF, 0xE876,
+	0x2102, 0x308B, 0x0210, 0x1399, 0x6726, 0x76AF, 0x4434, 0x55BD,
+	0xAD4A, 0xBCC3, 0x8E58, 0x9FD1, 0xEB6E, 0xFAE7, 0xC87C, 0xD9F5,
+	0x3183, 0x200A, 0x1291, 0x0318, 0x77A7, 0x662E, 0x54B5, 0x453C,
+	0xBDCB, 0xAC42, 0x9ED9, 0x8F50, 0xFBEF, 0xEA66, 0xD8FD, 0xC974,
+	0x4204, 0x538D, 0x6116, 0x709F, 0x0420, 0x15A9, 0x2732, 0x36BB,
+	0xCE4C, 0xDFC5, 0xED5E, 0xFCD7, 0x8868, 0x99E1, 0xAB7A, 0xBAF3,
+	0x5285, 0x430C, 0x7197, 0x601E, 0x14A1, 0x0528, 0x37B3, 0x263A,
+	0xDECD, 0xCF44, 0xFDDF, 0xEC56, 0x98E9, 0x8960, 0xBBFB, 0xAA72,
+	0x6306, 0x728F, 0x4014, 0x519D, 0x2522, 0x34AB, 0x0630, 0x17B9,
+	0xEF4E, 0xFEC7, 0xCC5C, 0xDDD5, 0xA96A, 0xB8E3, 0x8A78, 0x9BF1,
+	0x7387, 0x620E, 0x5095, 0x411C, 0x35A3, 0x242A, 0x16B1, 0x0738,
+	0xFFCF, 0xEE46, 0xDCDD, 0xCD54, 0xB9EB, 0xA862, 0x9AF9, 0x8B70,
+	0x8408, 0x9581, 0xA71A, 0xB693, 0xC22C, 0xD3A5, 0xE13E, 0xF0B7,
+	0x0840, 0x19C9, 0x2B52, 0x3ADB, 0x4E64, 0x5FED, 0x6D76, 0x7CFF,
+	0x9489, 0x8500, 0xB79B, 0xA612, 0xD2AD, 0xC324, 0xF1BF, 0xE036,
+	0x18C1, 0x0948, 0x3BD3, 0x2A5A, 0x5EE5, 0x4F6C, 0x7DF7, 0x6C7E,
+	0xA50A, 0xB483, 0x8618, 0x9791, 0xE32E, 0xF2A7, 0xC03C, 0xD1B5,
+	0x2942, 0x38CB, 0x0A50, 0x1BD9, 0x6F66, 0x7EEF, 0x4C74, 0x5DFD,
+	0xB58B, 0xA402, 0x9699, 0x8710, 0xF3AF, 0xE226, 0xD0BD, 0xC134,
+	0x39C3, 0x284A, 0x1AD1, 0x0B58, 0x7FE7, 0x6E6E, 0x5CF5, 0x4D7C,
+	0xC60C, 0xD785, 0xE51E, 0xF497, 0x8028, 0x91A1, 0xA33A, 0xB2B3,
+	0x4A44, 0x5BCD, 0x6956, 0x78DF, 0x0C60, 0x1DE9, 0x2F72, 0x3EFB,
+	0xD68D, 0xC704, 0xF59F, 0xE416, 0x90A9, 0x8120, 0xB3BB, 0xA232,
+	0x5AC5, 0x4B4C, 0x79D7, 0x685E, 0x1CE1, 0x0D68, 0x3FF3, 0x2E7A,
+	0xE70E, 0xF687, 0xC41C, 0xD595, 0xA12A, 0xB0A3, 0x8238, 0x93B1,
+	0x6B46, 0x7ACF, 0x4854, 0x59DD, 0x2D62, 0x3CEB, 0x0E70, 0x1FF9,
+	0xF78F, 0xE606, 0xD49D, 0xC514, 0xB1AB, 0xA022, 0x92B9, 0x8330,
+	0x7BC7, 0x6A4E, 0x58D5, 0x495C, 0x3DE3, 0x2C6A, 0x1EF1, 0x0F78
 };

 // CRC-16-MAXIM   G(X)=X16+X15+X2+1
 const uint16_t crc16_8005_lsb_lut[256] =
 {
-    0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
-    0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
-    0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
-    0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
-    0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
-    0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
-    0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
-    0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
-    0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
-    0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
-    0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
-    0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
-    0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
-    0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
-    0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
-    0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
-    0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
-    0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
-    0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
-    0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
-    0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
-    0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
-    0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
-    0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
-    0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
-    0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
-    0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
-    0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
-    0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
-    0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
-    0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
-    0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
+	0x0000, 0xC0C1, 0xC181, 0x0140, 0xC301, 0x03C0, 0x0280, 0xC241,
+	0xC601, 0x06C0, 0x0780, 0xC741, 0x0500, 0xC5C1, 0xC481, 0x0440,
+	0xCC01, 0x0CC0, 0x0D80, 0xCD41, 0x0F00, 0xCFC1, 0xCE81, 0x0E40,
+	0x0A00, 0xCAC1, 0xCB81, 0x0B40, 0xC901, 0x09C0, 0x0880, 0xC841,
+	0xD801, 0x18C0, 0x1980, 0xD941, 0x1B00, 0xDBC1, 0xDA81, 0x1A40,
+	0x1E00, 0xDEC1, 0xDF81, 0x1F40, 0xDD01, 0x1DC0, 0x1C80, 0xDC41,
+	0x1400, 0xD4C1, 0xD581, 0x1540, 0xD701, 0x17C0, 0x1680, 0xD641,
+	0xD201, 0x12C0, 0x1380, 0xD341, 0x1100, 0xD1C1, 0xD081, 0x1040,
+	0xF001, 0x30C0, 0x3180, 0xF141, 0x3300, 0xF3C1, 0xF281, 0x3240,
+	0x3600, 0xF6C1, 0xF781, 0x3740, 0xF501, 0x35C0, 0x3480, 0xF441,
+	0x3C00, 0xFCC1, 0xFD81, 0x3D40, 0xFF01, 0x3FC0, 0x3E80, 0xFE41,
+	0xFA01, 0x3AC0, 0x3B80, 0xFB41, 0x3900, 0xF9C1, 0xF881, 0x3840,
+	0x2800, 0xE8C1, 0xE981, 0x2940, 0xEB01, 0x2BC0, 0x2A80, 0xEA41,
+	0xEE01, 0x2EC0, 0x2F80, 0xEF41, 0x2D00, 0xEDC1, 0xEC81, 0x2C40,
+	0xE401, 0x24C0, 0x2580, 0xE541, 0x2700, 0xE7C1, 0xE681, 0x2640,
+	0x2200, 0xE2C1, 0xE381, 0x2340, 0xE101, 0x21C0, 0x2080, 0xE041,
+	0xA001, 0x60C0, 0x6180, 0xA141, 0x6300, 0xA3C1, 0xA281, 0x6240,
+	0x6600, 0xA6C1, 0xA781, 0x6740, 0xA501, 0x65C0, 0x6480, 0xA441,
+	0x6C00, 0xACC1, 0xAD81, 0x6D40, 0xAF01, 0x6FC0, 0x6E80, 0xAE41,
+	0xAA01, 0x6AC0, 0x6B80, 0xAB41, 0x6900, 0xA9C1, 0xA881, 0x6840,
+	0x7800, 0xB8C1, 0xB981, 0x7940, 0xBB01, 0x7BC0, 0x7A80, 0xBA41,
+	0xBE01, 0x7EC0, 0x7F80, 0xBF41, 0x7D00, 0xBDC1, 0xBC81, 0x7C40,
+	0xB401, 0x74C0, 0x7580, 0xB541, 0x7700, 0xB7C1, 0xB681, 0x7640,
+	0x7200, 0xB2C1, 0xB381, 0x7340, 0xB101, 0x71C0, 0x7080, 0xB041,
+	0x5000, 0x90C1, 0x9181, 0x5140, 0x9301, 0x53C0, 0x5280, 0x9241,
+	0x9601, 0x56C0, 0x5780, 0x9741, 0x5500, 0x95C1, 0x9481, 0x5440,
+	0x9C01, 0x5CC0, 0x5D80, 0x9D41, 0x5F00, 0x9FC1, 0x9E81, 0x5E40,
+	0x5A00, 0x9AC1, 0x9B81, 0x5B40, 0x9901, 0x59C0, 0x5880, 0x9841,
+	0x8801, 0x48C0, 0x4980, 0x8941, 0x4B00, 0x8BC1, 0x8A81, 0x4A40,
+	0x4E00, 0x8EC1, 0x8F81, 0x4F40, 0x8D01, 0x4DC0, 0x4C80, 0x8C41,
+	0x4400, 0x84C1, 0x8581, 0x4540, 0x8701, 0x47C0, 0x4680, 0x8641,
+	0x8201, 0x42C0, 0x4380, 0x8341, 0x4100, 0x81C1, 0x8081, 0x4040
 };

 // CRC-8-MAXIM   G(X)=X8+X5+X4+1
 const uint8_t crc8_31_lsb_lut[256] =
 {
-    0x00, 0x5E, 0xBC, 0xE2, 0x61, 0x3F, 0xDD, 0x83,
-    0xC2, 0x9C, 0x7E, 0x20, 0xA3, 0xFD, 0x1F, 0x41,
-    0x9D, 0xC3, 0x21, 0x7F, 0xFC, 0xA2, 0x40, 0x1E,
-    0x5F, 0x01, 0xE3, 0xBD, 0x3E, 0x60, 0x82, 0xDC,
-    0x23, 0x7D, 0x9F, 0xC1, 0x42, 0x1C, 0xFE, 0xA0,
-    0xE1, 0xBF, 0x5D, 0x03, 0x80, 0xDE, 0x3C, 0x62,
-    0xBE, 0xE0, 0x02, 0x5C, 0xDF, 0x81, 0x63, 0x3D,
-    0x7C, 0x22, 0xC0, 0x9E, 0x1D, 0x43, 0xA1, 0xFF,
-    0x46, 0x18, 0xFA, 0xA4, 0x27, 0x79, 0x9B, 0xC5,
-    0x84, 0xDA, 0x38, 0x66, 0xE5, 0xBB, 0x59, 0x07,
-    0xDB, 0x85, 0x67, 0x39, 0xBA, 0xE4, 0x06, 0x58,
-    0x19, 0x47, 0xA5, 0xFB, 0x78, 0x26, 0xC4, 0x9A,
-    0x65, 0x3B, 0xD9, 0x87, 0x04, 0x5A, 0xB8, 0xE6,
-    0xA7, 0xF9, 0x1B, 0x45, 0xC6, 0x98, 0x7A, 0x24,
-    0xF8, 0xA6, 0x44, 0x1A, 0x99, 0xC7, 0x25, 0x7B,
-    0x3A, 0x64, 0x86, 0xD8, 0x5B, 0x05, 0xE7, 0xB9,
-    0x8C, 0xD2, 0x30, 0x6E, 0xED, 0xB3, 0x51, 0x0F,
-    0x4E, 0x10, 0xF2, 0xAC, 0x2F, 0x71, 0x93, 0xCD,
-    0x11, 0x4F, 0xAD, 0xF3, 0x70, 0x2E, 0xCC, 0x92,
-    0xD3, 0x8D, 0x6F, 0x31, 0xB2, 0xEC, 0x0E, 0x50,
-    0xAF, 0xF1, 0x13, 0x4D, 0xCE, 0x90, 0x72, 0x2C,
-    0x6D, 0x33, 0xD1, 0x8F, 0x0C, 0x52, 0xB0, 0xEE,
-    0x32, 0x6C, 0x8E, 0xD0, 0x53, 0x0D, 0xEF, 0xB1,
-    0xF0, 0xAE, 0x4C, 0x12, 0x91, 0xCF, 0x2D, 0x73,
-    0xCA, 0x94, 0x76, 0x28, 0xAB, 0xF5, 0x17, 0x49,
-    0x08, 0x56, 0xB4, 0xEA, 0x69, 0x37, 0xD5, 0x8B,
-    0x57, 0x09, 0xEB, 0xB5, 0x36, 0x68, 0x8A, 0xD4,
-    0x95, 0xCB, 0x29, 0x77, 0xF4, 0xAA, 0x48, 0x16,
-    0xE9, 0xB7, 0x55, 0x0B, 0x88, 0xD6, 0x34, 0x6A,
-    0x2B, 0x75, 0x97, 0xC9, 0x4A, 0x14, 0xF6, 0xA8,
-    0x74, 0x2A, 0xC8, 0x96, 0x15, 0x4B, 0xA9, 0xF7,
-    0xB6, 0xE8, 0x0A, 0x54, 0xD7, 0x89, 0x6B, 0x35
+	0x00, 0x5E, 0xBC, 0xE2, 0x61, 0x3F, 0xDD, 0x83,
+	0xC2, 0x9C, 0x7E, 0x20, 0xA3, 0xFD, 0x1F, 0x41,
+	0x9D, 0xC3, 0x21, 0x7F, 0xFC, 0xA2, 0x40, 0x1E,
+	0x5F, 0x01, 0xE3, 0xBD, 0x3E, 0x60, 0x82, 0xDC,
+	0x23, 0x7D, 0x9F, 0xC1, 0x42, 0x1C, 0xFE, 0xA0,
+	0xE1, 0xBF, 0x5D, 0x03, 0x80, 0xDE, 0x3C, 0x62,
+	0xBE, 0xE0, 0x02, 0x5C, 0xDF, 0x81, 0x63, 0x3D,
+	0x7C, 0x22, 0xC0, 0x9E, 0x1D, 0x43, 0xA1, 0xFF,
+	0x46, 0x18, 0xFA, 0xA4, 0x27, 0x79, 0x9B, 0xC5,
+	0x84, 0xDA, 0x38, 0x66, 0xE5, 0xBB, 0x59, 0x07,
+	0xDB, 0x85, 0x67, 0x39, 0xBA, 0xE4, 0x06, 0x58,
+	0x19, 0x47, 0xA5, 0xFB, 0x78, 0x26, 0xC4, 0x9A,
+	0x65, 0x3B, 0xD9, 0x87, 0x04, 0x5A, 0xB8, 0xE6,
+	0xA7, 0xF9, 0x1B, 0x45, 0xC6, 0x98, 0x7A, 0x24,
+	0xF8, 0xA6, 0x44, 0x1A, 0x99, 0xC7, 0x25, 0x7B,
+	0x3A, 0x64, 0x86, 0xD8, 0x5B, 0x05, 0xE7, 0xB9,
+	0x8C, 0xD2, 0x30, 0x6E, 0xED, 0xB3, 0x51, 0x0F,
+	0x4E, 0x10, 0xF2, 0xAC, 0x2F, 0x71, 0x93, 0xCD,
+	0x11, 0x4F, 0xAD, 0xF3, 0x70, 0x2E, 0xCC, 0x92,
+	0xD3, 0x8D, 0x6F, 0x31, 0xB2, 0xEC, 0x0E, 0x50,
+	0xAF, 0xF1, 0x13, 0x4D, 0xCE, 0x90, 0x72, 0x2C,
+	0x6D, 0x33, 0xD1, 0x8F, 0x0C, 0x52, 0xB0, 0xEE,
+	0x32, 0x6C, 0x8E, 0xD0, 0x53, 0x0D, 0xEF, 0xB1,
+	0xF0, 0xAE, 0x4C, 0x12, 0x91, 0xCF, 0x2D, 0x73,
+	0xCA, 0x94, 0x76, 0x28, 0xAB, 0xF5, 0x17, 0x49,
+	0x08, 0x56, 0xB4, 0xEA, 0x69, 0x37, 0xD5, 0x8B,
+	0x57, 0x09, 0xEB, 0xB5, 0x36, 0x68, 0x8A, 0xD4,
+	0x95, 0xCB, 0x29, 0x77, 0xF4, 0xAA, 0x48, 0x16,
+	0xE9, 0xB7, 0x55, 0x0B, 0x88, 0xD6, 0x34, 0x6A,
+	0x2B, 0x75, 0x97, 0xC9, 0x4A, 0x14, 0xF6, 0xA8,
+	0x74, 0x2A, 0xC8, 0x96, 0x15, 0x4B, 0xA9, 0xF7,
+	0xB6, 0xE8, 0x0A, 0x54, 0xD7, 0x89, 0x6B, 0x35
 };
 #else
 // CRC-16-CCITT   G(X)=X16+X12+X5+1
 static const uint16_t crc16_1021_msb_lut[256] =
 {
-    0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
-    0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
-    0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
-    0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
-    0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
-    0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
-    0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
-    0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
-    0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
-    0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
-    0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
-    0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
-    0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
-    0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
-    0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
-    0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
-    0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
-    0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
-    0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
-    0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
-    0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
-    0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
-    0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
-    0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
-    0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
-    0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
-    0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
-    0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
-    0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
-    0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
-    0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
-    0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
+	0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 0x50A5, 0x60C6, 0x70E7,
+	0x8108, 0x9129, 0xA14A, 0xB16B, 0xC18C, 0xD1AD, 0xE1CE, 0xF1EF,
+	0x1231, 0x0210, 0x3273, 0x2252, 0x52B5, 0x4294, 0x72F7, 0x62D6,
+	0x9339, 0x8318, 0xB37B, 0xA35A, 0xD3BD, 0xC39C, 0xF3FF, 0xE3DE,
+	0x2462, 0x3443, 0x0420, 0x1401, 0x64E6, 0x74C7, 0x44A4, 0x5485,
+	0xA56A, 0xB54B, 0x8528, 0x9509, 0xE5EE, 0xF5CF, 0xC5AC, 0xD58D,
+	0x3653, 0x2672, 0x1611, 0x0630, 0x76D7, 0x66F6, 0x5695, 0x46B4,
+	0xB75B, 0xA77A, 0x9719, 0x8738, 0xF7DF, 0xE7FE, 0xD79D, 0xC7BC,
+	0x48C4, 0x58E5, 0x6886, 0x78A7, 0x0840, 0x1861, 0x2802, 0x3823,
+	0xC9CC, 0xD9ED, 0xE98E, 0xF9AF, 0x8948, 0x9969, 0xA90A, 0xB92B,
+	0x5AF5, 0x4AD4, 0x7AB7, 0x6A96, 0x1A71, 0x0A50, 0x3A33, 0x2A12,
+	0xDBFD, 0xCBDC, 0xFBBF, 0xEB9E, 0x9B79, 0x8B58, 0xBB3B, 0xAB1A,
+	0x6CA6, 0x7C87, 0x4CE4, 0x5CC5, 0x2C22, 0x3C03, 0x0C60, 0x1C41,
+	0xEDAE, 0xFD8F, 0xCDEC, 0xDDCD, 0xAD2A, 0xBD0B, 0x8D68, 0x9D49,
+	0x7E97, 0x6EB6, 0x5ED5, 0x4EF4, 0x3E13, 0x2E32, 0x1E51, 0x0E70,
+	0xFF9F, 0xEFBE, 0xDFDD, 0xCFFC, 0xBF1B, 0xAF3A, 0x9F59, 0x8F78,
+	0x9188, 0x81A9, 0xB1CA, 0xA1EB, 0xD10C, 0xC12D, 0xF14E, 0xE16F,
+	0x1080, 0x00A1, 0x30C2, 0x20E3, 0x5004, 0x4025, 0x7046, 0x6067,
+	0x83B9, 0x9398, 0xA3FB, 0xB3DA, 0xC33D, 0xD31C, 0xE37F, 0xF35E,
+	0x02B1, 0x1290, 0x22F3, 0x32D2, 0x4235, 0x5214, 0x6277, 0x7256,
+	0xB5EA, 0xA5CB, 0x95A8, 0x8589, 0xF56E, 0xE54F, 0xD52C, 0xC50D,
+	0x34E2, 0x24C3, 0x14A0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
+	0xA7DB, 0xB7FA, 0x8799, 0x97B8, 0xE75F, 0xF77E, 0xC71D, 0xD73C,
+	0x26D3, 0x36F2, 0x0691, 0x16B0, 0x6657, 0x7676, 0x4615, 0x5634,
+	0xD94C, 0xC96D, 0xF90E, 0xE92F, 0x99C8, 0x89E9, 0xB98A, 0xA9AB,
+	0x5844, 0x4865, 0x7806, 0x6827, 0x18C0, 0x08E1, 0x3882, 0x28A3,
+	0xCB7D, 0xDB5C, 0xEB3F, 0xFB1E, 0x8BF9, 0x9BD8, 0xABBB, 0xBB9A,
+	0x4A75, 0x5A54, 0x6A37, 0x7A16, 0x0AF1, 0x1AD0, 0x2AB3, 0x3A92,
+	0xFD2E, 0xED0F, 0xDD6C, 0xCD4D, 0xBDAA, 0xAD8B, 0x9DE8, 0x8DC9,
+	0x7C26, 0x6C07, 0x5C64, 0x4C45, 0x3CA2, 0x2C83, 0x1CE0, 0x0CC1,
+	0xEF1F, 0xFF3E, 0xCF5D, 0xDF7C, 0xAF9B, 0xBFBA, 0x8FD9, 0x9FF8,
+	0x6E17, 0x7E36, 0x4E55, 0x5E74, 0x2E93, 0x3EB2, 0x0ED1, 0x1EF0
 };

 // CRC-16-MAXIM   G(X)=X16+X15+X2+1
 const uint16_t crc16_8005_msb_lut[256] =
 {
-    0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
-    0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
-    0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
-    0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
-    0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
-    0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
-    0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
-    0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
-    0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
-    0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
-    0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
-    0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
-    0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
-    0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
-    0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
-    0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
-    0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
-    0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
-    0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
-    0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
-    0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
-    0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
-    0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
-    0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
-    0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
-    0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
-    0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
-    0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
-    0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
-    0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
-    0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
-    0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202
+	0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
+	0x8033, 0x0036, 0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022,
+	0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077, 0x0072,
+	0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041,
+	0x80C3, 0x00C6, 0x00CC, 0x80C9, 0x00D8, 0x80DD, 0x80D7, 0x00D2,
+	0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1,
+	0x00A0, 0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1,
+	0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D, 0x8087, 0x0082,
+	0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192,
+	0x01B0, 0x81B5, 0x81BF, 0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1,
+	0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
+	0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2,
+	0x0140, 0x8145, 0x814F, 0x014A, 0x815B, 0x015E, 0x0154, 0x8151,
+	0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162,
+	0x8123, 0x0126, 0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132,
+	0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104, 0x8101,
+	0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312,
+	0x0330, 0x8335, 0x833F, 0x033A, 0x832B, 0x032E, 0x0324, 0x8321,
+	0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371,
+	0x8353, 0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342,
+	0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE, 0x03D4, 0x83D1,
+	0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2,
+	0x83A3, 0x03A6, 0x03AC, 0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2,
+	0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
+	0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291,
+	0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8, 0x82AD, 0x82A7, 0x02A2,
+	0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2,
+	0x02D0, 0x82D5, 0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1,
+	0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257, 0x0252,
+	0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261,
+	0x0220, 0x8225, 0x822F, 0x022A, 0x823B, 0x023E, 0x0234, 0x8231,
+	0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202
 };

 // CRC-8-MAXIM   G(X)=X8+X5+X4+1
 const uint8_t crc8_31_msb_lut[256] =
 {
-    0x00, 0x31, 0x62, 0x53, 0xC4, 0xF5, 0xA6, 0x97,
-    0xB9, 0x88, 0xDB, 0xEA, 0x7D, 0x4C, 0x1F, 0x2E,
-    0x43, 0x72, 0x21, 0x10, 0x87, 0xB6, 0xE5, 0xD4,
-    0xFA, 0xCB, 0x98, 0xA9, 0x3E, 0x0F, 0x5C, 0x6D,
-    0x86, 0xB7, 0xE4, 0xD5, 0x42, 0x73, 0x20, 0x11,
-    0x3F, 0x0E, 0x5D, 0x6C, 0xFB, 0xCA, 0x99, 0xA8,
-    0xC5, 0xF4, 0xA7, 0x96, 0x01, 0x30, 0x63, 0x52,
-    0x7C, 0x4D, 0x1E, 0x2F, 0xB8, 0x89, 0xDA, 0xEB,
-    0x3D, 0x0C, 0x5F, 0x6E, 0xF9, 0xC8, 0x9B, 0xAA,
-    0x84, 0xB5, 0xE6, 0xD7, 0x40, 0x71, 0x22, 0x13,
-    0x7E, 0x4F, 0x1C, 0x2D, 0xBA, 0x8B, 0xD8, 0xE9,
-    0xC7, 0xF6, 0xA5, 0x94, 0x03, 0x32, 0x61, 0x50,
-    0xBB, 0x8A, 0xD9, 0xE8, 0x7F, 0x4E, 0x1D, 0x2C,
-    0x02, 0x33, 0x60, 0x51, 0xC6, 0xF7, 0xA4, 0x95,
-    0xF8, 0xC9, 0x9A, 0xAB, 0x3C, 0x0D, 0x5E, 0x6F,
-    0x41, 0x70, 0x23, 0x12, 0x85, 0xB4, 0xE7, 0xD6,
-    0x7A, 0x4B, 0x18, 0x29, 0xBE, 0x8F, 0xDC, 0xED,
-    0xC3, 0xF2, 0xA1, 0x90, 0x07, 0x36, 0x65, 0x54,
-    0x39, 0x08, 0x5B, 0x6A, 0xFD, 0xCC, 0x9F, 0xAE,
-    0x80, 0xB1, 0xE2, 0xD3, 0x44, 0x75, 0x26, 0x17,
-    0xFC, 0xCD, 0x9E, 0xAF, 0x38, 0x09, 0x5A, 0x6B,
-    0x45, 0x74, 0x27, 0x16, 0x81, 0xB0, 0xE3, 0xD2,
-    0xBF, 0x8E, 0xDD, 0xEC, 0x7B, 0x4A, 0x19, 0x28,
-    0x06, 0x37, 0x64, 0x55, 0xC2, 0xF3, 0xA0, 0x91,
-    0x47, 0x76, 0x25, 0x14, 0x83, 0xB2, 0xE1, 0xD0,
-    0xFE, 0xCF, 0x9C, 0xAD, 0x3A, 0x0B, 0x58, 0x69,
-    0x04, 0x35, 0x66, 0x57, 0xC0, 0xF1, 0xA2, 0x93,
-    0xBD, 0x8C, 0xDF, 0xEE, 0x79, 0x48, 0x1B, 0x2A,
-    0xC1, 0xF0, 0xA3, 0x92, 0x05, 0x34, 0x67, 0x56,
-    0x78, 0x49, 0x1A, 0x2B, 0xBC, 0x8D, 0xDE, 0xEF,
-    0x82, 0xB3, 0xE0, 0xD1, 0x46, 0x77, 0x24, 0x15,
-    0x3B, 0x0A, 0x59, 0x68, 0xFF, 0xCE, 0x9D, 0xAC
+	0x00, 0x31, 0x62, 0x53, 0xC4, 0xF5, 0xA6, 0x97,
+	0xB9, 0x88, 0xDB, 0xEA, 0x7D, 0x4C, 0x1F, 0x2E,
+	0x43, 0x72, 0x21, 0x10, 0x87, 0xB6, 0xE5, 0xD4,
+	0xFA, 0xCB, 0x98, 0xA9, 0x3E, 0x0F, 0x5C, 0x6D,
+	0x86, 0xB7, 0xE4, 0xD5, 0x42, 0x73, 0x20, 0x11,
+	0x3F, 0x0E, 0x5D, 0x6C, 0xFB, 0xCA, 0x99, 0xA8,
+	0xC5, 0xF4, 0xA7, 0x96, 0x01, 0x30, 0x63, 0x52,
+	0x7C, 0x4D, 0x1E, 0x2F, 0xB8, 0x89, 0xDA, 0xEB,
+	0x3D, 0x0C, 0x5F, 0x6E, 0xF9, 0xC8, 0x9B, 0xAA,
+	0x84, 0xB5, 0xE6, 0xD7, 0x40, 0x71, 0x22, 0x13,
+	0x7E, 0x4F, 0x1C, 0x2D, 0xBA, 0x8B, 0xD8, 0xE9,
+	0xC7, 0xF6, 0xA5, 0x94, 0x03, 0x32, 0x61, 0x50,
+	0xBB, 0x8A, 0xD9, 0xE8, 0x7F, 0x4E, 0x1D, 0x2C,
+	0x02, 0x33, 0x60, 0x51, 0xC6, 0xF7, 0xA4, 0x95,
+	0xF8, 0xC9, 0x9A, 0xAB, 0x3C, 0x0D, 0x5E, 0x6F,
+	0x41, 0x70, 0x23, 0x12, 0x85, 0xB4, 0xE7, 0xD6,
+	0x7A, 0x4B, 0x18, 0x29, 0xBE, 0x8F, 0xDC, 0xED,
+	0xC3, 0xF2, 0xA1, 0x90, 0x07, 0x36, 0x65, 0x54,
+	0x39, 0x08, 0x5B, 0x6A, 0xFD, 0xCC, 0x9F, 0xAE,
+	0x80, 0xB1, 0xE2, 0xD3, 0x44, 0x75, 0x26, 0x17,
+	0xFC, 0xCD, 0x9E, 0xAF, 0x38, 0x09, 0x5A, 0x6B,
+	0x45, 0x74, 0x27, 0x16, 0x81, 0xB0, 0xE3, 0xD2,
+	0xBF, 0x8E, 0xDD, 0xEC, 0x7B, 0x4A, 0x19, 0x28,
+	0x06, 0x37, 0x64, 0x55, 0xC2, 0xF3, 0xA0, 0x91,
+	0x47, 0x76, 0x25, 0x14, 0x83, 0xB2, 0xE1, 0xD0,
+	0xFE, 0xCF, 0x9C, 0xAD, 0x3A, 0x0B, 0x58, 0x69,
+	0x04, 0x35, 0x66, 0x57, 0xC0, 0xF1, 0xA2, 0x93,
+	0xBD, 0x8C, 0xDF, 0xEE, 0x79, 0x48, 0x1B, 0x2A,
+	0xC1, 0xF0, 0xA3, 0x92, 0x05, 0x34, 0x67, 0x56,
+	0x78, 0x49, 0x1A, 0x2B, 0xBC, 0x8D, 0xDE, 0xEF,
+	0x82, 0xB3, 0xE0, 0xD1, 0x46, 0x77, 0x24, 0x15,
+	0x3B, 0x0A, 0x59, 0x68, 0xFF, 0xCE, 0x9D, 0xAC
 };
 #endif

@@ -252,12 +255,12 @@ uint8_t/uint16_t/uint32_t crc_val = 0x0;
 // LSB
 for(int i = 0; i < sizeof(dataBuff); i++)
 {
-    crc_val = (crc_val >> BITS_IN_BYTE) ^ crc_lsb_lut[(uint8)(crc_val^dataBuff[i])];
+	crc_val = (crc_val >> BITS_IN_BYTE) ^ crc_lsb_lut[(uint8)(crc_val^dataBuff[i])];
 }
 // MSB
 for(int i = 0; i < sizeof(dataBuff); i++)
 {
-    crc_val = (crc_val << BITS_IN_BYTE) ^ crc_msb_lut[(uint8)((crc_val>>8)^dataBuff[i])];
+	crc_val = (crc_val << BITS_IN_BYTE) ^ crc_msb_lut[(uint8)((crc_val>>8)^dataBuff[i])];
 }
 */

@@ -276,32 +279,32 @@ for(int i = 0; i < sizeof(dataBuff); i++)
 ******************************************************************************/
 int crc8_gen(uint8_t *buffPtr, uint32_t dataLen, uint16_t poly, uint8_t *crcVal)
 {
-    uint8_t crc = CRC8_INIT;
-    const uint8_t *crc_lut = NULL;
+	uint8_t crc = CRC8_INIT;
+	const uint8_t *crc_lut = NULL;

-    switch (poly)
-    {
+	switch (poly)
+	{
 #ifdef __CRC_LSB
-    case 0x31:
-        crc_lut = crc8_31_lsb_lut;
-        break;
-    default:
-        return FAILURE;
+	case 0x31:
+		crc_lut = crc8_31_lsb_lut;
+		break;
+	default:
+		return FAILURE;
 #else
-    case 0x31:
-        crc_lut = crc8_31_msb_lut;
-        break;
-    default:
-        return FAILURE;
+	case 0x31:
+		crc_lut = crc8_31_msb_lut;
+		break;
+	default:
+		return FAILURE;
 #endif
-    }
+	}

-    for (int i = 0; i < dataLen; i++)
-    {
-        crc = crc_lut[(uint8_t)(crc ^ buffPtr[i])];
-    }
-    *crcVal = crc;
-    return SUCCESS;
+	for (int i = 0; i < dataLen; i++)
+	{
+		crc = crc_lut[(uint8_t)(crc ^ buffPtr[i])];
+	}
+	*crcVal = crc;
+	return SUCCESS;
 }

 /*****************************************************************************/
@@ -319,40 +322,40 @@ int crc8_gen(uint8_t *buffPtr, uint32_t dataLen, uint16_t poly, uint8_t *crcVal)
 ******************************************************************************/
 int crc16_gen(uint8_t *buffPtr, uint32_t dataLen, uint16_t poly, uint16_t *crcVal)
 {
-    uint16_t crc = CRC16_INIT;
-    const uint16_t *crc_lut = NULL;
-    switch (poly)
-    {
+	uint16_t crc = CRC16_INIT;
+	const uint16_t *crc_lut = NULL;
+	switch (poly)
+	{
 #ifdef __CRC_LSB
-    case 0x8005:
-        crc_lut = crc16_8005_lsb_lut;
-        break;
-    case 0x1021:
-        crc_lut = crc16_1021_lsb_lut;
-        break;
-    default:
-        return FAILURE;
+	case 0x8005:
+		crc_lut = crc16_8005_lsb_lut;
+		break;
+	case 0x1021:
+		crc_lut = crc16_1021_lsb_lut;
+		break;
+	default:
+		return FAILURE;
 #else
-    case 0x8005:
-        crc_lut = crc16_8005_msb_lut;
-        break;
-    case 0x1021:
-        crc_lut = crc16_1021_msb_lut;
-        break;
-    default:
-        return FAILURE;
+	case 0x8005:
+		crc_lut = crc16_8005_msb_lut;
+		break;
+	case 0x1021:
+		crc_lut = crc16_1021_msb_lut;
+		break;
+	default:
+		return FAILURE;
 #endif
-    }
-    for (int i = 0; i < dataLen; i++)
-    {
+	}
+	for (int i = 0; i < dataLen; i++)
+	{
 #ifdef __CRC_LSB
-        crc = (crc >> 8) ^ crc_lut[(uint8_t)(crc ^ buffPtr[i])];
+		crc = (crc >> 8) ^ crc_lut[(uint8_t)(crc ^ buffPtr[i])];
 #else
-        crc = (crc << 8) ^ crc_lut[(uint8_t)((crc >> 8) ^ buffPtr[i])];
+		crc = (crc << 8) ^ crc_lut[(uint8_t)((crc >> 8) ^ buffPtr[i])];
 #endif
-    }
-    *crcVal = crc;
-    return SUCCESS;
+	}
+	*crcVal = crc;
+	return SUCCESS;
 }

 /*****************************************************************************/
@@ -370,30 +373,30 @@ int crc16_gen(uint8_t *buffPtr, uint32_t dataLen, uint16_t poly, uint16_t *crcVa
 ******************************************************************************/
 bool crc8_check(uint8_t *buffPtr, uint32_t dataLen, uint32_t crcOffset, uint16_t poly)
 {
-    int Status = SUCCESS;
-    uint8_t crc_comp;
-    uint8_t crc;
-    if (dataLen == 0)
-    {
-        return false;
-    }
-    crc_comp = (uint8_t)(*(buffPtr + crcOffset));
-    Status = crc8_gen(buffPtr, dataLen, poly, &crc);
-    if (Status == SUCCESS)
-    {
-        if (crc == crc_comp)
-        {
-            return true;
-        }
-        else
-        {
-            return false;
-        }
-    }
-    else
-    {
-        return false;
-    }
+	int Status = SUCCESS;
+	uint8_t crc_comp;
+	uint8_t crc;
+	if (dataLen == 0)
+	{
+		return false;
+	}
+	crc_comp = (uint8_t)(*(buffPtr + crcOffset));
+	Status = crc8_gen(buffPtr, dataLen, poly, &crc);
+	if (Status == SUCCESS)
+	{
+		if (crc == crc_comp)
+		{
+			return true;
+		}
+		else
+		{
+			return false;
+		}
+	}
+	else
+	{
+		return false;
+	}
 }

 /*****************************************************************************/
@@ -411,29 +414,31 @@ bool crc8_check(uint8_t *buffPtr, uint32_t dataLen, uint32_t crcOffset, uint16_t
 ******************************************************************************/
 bool crc16_check(uint8_t *buffPtr, uint32_t dataLen, uint32_t crcOffset, uint16_t poly)
 {
-    int Status = SUCCESS;
-    uint16_t crc_comp;
-    uint16_t crc;
-    if (dataLen == 0)
-    {
-        return false;
-    }
-    crc_comp = (uint16_t)(*(buffPtr + crcOffset));
-    crc_comp |= (uint16_t)((*(buffPtr + crcOffset + 1)) << 8);
-    Status = crc16_gen(buffPtr, dataLen, poly, &crc);
-    if (Status == SUCCESS)
-    {
-        if (crc == crc_comp)
-        {
-            return true;
-        }
-        else
-        {
-            return false;
-        }
-    }
-    else
-    {
-        return false;
-    }
+	int Status = SUCCESS;
+	uint16_t crc_comp;
+	uint16_t crc;
+	if (dataLen == 0)
+	{
+		return false;
+	}
+	crc_comp = (uint16_t)(*(buffPtr + crcOffset));
+	crc_comp |= (uint16_t)((*(buffPtr + crcOffset + 1)) << 8);
+	Status = crc16_gen(buffPtr, dataLen, poly, &crc);
+	if (Status == SUCCESS)
+	{
+		if (crc == crc_comp)
+		{
+			return true;
+		}
+		else
+		{
+			return false;
+		}
+	}
+	else
+	{
+		return false;
+	}
 }
+
+/** @}*/
@@ -1,5 +1,5 @@
 /*******************************************************************************
-*   @file   list.c
+ *   @file   list.c
 *   @brief  List library implementation
 *   @author Mihail Chindris (mihail.chindris@analog.com)
 ********************************************************************************
@@ -1,15 +1,30 @@
-/******************************************************************************/
+/*****************************************************************************/
+/**
+ * @file util.c
+ * @author FanHao (hao_fan_bit_ee@163.com)
+ * @brief Utility functions implementation file
+ * @version 0.0
+ * @date 2023-05-06
+ *
+ * @copyright Copyright(c) 2024 Beijing Institute of Technology.\n
+ * Lab of Communication and Network
+ *
+ ******************************************************************************/
+
 /***************************** Include Files **********************************/
-/******************************************************************************/
+
+/**
+ * @addtogroup Utility
+ * @{
+ */
+
 #include <string.h>
 #include <stdlib.h>
 // #include <arm_acle.h>
 #include "util.h"
 #include "error.h"

-/******************************************************************************/
 /************************** Functions Implementation **************************/
-/******************************************************************************/
 #ifdef __BITSWAP_TABLE
 static uint8_t byte_flipLR[256] =
 {
@@ -48,17 +63,26 @@ static uint8_t byte_flipLR[256] =
 };
 #endif

+/**
+ * @brief Write a 32bit word to specific memory address
+ */
 inline void IO_Out32(uintptr_t addr, uint32_t value)
 {
 	volatile uint32_t *localAddr = (volatile uint32_t *)addr;
 	*localAddr = value;
 }

+/**
+ * @brief Read a 32bit word from specific memory address
+ */
 inline uint32_t IO_In32(uintptr_t addr)
 {
 	return *(volatile uint32_t *)addr;
 }

+/**
+ * @brief Swap a byte word bit-wise
+ */
 uint8_t byte_bit_swap(uint8_t byte)
 {
 #ifdef __BITSWAP_TABLE
@@ -68,6 +92,9 @@ uint8_t byte_bit_swap(uint8_t byte)
 #endif
 }

+/**
+ * @brief Swap 32bit word bit-wise
+ */
 uint32_t word_bit_swap(uint32_t word)
 {
 #ifdef __BITSWAP_TABLE
@@ -85,6 +112,9 @@ uint32_t word_bit_swap(uint32_t word)
 #endif
 }

+/**
+ * @brief Count ones in an 32bit word
+ */
 uint32_t count_ones(uint32_t word)
 {
 #ifdef __GNUC__
@@ -101,13 +131,16 @@ uint32_t count_ones(uint32_t word)
 #endif
 }

+/**
+ * @brief Convert fix ;oint number to float number
+ */
 double fix2double(int32_t val, uint8_t frac_bits)
 {
 	return (((double)val) / (BIT(frac_bits)));
 }

 /**
- * Find first set bit in word.
+ * @brief Find first set bit in word.
 */
 uint32_t find_first_set_bit(uint32_t word)
 {
@@ -136,7 +169,7 @@ uint32_t find_first_set_bit(uint32_t word)
 }

 /**
- * Find last set bit in word.
+ * @brief Find last set bit in word.
 */
 uint32_t find_last_set_bit(uint32_t word)
 {
@@ -166,7 +199,7 @@ uint32_t find_last_set_bit(uint32_t word)
 }

 /**
- * Locate the closest element in an array.
+ * @brief Locate the closest element in an array.
 */
 uint32_t find_closest(int32_t val,
 					  const int32_t *array,
@@ -189,7 +222,7 @@ uint32_t find_closest(int32_t val,
 }

 /**
- * Shift the value and apply the specified mask.
+ * @brief Shift the value and apply the specified mask.
 */
 uint32_t field_prep(uint32_t mask, uint32_t val)
 {
@@ -197,7 +230,7 @@ uint32_t field_prep(uint32_t mask, uint32_t val)
 }

 /**
- * Get a field specified by a mask from a word.
+ * @brief Get a field specified by a mask from a word.
 */
 uint32_t field_get(uint32_t mask, uint32_t word)
 {
@@ -205,7 +238,7 @@ uint32_t field_get(uint32_t mask, uint32_t word)
 }

 /**
- * Log base 2 of the given number.
+ * @brief Log base 2 of the given number.
 */
 int32_t log_base_2(uint32_t x)
 {
@@ -213,7 +246,7 @@ int32_t log_base_2(uint32_t x)
 }

 /**
- * Find greatest common divisor of the given two numbers.
+ * @brief Find greatest common divisor of the given two numbers.
 */
 uint32_t greatest_common_divisor(uint32_t a,
 								 uint32_t b)
@@ -232,7 +265,7 @@ uint32_t greatest_common_divisor(uint32_t a,
 }

 /**
- * Calculate best rational approximation for a given fraction.
+ * @brief Calculate best rational approximation for a given fraction.
 */
 void rational_best_approximation(uint32_t given_numerator,
 								 uint32_t given_denominator,
@@ -257,7 +290,7 @@ void rational_best_approximation(uint32_t given_numerator,
 }

 /**
- * Calculate the number of set bits.
+ * @brief Calculate the number of set bits.
 */
 uint32_t hweight8(uint32_t word)
 {
@@ -274,7 +307,7 @@ uint32_t hweight8(uint32_t word)
 }

 /**
- * Calculate the quotient and the remainder of an integer division.
+ * @brief Calculate the quotient and the remainder of an integer division.
 */
 uint64_t do_div(uint64_t *n,
 				uint64_t base)
@@ -288,7 +321,7 @@ uint64_t do_div(uint64_t *n,
 }

 /**
- * Unsigned 64bit divide with 64bit divisor and remainder
+ * @brief Unsigned 64bit divide with 64bit divisor and remainder
 */
 uint64_t div64_u64_rem(uint64_t dividend, uint64_t divisor, uint64_t *remainder)
 {
@@ -298,7 +331,7 @@ uint64_t div64_u64_rem(uint64_t dividend, uint64_t divisor, uint64_t *remainder)
 }

 /**
- * Unsigned 64bit divide with 32bit divisor with remainder
+ * @brief Unsigned 64bit divide with 32bit divisor with remainder
 */
 uint64_t div_u64_rem(uint64_t dividend, uint32_t divisor, uint32_t *remainder)
 {
@@ -308,7 +341,7 @@ uint64_t div_u64_rem(uint64_t dividend, uint32_t divisor, uint32_t *remainder)
 }

 /**
- * Signed 64bit divide with 32bit divisor with remainder
+ * @brief Signed 64bit divide with 32bit divisor with remainder
 */
 int64_t div_s64_rem(int64_t dividend, int32_t divisor, int32_t *remainder)
 {
@@ -317,7 +350,7 @@ int64_t div_s64_rem(int64_t dividend, int32_t divisor, int32_t *remainder)
 }

 /**
- * Unsigned 64bit divide with 32bit divisor
+ * @brief Unsigned 64bit divide with 32bit divisor
 */
 uint64_t div_u64(uint64_t dividend, uint32_t divisor)
 {
@@ -327,7 +360,7 @@ uint64_t div_u64(uint64_t dividend, uint32_t divisor)
 }

 /**
- * Signed 64bit divide with 32bit divisor
+ * @brief Signed 64bit divide with 32bit divisor
 */
 int64_t div_s64(int64_t dividend, int32_t divisor)
 {
@@ -336,7 +369,7 @@ int64_t div_s64(int64_t dividend, int32_t divisor)
 }

 /**
- * Converts from string to int32_t
+ * @brief Converts from string to int32_t
 * @param *str
 * @return int32_t
 */
@@ -352,7 +385,7 @@ int32_t str_to_int32(const char *str)
 }

 /**
- * Converts from string to uint32_t
+ * @brief Converts from string to uint32_t
 * @param *str
 * @return uint32_t
 */
@@ -366,3 +399,5 @@ uint32_t srt_to_uint32(const char *str)
 	else
 		return value;
 }
+
+/** @} */
@@ -68,7 +68,7 @@ void linklayer_setup(void)
 	ASSERT_EQUAL(SUCCESS, Status);
 	Status = TimeCtrl_Init(&tmcInstPtr, &tmcConfig);
 	ASSERT_EQUAL(SUCCESS, Status);
-	Status = Phy_InstInit(&phyInstPtr, &l1Config);
+	Status = Phy_Init(&phyInstPtr, &l1Config);
 	ASSERT_EQUAL(SUCCESS, Status);

 	// Update l2 config
@@ -1,14 +1,41 @@
 #! /bin/sh

+# GE Software
 GE_TXATT=0
 GE_RXATT=25

 DST_DIR=`pwd`
 PROJECT_DIR=$( cd -- "$( dirname -- "${BASH_SOURCE[0]}" )" &> /dev/null && pwd )

-cp -rL $PROJECT_DIR/df_datalink_sp/src $DST_DIR/df_datalink_sp
+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
+sed -i'' -e "s/antConfig->rcvMgc = 0;/antConfig->rcvMgc = $GE_RXATT;/g" $DST_DIR/df_datalink_ge/networking/phy_layer/phy_antenna.c

-cd $DST_DIR/df_datalink_ge/networking/phy_layer
-sed -i "s/antConfig->rfTxMgc = 0;/antConfig->rfTxMgc = $GE_TXATT;/g" ./phy_antenna.c
-sed -i "s/antConfig->rcvMgc = 0;/antConfig->rcvMgc = $GE_RXATT;/g" ./phy_antenna.c
+# SP Software
+source $PROJECT_DIR/caldata
+
+for key in ${!calMap[*]};do
+    projName=df_datalink_$key
+    id=$(echo "$key" | grep -o -E '[0-9]+')
+    type=$(echo "$key" | grep -o -E '(LJ)|(JG)')
+    echo "Creating <$projName>..."
+    cp -rL $PROJECT_DIR/df_datalink_sp/src $DST_DIR/$projName
+
+    # substitute ID
+    if [ $type == "LJ" ]; then
+        sed -i'' "s/#define PHY_DEVICE_ID 0/#define PHY_DEVICE_ID (0x$id | 0x80)/g" $DST_DIR/$projName/config/app_config.h
+    elif [ $type == "JG" ]; then
+        sed -i'' "s/#define PHY_DEVICE_ID 0/#define PHY_DEVICE_ID (0x$id | 0x00)/g" $DST_DIR/$projName/config/app_config.h
+    else
+        echo "Unrecognized node Type [$type] ID [$id]"
+        exit 1
+    fi
+    # substitute table
+    sed -i'' "/^const uint16_t antCalTable\[L1_FRAME_MAX_HOPS\]\[L1_ANT_NUM_CH\] =/{
+    :table
+    N
+    /\};/!b table
+    s/=.*\};/=\n\/\/Antenna-$key\n${calMap[$key]}/
+    }" $DST_DIR/$projName/networking/phy_layer/phy_antenna.c
+done
Author	SHA1	Message	Date
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
bit-cyber-fh	c7c81ddb83	clear calibration data	2024-05-23 17:42:42 +08:00
bit-cyber-fh	52f9390981	Merge branch 'master' of http://nas.gatsby.icu:3000/gatsby/df_datalink	2024-05-23 17:41:46 +08:00
bit-cyber-fh	475a625663	update calibration data	2024-05-23 17:41:41 +08:00
bit-cyber-fh	7b36324101	update calibration data	2024-05-23 17:38:09 +08:00
Gatsby Van	c9f827661b	misc update	2024-05-23 11:25:39 +08:00
bit-cyber-fh	475314f2a5	Merge branch 'master' of http://nas.gatsby.icu:3000/gatsby/df_datalink	2024-05-22 16:22:38 +08:00
bit-cyber-fh	68396cb7ac	misc update	2024-05-22 16:22:18 +08:00
Gatsby Van	688534c117	*bugfix: correct head node default cxn2Net value	2024-05-20 19:14:41 +08:00
Gatsby Van	98ec0e7855	*add calibration data	2024-05-20 17:15:59 +08:00
bit-cyber-fh	45a13b9c5d	*add calibration data	2024-05-20 17:05:42 +08:00
Gatsby Van	f7f3d76d9a	simplified makecopy	2024-04-19 17:47:05 +08:00
bit-cyber-fh	f8985df185	update calibration data	2024-04-19 17:33:00 +08:00
bit-cyber-fh	fdc37dab4a	pluginUpdate: add node id pint	2024-04-07 17:01:15 +08:00
bit-cyber-fh	cfc538bd4d	bugfix: avoid confirm frame reception missing	2024-04-07 16:57:29 +08:00
Gatsby Van	da1659a582	misc update	2024-04-02 00:17:39 +08:00
bit-cyber-fh	f363d3afba	misc update	2024-04-02 00:05:54 +08:00
bit-cyber-fh	ff4b609a37	*add physical ID	2024-04-02 00:05:35 +08:00
bit-cyber-fh	bbdaa49d53	*add calibration setting	2024-04-02 00:04:21 +08:00
bit-cyber-fh	06169451f8	misc update	2024-03-28 16:15:26 +08:00
bit-cyber-fh	c763f1a481	misc update	2024-03-28 15:59:02 +08:00
bit-cyber-fh	8d72288675	Better struct comment	2024-03-28 15:58:15 +08:00
bit-cyber-fh	16d1ad30a7	unified indentation	2024-03-28 15:25:58 +08:00
Gatsby Van	8779c9855e	omit hopping pattern configure methods	2024-03-28 11:04:29 +08:00
bit-cyber-fh	69a8d9d36d	Update Comment: Better Doxygen Style	2024-03-28 11:00:12 +08:00
Gatsby Van	41964520a8	misc fix	2024-03-28 00:05:34 +08:00
bit-cyber-fh	bab91e13df	Common Update: Better Doxygen Style	2024-03-28 00:00:59 +08:00
Gatsby Van	9b416114a1	BSP update: trim unnecessary memory	2024-03-25 13:14:52 +08:00
Gatsby Van	e7b45ae1f5	BSP update: trim unnecessary memory	2024-03-24 22:13:44 +08:00
Gatsby Van	3edfce69f2	update physical layer logging scheme	2024-03-24 22:13:22 +08:00
Gatsby Van	ad3bc29cfa	trim trailing space	2024-03-24 22:05:15 +08:00
Gatsby Van	02fd467708	update test data	2024-03-24 22:04:48 +08:00
Gatsby Van	1fc4fad5ea	Merge remote-tracking branch 'refs/remotes/origin/master'	2024-03-22 10:32:07 +08:00
Gatsby Van	957672a191	add test data	2024-03-21 16:22:47 +08:00
Gatsby Van	807b045b75	code simplification	2024-03-20 16:24:05 +08:00
Gatsby Van	6f4774f6b8	add missing logging update	2024-03-20 15:57:21 +08:00
Gatsby Van	de5759b392	*add feature: frame type specialized attenuation	2024-03-20 15:14:50 +08:00
Gatsby Van	2b18765563	misc update	2024-03-18 20:21:46 +08:00
Gatsby Van	03a6d86a3a	remove unused variables	2024-03-18 11:04:41 +08:00
Gatsby Van	729bbeb60e	format and cleanup	2024-03-18 11:02:20 +08:00
Gatsby Van	33545b63e1	config logic simplification	2024-03-18 11:01:56 +08:00
Gatsby Van	6c64421336	update scan frame handling schedule	2024-03-18 11:00:22 +08:00
Gatsby Van	dda9d09f2a	new linklayer api L2_isStarted	2024-03-18 10:58:16 +08:00
Gatsby Van	14f2be3053	update link brock threshold	2024-03-18 10:57:49 +08:00
Gatsby Van	b7607a7a1b	cleanup and misc update	2024-03-16 16:57:21 +08:00
Gatsby Van	c07cd00f2f	comment update and cleanup	2024-03-16 16:26:03 +08:00
Gatsby Van	20da80f6c2	update packet logging method	2024-03-16 16:25:44 +08:00
Gatsby Van	c7e3eb2800	*shorten time frame length	2024-03-16 16:20:39 +08:00
Gatsby Van	9acdd0609a	update svcFSM	2024-03-16 16:19:15 +08:00
Gatsby Van	66529637a3	add comment add enhance code coherent	2024-03-16 16:18:03 +08:00
Gatsby Van	62cc15c3d4	add beampattern refreash method	2024-03-16 13:20:04 +08:00
Gatsby Van	98e6935d9a	*bugfix: add missing beam steer	2024-03-16 13:19:42 +08:00
Gatsby Van	0c6d861620	cleanup	2024-03-16 13:18:16 +08:00
Gatsby Van	f6c2568a75	update scan frame content	2024-03-14 21:39:22 +08:00
Gatsby Van	ef1c41b500	update beam scan scheme	2024-03-14 21:24:22 +08:00
Gatsby Van	9a7b89ca82	correct slave node beam setting	2024-03-14 21:22:29 +08:00
Gatsby Van	80035d5208	omit redunsant code	2024-03-14 21:21:57 +08:00
Gatsby Van	ab7ce2e082	update plugin	2024-03-14 21:21:23 +08:00
Gatsby Van	f5aca7d5cf	update MPC	2024-03-13 17:01:07 +08:00
Gatsby Van	c3e0c7a66a	clean uo & enhance coherence	2024-03-12 20:49:24 +08:00
Gatsby Van	2898bdfa15	add MPC module to GE project	2024-03-12 20:43:15 +08:00
Gatsby Van	31dcb5aa69	delete systembus module from GE project	2024-03-12 20:42:57 +08:00
Gatsby Van	a1fc87dc97	enhance readability	2024-03-12 20:41:59 +08:00
Gatsby Van	009ddfd895	fix typo	2024-03-12 20:39:38 +08:00
Gatsby Van	222dcb789c	update bsp: add MPC	2024-03-12 17:23:00 +08:00
Gatsby Van	6b016e1181	update systembus: omit redundant code	2024-03-12 11:20:56 +08:00
Gatsby Van	712d37061a	add antenna power mode print	2024-03-07 11:42:22 +08:00
Gatsby Van	dfecadac56	omit redundant code	2024-03-07 11:41:52 +08:00
Gatsby Van	c09bd57408	enhance code inherence	2024-03-07 11:40:53 +08:00
Gatsby Van	ec772ba9e3	add new log entry (phy: antenna power mode)	2024-03-07 11:40:53 +08:00
Gatsby Van	51b96825a3	formatted document	2024-03-06 20:25:43 +08:00
Gatsby Van	274ee8922e	bugfix: missing semicolon	2024-03-06 20:18:50 +08:00
Gatsby Van	8c12c0e755	Merge remote-tracking branch 'origin'	2024-03-06 20:16:09 +08:00
Gatsby Van	1e5f8052e5	plugin update: new lowpower and silient command	2024-03-06 20:08:33 +08:00
Gatsby Van	10c72585de	*add new silent command	2024-03-06 20:03:38 +08:00
Gatsby Van	c3e47b0fae	correct time stamp	2024-03-06 20:03:15 +08:00
Gatsby Van	60033f36a7	omit redundant code	2024-03-06 20:02:38 +08:00
Gatsby Van	582cbd57af	*bugfix: ommit extra event trigger	2024-03-06 20:01:34 +08:00
Gatsby Van	34b851fab7	delete trailing blank space	2024-03-05 21:31:06 +08:00
Gatsby Van	8ffcb8b048	correct byte order	2024-03-05 21:30:44 +08:00
Gatsby Van	b0067e53a6	remove redundant code	2024-03-05 21:29:56 +08:00
Gatsby Van	3073a2767b	bugfix: correct line break	2024-03-05 21:01:01 +08:00
Gatsby Van	7818a754c6	update plugin: add retrieved data print	2024-03-05 20:40:41 +08:00
Gatsby Van	b99d0bfca0	*bugfix: correct beam setup	2024-03-02 16:32:36 +08:00
Gatsby Van	3dedebbe79	miscellaneous update	2024-03-02 16:32:12 +08:00
Gatsby Van	22417853dd	enhanced code inherence	2024-03-02 13:14:17 +08:00
Gatsby Van	633f6dff37	bugfix: correct api call	2024-03-02 13:13:20 +08:00
Gatsby Van	1192f7b4cd	revise beam pattern	2024-03-01 21:27:37 +08:00
Gatsby Van	871c9882b4	add api (Phy_LastScanBeamNo)	2024-03-01 21:27:21 +08:00
Gatsby Van	04a75154c5	add beam steering	2024-03-01 21:27:00 +08:00
Gatsby Van	f1e1ddf48f	complete linklayer logging	2024-03-01 21:26:28 +08:00
Gatsby Van	09cc2ce347	*add antenna info configs (scan beam directions)	2024-03-01 21:25:15 +08:00
Gatsby Van	0c270df599	add antenna bram control	2024-03-01 19:25:33 +08:00
Gatsby Van	8be194a410	miscellaneous update	2024-02-22 17:31:20 +08:00
Gatsby Van	ea5d6e0962	*bugfix: add missing return value	2024-02-22 16:30:25 +08:00
Gatsby Van	7edb8cb3f0	*bugfix: add hardware status to remote check	2024-02-22 16:27:22 +08:00
Gatsby Van	6299d8982d	fix typo	2024-02-22 16:26:01 +08:00
Gatsby Van	8af1439087	update hopping pattern	2024-02-22 16:25:49 +08:00
Gatsby Van	95041a8395	*bugfix: correct hardware status determination	2024-02-22 16:25:32 +08:00
Gatsby Van	5cabf2ab65	add comtool python plugin	2024-02-22 16:17:43 +08:00
Gatsby Van	638b24a6a1	make compatible withe BSD sed	2024-02-21 21:06:58 +08:00
Gatsby Van	2b74942521	add hardware configuration files	2024-02-20 17:40:56 +08:00
Gatsby Van	597ea2c7cd	formatted	2024-02-20 17:40:18 +08:00
Gatsby Van	6d08ee216a	*split hardware configurations to individual files	2024-02-20 17:40:04 +08:00
Gatsby Van	d87a4434c7	update ad temperate reading api	2024-02-20 17:39:32 +08:00
Gatsby Van	c27d6fc455	adapted to new log content definition	2024-02-20 13:13:57 +08:00
Gatsby Van	0701eb6f43	*update log content	2024-02-20 13:13:28 +08:00
Gatsby Van	ffc9f22694	omit redundant api	2024-02-20 13:12:49 +08:00
Gatsby Van	c7898003c0	*add clock and ad status update api	2024-02-20 11:22:56 +08:00
Gatsby Van	2c45d1e5b8	add missing remote test	2024-02-01 17:09:59 +08:00
Gatsby Van	9412f65c3c	*bugfix: correct memcpy offset	2024-02-01 17:09:37 +08:00
Gatsby Van	c0ebef41ee	*bugfix: correct type definition	2024-02-01 17:08:51 +08:00
Gatsby Van	a2c6ff83f7	missing semicolon	2024-02-01 15:12:34 +08:00
Gatsby Van	73b8ee8bc5	*bugfix: correct antenna status code	2024-02-01 15:09:26 +08:00
Gatsby Van	d8fbdfb8e6	*bugfix: add missing hardware status fetching	2024-02-01 15:07:48 +08:00