From 2bf10f25b0c201419f5c5ac66a014fb0f844feba Mon Sep 17 00:00:00 2001
From: Gatsby Van <mail.gatsby.icu>
Date: Sun, 21 Jan 2024 15:13:59 +0800
Subject: [PATCH] add quaternion to node info. enhance code cohesion.

---
 .../src/linklayer/linklayer814_types.h        | 30 +++++++++++--------
 1 file changed, 18 insertions(+), 12 deletions(-)

diff --git a/datalink814_ge/src/linklayer/linklayer814_types.h b/datalink814_ge/src/linklayer/linklayer814_types.h
index 1340fe4..bc2256c 100644
--- a/datalink814_ge/src/linklayer/linklayer814_types.h
+++ b/datalink814_ge/src/linklayer/linklayer814_types.h
@@ -19,8 +19,9 @@
 
 /***************************** Include Files *********************************/
 #include <stdbool.h>
-#include <inttypes.h>
+#include <stdint.h>
 #include "geometry/coord.h"
+#include "geometry/quaternion.h"
 #include "../phy_ctrl/phy_ctrl.h"
 /************************** Constant Definitions *****************************/
 // Common node ID definition
@@ -46,6 +47,7 @@
 #define L2_SLOTS_PER_SUBFRAME 20
 
 #define L2_NUM_SLOTS_NONE UINT32_MAX
+#define L2_NUM_SLOTS_100MS 20
 #define L2_NUM_SLOTS_20MS 4
 #define L2_NUM_SLOTS_10MS 2
 #define L2_NUM_SLOTS_5MS 1
@@ -91,6 +93,9 @@ 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.
+ */
 typedef struct
 {
 	uint8_t nodeId;
@@ -100,6 +105,7 @@ typedef struct
 	uint8_t beamNo;
 	COORD pos;
 	COORD speed;
+	QUATERNION attitude;
 } L2_NODE_INFO;
 
 /** @name L2 event enum
@@ -153,17 +159,6 @@ typedef enum
 	L2_SLOT_INTRA_TSYNC = 13,
 } L2_SLOT_TYPE;
 
-/** @name Frame types
- * A definition of different frame types.
- */
-typedef enum
-{
-	L2_CRC_NONE = 0,
-	L2_CRC16_1021 = 1,
-	L2_CRC16_8005 = 2,
-	L2_CRC8_31 = 3
-} L2_CRC_TYPE;
-
 /** @name Frame types
  * A definition of different frame types.
  */
@@ -184,6 +179,17 @@ typedef enum
 	L2_INTRA_SVC_FRAME = 12
 } L2_FRAME_TYPE;
 
+/** @name Frame types
+ * A definition of different frame types.
+ */
+typedef enum
+{
+	L2_CRC_NONE = 0,
+	L2_CRC16_1021 = 1,
+	L2_CRC16_8005 = 2,
+	L2_CRC8_31 = 3
+} L2_CRC_TYPE;
+
 /** @name Schedule subtable entry
  * A definition of Schedule subtable entry.
  */