From 3e7060965e8fda1defcb2447bcf3748fb85e45ab Mon Sep 17 00:00:00 2001
From: Gatsby Van <mail.gatsby.icu>
Date: Thu, 27 Jun 2024 13:37:51 +0800
Subject: [PATCH] misc update: make it more conform with GJB-8114

---
 df_datalink_sp/src/hwconfig.h                 |  5 ++-
 df_datalink_sp/src/main.c                     | 32 +++++++-------
 .../src/networking/link_layer/framing.c       |  2 +-
 .../networking/link_layer/geometry/coord.c    |  7 +++
 .../link_layer/geometry/eulerangles.c         |  6 +--
 .../link_layer/geometry/eulerangles.h         |  4 +-
 .../link_layer/geometry/quaternion.c          | 23 +++++++++-
 .../link_layer/geometry/quaternion.h          |  4 +-
 .../src/networking/link_layer/link_layer.c    |  5 ++-
 .../src/networking/link_layer/link_layer.h    |  2 +-
 .../networking/link_layer/link_layer_types.h  |  2 +-
 .../src/networking/link_layer/node_list.c     |  2 +-
 .../src/networking/link_layer/scan.c          | 44 +++++++++----------
 .../src/networking/link_layer/schdevent.c     |  2 +-
 .../src/networking/phy_layer/phy_antenna.c    |  8 ++--
 .../src/networking/phy_layer/phy_layer.c      | 10 ++---
 .../src/networking/phy_layer/phy_layer.h      | 28 ++++++------
 .../src/networking/phy_layer/phy_reg.h        |  4 +-
 df_datalink_sp/src/system_monitor.c           |  6 +++
 df_datalink_sp/src/system_monitor.h           | 20 ++++-----
 20 files changed, 125 insertions(+), 91 deletions(-)

diff --git a/df_datalink_sp/src/hwconfig.h b/df_datalink_sp/src/hwconfig.h
index 969ceb4..e54c291 100644
--- a/df_datalink_sp/src/hwconfig.h
+++ b/df_datalink_sp/src/hwconfig.h
@@ -13,7 +13,8 @@
  * Copyright(c) 2024 Beijing Institute of Technology.
  *
  ******************************************************************************/
-
+#ifndef HWCONFIG_H_
+#define HWCONFIG_H_
 /***************************** Include Files *********************************/
 // Standard
 #include <stdint.h>
@@ -29,4 +30,4 @@ int8_t Hardware_GetAD9361Temp_2(void);
 uint8_t Hardware_GetAD9361LockStatus(void);
 uint8_t Hardware_GetHMC7044LockStatus(void);
 
-
+#endif // HWCONFIG_H_
diff --git a/df_datalink_sp/src/main.c b/df_datalink_sp/src/main.c
index 32817e0..91e148b 100644
--- a/df_datalink_sp/src/main.c
+++ b/df_datalink_sp/src/main.c
@@ -72,20 +72,20 @@ struct callback_desc scutm_callback_desc = {
 
 L2_CONFIG linkConfig = {
 	.myType = L2_NODE_HEAD,
-	.clustId = 1,
-	.myId = 1,
-	.headId = 1,
-	.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,
-// 	.netScale = 2,
+// 	.clustId = 1U,
+// 	.myId = 2U,
+// 	.headId = 1U,
+// 	.netScale = 2U,
 // 	.phyInstPtr = NULL, // physical layer reference
 // 	.tmcInstPtr = NULL
 // };
@@ -106,21 +106,21 @@ static PHY_CONFIG phyConfig = {
 
 TMC_CONFIG tmcConfig = {
 	.baseAddr = TIME_CONTROLLER_BASEADDR,
-	.reset = 10
+	.reset = 10U
 };
 
 static SYSBUS_CONFIG sysbusConfig = {
 	.baseAddr = SYSBUS_BASE_ADDR,
-	.txQueueMax = 16,
-	.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;
 
 
 /****************************************************************************/
diff --git a/df_datalink_sp/src/networking/link_layer/framing.c b/df_datalink_sp/src/networking/link_layer/framing.c
index c3a2826..f926b1b 100644
--- a/df_datalink_sp/src/networking/link_layer/framing.c
+++ b/df_datalink_sp/src/networking/link_layer/framing.c
@@ -165,7 +165,7 @@ bool L2_CrcCheck(uint8_t *dataBuff, uint32_t dataLen, L2_CRC_TYPE crcType)
 	ASSERT(dataBuff != NULL);
 	int32_t Status;
 	uint32_t crcVal;
-	crcVal = 0;
+	crcVal = 0U;
 	Status = L2_CrcGen(dataBuff, dataLen, crcType, &crcVal);
 	if (Status == SUCCESS)
 	{
diff --git a/df_datalink_sp/src/networking/link_layer/geometry/coord.c b/df_datalink_sp/src/networking/link_layer/geometry/coord.c
index aa4db2b..2579d12 100644
--- a/df_datalink_sp/src/networking/link_layer/geometry/coord.c
+++ b/df_datalink_sp/src/networking/link_layer/geometry/coord.c
@@ -75,6 +75,10 @@ COORD Coord_GetScalarMult(COORD a, double t)
 /** @brief Divides a coordinate vector by a real number. */
 void Coord_ScalarDiv(COORD *a, double t)
 {
+	if (t == 0.0) {
+		*a = COORD_NIL;
+		return;
+	}
 	a->x /= t;
 	a->y /= t;
 	a->z /= t;
@@ -83,6 +87,9 @@ void Coord_ScalarDiv(COORD *a, double t)
 /** @brief Divides a coordinate vector by a real number. */
 COORD Coord_GetScalarDiv(COORD a, double t)
 {
+	if (t == 0.0) {
+		return COORD_NIL;
+	}
 	COORD ret;
 	ret.x = a.x / t;
 	ret.y = a.y / t;
diff --git a/df_datalink_sp/src/networking/link_layer/geometry/eulerangles.c b/df_datalink_sp/src/networking/link_layer/geometry/eulerangles.c
index 2a07e74..ce1ed3e 100644
--- a/df_datalink_sp/src/networking/link_layer/geometry/eulerangles.c
+++ b/df_datalink_sp/src/networking/link_layer/geometry/eulerangles.c
@@ -69,9 +69,9 @@ EULERANGLES EulerAngles_GetScalarMult(EULERANGLES e, double f)
 /** @brief Normalize EulerAngles. */
 void EulerAngles_Normalize(EULERANGLES *e)
 {
-	e->alpha = fmod(e->alpha, 2 * EUL_PI);
-	e->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. */
diff --git a/df_datalink_sp/src/networking/link_layer/geometry/eulerangles.h b/df_datalink_sp/src/networking/link_layer/geometry/eulerangles.h
index bf790fa..ab98d5c 100644
--- a/df_datalink_sp/src/networking/link_layer/geometry/eulerangles.h
+++ b/df_datalink_sp/src/networking/link_layer/geometry/eulerangles.h
@@ -30,8 +30,8 @@
 
 #define EUL_PI 3.14159265358979323846
 
-#define DEG2RAD(d) ((EUL_PI / 180.0) * d)
-#define 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
diff --git a/df_datalink_sp/src/networking/link_layer/geometry/quaternion.c b/df_datalink_sp/src/networking/link_layer/geometry/quaternion.c
index f224b65..d5dce6a 100644
--- a/df_datalink_sp/src/networking/link_layer/geometry/quaternion.c
+++ b/df_datalink_sp/src/networking/link_layer/geometry/quaternion.c
@@ -91,6 +91,10 @@ QUATERNION Quaternion_GetScalarMult(QUATERNION a, double t)
 /** @brief Divides a quaternion by a real number. */
 void Quaternion_ScalarDiv(QUATERNION *q, double t)
 {
+	if (t == 0.0) {
+		*q = QUATERNION_NIL;
+		return;
+	}
 	q->s /= t;
 	q->i /= t;
 	q->j /= t;
@@ -190,6 +194,9 @@ inline double Quaternion_GetRotationAngle(QUATERNION q)
 /** @brief Get axis of quaternion. */
 COORD Quaternion_GetRotationAxis(QUATERNION q)
 {
+	if ((q.s > 1.0) || (q.s < -1.0)) {
+		return COORD_NIL;
+	}
 	double sin_theta_inv;
 	COORD ret;
 	sin_theta_inv = 1.0 / sin(acos(q.s));
@@ -202,6 +209,12 @@ COORD Quaternion_GetRotationAxis(QUATERNION q)
 /** @brief Get the axis and rotate angle of a unit Quaternion */
 void Quaternion_GetRotationAxisAndAngle(QUATERNION q, COORD *axis, double *angle)
 {
+	if ((q.s > 1.0) || (q.s < -1.0)) {
+		*axis = COORD_NIL;
+		*angle = NAN;
+		return;
+	}
+
 	double sin_theta_inv;
 	*angle = acos(q.s);
 
@@ -218,6 +231,11 @@ void Quaternion_GetRotationAxisAndAngle(QUATERNION q, COORD *axis, double *angle
 /** @brief Decompose the rotation on to 2 parts. */
 void Quaternion_GetSwingAndTwist(QUATERNION q, COORD axis, QUATERNION *swing, QUATERNION *twist)
 {
+	if ((swing == NULL) || (twist == NULL))
+	{
+		return;
+	}
+
 	double p;
 	COORD v;
 	v.x = q.i;
@@ -326,7 +344,7 @@ EULERANGLES Quaternion_ToEulerAngles(QUATERNION q, EULERANGLES_TYPE type)
 		if (mask1 || mask2)
 		{
 			ret.alpha = 0;
-			ret.gamma = (asinValue > 0) ? (2.0 * atan2(q.i, q.s)) : (-2.0 * atan2(q.i, q.s));
+			ret.gamma = (asinValue > 0.0) ? (2.0 * atan2(q.i, q.s)) : (-2.0 * atan2(q.i, q.s));
 		}
 		else
 		{
@@ -339,6 +357,7 @@ EULERANGLES Quaternion_ToEulerAngles(QUATERNION q, EULERANGLES_TYPE type)
 
 	default:
 		ret = EULERANGLES_NIL;
+		break;
 	}
 	return ret;
 }
@@ -428,7 +447,7 @@ QUATERNION Quaternion_RotationFromTo(COORD from, COORD to)
 QUATERNION Quaternion_Lerp(QUATERNION q1, QUATERNION q2, double t)
 {
 	QUATERNION ret;
-	Quaternion_ScalarMult(&q1, 1 - t);
+	Quaternion_ScalarMult(&q1, 1.0 - t);
 	Quaternion_ScalarMult(&q1, t);
 	ret = Quaternion_Add(q1, q2);
 	Quaternion_Normalize(&ret);
diff --git a/df_datalink_sp/src/networking/link_layer/geometry/quaternion.h b/df_datalink_sp/src/networking/link_layer/geometry/quaternion.h
index 79241b4..020f3ba 100644
--- a/df_datalink_sp/src/networking/link_layer/geometry/quaternion.h
+++ b/df_datalink_sp/src/networking/link_layer/geometry/quaternion.h
@@ -56,13 +56,13 @@ QUATERNION Quaternion_Add(QUATERNION q1, QUATERNION q2);
 void Quaternion_ScalarMult(QUATERNION *q, double t);
 
 /** @brief Multiplies a quaternion by a real number. */
-QUATERNION Quaternion_GetScalarMult(QUATERNION a, double t);
+QUATERNION Quaternion_GetScalarMult(QUATERNION q, double t);
 
 /** @brief Divides a quaternion by a real number. */
 void Quaternion_ScalarDiv(QUATERNION *q, double t);
 
 /** @brief Divides a quaternion by a real number. */
-QUATERNION Quaternion_GetScalarDiv(QUATERNION a, double t);
+QUATERNION Quaternion_GetScalarDiv(QUATERNION q, double t);
 
 /** @brief Multiplies two quaternions. */
 QUATERNION Quaternion_Mult(QUATERNION q1, QUATERNION q2);
diff --git a/df_datalink_sp/src/networking/link_layer/link_layer.c b/df_datalink_sp/src/networking/link_layer/link_layer.c
index b1922df..f4aba4b 100644
--- a/df_datalink_sp/src/networking/link_layer/link_layer.c
+++ b/df_datalink_sp/src/networking/link_layer/link_layer.c
@@ -39,7 +39,7 @@
 /***************** Macros (Inline Functions) Definitions *********************/
 /**************************** Type Definitions *******************************/
 /************************** Function Prototypes ******************************/
-static void L2_RcdShift(L2_RCD *rcd, int32_t netxVal);
+static void L2_RcdShift(L2_RCD *rcd, uint32_t netxVal);
 static void UpdateMainSate(L2_INST *instPtr, L2_NODE_STATE newSate);
 static void L2_SetSlotNum(L2_INST *instPtr, uint32_t newSlotNum);
 static void L2_SetFrameNum(L2_INST *instPtr, uint32_t newFrameNum);
@@ -50,7 +50,7 @@ static void L2_FrameStateUpdate(L2_INST *instPtr);
 /**
  * @brief   Shift L2 status record.(newval->next->curr->last)
  */
-inline void L2_RcdShift(L2_RCD *rcd, int32_t netxVal)
+inline void L2_RcdShift(L2_RCD *rcd, uint32_t netxVal)
 {
 	ASSERT(rcd != NULL);
 	rcd->last = rcd->curr;
@@ -132,6 +132,7 @@ static void L2_FrameStateUpdate(L2_INST *instPtr)
 	PHY_INST *phyRef = instPtr->config.phyInstPtr;
 	bool isValid;
 	L2_FRAME_TYPE recvType = L2_GetLastOptFrameType(instPtr);
+	isValid = false;
 	// Update frame state.
 	if (Phy_IsFrameValid(phyRef) == false)
 	{
diff --git a/df_datalink_sp/src/networking/link_layer/link_layer.h b/df_datalink_sp/src/networking/link_layer/link_layer.h
index 15b80bd..cbe8ad2 100644
--- a/df_datalink_sp/src/networking/link_layer/link_layer.h
+++ b/df_datalink_sp/src/networking/link_layer/link_layer.h
@@ -29,7 +29,7 @@
 #include "../../system_monitor.h"
 /************************** Constant Definitions *****************************/
 /***************** Macros (Inline Functions) Definitions *********************/
-#define AssertL2Event(instPtr, event) Linklayer_EventHandler(instPtr, event)
+#define AssertL2Event(instPtr, event) (Linklayer_EventHandler((instPtr), (event)))
 /**************************** Type Definitions *******************************/
 
 /**
diff --git a/df_datalink_sp/src/networking/link_layer/link_layer_types.h b/df_datalink_sp/src/networking/link_layer/link_layer_types.h
index 108fe0d..1e9f46e 100644
--- a/df_datalink_sp/src/networking/link_layer/link_layer_types.h
+++ b/df_datalink_sp/src/networking/link_layer/link_layer_types.h
@@ -145,7 +145,7 @@ typedef enum
 typedef struct
 {
 	L2_EVENT_TYPE event; ///< event type
-	void *msg;			 ///< event message
+	void *msg;			 ///< event message (MUST be a heap item)
 } L2_EVENT;
 
 /**
diff --git a/df_datalink_sp/src/networking/link_layer/node_list.c b/df_datalink_sp/src/networking/link_layer/node_list.c
index 9ae9bfb..7f81c5b 100644
--- a/df_datalink_sp/src/networking/link_layer/node_list.c
+++ b/df_datalink_sp/src/networking/link_layer/node_list.c
@@ -44,7 +44,7 @@ inline uint32_t L2_GetNodeListLen(NODE_LIST *list)
 /**************************** Type Definitions *******************************/
 
 /************************** Variable Definitions *****************************/
-static NODE_ENTRY util_entry;
+static NODE_ENTRY util_entry = { 0 };
 /************************** Function Prototypes ******************************/
 /**
  * @brief	helper function to free node entry.
diff --git a/df_datalink_sp/src/networking/link_layer/scan.c b/df_datalink_sp/src/networking/link_layer/scan.c
index 4d5c882..d66824a 100644
--- a/df_datalink_sp/src/networking/link_layer/scan.c
+++ b/df_datalink_sp/src/networking/link_layer/scan.c
@@ -182,7 +182,7 @@ static void PendCfmAck(L2_SCAN_FSM *scanFsmPtr)
  ******************************************************************************/
 static void StageUpdate(L2_SCAN_FSM *scanFsmPtr, SCAN_STAGE newStage)
 {
-	ASSERT(newStage >= L2_SCAN_NONE_STAGE && newStage <= L2_SCAN_CFM_STAGE);
+	ASSERT((newStage >= L2_SCAN_NONE_STAGE) && (newStage <= L2_SCAN_CFM_STAGE));
 	DBG_INFO("ScanNet current stage: %" PRIu8 " -> ScanNet new stage: %" PRIu8 " \n",
 			 scanFsmPtr->scanStage, newStage);
 	scanFsmPtr->scanStage = newStage;
@@ -270,10 +270,10 @@ static int32_t Scan_AdvHandler(L2_INST *instPtr)
 		{
 			// using pull mode to receive confirm frame
 			// since first time sync procedure is accomplished in ADV stage.
-			Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
-			Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
-			Phy_SetMode(phyRef, 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;
 		}
@@ -287,17 +287,17 @@ static int32_t Scan_AdvHandler(L2_INST *instPtr)
 		if (scanFsmPtr->advTimeout > ADV_LISTEN_TIMEOUT)
 		{
 			/* Antenna steering (reserved, automatically accomplished by physical layer) */
-			Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
-			L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_SCAN_FRAME);
+			(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 steering (reserved, automatically accomplished by physical layer) */
-			Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
-			L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_ADV_FRAME);
+			(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;
 		}
@@ -332,10 +332,10 @@ static int32_t Scan_CfmHandler(L2_INST *instPtr)
 	{
 		// using pull mode to receive confirm frame
 		// since first time sync procedure is accomplished in ADV stage.
-		Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_16);
-		Phy_SetBeamNo(phyRef, scanFsmPtr->beamNo, PHY_ANT_BEAM_16);
-		Phy_SetMode(phyRef, 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;
 	}
@@ -359,7 +359,7 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
 	int32_t Status;
 	uint32_t dataChunk;
 	uint8_t *buff = instPtr->sendPktData;
-	if (type < L2_ADV_FRAME || type > L2_CFM_FRAME)
+	if ((type < L2_ADV_FRAME) || (type > L2_CFM_FRAME))
 	{
 		DBG_ERROR("Unexpected frame type: %" PRId8 ".\n", type);
 		return EPARAM;
@@ -606,7 +606,7 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
 					};
 				newRtneConfig.rtneTable = initTable;
 				newRtneConfig.rtnePrd = ARRAY_SIZE(initTable);
-				AssertL2Event(instPtr, &rtneUpEvent);
+				(void)AssertL2Event(instPtr, &rtneUpEvent);
 			}
 			PendCfmAck(instPtr->scanFSM);
 			// Time sync.
@@ -622,7 +622,7 @@ 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);
 			}
 		}
 
@@ -827,7 +827,7 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
 		if (commNode != NULL)
 		{
-			Phy_SetBeamNo(phyRef, commNode->nodeInfo.beamNo, PHY_ANT_BEAM_16);
+			(void)Phy_SetBeamNo(phyRef, commNode->nodeInfo.beamNo, PHY_ANT_BEAM_16);
 		}
 	}
 	else
@@ -845,7 +845,7 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 			torState = L2_TOR_SUSPEND;
 		}
 		// Setup antenna beam
-		Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_120);
+		(void)Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_120);
 		instPtr->log.lastBeamWidth = PHY_ANT_BEAM_120;
 	}
 
@@ -857,7 +857,7 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 			DBG_ERROR("Only head node can send init-scan Frame.\n");
 			return FAILURE;
 		}
-		L2_SetupNextSlot(instPtr, torState, L2_SCAN_FRAME);
+		(void)L2_SetupNextSlot(instPtr, torState, L2_SCAN_FRAME);
 		break;
 
 	case L2_SLOT_ADVERTISE:
@@ -875,7 +875,7 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 			}
 		}
 		/* Antenna setting (reserved.) */
-		L2_SetupNextSlot(instPtr, torState, L2_ADV_FRAME);
+		(void)L2_SetupNextSlot(instPtr, torState, L2_ADV_FRAME);
 		break;
 
 	case L2_SLOT_CONFIRM:
@@ -896,7 +896,7 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
 			}
 		}
 		/* 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);
diff --git a/df_datalink_sp/src/networking/link_layer/schdevent.c b/df_datalink_sp/src/networking/link_layer/schdevent.c
index 7d6abea..b3a074e 100644
--- a/df_datalink_sp/src/networking/link_layer/schdevent.c
+++ b/df_datalink_sp/src/networking/link_layer/schdevent.c
@@ -365,7 +365,7 @@ void L2_EventPoolHandler(L2_INST *instPtr)
 			if (event->schdFrame == L2_GetCurrentFrameNum(instPtr) && event->schdSlot == L2_GetCurrentSlotNum(instPtr))
 			{
 				DBG_INFO("Asserting scheduled event [%" PRIu32 "].\n", event->eventId);
-				AssertL2Event(instPtr, &(event->l2Event));
+				(void)AssertL2Event(instPtr, &(event->l2Event));
 				if (event->isVolatile == true)
 				{
 					DBG_INFO("Deleting scheduled event [%" PRIu32 "], since it is volatile.\n", event->eventId);
diff --git a/df_datalink_sp/src/networking/phy_layer/phy_antenna.c b/df_datalink_sp/src/networking/phy_layer/phy_antenna.c
index d6bca50..b312688 100644
--- a/df_datalink_sp/src/networking/phy_layer/phy_antenna.c
+++ b/df_datalink_sp/src/networking/phy_layer/phy_antenna.c
@@ -82,7 +82,7 @@ const uint16_t freqTable[L1_FRAME_MAX_HOPS] =
 	2124
 };
 
-const uint16_t antCalTable[L1_FRAME_MAX_HOPS][L1_ANT_NUM_CH] =
+const int16_t antCalTable[L1_FRAME_MAX_HOPS][L1_ANT_NUM_CH] =
 //Antenna-JG01
 {
 	{     0,   2525,  -7533,  -6846}, {     0,  12726,  -7818,  -6860},
@@ -317,7 +317,7 @@ void Phy_SetBeamTable(PHY_INST *instPtr, PHY_ANT_ANGLE *table, uint32_t offset)
  * 			FAILURE beamNo exceeds the table size
  *
  ******************************************************************************/
-int32_t Phy_SetBeamNo(PHY_INST *instPtr, int32_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth)
+int32_t Phy_SetBeamNo(PHY_INST *instPtr, size_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth)
 {
 	ASSERT(instPtr != NULL);
 
@@ -406,8 +406,8 @@ int32_t Phy_SetBeamAngle(PHY_INST *instPtr, double offAx, double rndAx)
 	ASSERT(instPtr != NULL);
 	uint16_t offAxDeg = 0;
 	uint16_t rndAxDeg = 0;
-	offAxDeg = (offAx >= 0) ? (((int32_t)(offAx * 180 / ANT_PI)) % 360) : (((int32_t)(offAx * 180 / ANT_PI)) % 360 + 360);
-	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",
diff --git a/df_datalink_sp/src/networking/phy_layer/phy_layer.c b/df_datalink_sp/src/networking/phy_layer/phy_layer.c
index f7156c1..57d2a15 100644
--- a/df_datalink_sp/src/networking/phy_layer/phy_layer.c
+++ b/df_datalink_sp/src/networking/phy_layer/phy_layer.c
@@ -335,7 +335,7 @@ inline L1_FRAME_TYPE Phy_GetLastRecvFrameType(PHY_INST *instPtr)
 	{
 		return L1_NONE_FRAME;
 	}
-	int32_t frame_type = (PhyRead(instPtr, COASE_FREQEST) & COASE_TYPE_MASK);
+	uint32_t frame_type = (PhyRead(instPtr, COASE_FREQEST) & COASE_TYPE_MASK);
 	switch (frame_type)
 	{
 	case COASE_TYPE_2KBPS_20MS:
@@ -1036,7 +1036,7 @@ void Phy_RefreshHwSate(PHY_INST *instPtr)
 	ASSERT(instPtr != NULL);
 	uint32_t rawData;
 #ifndef EMULATION
-	float evalData;
+	double evalData;
 	instPtr->hwSate.isSpOk = true;
 	// -- Update FPGA voltage status;
 	instPtr->hwSate.spFpgaVolt = 0;
@@ -1259,7 +1259,7 @@ double Phy_GetCoarseFreqEst(PHY_INST *instPtr)
 	double freqEst;
 
 	frameType = Phy_GetLastRecvFrameType(instPtr);
-	if (frameType > L1_1M2BPS_5MS_FRAME || frameType <= L1_NONE_FRAME)
+	if ((frameType > L1_1M2BPS_5MS_FRAME) || (frameType <= L1_NONE_FRAME))
 	{
 		return INFINITY; // FIXME
 	}
@@ -1297,14 +1297,14 @@ double Phy_GetFineFreqEst(PHY_INST *instPtr)
 	double freqEst;
 	L1_FRAME_TYPE frameType;
 	frameType = Phy_GetLastRecvFrameType(instPtr);
-	if (frameType > L1_1M2BPS_5MS_FRAME || frameType <= L1_NONE_FRAME)
+	if ((frameType > L1_1M2BPS_5MS_FRAME) || (frameType <= L1_NONE_FRAME))
 	{
 		return INFINITY; // FIXME
 	}
 
 	regValue = PhyRead(instPtr, FINE_FREQEST);
 	estAbs = regValue & FINE_FREQEST_VAL_MASK;
-	if (frameType >= L1_200KBPS_5MS_FRAME)
+	if ((frameType >= L1_200KBPS_5MS_FRAME))
 	{
 		// 12M Rc
 		freqEst = 48e6 / 2048 * ((double)estAbs) / 8192.0;
diff --git a/df_datalink_sp/src/networking/phy_layer/phy_layer.h b/df_datalink_sp/src/networking/phy_layer/phy_layer.h
index 43c40bb..327de08 100644
--- a/df_datalink_sp/src/networking/phy_layer/phy_layer.h
+++ b/df_datalink_sp/src/networking/phy_layer/phy_layer.h
@@ -34,24 +34,24 @@
  * @name PhysicalLayer_Common_Constant
  * @{
  */
-#define L1_NUM_ANT_NRRW_PATTERN 37
-#define L1_INIT_BEAM_NO 0
+#define L1_NUM_ANT_NRRW_PATTERN 37U
+#define L1_INIT_BEAM_NO 0U
 #define L1_INIT_ANT_WD PHY_ANT_BEAM_120
-#define L1_ANT_NUM_CH 4
+#define L1_ANT_NUM_CH 4U
 
 #define L1_FRAME_NONE_LEN UINT32_MAX  // byte
 #define L1_FRAME_NONE_COMP UINT32_MAX // *10ns(Timer_L)
 #define L1_FRAME_NONE_HOPS UINT32_MAX
-#define L1_FRAME_MAX_HOPS 81
-#define L1_FRAME_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_LOG_EXPIRE 40 // 50*5ms
+#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 *******************************/
@@ -306,7 +306,7 @@ void Phy_AntConfigInit(PHY_ANT_CONFIG *antConfig);
 void Phy_AntConfigMode(PHY_INST *instPtr, PHY_ANT_MODE mode);
 void Phy_SetBeamTable(PHY_INST *instPtr, PHY_ANT_ANGLE *table, uint32_t offset);
 int32_t Phy_SetBeamWidth(PHY_INST *instPtr, PHY_ANT_BEAM_WIDTH beamWidth);
-int32_t Phy_SetBeamNo(PHY_INST *instPtr, int32_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth);
+int32_t Phy_SetBeamNo(PHY_INST *instPtr, size_t beamNo, PHY_ANT_BEAM_WIDTH beamWidth);
 int32_t Phy_SetBeamAngle(PHY_INST *phyInstPtr, double offAx, double rndAx);
 /** @} PhysicalLayer_AntennaControl*/
 
diff --git a/df_datalink_sp/src/networking/phy_layer/phy_reg.h b/df_datalink_sp/src/networking/phy_layer/phy_reg.h
index 1675079..fa64a1e 100644
--- a/df_datalink_sp/src/networking/phy_layer/phy_reg.h
+++ b/df_datalink_sp/src/networking/phy_layer/phy_reg.h
@@ -26,8 +26,8 @@
 #include "util.h"
 
 /***************** Macros (Inline Functions) Definitions *********************/
-#define PhyRead(instPtr, addr) IO_In32((instPtr)->phyCofig.baseAddr + addr)
-#define 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 *****************************/
 /**
diff --git a/df_datalink_sp/src/system_monitor.c b/df_datalink_sp/src/system_monitor.c
index d50c20d..fb8193e 100644
--- a/df_datalink_sp/src/system_monitor.c
+++ b/df_datalink_sp/src/system_monitor.c
@@ -127,6 +127,7 @@ void SysMonitor_Destroy(void)
  */
 void SysMonitor_UpdateSysinfo(const SYSINFO *info)
 {
+	ASSERT(info != NULL);
 	uint8_t buffIndx;
 	buffIndx = GetWritable(sysMonitorInst->sysInfoCtrl);
 	sysMonitorInst->sysInfoCtrl.wBusy = buffIndx;
@@ -143,6 +144,7 @@ void SysMonitor_UpdateSysinfo(const SYSINFO *info)
 void SysMonitor_GetSysinfo(SYSINFO *info)
 {
 	ASSERT(sysMonitorInst != NULL);
+	ASSERT(info != NULL);
 	uint8_t buffIndx, buffIndex_old;
 	buffIndex_old = sysMonitorInst->sysInfoCtrl.rBusy;
 	if (buffIndex_old != BUFF_NONE)
@@ -201,9 +203,13 @@ void SysMonitor_GetSendPayload(uint8_t *buff, uint32_t *id, size_t len)
 	uint8_t buffIndx, buffIndex_old;
 	buffIndex_old = sysMonitorInst->sendCtrl.rBusy;
 	if (buffIndex_old != BUFF_NONE)
+	{
 		buffIndx = buffIndex_old; // Keep it busy
+	}
 	else
+	{
 		buffIndx = GetReadable(sysMonitorInst->sendCtrl);
+	}
 	sysMonitorInst->sendCtrl.rBusy = buffIndx;
 	if (sysMonitorInst->send[buffIndx].dataId != DATA_ID_NONE)
 	{
diff --git a/df_datalink_sp/src/system_monitor.h b/df_datalink_sp/src/system_monitor.h
index f96abbc..6dffefc 100644
--- a/df_datalink_sp/src/system_monitor.h
+++ b/df_datalink_sp/src/system_monitor.h
@@ -54,12 +54,12 @@
 // #define IS_PL_VALID(x) (x <= 1.03 && x >= 0.97)
 // #define IS_PLAUX_VALID(x) (x <= 1.89 && x >= 1.71)
 // #define IS_BRAM_VALID(x) (x <= 1.03 && x >= 0.97)
-#define IS_PS_VALID(x) (x <= 1.1 && x >= 0.9)
-#define IS_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 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)
@@ -194,12 +194,12 @@ typedef struct __attribute__((packed))
 	uint8_t spFpgaVolt;	   ///< Signal processor voltage state indicator
 	uint8_t spClkState;	   ///< Signal processor clock state indicator
 	uint8_t spAdLockState; ///< Signal processor adc lock state indicator
-	uint8_t spAdTemp_0;	   ///< Signal processor adc0 temperature
-	uint8_t spAdTemp_1;	   ///< Signal processor adc1 temperature
-	uint8_t spFpgaTemp;	   ///< Signal processor FPGA temperature
+	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; ///< Antenna voltage state indicator
-	uint8_t antTemp; ///< Antenna rf temperature
+	int8_t antTemp;  ///< Antenna rf temperature
 	uint8_t antPll;	 ///< Antenna rf lock state indicator
 	uint8_t antMgc0; ///< Antenna rf mgc0~1 indicator
 	uint8_t antMgc1; ///< Antenna rf mgc2~3 indicator