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feat: 完成扫描建网大框架修改

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This commit is contained in:
josh
2025-05-19 16:29:26 +08:00
parent 0339fd03c3
commit 6b5ab3dc59
7 changed files with 184 additions and 522 deletions
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df_datalink_ge/src/main.c
+1 -1
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@@ -341,7 +341,7 @@ void Phy_IntrHandler(void *context)
/****************************************************************************/
/**
* Handler of periodic 5ms interrupt
* Handler of periodic 2 ms interrupt
*
* @param callBackRef is the linklayer instance pointer.
*
df_datalink_sp/src/networking/link_layer/link_layer.c
+25 -1
View File
@@ -439,6 +439,30 @@ L1_FRAME_TYPE L2_L2frame2L1frame(L2_FRAME_TYPE l2Frame, L2_SVC_RATE l2SvcRate)
}
}
/*****************************************************************************/
/**
* @brief Convert antenna broadcast id to antenna index
*
* @param antId
*
* @return Physical antenna index.
*
******************************************************************************/
PHY_ANT_INDEX L2_AntId2AntIndex(uint8_t antId)
{
switch (antId)
{
case L2_BROADCAST_ID1:
return PHY_ANT_INDEX_1;
case L2_BROADCAST_ID2:
return PHY_ANT_INDEX_2;
case L2_BROADCAST_ID3:
return PHY_ANT_INDEX_3;
default:
return PHY_ANT_INDEX_NONE;
}
}
/** @} LinkLayer_Utility*/
/**
@@ -682,7 +706,7 @@ void Linklayer_Destroy(L2_INST *instPtr)
int32_t Linklayer_Start(L2_INST *instPtr)
{
ASSERT(instPtr != NULL);
// Set netStartTime at first call.
// Set netStartTime at first call, i.e. at the beginning of next time unit.
if (instPtr->netStartTime == NET_START_TIME_INFTY)
{
instPtr->netStartTime = TimeCtrl_GetIntCnt(instPtr->config.tmcInstPtr) / L2_SLOTS_PER_FRAME + 1;
df_datalink_sp/src/networking/link_layer/link_layer.h
+1
View File
@@ -226,6 +226,7 @@ uint32_t L2_GetNextSlotNum(L2_INST *instPtr);
L2_FRAME_TYPE L2_GetNextFrameType(L2_INST *instPtr);
L2_TOR_TYPE L2_GetNextTor(L2_INST *instPtr);
L1_FRAME_TYPE L2_L2frame2L1frame(L2_FRAME_TYPE l2Frame, L2_SVC_RATE l2SvcRate);
PHY_ANT_INDEX L2_AntId2AntIndex(uint8_t antId);
/** @} LinkLayer_Utility*/
#endif /* __LINK_LAYER_H_ */
df_datalink_sp/src/networking/link_layer/link_layer_types.h
+9 -28
View File
@@ -33,7 +33,9 @@
* @{
*/
// Common node ID definition
#define L2_BROADCAST_ID 0xFF
#define L2_BROADCAST_ID1 0xF1 // broadcast
#define L2_BROADCAST_ID2 0xF2
#define L2_BROADCAST_ID3 0xF4
#define L2_NONE_ID 0
// Routine configure
@@ -45,7 +47,7 @@
#define L2_FRAMENO_NONE 0
// Common number of slots definition
#define L2_SLOTS_PER_FRAME 500 // 2 ms per slot, 1 s per time unit (frame)
#define L2_SLOTS_PER_FRAME 250 // 2 ms per slot, 250 slots per time unit
/** @} Linklayer_Common_Constants*/
@@ -106,7 +108,7 @@ typedef struct
uint8_t clustId; ///< node cluster ID
uint8_t headId; ///< cluster head ID
L2_NODE_TYPE nodeType; ///< node type
uint8_t antNo; ///< antenna number to this node
uint8_t antIndex; ///< antenna number to this node
COORD pos; ///< node position
COORD speed; ///< node speed
QUATERNION attitude; ///< node attitude
@@ -142,7 +144,7 @@ typedef struct
} L2_EVENT;
/**
* @enum L2_SLOT_INTER_TYPE
* @enum L2_SLOT_TYPE
*/
typedef enum
{
@@ -154,22 +156,7 @@ typedef enum
L2_SLOT_MANAGE = 5,
L2_SLOT_RTT = 6,
L2_SLOT_SERVICE = 7
} L2_SLOT_INTER_TYPE;
/**
* @enum L2_SLOT_INNER_TYPE
*/
typedef enum
{
L2_SLOT_NONE = 0,
L2_SLOT_IDLE = 1,
L2_SLOT_ADVERTISE = 2,
L2_SLOT_ACKNOWLEDGE = 3,
L2_SLOT_DISTRIBUTE = 4,
L2_SLOT_MANAGE = 5,
L2_SLOT_RTT = 6,
L2_SLOT_SERVICE = 7
} L2_SLOT_INNER_TYPE;
} L2_SLOT_TYPE;
/**
* @enum L2_FRAME_TYPE
@@ -225,8 +212,7 @@ typedef struct
typedef enum
{
L2_SCAN_STAGE_NONE = 0,
L2_SCAN_STAGE_ADV = 1,
L2_SCAN_STAGE_ACK = 2
L2_SCAN_STAGE_ADV = 1
} SCAN_STAGE;
/**
@@ -236,13 +222,8 @@ typedef enum
typedef struct
{
bool isAdvRecvd; ///< indicates if advertisement frame done(antenna locked).
bool isAckPending; ///< indicates if confirm message acked
uint8_t scanCnt; ///< scan count
uint8_t advTimeout; ///< adv receive try count
uint8_t ackTimeout; ///< ack receive try count
SCAN_STAGE scanStage; ///< scan stage, only for member node
uint8_t advCnt; ///< adv receive try count
uint8_t antIndex; ///< target antenna index
uint8_t tableNo; ///< scan table index
} L2_SCAN_FSM;
/**
df_datalink_sp/src/networking/link_layer/node_list.c
+1 -1
View File
@@ -198,7 +198,7 @@ NODE_ENTRY *L2_AppendNode(NODE_LIST *list, uint8_t nodeId, L2_NODE_TYPE nodeType
nodeEntry->nodeInfo.speed.x = 0;
nodeEntry->nodeInfo.speed.y = 0;
nodeEntry->nodeInfo.speed.z = 0;
nodeEntry->nodeInfo.beamNo = 0;
nodeEntry->nodeInfo.antIndex = 0;
nodeEntry->ttlCnt = 0;
clist_rpush(list, node);
return nodeEntry;
df_datalink_sp/src/networking/link_layer/scan.c
+155 -499
View File
@@ -31,122 +31,20 @@
#include "../phy_layer/phy_layer.h"
/************************** Constant Definitions *****************************/
#define ADV_LISTEN_TIMEOUT 40
#define CFM_LISTEN_TIMEOUT 5
#define ADV_FRAME_SLOTS 4
#define CFM_FRAME_SLOTS 5
#define ACK_FRAME_SLOTS 4
/***************** 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_ANT_PATTERN_NUM] =
{
{.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_ANT_PATTERN_NUM] =
{
{.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);
static void StageUpdate(L2_SCAN_FSM *scanFsmPtr, SCAN_STAGE newStage);
static void PendCfmAck(L2_SCAN_FSM *scanFsmPtr);
static int32_t Scan_InitScanHandler(L2_INST *instPtr);
static int32_t Scan_AdvHandler(L2_INST *instPtr);
static int32_t Scan_CfmHandler(L2_INST *instPtr);
static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dstId);
/**
* @brief Update Init-Scan lock state.
*/
static inline void LockStateUpdate(L2_SCAN_FSM *scanFsmPtr, bool state)
{
ASSERT(scanFsmPtr != NULL);
DBG_INFO("Update BeamLockState from [%" PRId8 "] to [%" PRId8 "].\n",
scanFsmPtr->isLocked, state);
scanFsmPtr->isLocked = state;
return;
}
/**
* @brief Update Base-info Advertisement state.
*/
@@ -159,91 +57,13 @@ static void AdvRecvStateUpdate(L2_SCAN_FSM *scanFsmPtr, bool state)
return;
}
/**
* @brief Update 2-Way Acquisition ack state.
*/
static void PendCfmAck(L2_SCAN_FSM *scanFsmPtr)
{
ASSERT(scanFsmPtr != NULL);
DBG_INFO("Pending Cfm-Ack...\n");
scanFsmPtr->isAckPending = true;
return;
}
/*****************************************************************************/
/**
* @brief Update current Scan-Net stage
*
* @param scanFsmPtr A pointer to scan net fsm.
* newStage New state.
*
* @return NONE.
*
******************************************************************************/
static void StageUpdate(L2_SCAN_FSM *scanFsmPtr, SCAN_STAGE newStage)
{
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;
}
/*****************************************************************************/
/**
* @brief Member node scan net InitScan stage handler.
*
* @param instPtr A pointer to l2 instance
*
* @return used slot (5ms slot).
*
******************************************************************************/
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)
{
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 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.
*
* @param scanFsmPtr A pointer to scan net fsm.
* mainState A pointer to main node state.
*
* @return used slot (5ms slot).
* @return used slot (2 ms slot).
*
******************************************************************************/
static int32_t Scan_AdvHandler(L2_INST *instPtr)
@@ -252,92 +72,29 @@ static int32_t Scan_AdvHandler(L2_INST *instPtr)
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);
DBG_INFO("** Net-Setup - Advertisement Procedure (Attempts: %" PRIu8 ") **\n", scanFsmPtr->advCnt);
// if received a valid bm frame.
if (scanFsmPtr->isAdvRecvd == true)
{
// last scan beam number
scanFsmPtr->beamNo = Phy_LastScanBeamNo(phyRef);
// reset listen counter.
scanFsmPtr->advTimeout = 0;
// antenna index from listening state
scanFsmPtr->antIndex = Phy_ListenAntIndex(phyRef);
// 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)
// start a acknowledge frame reception if in the target slot
if ((TimeCtrl_GetIntCnt(tmcRef) + 1) % ACK_FRAME_SLOTS == 0) // FIXME: correct?
{
// using pull mode to receive confirm frame
// using pull mode to transmit 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_SetAntIndex(phyRef, scanFsmPtr->antIndex);
(void)Phy_SetMode(phyRef, PHY_MODE_POLL);
(void)L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_CFM_FRAME);
scanFsmPtr->cfmTimeout++; // increase counter.
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
(void)L2_SetupNextSlot(instPtr, L2_TOR_TX, L2_FRAME_ACK);
}
// otherwise skip...
return SUCCESS;
}
// no valid bm frame was received.
else
{
/* if time out reached, go back to init scan stage. */
if (scanFsmPtr->advTimeout > ADV_LISTEN_TIMEOUT)
{
/* 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");
(void)L2_Scan_Reset(scanFsmPtr);
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
}
else
{
/* 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;
}
}
/*****************************************************************************/
/**
* @brief Scan net 2Way-Acq stage handler.
*
* @param instPtr a pointer to linklayer layer instance
*
* @return used slot (5ms slot).
*
******************************************************************************/
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.
if (scanFsmPtr->cfmTimeout >= CFM_LISTEN_TIMEOUT)
{
DBG_WARNING("Cmf timeout, restart net scan from L2_SCAN_INIT_STAGE.\n");
L2_Scan_Reset(scanFsmPtr);
return SUCCESS;
}
if (L2_GetNextSlotNum(instPtr) % 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_POLL);
(void)L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_CFM_FRAME);
scanFsmPtr->cfmTimeout++; // increase counter.
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_16;
(void)L2_SetupNextSlot(instPtr, L2_TOR_RX, L2_FRAME_ADV);
scanFsmPtr->advCnt++;
}
return SUCCESS;
}
@@ -376,9 +133,9 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
L2_FrameInsertChunk(buff, L2_MSG_DST_ID, L2_MSG_DST_ID_LEN, &dataChunk);
switch (type)
{
case L2_ADV_FRAME:
case L2_FRAME_ADV:
{
dataChunk = L2_ADV_FRAME;
dataChunk = L2_FRAME_ADV;
L2_FrameInsertChunk(buff, L2_MSG_TYPE, L2_MSG_TYPE_LEN, &dataChunk);
SysMonitor_GetSysinfo(&(instPtr->sysInfo));
@@ -399,9 +156,9 @@ static int32_t ScanMsg_Packing(L2_INST *instPtr, L2_FRAME_TYPE type, uint8_t dst
}
break;
}
case L2_CFM_FRAME:
case L2_FRAME_ACK:
{
dataChunk = L2_CFM_FRAME;
dataChunk = L2_FRAME_ACK;
L2_FrameInsertChunk(buff, L2_MSG_TYPE, L2_MSG_TYPE_LEN, &dataChunk);
SysMonitor_GetSysinfo(&(instPtr->sysInfo));
@@ -468,31 +225,29 @@ 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_NONE_FRAME;
L2_FRAME_TYPE frameType = L2_FRAME_NONE;
L2_FrameGetChunk(msg, L2_MSG_TYPE, L2_MSG_TYPE_LEN, &frameType);
switch (frameType)
{
case L2_SCAN_FRAME:
case L2_ADV_FRAME:
case L2_FRAME_ADV:
{
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");
DBG_ERROR("Unexpected call from head node, only member Node can handle L2_FRAME_ADV.\n");
Status = EUNEXP;
break;
}
uint8_t nodeId;
L2_FrameGetChunk(msg, L2_MSG_SRC_ID, L2_MSG_SRC_ID_LEN, &nodeId);
L2_MSG_ADV *message = msg;
// Update node status.
uint8_t nodeId = message->common.src;
NODE_ENTRY *node;
node = L2_GetNodeById(instPtr->nodeList, nodeId);
if (node == NULL)
{
node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_HEAD);
if (node == NULL)
{
DBG_ERROR("Failed to append new node [id: %" PRId8 "]", nodeId);
@@ -501,30 +256,26 @@ 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;
L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_POSY, L2_MSG_ADV_SRC_POSY_LEN, &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.beamNo = Phy_LastScanBeamNo(instPtr->config.phyInstPtr);
node->nodeInfo.pos.x = message->srcPosX;
node->nodeInfo.pos.y = message->srcPosY;
node->nodeInfo.pos.z = message->srcPosZ;
node->nodeInfo.antIndex = Phy_ListenAntIndex(instPtr->config.phyInstPtr);
// Reset node ttl
node->ttlCnt = 0;
uint32_t netstartTime;
// Update net start time.
L2_FrameGetChunk(msg, L2_MSG_ADV_SRC_NETSTART_TIME, L2_MSG_ADV_SRC_NETSTART_TIME_LEN, &netstartTime);
L2_EVENT netSetupDoneEvent = {
uint32_t netstartTime = message->srcNetStatTime;
L2_EVENT netSetupDoneEvent =
{
.event = L2_EV_NET_ADV_UPDATE,
.msg = &netstartTime};
.msg = &netstartTime
};
AssertL2Event(instPtr, &netSetupDoneEvent);
// Calculate time deviation
uint32_t frameNum, slotNum = 0;
L2_FrameGetChunk(msg, L2_MSG_FRAME_NUM, L2_MSG_FRAME_NUM_LEN, &frameNum);
L2_FrameGetChunk(msg, L2_MSG_SLOT_NUM, L2_MSG_SLOT_NUM_LEN, &slotNum);
uint32_t frameNum = message->common.frameNum;
uint32_t slotNum = (uint32_t)message->common.slotNum;
Status = L2_GetTimeDeviation(instPtr, frameNum, slotNum, true, &(instPtr->log.timeDev));
if (Status != SUCCESS)
{
@@ -532,70 +283,15 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
break;
}
// Time sync.
L2_TimeAdjust(instPtr, &(instPtr->log.timeDev));
// trigger flag
AdvRecvStateUpdate(scanFsmPtr, true);
Status = SUCCESS;
break;
}
case L2_CFM_FRAME:
{
uint8_t nodeId;
L2_FrameGetChunk(msg, L2_MSG_SRC_ID, L2_MSG_SRC_ID_LEN, &nodeId);
NODE_ENTRY *node;
node = L2_GetNodeById(instPtr->nodeList, nodeId);
if (node == NULL)
{
node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
if (node == NULL)
{
DBG_ERROR("Failed to append new node [id: %" PRId8 "]", nodeId);
Status = ENOMEM;
break;
}
}
// 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;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_POSY, L2_MSG_CFM_SRC_POSY_LEN, &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;
float nodeSpeed;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDX, L2_MSG_CFM_SRC_SPEEDX_LEN, &nodeSpeed);
node->nodeInfo.speed.x = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDY, L2_MSG_CFM_SRC_SPEEDY_LEN, &nodeSpeed);
node->nodeInfo.speed.y = (double)nodePos;
L2_FrameGetChunk(msg, L2_MSG_CFM_SRC_SPEEDZ, L2_MSG_CFM_SRC_SPEEDZ_LEN, &nodeSpeed);
node->nodeInfo.speed.z = (double)nodePos;
// Reset node ttl
node->ttlCnt = 0;
// Calculate time deviation
uint32_t frameNum, slotNum = 0;
L2_FrameGetChunk(msg, L2_MSG_FRAME_NUM, L2_MSG_FRAME_NUM_LEN, &frameNum);
L2_FrameGetChunk(msg, L2_MSG_SLOT_NUM, L2_MSG_SLOT_NUM_LEN, &slotNum);
Status = L2_GetTimeDeviation(instPtr, frameNum, slotNum, true, &(instPtr->log.timeDev));
if (Status != SUCCESS)
{
DBG_ERROR("Failed to compute time deviation.\n")
break;
}
if (L2_GetNodeType(instPtr) != L2_NODE_HEAD)
{
// check if net setup finished.
if (L2_isCxn2Net(instPtr) == false)
{
// Assert Net-Setup Done.
L2_EVENT l2Event;
l2Event.event = L2_EV_NET_SETUP_DONE;
l2Event.msg = NULL;
AssertL2Event(instPtr, &l2Event);
L2_EVENT l2Event = {
.event = L2_EV_NET_SETUP_DONE,
.msg = NULL
};
(void)AssertL2Event(instPtr, &l2Event);
// Assert update routine event...
L2_RTNE_CONFIG newRtneConfig = {0};
@@ -608,14 +304,69 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
newRtneConfig.rtnePrd = ARRAY_SIZE(initTable);
(void)AssertL2Event(instPtr, &rtneUpEvent);
}
PendCfmAck(instPtr->scanFSM);
// Time sync.
L2_TimeAdjust(instPtr, &(instPtr->log.timeDev));
// Get data payload
uint32_t dataId = message->advDataId;
SysMonitor_UpdateRecvPayload(message->advData, dataId, L2_PAYLOAD_LEN_ADV);
// Logging...
memcpy(instPtr->log.rxLog.data, msg, Phy_GetFrameLen(L2_L2frame2L1frame(L2_FRAME_ADV, L2_SVC_NONE)));
instPtr->log.rxLog.dataId = dataId;
// trigger flag
AdvRecvStateUpdate(scanFsmPtr, true);
Status = SUCCESS;
break;
}
else
case L2_FRAME_ACK:
{
if (L2_GetMainState(instPtr) == L2_INIT_STATE
&& L2_GetNodeListLen(instPtr->nodeList) >= instPtr->config.netScale - 1)
if (L2_GetNodeType(instPtr) == L2_NODE_MEMBER)
{
DBG_ERROR("Unexpected call from member node, only head Node can handle L2_FRAME_ACK.\n");
Status = EUNEXP;
break;
}
L2_MSG_ACK *message = msg;
// Update node status.
uint8_t nodeId = message->common.src;
NODE_ENTRY *node;
node = L2_GetNodeById(instPtr->nodeList, nodeId);
if (node == NULL)
{
node = L2_AppendNode(instPtr->nodeList, nodeId, L2_NODE_MEMBER);
if (node == NULL)
{
DBG_ERROR("Failed to append new node [id: %" PRId8 "]", nodeId);
Status = ENOMEM;
break;
}
}
// Update node info.
node->nodeInfo.pos.x = message->srcPosX;
node->nodeInfo.pos.y = message->srcPosY;
node->nodeInfo.pos.z = message->srcPosZ;
node->nodeInfo.speed.x = message->srcSpeedX;
node->nodeInfo.speed.y = message->srcSpeedY;
node->nodeInfo.speed.z = message->srcSpeedZ;
// Reset node ttl
node->ttlCnt = 0;
// Calculate time deviation
uint32_t frameNum = message->common.frameNum;
uint32_t slotNum = (uint32_t)message->common.slotNum;
Status = L2_GetTimeDeviation(instPtr, frameNum, slotNum, true, &(instPtr->log.timeDev));
if (Status != SUCCESS)
{
DBG_ERROR("Failed to compute time deviation.\n")
break;
}
if (L2_GetMainState(instPtr) == L2_INIT_STATE) // FIXME: state switch should follow routing table
{
// Assert Net-Setup Done.
L2_EVENT l2Event;
@@ -624,23 +375,13 @@ int32_t L2_Scan_PktHandler(L2_INST *instPtr, uint8_t *msg)
l2Event.msg = &newState;
(void)AssertL2Event(instPtr, &l2Event);
}
}
// Get data payload
uint32_t dataId;
L2_FrameGetChunk(msg, L2_MSG_CFM_PAYLOAD_ID, L2_MSG_CFM_PAYLOAD_ID_LEN, &dataId);
if (L2_GetNodeType(instPtr) == L2_NODE_HEAD)
{
SysMonitor_UpdateRecvPayload(msg + L2_MSG_CFM_PAYLOAD, dataId, PAYLOAD_LEN_FLJ_RX);
}
else
{
SysMonitor_UpdateRecvPayload(msg + L2_MSG_CFM_PAYLOAD, dataId, PAYLOAD_LEN_LJ_RX);
}
uint32_t dataId = message->advDataId;
SysMonitor_UpdateRecvPayload(message->advData, dataId, L2_PAYLOAD_LEN_ADV);
// Logging...
memcpy(instPtr->log.rxLog.data, msg, L2_CMF_PACK_LEN);
memcpy(instPtr->log.rxLog.data, msg, Phy_GetFrameLen(L2_L2frame2L1frame(L2_FRAME_ACK, L2_SVC_NONE)));
instPtr->log.rxLog.dataId = dataId;
Status = SUCCESS;
@@ -673,8 +414,7 @@ int32_t L2_Scan_Init(L2_SCAN_FSM **scanFSMPtr)
return ENOMEM;
}
L2_Scan_Reset(*scanFSMPtr);
(*scanFSMPtr)->beamNo = 0;
(*scanFSMPtr)->tableNo = 0;
(*scanFSMPtr)->antIndex = 0;
return SUCCESS;
}
@@ -693,10 +433,8 @@ void L2_Scan_Reset(L2_SCAN_FSM *scanFSMPtr)
scanFSMPtr->isLocked = false;
scanFSMPtr->isAdvRecvd = false;
scanFSMPtr->isAckPending = false;
scanFSMPtr->scanCnt = 0;
scanFSMPtr->advTimeout = 0;
scanFSMPtr->advCnt = 0;
scanFSMPtr->cfmTimeout = 0;
scanFSMPtr->scanStage = L2_SCAN_NONE_STAGE;
}
/*****************************************************************************/
@@ -713,39 +451,13 @@ 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;
}
}
/*****************************************************************************/
/**
* @brief Execute a member node scan net procedure.
*
* @param instPtr a pointer to linklayer layer instance
*
* @return used slot (5ms slot).
* @return used slot (2 ms slot).
*
******************************************************************************/
int32_t L2_Scan_Proc(L2_INST *instPtr)
@@ -758,27 +470,9 @@ int32_t L2_Scan_Proc(L2_INST *instPtr)
}
int32_t Status;
DBG_INFO("-------- ScanNet Process --------\n");
switch (scanFSM->scanStage)
{
case L2_SCAN_NONE_STAGE:
/* Start Scan. */
StageUpdate(scanFSM, L2_SCAN_INIT_STAGE);
Status = Scan_InitScanHandler(instPtr);
break;
case L2_SCAN_INIT_STAGE:
Status = Scan_InitScanHandler(instPtr);
break;
case L2_SCAN_ADV_STAGE:
Status = Scan_AdvHandler(instPtr);
break;
case L2_SCAN_CFM_STAGE:
Status = Scan_CfmHandler(instPtr);
break;
default:
DBG_ERROR("Unexpected scan net stage: %" PRId8 ".\n", scanFSM->scanStage);
Status = FAILURE;
break;
}
return Status;
}
@@ -789,7 +483,7 @@ int32_t L2_Scan_Proc(L2_INST *instPtr)
*
* @param rtneEntry Routine configuration
*
* @return used slot (5ms slot).
* @return used slot (2 ms slot).
*
******************************************************************************/
int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
@@ -797,106 +491,68 @@ int32_t L2_Scan_Routine(L2_INST *instPtr, const L2_RTNE_TABLE_ENTRY *rtneEntry)
ASSERT(instPtr != NULL);
L2_TOR_TYPE torState;
const NODE_ENTRY *commNode;
PHY_ANT_INDEX antIndex;
PHY_INST *phyRef = instPtr->config.phyInstPtr;
DBG_INFO("-------- Scan Routine --------\n");
if (rtneEntry->slotSeq != 0)
{
return SUCCESS; // skip
}
if (L2_GetNodeType(instPtr) != L2_NODE_HEAD)
{
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
{
if (rtneEntry->dst == L2_GetNodeId(instPtr))
{
torState = L2_TOR_RX;
}
else if (rtneEntry->src == L2_GetNodeId(instPtr))
{
torState = L2_TOR_TX;
}
else
{
torState = L2_TOR_SUSPEND;
}
// Setup antenna beam
(void)Phy_SetBeamWidth(phyRef, PHY_ANT_BEAM_120);
instPtr->log.lastBeamWidth = PHY_ANT_BEAM_120;
return SUCCESS; // skip other slots, only process in the 1st slot
}
switch (rtneEntry->slotType)
{
case L2_SLOT_SCAN:
if (L2_GetNodeType(instPtr) != L2_NODE_HEAD && torState == L2_TOR_TX)
{
DBG_ERROR("Only head node can send init-scan Frame.\n");
return FAILURE;
}
(void)L2_SetupNextSlot(instPtr, torState, L2_SCAN_FRAME);
break;
case L2_SLOT_ADVERTISE:
if (torState == L2_TOR_TX)
if (L2_GetNodeType(instPtr) == L2_NODE_HEAD && rtneEntry->src == L2_GetNodeId(instPtr))
{
if (L2_GetNodeType(instPtr) != L2_NODE_HEAD)
{
DBG_ERROR("Only head node can send ADV Frame.\n");
return FAILURE;
}
memset(instPtr->sendPktData, 0xAA, L2_PACK_LEN_MAX);
if (ScanMsg_Packing(instPtr, L2_ADV_FRAME, rtneEntry->dst) != SUCCESS)
{
return FAILURE;
}
}
/* Antenna setting (reserved.) */
(void)L2_SetupNextSlot(instPtr, torState, L2_ADV_FRAME);
break;
antIndex = L2_AntId2AntIndex(rtneEntry->dst); // antenna selection based on broadcast id in routing table
torState = L2_TOR_TX; // head node transmits messages in advertise slot
case L2_SLOT_CONFIRM:
if (torState == L2_TOR_TX)
{
if (L2_GetNodeType(instPtr) != L2_NODE_HEAD)
{
if (instPtr->scanFSM->isAckPending == false)
{
DBG_INFO("Member node has no pending CFM-Ack frame.\n");
break;
}
}
memset(instPtr->sendPktData, 0xAA, L2_PACK_LEN_MAX);
if (ScanMsg_Packing(instPtr, L2_CFM_FRAME, rtneEntry->dst) != SUCCESS)
if (ScanMsg_Packing(instPtr, L2_FRAME_ADV, rtneEntry->dst) != SUCCESS)
{
return FAILURE;
}
}
/* Antenna setting (reserved.) */
(void)L2_SetupNextSlot(instPtr, torState, L2_CFM_FRAME);
else if (L2_GetNodeType(instPtr) == L2_NODE_MEMBER)
{
commNode = L2_GetNodeById(instPtr->nodeList, rtneEntry->src);
antIndex = commNode->nodeInfo.antIndex; // antenna selection based on node list
torState = L2_TOR_RX; // member node receives message in advertise slot
}
else
{
DBG_ERROR("Unsupported node type" PRId8 "or wrong routine table in L2_SLOT_ADVERTISE.\n", L2_GetNodeType(instPtr));
return FAILURE;
}
(void)Phy_SetAntIndex(instPtr->config.phyInstPtr, antIndex);
(void)L2_SetupNextSlot(instPtr, torState, L2_FRAME_ADV);
break;
case L2_SLOT_ACKNOWLEDGE:
if (L2_GetNodeType(instPtr) == L2_NODE_HEAD && rtneEntry->dst == L2_GetNodeId(instPtr))
{
antIndex = PHY_ANT_INDEX_NONE; // FIXME: is antenna index necessary here?
torState = L2_TOR_RX; // head node receives messages in acknowledge slot
}
else if (L2_GetNodeType(instPtr) == L2_NODE_MEMBER)
{
commNode = L2_GetNodeById(instPtr->nodeList, rtneEntry->src);
antIndex = commNode->nodeInfo.antIndex; // antenna selection based on node list
torState = L2_TOR_TX; // member node transmits message in acknowledge slot
memset(instPtr->sendPktData, 0xAA, L2_PACK_LEN_MAX);
if (ScanMsg_Packing(instPtr, L2_FRAME_ACK, rtneEntry->dst) != SUCCESS)
{
return FAILURE;
}
}
else
{
DBG_ERROR("Unsupported node type" PRId8 "or wrong routine table in L2_SLOT_ACKNOWLEDGE.\n", L2_GetNodeType(instPtr));
return FAILURE;
}
(void)Phy_SetAntIndex(instPtr->config.phyInstPtr, antIndex);
(void)L2_SetupNextSlot(instPtr, torState, L2_FRAME_ACK);
break;
default:
DBG_ERROR("Cannot start a routine for slot type [%" PRId8 "] properly.\n", rtneEntry->slotType);
df_datalink_sp/src/system_monitor.h
+1 -1
View File
@@ -184,7 +184,7 @@ typedef struct __attribute__((packed))
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 rfMode; ///< current rf working mode
uint8_t antControl; ///< current antenna rf mode
uint8_t reserve[3]; ///< reserved data
} PHYLOG;