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Added documentation for Ethernet #27

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Added documentation for Ethernet #27

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effeb5c
Added documentation for Ethernet
manthanand Apr 30, 2022
91a63ee
changed the Docs- Ethernet Usage part
Siddhant779 Jun 7, 2022
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16 changes: 13 additions & 3 deletions Docs/source/Software/drivers.rst
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Expand Up @@ -11,20 +11,30 @@ Usage

Additional Considerations

Ethernet
Ethernet
========

Purpose

The Ethernet drivers are sending GPS, CAN, and IMU data to the data acquisition team
The Ethernet drivers are sending GPS, CAN, and IMU data to the data acquisition team.
The sunlight is the client while data acquisition is the server

Usage


``Ethernet_Init()`` must be called first as a way to create the Ethernet Queue and create a socket when a connection has been established.
Within the function, ``Ethernet_Init()`` calls the blocking function ``Ethernet_ConnectToServer()`` which is responsible for setting the ``servsocket`` variable to the corresponding socket value.
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You don't really say what the servsocket variable is so you should either add what it is used for or just remove that part of the sentence. This prevents documentation from being unnecessarily wordy.

After ``Ethernet_Init()`` has finished completing, ``Ethernet_SendMessage()`` is called repeatedly. ``Ethernet_SendMessage()`` is a blocking function which waits until there is data in the queue to send that data across ethernet.
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Suggested change
After ``Ethernet_Init()`` has finished completing, ``Ethernet_SendMessage()`` is called repeatedly. ``Ethernet_SendMessage()`` is a blocking function which waits until there is data in the queue to send that data across ethernet.
After ``Ethernet_Init()`` has finished, ``Ethernet_SendMessage()`` is called repeatedly. ``Ethernet_SendMessage()`` is a blocking function which waits until there is data in the queue to send that data across ethernet.

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This isn't a blocking function. Also, although you say that it sends the messages that are in the queue, you don't say how to put messages in the queue.

The data that is sent across Ethernet is in a struct called EthernetMSG_t which contains specific information of either IMU, GPS, or CAN type.
The struct consists of an id enum, length, and a union of data regardless of the type of data.
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I would get rid of the last line, the zero padding is indeterminate based on the compiler used. Also anyone should be able to read the header file and figure it out.

Since the data is in a union, there will be zero padding at the MSB.

Additional Considerations

Sunlight could have been implemented as a server instead of a client. This implementation would make more sense if Ethernet had the option of sending
messages to multiple clients. The way that it is implemented, Sunlight is trying to connect to Data acquisition so that it can send information.
As sunlight as the server, data acquisition would try and connect to sunlight in order to send information. In order to implement these changes, both
``Ethernet_ConnectToServer()`` and ``Ethernet_Init()`` would need to be changed so that it waits for a client to connect and send messages to that specific client.



Inertial Measurement Unit (IMU)
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