text: #include "nlink_linktrack_nodeframe3.h"
  
  #include "nlink_utils.h"
  
  NLINK_PACKED(typedef struct {
    uint8_t role;
    uint8_t id;
    nint24_t dis;
    uint8_t fp_rssi;
    uint8_t rx_rssi;
  })
  nlt_nodeframe3_node_raw_t;
  
  NLINK_PACKED(typedef struct {
    uint8_t header[2];
    uint16_t frame_length;
    uint8_t role;
    uint8_t id;
    uint32_t local_time;
    uint32_t system_time;
    uint8_t reserved0[4];
    uint16_t voltage;
    uint8_t valid_node_count;
    // nodes...
    // uint8_t checkSum;
  })
  nlt_nodeframe3_raw_t;
  
  static nlt_nodeframe3_raw_t g_frame;
  
  static uint8_t UnpackData(const uint8_t *data, size_t data_length)
  {
    if (data_length < g_nlt_nodeframe3.fixed_part_size ||
        data[0] != g_nlt_nodeframe3.frame_header ||
        data[1] != g_nlt_nodeframe3.function_mark)
      return 0;
    size_t frame_length = NLINK_PROTOCOL_LENGTH(data);
    if (data_length < frame_length)
      return 0;
    if (!NLINK_VerifyCheckSum(data, frame_length))
      return 0;
  
    static uint8_t init_needed = 1;
    if (init_needed)
    {
      memset(g_nlt_nodeframe3.result.nodes, 0,
             sizeof(g_nlt_nodeframe3.result.nodes));
      init_needed = 0;
    }
  
    memcpy(&g_frame, data, g_nlt_nodeframe3.fixed_part_size);
    g_nlt_nodeframe3.result.role = g_frame.role;
    g_nlt_nodeframe3.result.id = g_frame.id;
    g_nlt_nodeframe3.result.local_time = g_frame.local_time;
    g_nlt_nodeframe3.result.system_time = g_frame.system_time;
    g_nlt_nodeframe3.result.voltage = g_frame.voltage / MULTIPLY_VOLTAGE;
  
    g_nlt_nodeframe3.result.valid_node_count = g_frame.valid_node_count;
    nlt_nodeframe3_node_raw_t raw_node;
    for (size_t i = 0; i < g_frame.valid_node_count; ++i)
    {
      TRY_MALLOC_NEW_NODE(g_nlt_nodeframe3.result.nodes[i], nlt_nodeframe3_node_t)
  
      memcpy(&raw_node,
             data + g_nlt_nodeframe3.fixed_part_size +
                 i * sizeof(nlt_nodeframe3_node_raw_t),
             sizeof(nlt_nodeframe3_node_raw_t));
  
      nlt_nodeframe3_node_t *node = g_nlt_nodeframe3.result.nodes[i];
      node->role = raw_node.role;
      node->id = raw_node.id;
      node->dis = NLINK_ParseInt24(raw_node.dis) / MULTIPLY_DIS;
      node->fp_rssi = raw_node.fp_rssi / MULTIPLY_RSSI;
      node->rx_rssi = raw_node.rx_rssi / MULTIPLY_RSSI;
    }
    return 1;
  }
  
  nlt_nodeframe3_t g_nlt_nodeframe3 = {.fixed_part_size = 21,
                                       .frame_header = 0x55,
                                       .function_mark = 0x05,
                                       .UnpackData = UnpackData};
  