HAPSRG / UsaPack

usapack public

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

UsaPack.hpp@12:11a62ab9bfed, 23 months ago (annotated)

Committer:
NaotoMorita
Date:
Tue Jul 05 02:54:39 2022 +0000
Revision:
12:11a62ab9bfed
Parent:
9:7d39154143a1 
serial public

Who changed what in which revision?

UserRevisionLine numberNew contents of line
cocorlow 0:8adbff0ff843 1 #ifndef __USAPACK_HPP__
cocorlow 0:8adbff0ff843 2 #define __USAPACK_HPP__
cocorlow 0:8adbff0ff843 3
cocorlow 0:8adbff0ff843 4 #include "mbed.h"
cocorlow 0:8adbff0ff843 5
cocorlow 7:bc00f60af715 6 #define receive_size 256
cocorlow 7:bc00f60af715 7 #define package_types 64
cocorlow 7:bc00f60af715 8 #define send_size 256
cocorlow 7:bc00f60af715 9
cocorlow 0:8adbff0ff843 10 class UsaPack
cocorlow 0:8adbff0ff843 11 {
cocorlow 0:8adbff0ff843 12 private:
cocorlow 3:526f824b50ef 13 char receive_buffer[receive_size];
cocorlow 3:526f824b50ef 14 volatile int receive_index;
cocorlow 3:526f824b50ef 15 volatile int package_index;
cocorlow 3:526f824b50ef 16 volatile int package_address[package_types];
cocorlow 3:526f824b50ef 17 volatile int package_size[package_types];
cocorlow 0:8adbff0ff843 18 void* package_object[package_types];
cocorlow 0:8adbff0ff843 19
cocorlow 3:526f824b50ef 20 char send_buffer[send_size];
cocorlow 3:526f824b50ef 21 volatile int send_index;
cocorlow 3:526f824b50ef 22 volatile int send_end_index;
cocorlow 3:526f824b50ef 23
cocorlow 0:8adbff0ff843 24 void Receive();
cocorlow 3:526f824b50ef 25 void SendByte();
cocorlow 1:7d6e751f5986 26 void Decode();
cocorlow 0:8adbff0ff843 27
cocorlow 0:8adbff0ff843 28 public:
NaotoMorita 12:11a62ab9bfed 29 Serial serial;
cocorlow 0:8adbff0ff843 30 UsaPack(PinName tx, PinName rx, int baud);
cocorlow 1:7d6e751f5986 31 static void CobsEncode(char data[], int length, char send_data[]);
cocorlow 1:7d6e751f5986 32 static void CobsDecode(char receive_data[], int length, char data[]);
cocorlow 0:8adbff0ff843 33
cocorlow 0:8adbff0ff843 34 template <typename T>
cocorlow 0:8adbff0ff843 35 void Subscribe(int address, T* receive_data)
cocorlow 0:8adbff0ff843 36 {
cocorlow 0:8adbff0ff843 37 package_address[package_index] = address;
cocorlow 0:8adbff0ff843 38 package_size[package_index] = sizeof(T);
cocorlow 0:8adbff0ff843 39 package_object[package_index] = receive_data;
cocorlow 0:8adbff0ff843 40 package_index++;
cocorlow 0:8adbff0ff843 41 }
cocorlow 0:8adbff0ff843 42
cocorlow 0:8adbff0ff843 43 template <typename T>
cocorlow 9:7d39154143a1 44 void Send(int address, T* send_data)
cocorlow 0:8adbff0ff843 45 {
cocorlow 0:8adbff0ff843 46 union _package
cocorlow 0:8adbff0ff843 47 {
cocorlow 0:8adbff0ff843 48 struct
cocorlow 0:8adbff0ff843 49 {
cocorlow 0:8adbff0ff843 50 int _address;
cocorlow 4:844eff5a2fa8 51 int _checksum;
cocorlow 0:8adbff0ff843 52 T raw_data;
cocorlow 0:8adbff0ff843 53 } address_package;
cocorlow 1:7d6e751f5986 54 char byte_data[sizeof(address_package)];
cocorlow 0:8adbff0ff843 55 };
cocorlow 1:7d6e751f5986 56 char send_cobs_data[sizeof(_package)+2];
cocorlow 0:8adbff0ff843 57
cocorlow 0:8adbff0ff843 58 _package package;
cocorlow 0:8adbff0ff843 59 package.address_package._address = address;
cocorlow 1:7d6e751f5986 60 package.address_package.raw_data = *send_data;
cocorlow 4:844eff5a2fa8 61
cocorlow 4:844eff5a2fa8 62 int checksum = 0;
cocorlow 4:844eff5a2fa8 63 for (int i = 8; i < sizeof(_package); i++)
cocorlow 4:844eff5a2fa8 64 {
cocorlow 4:844eff5a2fa8 65 checksum += package.byte_data[i];
cocorlow 4:844eff5a2fa8 66 }
cocorlow 6:43078601fc5c 67 package.address_package._checksum = checksum;
cocorlow 4:844eff5a2fa8 68
cocorlow 1:7d6e751f5986 69 CobsEncode(package.byte_data, (int)sizeof(_package), send_cobs_data);
cocorlow 1:7d6e751f5986 70 for (int i = 0; i < sizeof(_package)+2; i++)
cocorlow 0:8adbff0ff843 71 {
cocorlow 3:526f824b50ef 72 send_buffer[(send_end_index + i) % send_size] = send_cobs_data[i];
cocorlow 0:8adbff0ff843 73 }
cocorlow 3:526f824b50ef 74 send_end_index = (send_end_index + sizeof(_package) + 2) % send_size;
cocorlow 3:526f824b50ef 75 serial.attach(this, &UsaPack::SendByte, Serial::TxIrq);
cocorlow 0:8adbff0ff843 76 }
cocorlow 0:8adbff0ff843 77
cocorlow 0:8adbff0ff843 78
cocorlow 0:8adbff0ff843 79
cocorlow 0:8adbff0ff843 80 };
cocorlow 0:8adbff0ff843 81
cocorlow 0:8adbff0ff843 82
cocorlow 0:8adbff0ff843 83 #endif