usapack public
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
UsaPack.hpp
- Committer:
- NaotoMorita
- Date:
- 2022-07-05
- Revision:
- 12:11a62ab9bfed
- Parent:
- 9:7d39154143a1
File content as of revision 12:11a62ab9bfed:
#ifndef __USAPACK_HPP__ #define __USAPACK_HPP__ #include "mbed.h" #define receive_size 256 #define package_types 64 #define send_size 256 class UsaPack { private: char receive_buffer[receive_size]; volatile int receive_index; volatile int package_index; volatile int package_address[package_types]; volatile int package_size[package_types]; void* package_object[package_types]; char send_buffer[send_size]; volatile int send_index; volatile int send_end_index; void Receive(); void SendByte(); void Decode(); public: Serial serial; UsaPack(PinName tx, PinName rx, int baud); static void CobsEncode(char data[], int length, char send_data[]); static void CobsDecode(char receive_data[], int length, char data[]); template <typename T> void Subscribe(int address, T* receive_data) { package_address[package_index] = address; package_size[package_index] = sizeof(T); package_object[package_index] = receive_data; package_index++; } template <typename T> void Send(int address, T* send_data) { union _package { struct { int _address; int _checksum; T raw_data; } address_package; char byte_data[sizeof(address_package)]; }; char send_cobs_data[sizeof(_package)+2]; _package package; package.address_package._address = address; package.address_package.raw_data = *send_data; int checksum = 0; for (int i = 8; i < sizeof(_package); i++) { checksum += package.byte_data[i]; } package.address_package._checksum = checksum; CobsEncode(package.byte_data, (int)sizeof(_package), send_cobs_data); for (int i = 0; i < sizeof(_package)+2; i++) { send_buffer[(send_end_index + i) % send_size] = send_cobs_data[i]; } send_end_index = (send_end_index + sizeof(_package) + 2) % send_size; serial.attach(this, &UsaPack::SendByte, Serial::TxIrq); } }; #endif