HAPSRG / UsaPack

usapack public

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

UsaPack.hpp@4:844eff5a2fa8, 2021-05-23 (annotated)

Committer:
cocorlow
Date:
Sun May 23 23:12:43 2021 +0000
Revision:
4:844eff5a2fa8
Parent:
3:526f824b50ef
Child:
5:a1d8afaadb4d
checksum;

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 0:8adbff0ff843 6 class UsaPack
cocorlow 0:8adbff0ff843 7 {
cocorlow 0:8adbff0ff843 8 private:
cocorlow 0:8adbff0ff843 9 Serial serial;
cocorlow 3:526f824b50ef 10 const int receive_size = 256;
cocorlow 3:526f824b50ef 11 char receive_buffer[receive_size];
cocorlow 3:526f824b50ef 12 volatile int receive_index;
cocorlow 0:8adbff0ff843 13 const int package_types = 64;
cocorlow 3:526f824b50ef 14 volatile int package_index;
cocorlow 3:526f824b50ef 15 volatile int package_address[package_types];
cocorlow 3:526f824b50ef 16 volatile int package_size[package_types];
cocorlow 0:8adbff0ff843 17 void* package_object[package_types];
cocorlow 0:8adbff0ff843 18
cocorlow 3:526f824b50ef 19 const int send_size = 256;
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:
cocorlow 0:8adbff0ff843 29 UsaPack(PinName tx, PinName rx, int baud);
cocorlow 1:7d6e751f5986 30 static void CobsEncode(char data[], int length, char send_data[]);
cocorlow 1:7d6e751f5986 31 static void CobsDecode(char receive_data[], int length, char data[]);
cocorlow 0:8adbff0ff843 32
cocorlow 0:8adbff0ff843 33 template <typename T>
cocorlow 0:8adbff0ff843 34 void Subscribe(int address, T* receive_data)
cocorlow 0:8adbff0ff843 35 {
cocorlow 0:8adbff0ff843 36 package_address[package_index] = address;
cocorlow 0:8adbff0ff843 37 package_size[package_index] = sizeof(T);
cocorlow 0:8adbff0ff843 38 package_object[package_index] = receive_data;
cocorlow 0:8adbff0ff843 39 package_index++;
cocorlow 0:8adbff0ff843 40 }
cocorlow 0:8adbff0ff843 41
cocorlow 0:8adbff0ff843 42 template <typename T>
cocorlow 1:7d6e751f5986 43 void UsaPack::Send(int address, T* send_data)
cocorlow 0:8adbff0ff843 44 {
cocorlow 0:8adbff0ff843 45 union _package
cocorlow 0:8adbff0ff843 46 {
cocorlow 0:8adbff0ff843 47 struct
cocorlow 0:8adbff0ff843 48 {
cocorlow 0:8adbff0ff843 49 int _address;
cocorlow 4:844eff5a2fa8 50 int _checksum;
cocorlow 0:8adbff0ff843 51 T raw_data;
cocorlow 0:8adbff0ff843 52 } address_package;
cocorlow 1:7d6e751f5986 53 char byte_data[sizeof(address_package)];
cocorlow 0:8adbff0ff843 54 };
cocorlow 1:7d6e751f5986 55 char send_cobs_data[sizeof(_package)+2];
cocorlow 0:8adbff0ff843 56
cocorlow 0:8adbff0ff843 57 _package package;
cocorlow 0:8adbff0ff843 58 package.address_package._address = address;
cocorlow 1:7d6e751f5986 59 package.address_package.raw_data = *send_data;
cocorlow 4:844eff5a2fa8 60
cocorlow 4:844eff5a2fa8 61 int checksum = 0;
cocorlow 4:844eff5a2fa8 62 for (int i = 8; i < sizeof(_package); i++)
cocorlow 4:844eff5a2fa8 63 {
cocorlow 4:844eff5a2fa8 64 checksum += package.byte_data[i];
cocorlow 4:844eff5a2fa8 65 }
cocorlow 4:844eff5a2fa8 66 package._checksum = checksum;
cocorlow 4:844eff5a2fa8 67
cocorlow 1:7d6e751f5986 68 CobsEncode(package.byte_data, (int)sizeof(_package), send_cobs_data);
cocorlow 1:7d6e751f5986 69 for (int i = 0; i < sizeof(_package)+2; i++)
cocorlow 0:8adbff0ff843 70 {
cocorlow 3:526f824b50ef 71 send_buffer[(send_end_index + i) % send_size] = send_cobs_data[i];
cocorlow 0:8adbff0ff843 72 }
cocorlow 3:526f824b50ef 73 send_end_index = (send_end_index + sizeof(_package) + 2) % send_size;
cocorlow 3:526f824b50ef 74 serial.attach(this, &UsaPack::SendByte, Serial::TxIrq);
cocorlow 0:8adbff0ff843 75 }
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 #endif