usapack public
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
UsaPack.hpp@10:a2c85eed720b, 2021-06-22 (annotated)
- Committer:
- NaotoMorita
- Date:
- Tue Jun 22 02:19:00 2021 +0000
- Revision:
- 10:a2c85eed720b
- Parent:
- 9:7d39154143a1
- Child:
- 11:6e58df8fd7ce
public mod
Who changed what in which revision?
User | Revision | Line number | New 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: |
NaotoMorita | 10:a2c85eed720b | 13 | |
cocorlow | 3:526f824b50ef | 14 | char receive_buffer[receive_size]; |
cocorlow | 3:526f824b50ef | 15 | volatile int receive_index; |
cocorlow | 3:526f824b50ef | 16 | volatile int package_index; |
cocorlow | 3:526f824b50ef | 17 | volatile int package_address[package_types]; |
cocorlow | 3:526f824b50ef | 18 | volatile int package_size[package_types]; |
cocorlow | 0:8adbff0ff843 | 19 | void* package_object[package_types]; |
cocorlow | 0:8adbff0ff843 | 20 | |
cocorlow | 3:526f824b50ef | 21 | char send_buffer[send_size]; |
cocorlow | 3:526f824b50ef | 22 | volatile int send_index; |
cocorlow | 3:526f824b50ef | 23 | volatile int send_end_index; |
cocorlow | 3:526f824b50ef | 24 | |
NaotoMorita | 10:a2c85eed720b | 25 | |
cocorlow | 3:526f824b50ef | 26 | void SendByte(); |
cocorlow | 1:7d6e751f5986 | 27 | void Decode(); |
cocorlow | 0:8adbff0ff843 | 28 | |
cocorlow | 0:8adbff0ff843 | 29 | public: |
cocorlow | 0:8adbff0ff843 | 30 | UsaPack(PinName tx, PinName rx, int baud); |
NaotoMorita | 10:a2c85eed720b | 31 | void Receive(); |
NaotoMorita | 10:a2c85eed720b | 32 | Serial serial; |
cocorlow | 1:7d6e751f5986 | 33 | static void CobsEncode(char data[], int length, char send_data[]); |
cocorlow | 1:7d6e751f5986 | 34 | static void CobsDecode(char receive_data[], int length, char data[]); |
cocorlow | 0:8adbff0ff843 | 35 | |
cocorlow | 0:8adbff0ff843 | 36 | template <typename T> |
cocorlow | 0:8adbff0ff843 | 37 | void Subscribe(int address, T* receive_data) |
cocorlow | 0:8adbff0ff843 | 38 | { |
cocorlow | 0:8adbff0ff843 | 39 | package_address[package_index] = address; |
cocorlow | 0:8adbff0ff843 | 40 | package_size[package_index] = sizeof(T); |
cocorlow | 0:8adbff0ff843 | 41 | package_object[package_index] = receive_data; |
cocorlow | 0:8adbff0ff843 | 42 | package_index++; |
cocorlow | 0:8adbff0ff843 | 43 | } |
cocorlow | 0:8adbff0ff843 | 44 | |
cocorlow | 0:8adbff0ff843 | 45 | template <typename T> |
cocorlow | 9:7d39154143a1 | 46 | void Send(int address, T* send_data) |
cocorlow | 0:8adbff0ff843 | 47 | { |
cocorlow | 0:8adbff0ff843 | 48 | union _package |
cocorlow | 0:8adbff0ff843 | 49 | { |
cocorlow | 0:8adbff0ff843 | 50 | struct |
cocorlow | 0:8adbff0ff843 | 51 | { |
cocorlow | 0:8adbff0ff843 | 52 | int _address; |
cocorlow | 4:844eff5a2fa8 | 53 | int _checksum; |
cocorlow | 0:8adbff0ff843 | 54 | T raw_data; |
cocorlow | 0:8adbff0ff843 | 55 | } address_package; |
cocorlow | 1:7d6e751f5986 | 56 | char byte_data[sizeof(address_package)]; |
cocorlow | 0:8adbff0ff843 | 57 | }; |
cocorlow | 1:7d6e751f5986 | 58 | char send_cobs_data[sizeof(_package)+2]; |
cocorlow | 0:8adbff0ff843 | 59 | |
cocorlow | 0:8adbff0ff843 | 60 | _package package; |
cocorlow | 0:8adbff0ff843 | 61 | package.address_package._address = address; |
cocorlow | 1:7d6e751f5986 | 62 | package.address_package.raw_data = *send_data; |
cocorlow | 4:844eff5a2fa8 | 63 | |
cocorlow | 4:844eff5a2fa8 | 64 | int checksum = 0; |
cocorlow | 4:844eff5a2fa8 | 65 | for (int i = 8; i < sizeof(_package); i++) |
cocorlow | 4:844eff5a2fa8 | 66 | { |
cocorlow | 4:844eff5a2fa8 | 67 | checksum += package.byte_data[i]; |
cocorlow | 4:844eff5a2fa8 | 68 | } |
cocorlow | 6:43078601fc5c | 69 | package.address_package._checksum = checksum; |
cocorlow | 4:844eff5a2fa8 | 70 | |
cocorlow | 1:7d6e751f5986 | 71 | CobsEncode(package.byte_data, (int)sizeof(_package), send_cobs_data); |
cocorlow | 1:7d6e751f5986 | 72 | for (int i = 0; i < sizeof(_package)+2; i++) |
cocorlow | 0:8adbff0ff843 | 73 | { |
cocorlow | 3:526f824b50ef | 74 | send_buffer[(send_end_index + i) % send_size] = send_cobs_data[i]; |
cocorlow | 0:8adbff0ff843 | 75 | } |
cocorlow | 3:526f824b50ef | 76 | send_end_index = (send_end_index + sizeof(_package) + 2) % send_size; |
cocorlow | 3:526f824b50ef | 77 | serial.attach(this, &UsaPack::SendByte, Serial::TxIrq); |
cocorlow | 0:8adbff0ff843 | 78 | } |
cocorlow | 0:8adbff0ff843 | 79 | |
cocorlow | 0:8adbff0ff843 | 80 | |
cocorlow | 0:8adbff0ff843 | 81 | |
cocorlow | 0:8adbff0ff843 | 82 | }; |
cocorlow | 0:8adbff0ff843 | 83 | |
cocorlow | 0:8adbff0ff843 | 84 | |
cocorlow | 0:8adbff0ff843 | 85 | #endif |