SerialFlow allows to send and receive packaged arrays of integer values via serial port.
SerialFlow allows to send and receive packaged arrays of integer(short only) values via serial port.
Packet format:
- begin - 0x12
- end - 0x13
- value separator - 0x10
- escape - 0x7D
Simple packet example:
0x12,0x1,0x0,0x10,0x7D,0x12,0x0,0x13
corresponds to: [1,18]
Now handles only short int values. Example:
#include "mbed.h" #include "SerialFlow.h" SerialFlow pc(USBTX, USBRX); AnalogIn gyro_x(p17); // data from gyro x axis AnalogIn gyro_y(p18); // data from gyro y axis int main(){ // two short values pc.setPacketFormat(SerialFlow::COMPLEX_1, 2, 2); while(1){ pc.setPacketValue((short)(gyro_x*1023.0)); pc.setPacketValue((short)(gyro_y*1023.0)); pc.sendPacket(); wait(0.01); } }
On the PC side you can use this program to catch data flows: http://www.poprobot.ru/files/sfmonitor_0.9.zip
SerialFlow.cpp@4:ebf658b28c5f, 2012-10-21 (annotated)
- Committer:
- Decimus
- Date:
- Sun Oct 21 17:40:25 2012 +0000
- Revision:
- 4:ebf658b28c5f
- Parent:
- 3:7cbfd422c98e
USE_MODSERIAL flag is on by default
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Decimus | 1:5f80d8d44549 | 1 | /* mbed Serial Flow Library |
Decimus | 1:5f80d8d44549 | 2 | * Copyright (c) 2012 Oleg Evsegneev |
Decimus | 3:7cbfd422c98e | 3 | * Released under the MIT License: http://mbed.org/license/mit |
Decimus | 1:5f80d8d44549 | 4 | */ |
Decimus | 1:5f80d8d44549 | 5 | |
Decimus | 1:5f80d8d44549 | 6 | #include "SerialFlow.h" |
Decimus | 1:5f80d8d44549 | 7 | #include "mbed.h" |
Decimus | 1:5f80d8d44549 | 8 | |
Decimus | 3:7cbfd422c98e | 9 | #ifdef USE_MODSERIAL |
Decimus | 3:7cbfd422c98e | 10 | SerialFlow::SerialFlow(PinName tx, PinName rx): _serial(tx, rx, TX_BUFFER_SIZE, RX_BUFFER_SIZE) { |
Decimus | 3:7cbfd422c98e | 11 | #else |
Decimus | 1:5f80d8d44549 | 12 | SerialFlow::SerialFlow(PinName tx, PinName rx): _serial(tx, rx) { |
Decimus | 3:7cbfd422c98e | 13 | #endif |
Decimus | 1:5f80d8d44549 | 14 | _escape = 0; |
Decimus | 1:5f80d8d44549 | 15 | _collecting = 0; |
Decimus | 1:5f80d8d44549 | 16 | } |
Decimus | 1:5f80d8d44549 | 17 | |
Decimus | 2:7868220b4fdf | 18 | void SerialFlow::baud(int baud_rate) { |
Decimus | 2:7868220b4fdf | 19 | _serial.baud(baud_rate); |
Decimus | 2:7868220b4fdf | 20 | } |
Decimus | 2:7868220b4fdf | 21 | |
Decimus | 1:5f80d8d44549 | 22 | void SerialFlow::setPacketFormat(DataFormat p_format, char v_length, char p_size) { |
Decimus | 1:5f80d8d44549 | 23 | _p_format = p_format; |
Decimus | 3:7cbfd422c98e | 24 | _v_length = v_length; |
Decimus | 1:5f80d8d44549 | 25 | _p_size = p_size; |
Decimus | 1:5f80d8d44549 | 26 | _vs_idx = 0; |
Decimus | 1:5f80d8d44549 | 27 | _vr_idx = 0; |
Decimus | 1:5f80d8d44549 | 28 | } |
Decimus | 1:5f80d8d44549 | 29 | |
Decimus | 1:5f80d8d44549 | 30 | void SerialFlow::setPacketValue(short value) { |
Decimus | 1:5f80d8d44549 | 31 | if( _vs_idx < _p_size ){ |
Decimus | 1:5f80d8d44549 | 32 | _vs[_vs_idx++] = value; |
Decimus | 1:5f80d8d44549 | 33 | } |
Decimus | 1:5f80d8d44549 | 34 | } |
Decimus | 1:5f80d8d44549 | 35 | |
Decimus | 3:7cbfd422c98e | 36 | bool SerialFlow::sendPacket() { |
Decimus | 1:5f80d8d44549 | 37 | char v; |
Decimus | 3:7cbfd422c98e | 38 | if( !_serial.writeable() ){ |
Decimus | 3:7cbfd422c98e | 39 | _vs_idx = 0; |
Decimus | 3:7cbfd422c98e | 40 | return 0; |
Decimus | 3:7cbfd422c98e | 41 | } |
Decimus | 3:7cbfd422c98e | 42 | |
Decimus | 1:5f80d8d44549 | 43 | _serial.putc( 0x12 ); |
Decimus | 3:7cbfd422c98e | 44 | for( char i=0; i<_vs_idx; i++ ){ |
Decimus | 1:5f80d8d44549 | 45 | // low byte |
Decimus | 1:5f80d8d44549 | 46 | v = _vs[i] & 0xFF; |
Decimus | 1:5f80d8d44549 | 47 | if( v==0x12 || v==0x13 || v==0x7D || v==0x10 ) |
Decimus | 1:5f80d8d44549 | 48 | _serial.putc( 0x7D ); |
Decimus | 1:5f80d8d44549 | 49 | _serial.putc( v ); |
Decimus | 1:5f80d8d44549 | 50 | |
Decimus | 1:5f80d8d44549 | 51 | // high byte |
Decimus | 1:5f80d8d44549 | 52 | v = (_vs[i]>>8) & 0xFF; |
Decimus | 1:5f80d8d44549 | 53 | if( v==0x12 || v==0x13 || v==0x7D || v==0x10 ) |
Decimus | 1:5f80d8d44549 | 54 | _serial.putc( 0x7D ); |
Decimus | 1:5f80d8d44549 | 55 | _serial.putc( v ); |
Decimus | 1:5f80d8d44549 | 56 | |
Decimus | 1:5f80d8d44549 | 57 | // separate values |
Decimus | 3:7cbfd422c98e | 58 | if( i<_vs_idx-1 ) |
Decimus | 1:5f80d8d44549 | 59 | _serial.putc(0x10); |
Decimus | 1:5f80d8d44549 | 60 | } |
Decimus | 1:5f80d8d44549 | 61 | |
Decimus | 1:5f80d8d44549 | 62 | _serial.putc( 0x13 ); |
Decimus | 1:5f80d8d44549 | 63 | _vs_idx = 0; |
Decimus | 3:7cbfd422c98e | 64 | return 1; |
Decimus | 1:5f80d8d44549 | 65 | } |
Decimus | 1:5f80d8d44549 | 66 | |
Decimus | 1:5f80d8d44549 | 67 | bool SerialFlow::receivePacket() { |
Decimus | 1:5f80d8d44549 | 68 | char c; |
Decimus | 1:5f80d8d44549 | 69 | while( _serial.readable() ){ |
Decimus | 1:5f80d8d44549 | 70 | c = _serial.getc(); |
Decimus | 1:5f80d8d44549 | 71 | if( _collecting ) |
Decimus | 1:5f80d8d44549 | 72 | if( _escape ){ |
Decimus | 1:5f80d8d44549 | 73 | _vr_val[_cr_idx++] = c; |
Decimus | 1:5f80d8d44549 | 74 | _escape = 0; |
Decimus | 1:5f80d8d44549 | 75 | } |
Decimus | 1:5f80d8d44549 | 76 | // escape |
Decimus | 1:5f80d8d44549 | 77 | else if( c == 0x7D ){ |
Decimus | 1:5f80d8d44549 | 78 | _escape = 1; |
Decimus | 1:5f80d8d44549 | 79 | } |
Decimus | 1:5f80d8d44549 | 80 | // value separator |
Decimus | 1:5f80d8d44549 | 81 | else if( c == 0x10 ){ |
Decimus | 1:5f80d8d44549 | 82 | _vr[_vr_idx++] = _vr_val[0] | (_vr_val[1] << 8); |
Decimus | 1:5f80d8d44549 | 83 | _cr_idx = 0; |
Decimus | 1:5f80d8d44549 | 84 | } |
Decimus | 1:5f80d8d44549 | 85 | // end |
Decimus | 1:5f80d8d44549 | 86 | else if( c == 0x13 ){ |
Decimus | 1:5f80d8d44549 | 87 | _vr[_vr_idx++] = _vr_val[0] | (_vr_val[1] << 8); |
Decimus | 1:5f80d8d44549 | 88 | _collecting = 0; |
Decimus | 1:5f80d8d44549 | 89 | return 1; |
Decimus | 1:5f80d8d44549 | 90 | } |
Decimus | 1:5f80d8d44549 | 91 | else{ |
Decimus | 1:5f80d8d44549 | 92 | _vr_val[_cr_idx++] = c; |
Decimus | 1:5f80d8d44549 | 93 | } |
Decimus | 1:5f80d8d44549 | 94 | // begin |
Decimus | 1:5f80d8d44549 | 95 | else if( c == 0x12 ){ |
Decimus | 1:5f80d8d44549 | 96 | _collecting = 1; |
Decimus | 1:5f80d8d44549 | 97 | _cr_idx = 0; |
Decimus | 1:5f80d8d44549 | 98 | _vr_idx = 0; |
Decimus | 1:5f80d8d44549 | 99 | } |
Decimus | 1:5f80d8d44549 | 100 | } |
Decimus | 1:5f80d8d44549 | 101 | return 0; |
Decimus | 1:5f80d8d44549 | 102 | } |
Decimus | 1:5f80d8d44549 | 103 | |
Decimus | 1:5f80d8d44549 | 104 | short SerialFlow::getPacket( char idx ) { |
Decimus | 1:5f80d8d44549 | 105 | return _vr[idx]; |
Decimus | 1:5f80d8d44549 | 106 | } |