Takashi Koyama / UsaPack

UART Package with COBS

Dependents:   TWELITE_Slave_0001 TWELITE_Master_0001 TWELITE_Slave_0001 read_Pmod

UsaPack シリアル通信でパケット送受信をするライブラリ 構造体データのバイナリ化→COBS変換→送信→受信→COBS変換→構造体の解凍 までを行う

手順（送信側） [1] 送受信ピンとボードレートを設定 UsaPack master(tx_pin, rx_pin, baud); [2] 送りたいデータ群を構造体でまとめて値を詰める（intなど値型を1個だけ送ることも可能） struct pack { float f[10]; int d[3]; }; pack send_data; send_data.f[0] = 0.123f; ... [3] データ識別子をint型整数で好きな値に設定し（受信側とそろえる）構造体のアドレスを渡して送信 int address = 1234; master.Send(address, &send_data); [4] 一気にデータを流し込むとエラーを起こすのでSendした後は時間を置いてから次のSendを行うこと

手順（受信側） [1] 送受信ピンとボードレートを設定 UsaPack slave(tx_pin, rx_pin, baud); [2] 送信側と同じ構造体を用意する pack receive_data; [3] 送信側と同じデータ識別子と構造体のアドレスを設定してデータが来るのを待つ int address = 1234; slave.Subscribe(address, &receive_data); [4] 受信したら自動的にreceive_dataの内容が更新される

UsaPack.hpp@0:8adbff0ff843, 2021-04-23 (annotated)

Committer:
cocorlow
Date:
Fri Apr 23 18:53:23 2021 +0000
Revision:
0:8adbff0ff843
Child:
1:7d6e751f5986
UART COBS

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 0:8adbff0ff843 10 const int uart_size = 256;
cocorlow 0:8adbff0ff843 11 char uart_buffer[uart_size];
cocorlow 0:8adbff0ff843 12 int uart_index;
cocorlow 0:8adbff0ff843 13 const int package_types = 64;
cocorlow 0:8adbff0ff843 14 int package_index;
cocorlow 0:8adbff0ff843 15 int package_address[package_types];
cocorlow 0:8adbff0ff843 16 int package_size[package_types];
cocorlow 0:8adbff0ff843 17 void* package_object[package_types];
cocorlow 0:8adbff0ff843 18
cocorlow 0:8adbff0ff843 19 void Receive();
cocorlow 0:8adbff0ff843 20
cocorlow 0:8adbff0ff843 21 public:
cocorlow 0:8adbff0ff843 22 UsaPack(PinName tx, PinName rx, int baud);
cocorlow 0:8adbff0ff843 23 static void CobsEncode(uint8_t data[], int length, uint8_t send_data[]);
cocorlow 0:8adbff0ff843 24 static void CobsDecode(uint8_t receive_data[], int length, uint8_t data[]);
cocorlow 0:8adbff0ff843 25
cocorlow 0:8adbff0ff843 26 template <typename T>
cocorlow 0:8adbff0ff843 27 void Subscribe(int address, T* receive_data)
cocorlow 0:8adbff0ff843 28 {
cocorlow 0:8adbff0ff843 29 package_address[package_index] = address;
cocorlow 0:8adbff0ff843 30 package_size[package_index] = sizeof(T);
cocorlow 0:8adbff0ff843 31 package_object[package_index] = receive_data;
cocorlow 0:8adbff0ff843 32 package_index++;
cocorlow 0:8adbff0ff843 33 }
cocorlow 0:8adbff0ff843 34
cocorlow 0:8adbff0ff843 35 template <typename T>
cocorlow 0:8adbff0ff843 36 void UsaPack::Send(int address, T send_data)
cocorlow 0:8adbff0ff843 37 {
cocorlow 0:8adbff0ff843 38 union _package
cocorlow 0:8adbff0ff843 39 {
cocorlow 0:8adbff0ff843 40 struct
cocorlow 0:8adbff0ff843 41 {
cocorlow 0:8adbff0ff843 42 int _address;
cocorlow 0:8adbff0ff843 43 T raw_data;
cocorlow 0:8adbff0ff843 44 } address_package;
cocorlow 0:8adbff0ff843 45 uint8_t byte_data[sizeof(T)];
cocorlow 0:8adbff0ff843 46 };
cocorlow 0:8adbff0ff843 47 uint8_t send_cobs_data[sizeof(T)+2];
cocorlow 0:8adbff0ff843 48
cocorlow 0:8adbff0ff843 49 _package package;
cocorlow 0:8adbff0ff843 50 package.address_package._address = address;
cocorlow 0:8adbff0ff843 51 package.address_package.raw_data = send_data;
cocorlow 0:8adbff0ff843 52 CobsEncode(package.byte_data, (int)sizeof(T), send_cobs_data);
cocorlow 0:8adbff0ff843 53 for (int i = 0; i < sizeof(T)+2; i++)
cocorlow 0:8adbff0ff843 54 {
cocorlow 0:8adbff0ff843 55 serial.putc(send_cobs_data[i]);
cocorlow 0:8adbff0ff843 56 }
cocorlow 0:8adbff0ff843 57 }
cocorlow 0:8adbff0ff843 58
cocorlow 0:8adbff0ff843 59
cocorlow 0:8adbff0ff843 60
cocorlow 0:8adbff0ff843 61 };
cocorlow 0:8adbff0ff843 62
cocorlow 0:8adbff0ff843 63
cocorlow 0:8adbff0ff843 64 #endif