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

Committer:
cocorlow
Date:
2021-05-31
Revision:
9:7d39154143a1
Parent:
8:2c3cdcf1ae3a

File content as of revision 9:7d39154143a1:

#ifndef __USAPACK_HPP__
#define __USAPACK_HPP__

#include "mbed.h"

#define receive_size 256
#define package_types 64
#define send_size 256

class UsaPack
{
private:
    Serial serial;
    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:
    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