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.cpp
- Committer:
- cocorlow
- Date:
- 2021-04-24
- Revision:
- 1:7d6e751f5986
- Parent:
- 0:8adbff0ff843
- Child:
- 2:1096fc8201a3
File content as of revision 1:7d6e751f5986:
#include "UsaPack.hpp" #include "mbed.h" void UsaPack::Receive() { while (serial.readable()) { char c; c = serial.getc(); uart_buffer[uart_index] = c; uart_index = (uart_index + 1) % uart_size; if (c == '\0') { Decode(); } } } void UsaPack::Decode() { char data[uart_size]; CobsDecode(uart_buffer, uart_index-2, data); union { char c[4]; int a; } _address; for (int i = 0; i < 4; i++) { _address.c[i] = data[i]; } for (int i = 0; i < package_index; i++) { if (package_address[i] == _address.a) { for (int j = 0; j < package_size[i]; j++) { *((char*)(package_object[i])+j) = data[j+4]; } break; } } } UsaPack::UsaPack(PinName tx, PinName rx, int baud) :serial(tx, rx, baud), uart_index(0), package_index(0) { serial.attach(this, &UsaPack::Receive, Serial::RxIrq); for (int i = 0; i < uart_size; i++) { uart_buffer[i] = '\0'; } } void UsaPack::CobsEncode(char data[], int length, char send_data[]) { int last_zero = 0; for (int i = 0; i < length; i++) { if (data[i] == 0) { send_data[last_zero] = i - last_zero + 1; last_zero = i + 1; } else { send_data[i + 1] = data[i]; } } send_data[last_zero] = length - last_zero + 1; send_data[length + 1] = 0; } void UsaPack::CobsDecode(char receive_data[], int length, char data[]) { int next_zero; next_zero = receive_data[0] - 1; for (int i = 0; i < length; i++) { data[i] = receive_data[i + 1]; } while (next_zero < length) { data[next_zero] = 0; next_zero += receive_data[next_zero + 1]; } }