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:
- 7:bc00f60af715
- Parent:
- 6:43078601fc5c
- Child:
- 8:2c3cdcf1ae3a
File content as of revision 7:bc00f60af715:
#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 UsaPack::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