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@3:526f824b50ef, 2021-04-26 (annotated)
- Committer:
- cocorlow
- Date:
- Mon Apr 26 11:33:25 2021 +0000
- Revision:
- 3:526f824b50ef
- Parent:
- 2:1096fc8201a3
- Child:
- 4:844eff5a2fa8
usausagi
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
cocorlow | 0:8adbff0ff843 | 1 | #include "UsaPack.hpp" |
cocorlow | 0:8adbff0ff843 | 2 | #include "mbed.h" |
cocorlow | 0:8adbff0ff843 | 3 | |
cocorlow | 0:8adbff0ff843 | 4 | void UsaPack::Receive() |
cocorlow | 0:8adbff0ff843 | 5 | { |
cocorlow | 1:7d6e751f5986 | 6 | while (serial.readable()) |
cocorlow | 1:7d6e751f5986 | 7 | { |
cocorlow | 1:7d6e751f5986 | 8 | char c; |
cocorlow | 1:7d6e751f5986 | 9 | c = serial.getc(); |
cocorlow | 3:526f824b50ef | 10 | receive_buffer[receive_index] = c; |
cocorlow | 3:526f824b50ef | 11 | receive_index = (receive_index + 1) % receive_size; |
cocorlow | 1:7d6e751f5986 | 12 | if (c == '\0') |
cocorlow | 1:7d6e751f5986 | 13 | { |
cocorlow | 1:7d6e751f5986 | 14 | Decode(); |
cocorlow | 3:526f824b50ef | 15 | receive_index = 0; |
cocorlow | 3:526f824b50ef | 16 | } |
cocorlow | 3:526f824b50ef | 17 | } |
cocorlow | 3:526f824b50ef | 18 | } |
cocorlow | 3:526f824b50ef | 19 | |
cocorlow | 3:526f824b50ef | 20 | void UsaPack::SendByte() |
cocorlow | 3:526f824b50ef | 21 | { |
cocorlow | 3:526f824b50ef | 22 | while (serial.writable()) |
cocorlow | 3:526f824b50ef | 23 | { |
cocorlow | 3:526f824b50ef | 24 | if (send_index != send_end_index) |
cocorlow | 3:526f824b50ef | 25 | { |
cocorlow | 3:526f824b50ef | 26 | serial.putc(send_buffer[send_index]); |
cocorlow | 3:526f824b50ef | 27 | send_index = (send_index + 1) % send_size; |
cocorlow | 3:526f824b50ef | 28 | } |
cocorlow | 3:526f824b50ef | 29 | else |
cocorlow | 3:526f824b50ef | 30 | { |
cocorlow | 3:526f824b50ef | 31 | serial.attach(NULL, Serial::TxIrq); |
cocorlow | 3:526f824b50ef | 32 | break; |
cocorlow | 1:7d6e751f5986 | 33 | } |
cocorlow | 1:7d6e751f5986 | 34 | } |
cocorlow | 1:7d6e751f5986 | 35 | } |
cocorlow | 1:7d6e751f5986 | 36 | |
cocorlow | 1:7d6e751f5986 | 37 | void UsaPack::Decode() |
cocorlow | 1:7d6e751f5986 | 38 | { |
cocorlow | 3:526f824b50ef | 39 | char data[receive_size]; |
cocorlow | 3:526f824b50ef | 40 | CobsDecode(receive_buffer, receive_index-2, data); |
cocorlow | 1:7d6e751f5986 | 41 | union |
cocorlow | 1:7d6e751f5986 | 42 | { |
cocorlow | 1:7d6e751f5986 | 43 | char c[4]; |
cocorlow | 1:7d6e751f5986 | 44 | int a; |
cocorlow | 1:7d6e751f5986 | 45 | } _address; |
cocorlow | 1:7d6e751f5986 | 46 | for (int i = 0; i < 4; i++) |
cocorlow | 1:7d6e751f5986 | 47 | { |
cocorlow | 1:7d6e751f5986 | 48 | _address.c[i] = data[i]; |
cocorlow | 1:7d6e751f5986 | 49 | } |
cocorlow | 1:7d6e751f5986 | 50 | for (int i = 0; i < package_index; i++) |
cocorlow | 1:7d6e751f5986 | 51 | { |
cocorlow | 1:7d6e751f5986 | 52 | if (package_address[i] == _address.a) |
cocorlow | 1:7d6e751f5986 | 53 | { |
cocorlow | 1:7d6e751f5986 | 54 | for (int j = 0; j < package_size[i]; j++) |
cocorlow | 1:7d6e751f5986 | 55 | { |
cocorlow | 1:7d6e751f5986 | 56 | *((char*)(package_object[i])+j) = data[j+4]; |
cocorlow | 1:7d6e751f5986 | 57 | } |
cocorlow | 1:7d6e751f5986 | 58 | break; |
cocorlow | 1:7d6e751f5986 | 59 | } |
cocorlow | 1:7d6e751f5986 | 60 | } |
cocorlow | 0:8adbff0ff843 | 61 | } |
cocorlow | 0:8adbff0ff843 | 62 | |
cocorlow | 0:8adbff0ff843 | 63 | UsaPack::UsaPack(PinName tx, PinName rx, int baud) |
cocorlow | 3:526f824b50ef | 64 | :serial(tx, rx, baud), receive_index(0), package_index(0), send_index(0), send_end_index(0) |
cocorlow | 0:8adbff0ff843 | 65 | { |
cocorlow | 0:8adbff0ff843 | 66 | serial.attach(this, &UsaPack::Receive, Serial::RxIrq); |
cocorlow | 3:526f824b50ef | 67 | for (int i = 0; i < receive_size; i++) |
cocorlow | 0:8adbff0ff843 | 68 | { |
cocorlow | 3:526f824b50ef | 69 | receive_buffer[i] = '\0'; |
cocorlow | 0:8adbff0ff843 | 70 | } |
cocorlow | 0:8adbff0ff843 | 71 | } |
cocorlow | 0:8adbff0ff843 | 72 | |
cocorlow | 1:7d6e751f5986 | 73 | void UsaPack::CobsEncode(char data[], int length, char send_data[]) |
cocorlow | 0:8adbff0ff843 | 74 | { |
cocorlow | 0:8adbff0ff843 | 75 | int last_zero = 0; |
cocorlow | 0:8adbff0ff843 | 76 | for (int i = 0; i < length; i++) |
cocorlow | 0:8adbff0ff843 | 77 | { |
cocorlow | 0:8adbff0ff843 | 78 | if (data[i] == 0) |
cocorlow | 0:8adbff0ff843 | 79 | { |
cocorlow | 0:8adbff0ff843 | 80 | send_data[last_zero] = i - last_zero + 1; |
cocorlow | 0:8adbff0ff843 | 81 | last_zero = i + 1; |
cocorlow | 0:8adbff0ff843 | 82 | } |
cocorlow | 0:8adbff0ff843 | 83 | else |
cocorlow | 0:8adbff0ff843 | 84 | { |
cocorlow | 0:8adbff0ff843 | 85 | send_data[i + 1] = data[i]; |
cocorlow | 0:8adbff0ff843 | 86 | } |
cocorlow | 0:8adbff0ff843 | 87 | } |
cocorlow | 0:8adbff0ff843 | 88 | send_data[last_zero] = length - last_zero + 1; |
cocorlow | 0:8adbff0ff843 | 89 | send_data[length + 1] = 0; |
cocorlow | 0:8adbff0ff843 | 90 | } |
cocorlow | 0:8adbff0ff843 | 91 | |
cocorlow | 1:7d6e751f5986 | 92 | void UsaPack::CobsDecode(char receive_data[], int length, char data[]) |
cocorlow | 0:8adbff0ff843 | 93 | { |
cocorlow | 0:8adbff0ff843 | 94 | int next_zero; |
cocorlow | 0:8adbff0ff843 | 95 | next_zero = receive_data[0] - 1; |
cocorlow | 0:8adbff0ff843 | 96 | for (int i = 0; i < length; i++) |
cocorlow | 0:8adbff0ff843 | 97 | { |
cocorlow | 0:8adbff0ff843 | 98 | data[i] = receive_data[i + 1]; |
cocorlow | 0:8adbff0ff843 | 99 | } |
cocorlow | 0:8adbff0ff843 | 100 | while (next_zero < length) |
cocorlow | 0:8adbff0ff843 | 101 | { |
cocorlow | 0:8adbff0ff843 | 102 | data[next_zero] = 0; |
cocorlow | 0:8adbff0ff843 | 103 | next_zero += receive_data[next_zero + 1]; |
cocorlow | 0:8adbff0ff843 | 104 | } |
cocorlow | 0:8adbff0ff843 | 105 | } |
cocorlow | 0:8adbff0ff843 | 106 |