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@3:526f824b50ef, 2021-04-26 (annotated)
- Committer:
- cocorlow
- Date:
- Mon Apr 26 11:33:25 2021 +0000
- Revision:
- 3:526f824b50ef
- Parent:
- 1:7d6e751f5986
- Child:
- 4:844eff5a2fa8
usausagi
Who changed what in which revision?
User | Revision | Line number | New 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 | 3:526f824b50ef | 10 | const int receive_size = 256; |
cocorlow | 3:526f824b50ef | 11 | char receive_buffer[receive_size]; |
cocorlow | 3:526f824b50ef | 12 | volatile int receive_index; |
cocorlow | 0:8adbff0ff843 | 13 | const int package_types = 64; |
cocorlow | 3:526f824b50ef | 14 | volatile int package_index; |
cocorlow | 3:526f824b50ef | 15 | volatile int package_address[package_types]; |
cocorlow | 3:526f824b50ef | 16 | volatile int package_size[package_types]; |
cocorlow | 0:8adbff0ff843 | 17 | void* package_object[package_types]; |
cocorlow | 0:8adbff0ff843 | 18 | |
cocorlow | 3:526f824b50ef | 19 | const int send_size = 256; |
cocorlow | 3:526f824b50ef | 20 | char send_buffer[send_size]; |
cocorlow | 3:526f824b50ef | 21 | volatile int send_index; |
cocorlow | 3:526f824b50ef | 22 | volatile int send_end_index; |
cocorlow | 3:526f824b50ef | 23 | |
cocorlow | 0:8adbff0ff843 | 24 | void Receive(); |
cocorlow | 3:526f824b50ef | 25 | void SendByte(); |
cocorlow | 1:7d6e751f5986 | 26 | void Decode(); |
cocorlow | 0:8adbff0ff843 | 27 | |
cocorlow | 0:8adbff0ff843 | 28 | public: |
cocorlow | 0:8adbff0ff843 | 29 | UsaPack(PinName tx, PinName rx, int baud); |
cocorlow | 1:7d6e751f5986 | 30 | static void CobsEncode(char data[], int length, char send_data[]); |
cocorlow | 1:7d6e751f5986 | 31 | static void CobsDecode(char receive_data[], int length, char data[]); |
cocorlow | 0:8adbff0ff843 | 32 | |
cocorlow | 0:8adbff0ff843 | 33 | template <typename T> |
cocorlow | 0:8adbff0ff843 | 34 | void Subscribe(int address, T* receive_data) |
cocorlow | 0:8adbff0ff843 | 35 | { |
cocorlow | 0:8adbff0ff843 | 36 | package_address[package_index] = address; |
cocorlow | 0:8adbff0ff843 | 37 | package_size[package_index] = sizeof(T); |
cocorlow | 0:8adbff0ff843 | 38 | package_object[package_index] = receive_data; |
cocorlow | 0:8adbff0ff843 | 39 | package_index++; |
cocorlow | 0:8adbff0ff843 | 40 | } |
cocorlow | 0:8adbff0ff843 | 41 | |
cocorlow | 0:8adbff0ff843 | 42 | template <typename T> |
cocorlow | 1:7d6e751f5986 | 43 | void UsaPack::Send(int address, T* send_data) |
cocorlow | 0:8adbff0ff843 | 44 | { |
cocorlow | 0:8adbff0ff843 | 45 | union _package |
cocorlow | 0:8adbff0ff843 | 46 | { |
cocorlow | 0:8adbff0ff843 | 47 | struct |
cocorlow | 0:8adbff0ff843 | 48 | { |
cocorlow | 0:8adbff0ff843 | 49 | int _address; |
cocorlow | 0:8adbff0ff843 | 50 | T raw_data; |
cocorlow | 0:8adbff0ff843 | 51 | } address_package; |
cocorlow | 1:7d6e751f5986 | 52 | char byte_data[sizeof(address_package)]; |
cocorlow | 0:8adbff0ff843 | 53 | }; |
cocorlow | 1:7d6e751f5986 | 54 | char send_cobs_data[sizeof(_package)+2]; |
cocorlow | 0:8adbff0ff843 | 55 | |
cocorlow | 0:8adbff0ff843 | 56 | _package package; |
cocorlow | 0:8adbff0ff843 | 57 | package.address_package._address = address; |
cocorlow | 1:7d6e751f5986 | 58 | package.address_package.raw_data = *send_data; |
cocorlow | 1:7d6e751f5986 | 59 | CobsEncode(package.byte_data, (int)sizeof(_package), send_cobs_data); |
cocorlow | 1:7d6e751f5986 | 60 | for (int i = 0; i < sizeof(_package)+2; i++) |
cocorlow | 0:8adbff0ff843 | 61 | { |
cocorlow | 3:526f824b50ef | 62 | send_buffer[(send_end_index + i) % send_size] = send_cobs_data[i]; |
cocorlow | 0:8adbff0ff843 | 63 | } |
cocorlow | 3:526f824b50ef | 64 | send_end_index = (send_end_index + sizeof(_package) + 2) % send_size; |
cocorlow | 3:526f824b50ef | 65 | serial.attach(this, &UsaPack::SendByte, Serial::TxIrq); |
cocorlow | 0:8adbff0ff843 | 66 | } |
cocorlow | 0:8adbff0ff843 | 67 | |
cocorlow | 0:8adbff0ff843 | 68 | |
cocorlow | 0:8adbff0ff843 | 69 | |
cocorlow | 0:8adbff0ff843 | 70 | }; |
cocorlow | 0:8adbff0ff843 | 71 | |
cocorlow | 0:8adbff0ff843 | 72 | |
cocorlow | 0:8adbff0ff843 | 73 | #endif |