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@0:8adbff0ff843, 2021-04-23 (annotated)
- Committer:
- cocorlow
- Date:
- Fri Apr 23 18:53:23 2021 +0000
- Revision:
- 0:8adbff0ff843
- Child:
- 1:7d6e751f5986
UART COBS
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 | 0:8adbff0ff843 | 6 | |
cocorlow | 0:8adbff0ff843 | 7 | } |
cocorlow | 0:8adbff0ff843 | 8 | |
cocorlow | 0:8adbff0ff843 | 9 | UsaPack::UsaPack(PinName tx, PinName rx, int baud) |
cocorlow | 0:8adbff0ff843 | 10 | :serial(tx, rx, baud), uart_index(0), package_index(0) |
cocorlow | 0:8adbff0ff843 | 11 | { |
cocorlow | 0:8adbff0ff843 | 12 | serial.attach(this, &UsaPack::Receive, Serial::RxIrq); |
cocorlow | 0:8adbff0ff843 | 13 | for (int i = 0; i < uart_size; i++) |
cocorlow | 0:8adbff0ff843 | 14 | { |
cocorlow | 0:8adbff0ff843 | 15 | uart_buffer[i] = '\0'; |
cocorlow | 0:8adbff0ff843 | 16 | } |
cocorlow | 0:8adbff0ff843 | 17 | } |
cocorlow | 0:8adbff0ff843 | 18 | |
cocorlow | 0:8adbff0ff843 | 19 | void UsaPack::CobsEncode(uint8_t data[], int length, uint8_t send_data[]) |
cocorlow | 0:8adbff0ff843 | 20 | { |
cocorlow | 0:8adbff0ff843 | 21 | int last_zero = 0; |
cocorlow | 0:8adbff0ff843 | 22 | for (int i = 0; i < length; i++) |
cocorlow | 0:8adbff0ff843 | 23 | { |
cocorlow | 0:8adbff0ff843 | 24 | if (data[i] == 0) |
cocorlow | 0:8adbff0ff843 | 25 | { |
cocorlow | 0:8adbff0ff843 | 26 | send_data[last_zero] = i - last_zero + 1; |
cocorlow | 0:8adbff0ff843 | 27 | last_zero = i + 1; |
cocorlow | 0:8adbff0ff843 | 28 | } |
cocorlow | 0:8adbff0ff843 | 29 | else |
cocorlow | 0:8adbff0ff843 | 30 | { |
cocorlow | 0:8adbff0ff843 | 31 | send_data[i + 1] = data[i]; |
cocorlow | 0:8adbff0ff843 | 32 | } |
cocorlow | 0:8adbff0ff843 | 33 | } |
cocorlow | 0:8adbff0ff843 | 34 | send_data[last_zero] = length - last_zero + 1; |
cocorlow | 0:8adbff0ff843 | 35 | send_data[length + 1] = 0; |
cocorlow | 0:8adbff0ff843 | 36 | } |
cocorlow | 0:8adbff0ff843 | 37 | |
cocorlow | 0:8adbff0ff843 | 38 | void UsaPack::CobsDecode(uint8_t receive_data[], int length, uint8_t data[]) |
cocorlow | 0:8adbff0ff843 | 39 | { |
cocorlow | 0:8adbff0ff843 | 40 | int next_zero; |
cocorlow | 0:8adbff0ff843 | 41 | next_zero = receive_data[0] - 1; |
cocorlow | 0:8adbff0ff843 | 42 | for (int i = 0; i < length; i++) |
cocorlow | 0:8adbff0ff843 | 43 | { |
cocorlow | 0:8adbff0ff843 | 44 | data[i] = receive_data[i + 1]; |
cocorlow | 0:8adbff0ff843 | 45 | } |
cocorlow | 0:8adbff0ff843 | 46 | while (next_zero < length) |
cocorlow | 0:8adbff0ff843 | 47 | { |
cocorlow | 0:8adbff0ff843 | 48 | data[next_zero] = 0; |
cocorlow | 0:8adbff0ff843 | 49 | next_zero += receive_data[next_zero + 1]; |
cocorlow | 0:8adbff0ff843 | 50 | } |
cocorlow | 0:8adbff0ff843 | 51 | } |
cocorlow | 0:8adbff0ff843 | 52 |