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@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 | #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 | 0:8adbff0ff843 | 10 | const int uart_size = 256; |
cocorlow | 0:8adbff0ff843 | 11 | char uart_buffer[uart_size]; |
cocorlow | 0:8adbff0ff843 | 12 | int uart_index; |
cocorlow | 0:8adbff0ff843 | 13 | const int package_types = 64; |
cocorlow | 0:8adbff0ff843 | 14 | int package_index; |
cocorlow | 0:8adbff0ff843 | 15 | int package_address[package_types]; |
cocorlow | 0:8adbff0ff843 | 16 | int package_size[package_types]; |
cocorlow | 0:8adbff0ff843 | 17 | void* package_object[package_types]; |
cocorlow | 0:8adbff0ff843 | 18 | |
cocorlow | 0:8adbff0ff843 | 19 | void Receive(); |
cocorlow | 0:8adbff0ff843 | 20 | |
cocorlow | 0:8adbff0ff843 | 21 | public: |
cocorlow | 0:8adbff0ff843 | 22 | UsaPack(PinName tx, PinName rx, int baud); |
cocorlow | 0:8adbff0ff843 | 23 | static void CobsEncode(uint8_t data[], int length, uint8_t send_data[]); |
cocorlow | 0:8adbff0ff843 | 24 | static void CobsDecode(uint8_t receive_data[], int length, uint8_t data[]); |
cocorlow | 0:8adbff0ff843 | 25 | |
cocorlow | 0:8adbff0ff843 | 26 | template <typename T> |
cocorlow | 0:8adbff0ff843 | 27 | void Subscribe(int address, T* receive_data) |
cocorlow | 0:8adbff0ff843 | 28 | { |
cocorlow | 0:8adbff0ff843 | 29 | package_address[package_index] = address; |
cocorlow | 0:8adbff0ff843 | 30 | package_size[package_index] = sizeof(T); |
cocorlow | 0:8adbff0ff843 | 31 | package_object[package_index] = receive_data; |
cocorlow | 0:8adbff0ff843 | 32 | package_index++; |
cocorlow | 0:8adbff0ff843 | 33 | } |
cocorlow | 0:8adbff0ff843 | 34 | |
cocorlow | 0:8adbff0ff843 | 35 | template <typename T> |
cocorlow | 0:8adbff0ff843 | 36 | void UsaPack::Send(int address, T send_data) |
cocorlow | 0:8adbff0ff843 | 37 | { |
cocorlow | 0:8adbff0ff843 | 38 | union _package |
cocorlow | 0:8adbff0ff843 | 39 | { |
cocorlow | 0:8adbff0ff843 | 40 | struct |
cocorlow | 0:8adbff0ff843 | 41 | { |
cocorlow | 0:8adbff0ff843 | 42 | int _address; |
cocorlow | 0:8adbff0ff843 | 43 | T raw_data; |
cocorlow | 0:8adbff0ff843 | 44 | } address_package; |
cocorlow | 0:8adbff0ff843 | 45 | uint8_t byte_data[sizeof(T)]; |
cocorlow | 0:8adbff0ff843 | 46 | }; |
cocorlow | 0:8adbff0ff843 | 47 | uint8_t send_cobs_data[sizeof(T)+2]; |
cocorlow | 0:8adbff0ff843 | 48 | |
cocorlow | 0:8adbff0ff843 | 49 | _package package; |
cocorlow | 0:8adbff0ff843 | 50 | package.address_package._address = address; |
cocorlow | 0:8adbff0ff843 | 51 | package.address_package.raw_data = send_data; |
cocorlow | 0:8adbff0ff843 | 52 | CobsEncode(package.byte_data, (int)sizeof(T), send_cobs_data); |
cocorlow | 0:8adbff0ff843 | 53 | for (int i = 0; i < sizeof(T)+2; i++) |
cocorlow | 0:8adbff0ff843 | 54 | { |
cocorlow | 0:8adbff0ff843 | 55 | serial.putc(send_cobs_data[i]); |
cocorlow | 0:8adbff0ff843 | 56 | } |
cocorlow | 0:8adbff0ff843 | 57 | } |
cocorlow | 0:8adbff0ff843 | 58 | |
cocorlow | 0:8adbff0ff843 | 59 | |
cocorlow | 0:8adbff0ff843 | 60 | |
cocorlow | 0:8adbff0ff843 | 61 | }; |
cocorlow | 0:8adbff0ff843 | 62 | |
cocorlow | 0:8adbff0ff843 | 63 | |
cocorlow | 0:8adbff0ff843 | 64 | #endif |