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@7:bc00f60af715, 2021-05-31 (annotated)
- Committer:
- cocorlow
- Date:
- Mon May 31 16:40:55 2021 +0000
- Revision:
- 7:bc00f60af715
- Parent:
- 6:43078601fc5c
- Child:
- 8:2c3cdcf1ae3a
define
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 | 7:bc00f60af715 | 6 | #define receive_size 256 |
cocorlow | 7:bc00f60af715 | 7 | #define package_types 64 |
cocorlow | 7:bc00f60af715 | 8 | #define send_size 256 |
cocorlow | 7:bc00f60af715 | 9 | |
cocorlow | 0:8adbff0ff843 | 10 | class UsaPack |
cocorlow | 0:8adbff0ff843 | 11 | { |
cocorlow | 0:8adbff0ff843 | 12 | private: |
cocorlow | 0:8adbff0ff843 | 13 | Serial serial; |
cocorlow | 3:526f824b50ef | 14 | char receive_buffer[receive_size]; |
cocorlow | 3:526f824b50ef | 15 | volatile int receive_index; |
cocorlow | 3:526f824b50ef | 16 | volatile int package_index; |
cocorlow | 3:526f824b50ef | 17 | volatile int package_address[package_types]; |
cocorlow | 3:526f824b50ef | 18 | volatile int package_size[package_types]; |
cocorlow | 0:8adbff0ff843 | 19 | void* package_object[package_types]; |
cocorlow | 0:8adbff0ff843 | 20 | |
cocorlow | 3:526f824b50ef | 21 | char send_buffer[send_size]; |
cocorlow | 3:526f824b50ef | 22 | volatile int send_index; |
cocorlow | 3:526f824b50ef | 23 | volatile int send_end_index; |
cocorlow | 3:526f824b50ef | 24 | |
cocorlow | 0:8adbff0ff843 | 25 | void Receive(); |
cocorlow | 3:526f824b50ef | 26 | void SendByte(); |
cocorlow | 1:7d6e751f5986 | 27 | void Decode(); |
cocorlow | 0:8adbff0ff843 | 28 | |
cocorlow | 0:8adbff0ff843 | 29 | public: |
cocorlow | 0:8adbff0ff843 | 30 | UsaPack(PinName tx, PinName rx, int baud); |
cocorlow | 1:7d6e751f5986 | 31 | static void CobsEncode(char data[], int length, char send_data[]); |
cocorlow | 1:7d6e751f5986 | 32 | static void CobsDecode(char receive_data[], int length, char data[]); |
cocorlow | 0:8adbff0ff843 | 33 | |
cocorlow | 0:8adbff0ff843 | 34 | template <typename T> |
cocorlow | 0:8adbff0ff843 | 35 | void Subscribe(int address, T* receive_data) |
cocorlow | 0:8adbff0ff843 | 36 | { |
cocorlow | 0:8adbff0ff843 | 37 | package_address[package_index] = address; |
cocorlow | 0:8adbff0ff843 | 38 | package_size[package_index] = sizeof(T); |
cocorlow | 0:8adbff0ff843 | 39 | package_object[package_index] = receive_data; |
cocorlow | 0:8adbff0ff843 | 40 | package_index++; |
cocorlow | 0:8adbff0ff843 | 41 | } |
cocorlow | 0:8adbff0ff843 | 42 | |
cocorlow | 0:8adbff0ff843 | 43 | template <typename T> |
cocorlow | 1:7d6e751f5986 | 44 | void UsaPack::Send(int address, T* send_data) |
cocorlow | 0:8adbff0ff843 | 45 | { |
cocorlow | 0:8adbff0ff843 | 46 | union _package |
cocorlow | 0:8adbff0ff843 | 47 | { |
cocorlow | 0:8adbff0ff843 | 48 | struct |
cocorlow | 0:8adbff0ff843 | 49 | { |
cocorlow | 0:8adbff0ff843 | 50 | int _address; |
cocorlow | 4:844eff5a2fa8 | 51 | int _checksum; |
cocorlow | 0:8adbff0ff843 | 52 | T raw_data; |
cocorlow | 0:8adbff0ff843 | 53 | } address_package; |
cocorlow | 1:7d6e751f5986 | 54 | char byte_data[sizeof(address_package)]; |
cocorlow | 0:8adbff0ff843 | 55 | }; |
cocorlow | 1:7d6e751f5986 | 56 | char send_cobs_data[sizeof(_package)+2]; |
cocorlow | 0:8adbff0ff843 | 57 | |
cocorlow | 0:8adbff0ff843 | 58 | _package package; |
cocorlow | 0:8adbff0ff843 | 59 | package.address_package._address = address; |
cocorlow | 1:7d6e751f5986 | 60 | package.address_package.raw_data = *send_data; |
cocorlow | 4:844eff5a2fa8 | 61 | |
cocorlow | 4:844eff5a2fa8 | 62 | int checksum = 0; |
cocorlow | 4:844eff5a2fa8 | 63 | for (int i = 8; i < sizeof(_package); i++) |
cocorlow | 4:844eff5a2fa8 | 64 | { |
cocorlow | 4:844eff5a2fa8 | 65 | checksum += package.byte_data[i]; |
cocorlow | 4:844eff5a2fa8 | 66 | } |
cocorlow | 6:43078601fc5c | 67 | package.address_package._checksum = checksum; |
cocorlow | 4:844eff5a2fa8 | 68 | |
cocorlow | 1:7d6e751f5986 | 69 | CobsEncode(package.byte_data, (int)sizeof(_package), send_cobs_data); |
cocorlow | 1:7d6e751f5986 | 70 | for (int i = 0; i < sizeof(_package)+2; i++) |
cocorlow | 0:8adbff0ff843 | 71 | { |
cocorlow | 3:526f824b50ef | 72 | send_buffer[(send_end_index + i) % send_size] = send_cobs_data[i]; |
cocorlow | 0:8adbff0ff843 | 73 | } |
cocorlow | 3:526f824b50ef | 74 | send_end_index = (send_end_index + sizeof(_package) + 2) % send_size; |
cocorlow | 3:526f824b50ef | 75 | serial.attach(this, &UsaPack::SendByte, Serial::TxIrq); |
cocorlow | 0:8adbff0ff843 | 76 | } |
cocorlow | 0:8adbff0ff843 | 77 | |
cocorlow | 0:8adbff0ff843 | 78 | |
cocorlow | 0:8adbff0ff843 | 79 | |
cocorlow | 0:8adbff0ff843 | 80 | }; |
cocorlow | 0:8adbff0ff843 | 81 | |
cocorlow | 0:8adbff0ff843 | 82 | |
cocorlow | 0:8adbff0ff843 | 83 | #endif |