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
Diff: UsaPack.cpp
- Revision:
- 3:526f824b50ef
- Parent:
- 2:1096fc8201a3
- Child:
- 4:844eff5a2fa8
diff -r 1096fc8201a3 -r 526f824b50ef UsaPack.cpp --- a/UsaPack.cpp Sat Apr 24 04:38:39 2021 +0000 +++ b/UsaPack.cpp Mon Apr 26 11:33:25 2021 +0000 @@ -7,20 +7,37 @@ { char c; c = serial.getc(); - uart_buffer[uart_index] = c; - uart_index = (uart_index + 1) % uart_size; + receive_buffer[receive_index] = c; + receive_index = (receive_index + 1) % receive_size; if (c == '\0') { Decode(); - uart_index = 0; + receive_index = 0; + } + } +} + +void UsaPack::SendByte() +{ + while (serial.writable()) + { + if (send_index != send_end_index) + { + serial.putc(send_buffer[send_index]); + send_index = (send_index + 1) % send_size; + } + else + { + serial.attach(NULL, Serial::TxIrq); + break; } } } void UsaPack::Decode() { - char data[uart_size]; - CobsDecode(uart_buffer, uart_index-2, data); + char data[receive_size]; + CobsDecode(receive_buffer, receive_index-2, data); union { char c[4]; @@ -44,12 +61,12 @@ } UsaPack::UsaPack(PinName tx, PinName rx, int baud) - :serial(tx, rx, baud), uart_index(0), package_index(0) + :serial(tx, rx, baud), receive_index(0), package_index(0), send_index(0), send_end_index(0) { serial.attach(this, &UsaPack::Receive, Serial::RxIrq); - for (int i = 0; i < uart_size; i++) + for (int i = 0; i < receive_size; i++) { - uart_buffer[i] = '\0'; + receive_buffer[i] = '\0'; } }