diff --git a/README.md b/README.md index 7d697eb..949f3e6 100644 --- a/README.md +++ b/README.md @@ -12,20 +12,22 @@ Variables and functions are accessed via indexes which need to be known to their The muCom protocol does not define master or slave ECUs. Both act as equal partners and define their capabilities but the variables and functions they link to the muCom interface. -##### Benchmark results ##### +##### Benchmark results from v2.0 ##### | Function | Execution time in us | | --- | --- | -| writeByte() | 35 | -| writeShort() | 55 | -| writeLong() | 92 | -| writeLongLong() | 156 | -| writeFloat() | 93 | -| readByte() | 255 | -| readShort() | 340 | -| readLong() | 458 | -| readLongLong() | 701 | -| readFloat() | 456 | -| invokeFunction() | 40 | +| writeByte() | 42 | +| writeShort() | 62 | +| writeLong() | 99 | +| writeLongLong() | 164 | +| writeFloat() | 100 | +| writeDouble() | 100 | +| readByte() | 307 | +| readShort() | 411 | +| readLong() | 527 | +| readLongLong() | 767 | +| readFloat() | 527 | +| readDouble() | 527 | +| invokeFunction() | 42 | Executed on an Atmega328p with a 250000kBaud serial interface in loopback mode. @@ -33,3 +35,5 @@ Executed on an Atmega328p with a 250000kBaud serial interface in loopback mode. ##### Frame structure ##### See muComBase.cpp for details regarding the binary structure of muCom frames. +Each muCom frame is tuned for maximum transmission speed and efficiency resulting in a binary efficiency of 87.5% when comparing the useful transmitted data (frame type, payload byte count and target variable ID are considered useful) to the overall frame length. +The muCom protocol has no need for wait times for frame synchronization, allowing the serial interface to run at 100% load when streaming data as fast as possible. diff --git a/examples/Benchmark/Benchmark.ino b/examples/Benchmark/Benchmark.ino index 661a373..807f742 100644 --- a/examples/Benchmark/Benchmark.ino +++ b/examples/Benchmark/Benchmark.ino @@ -1,14 +1,15 @@ #include "muCom.h" -muCom Device(Serial, 6, 1); +MUCOM_CREATE(Device, Serial, 6, 1); -long timestamps[12] = {0}; //Timestamps for benchmark +long timestamps[14] = {0}; //Timestamps for benchmark uint8_t u8Dummy = 0; uint16_t u16Dummy = 0; uint32_t u32Dummy = 0; uint64_t u64Dummy = 0; float f32Dummy = 0.0; +double f64Dummy = 0.0; void DoNothing(uint8_t *data, uint8_t cnt) @@ -35,6 +36,7 @@ void setup() Device.linkVariable(2, &u32Dummy); Device.linkVariable(3, &u64Dummy); Device.linkVariable(4, &f32Dummy); + Device.linkVariable(5, &f64Dummy); //Link function Device.linkFunction(0, DoNothing); @@ -73,32 +75,42 @@ void setup() delay(5); Device.handle(); + tmpTime = micros(); + Device.writeDouble(5, -666.66); + timestamps[5] += (int)micros() - tmpTime; + delay(5); + Device.handle(); + // ------- Benchmark reading variables ------- tmpTime = micros(); u8Dummy = Device.readByte(0); - timestamps[5] += (int)micros() - tmpTime; + timestamps[6] += (int)micros() - tmpTime; tmpTime = micros(); u16Dummy = Device.readShort(1); - timestamps[6] += (int)micros() - tmpTime; + timestamps[7] += (int)micros() - tmpTime; tmpTime = micros(); u32Dummy = Device.readLong(2); - timestamps[7] += (int)micros() - tmpTime; + timestamps[8] += (int)micros() - tmpTime; tmpTime = micros(); u64Dummy = Device.readLongLong(3); - timestamps[8] += (int)micros() - tmpTime; + timestamps[9] += (int)micros() - tmpTime; tmpTime = micros(); f32Dummy = Device.readFloat(4); - timestamps[9] += (int)micros() - tmpTime; + timestamps[10] += (int)micros() - tmpTime; + + tmpTime = micros(); + f32Dummy = Device.readDouble(5); + timestamps[11] += (int)micros() - tmpTime; // ------- Benchmark invoking functions ------- tmpTime = micros(); Device.invokeFunction(0); - timestamps[10] += (int)micros() - tmpTime; + timestamps[12] += (int)micros() - tmpTime; delay(5); Device.handle(); } @@ -106,10 +118,10 @@ void setup() //Calculate average benchmark result tmpTime = micros(); __asm__("nop\n\t"); //Ensure that micros is actually stored in tmpTime - timestamps[11] = (int)micros() - tmpTime; - for(i = 0; i < 11; i++) + timestamps[13] = (int)micros() - tmpTime; + for(i = 0; i < 14; i++) { - timestamps[i] = (timestamps[i] / 100) - timestamps[11]; + timestamps[i] = (timestamps[i] / 100) - timestamps[13]; } digitalWrite(LED_BUILTIN, HIGH); @@ -124,13 +136,15 @@ void loop() Serial.print("writeLong(): "); Serial.println(timestamps[2]); Serial.print("writeLongLong(): "); Serial.println(timestamps[3]); Serial.print("writeFloat(): "); Serial.println(timestamps[4]); - Serial.print("readByte(): "); Serial.println(timestamps[5]); - Serial.print("readShort(): "); Serial.println(timestamps[6]); - Serial.print("readLong(): "); Serial.println(timestamps[7]); - Serial.print("readLongLong(): "); Serial.println(timestamps[8]); - Serial.print("readFloat(): "); Serial.println(timestamps[9]); - Serial.print("invokeFunction(): "); Serial.println(timestamps[10]); + Serial.print("writeDouble(): "); Serial.println(timestamps[5]); + Serial.print("readByte(): "); Serial.println(timestamps[6]); + Serial.print("readShort(): "); Serial.println(timestamps[7]); + Serial.print("readLong(): "); Serial.println(timestamps[8]); + Serial.print("readLongLong(): "); Serial.println(timestamps[9]); + Serial.print("readFloat(): "); Serial.println(timestamps[10]); + Serial.print("readDouble(): "); Serial.println(timestamps[11]); + Serial.print("invokeFunction(): "); Serial.println(timestamps[12]); Serial.println(); delay(5000); -} \ No newline at end of file +} diff --git a/examples/Example_1/Example_1.ino b/examples/Example_1/Example_1.ino index 239f090..c01b5b0 100644 --- a/examples/Example_1/Example_1.ino +++ b/examples/Example_1/Example_1.ino @@ -6,7 +6,7 @@ void setLED(uint8_t *data, uint8_t cnt); //Create muCom interface -muCom Device(Serial, 2, 1); +MUCOM_CREATE(Device, Serial, 2, 1); //Global variables diff --git a/extras/Doxyfile b/extras/Doxyfile index 5b4f790..b7b3ae2 100644 --- a/extras/Doxyfile +++ b/extras/Doxyfile @@ -38,7 +38,7 @@ PROJECT_NAME = muCom # could be handy for archiving the generated documentation or if some version # control system is used. -PROJECT_NUMBER = 1.1 +PROJECT_NUMBER = 2.0 # Using the PROJECT_BRIEF tag one can provide an optional one line description # for a project that appears at the top of each page and should give viewer a diff --git a/extras/html/annotated.html b/extras/html/annotated.html index f679984..d39857a 100644 --- a/extras/html/annotated.html +++ b/extras/html/annotated.html @@ -19,7 +19,7 @@
muCom -  1.1 +  2.0
The reliable, fast and easy way to exchange binary data via UART
@@ -46,9 +46,9 @@
Here are the classes, structs, unions and interfaces with brief descriptions:
- + - +
 CmuComFile containing the main class for the muCom interface when being used for an Arduino
 CmuComMain class for the muCom interface when being used for an Arduino
 CmuCom_LinkedVariable_strInternal structure to store references to linked variables
 CmuComBaseBase muCom class
 CmuComBaseBase muCom class
diff --git a/extras/html/classes.html b/extras/html/classes.html index 2c75b4d..4744a84 100644 --- a/extras/html/classes.html +++ b/extras/html/classes.html @@ -19,7 +19,7 @@
muCom -  1.1 +  2.0
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/classmu_com-members.html b/extras/html/classmu_com-members.html index cf2a917..f5b551e 100644 --- a/extras/html/classmu_com-members.html +++ b/extras/html/classmu_com-members.html @@ -19,7 +19,7 @@
muCom -  1.1 +  2.0
The reliable, fast and easy way to exchange binary data via UART
@@ -62,31 +62,34 @@ linkVariable(uint8_t index, uint64_t *var) (defined in muComBase)muComBaseinline linkVariable(uint8_t index, int64_t *var) (defined in muComBase)muComBaseinline linkVariable(uint8_t index, float *var) (defined in muComBase)muComBaseinline - muCom(Stream &ser, uint8_t num_var, uint8_t num_func) (defined in muCom)muCom - muComBase(uint8_t num_var, uint8_t num_func)muComBase - read(uint8_t index, uint8_t *data, uint8_t cnt)muComBase - readByte(uint8_t index, uint8_t *data)muComBaseinline - readByte(uint8_t index, int8_t *data) (defined in muComBase)muComBaseinline - readByte(uint8_t index)muComBase - readFloat(uint8_t index, float *data)muComBaseinline - readFloat(uint8_t index)muComBase - readLong(uint8_t index, uint32_t *data)muComBaseinline - readLong(uint8_t index, int32_t *data) (defined in muComBase)muComBaseinline - readLong(uint8_t index)muComBase - readLongLong(uint8_t index, uint64_t *data)muComBaseinline - readLongLong(uint8_t index, int64_t *data) (defined in muComBase)muComBaseinline - readLongLong(uint8_t index)muComBase - readShort(uint8_t index, uint16_t *data)muComBaseinline - readShort(uint8_t index, int16_t *data) (defined in muComBase)muComBaseinline - readShort(uint8_t index)muComBase - setTimeout(int16_t timeout)muComBase - write(uint8_t index, uint8_t *data, uint8_t cnt)muComBaseinline - writeByte(uint8_t index, uint8_t data)muComBaseinline + linkVariable(uint8_t index, double *var) (defined in muComBase)muComBaseinline + muCom(UARTClass &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func) (defined in muCom)muCominline + muComBase(struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func)muComBase + read(uint8_t index, uint8_t *data, uint8_t cnt)muComBase + readByte(uint8_t index, uint8_t *data)muComBaseinline + readByte(uint8_t index, int8_t *data) (defined in muComBase)muComBaseinline + readByte(uint8_t index)muComBase + readDouble(uint8_t index, double *data)muComBaseinline + readDouble(uint8_t index)muComBase + readFloat(uint8_t index, float *data)muComBaseinline + readFloat(uint8_t index)muComBase + readLong(uint8_t index, uint32_t *data)muComBaseinline + readLong(uint8_t index, int32_t *data) (defined in muComBase)muComBaseinline + readLong(uint8_t index)muComBase + readLongLong(uint8_t index, uint64_t *data)muComBaseinline + readLongLong(uint8_t index, int64_t *data) (defined in muComBase)muComBaseinline + readLongLong(uint8_t index)muComBase + readShort(uint8_t index, uint16_t *data)muComBaseinline + readShort(uint8_t index, int16_t *data) (defined in muComBase)muComBaseinline + readShort(uint8_t index)muComBase + setTimeout(int16_t timeout)muComBase + write(uint8_t index, uint8_t *data, uint8_t cnt)muComBaseinline + writeByte(uint8_t index, uint8_t data)muComBaseinline + writeDouble(uint8_t index, double data)muComBaseinline writeFloat(uint8_t index, float data)muComBaseinline writeLong(uint8_t index, uint32_t data)muComBaseinline writeLongLong(uint8_t index, uint64_t data)muComBaseinline writeShort(uint8_t index, uint16_t data)muComBaseinline - ~muComBase(void)muComBase
diff --git a/extras/html/classmu_com.html b/extras/html/classmu_com.html index 17a8444..8ae3ab9 100644 --- a/extras/html/classmu_com.html +++ b/extras/html/classmu_com.html @@ -19,7 +19,7 @@
muCom -  1.1 +  2.0
The reliable, fast and easy way to exchange binary data via UART
@@ -48,7 +48,7 @@
-

File containing the main class for the muCom interface when being used for an Arduino. +

Main class for the muCom interface when being used for an Arduino. More...

#include <muCom.h>

@@ -64,17 +64,13 @@ - - + + - - - - - - + + + @@ -82,41 +78,44 @@ - + - + - + - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + @@ -141,6 +140,9 @@ + + + @@ -171,6 +173,9 @@ + + + @@ -186,16 +191,15 @@ + + +

Public Member Functions

- muCom (Stream &ser, uint8_t num_var, uint8_t num_func)
 
+ muCom (UARTClass &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func)
 
- Public Member Functions inherited from muComBase
 muComBase (uint8_t num_var, uint8_t num_func)
 Constructor of the base class. More...
 
- ~muComBase (void)
 Destructor of the base class.
 
 muComBase (struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func)
 Constructor of the base class. More...
 
uint32_t getLastCommTime (void)
 Get timestamp of last successful communication. More...
 
 Set timeout for read requests. More...
 
uint8_t handle (void)
 Handle the muCom interface. More...
 Handle the muCom interface. More...
 
int8_t linkFunction (uint8_t index, muComFunc function)
 Link function to the muCom interface. More...
 Link function to the muCom interface. More...
 
int8_t linkVariable (uint8_t index, uint8_t *var, uint8_t size)
 Link a variable or a buffer to the muCom interface. More...
 Link a variable or a buffer to the muCom interface. More...
 
-void linkVariable (uint8_t index, uint8_t *var)
 
-void linkVariable (uint8_t index, int8_t *var)
 
-void linkVariable (uint8_t index, uint16_t *var)
 
-void linkVariable (uint8_t index, int16_t *var)
 
-void linkVariable (uint8_t index, uint32_t *var)
 
-void linkVariable (uint8_t index, int32_t *var)
 
-void linkVariable (uint8_t index, uint64_t *var)
 
-void linkVariable (uint8_t index, int64_t *var)
 
-void linkVariable (uint8_t index, float *var)
 
+int8_t linkVariable (uint8_t index, uint8_t *var)
 
+int8_t linkVariable (uint8_t index, int8_t *var)
 
+int8_t linkVariable (uint8_t index, uint16_t *var)
 
+int8_t linkVariable (uint8_t index, int16_t *var)
 
+int8_t linkVariable (uint8_t index, uint32_t *var)
 
+int8_t linkVariable (uint8_t index, int32_t *var)
 
+int8_t linkVariable (uint8_t index, uint64_t *var)
 
+int8_t linkVariable (uint8_t index, int64_t *var)
 
+int8_t linkVariable (uint8_t index, float *var)
 
+int8_t linkVariable (uint8_t index, double *var)
 
void invokeFunction (uint8_t index, uint8_t *data, uint8_t cnt)
 Invoke a function at the communication partner. More...
 
void writeFloat (uint8_t index, float data)
 Write a float to the communication partner. More...
 
void writeDouble (uint8_t index, double data)
 Write a double to the communication partner (not available on AVR microcontrollers) More...
 
int8_t read (uint8_t index, uint8_t *data, uint8_t cnt)
 Read data from the communication partner. More...
 
int8_t readFloat (uint8_t index, float *data)
 Read a float from the communication partner. More...
 
int8_t readDouble (uint8_t index, double *data)
 Read a double from the communication partner (not available on AVR microcontrollers) More...
 
uint8_t readByte (uint8_t index)
 Read a byte from the communication partner. More...
 
float readFloat (uint8_t index)
 Read a float from the communication partner. More...
 
double readDouble (uint8_t index)
 Read a float from the communication partner. More...
 

Detailed Description

-

File containing the main class for the muCom interface when being used for an Arduino.

-
Version
1.0
-
Author
Kai Liebich
-

Main class for the muCom interface when being used for an Arduino

-

This class inherits all functions from the muCom base class (see muComBase) and additionally implements the interface for the HW access when using the muCom interface on an Arduino. It uses the Stream class for communication which can be implemented by the hardware and software UARTS, as well as USB serial emulations.

-
The documentation for this class was generated from the following files:
    +

    Main class for the muCom interface when being used for an Arduino.

    +

    This class inherits all functions from the muCom base class (see muComBase) and additionally implements the interface for the HW access when using the muCom interface on an Arduino. It uses the Stream class for communication which can be implemented by the hardware and software UARTS, as well as USB serial emulations.

    +
    The documentation for this class was generated from the following file:
    • U:/Eigene Dokumente/Github/muCom/src/muCom.h
      • -
    • U:/Eigene Dokumente/Github/muCom/src/muCom.cpp
diff --git a/extras/html/classmu_com_base-members.html b/extras/html/classmu_com_base-members.html index 2e9c8e6..9e70ce2 100644 --- a/extras/html/classmu_com_base-members.html +++ b/extras/html/classmu_com_base-members.html @@ -19,7 +19,7 @@
muCom -  1.1 +  2.0
The reliable, fast and easy way to exchange binary data via UART
@@ -62,30 +62,33 @@ linkVariable(uint8_t index, uint64_t *var) (defined in muComBase)muComBaseinline linkVariable(uint8_t index, int64_t *var) (defined in muComBase)muComBaseinline linkVariable(uint8_t index, float *var) (defined in muComBase)muComBaseinline - muComBase(uint8_t num_var, uint8_t num_func)muComBase - read(uint8_t index, uint8_t *data, uint8_t cnt)muComBase - readByte(uint8_t index, uint8_t *data)muComBaseinline - readByte(uint8_t index, int8_t *data) (defined in muComBase)muComBaseinline - readByte(uint8_t index)muComBase - readFloat(uint8_t index, float *data)muComBaseinline - readFloat(uint8_t index)muComBase - readLong(uint8_t index, uint32_t *data)muComBaseinline - readLong(uint8_t index, int32_t *data) (defined in muComBase)muComBaseinline - readLong(uint8_t index)muComBase - readLongLong(uint8_t index, uint64_t *data)muComBaseinline - readLongLong(uint8_t index, int64_t *data) (defined in muComBase)muComBaseinline - readLongLong(uint8_t index)muComBase - readShort(uint8_t index, uint16_t *data)muComBaseinline - readShort(uint8_t index, int16_t *data) (defined in muComBase)muComBaseinline - readShort(uint8_t index)muComBase - setTimeout(int16_t timeout)muComBase - write(uint8_t index, uint8_t *data, uint8_t cnt)muComBaseinline - writeByte(uint8_t index, uint8_t data)muComBaseinline + linkVariable(uint8_t index, double *var) (defined in muComBase)muComBaseinline + muComBase(struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func)muComBase + read(uint8_t index, uint8_t *data, uint8_t cnt)muComBase + readByte(uint8_t index, uint8_t *data)muComBaseinline + readByte(uint8_t index, int8_t *data) (defined in muComBase)muComBaseinline + readByte(uint8_t index)muComBase + readDouble(uint8_t index, double *data)muComBaseinline + readDouble(uint8_t index)muComBase + readFloat(uint8_t index, float *data)muComBaseinline + readFloat(uint8_t index)muComBase + readLong(uint8_t index, uint32_t *data)muComBaseinline + readLong(uint8_t index, int32_t *data) (defined in muComBase)muComBaseinline + readLong(uint8_t index)muComBase + readLongLong(uint8_t index, uint64_t *data)muComBaseinline + readLongLong(uint8_t index, int64_t *data) (defined in muComBase)muComBaseinline + readLongLong(uint8_t index)muComBase + readShort(uint8_t index, uint16_t *data)muComBaseinline + readShort(uint8_t index, int16_t *data) (defined in muComBase)muComBaseinline + readShort(uint8_t index)muComBase + setTimeout(int16_t timeout)muComBase + write(uint8_t index, uint8_t *data, uint8_t cnt)muComBaseinline + writeByte(uint8_t index, uint8_t data)muComBaseinline + writeDouble(uint8_t index, double data)muComBaseinline writeFloat(uint8_t index, float data)muComBaseinline writeLong(uint8_t index, uint32_t data)muComBaseinline writeLongLong(uint8_t index, uint64_t data)muComBaseinline writeShort(uint8_t index, uint16_t data)muComBaseinline - ~muComBase(void)muComBase
diff --git a/extras/html/classmu_com_base.html b/extras/html/classmu_com_base.html index 37e72e3..076082f 100644 --- a/extras/html/classmu_com_base.html +++ b/extras/html/classmu_com_base.html @@ -19,7 +19,7 @@
muCom -  1.1 +  2.0
The reliable, fast and easy way to exchange binary data via UART
@@ -48,7 +48,7 @@
-

Base muCom class. +

Base muCom class. More...

#include <muComBase.h>

@@ -58,19 +58,15 @@
-muCom +muCom
- - - - - - + + + @@ -78,41 +74,44 @@ - + - + - + - - - - - - - - - - - - - - - - - - + + + + + + + + + + + + + + + + + + + + @@ -137,6 +136,9 @@ + + + @@ -167,6 +169,9 @@ + + + @@ -182,13 +187,16 @@ + + +

Public Member Functions

 muComBase (uint8_t num_var, uint8_t num_func)
 Constructor of the base class. More...
 
- ~muComBase (void)
 Destructor of the base class.
 
 muComBase (struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func)
 Constructor of the base class. More...
 
uint32_t getLastCommTime (void)
 Get timestamp of last successful communication. More...
 
 Set timeout for read requests. More...
 
uint8_t handle (void)
 Handle the muCom interface. More...
 Handle the muCom interface. More...
 
int8_t linkFunction (uint8_t index, muComFunc function)
 Link function to the muCom interface. More...
 Link function to the muCom interface. More...
 
int8_t linkVariable (uint8_t index, uint8_t *var, uint8_t size)
 Link a variable or a buffer to the muCom interface. More...
 Link a variable or a buffer to the muCom interface. More...
 
-void linkVariable (uint8_t index, uint8_t *var)
 
-void linkVariable (uint8_t index, int8_t *var)
 
-void linkVariable (uint8_t index, uint16_t *var)
 
-void linkVariable (uint8_t index, int16_t *var)
 
-void linkVariable (uint8_t index, uint32_t *var)
 
-void linkVariable (uint8_t index, int32_t *var)
 
-void linkVariable (uint8_t index, uint64_t *var)
 
-void linkVariable (uint8_t index, int64_t *var)
 
-void linkVariable (uint8_t index, float *var)
 
+int8_t linkVariable (uint8_t index, uint8_t *var)
 
+int8_t linkVariable (uint8_t index, int8_t *var)
 
+int8_t linkVariable (uint8_t index, uint16_t *var)
 
+int8_t linkVariable (uint8_t index, int16_t *var)
 
+int8_t linkVariable (uint8_t index, uint32_t *var)
 
+int8_t linkVariable (uint8_t index, int32_t *var)
 
+int8_t linkVariable (uint8_t index, uint64_t *var)
 
+int8_t linkVariable (uint8_t index, int64_t *var)
 
+int8_t linkVariable (uint8_t index, float *var)
 
+int8_t linkVariable (uint8_t index, double *var)
 
void invokeFunction (uint8_t index, uint8_t *data, uint8_t cnt)
 Invoke a function at the communication partner. More...
 
void writeFloat (uint8_t index, float data)
 Write a float to the communication partner. More...
 
void writeDouble (uint8_t index, double data)
 Write a double to the communication partner (not available on AVR microcontrollers) More...
 
int8_t read (uint8_t index, uint8_t *data, uint8_t cnt)
 Read data from the communication partner. More...
 
int8_t readFloat (uint8_t index, float *data)
 Read a float from the communication partner. More...
 
int8_t readDouble (uint8_t index, double *data)
 Read a double from the communication partner (not available on AVR microcontrollers) More...
 
uint8_t readByte (uint8_t index)
 Read a byte from the communication partner. More...
 
float readFloat (uint8_t index)
 Read a float from the communication partner. More...
 
double readDouble (uint8_t index)
 Read a float from the communication partner. More...
 

Detailed Description

-

Base muCom class.

-

This class implements the muCom protocol itself and relies on being inherited in order to implement the actual serial interface.

+

Base muCom class.

+

This class implements the muCom protocol itself and relies on being inherited in order to implement the actual serial interface.

Constructor & Destructor Documentation

- -

◆ muComBase()

+ +

◆ muComBase()

@@ -196,9 +204,21 @@

muComBase::muComBase ( + struct muCom_LinkedVariable_str *  + var_buf, + + + + uint8_t  num_var, + + + + muComFunc *  + func_buf, + @@ -216,7 +236,9 @@

Parameters
+ +
[in]var_bufFixed buffer for linked variables
[in]num_varMax. number of variables to be linked
[in]func_bufFixed buffer for linked functions
[in]num_funcMax. number of functions to be linked
@@ -270,8 +292,8 @@

-

Handle the muCom interface.

-

This function handles the muCom interface and decodes the received data. It should be executed as often as possible and will handle writing to and reading from linked variables as well as executing requested functions. This function is also used during reading data from the communication partner.

Returns
1 = answer from a read request was received, else 0
+

Handle the muCom interface.

+

This function handles the muCom interface and decodes the received data. It should be executed as often as possible and will handle writing to and reading from linked variables as well as executing requested functions. This function is also used during reading data from the communication partner.

Returns
1 = answer from a read request was received, else 0

@@ -387,7 +409,7 @@

-

Link function to the muCom interface.

+

Link function to the muCom interface.

Parameters
@@ -430,7 +452,7 @@

-

Link a variable or a buffer to the muCom interface.

+

Link a variable or a buffer to the muCom interface.

Parameters

[in]indexIndex used to invoke this functions
@@ -439,6 +461,7 @@

Returns
MUCOM_OK if all is alright
@@ -556,7 +579,81 @@

Returns
See muCom error codes (0 = OK, <0 = Error)
+
Returns
See muCom error codes (0 = OK, <0 = Error)
+ + + + +

◆ readDouble() [1/2]

+ +
+
+

[in]indexIndex used to access the variable/buffer
+ + + + + + + +
double muComBase::readDouble (uint8_t index)
+

+ +

Read a float from the communication partner.

+
Parameters
+ + +
[in]indexIndex of the remote variable to be read
+
+
+
Returns
Float read from the communication partner.
+-1 in case of errors
+ +
+ + +

◆ readDouble() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
int8_t muComBase::readDouble (uint8_t index,
double * data 
)
+ 		+inline
+
+ +

Read a double from the communication partner (not available on AVR microcontrollers)

+
Parameters
+ + + +
[in]indexIndex of the remote variable to be read
[in]dataPointer to the variable where the read data should be stored
+
+
+
Returns
See muCom error codes (0 = OK, <0 = Error)
@@ -630,7 +727,7 @@

Returns
See muCom error codes (0 = OK, <0 = Error)
+
Returns
See muCom error codes (0 = OK, <0 = Error)
@@ -704,7 +801,7 @@

Returns
See muCom error codes (0 = OK, <0 = Error)
+
Returns
See muCom error codes (0 = OK, <0 = Error)
@@ -778,7 +875,7 @@

Returns
See muCom error codes (0 = OK, <0 = Error)
+
Returns
See muCom error codes (0 = OK, <0 = Error)
@@ -852,7 +949,7 @@

Returns
See muCom error codes (0 = OK, <0 = Error)
+
Returns
See muCom error codes (0 = OK, <0 = Error)
@@ -977,6 +1074,51 @@

+

◆ writeDouble()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void muComBase::writeDouble (uint8_t index,
double data 
)
+ 		+inline
+
+ +

Write a double to the communication partner (not available on AVR microcontrollers)

+
Parameters
+ + + +
[in]indexIndex of the remote variable to be written to
[in]dataFloat to be written to the communication partner
+
+
+
diff --git a/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html index 1b9e822..f6f1e40 100644 --- a/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html +++ b/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -19,7 +19,7 @@
muCom -  1.1 +  2.0
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/files.html b/extras/html/files.html index 53cc2cd..0304e5c 100644 --- a/extras/html/files.html +++ b/extras/html/files.html @@ -19,7 +19,7 @@
muCom -  1.1 +  2.0
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/functions.html b/extras/html/functions.html index f3fef11..f85f77b 100644 --- a/extras/html/functions.html +++ b/extras/html/functions.html @@ -19,7 +19,7 @@
muCom -  1.1 +  2.0
The reliable, fast and easy way to exchange binary data via UART
@@ -57,7 +57,7 @@ : muComBase
  • muComBase() -: muComBase +: muComBase
  • read() : muComBase @@ -65,14 +65,17 @@
  • readByte() : muComBase
    • +
  • readDouble() +: muComBase +
  • readFloat() : muComBase
  • readLong() -: muComBase +: muComBase
  • readLongLong() -: muComBase +: muComBase
  • readShort() : muComBase @@ -86,6 +89,9 @@
  • writeByte() : muComBase
    • +
  • writeDouble() +: muComBase +
  • writeFloat() : muComBase
    • @@ -98,9 +104,6 @@
  • writeShort() : muComBase
    • -
  • ~muComBase() -: muComBase -
    • diff --git a/extras/html/functions_func.html b/extras/html/functions_func.html index afaf044..79d9181 100644 --- a/extras/html/functions_func.html +++ b/extras/html/functions_func.html @@ -19,7 +19,7 @@
    muCom -  1.1 +  2.0
    The reliable, fast and easy way to exchange binary data via UART
    @@ -57,7 +57,7 @@ : muComBase
  • muComBase() -: muComBase +: muComBase
  • read() : muComBase @@ -65,14 +65,17 @@
  • readByte() : muComBase
    • +
  • readDouble() +: muComBase +
  • readFloat() : muComBase
  • readLong() -: muComBase +: muComBase
  • readLongLong() -: muComBase +: muComBase
  • readShort() : muComBase @@ -86,6 +89,9 @@
  • writeByte() : muComBase
    • +
  • writeDouble() +: muComBase +
  • writeFloat() : muComBase
    • @@ -98,9 +104,6 @@
  • writeShort() : muComBase
    • -
  • ~muComBase() -: muComBase -
    • diff --git a/extras/html/hierarchy.html b/extras/html/hierarchy.html index 7598614..ec5af10 100644 --- a/extras/html/hierarchy.html +++ b/extras/html/hierarchy.html @@ -19,7 +19,7 @@
    muCom -  1.1 +  2.0
    The reliable, fast and easy way to exchange binary data via UART
    @@ -47,8 +47,8 @@
    This inheritance list is sorted roughly, but not completely, alphabetically:
    [detail level 12]
    - - + +
     CmuCom_LinkedVariable_strInternal structure to store references to linked variables
     ▼CmuComBaseBase muCom class
     CmuComFile containing the main class for the muCom interface when being used for an Arduino
     ▼CmuComBaseBase muCom class
     CmuComMain class for the muCom interface when being used for an Arduino
    diff --git a/extras/html/index.html b/extras/html/index.html index 92000ce..5827fa3 100644 --- a/extras/html/index.html +++ b/extras/html/index.html @@ -19,7 +19,7 @@
    muCom -  1.1 +  2.0
    The reliable, fast and easy way to exchange binary data via UART
    diff --git a/extras/html/mu_com_8h_source.html b/extras/html/mu_com_8h_source.html index 3607328..af4e815 100644 --- a/extras/html/mu_com_8h_source.html +++ b/extras/html/mu_com_8h_source.html @@ -19,7 +19,7 @@
    muCom -  1.1 +  2.0
    The reliable, fast and easy way to exchange binary data via UART
    @@ -55,38 +55,64 @@
    11 #include <Arduino.h>
    12 #include "muComBase.h"
    13 
    -
    14 
    -
    21 class muCom : public muComBase
    -
    22 {
    -
    23  private:
    -
    24  Stream *_ser;
    -
    25 
    -
    26  inline void _write(uint8_t* data, uint8_t cnt)
    -
    27  { this->_ser->write(data, cnt); }
    -
    28 
    -
    29  inline uint8_t _read(void)
    -
    30  { return this->_ser->read(); }
    -
    31 
    -
    32  inline uint8_t _available(void)
    -
    33  { return this->_ser->available(); }
    +
    14 #define MUCOM_CREATE(name, serial, num_var, num_func) \
    +
    15  struct muCom_LinkedVariable_str _##name##_var_buf[ num_var ]; \
    +
    16  muComFunc _##name##_func_buf[ num_func ]; \
    +
    17  muCom name(serial, _##name##_var_buf, num_var, _##name##_func_buf, num_func);
    +
    18 
    +
    19 
    +
    26 class muCom : public muComBase
    +
    27 {
    +
    28  private:
    +
    29  #ifdef __AVR__
    +
    30  Stream *_ser;
    +
    31  #else
    +
    32  UARTClass *_ser;
    +
    33  #endif
    34 
    -
    35  inline void _flushTx(void)
    -
    36  { this->_ser->flush(); }
    +
    35  inline void _write(uint8_t* data, uint8_t cnt)
    +
    36  { this->_ser->write(data, cnt); }
    37 
    -
    38  inline uint32_t _getTimestamp(void)
    -
    39  { return millis(); }
    +
    38  inline uint8_t _read(void)
    +
    39  { return this->_ser->read(); }
    40 
    -
    41 
    -
    42  public:
    -
    43  muCom(Stream &ser, uint8_t num_var, uint8_t num_func);
    -
    44 };
    -
    45 
    -
    46 
    -
    47 #endif //MUCOM_H
    +
    41  inline uint8_t _available(void)
    +
    42  { return this->_ser->available(); }
    +
    43 
    +
    44  inline uint8_t _availableTxBuffer(void)
    +
    45  { return this->_ser->availableForWrite(); }
    +
    46 
    +
    47  inline void _flushTx(void)
    +
    48  { this->_ser->flush(); }
    +
    49 
    +
    50  inline uint32_t _getTimestamp(void)
    +
    51  { return millis(); }
    +
    52 
    +
    53  inline void _disableInterrupts(void)
    +
    54  { noInterrupts(); }
    +
    55 
    +
    56  inline void _enableInterrupts(void)
    +
    57  { interrupts(); }
    +
    58 
    +
    59  public:
    +
    60 
    +
    61  #ifdef __AVR__
    +
    62  muCom(Stream &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func) : muComBase(var_buf, num_var, func_buf, num_func)
    +
    63  { this->_ser = &ser; }
    +
    64  #else
    +
    65  muCom(UARTClass &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func) : muComBase(var_buf, num_var, func_buf, num_func)
    +
    66  { this->_ser = &ser; }
    +
    67  #endif
    +
    68 };
    +
    69 
    +
    70 
    +
    71 #endif //MUCOM_H
    -
    muComBase::write
    void write(uint8_t index, uint8_t *data, uint8_t cnt)
    Write a data array to a remote variable.
    Definition: muComBase.h:197
    -
    muComBase
    Base muCom class.
    Definition: muComBase.h:58
    -
    muCom
    File containing the main class for the muCom interface when being used for an Arduino.
    Definition: muCom.h:21
    +
    muComBase::write
    void write(uint8_t index, uint8_t *data, uint8_t cnt)
    Write a data array to a remote variable.
    Definition: muComBase.h:209
    +
    muComBase
    Base muCom class.
    Definition: muComBase.h:62
    +
    muCom_LinkedVariable_str
    Internal structure to store references to linked variables.
    Definition: muComBase.h:51
    +
    muCom
    Main class for the muCom interface when being used for an Arduino.
    Definition: muCom.h:26
    +
    muComBase::muComBase
    muComBase(struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func)
    Constructor of the base class.
    Definition: muComBase.cpp:47
    Generated by   diff --git a/extras/html/mu_com_base_8h_source.html b/extras/html/mu_com_base_8h_source.html index 5df287b..360352f 100644 --- a/extras/html/mu_com_base_8h_source.html +++ b/extras/html/mu_com_base_8h_source.html @@ -19,7 +19,7 @@
    muCom -  1.1 +  2.0
    The reliable, fast and easy way to exchange binary data via UART
    @@ -54,213 +54,233 @@
    11 
    12 //Required includes
    13 #include <stdint.h>
    -
    14 #include "stdlib.h"
    -
    15 
    -
    16 #pragma GCC optimize ("O2") //Roughly 4% more speed for 2% more flash usage compared to default "Os"
    -
    17 
    +
    14 
    +
    15 #ifdef __AVR__
    +
    16  #pragma GCC optimize ("O2") //Roughly 4% more speed for 2% more flash usage compared to default "Os"
    +
    17 #endif
    18 
    -
    19 //Defines for the return values of the muCom interface functions
    -
    20 #define MUCOM_OK 0
    -
    21 #define MUCOM_ERR -1
    -
    22 #define MUCOM_ERR_TIMEOUT -2
    -
    23 #define MUCOM_ERR_COMM -3
    -
    24 
    -
    25 //Define default timeout of read requests via the interface
    -
    26 #define MUCOM_DEFAULT_TIMEOUT 100
    -
    27 
    -
    28 //Various defines for the interface itself
    -
    29 #define MUCOM_HEADER_BIT_MASK 0x80
    -
    30 #define MUCOM_FRAME_DESC_MASK 0x60
    -
    31 #define MUCOM_DATA_BYTE_CNT_MASK 0x1C
    -
    32 #define MUCOM_READ_RESPONSE 0x00
    -
    33 #define MUCOM_READ_REQUEST 0x20
    -
    34 #define MUCOM_WRITE_REQUEST 0x40
    -
    35 #define MUCOM_EXECUTE_REQUEST 0x60
    -
    36 
    -
    37 
    -
    41 typedef void (*muComFunc)(uint8_t *data, uint8_t cnt);
    -
    42 
    -
    43 
    -
    47 struct muCom_LinkedVariable_str
    -
    48 {
    -
    49  uint8_t* addr;
    -
    50  uint8_t size;
    -
    51 };
    -
    52 
    -
    53 
    -
    58 class muComBase
    -
    59 {
    -
    60  private:
    -
    61  struct muCom_LinkedVariable_str *_linked_var; //Array of all linked variables
    -
    62  uint8_t _linked_var_num; //Max. number of linked variables
    -
    63  muComFunc *_linked_func; //Array of all linked functions
    -
    64  uint8_t _linked_func_num; //Max. number of linked functions
    -
    65  uint8_t _rcv_buf[11]; //Internal receive buffer
    -
    66  uint8_t _rcv_buf_cnt; //Number of valid bytes in the internal receive buffer (serves as statemachine)
    -
    67  int16_t _timeout; //Current timeout for read requests
    -
    68  uint32_t _lastCommTime; //Timestamp of last successful communication
    -
    69 
    -
    70  //Write a raw muCom frame
    -
    71  void writeRaw(uint8_t frameDesc, uint8_t index, uint8_t *data, uint8_t cnt);
    -
    72 
    -
    73  //Internal write function to actual HW
    -
    74  virtual void _write(uint8_t* data, uint8_t cnt) = 0;
    -
    75 
    -
    76  //Internal read function from actual HW
    -
    77  virtual uint8_t _read(void) = 0;
    -
    78 
    -
    79  //Internal function to check for available data from the actual HW
    -
    80  virtual uint8_t _available(void) = 0;
    -
    81 
    -
    82  //Internal function to wait until all written bytes are acutally transmitted
    -
    83  virtual void _flushTx(void) = 0;
    -
    84 
    -
    85  //Internal function to get the current timestamp in ms
    -
    86  virtual uint32_t _getTimestamp(void) = 0;
    -
    87 
    +
    19 //Optional define for making muCom safe for being executed from different sources (e.g. loop() and a timer interrupt in parallel)
    +
    20 //Deactivate for improved performance and slightly redused flash usage at own risk
    +
    21 //#define MUCOM_DEACTIVATE_THREADLOCK
    +
    22 
    +
    23 //Defines for the return values of the muCom interface functions
    +
    24 #define MUCOM_OK 0
    +
    25 #define MUCOM_ERR -1
    +
    26 #define MUCOM_ERR_TIMEOUT -2
    +
    27 #define MUCOM_ERR_COMM -3
    +
    28 
    +
    29 //Define default timeout of read requests via the interface
    +
    30 #define MUCOM_DEFAULT_TIMEOUT 100
    +
    31 
    +
    32 //Various defines for the interface itself
    +
    33 #define MUCOM_HEADER_BIT_MASK 0x80
    +
    34 #define MUCOM_FRAME_DESC_MASK 0x60
    +
    35 #define MUCOM_DATA_BYTE_CNT_MASK 0x1C
    +
    36 #define MUCOM_READ_RESPONSE 0x00
    +
    37 #define MUCOM_READ_REQUEST 0x20
    +
    38 #define MUCOM_WRITE_REQUEST 0x40
    +
    39 #define MUCOM_EXECUTE_REQUEST 0x60
    +
    40 
    +
    41 
    +
    45 typedef void (*muComFunc)(uint8_t *data, uint8_t cnt);
    +
    46 
    +
    47 
    +
    51 struct muCom_LinkedVariable_str
    +
    52 {
    +
    53  uint8_t* addr;
    +
    54  uint8_t size;
    +
    55 };
    +
    56 
    +
    57 
    +
    62 class muComBase
    +
    63 {
    +
    64  private:
    +
    65  struct muCom_LinkedVariable_str *_linked_var; //Array of all linked variables
    +
    66  uint8_t _linked_var_num; //Max. number of linked variables
    +
    67  muComFunc *_linked_func; //Array of all linked functions
    +
    68  uint8_t _linked_func_num; //Max. number of linked functions
    +
    69  uint8_t _rcv_buf[11]; //Internal receive buffer
    +
    70  uint8_t _rcv_buf_cnt; //Number of valid bytes in the internal receive buffer (serves as statemachine)
    +
    71  int16_t _timeout; //Current timeout for read requests
    +
    72  uint32_t _lastCommTime; //Timestamp of last successful communication
    +
    73 
    +
    74  //Write a raw muCom frame
    +
    75  void writeRaw(uint8_t frameDesc, uint8_t index, uint8_t *data, uint8_t cnt);
    +
    76 
    +
    77  //Internal write function to actual HW
    +
    78  virtual void _write(uint8_t* data, uint8_t cnt) = 0;
    +
    79 
    +
    80  //Internal read function from actual HW
    +
    81  virtual uint8_t _read(void) = 0;
    +
    82 
    +
    83  //Internal function to check for available data from the actual HW
    +
    84  virtual uint8_t _available(void) = 0;
    +
    85 
    +
    86  //Internal function to check how many bytes are free in the serial buffer
    +
    87  virtual uint8_t _availableTxBuffer(void) = 0;
    88 
    -
    89  public:
    -
    95  muComBase(uint8_t num_var, uint8_t num_func);
    -
    96 
    +
    89  //Internal function to wait until all written bytes are acutally transmitted
    +
    90  virtual void _flushTx(void) = 0;
    +
    91 
    +
    92  //Internal function to get the current timestamp in ms
    +
    93  virtual uint32_t _getTimestamp(void) = 0;
    +
    94 
    +
    95  //Internal function to disable interrupts
    +
    96  virtual void _disableInterrupts(void) = 0;
    97 
    -
    101  ~muComBase(void);
    -
    102 
    -
    103 
    -
    108  inline uint32_t getLastCommTime(void)
    -
    109  { return this->_lastCommTime; }
    -
    110 
    -
    111 
    -
    116  void setTimeout(int16_t timeout);
    -
    117 
    -
    118 
    -
    126  uint8_t handle(void);
    -
    127 
    -
    128 
    -
    134  int8_t linkFunction(uint8_t index, muComFunc function);
    -
    135 
    +
    98  //Internal function to enable interrupts
    +
    99  virtual void _enableInterrupts(void) = 0;
    +
    100 
    +
    101 
    +
    102  public:
    +
    110  muComBase(struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func);
    +
    111 
    +
    112 
    +
    117  inline uint32_t getLastCommTime(void)
    +
    118  { return this->_lastCommTime; }
    +
    119 
    +
    120 
    +
    125  void setTimeout(int16_t timeout);
    +
    126 
    +
    127 
    +
    135  uint8_t handle(void);
    136 
    -
    143  int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size);
    +
    137 
    +
    143  int8_t linkFunction(uint8_t index, muComFunc function);
    144 
    -
    145  inline void linkVariable(uint8_t index, uint8_t *var)
    -
    146  { this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); }
    -
    147 
    -
    148  inline void linkVariable(uint8_t index, int8_t *var)
    -
    149  { this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); }
    -
    150 
    -
    151  inline void linkVariable(uint8_t index, uint16_t *var)
    -
    152  { this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); }
    -
    153 
    -
    154  inline void linkVariable(uint8_t index, int16_t *var)
    -
    155  { this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); }
    -
    156 
    -
    157  inline void linkVariable(uint8_t index, uint32_t *var)
    -
    158  { this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); }
    -
    159 
    -
    160  inline void linkVariable(uint8_t index, int32_t *var)
    -
    161  { this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); }
    -
    162 
    -
    163  inline void linkVariable(uint8_t index, uint64_t *var)
    -
    164  { this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); }
    -
    165 
    -
    166  inline void linkVariable(uint8_t index, int64_t *var)
    -
    167  { this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); }
    -
    168 
    -
    169  inline void linkVariable(uint8_t index, float *var)
    -
    170  { this->linkVariable(index, (uint8_t*)var, sizeof(float)); }
    -
    171 
    +
    145 
    +
    153  int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size);
    +
    154 
    +
    155  inline int8_t linkVariable(uint8_t index, uint8_t *var)
    +
    156  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); }
    +
    157 
    +
    158  inline int8_t linkVariable(uint8_t index, int8_t *var)
    +
    159  { return this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); }
    +
    160 
    +
    161  inline int8_t linkVariable(uint8_t index, uint16_t *var)
    +
    162  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); }
    +
    163 
    +
    164  inline int8_t linkVariable(uint8_t index, int16_t *var)
    +
    165  { return this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); }
    +
    166 
    +
    167  inline int8_t linkVariable(uint8_t index, uint32_t *var)
    +
    168  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); }
    +
    169 
    +
    170  inline int8_t linkVariable(uint8_t index, int32_t *var)
    +
    171  { return this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); }
    172 
    -
    179  inline void invokeFunction(uint8_t index, uint8_t* data, uint8_t cnt)
    -
    180  { this->writeRaw(MUCOM_EXECUTE_REQUEST, index, data, cnt); }
    -
    181 
    -
    187  inline void invokeFunction(uint8_t index)
    -
    188  { uint8_t dummy; this->writeRaw(MUCOM_EXECUTE_REQUEST, index, &dummy, 1); }
    -
    189 
    -
    190 
    -
    197  inline void write(uint8_t index, uint8_t *data, uint8_t cnt)
    -
    198  { this->writeRaw(MUCOM_WRITE_REQUEST, index, data, cnt); }
    -
    199 
    -
    205  inline void writeByte(uint8_t index, uint8_t data)
    -
    206  { this->write(index, (uint8_t*)&data, sizeof(uint8_t)); }
    -
    207 
    -
    213  inline void writeShort(uint8_t index, uint16_t data)
    -
    214  { this->write(index, (uint8_t*)&data, sizeof(uint16_t)); }
    -
    215 
    -
    221  inline void writeLong(uint8_t index, uint32_t data)
    -
    222  { this->write(index, (uint8_t*)&data, sizeof(uint32_t)); }
    -
    223 
    -
    229  inline void writeLongLong(uint8_t index, uint64_t data)
    -
    230  { this->write(index, (uint8_t*)&data, sizeof(uint64_t)); }
    -
    231 
    -
    237  inline void writeFloat(uint8_t index, float data)
    -
    238  { this->write(index, (uint8_t*)&data, sizeof(float)); }
    -
    239 
    -
    240 
    -
    247  int8_t read(uint8_t index, uint8_t *data, uint8_t cnt);
    -
    248 
    -
    255  inline int8_t readByte(uint8_t index, uint8_t *data)
    -
    256  { return this->read(index, (uint8_t*)data, sizeof(uint8_t)); }
    -
    257 
    -
    258  inline int8_t readByte(uint8_t index, int8_t *data)
    -
    259  { return this->read(index, (uint8_t*)data, sizeof(int8_t)); }
    -
    260 
    -
    267  inline int8_t readShort(uint8_t index, uint16_t *data)
    -
    268  { return this->read(index, (uint8_t*)data, sizeof(uint16_t)); }
    -
    269 
    -
    270  inline int8_t readShort(uint8_t index, int16_t *data)
    -
    271  { return this->read(index, (uint8_t*)data, sizeof(int16_t)); }
    -
    272 
    -
    279  inline int8_t readLong(uint8_t index, uint32_t *data)
    -
    280  { return this->read(index, (uint8_t*)data, sizeof(uint32_t)); }
    -
    281 
    -
    282  inline int8_t readLong(uint8_t index, int32_t *data)
    -
    283  { return this->read(index, (uint8_t*)data, sizeof(int32_t)); }
    -
    284 
    -
    291  inline int8_t readLongLong(uint8_t index, uint64_t *data)
    -
    292  { return this->read(index, (uint8_t*)data, sizeof(uint64_t)); }
    -
    293 
    -
    294  inline int8_t readLongLong(uint8_t index, int64_t *data)
    -
    295  { return this->read(index, (uint8_t*)data, sizeof(int64_t)); }
    -
    296 
    -
    303  inline int8_t readFloat(uint8_t index, float *data)
    -
    304  { return this->read(index, (uint8_t*)data, sizeof(float)); }
    -
    305 
    -
    312  uint8_t readByte(uint8_t index);
    -
    313 
    -
    320  uint16_t readShort(uint8_t index);
    -
    321 
    -
    328  uint32_t readLong(uint8_t index);
    -
    329 
    -
    336  uint64_t readLongLong(uint8_t index);
    -
    337 
    -
    344  float readFloat(uint8_t index);
    -
    345 };
    -
    346 
    -
    347 
    -
    348 #endif //MUCOMBASE_H
    +
    173  inline int8_t linkVariable(uint8_t index, uint64_t *var)
    +
    174  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); }
    +
    175 
    +
    176  inline int8_t linkVariable(uint8_t index, int64_t *var)
    +
    177  { return this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); }
    +
    178 
    +
    179  inline int8_t linkVariable(uint8_t index, float *var)
    +
    180  { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); }
    +
    181 
    +
    182  inline int8_t linkVariable(uint8_t index, double *var)
    +
    183  { return this->linkVariable(index, (uint8_t*)var, sizeof(double)); }
    +
    184 
    +
    191  inline void invokeFunction(uint8_t index, uint8_t* data, uint8_t cnt)
    +
    192  { this->writeRaw(MUCOM_EXECUTE_REQUEST, index, data, cnt); }
    +
    193 
    +
    199  inline void invokeFunction(uint8_t index)
    +
    200  { uint8_t dummy; this->writeRaw(MUCOM_EXECUTE_REQUEST, index, &dummy, 1); }
    +
    201 
    +
    202 
    +
    209  inline void write(uint8_t index, uint8_t *data, uint8_t cnt)
    +
    210  { this->writeRaw(MUCOM_WRITE_REQUEST, index, data, cnt); }
    +
    211 
    +
    217  inline void writeByte(uint8_t index, uint8_t data)
    +
    218  { this->write(index, (uint8_t*)&data, sizeof(uint8_t)); }
    +
    219 
    +
    225  inline void writeShort(uint8_t index, uint16_t data)
    +
    226  { this->write(index, (uint8_t*)&data, sizeof(uint16_t)); }
    +
    227 
    +
    233  inline void writeLong(uint8_t index, uint32_t data)
    +
    234  { this->write(index, (uint8_t*)&data, sizeof(uint32_t)); }
    +
    235 
    +
    241  inline void writeLongLong(uint8_t index, uint64_t data)
    +
    242  { this->write(index, (uint8_t*)&data, sizeof(uint64_t)); }
    +
    243 
    +
    249  inline void writeFloat(uint8_t index, float data)
    +
    250  { this->write(index, (uint8_t*)&data, sizeof(float)); }
    +
    251 
    +
    257  inline void writeDouble(uint8_t index, double data)
    +
    258  { this->write(index, (uint8_t*)&data, sizeof(double)); }
    +
    259 
    +
    266  int8_t read(uint8_t index, uint8_t *data, uint8_t cnt);
    +
    267 
    +
    274  inline int8_t readByte(uint8_t index, uint8_t *data)
    +
    275  { return this->read(index, (uint8_t*)data, sizeof(uint8_t)); }
    +
    276 
    +
    277  inline int8_t readByte(uint8_t index, int8_t *data)
    +
    278  { return this->read(index, (uint8_t*)data, sizeof(int8_t)); }
    +
    279 
    +
    286  inline int8_t readShort(uint8_t index, uint16_t *data)
    +
    287  { return this->read(index, (uint8_t*)data, sizeof(uint16_t)); }
    +
    288 
    +
    289  inline int8_t readShort(uint8_t index, int16_t *data)
    +
    290  { return this->read(index, (uint8_t*)data, sizeof(int16_t)); }
    +
    291 
    +
    298  inline int8_t readLong(uint8_t index, uint32_t *data)
    +
    299  { return this->read(index, (uint8_t*)data, sizeof(uint32_t)); }
    +
    300 
    +
    301  inline int8_t readLong(uint8_t index, int32_t *data)
    +
    302  { return this->read(index, (uint8_t*)data, sizeof(int32_t)); }
    +
    303 
    +
    310  inline int8_t readLongLong(uint8_t index, uint64_t *data)
    +
    311  { return this->read(index, (uint8_t*)data, sizeof(uint64_t)); }
    +
    312 
    +
    313  inline int8_t readLongLong(uint8_t index, int64_t *data)
    +
    314  { return this->read(index, (uint8_t*)data, sizeof(int64_t)); }
    +
    315 
    +
    322  inline int8_t readFloat(uint8_t index, float *data)
    +
    323  { return this->read(index, (uint8_t*)data, sizeof(float)); }
    +
    324 
    +
    331  inline int8_t readDouble(uint8_t index, double *data)
    +
    332  { return this->read(index, (uint8_t*)data, sizeof(float)); }
    +
    333 
    +
    340  uint8_t readByte(uint8_t index);
    +
    341 
    +
    348  uint16_t readShort(uint8_t index);
    +
    349 
    +
    356  uint32_t readLong(uint8_t index);
    +
    357 
    +
    364  uint64_t readLongLong(uint8_t index);
    +
    365 
    +
    372  float readFloat(uint8_t index);
    +
    373 
    +
    380  double readDouble(uint8_t index);
    +
    381 };
    +
    382 
    +
    383 
    +
    384 #endif //MUCOMBASE_H
    -
    muComBase::~muComBase
    ~muComBase(void)
    Destructor of the base class.
    Definition: muComBase.cpp:66
    -
    muComBase::invokeFunction
    void invokeFunction(uint8_t index)
    Invoke a function at the communication partner.
    Definition: muComBase.h:187
    -
    muComBase::writeShort
    void writeShort(uint8_t index, uint16_t data)
    Write a short (16 bit) to the communication partner.
    Definition: muComBase.h:213
    -
    muComBase::write
    void write(uint8_t index, uint8_t *data, uint8_t cnt)
    Write a data array to a remote variable.
    Definition: muComBase.h:197
    -
    muComBase::readLongLong
    int8_t readLongLong(uint8_t index, uint64_t *data)
    Read a long long from the communication partner.
    Definition: muComBase.h:291
    -
    muComBase::invokeFunction
    void invokeFunction(uint8_t index, uint8_t *data, uint8_t cnt)
    Invoke a function at the communication partner.
    Definition: muComBase.h:179
    -
    muComBase::writeByte
    void writeByte(uint8_t index, uint8_t data)
    Write a byte (8 bit) to the communication partner.
    Definition: muComBase.h:205
    -
    muComBase::readShort
    int8_t readShort(uint8_t index, uint16_t *data)
    Read a short from the communication partner.
    Definition: muComBase.h:267
    -
    muComBase::writeLong
    void writeLong(uint8_t index, uint32_t data)
    Write a long (32 bit) to the communication partner.
    Definition: muComBase.h:221
    -
    muComBase::linkVariable
    int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size)
    Link a variable or a buffer to the muCom interface.
    Definition: muComBase.cpp:213
    -
    muComBase::readFloat
    int8_t readFloat(uint8_t index, float *data)
    Read a float from the communication partner.
    Definition: muComBase.h:303
    -
    muComBase::handle
    uint8_t handle(void)
    Handle the muCom interface.
    Definition: muComBase.cpp:85
    -
    muComBase::read
    int8_t read(uint8_t index, uint8_t *data, uint8_t cnt)
    Read data from the communication partner.
    Definition: muComBase.cpp:265
    -
    muComBase::writeLongLong
    void writeLongLong(uint8_t index, uint64_t data)
    Write a long long (64 bit) to the communication partner.
    Definition: muComBase.h:229
    -
    muComBase::muComBase
    muComBase(uint8_t num_var, uint8_t num_func)
    Constructor of the base class.
    Definition: muComBase.cpp:47
    -
    muComBase::writeFloat
    void writeFloat(uint8_t index, float data)
    Write a float to the communication partner.
    Definition: muComBase.h:237
    -
    muComBase::getLastCommTime
    uint32_t getLastCommTime(void)
    Get timestamp of last successful communication.
    Definition: muComBase.h:108
    -
    muComBase::readByte
    int8_t readByte(uint8_t index, uint8_t *data)
    Read a byte from the communication partner.
    Definition: muComBase.h:255
    -
    muComBase::readLong
    int8_t readLong(uint8_t index, uint32_t *data)
    Read a long from the communication partner.
    Definition: muComBase.h:279
    -
    muComBase
    Base muCom class.
    Definition: muComBase.h:58
    -
    muComBase::linkFunction
    int8_t linkFunction(uint8_t index, muComFunc function)
    Link function to the muCom interface.
    Definition: muComBase.cpp:199
    -
    muCom_LinkedVariable_str
    Internal structure to store references to linked variables.
    Definition: muComBase.h:47
    -
    muComBase::setTimeout
    void setTimeout(int16_t timeout)
    Set timeout for read requests.
    Definition: muComBase.cpp:74
    +
    muComBase::invokeFunction
    void invokeFunction(uint8_t index)
    Invoke a function at the communication partner.
    Definition: muComBase.h:199
    +
    muComBase::writeShort
    void writeShort(uint8_t index, uint16_t data)
    Write a short (16 bit) to the communication partner.
    Definition: muComBase.h:225
    +
    muComBase::readDouble
    int8_t readDouble(uint8_t index, double *data)
    Read a double from the communication partner (not available on AVR microcontrollers)
    Definition: muComBase.h:331
    +
    muComBase::write
    void write(uint8_t index, uint8_t *data, uint8_t cnt)
    Write a data array to a remote variable.
    Definition: muComBase.h:209
    +
    muComBase::readLongLong
    int8_t readLongLong(uint8_t index, uint64_t *data)
    Read a long long from the communication partner.
    Definition: muComBase.h:310
    +
    muComBase::invokeFunction
    void invokeFunction(uint8_t index, uint8_t *data, uint8_t cnt)
    Invoke a function at the communication partner.
    Definition: muComBase.h:191
    +
    muComBase::writeByte
    void writeByte(uint8_t index, uint8_t data)
    Write a byte (8 bit) to the communication partner.
    Definition: muComBase.h:217
    +
    muComBase::readShort
    int8_t readShort(uint8_t index, uint16_t *data)
    Read a short from the communication partner.
    Definition: muComBase.h:286
    +
    muComBase::writeLong
    void writeLong(uint8_t index, uint32_t data)
    Write a long (32 bit) to the communication partner.
    Definition: muComBase.h:233
    +
    muComBase::linkVariable
    int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size)
    Link a variable or a buffer to the muCom interface.
    Definition: muComBase.cpp:208
    +
    muComBase::readFloat
    int8_t readFloat(uint8_t index, float *data)
    Read a float from the communication partner.
    Definition: muComBase.h:322
    +
    muComBase::handle
    uint8_t handle(void)
    Handle the muCom interface.
    Definition: muComBase.cpp:81
    +
    muComBase::read
    int8_t read(uint8_t index, uint8_t *data, uint8_t cnt)
    Read data from the communication partner.
    Definition: muComBase.cpp:280
    +
    muComBase::writeLongLong
    void writeLongLong(uint8_t index, uint64_t data)
    Write a long long (64 bit) to the communication partner.
    Definition: muComBase.h:241
    +
    muComBase::writeFloat
    void writeFloat(uint8_t index, float data)
    Write a float to the communication partner.
    Definition: muComBase.h:249
    +
    muComBase::getLastCommTime
    uint32_t getLastCommTime(void)
    Get timestamp of last successful communication.
    Definition: muComBase.h:117
    +
    muComBase::readByte
    int8_t readByte(uint8_t index, uint8_t *data)
    Read a byte from the communication partner.
    Definition: muComBase.h:274
    +
    muComBase::readLong
    int8_t readLong(uint8_t index, uint32_t *data)
    Read a long from the communication partner.
    Definition: muComBase.h:298
    +
    muComBase
    Base muCom class.
    Definition: muComBase.h:62
    +
    muComBase::linkFunction
    int8_t linkFunction(uint8_t index, muComFunc function)
    Link function to the muCom interface.
    Definition: muComBase.cpp:194
    +
    muCom_LinkedVariable_str
    Internal structure to store references to linked variables.
    Definition: muComBase.h:51
    +
    muComBase::writeDouble
    void writeDouble(uint8_t index, double data)
    Write a double to the communication partner (not available on AVR microcontrollers)
    Definition: muComBase.h:257
    +
    muComBase::setTimeout
    void setTimeout(int16_t timeout)
    Set timeout for read requests.
    Definition: muComBase.cpp:70
    +
    muComBase::muComBase
    muComBase(struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func)
    Constructor of the base class.
    Definition: muComBase.cpp:47
    Generated by   diff --git a/extras/html/structmu_com___linked_variable__str-members.html b/extras/html/structmu_com___linked_variable__str-members.html index 04e039e..76b7b0d 100644 --- a/extras/html/structmu_com___linked_variable__str-members.html +++ b/extras/html/structmu_com___linked_variable__str-members.html @@ -19,7 +19,7 @@
    muCom -  1.1 +  2.0
    The reliable, fast and easy way to exchange binary data via UART
    diff --git a/extras/html/structmu_com___linked_variable__str.html b/extras/html/structmu_com___linked_variable__str.html index bd68f73..fdc41e9 100644 --- a/extras/html/structmu_com___linked_variable__str.html +++ b/extras/html/structmu_com___linked_variable__str.html @@ -19,7 +19,7 @@
    muCom -  1.1 +  2.0
    The reliable, fast and easy way to exchange binary data via UART
    diff --git a/keywords.txt b/keywords.txt index 520d083..1b91d58 100644 --- a/keywords.txt +++ b/keywords.txt @@ -8,6 +8,7 @@ muCom KEYWORD1 muComBase KEYWORD1 +MUCOM_CREATE KEYWORD1 ############################################### # Functions (KEYWORD2) @@ -25,12 +26,14 @@ writeShort KEYWORD2 writeLong KEYWORD2 writeLongLong KEYWORD2 writeFloat KEYWORD2 +writeDouble KEYWORD2 read KEYWORD2 readByte KEYWORD2 readShort KEYWORD2 readLong KEYWORD2 readLongLong KEYWORD2 readFloat KEYWORD2 +readDouble KEYWORD2 ####################### END ############################ \ No newline at end of file diff --git a/library.properties b/library.properties index 372ef62..3520f22 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=muCom -version=1.1 +version=2.0 author=Kai Liebich maintainer=Kai Liebich sentence=The reliable, fast and easy way to exchange binary data via UART diff --git a/src/muCom.cpp b/src/muCom.cpp deleted file mode 100644 index c547367..0000000 --- a/src/muCom.cpp +++ /dev/null @@ -1,13 +0,0 @@ - - -#include "muCom.h" - - - -muCom::muCom(Stream &ser, uint8_t num_var, uint8_t num_func) : muComBase(num_var, num_func) -{ - //Link interface - this->_ser = &ser; -} - - diff --git a/src/muCom.h b/src/muCom.h index 5863ed0..a9cfa5f 100644 --- a/src/muCom.h +++ b/src/muCom.h @@ -11,6 +11,11 @@ #include #include "muComBase.h" +#define MUCOM_CREATE(name, serial, num_var, num_func) \ + struct muCom_LinkedVariable_str _##name##_var_buf[ num_var ]; \ + muComFunc _##name##_func_buf[ num_func ]; \ + muCom name(serial, _##name##_var_buf, num_var, _##name##_func_buf, num_func); + /** \brief Main class for the muCom interface when being used for an Arduino @@ -21,7 +26,11 @@ class muCom : public muComBase { private: - Stream *_ser; + #ifdef __AVR__ + Stream *_ser; + #else + UARTClass *_ser; + #endif inline void _write(uint8_t* data, uint8_t cnt) { this->_ser->write(data, cnt); } @@ -31,6 +40,9 @@ class muCom : public muComBase inline uint8_t _available(void) { return this->_ser->available(); } + + inline uint8_t _availableTxBuffer(void) + { return this->_ser->availableForWrite(); } inline void _flushTx(void) { this->_ser->flush(); } @@ -38,9 +50,21 @@ class muCom : public muComBase inline uint32_t _getTimestamp(void) { return millis(); } + inline void _disableInterrupts(void) + { noInterrupts(); } + + inline void _enableInterrupts(void) + { interrupts(); } public: - muCom(Stream &ser, uint8_t num_var, uint8_t num_func); + + #ifdef __AVR__ + muCom(Stream &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func) : muComBase(var_buf, num_var, func_buf, num_func) + { this->_ser = &ser; } + #else + muCom(UARTClass &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func) : muComBase(var_buf, num_var, func_buf, num_func) + { this->_ser = &ser; } + #endif }; diff --git a/src/muComBase.cpp b/src/muComBase.cpp index 0c4c0f6..e3ce689 100644 --- a/src/muComBase.cpp +++ b/src/muComBase.cpp @@ -1,5 +1,5 @@ #include "muComBase.h" - +#include /* ##### Frame structure ##### @@ -44,18 +44,22 @@ Byte Bit(s) Function -muComBase::muComBase(uint8_t num_var, uint8_t num_func) +muComBase::muComBase(struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func) { + int8_t i; + //Reset receive statemachine this->_rcv_buf_cnt = 0; - //Reserve space for linked variables + //Link buffer for linked variables this->_linked_var_num = num_var; - this->_linked_var = (muCom_LinkedVariable_str*)calloc(num_var, sizeof(struct muCom_LinkedVariable_str)); + this->_linked_var = var_buf; + memset(var_buf, 0, num_var * sizeof(struct muCom_LinkedVariable_str)); - //Reserve space for linked functions + //Link buffer for linked functions this->_linked_func_num = num_func; - this->_linked_func = (muComFunc*)calloc(num_func, sizeof(muComFunc)); + this->_linked_func = func_buf; + memset(func_buf, 0, num_func * sizeof(muComFunc)); //Setup default timeout this->_timeout = MUCOM_DEFAULT_TIMEOUT; @@ -63,14 +67,6 @@ muComBase::muComBase(uint8_t num_var, uint8_t num_func) -muComBase::~muComBase(void) -{ - free(this->_linked_var); - free(this->_linked_func); -} - - - void muComBase::setTimeout(int16_t timeout) { if(timeout < 2) //Limit timeout to minimum value @@ -122,8 +118,8 @@ uint8_t muComBase::handle(void) this->_rcv_buf_cnt++; if((frameDesc == MUCOM_READ_REQUEST) - || ((dataCnt <= 1) && (this->_rcv_buf_cnt >= dataCnt)) - || (this->_rcv_buf_cnt >= (dataCnt + 1))) + || ((dataCnt == 1) && (this->_rcv_buf_cnt >= (dataCnt + 2))) + || (this->_rcv_buf_cnt > (dataCnt + 2))) { //Sufficient data received. Decode it and do stuff if required @@ -157,28 +153,27 @@ uint8_t muComBase::handle(void) case MUCOM_READ_REQUEST: //Check index, whether a variable is linked and whether the read size is not greater than the linked variable size - if((this->_rcv_buf[0] <= this->_linked_var_num) && (this->_linked_var[this->_rcv_buf[0]].addr != NULL) && (dataCnt <= this->_linked_var[this->_rcv_buf[0]].size)) + if((this->_rcv_buf[0] < this->_linked_var_num) && (this->_linked_var[this->_rcv_buf[0]].addr != NULL) && (dataCnt <= this->_linked_var[this->_rcv_buf[0]].size)) { - this->writeRaw(MUCOM_READ_RESPONSE, this->_rcv_buf[0], this->_linked_var[this->_rcv_buf[0]].addr, this->_linked_var[this->_rcv_buf[0]].size); + this->writeRaw(MUCOM_READ_RESPONSE, this->_rcv_buf[0], this->_linked_var[this->_rcv_buf[0]].addr, dataCnt); } break; case MUCOM_WRITE_REQUEST: //Check index, whether a variable is linked and whether the read size is not greater than the linked variable size - if((this->_rcv_buf[0] <= this->_linked_var_num) && (this->_linked_var[this->_rcv_buf[0]].addr != NULL) && (dataCnt <= this->_linked_var[this->_rcv_buf[0]].size)) + if((this->_rcv_buf[0] < this->_linked_var_num) && (this->_linked_var[this->_rcv_buf[0]].addr != NULL) && (dataCnt <= this->_linked_var[this->_rcv_buf[0]].size)) { - for(tmp = 0; tmp < dataCnt; tmp++) - { - (this->_linked_var[this->_rcv_buf[0]].addr)[tmp] = this->_rcv_buf[tmp + 1]; - } + this->_disableInterrupts(); + memcpy(this->_linked_var[this->_rcv_buf[0]].addr, this->_rcv_buf + 1, dataCnt); + this->_enableInterrupts(); } break; case MUCOM_EXECUTE_REQUEST: //Check index and whether a function is linked - if((this->_rcv_buf[0] <= this->_linked_func_num) && (this->_linked_func[this->_rcv_buf[0]] != NULL)) + if((this->_rcv_buf[0] < this->_linked_func_num) && (this->_linked_func[this->_rcv_buf[0]] != NULL)) { - (this->_linked_func[this->_rcv_buf[0]])(this->_rcv_buf, dataCnt); + (this->_linked_func[this->_rcv_buf[0]])((uint8_t*)(this->_rcv_buf + 1), dataCnt); } break; @@ -210,7 +205,11 @@ int8_t muComBase::linkFunction(uint8_t index, muComFunc function) +#ifndef MUCOM_DEACTIVATE_DISCOVERY +int8_t muComBase::_linkVariable(uint8_t index, uint8_t *var, uint8_t size, muCom_LinkedVariableType type) +#else int8_t muComBase::linkVariable(uint8_t index, uint8_t *var, uint8_t size) +#endif { if(index >= this->_linked_var_num) { @@ -219,6 +218,9 @@ int8_t muComBase::linkVariable(uint8_t index, uint8_t *var, uint8_t size) this->_linked_var[index].addr = var; this->_linked_var[index].size = size; + #ifndef MUCOM_DEACTIVATE_DISCOVERY + this->_linked_var[index].type = type; + #endif return MUCOM_OK; } @@ -257,7 +259,27 @@ void muComBase::writeRaw(uint8_t frameDesc, uint8_t index, uint8_t *data, uint8_ byte_pos--; } + #ifndef MUCOM_DEACTIVATE_THREADLOCK + //Wait for the serial buffer to be sufficiently empty or a timeout occurs + if(this->_availableTxBuffer() < (2 * sizeof(this->_rcv_buf))) + { + int16_t time_start = this->_getTimestamp(); + while(this->_availableTxBuffer() < (2 * sizeof(this->_rcv_buf))) //2x the frame buffer should be sufficient to not encounter collisions + { + if(((int16_t)this->_getTimestamp() - time_start) >= _timeout) + { + return; //Timeout + } + } + } + this->_disableInterrupts(); + #endif + this->_write(buf, payload_pos + 1); //Send write variable request to slave + + #ifndef MUCOM_DEACTIVATE_THREADLOCK + this->_enableInterrupts(); + #endif } @@ -279,8 +301,28 @@ int8_t muComBase::read(uint8_t index, uint8_t *data, uint8_t size) //Flush receive buffer this->handle(); + #ifndef MUCOM_DEACTIVATE_THREADLOCK + //Wait for the serial buffer to be sufficiently empty or a timeout occurs + if(this->_availableTxBuffer() < (2 * sizeof(this->_rcv_buf))) + { + time_start = this->_getTimestamp(); + while(this->_availableTxBuffer() < (2 * sizeof(this->_rcv_buf))) //2x the frame buffer should be sufficient to not encounter collisions + { + if(((int16_t)this->_getTimestamp() - time_start) >= _timeout) + { + return MUCOM_ERR_TIMEOUT; //Timeout + } + } + } + this->_disableInterrupts(); + #endif + this->_write(buf, 2); //Send read variable request to slave + #ifndef MUCOM_DEACTIVATE_THREADLOCK + this->_enableInterrupts(); + #endif + this->_flushTx(); //Wait for all bytes to be transmitted //Receive answer from slave @@ -374,3 +416,15 @@ float muComBase::readFloat(uint8_t index) return data; } + + +double muComBase::readDouble(uint8_t index) +{ + double data; + if(this->read(index, (uint8_t*)&data, sizeof(float)) != MUCOM_OK) + { + return -1.0; + } + return data; +} + diff --git a/src/muComBase.h b/src/muComBase.h index cde797e..69ff146 100644 --- a/src/muComBase.h +++ b/src/muComBase.h @@ -11,10 +11,18 @@ //Required includes #include -#include "stdlib.h" -#pragma GCC optimize ("O2") //Roughly 4% more speed for 2% more flash usage compared to default "Os" +#ifdef __AVR__ + #pragma GCC optimize ("O2") //Roughly 4% more speed for 2% more flash usage compared to default "Os" +#endif +//Optional define for making muCom safe for being executed from different sources (e.g. loop() and a timer interrupt in parallel) +//Deactivate for improved performance and slightly redused flash usage at own risk +//#define MUCOM_DEACTIVATE_THREADLOCK + +//Optional define to remove support for discovery of linked variables and functions +//Deactivating this functionality can be used in a closed system after debugging to save flash and RAM +//#define MUCOM_DEACTIVATE_DISCOVERY //Defines for the return values of the muCom interface functions #define MUCOM_OK 0 //!< OK. No error. @@ -35,6 +43,25 @@ #define MUCOM_EXECUTE_REQUEST 0x60 +/** + \brief Standard variable constants that can be linked via MUCOM +*/ +enum muCom_LinkedVariableType : uint8_t +{ + MUCOM_INT8 = 0, + MUCOM_INT16 = 1, + MUCOM_INT32 = 2, + MUCOM_INT64 = 3, + MUCOM_UINT8 = 4, + MUCOM_UINT16 = 5, + MUCOM_UINT32 = 6, + MUCOM_UINT64 = 7, + MUCOM_FLOAT = 8, + MUCOM_DOUBLE = 9, + MUCOM_ARRAY = 10 +}; + + /** \brief Function prototype for functions that can be invoked by the muCom interface */ @@ -48,6 +75,9 @@ struct muCom_LinkedVariable_str { uint8_t* addr; uint8_t size; + #ifndef MUCOM_DEACTIVATE_DISCOVERY + muCom_LinkedVariableType type; + #endif }; @@ -79,26 +109,35 @@ class muComBase //Internal function to check for available data from the actual HW virtual uint8_t _available(void) = 0; + //Internal function to check how many bytes are free in the serial buffer + virtual uint8_t _availableTxBuffer(void) = 0; + //Internal function to wait until all written bytes are acutally transmitted virtual void _flushTx(void) = 0; //Internal function to get the current timestamp in ms virtual uint32_t _getTimestamp(void) = 0; + //Internal function to disable interrupts + virtual void _disableInterrupts(void) = 0; + + //Internal function to enable interrupts + virtual void _enableInterrupts(void) = 0; + + #ifndef MUCOM_DEACTIVATE_DISCOVERY + int8_t _linkVariable(uint8_t index, uint8_t *var, uint8_t size, muCom_LinkedVariableType type); + #endif + public: /** \brief Constructor of the base class + \param[in] var_buf Fixed buffer for linked variables \param[in] num_var Max. number of variables to be linked + \param[in] func_buf Fixed buffer for linked functions \param[in] num_func Max. number of functions to be linked */ - muComBase(uint8_t num_var, uint8_t num_func); - - - /** - \brief Destructor of the base class - */ - ~muComBase(void); + muComBase(struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func); /** @@ -139,36 +178,74 @@ class muComBase \param[in] index Index used to access the variable/buffer \param[in] var Pointer to the variable or buffer to be linked to the interface \param[in] size Size of the variable/buffer in bytes (only neccessary when linking buffers) + \return MUCOM_OK if all is alright */ - int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size); - - inline void linkVariable(uint8_t index, uint8_t *var) - { this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); } + #ifndef MUCOM_DEACTIVATE_DISCOVERY + inline int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size) + { return this->_linkVariable(index, var, size, MUCOM_ARRAY); } - inline void linkVariable(uint8_t index, int8_t *var) - { this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); } - - inline void linkVariable(uint8_t index, uint16_t *var) - { this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); } - - inline void linkVariable(uint8_t index, int16_t *var) - { this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); } - - inline void linkVariable(uint8_t index, uint32_t *var) - { this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); } - - inline void linkVariable(uint8_t index, int32_t *var) - { this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); } - - inline void linkVariable(uint8_t index, uint64_t *var) - { this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); } - - inline void linkVariable(uint8_t index, int64_t *var) - { this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); } - - inline void linkVariable(uint8_t index, float *var) - { this->linkVariable(index, (uint8_t*)var, sizeof(float)); } - + inline int8_t linkVariable(uint8_t index, uint8_t *var) + { return this->_linkVariable(index, (uint8_t*)var, sizeof(uint8_t), MUCOM_UINT8); } + + inline int8_t linkVariable(uint8_t index, int8_t *var) + { return this->_linkVariable(index, (uint8_t*)var, sizeof(int8_t), MUCOM_INT8); } + + inline int8_t linkVariable(uint8_t index, uint16_t *var) + { return this->_linkVariable(index, (uint8_t*)var, sizeof(uint16_t), MUCOM_UINT16); } + + inline int8_t linkVariable(uint8_t index, int16_t *var) + { return this->_linkVariable(index, (uint8_t*)var, sizeof(int16_t), MUCOM_INT16); } + + inline int8_t linkVariable(uint8_t index, uint32_t *var) + { return this->_linkVariable(index, (uint8_t*)var, sizeof(uint32_t), MUCOM_UINT32); } + + inline int8_t linkVariable(uint8_t index, int32_t *var) + { return this->_linkVariable(index, (uint8_t*)var, sizeof(int32_t), MUCOM_INT32); } + + inline int8_t linkVariable(uint8_t index, uint64_t *var) + { return this->_linkVariable(index, (uint8_t*)var, sizeof(uint64_t), MUCOM_UINT64); } + + inline int8_t linkVariable(uint8_t index, int64_t *var) + { return this->_linkVariable(index, (uint8_t*)var, sizeof(int64_t), MUCOM_INT64); } + + inline int8_t linkVariable(uint8_t index, float *var) + { return this->_linkVariable(index, (uint8_t*)var, sizeof(float), MUCOM_FLOAT); } + + inline int8_t linkVariable(uint8_t index, double *var) + { return this->_linkVariable(index, (uint8_t*)var, sizeof(double), MUCOM_DOUBLE); } + #else + int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size) + + inline int8_t linkVariable(uint8_t index, uint8_t *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); } + + inline int8_t linkVariable(uint8_t index, int8_t *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); } + + inline int8_t linkVariable(uint8_t index, uint16_t *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); } + + inline int8_t linkVariable(uint8_t index, int16_t *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); } + + inline int8_t linkVariable(uint8_t index, uint32_t *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); } + + inline int8_t linkVariable(uint8_t index, int32_t *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); } + + inline int8_t linkVariable(uint8_t index, uint64_t *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); } + + inline int8_t linkVariable(uint8_t index, int64_t *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); } + + inline int8_t linkVariable(uint8_t index, float *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); } + + inline int8_t linkVariable(uint8_t index, double *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(double)); } + #endif /** \brief Invoke a function at the communication partner @@ -237,7 +314,14 @@ class muComBase inline void writeFloat(uint8_t index, float data) { this->write(index, (uint8_t*)&data, sizeof(float)); } - + /** + \brief Write a double to the communication partner (not available on AVR microcontrollers) + \param[in] index Index of the remote variable to be written to + \param[in] data Float to be written to the communication partner + */ + inline void writeDouble(uint8_t index, double data) + { this->write(index, (uint8_t*)&data, sizeof(double)); } + /** \brief Read data from the communication partner \param[in] index Index of the remote variable to be read @@ -303,6 +387,15 @@ class muComBase inline int8_t readFloat(uint8_t index, float *data) { return this->read(index, (uint8_t*)data, sizeof(float)); } + /** + \brief Read a double from the communication partner (not available on AVR microcontrollers) + \param[in] index Index of the remote variable to be read + \param[in] data Pointer to the variable where the read data should be stored + \return See muCom error codes (0 = OK, <0 = Error) + */ + inline int8_t readDouble(uint8_t index, double *data) + { return this->read(index, (uint8_t*)data, sizeof(float)); } + /** \brief Read a byte from the communication partner \param[in] index Index of the remote variable to be read @@ -342,6 +435,14 @@ class muComBase
    -1 in case of errors */ float readFloat(uint8_t index); + + /** + \brief Read a float from the communication partner + \param[in] index Index of the remote variable to be read + \return Float read from the communication partner. +
    -1 in case of errors + */ + double readDouble(uint8_t index); };