From 2163f47dc61b655b5ab21837d427d399d4b53cbf Mon Sep 17 00:00:00 2001 From: kcl93 Date: Thu, 11 Feb 2021 22:45:56 +0100 Subject: [PATCH 01/14] Add return values to linkVariable --- library.properties | 2 +- src/muComBase.h | 37 +++++++++++++++++++------------------ 2 files changed, 20 insertions(+), 19 deletions(-) diff --git a/library.properties b/library.properties index 372ef62..632cd4f 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=muCom -version=1.1 +version=1.2 author=Kai Liebich maintainer=Kai Liebich sentence=The reliable, fast and easy way to exchange binary data via UART diff --git a/src/muComBase.h b/src/muComBase.h index cde797e..06d2217 100644 --- a/src/muComBase.h +++ b/src/muComBase.h @@ -139,35 +139,36 @@ 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)); } + inline int8_t linkVariable(uint8_t index, uint8_t *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); } - inline void linkVariable(uint8_t index, int8_t *var) - { this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); } + inline int8_t linkVariable(uint8_t index, int8_t *var) + { return 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 int8_t linkVariable(uint8_t index, uint16_t *var) + { return 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 int8_t linkVariable(uint8_t index, int16_t *var) + { return 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 int8_t linkVariable(uint8_t index, uint32_t *var) + { return 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 int8_t linkVariable(uint8_t index, int32_t *var) + { return 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 int8_t linkVariable(uint8_t index, uint64_t *var) + { return 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 int8_t linkVariable(uint8_t index, int64_t *var) + { return 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, float *var) + { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); } /** From 47feb78ef2a9d571dfacd71ed00d1f15f277e262 Mon Sep 17 00:00:00 2001 From: kcl93 Date: Thu, 11 Feb 2021 22:46:50 +0100 Subject: [PATCH 02/14] Update documentation --- extras/Doxyfile | 2 +- extras/html/annotated.html | 2 +- extras/html/classes.html | 2 +- extras/html/classmu_com-members.html | 2 +- extras/html/classmu_com.html | 56 ++--- extras/html/classmu_com_base-members.html | 2 +- extras/html/classmu_com_base.html | 57 ++--- .../dir_68267d1309a1af8e8297ef4c3efbcdba.html | 2 +- extras/html/files.html | 2 +- extras/html/functions.html | 2 +- extras/html/functions_func.html | 2 +- extras/html/hierarchy.html | 2 +- extras/html/index.html | 2 +- extras/html/mu_com_8h_source.html | 4 +- extras/html/mu_com_base_8h_source.html | 220 +++++++++--------- ...mu_com___linked_variable__str-members.html | 2 +- .../structmu_com___linked_variable__str.html | 2 +- 17 files changed, 182 insertions(+), 181 deletions(-) diff --git a/extras/Doxyfile b/extras/Doxyfile index 5b4f790..ca76b7b 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 = 1.2 # 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..6f4ac1f 100644 --- a/extras/html/annotated.html +++ b/extras/html/annotated.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/classes.html b/extras/html/classes.html index 2c75b4d..bb0587c 100644 --- a/extras/html/classes.html +++ b/extras/html/classes.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
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..951bff1 100644 --- a/extras/html/classmu_com-members.html +++ b/extras/html/classmu_com-members.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/classmu_com.html b/extras/html/classmu_com.html index 17a8444..f955c70 100644 --- a/extras/html/classmu_com.html +++ b/extras/html/classmu_com.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
The reliable, fast and easy way to exchange binary data via UART
@@ -90,33 +90,33 @@ int8_t linkVariable (uint8_t index, uint8_t *var, uint8_t size)  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) +  void invokeFunction (uint8_t index, uint8_t *data, uint8_t cnt)  Invoke a function at the communication partner. More...
  diff --git a/extras/html/classmu_com_base-members.html b/extras/html/classmu_com_base-members.html index 2e9c8e6..7c3adfc 100644 --- a/extras/html/classmu_com_base-members.html +++ b/extras/html/classmu_com_base-members.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/classmu_com_base.html b/extras/html/classmu_com_base.html index 37e72e3..8cd0854 100644 --- a/extras/html/classmu_com_base.html +++ b/extras/html/classmu_com_base.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
The reliable, fast and easy way to exchange binary data via UART
@@ -86,33 +86,33 @@ int8_t linkVariable (uint8_t index, uint8_t *var, uint8_t size)  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) +  void invokeFunction (uint8_t index, uint8_t *data, uint8_t cnt)  Invoke a function at the communication partner. More...
  @@ -439,6 +439,7 @@

Returns
MUCOM_OK if all is alright
diff --git a/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html index 1b9e822..56b57f9 100644 --- a/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html +++ b/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
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..766adfa 100644 --- a/extras/html/files.html +++ b/extras/html/files.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
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..c00254c 100644 --- a/extras/html/functions.html +++ b/extras/html/functions.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/functions_func.html b/extras/html/functions_func.html index afaf044..ee6e2f6 100644 --- a/extras/html/functions_func.html +++ b/extras/html/functions_func.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/hierarchy.html b/extras/html/hierarchy.html index 7598614..613122b 100644 --- a/extras/html/hierarchy.html +++ b/extras/html/hierarchy.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/index.html b/extras/html/index.html index 92000ce..b0ae71d 100644 --- a/extras/html/index.html +++ b/extras/html/index.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
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..26b81af 100644 --- a/extras/html/mu_com_8h_source.html +++ b/extras/html/mu_com_8h_source.html @@ -19,7 +19,7 @@
muCom -  1.1 +  1.2
The reliable, fast and easy way to exchange binary data via UART
@@ -84,7 +84,7 @@
46 
47 #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::write
void write(uint8_t index, uint8_t *data, uint8_t cnt)
Write a data array to a remote variable.
Definition: muComBase.h:198
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
diff --git a/extras/html/mu_com_base_8h_source.html b/extras/html/mu_com_base_8h_source.html index 5df287b..36b4e28 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 +  1.2
The reliable, fast and easy way to exchange binary data via UART
@@ -139,124 +139,124 @@
134  int8_t linkFunction(uint8_t index, muComFunc function);
135 
136 
-
143  int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size);
-
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 
+
144  int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size);
+
145 
+
146  inline int8_t linkVariable(uint8_t index, uint8_t *var)
+
147  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); }
+
148 
+
149  inline int8_t linkVariable(uint8_t index, int8_t *var)
+
150  { return this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); }
+
151 
+
152  inline int8_t linkVariable(uint8_t index, uint16_t *var)
+
153  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); }
+
154 
+
155  inline int8_t linkVariable(uint8_t index, int16_t *var)
+
156  { return this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); }
+
157 
+
158  inline int8_t linkVariable(uint8_t index, uint32_t *var)
+
159  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); }
+
160 
+
161  inline int8_t linkVariable(uint8_t index, int32_t *var)
+
162  { return this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); }
+
163 
+
164  inline int8_t linkVariable(uint8_t index, uint64_t *var)
+
165  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); }
+
166 
+
167  inline int8_t linkVariable(uint8_t index, int64_t *var)
+
168  { return this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); }
+
169 
+
170  inline int8_t linkVariable(uint8_t index, float *var)
+
171  { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); }
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 
+
173 
+
180  inline void invokeFunction(uint8_t index, uint8_t* data, uint8_t cnt)
+
181  { this->writeRaw(MUCOM_EXECUTE_REQUEST, index, data, cnt); }
+
182 
+
188  inline void invokeFunction(uint8_t index)
+
189  { uint8_t dummy; this->writeRaw(MUCOM_EXECUTE_REQUEST, index, &dummy, 1); }
+
190 
+
191 
+
198  inline void write(uint8_t index, uint8_t *data, uint8_t cnt)
+
199  { this->writeRaw(MUCOM_WRITE_REQUEST, index, data, cnt); }
+
200 
+
206  inline void writeByte(uint8_t index, uint8_t data)
+
207  { this->write(index, (uint8_t*)&data, sizeof(uint8_t)); }
+
208 
+
214  inline void writeShort(uint8_t index, uint16_t data)
+
215  { this->write(index, (uint8_t*)&data, sizeof(uint16_t)); }
+
216 
+
222  inline void writeLong(uint8_t index, uint32_t data)
+
223  { this->write(index, (uint8_t*)&data, sizeof(uint32_t)); }
+
224 
+
230  inline void writeLongLong(uint8_t index, uint64_t data)
+
231  { this->write(index, (uint8_t*)&data, sizeof(uint64_t)); }
+
232 
+
238  inline void writeFloat(uint8_t index, float data)
+
239  { this->write(index, (uint8_t*)&data, sizeof(float)); }
+
240 
+
241 
+
248  int8_t read(uint8_t index, uint8_t *data, uint8_t cnt);
+
249 
+
256  inline int8_t readByte(uint8_t index, uint8_t *data)
+
257  { return this->read(index, (uint8_t*)data, sizeof(uint8_t)); }
+
258 
+
259  inline int8_t readByte(uint8_t index, int8_t *data)
+
260  { return this->read(index, (uint8_t*)data, sizeof(int8_t)); }
+
261 
+
268  inline int8_t readShort(uint8_t index, uint16_t *data)
+
269  { return this->read(index, (uint8_t*)data, sizeof(uint16_t)); }
+
270 
+
271  inline int8_t readShort(uint8_t index, int16_t *data)
+
272  { return this->read(index, (uint8_t*)data, sizeof(int16_t)); }
+
273 
+
280  inline int8_t readLong(uint8_t index, uint32_t *data)
+
281  { return this->read(index, (uint8_t*)data, sizeof(uint32_t)); }
+
282 
+
283  inline int8_t readLong(uint8_t index, int32_t *data)
+
284  { return this->read(index, (uint8_t*)data, sizeof(int32_t)); }
+
285 
+
292  inline int8_t readLongLong(uint8_t index, uint64_t *data)
+
293  { return this->read(index, (uint8_t*)data, sizeof(uint64_t)); }
+
294 
+
295  inline int8_t readLongLong(uint8_t index, int64_t *data)
+
296  { return this->read(index, (uint8_t*)data, sizeof(int64_t)); }
+
297 
+
304  inline int8_t readFloat(uint8_t index, float *data)
+
305  { return this->read(index, (uint8_t*)data, sizeof(float)); }
+
306 
+
313  uint8_t readByte(uint8_t index);
+
314 
+
321  uint16_t readShort(uint8_t index);
+
322 
+
329  uint32_t readLong(uint8_t index);
+
330 
+
337  uint64_t readLongLong(uint8_t index);
+
338 
+
345  float readFloat(uint8_t index);
+
346 };
347 
-
348 #endif //MUCOMBASE_H
+
348 
+
349 #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::invokeFunction
void invokeFunction(uint8_t index)
Invoke a function at the communication partner.
Definition: muComBase.h:188
+
muComBase::writeShort
void writeShort(uint8_t index, uint16_t data)
Write a short (16 bit) to the communication partner.
Definition: muComBase.h:214
+
muComBase::write
void write(uint8_t index, uint8_t *data, uint8_t cnt)
Write a data array to a remote variable.
Definition: muComBase.h:198
+
muComBase::readLongLong
int8_t readLongLong(uint8_t index, uint64_t *data)
Read a long long from the communication partner.
Definition: muComBase.h:292
+
muComBase::invokeFunction
void invokeFunction(uint8_t index, uint8_t *data, uint8_t cnt)
Invoke a function at the communication partner.
Definition: muComBase.h:180
+
muComBase::writeByte
void writeByte(uint8_t index, uint8_t data)
Write a byte (8 bit) to the communication partner.
Definition: muComBase.h:206
+
muComBase::readShort
int8_t readShort(uint8_t index, uint16_t *data)
Read a short from the communication partner.
Definition: muComBase.h:268
+
muComBase::writeLong
void writeLong(uint8_t index, uint32_t data)
Write a long (32 bit) to the communication partner.
Definition: muComBase.h:222
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::readFloat
int8_t readFloat(uint8_t index, float *data)
Read a float from the communication partner.
Definition: muComBase.h:304
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::writeLongLong
void writeLongLong(uint8_t index, uint64_t data)
Write a long long (64 bit) to the communication partner.
Definition: muComBase.h:230
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::writeFloat
void writeFloat(uint8_t index, float data)
Write a float to the communication partner.
Definition: muComBase.h:238
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::readByte
int8_t readByte(uint8_t index, uint8_t *data)
Read a byte from the communication partner.
Definition: muComBase.h:256
+
muComBase::readLong
int8_t readLong(uint8_t index, uint32_t *data)
Read a long from the communication partner.
Definition: muComBase.h:280
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
diff --git a/extras/html/structmu_com___linked_variable__str-members.html b/extras/html/structmu_com___linked_variable__str-members.html index 04e039e..e98a8b2 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 +  1.2
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..1262209 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 +  1.2
The reliable, fast and easy way to exchange binary data via UART
From 37edab7ee5c7e2145e159226f9785ba26d2ede80 Mon Sep 17 00:00:00 2001 From: kcl93 Date: Fri, 12 Feb 2021 23:33:29 +0100 Subject: [PATCH 03/14] Bugfixes --- README.md | 4 +++- extras/Doxyfile | 2 +- extras/html/annotated.html | 2 +- extras/html/classes.html | 2 +- extras/html/classmu_com-members.html | 2 +- extras/html/classmu_com.html | 2 +- extras/html/classmu_com_base-members.html | 2 +- extras/html/classmu_com_base.html | 2 +- .../dir_68267d1309a1af8e8297ef4c3efbcdba.html | 2 +- extras/html/files.html | 2 +- extras/html/functions.html | 2 +- extras/html/functions_func.html | 2 +- extras/html/hierarchy.html | 2 +- extras/html/index.html | 2 +- extras/html/mu_com_8h_source.html | 2 +- extras/html/mu_com_base_8h_source.html | 2 +- ...uctmu_com___linked_variable__str-members.html | 2 +- .../structmu_com___linked_variable__str.html | 2 +- library.properties | 2 +- src/muComBase.cpp | 16 ++++++++-------- 20 files changed, 29 insertions(+), 27 deletions(-) diff --git a/README.md b/README.md index 7d697eb..dadc0de 100644 --- a/README.md +++ b/README.md @@ -12,7 +12,7 @@ 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 v1.1 ##### | Function | Execution time in us | | --- | --- | | writeByte() | 35 | @@ -33,3 +33,5 @@ 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/extras/Doxyfile b/extras/Doxyfile index ca76b7b..700fde9 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 = 1.2 +PROJECT_NUMBER = 1.3 # 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 6f4ac1f..23c1ca2 100644 --- a/extras/html/annotated.html +++ b/extras/html/annotated.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/classes.html b/extras/html/classes.html index bb0587c..15bf486 100644 --- a/extras/html/classes.html +++ b/extras/html/classes.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
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 951bff1..a090134 100644 --- a/extras/html/classmu_com-members.html +++ b/extras/html/classmu_com-members.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/classmu_com.html b/extras/html/classmu_com.html index f955c70..e65834d 100644 --- a/extras/html/classmu_com.html +++ b/extras/html/classmu_com.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/classmu_com_base-members.html b/extras/html/classmu_com_base-members.html index 7c3adfc..b17c56d 100644 --- a/extras/html/classmu_com_base-members.html +++ b/extras/html/classmu_com_base-members.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/classmu_com_base.html b/extras/html/classmu_com_base.html index 8cd0854..b6d22e3 100644 --- a/extras/html/classmu_com_base.html +++ b/extras/html/classmu_com_base.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html b/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html index 56b57f9..dd483ab 100644 --- a/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html +++ b/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
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 766adfa..137ca26 100644 --- a/extras/html/files.html +++ b/extras/html/files.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
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 c00254c..d600f6d 100644 --- a/extras/html/functions.html +++ b/extras/html/functions.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/functions_func.html b/extras/html/functions_func.html index ee6e2f6..e8f2d13 100644 --- a/extras/html/functions_func.html +++ b/extras/html/functions_func.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/hierarchy.html b/extras/html/hierarchy.html index 613122b..ccee170 100644 --- a/extras/html/hierarchy.html +++ b/extras/html/hierarchy.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/index.html b/extras/html/index.html index b0ae71d..244772a 100644 --- a/extras/html/index.html +++ b/extras/html/index.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
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 26b81af..030f322 100644 --- a/extras/html/mu_com_8h_source.html +++ b/extras/html/mu_com_8h_source.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/mu_com_base_8h_source.html b/extras/html/mu_com_base_8h_source.html index 36b4e28..1a99cfb 100644 --- a/extras/html/mu_com_base_8h_source.html +++ b/extras/html/mu_com_base_8h_source.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
The reliable, fast and easy way to exchange binary data via UART
diff --git a/extras/html/structmu_com___linked_variable__str-members.html b/extras/html/structmu_com___linked_variable__str-members.html index e98a8b2..e60108e 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 -  1.2 +  1.3
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 1262209..b8cbda4 100644 --- a/extras/html/structmu_com___linked_variable__str.html +++ b/extras/html/structmu_com___linked_variable__str.html @@ -19,7 +19,7 @@
muCom -  1.2 +  1.3
The reliable, fast and easy way to exchange binary data via UART
diff --git a/library.properties b/library.properties index 632cd4f..2ae00f4 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=muCom -version=1.2 +version=1.3 author=Kai Liebich maintainer=Kai Liebich sentence=The reliable, fast and easy way to exchange binary data via UART diff --git a/src/muComBase.cpp b/src/muComBase.cpp index 0c4c0f6..4663860 100644 --- a/src/muComBase.cpp +++ b/src/muComBase.cpp @@ -122,8 +122,8 @@ 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 +157,28 @@ 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->_linked_var[this->_rcv_buf[0]].addr[tmp] = this->_rcv_buf[tmp + 1]; } } 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; From 31924a6e3f8b89ef42155d9a2373c70033b1b233 Mon Sep 17 00:00:00 2001 From: kcl93 Date: Fri, 12 Feb 2021 23:51:49 +0100 Subject: [PATCH 04/14] Interrupts should be disabled during write accesses to own variables --- extras/html/mu_com_8h_source.html | 21 +- extras/html/mu_com_base_8h_source.html | 258 +++++++++++++------------ src/muCom.h | 5 + src/muComBase.cpp | 2 + src/muComBase.h | 6 + 5 files changed, 158 insertions(+), 134 deletions(-) diff --git a/extras/html/mu_com_8h_source.html b/extras/html/mu_com_8h_source.html index 030f322..2feb300 100644 --- a/extras/html/mu_com_8h_source.html +++ b/extras/html/mu_com_8h_source.html @@ -76,15 +76,20 @@
38  inline uint32_t _getTimestamp(void)
39  { return millis(); }
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 void _disableInterrupts(void)
+
42  { noInterrupts(); }
+
43 
+
44  inline void _enableInterrupts(void)
+
45  { interrupts(); }
+
46 
+
47  public:
+
48  muCom(Stream &ser, uint8_t num_var, uint8_t num_func);
+
49 };
+
50 
+
51 
+
52 #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:198
+
muComBase::write
void write(uint8_t index, uint8_t *data, uint8_t cnt)
Write a data array to a remote variable.
Definition: muComBase.h:204
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
diff --git a/extras/html/mu_com_base_8h_source.html b/extras/html/mu_com_base_8h_source.html index 1a99cfb..8104d79 100644 --- a/extras/html/mu_com_base_8h_source.html +++ b/extras/html/mu_com_base_8h_source.html @@ -118,147 +118,153 @@
85  //Internal function to get the current timestamp in ms
86  virtual uint32_t _getTimestamp(void) = 0;
87 
-
88 
-
89  public:
-
95  muComBase(uint8_t num_var, uint8_t num_func);
-
96 
-
97 
-
101  ~muComBase(void);
+
88  //Internal function to disable interrupts
+
89  virtual void _disableInterrupts(void) = 0;
+
90 
+
91  //Internal function to enable interrupts
+
92  virtual void _enableInterrupts(void) = 0;
+
93 
+
94 
+
95  public:
+
101  muComBase(uint8_t num_var, uint8_t num_func);
102 
103 
-
108  inline uint32_t getLastCommTime(void)
-
109  { return this->_lastCommTime; }
-
110 
-
111 
-
116  void setTimeout(int16_t timeout);
+
107  ~muComBase(void);
+
108 
+
109 
+
114  inline uint32_t getLastCommTime(void)
+
115  { return this->_lastCommTime; }
+
116 
117 
-
118 
-
126  uint8_t handle(void);
-
127 
-
128 
-
134  int8_t linkFunction(uint8_t index, muComFunc function);
-
135 
-
136 
-
144  int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size);
-
145 
-
146  inline int8_t linkVariable(uint8_t index, uint8_t *var)
-
147  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); }
-
148 
-
149  inline int8_t linkVariable(uint8_t index, int8_t *var)
-
150  { return this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); }
+
122  void setTimeout(int16_t timeout);
+
123 
+
124 
+
132  uint8_t handle(void);
+
133 
+
134 
+
140  int8_t linkFunction(uint8_t index, muComFunc function);
+
141 
+
142 
+
150  int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size);
151 
-
152  inline int8_t linkVariable(uint8_t index, uint16_t *var)
-
153  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); }
-
154 
-
155  inline int8_t linkVariable(uint8_t index, int16_t *var)
-
156  { return this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); }
+
152  inline int8_t linkVariable(uint8_t index, uint8_t *var)
+
153  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); }
+
154 
+
155  inline int8_t linkVariable(uint8_t index, int8_t *var)
+
156  { return this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); }
157 
-
158  inline int8_t linkVariable(uint8_t index, uint32_t *var)
-
159  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); }
+
158  inline int8_t linkVariable(uint8_t index, uint16_t *var)
+
159  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); }
160 
-
161  inline int8_t linkVariable(uint8_t index, int32_t *var)
-
162  { return this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); }
+
161  inline int8_t linkVariable(uint8_t index, int16_t *var)
+
162  { return this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); }
163 
-
164  inline int8_t linkVariable(uint8_t index, uint64_t *var)
-
165  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); }
+
164  inline int8_t linkVariable(uint8_t index, uint32_t *var)
+
165  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); }
166 
-
167  inline int8_t linkVariable(uint8_t index, int64_t *var)
-
168  { return this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); }
+
167  inline int8_t linkVariable(uint8_t index, int32_t *var)
+
168  { return this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); }
169 
-
170  inline int8_t linkVariable(uint8_t index, float *var)
-
171  { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); }
+
170  inline int8_t linkVariable(uint8_t index, uint64_t *var)
+
171  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); }
172 
-
173 
-
180  inline void invokeFunction(uint8_t index, uint8_t* data, uint8_t cnt)
-
181  { this->writeRaw(MUCOM_EXECUTE_REQUEST, index, data, cnt); }
-
182 
-
188  inline void invokeFunction(uint8_t index)
-
189  { uint8_t dummy; this->writeRaw(MUCOM_EXECUTE_REQUEST, index, &dummy, 1); }
-
190 
-
191 
-
198  inline void write(uint8_t index, uint8_t *data, uint8_t cnt)
-
199  { this->writeRaw(MUCOM_WRITE_REQUEST, index, data, cnt); }
-
200 
-
206  inline void writeByte(uint8_t index, uint8_t data)
-
207  { this->write(index, (uint8_t*)&data, sizeof(uint8_t)); }
-
208 
-
214  inline void writeShort(uint8_t index, uint16_t data)
-
215  { this->write(index, (uint8_t*)&data, sizeof(uint16_t)); }
-
216 
-
222  inline void writeLong(uint8_t index, uint32_t data)
-
223  { this->write(index, (uint8_t*)&data, sizeof(uint32_t)); }
-
224 
-
230  inline void writeLongLong(uint8_t index, uint64_t data)
-
231  { this->write(index, (uint8_t*)&data, sizeof(uint64_t)); }
-
232 
-
238  inline void writeFloat(uint8_t index, float data)
-
239  { this->write(index, (uint8_t*)&data, sizeof(float)); }
-
240 
-
241 
-
248  int8_t read(uint8_t index, uint8_t *data, uint8_t cnt);
-
249 
-
256  inline int8_t readByte(uint8_t index, uint8_t *data)
-
257  { return this->read(index, (uint8_t*)data, sizeof(uint8_t)); }
-
258 
-
259  inline int8_t readByte(uint8_t index, int8_t *data)
-
260  { return this->read(index, (uint8_t*)data, sizeof(int8_t)); }
-
261 
-
268  inline int8_t readShort(uint8_t index, uint16_t *data)
-
269  { return this->read(index, (uint8_t*)data, sizeof(uint16_t)); }
-
270 
-
271  inline int8_t readShort(uint8_t index, int16_t *data)
-
272  { return this->read(index, (uint8_t*)data, sizeof(int16_t)); }
-
273 
-
280  inline int8_t readLong(uint8_t index, uint32_t *data)
-
281  { return this->read(index, (uint8_t*)data, sizeof(uint32_t)); }
-
282 
-
283  inline int8_t readLong(uint8_t index, int32_t *data)
-
284  { return this->read(index, (uint8_t*)data, sizeof(int32_t)); }
-
285 
-
292  inline int8_t readLongLong(uint8_t index, uint64_t *data)
-
293  { return this->read(index, (uint8_t*)data, sizeof(uint64_t)); }
-
294 
-
295  inline int8_t readLongLong(uint8_t index, int64_t *data)
-
296  { return this->read(index, (uint8_t*)data, sizeof(int64_t)); }
-
297 
-
304  inline int8_t readFloat(uint8_t index, float *data)
-
305  { return this->read(index, (uint8_t*)data, sizeof(float)); }
-
306 
-
313  uint8_t readByte(uint8_t index);
-
314 
-
321  uint16_t readShort(uint8_t index);
-
322 
-
329  uint32_t readLong(uint8_t index);
-
330 
-
337  uint64_t readLongLong(uint8_t index);
-
338 
-
345  float readFloat(uint8_t index);
-
346 };
-
347 
-
348 
-
349 #endif //MUCOMBASE_H
+
173  inline int8_t linkVariable(uint8_t index, int64_t *var)
+
174  { return this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); }
+
175 
+
176  inline int8_t linkVariable(uint8_t index, float *var)
+
177  { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); }
+
178 
+
179 
+
186  inline void invokeFunction(uint8_t index, uint8_t* data, uint8_t cnt)
+
187  { this->writeRaw(MUCOM_EXECUTE_REQUEST, index, data, cnt); }
+
188 
+
194  inline void invokeFunction(uint8_t index)
+
195  { uint8_t dummy; this->writeRaw(MUCOM_EXECUTE_REQUEST, index, &dummy, 1); }
+
196 
+
197 
+
204  inline void write(uint8_t index, uint8_t *data, uint8_t cnt)
+
205  { this->writeRaw(MUCOM_WRITE_REQUEST, index, data, cnt); }
+
206 
+
212  inline void writeByte(uint8_t index, uint8_t data)
+
213  { this->write(index, (uint8_t*)&data, sizeof(uint8_t)); }
+
214 
+
220  inline void writeShort(uint8_t index, uint16_t data)
+
221  { this->write(index, (uint8_t*)&data, sizeof(uint16_t)); }
+
222 
+
228  inline void writeLong(uint8_t index, uint32_t data)
+
229  { this->write(index, (uint8_t*)&data, sizeof(uint32_t)); }
+
230 
+
236  inline void writeLongLong(uint8_t index, uint64_t data)
+
237  { this->write(index, (uint8_t*)&data, sizeof(uint64_t)); }
+
238 
+
244  inline void writeFloat(uint8_t index, float data)
+
245  { this->write(index, (uint8_t*)&data, sizeof(float)); }
+
246 
+
247 
+
254  int8_t read(uint8_t index, uint8_t *data, uint8_t cnt);
+
255 
+
262  inline int8_t readByte(uint8_t index, uint8_t *data)
+
263  { return this->read(index, (uint8_t*)data, sizeof(uint8_t)); }
+
264 
+
265  inline int8_t readByte(uint8_t index, int8_t *data)
+
266  { return this->read(index, (uint8_t*)data, sizeof(int8_t)); }
+
267 
+
274  inline int8_t readShort(uint8_t index, uint16_t *data)
+
275  { return this->read(index, (uint8_t*)data, sizeof(uint16_t)); }
+
276 
+
277  inline int8_t readShort(uint8_t index, int16_t *data)
+
278  { return this->read(index, (uint8_t*)data, sizeof(int16_t)); }
+
279 
+
286  inline int8_t readLong(uint8_t index, uint32_t *data)
+
287  { return this->read(index, (uint8_t*)data, sizeof(uint32_t)); }
+
288 
+
289  inline int8_t readLong(uint8_t index, int32_t *data)
+
290  { return this->read(index, (uint8_t*)data, sizeof(int32_t)); }
+
291 
+
298  inline int8_t readLongLong(uint8_t index, uint64_t *data)
+
299  { return this->read(index, (uint8_t*)data, sizeof(uint64_t)); }
+
300 
+
301  inline int8_t readLongLong(uint8_t index, int64_t *data)
+
302  { return this->read(index, (uint8_t*)data, sizeof(int64_t)); }
+
303 
+
310  inline int8_t readFloat(uint8_t index, float *data)
+
311  { return this->read(index, (uint8_t*)data, sizeof(float)); }
+
312 
+
319  uint8_t readByte(uint8_t index);
+
320 
+
327  uint16_t readShort(uint8_t index);
+
328 
+
335  uint32_t readLong(uint8_t index);
+
336 
+
343  uint64_t readLongLong(uint8_t index);
+
344 
+
351  float readFloat(uint8_t index);
+
352 };
+
353 
+
354 
+
355 #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:188
-
muComBase::writeShort
void writeShort(uint8_t index, uint16_t data)
Write a short (16 bit) to the communication partner.
Definition: muComBase.h:214
-
muComBase::write
void write(uint8_t index, uint8_t *data, uint8_t cnt)
Write a data array to a remote variable.
Definition: muComBase.h:198
-
muComBase::readLongLong
int8_t readLongLong(uint8_t index, uint64_t *data)
Read a long long from the communication partner.
Definition: muComBase.h:292
-
muComBase::invokeFunction
void invokeFunction(uint8_t index, uint8_t *data, uint8_t cnt)
Invoke a function at the communication partner.
Definition: muComBase.h:180
-
muComBase::writeByte
void writeByte(uint8_t index, uint8_t data)
Write a byte (8 bit) to the communication partner.
Definition: muComBase.h:206
-
muComBase::readShort
int8_t readShort(uint8_t index, uint16_t *data)
Read a short from the communication partner.
Definition: muComBase.h:268
-
muComBase::writeLong
void writeLong(uint8_t index, uint32_t data)
Write a long (32 bit) to the communication partner.
Definition: muComBase.h:222
-
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:304
+
muComBase::invokeFunction
void invokeFunction(uint8_t index)
Invoke a function at the communication partner.
Definition: muComBase.h:194
+
muComBase::writeShort
void writeShort(uint8_t index, uint16_t data)
Write a short (16 bit) to the communication partner.
Definition: muComBase.h:220
+
muComBase::write
void write(uint8_t index, uint8_t *data, uint8_t cnt)
Write a data array to a remote variable.
Definition: muComBase.h:204
+
muComBase::readLongLong
int8_t readLongLong(uint8_t index, uint64_t *data)
Read a long long from the communication partner.
Definition: muComBase.h:298
+
muComBase::invokeFunction
void invokeFunction(uint8_t index, uint8_t *data, uint8_t cnt)
Invoke a function at the communication partner.
Definition: muComBase.h:186
+
muComBase::writeByte
void writeByte(uint8_t index, uint8_t data)
Write a byte (8 bit) to the communication partner.
Definition: muComBase.h:212
+
muComBase::readShort
int8_t readShort(uint8_t index, uint16_t *data)
Read a short from the communication partner.
Definition: muComBase.h:274
+
muComBase::writeLong
void writeLong(uint8_t index, uint32_t data)
Write a long (32 bit) to the communication partner.
Definition: muComBase.h:228
+
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:215
+
muComBase::readFloat
int8_t readFloat(uint8_t index, float *data)
Read a float from the communication partner.
Definition: muComBase.h:310
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:230
+
muComBase::read
int8_t read(uint8_t index, uint8_t *data, uint8_t cnt)
Read data from the communication partner.
Definition: muComBase.cpp:267
+
muComBase::writeLongLong
void writeLongLong(uint8_t index, uint64_t data)
Write a long long (64 bit) to the communication partner.
Definition: muComBase.h:236
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:238
-
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:256
-
muComBase::readLong
int8_t readLong(uint8_t index, uint32_t *data)
Read a long from the communication partner.
Definition: muComBase.h:280
+
muComBase::writeFloat
void writeFloat(uint8_t index, float data)
Write a float to the communication partner.
Definition: muComBase.h:244
+
muComBase::getLastCommTime
uint32_t getLastCommTime(void)
Get timestamp of last successful communication.
Definition: muComBase.h:114
+
muComBase::readByte
int8_t readByte(uint8_t index, uint8_t *data)
Read a byte from the communication partner.
Definition: muComBase.h:262
+
muComBase::readLong
int8_t readLong(uint8_t index, uint32_t *data)
Read a long from the communication partner.
Definition: muComBase.h:286
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
+
muComBase::linkFunction
int8_t linkFunction(uint8_t index, muComFunc function)
Link function to the muCom interface.
Definition: muComBase.cpp:201
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
diff --git a/src/muCom.h b/src/muCom.h index 5863ed0..94c31be 100644 --- a/src/muCom.h +++ b/src/muCom.h @@ -38,6 +38,11 @@ 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); diff --git a/src/muComBase.cpp b/src/muComBase.cpp index 4663860..3d22a0c 100644 --- a/src/muComBase.cpp +++ b/src/muComBase.cpp @@ -167,10 +167,12 @@ uint8_t muComBase::handle(void) //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)) { + this->_disableInterrupts(); for(tmp = 0; tmp < dataCnt; tmp++) { this->_linked_var[this->_rcv_buf[0]].addr[tmp] = this->_rcv_buf[tmp + 1]; } + this->_enableInterrupts(); } break; diff --git a/src/muComBase.h b/src/muComBase.h index 06d2217..9b5e7d0 100644 --- a/src/muComBase.h +++ b/src/muComBase.h @@ -85,6 +85,12 @@ class muComBase //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; + public: /** From 0545199790c25914ef8fc5c91d4737836644c60a Mon Sep 17 00:00:00 2001 From: kcl93 Date: Sat, 13 Feb 2021 00:01:22 +0100 Subject: [PATCH 05/14] Using memcpy somehow saves 2 bytes in flash (and might be faster too) --- extras/html/mu_com_8h_source.html | 4 +- extras/html/mu_com_base_8h_source.html | 397 ++++++++++++------------- src/muComBase.cpp | 8 +- src/muComBase.h | 1 - 4 files changed, 203 insertions(+), 207 deletions(-) diff --git a/extras/html/mu_com_8h_source.html b/extras/html/mu_com_8h_source.html index 2feb300..766e568 100644 --- a/extras/html/mu_com_8h_source.html +++ b/extras/html/mu_com_8h_source.html @@ -89,8 +89,8 @@
51 
52 #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:204
-
muComBase
Base muCom class.
Definition: muComBase.h:58
+
muComBase::write
void write(uint8_t index, uint8_t *data, uint8_t cnt)
Write a data array to a remote variable.
Definition: muComBase.h:203
+
muComBase
Base muCom class.
Definition: muComBase.h:57
muCom
File containing the main class for the muCom interface when being used for an Arduino.
Definition: muCom.h:21
diff --git a/extras/html/mu_com_base_8h_source.html b/extras/html/mu_com_base_8h_source.html index 8104d79..d4a6627 100644 --- a/extras/html/mu_com_base_8h_source.html +++ b/extras/html/mu_com_base_8h_source.html @@ -54,219 +54,218 @@
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"
+
14 
+
15 #pragma GCC optimize ("O2") //Roughly 4% more speed for 2% more flash usage compared to default "Os"
+
16 
17 
-
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
+
18 //Defines for the return values of the muCom interface functions
+
19 #define MUCOM_OK 0
+
20 #define MUCOM_ERR -1
+
21 #define MUCOM_ERR_TIMEOUT -2
+
22 #define MUCOM_ERR_COMM -3
+
23 
+
24 //Define default timeout of read requests via the interface
+
25 #define MUCOM_DEFAULT_TIMEOUT 100
+
26 
+
27 //Various defines for the interface itself
+
28 #define MUCOM_HEADER_BIT_MASK 0x80
+
29 #define MUCOM_FRAME_DESC_MASK 0x60
+
30 #define MUCOM_DATA_BYTE_CNT_MASK 0x1C
+
31 #define MUCOM_READ_RESPONSE 0x00
+
32 #define MUCOM_READ_REQUEST 0x20
+
33 #define MUCOM_WRITE_REQUEST 0x40
+
34 #define MUCOM_EXECUTE_REQUEST 0x60
+
35 
36 
-
37 
-
41 typedef void (*muComFunc)(uint8_t *data, uint8_t cnt);
+
40 typedef void (*muComFunc)(uint8_t *data, uint8_t cnt);
+
41 
42 
-
43 
-
47 struct muCom_LinkedVariable_str
-
48 {
-
49  uint8_t* addr;
-
50  uint8_t size;
-
51 };
+
46 struct muCom_LinkedVariable_str
+
47 {
+
48  uint8_t* addr;
+
49  uint8_t size;
+
50 };
+
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 
-
88  //Internal function to disable interrupts
-
89  virtual void _disableInterrupts(void) = 0;
-
90 
-
91  //Internal function to enable interrupts
-
92  virtual void _enableInterrupts(void) = 0;
+
57 class muComBase
+
58 {
+
59  private:
+
60  struct muCom_LinkedVariable_str *_linked_var; //Array of all linked variables
+
61  uint8_t _linked_var_num; //Max. number of linked variables
+
62  muComFunc *_linked_func; //Array of all linked functions
+
63  uint8_t _linked_func_num; //Max. number of linked functions
+
64  uint8_t _rcv_buf[11]; //Internal receive buffer
+
65  uint8_t _rcv_buf_cnt; //Number of valid bytes in the internal receive buffer (serves as statemachine)
+
66  int16_t _timeout; //Current timeout for read requests
+
67  uint32_t _lastCommTime; //Timestamp of last successful communication
+
68 
+
69  //Write a raw muCom frame
+
70  void writeRaw(uint8_t frameDesc, uint8_t index, uint8_t *data, uint8_t cnt);
+
71 
+
72  //Internal write function to actual HW
+
73  virtual void _write(uint8_t* data, uint8_t cnt) = 0;
+
74 
+
75  //Internal read function from actual HW
+
76  virtual uint8_t _read(void) = 0;
+
77 
+
78  //Internal function to check for available data from the actual HW
+
79  virtual uint8_t _available(void) = 0;
+
80 
+
81  //Internal function to wait until all written bytes are acutally transmitted
+
82  virtual void _flushTx(void) = 0;
+
83 
+
84  //Internal function to get the current timestamp in ms
+
85  virtual uint32_t _getTimestamp(void) = 0;
+
86 
+
87  //Internal function to disable interrupts
+
88  virtual void _disableInterrupts(void) = 0;
+
89 
+
90  //Internal function to enable interrupts
+
91  virtual void _enableInterrupts(void) = 0;
+
92 
93 
-
94 
-
95  public:
-
101  muComBase(uint8_t num_var, uint8_t num_func);
+
94  public:
+
100  muComBase(uint8_t num_var, uint8_t num_func);
+
101 
102 
-
103 
-
107  ~muComBase(void);
+
106  ~muComBase(void);
+
107 
108 
-
109 
-
114  inline uint32_t getLastCommTime(void)
-
115  { return this->_lastCommTime; }
+
113  inline uint32_t getLastCommTime(void)
+
114  { return this->_lastCommTime; }
+
115 
116 
-
117 
-
122  void setTimeout(int16_t timeout);
+
121  void setTimeout(int16_t timeout);
+
122 
123 
-
124 
-
132  uint8_t handle(void);
+
131  uint8_t handle(void);
+
132 
133 
-
134 
-
140  int8_t linkFunction(uint8_t index, muComFunc function);
+
139  int8_t linkFunction(uint8_t index, muComFunc function);
+
140 
141 
-
142 
-
150  int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size);
-
151 
-
152  inline int8_t linkVariable(uint8_t index, uint8_t *var)
-
153  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); }
-
154 
-
155  inline int8_t linkVariable(uint8_t index, int8_t *var)
-
156  { return this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); }
-
157 
-
158  inline int8_t linkVariable(uint8_t index, uint16_t *var)
-
159  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); }
-
160 
-
161  inline int8_t linkVariable(uint8_t index, int16_t *var)
-
162  { return this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); }
-
163 
-
164  inline int8_t linkVariable(uint8_t index, uint32_t *var)
-
165  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); }
-
166 
-
167  inline int8_t linkVariable(uint8_t index, int32_t *var)
-
168  { return this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); }
-
169 
-
170  inline int8_t linkVariable(uint8_t index, uint64_t *var)
-
171  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); }
-
172 
-
173  inline int8_t linkVariable(uint8_t index, int64_t *var)
-
174  { return this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); }
-
175 
-
176  inline int8_t linkVariable(uint8_t index, float *var)
-
177  { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); }
+
149  int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size);
+
150 
+
151  inline int8_t linkVariable(uint8_t index, uint8_t *var)
+
152  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); }
+
153 
+
154  inline int8_t linkVariable(uint8_t index, int8_t *var)
+
155  { return this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); }
+
156 
+
157  inline int8_t linkVariable(uint8_t index, uint16_t *var)
+
158  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); }
+
159 
+
160  inline int8_t linkVariable(uint8_t index, int16_t *var)
+
161  { return this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); }
+
162 
+
163  inline int8_t linkVariable(uint8_t index, uint32_t *var)
+
164  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); }
+
165 
+
166  inline int8_t linkVariable(uint8_t index, int32_t *var)
+
167  { return this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); }
+
168 
+
169  inline int8_t linkVariable(uint8_t index, uint64_t *var)
+
170  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); }
+
171 
+
172  inline int8_t linkVariable(uint8_t index, int64_t *var)
+
173  { return this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); }
+
174 
+
175  inline int8_t linkVariable(uint8_t index, float *var)
+
176  { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); }
+
177 
178 
-
179 
-
186  inline void invokeFunction(uint8_t index, uint8_t* data, uint8_t cnt)
-
187  { this->writeRaw(MUCOM_EXECUTE_REQUEST, index, data, cnt); }
-
188 
-
194  inline void invokeFunction(uint8_t index)
-
195  { uint8_t dummy; this->writeRaw(MUCOM_EXECUTE_REQUEST, index, &dummy, 1); }
-
196 
-
197 
-
204  inline void write(uint8_t index, uint8_t *data, uint8_t cnt)
-
205  { this->writeRaw(MUCOM_WRITE_REQUEST, index, data, cnt); }
-
206 
-
212  inline void writeByte(uint8_t index, uint8_t data)
-
213  { this->write(index, (uint8_t*)&data, sizeof(uint8_t)); }
-
214 
-
220  inline void writeShort(uint8_t index, uint16_t data)
-
221  { this->write(index, (uint8_t*)&data, sizeof(uint16_t)); }
-
222 
-
228  inline void writeLong(uint8_t index, uint32_t data)
-
229  { this->write(index, (uint8_t*)&data, sizeof(uint32_t)); }
-
230 
-
236  inline void writeLongLong(uint8_t index, uint64_t data)
-
237  { this->write(index, (uint8_t*)&data, sizeof(uint64_t)); }
-
238 
-
244  inline void writeFloat(uint8_t index, float data)
-
245  { this->write(index, (uint8_t*)&data, sizeof(float)); }
-
246 
-
247 
-
254  int8_t read(uint8_t index, uint8_t *data, uint8_t cnt);
-
255 
-
262  inline int8_t readByte(uint8_t index, uint8_t *data)
-
263  { return this->read(index, (uint8_t*)data, sizeof(uint8_t)); }
-
264 
-
265  inline int8_t readByte(uint8_t index, int8_t *data)
-
266  { return this->read(index, (uint8_t*)data, sizeof(int8_t)); }
-
267 
-
274  inline int8_t readShort(uint8_t index, uint16_t *data)
-
275  { return this->read(index, (uint8_t*)data, sizeof(uint16_t)); }
-
276 
-
277  inline int8_t readShort(uint8_t index, int16_t *data)
-
278  { return this->read(index, (uint8_t*)data, sizeof(int16_t)); }
-
279 
-
286  inline int8_t readLong(uint8_t index, uint32_t *data)
-
287  { return this->read(index, (uint8_t*)data, sizeof(uint32_t)); }
-
288 
-
289  inline int8_t readLong(uint8_t index, int32_t *data)
-
290  { return this->read(index, (uint8_t*)data, sizeof(int32_t)); }
-
291 
-
298  inline int8_t readLongLong(uint8_t index, uint64_t *data)
-
299  { return this->read(index, (uint8_t*)data, sizeof(uint64_t)); }
-
300 
-
301  inline int8_t readLongLong(uint8_t index, int64_t *data)
-
302  { return this->read(index, (uint8_t*)data, sizeof(int64_t)); }
-
303 
-
310  inline int8_t readFloat(uint8_t index, float *data)
-
311  { return this->read(index, (uint8_t*)data, sizeof(float)); }
-
312 
-
319  uint8_t readByte(uint8_t index);
-
320 
-
327  uint16_t readShort(uint8_t index);
-
328 
-
335  uint32_t readLong(uint8_t index);
-
336 
-
343  uint64_t readLongLong(uint8_t index);
-
344 
-
351  float readFloat(uint8_t index);
-
352 };
+
185  inline void invokeFunction(uint8_t index, uint8_t* data, uint8_t cnt)
+
186  { this->writeRaw(MUCOM_EXECUTE_REQUEST, index, data, cnt); }
+
187 
+
193  inline void invokeFunction(uint8_t index)
+
194  { uint8_t dummy; this->writeRaw(MUCOM_EXECUTE_REQUEST, index, &dummy, 1); }
+
195 
+
196 
+
203  inline void write(uint8_t index, uint8_t *data, uint8_t cnt)
+
204  { this->writeRaw(MUCOM_WRITE_REQUEST, index, data, cnt); }
+
205 
+
211  inline void writeByte(uint8_t index, uint8_t data)
+
212  { this->write(index, (uint8_t*)&data, sizeof(uint8_t)); }
+
213 
+
219  inline void writeShort(uint8_t index, uint16_t data)
+
220  { this->write(index, (uint8_t*)&data, sizeof(uint16_t)); }
+
221 
+
227  inline void writeLong(uint8_t index, uint32_t data)
+
228  { this->write(index, (uint8_t*)&data, sizeof(uint32_t)); }
+
229 
+
235  inline void writeLongLong(uint8_t index, uint64_t data)
+
236  { this->write(index, (uint8_t*)&data, sizeof(uint64_t)); }
+
237 
+
243  inline void writeFloat(uint8_t index, float data)
+
244  { this->write(index, (uint8_t*)&data, sizeof(float)); }
+
245 
+
246 
+
253  int8_t read(uint8_t index, uint8_t *data, uint8_t cnt);
+
254 
+
261  inline int8_t readByte(uint8_t index, uint8_t *data)
+
262  { return this->read(index, (uint8_t*)data, sizeof(uint8_t)); }
+
263 
+
264  inline int8_t readByte(uint8_t index, int8_t *data)
+
265  { return this->read(index, (uint8_t*)data, sizeof(int8_t)); }
+
266 
+
273  inline int8_t readShort(uint8_t index, uint16_t *data)
+
274  { return this->read(index, (uint8_t*)data, sizeof(uint16_t)); }
+
275 
+
276  inline int8_t readShort(uint8_t index, int16_t *data)
+
277  { return this->read(index, (uint8_t*)data, sizeof(int16_t)); }
+
278 
+
285  inline int8_t readLong(uint8_t index, uint32_t *data)
+
286  { return this->read(index, (uint8_t*)data, sizeof(uint32_t)); }
+
287 
+
288  inline int8_t readLong(uint8_t index, int32_t *data)
+
289  { return this->read(index, (uint8_t*)data, sizeof(int32_t)); }
+
290 
+
297  inline int8_t readLongLong(uint8_t index, uint64_t *data)
+
298  { return this->read(index, (uint8_t*)data, sizeof(uint64_t)); }
+
299 
+
300  inline int8_t readLongLong(uint8_t index, int64_t *data)
+
301  { return this->read(index, (uint8_t*)data, sizeof(int64_t)); }
+
302 
+
309  inline int8_t readFloat(uint8_t index, float *data)
+
310  { return this->read(index, (uint8_t*)data, sizeof(float)); }
+
311 
+
318  uint8_t readByte(uint8_t index);
+
319 
+
326  uint16_t readShort(uint8_t index);
+
327 
+
334  uint32_t readLong(uint8_t index);
+
335 
+
342  uint64_t readLongLong(uint8_t index);
+
343 
+
350  float readFloat(uint8_t index);
+
351 };
+
352 
353 
-
354 
-
355 #endif //MUCOMBASE_H
+
354 #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:194
-
muComBase::writeShort
void writeShort(uint8_t index, uint16_t data)
Write a short (16 bit) to the communication partner.
Definition: muComBase.h:220
-
muComBase::write
void write(uint8_t index, uint8_t *data, uint8_t cnt)
Write a data array to a remote variable.
Definition: muComBase.h:204
-
muComBase::readLongLong
int8_t readLongLong(uint8_t index, uint64_t *data)
Read a long long from the communication partner.
Definition: muComBase.h:298
-
muComBase::invokeFunction
void invokeFunction(uint8_t index, uint8_t *data, uint8_t cnt)
Invoke a function at the communication partner.
Definition: muComBase.h:186
-
muComBase::writeByte
void writeByte(uint8_t index, uint8_t data)
Write a byte (8 bit) to the communication partner.
Definition: muComBase.h:212
-
muComBase::readShort
int8_t readShort(uint8_t index, uint16_t *data)
Read a short from the communication partner.
Definition: muComBase.h:274
-
muComBase::writeLong
void writeLong(uint8_t index, uint32_t data)
Write a long (32 bit) to the communication partner.
Definition: muComBase.h:228
-
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:215
-
muComBase::readFloat
int8_t readFloat(uint8_t index, float *data)
Read a float from the communication partner.
Definition: muComBase.h:310
-
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:267
-
muComBase::writeLongLong
void writeLongLong(uint8_t index, uint64_t data)
Write a long long (64 bit) to the communication partner.
Definition: muComBase.h:236
-
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:244
-
muComBase::getLastCommTime
uint32_t getLastCommTime(void)
Get timestamp of last successful communication.
Definition: muComBase.h:114
-
muComBase::readByte
int8_t readByte(uint8_t index, uint8_t *data)
Read a byte from the communication partner.
Definition: muComBase.h:262
-
muComBase::readLong
int8_t readLong(uint8_t index, uint32_t *data)
Read a long from the communication partner.
Definition: muComBase.h:286
-
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:201
-
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::~muComBase
~muComBase(void)
Destructor of the base class.
Definition: muComBase.cpp:67
+
muComBase::invokeFunction
void invokeFunction(uint8_t index)
Invoke a function at the communication partner.
Definition: muComBase.h:193
+
muComBase::writeShort
void writeShort(uint8_t index, uint16_t data)
Write a short (16 bit) to the communication partner.
Definition: muComBase.h:219
+
muComBase::write
void write(uint8_t index, uint8_t *data, uint8_t cnt)
Write a data array to a remote variable.
Definition: muComBase.h:203
+
muComBase::readLongLong
int8_t readLongLong(uint8_t index, uint64_t *data)
Read a long long from the communication partner.
Definition: muComBase.h:297
+
muComBase::invokeFunction
void invokeFunction(uint8_t index, uint8_t *data, uint8_t cnt)
Invoke a function at the communication partner.
Definition: muComBase.h:185
+
muComBase::writeByte
void writeByte(uint8_t index, uint8_t data)
Write a byte (8 bit) to the communication partner.
Definition: muComBase.h:211
+
muComBase::readShort
int8_t readShort(uint8_t index, uint16_t *data)
Read a short from the communication partner.
Definition: muComBase.h:273
+
muComBase::writeLong
void writeLong(uint8_t index, uint32_t data)
Write a long (32 bit) to the communication partner.
Definition: muComBase.h:227
+
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:309
+
muComBase::handle
uint8_t handle(void)
Handle the muCom interface.
Definition: muComBase.cpp:86
+
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:235
+
muComBase::muComBase
muComBase(uint8_t num_var, uint8_t num_func)
Constructor of the base class.
Definition: muComBase.cpp:48
+
muComBase::writeFloat
void writeFloat(uint8_t index, float data)
Write a float to the communication partner.
Definition: muComBase.h:243
+
muComBase::getLastCommTime
uint32_t getLastCommTime(void)
Get timestamp of last successful communication.
Definition: muComBase.h:113
+
muComBase::readByte
int8_t readByte(uint8_t index, uint8_t *data)
Read a byte from the communication partner.
Definition: muComBase.h:261
+
muComBase::readLong
int8_t readLong(uint8_t index, uint32_t *data)
Read a long from the communication partner.
Definition: muComBase.h:285
+
muComBase
Base muCom class.
Definition: muComBase.h:57
+
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:46
+
muComBase::setTimeout
void setTimeout(int16_t timeout)
Set timeout for read requests.
Definition: muComBase.cpp:75
Generated by   diff --git a/src/muComBase.cpp b/src/muComBase.cpp index 3d22a0c..7e276f3 100644 --- a/src/muComBase.cpp +++ b/src/muComBase.cpp @@ -1,5 +1,6 @@ #include "muComBase.h" - +#include +#include /* ##### Frame structure ##### @@ -168,10 +169,7 @@ uint8_t muComBase::handle(void) 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->_disableInterrupts(); - for(tmp = 0; tmp < dataCnt; tmp++) - { - this->_linked_var[this->_rcv_buf[0]].addr[tmp] = this->_rcv_buf[tmp + 1]; - } + memcpy(this->_linked_var[this->_rcv_buf[0]].addr, this->_rcv_buf + 1, dataCnt); this->_enableInterrupts(); } break; diff --git a/src/muComBase.h b/src/muComBase.h index 9b5e7d0..1e21c63 100644 --- a/src/muComBase.h +++ b/src/muComBase.h @@ -11,7 +11,6 @@ //Required includes #include -#include "stdlib.h" #pragma GCC optimize ("O2") //Roughly 4% more speed for 2% more flash usage compared to default "Os" From 26539f18c7ca95428015c988e3032618eff4672a Mon Sep 17 00:00:00 2001 From: kcl93 Date: Sun, 21 Feb 2021 00:19:34 +0100 Subject: [PATCH 06/14] Add support for double variables (not for AVR uCs) --- keywords.txt | 2 ++ src/muComBase.cpp | 15 +++++++++++++++ src/muComBase.h | 42 +++++++++++++++++++++++++++++++++++++++++- 3 files changed, 58 insertions(+), 1 deletion(-) diff --git a/keywords.txt b/keywords.txt index 520d083..70e50d2 100644 --- a/keywords.txt +++ b/keywords.txt @@ -25,12 +25,14 @@ 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/src/muComBase.cpp b/src/muComBase.cpp index 7e276f3..625e5de 100644 --- a/src/muComBase.cpp +++ b/src/muComBase.cpp @@ -374,3 +374,18 @@ float muComBase::readFloat(uint8_t index) return data; } + +#ifndef __AVR__ + +double muComBase::readDouble(uint8_t index) +{ + double data; + if(this->read(index, (uint8_t*)&data, sizeof(float)) != MUCOM_OK) + { + return -1.0; + } + return data; +} + +#endif + diff --git a/src/muComBase.h b/src/muComBase.h index 1e21c63..b6a2f14 100644 --- a/src/muComBase.h +++ b/src/muComBase.h @@ -174,7 +174,11 @@ class muComBase inline int8_t linkVariable(uint8_t index, float *var) { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); } - + + #ifndef __AVR__ + 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 @@ -243,6 +247,17 @@ class muComBase inline void writeFloat(uint8_t index, float data) { this->write(index, (uint8_t*)&data, sizeof(float)); } + #ifndef __AVR__ + + /** + \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)); } + + #endif /** \brief Read data from the communication partner @@ -309,6 +324,19 @@ class muComBase inline int8_t readFloat(uint8_t index, float *data) { return this->read(index, (uint8_t*)data, sizeof(float)); } + #ifndef __AVR__ + + /** + \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)); } + + #endif + /** \brief Read a byte from the communication partner \param[in] index Index of the remote variable to be read @@ -348,6 +376,18 @@ class muComBase
-1 in case of errors */ float readFloat(uint8_t index); + + #ifndef __AVR__ + + /** + \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); + + #endif }; From 2a9bec656e2c2900c23167823c7ff455837730aa Mon Sep 17 00:00:00 2001 From: kcl93 Date: Sun, 21 Feb 2021 00:20:16 +0100 Subject: [PATCH 07/14] Remove usage of malloc and calloc (reduces flash size) by using Macros for creating the buffers instead --- keywords.txt | 1 + src/muCom.cpp | 2 +- src/muCom.h | 7 ++++++- src/muComBase.cpp | 23 +++++++++-------------- src/muComBase.h | 10 +++------- 5 files changed, 20 insertions(+), 23 deletions(-) diff --git a/keywords.txt b/keywords.txt index 70e50d2..1b91d58 100644 --- a/keywords.txt +++ b/keywords.txt @@ -8,6 +8,7 @@ muCom KEYWORD1 muComBase KEYWORD1 +MUCOM_CREATE KEYWORD1 ############################################### # Functions (KEYWORD2) diff --git a/src/muCom.cpp b/src/muCom.cpp index c547367..82e104e 100644 --- a/src/muCom.cpp +++ b/src/muCom.cpp @@ -4,7 +4,7 @@ -muCom::muCom(Stream &ser, uint8_t num_var, uint8_t num_func) : muComBase(num_var, num_func) +muCom::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) { //Link interface this->_ser = &ser; diff --git a/src/muCom.h b/src/muCom.h index 94c31be..e5558f3 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 @@ -45,7 +50,7 @@ class muCom : public muComBase { interrupts(); } public: - muCom(Stream &ser, uint8_t num_var, uint8_t num_func); + muCom(Stream &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func); }; diff --git a/src/muComBase.cpp b/src/muComBase.cpp index 625e5de..3d05eb5 100644 --- a/src/muComBase.cpp +++ b/src/muComBase.cpp @@ -1,5 +1,4 @@ #include "muComBase.h" -#include #include /* @@ -45,18 +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; @@ -64,14 +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 diff --git a/src/muComBase.h b/src/muComBase.h index b6a2f14..a1c7ed9 100644 --- a/src/muComBase.h +++ b/src/muComBase.h @@ -94,16 +94,12 @@ class muComBase 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); /** From 4d289c23e99075d3ef585efbca71d9cf8182f05b Mon Sep 17 00:00:00 2001 From: kcl93 Date: Sun, 21 Feb 2021 00:22:39 +0100 Subject: [PATCH 08/14] Update library version number as well as documentation --- extras/Doxyfile | 2 +- extras/html/annotated.html | 6 +- extras/html/classes.html | 2 +- extras/html/classmu_com-members.html | 47 ++-- extras/html/classmu_com.html | 45 ++-- extras/html/classmu_com_base-members.html | 45 ++-- extras/html/classmu_com_base.html | 193 +++++++++++++-- .../dir_68267d1309a1af8e8297ef4c3efbcdba.html | 2 +- extras/html/files.html | 2 +- extras/html/functions.html | 17 +- extras/html/functions_func.html | 17 +- extras/html/hierarchy.html | 6 +- extras/html/index.html | 2 +- extras/html/mu_com_8h_source.html | 76 +++--- extras/html/mu_com_base_8h_source.html | 227 ++++++++++-------- ...mu_com___linked_variable__str-members.html | 2 +- .../structmu_com___linked_variable__str.html | 2 +- library.properties | 2 +- 18 files changed, 440 insertions(+), 255 deletions(-) diff --git a/extras/Doxyfile b/extras/Doxyfile index 700fde9..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 = 1.3 +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 23c1ca2..d39857a 100644 --- a/extras/html/annotated.html +++ b/extras/html/annotated.html @@ -19,7 +19,7 @@
muCom -  1.3 +  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 15bf486..4744a84 100644 --- a/extras/html/classes.html +++ b/extras/html/classes.html @@ -19,7 +19,7 @@
muCom -  1.3 +  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 a090134..6020232 100644 --- a/extras/html/classmu_com-members.html +++ b/extras/html/classmu_com-members.html @@ -19,7 +19,7 @@
muCom -  1.3 +  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(Stream &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func) (defined in muCom)muCom + 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 e65834d..20b6b26 100644 --- a/extras/html/classmu_com.html +++ b/extras/html/classmu_com.html @@ -19,7 +19,7 @@
muCom -  1.3 +  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 @@ - - + + - - - - - - + + + @@ -82,13 +78,13 @@ - + - + - + @@ -117,6 +113,9 @@ + + @@ -141,6 +140,9 @@ + + + @@ -171,6 +173,9 @@ + + + @@ -186,13 +191,13 @@ + + +

Public Member Functions

- muCom (Stream &ser, uint8_t num_var, uint8_t num_func)
 
+ muCom (Stream &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...
 
int8_t linkVariable (uint8_t index, uint8_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.

+

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:
diff --git a/extras/html/classmu_com_base.html b/extras/html/classmu_com_base.html index b6d22e3..076082f 100644 --- a/extras/html/classmu_com_base.html +++ b/extras/html/classmu_com_base.html @@ -19,7 +19,7 @@
muCom -  1.3 +  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
- - - - - - + + + @@ -78,13 +74,13 @@ - + - + - + @@ -113,6 +109,9 @@ + + @@ -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...
 
int8_t linkVariable (uint8_t index, uint8_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
@@ -557,7 +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)
@@ -631,7 +727,7 @@

Returns
See muCom error codes (0 = OK, <0 = Error)
+
Returns
See muCom error codes (0 = OK, <0 = Error)
@@ -705,7 +801,7 @@

Returns
See muCom error codes (0 = OK, <0 = Error)
+
Returns
See muCom error codes (0 = OK, <0 = Error)
@@ -779,7 +875,7 @@

Returns
See muCom error codes (0 = OK, <0 = Error)
+
Returns
See muCom error codes (0 = OK, <0 = Error)
@@ -853,7 +949,7 @@

Returns
See muCom error codes (0 = OK, <0 = Error)
+
Returns
See muCom error codes (0 = OK, <0 = Error)
@@ -978,6 +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 dd483ab..f6f1e40 100644 --- a/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html +++ b/extras/html/dir_68267d1309a1af8e8297ef4c3efbcdba.html @@ -19,7 +19,7 @@
muCom -  1.3 +  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 137ca26..0304e5c 100644 --- a/extras/html/files.html +++ b/extras/html/files.html @@ -19,7 +19,7 @@
muCom -  1.3 +  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 d600f6d..f85f77b 100644 --- a/extras/html/functions.html +++ b/extras/html/functions.html @@ -19,7 +19,7 @@
muCom -  1.3 +  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 e8f2d13..79d9181 100644 --- a/extras/html/functions_func.html +++ b/extras/html/functions_func.html @@ -19,7 +19,7 @@
    muCom -  1.3 +  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 ccee170..ec5af10 100644 --- a/extras/html/hierarchy.html +++ b/extras/html/hierarchy.html @@ -19,7 +19,7 @@
    muCom -  1.3 +  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 244772a..5827fa3 100644 --- a/extras/html/index.html +++ b/extras/html/index.html @@ -19,7 +19,7 @@
    muCom -  1.3 +  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 766e568..3f53016 100644 --- a/extras/html/mu_com_8h_source.html +++ b/extras/html/mu_com_8h_source.html @@ -19,7 +19,7 @@
    muCom -  1.3 +  2.0
    The reliable, fast and easy way to exchange binary data via UART
    @@ -55,43 +55,49 @@
    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(); }
    -
    34 
    -
    35  inline void _flushTx(void)
    -
    36  { this->_ser->flush(); }
    -
    37 
    -
    38  inline uint32_t _getTimestamp(void)
    -
    39  { return millis(); }
    -
    40 
    -
    41  inline void _disableInterrupts(void)
    -
    42  { noInterrupts(); }
    -
    43 
    -
    44  inline void _enableInterrupts(void)
    -
    45  { interrupts(); }
    -
    46 
    -
    47  public:
    -
    48  muCom(Stream &ser, uint8_t num_var, uint8_t num_func);
    -
    49 };
    -
    50 
    -
    51 
    -
    52 #endif //MUCOM_H
    +
    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  Stream *_ser;
    +
    30 
    +
    31  inline void _write(uint8_t* data, uint8_t cnt)
    +
    32  { this->_ser->write(data, cnt); }
    +
    33 
    +
    34  inline uint8_t _read(void)
    +
    35  { return this->_ser->read(); }
    +
    36 
    +
    37  inline uint8_t _available(void)
    +
    38  { return this->_ser->available(); }
    +
    39 
    +
    40  inline void _flushTx(void)
    +
    41  { this->_ser->flush(); }
    +
    42 
    +
    43  inline uint32_t _getTimestamp(void)
    +
    44  { return millis(); }
    +
    45 
    +
    46  inline void _disableInterrupts(void)
    +
    47  { noInterrupts(); }
    +
    48 
    +
    49  inline void _enableInterrupts(void)
    +
    50  { interrupts(); }
    +
    51 
    +
    52  public:
    +
    53  muCom(Stream &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func);
    +
    54 };
    +
    55 
    +
    56 
    +
    57 #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:203
    muComBase
    Base muCom class.
    Definition: muComBase.h:57
    -
    muCom
    File containing the main class for the muCom interface when being used for an Arduino.
    Definition: muCom.h:21
    +
    muCom_LinkedVariable_str
    Internal structure to store references to linked variables.
    Definition: muComBase.h:46
    +
    muCom
    Main class for the muCom interface when being used for an Arduino.
    Definition: muCom.h:26
    Generated by   diff --git a/extras/html/mu_com_base_8h_source.html b/extras/html/mu_com_base_8h_source.html index d4a6627..a86af6a 100644 --- a/extras/html/mu_com_base_8h_source.html +++ b/extras/html/mu_com_base_8h_source.html @@ -19,7 +19,7 @@
    muCom -  1.3 +  2.0
    The reliable, fast and easy way to exchange binary data via UART
    @@ -125,54 +125,55 @@
    92 
    93 
    94  public:
    -
    100  muComBase(uint8_t num_var, uint8_t num_func);
    -
    101 
    -
    102 
    -
    106  ~muComBase(void);
    -
    107 
    -
    108 
    -
    113  inline uint32_t getLastCommTime(void)
    -
    114  { return this->_lastCommTime; }
    -
    115 
    -
    116 
    -
    121  void setTimeout(int16_t timeout);
    -
    122 
    -
    123 
    -
    131  uint8_t handle(void);
    -
    132 
    -
    133 
    -
    139  int8_t linkFunction(uint8_t index, muComFunc function);
    -
    140 
    -
    141 
    -
    149  int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size);
    -
    150 
    -
    151  inline int8_t linkVariable(uint8_t index, uint8_t *var)
    -
    152  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); }
    -
    153 
    -
    154  inline int8_t linkVariable(uint8_t index, int8_t *var)
    -
    155  { return this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); }
    -
    156 
    -
    157  inline int8_t linkVariable(uint8_t index, uint16_t *var)
    -
    158  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); }
    -
    159 
    -
    160  inline int8_t linkVariable(uint8_t index, int16_t *var)
    -
    161  { return this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); }
    -
    162 
    -
    163  inline int8_t linkVariable(uint8_t index, uint32_t *var)
    -
    164  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); }
    -
    165 
    -
    166  inline int8_t linkVariable(uint8_t index, int32_t *var)
    -
    167  { return this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); }
    -
    168 
    -
    169  inline int8_t linkVariable(uint8_t index, uint64_t *var)
    -
    170  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); }
    -
    171 
    -
    172  inline int8_t linkVariable(uint8_t index, int64_t *var)
    -
    173  { return this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); }
    -
    174 
    -
    175  inline int8_t linkVariable(uint8_t index, float *var)
    -
    176  { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); }
    -
    177 
    +
    102  muComBase(struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func);
    +
    103 
    +
    104 
    +
    109  inline uint32_t getLastCommTime(void)
    +
    110  { return this->_lastCommTime; }
    +
    111 
    +
    112 
    +
    117  void setTimeout(int16_t timeout);
    +
    118 
    +
    119 
    +
    127  uint8_t handle(void);
    +
    128 
    +
    129 
    +
    135  int8_t linkFunction(uint8_t index, muComFunc function);
    +
    136 
    +
    137 
    +
    145  int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size);
    +
    146 
    +
    147  inline int8_t linkVariable(uint8_t index, uint8_t *var)
    +
    148  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); }
    +
    149 
    +
    150  inline int8_t linkVariable(uint8_t index, int8_t *var)
    +
    151  { return this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); }
    +
    152 
    +
    153  inline int8_t linkVariable(uint8_t index, uint16_t *var)
    +
    154  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); }
    +
    155 
    +
    156  inline int8_t linkVariable(uint8_t index, int16_t *var)
    +
    157  { return this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); }
    +
    158 
    +
    159  inline int8_t linkVariable(uint8_t index, uint32_t *var)
    +
    160  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); }
    +
    161 
    +
    162  inline int8_t linkVariable(uint8_t index, int32_t *var)
    +
    163  { return this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); }
    +
    164 
    +
    165  inline int8_t linkVariable(uint8_t index, uint64_t *var)
    +
    166  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); }
    +
    167 
    +
    168  inline int8_t linkVariable(uint8_t index, int64_t *var)
    +
    169  { return this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); }
    +
    170 
    +
    171  inline int8_t linkVariable(uint8_t index, float *var)
    +
    172  { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); }
    +
    173 
    +
    174  #ifndef __AVR__
    +
    175  inline int8_t linkVariable(uint8_t index, double *var)
    +
    176  { return this->linkVariable(index, (uint8_t*)var, sizeof(double)); }
    +
    177  #endif
    178 
    185  inline void invokeFunction(uint8_t index, uint8_t* data, uint8_t cnt)
    186  { this->writeRaw(MUCOM_EXECUTE_REQUEST, index, data, cnt); }
    @@ -199,73 +200,93 @@
    243  inline void writeFloat(uint8_t index, float data)
    244  { this->write(index, (uint8_t*)&data, sizeof(float)); }
    245 
    -
    246 
    -
    253  int8_t read(uint8_t index, uint8_t *data, uint8_t cnt);
    -
    254 
    -
    261  inline int8_t readByte(uint8_t index, uint8_t *data)
    -
    262  { return this->read(index, (uint8_t*)data, sizeof(uint8_t)); }
    -
    263 
    -
    264  inline int8_t readByte(uint8_t index, int8_t *data)
    -
    265  { return this->read(index, (uint8_t*)data, sizeof(int8_t)); }
    -
    266 
    -
    273  inline int8_t readShort(uint8_t index, uint16_t *data)
    -
    274  { return this->read(index, (uint8_t*)data, sizeof(uint16_t)); }
    -
    275 
    -
    276  inline int8_t readShort(uint8_t index, int16_t *data)
    -
    277  { return this->read(index, (uint8_t*)data, sizeof(int16_t)); }
    -
    278 
    -
    285  inline int8_t readLong(uint8_t index, uint32_t *data)
    -
    286  { return this->read(index, (uint8_t*)data, sizeof(uint32_t)); }
    -
    287 
    -
    288  inline int8_t readLong(uint8_t index, int32_t *data)
    -
    289  { return this->read(index, (uint8_t*)data, sizeof(int32_t)); }
    -
    290 
    -
    297  inline int8_t readLongLong(uint8_t index, uint64_t *data)
    -
    298  { return this->read(index, (uint8_t*)data, sizeof(uint64_t)); }
    -
    299 
    -
    300  inline int8_t readLongLong(uint8_t index, int64_t *data)
    -
    301  { return this->read(index, (uint8_t*)data, sizeof(int64_t)); }
    -
    302 
    -
    309  inline int8_t readFloat(uint8_t index, float *data)
    -
    310  { return this->read(index, (uint8_t*)data, sizeof(float)); }
    -
    311 
    -
    318  uint8_t readByte(uint8_t index);
    -
    319 
    -
    326  uint16_t readShort(uint8_t index);
    -
    327 
    -
    334  uint32_t readLong(uint8_t index);
    +
    246  #ifndef __AVR__
    +
    247 
    +
    253  inline void writeDouble(uint8_t index, double data)
    +
    254  { this->write(index, (uint8_t*)&data, sizeof(double)); }
    +
    255 
    +
    256  #endif
    +
    257 
    +
    264  int8_t read(uint8_t index, uint8_t *data, uint8_t cnt);
    +
    265 
    +
    272  inline int8_t readByte(uint8_t index, uint8_t *data)
    +
    273  { return this->read(index, (uint8_t*)data, sizeof(uint8_t)); }
    +
    274 
    +
    275  inline int8_t readByte(uint8_t index, int8_t *data)
    +
    276  { return this->read(index, (uint8_t*)data, sizeof(int8_t)); }
    +
    277 
    +
    284  inline int8_t readShort(uint8_t index, uint16_t *data)
    +
    285  { return this->read(index, (uint8_t*)data, sizeof(uint16_t)); }
    +
    286 
    +
    287  inline int8_t readShort(uint8_t index, int16_t *data)
    +
    288  { return this->read(index, (uint8_t*)data, sizeof(int16_t)); }
    +
    289 
    +
    296  inline int8_t readLong(uint8_t index, uint32_t *data)
    +
    297  { return this->read(index, (uint8_t*)data, sizeof(uint32_t)); }
    +
    298 
    +
    299  inline int8_t readLong(uint8_t index, int32_t *data)
    +
    300  { return this->read(index, (uint8_t*)data, sizeof(int32_t)); }
    +
    301 
    +
    308  inline int8_t readLongLong(uint8_t index, uint64_t *data)
    +
    309  { return this->read(index, (uint8_t*)data, sizeof(uint64_t)); }
    +
    310 
    +
    311  inline int8_t readLongLong(uint8_t index, int64_t *data)
    +
    312  { return this->read(index, (uint8_t*)data, sizeof(int64_t)); }
    +
    313 
    +
    320  inline int8_t readFloat(uint8_t index, float *data)
    +
    321  { return this->read(index, (uint8_t*)data, sizeof(float)); }
    +
    322 
    +
    323  #ifndef __AVR__
    +
    324 
    +
    331  inline int8_t readDouble(uint8_t index, double *data)
    +
    332  { return this->read(index, (uint8_t*)data, sizeof(float)); }
    +
    333 
    +
    334  #endif
    335 
    -
    342  uint64_t readLongLong(uint8_t index);
    +
    342  uint8_t readByte(uint8_t index);
    343 
    -
    350  float readFloat(uint8_t index);
    -
    351 };
    -
    352 
    -
    353 
    -
    354 #endif //MUCOMBASE_H
    +
    350  uint16_t readShort(uint8_t index);
    +
    351 
    +
    358  uint32_t readLong(uint8_t index);
    +
    359 
    +
    366  uint64_t readLongLong(uint8_t index);
    +
    367 
    +
    374  float readFloat(uint8_t index);
    +
    375 
    +
    376  #ifndef __AVR__
    +
    377 
    +
    384  double readDouble(uint8_t index);
    +
    385 
    +
    386  #endif
    +
    387 };
    +
    388 
    +
    389 
    +
    390 #endif //MUCOMBASE_H
    -
    muComBase::~muComBase
    ~muComBase(void)
    Destructor of the base class.
    Definition: muComBase.cpp:67
    muComBase::invokeFunction
    void invokeFunction(uint8_t index)
    Invoke a function at the communication partner.
    Definition: muComBase.h:193
    muComBase::writeShort
    void writeShort(uint8_t index, uint16_t data)
    Write a short (16 bit) to the communication partner.
    Definition: muComBase.h:219
    +
    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:203
    -
    muComBase::readLongLong
    int8_t readLongLong(uint8_t index, uint64_t *data)
    Read a long long from the communication partner.
    Definition: muComBase.h:297
    +
    muComBase::readLongLong
    int8_t readLongLong(uint8_t index, uint64_t *data)
    Read a long long from the communication partner.
    Definition: muComBase.h:308
    muComBase::invokeFunction
    void invokeFunction(uint8_t index, uint8_t *data, uint8_t cnt)
    Invoke a function at the communication partner.
    Definition: muComBase.h:185
    muComBase::writeByte
    void writeByte(uint8_t index, uint8_t data)
    Write a byte (8 bit) to the communication partner.
    Definition: muComBase.h:211
    -
    muComBase::readShort
    int8_t readShort(uint8_t index, uint16_t *data)
    Read a short from the communication partner.
    Definition: muComBase.h:273
    +
    muComBase::readShort
    int8_t readShort(uint8_t index, uint16_t *data)
    Read a short from the communication partner.
    Definition: muComBase.h:284
    muComBase::writeLong
    void writeLong(uint8_t index, uint32_t data)
    Write a long (32 bit) to the communication partner.
    Definition: muComBase.h:227
    -
    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:309
    -
    muComBase::handle
    uint8_t handle(void)
    Handle the muCom interface.
    Definition: muComBase.cpp:86
    -
    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::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:320
    +
    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:260
    muComBase::writeLongLong
    void writeLongLong(uint8_t index, uint64_t data)
    Write a long long (64 bit) to the communication partner.
    Definition: muComBase.h:235
    -
    muComBase::muComBase
    muComBase(uint8_t num_var, uint8_t num_func)
    Constructor of the base class.
    Definition: muComBase.cpp:48
    muComBase::writeFloat
    void writeFloat(uint8_t index, float data)
    Write a float to the communication partner.
    Definition: muComBase.h:243
    -
    muComBase::getLastCommTime
    uint32_t getLastCommTime(void)
    Get timestamp of last successful communication.
    Definition: muComBase.h:113
    -
    muComBase::readByte
    int8_t readByte(uint8_t index, uint8_t *data)
    Read a byte from the communication partner.
    Definition: muComBase.h:261
    -
    muComBase::readLong
    int8_t readLong(uint8_t index, uint32_t *data)
    Read a long from the communication partner.
    Definition: muComBase.h:285
    +
    muComBase::getLastCommTime
    uint32_t getLastCommTime(void)
    Get timestamp of last successful communication.
    Definition: muComBase.h:109
    +
    muComBase::readByte
    int8_t readByte(uint8_t index, uint8_t *data)
    Read a byte from the communication partner.
    Definition: muComBase.h:272
    +
    muComBase::readLong
    int8_t readLong(uint8_t index, uint32_t *data)
    Read a long from the communication partner.
    Definition: muComBase.h:296
    muComBase
    Base muCom class.
    Definition: muComBase.h:57
    -
    muComBase::linkFunction
    int8_t linkFunction(uint8_t index, muComFunc function)
    Link function to the muCom interface.
    Definition: muComBase.cpp:199
    +
    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:46
    -
    muComBase::setTimeout
    void setTimeout(int16_t timeout)
    Set timeout for read requests.
    Definition: muComBase.cpp:75
    +
    muComBase::writeDouble
    void writeDouble(uint8_t index, double data)
    Write a double to the communication partner (not available on AVR microcontrollers)
    Definition: muComBase.h:253
    +
    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 e60108e..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 -  1.3 +  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 b8cbda4..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 -  1.3 +  2.0
    The reliable, fast and easy way to exchange binary data via UART
    diff --git a/library.properties b/library.properties index 2ae00f4..3520f22 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=muCom -version=1.3 +version=2.0 author=Kai Liebich maintainer=Kai Liebich sentence=The reliable, fast and easy way to exchange binary data via UART From 8e4f741be5c2fd8244185b200f40e46c928b8494 Mon Sep 17 00:00:00 2001 From: kcl93 Date: Sun, 21 Feb 2021 00:36:30 +0100 Subject: [PATCH 09/14] Updated examples --- examples/Benchmark/Benchmark.ino | 50 ++++++++++++++++++++------------ examples/Example_1/Example_1.ino | 2 +- 2 files changed, 33 insertions(+), 19 deletions(-) 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 From 995e11aa7937e1d2d94eeb4a4c41e592713c2ad0 Mon Sep 17 00:00:00 2001 From: kcl93 Date: Sun, 21 Feb 2021 00:37:13 +0100 Subject: [PATCH 10/14] Allow double functions for AVR (even though they won't work properly). Bugfixed compiler issue with DUE due to #pragma optimize --- src/muComBase.cpp | 3 --- src/muComBase.h | 19 +++---------------- 2 files changed, 3 insertions(+), 19 deletions(-) diff --git a/src/muComBase.cpp b/src/muComBase.cpp index 3d05eb5..f488a71 100644 --- a/src/muComBase.cpp +++ b/src/muComBase.cpp @@ -370,7 +370,6 @@ float muComBase::readFloat(uint8_t index) } -#ifndef __AVR__ double muComBase::readDouble(uint8_t index) { @@ -382,5 +381,3 @@ double muComBase::readDouble(uint8_t index) return data; } -#endif - diff --git a/src/muComBase.h b/src/muComBase.h index a1c7ed9..0d49e50 100644 --- a/src/muComBase.h +++ b/src/muComBase.h @@ -12,8 +12,9 @@ //Required includes #include -#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 //Defines for the return values of the muCom interface functions #define MUCOM_OK 0 //!< OK. No error. @@ -171,10 +172,8 @@ class muComBase inline int8_t linkVariable(uint8_t index, float *var) { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); } - #ifndef __AVR__ 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 @@ -243,8 +242,6 @@ class muComBase inline void writeFloat(uint8_t index, float data) { this->write(index, (uint8_t*)&data, sizeof(float)); } - #ifndef __AVR__ - /** \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 @@ -253,8 +250,6 @@ class muComBase inline void writeDouble(uint8_t index, double data) { this->write(index, (uint8_t*)&data, sizeof(double)); } - #endif - /** \brief Read data from the communication partner \param[in] index Index of the remote variable to be read @@ -320,8 +315,6 @@ class muComBase inline int8_t readFloat(uint8_t index, float *data) { return this->read(index, (uint8_t*)data, sizeof(float)); } - #ifndef __AVR__ - /** \brief Read a double from the communication partner (not available on AVR microcontrollers) \param[in] index Index of the remote variable to be read @@ -331,8 +324,6 @@ class muComBase inline int8_t readDouble(uint8_t index, double *data) { return this->read(index, (uint8_t*)data, sizeof(float)); } - #endif - /** \brief Read a byte from the communication partner \param[in] index Index of the remote variable to be read @@ -373,8 +364,6 @@ class muComBase */ float readFloat(uint8_t index); - #ifndef __AVR__ - /** \brief Read a float from the communication partner \param[in] index Index of the remote variable to be read @@ -382,8 +371,6 @@ class muComBase
    -1 in case of errors */ double readDouble(uint8_t index); - - #endif }; From b2199307210c3516fe22f21259209104b470be44 Mon Sep 17 00:00:00 2001 From: kcl93 Date: Wed, 24 Feb 2021 00:11:33 +0100 Subject: [PATCH 11/14] Added support for muCom being executed from different sources in parallel --- src/muCom.cpp | 13 ------------- src/muCom.h | 18 ++++++++++++++++-- src/muComBase.cpp | 40 ++++++++++++++++++++++++++++++++++++++++ src/muComBase.h | 7 +++++++ 4 files changed, 63 insertions(+), 15 deletions(-) delete mode 100644 src/muCom.cpp diff --git a/src/muCom.cpp b/src/muCom.cpp deleted file mode 100644 index 82e104e..0000000 --- a/src/muCom.cpp +++ /dev/null @@ -1,13 +0,0 @@ - - -#include "muCom.h" - - - -muCom::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) -{ - //Link interface - this->_ser = &ser; -} - - diff --git a/src/muCom.h b/src/muCom.h index e5558f3..a9cfa5f 100644 --- a/src/muCom.h +++ b/src/muCom.h @@ -26,7 +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); } @@ -36,6 +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(); } @@ -50,7 +57,14 @@ class muCom : public muComBase { interrupts(); } public: - muCom(Stream &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, 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 f488a71..4e4f8ab 100644 --- a/src/muComBase.cpp +++ b/src/muComBase.cpp @@ -252,7 +252,27 @@ 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 } @@ -274,8 +294,28 @@ 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 diff --git a/src/muComBase.h b/src/muComBase.h index 0d49e50..9796116 100644 --- a/src/muComBase.h +++ b/src/muComBase.h @@ -16,6 +16,10 @@ #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 + //Defines for the return values of the muCom interface functions #define MUCOM_OK 0 //!< OK. No error. #define MUCOM_ERR -1 //!< Misc. error! @@ -79,6 +83,9 @@ 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; From c69cb894acc7a57038b0f0e369894f2e119c7be8 Mon Sep 17 00:00:00 2001 From: kcl93 Date: Wed, 24 Feb 2021 00:25:49 +0100 Subject: [PATCH 12/14] Update benchmark --- README.md | 26 ++++++++++++++------------ 1 file changed, 14 insertions(+), 12 deletions(-) diff --git a/README.md b/README.md index dadc0de..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 from v1.1 ##### +##### 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. From 2adbd1e6ce1df7995ba8561f806740181834e83e Mon Sep 17 00:00:00 2001 From: kcl93 Date: Wed, 24 Feb 2021 00:34:39 +0100 Subject: [PATCH 13/14] Update documentation --- extras/html/classmu_com-members.html | 2 +- extras/html/classmu_com.html | 9 +- extras/html/mu_com_8h_source.html | 79 +++-- extras/html/mu_com_base_8h_source.html | 426 ++++++++++++------------- 4 files changed, 262 insertions(+), 254 deletions(-) diff --git a/extras/html/classmu_com-members.html b/extras/html/classmu_com-members.html index 6020232..f5b551e 100644 --- a/extras/html/classmu_com-members.html +++ b/extras/html/classmu_com-members.html @@ -63,7 +63,7 @@ linkVariable(uint8_t index, int64_t *var) (defined in     muComBase)muComBaseinline linkVariable(uint8_t index, float *var) (defined in muComBase)muComBaseinline linkVariable(uint8_t index, double *var) (defined in muComBase)muComBaseinline - muCom(Stream &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func) (defined in muCom)muCom + 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 diff --git a/extras/html/classmu_com.html b/extras/html/classmu_com.html index 20b6b26..8ae3ab9 100644 --- a/extras/html/classmu_com.html +++ b/extras/html/classmu_com.html @@ -64,9 +64,9 @@ - - + + @@ -198,9 +198,8 @@

    Detailed Description

    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:
      +
      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/mu_com_8h_source.html b/extras/html/mu_com_8h_source.html index 3f53016..af4e815 100644 --- a/extras/html/mu_com_8h_source.html +++ b/extras/html/mu_com_8h_source.html @@ -64,40 +64,55 @@
      26 class muCom : public muComBase
      27 {
      28  private:
      -
      29  Stream *_ser;
      -
      30 
      -
      31  inline void _write(uint8_t* data, uint8_t cnt)
      -
      32  { this->_ser->write(data, cnt); }
      -
      33 
      -
      34  inline uint8_t _read(void)
      -
      35  { return this->_ser->read(); }
      -
      36 
      -
      37  inline uint8_t _available(void)
      -
      38  { return this->_ser->available(); }
      -
      39 
      -
      40  inline void _flushTx(void)
      -
      41  { this->_ser->flush(); }
      -
      42 
      -
      43  inline uint32_t _getTimestamp(void)
      -
      44  { return millis(); }
      -
      45 
      -
      46  inline void _disableInterrupts(void)
      -
      47  { noInterrupts(); }
      -
      48 
      -
      49  inline void _enableInterrupts(void)
      -
      50  { interrupts(); }
      -
      51 
      -
      52  public:
      -
      53  muCom(Stream &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func);
      -
      54 };
      -
      55 
      -
      56 
      -
      57 #endif //MUCOM_H
      +
      29  #ifdef __AVR__
      +
      30  Stream *_ser;
      +
      31  #else
      +
      32  UARTClass *_ser;
      +
      33  #endif
      +
      34 
      +
      35  inline void _write(uint8_t* data, uint8_t cnt)
      +
      36  { this->_ser->write(data, cnt); }
      +
      37 
      +
      38  inline uint8_t _read(void)
      +
      39  { return this->_ser->read(); }
      +
      40 
      +
      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:203
      -
      muComBase
      Base muCom class.
      Definition: muComBase.h:57
      -
      muCom_LinkedVariable_str
      Internal structure to store references to linked variables.
      Definition: muComBase.h:46
      +
      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 a86af6a..360352f 100644 --- a/extras/html/mu_com_base_8h_source.html +++ b/extras/html/mu_com_base_8h_source.html @@ -55,236 +55,230 @@
      12 //Required includes
      13 #include <stdint.h>
      14 
      -
      15 #pragma GCC optimize ("O2") //Roughly 4% more speed for 2% more flash usage compared to default "Os"
      -
      16 
      -
      17 
      -
      18 //Defines for the return values of the muCom interface functions
      -
      19 #define MUCOM_OK 0
      -
      20 #define MUCOM_ERR -1
      -
      21 #define MUCOM_ERR_TIMEOUT -2
      -
      22 #define MUCOM_ERR_COMM -3
      -
      23 
      -
      24 //Define default timeout of read requests via the interface
      -
      25 #define MUCOM_DEFAULT_TIMEOUT 100
      -
      26 
      -
      27 //Various defines for the interface itself
      -
      28 #define MUCOM_HEADER_BIT_MASK 0x80
      -
      29 #define MUCOM_FRAME_DESC_MASK 0x60
      -
      30 #define MUCOM_DATA_BYTE_CNT_MASK 0x1C
      -
      31 #define MUCOM_READ_RESPONSE 0x00
      -
      32 #define MUCOM_READ_REQUEST 0x20
      -
      33 #define MUCOM_WRITE_REQUEST 0x40
      -
      34 #define MUCOM_EXECUTE_REQUEST 0x60
      -
      35 
      -
      36 
      -
      40 typedef void (*muComFunc)(uint8_t *data, uint8_t cnt);
      +
      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 //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 
      -
      42 
      -
      46 struct muCom_LinkedVariable_str
      -
      47 {
      -
      48  uint8_t* addr;
      -
      49  uint8_t size;
      -
      50 };
      -
      51 
      -
      52 
      -
      57 class muComBase
      -
      58 {
      -
      59  private:
      -
      60  struct muCom_LinkedVariable_str *_linked_var; //Array of all linked variables
      -
      61  uint8_t _linked_var_num; //Max. number of linked variables
      -
      62  muComFunc *_linked_func; //Array of all linked functions
      -
      63  uint8_t _linked_func_num; //Max. number of linked functions
      -
      64  uint8_t _rcv_buf[11]; //Internal receive buffer
      -
      65  uint8_t _rcv_buf_cnt; //Number of valid bytes in the internal receive buffer (serves as statemachine)
      -
      66  int16_t _timeout; //Current timeout for read requests
      -
      67  uint32_t _lastCommTime; //Timestamp of last successful communication
      -
      68 
      -
      69  //Write a raw muCom frame
      -
      70  void writeRaw(uint8_t frameDesc, uint8_t index, uint8_t *data, uint8_t cnt);
      -
      71 
      -
      72  //Internal write function to actual HW
      -
      73  virtual void _write(uint8_t* data, uint8_t cnt) = 0;
      -
      74 
      -
      75  //Internal read function from actual HW
      -
      76  virtual uint8_t _read(void) = 0;
      -
      77 
      -
      78  //Internal function to check for available data from the actual HW
      -
      79  virtual uint8_t _available(void) = 0;
      -
      80 
      -
      81  //Internal function to wait until all written bytes are acutally transmitted
      -
      82  virtual void _flushTx(void) = 0;
      -
      83 
      -
      84  //Internal function to get the current timestamp in ms
      -
      85  virtual uint32_t _getTimestamp(void) = 0;
      -
      86 
      -
      87  //Internal function to disable interrupts
      -
      88  virtual void _disableInterrupts(void) = 0;
      -
      89 
      -
      90  //Internal function to enable interrupts
      -
      91  virtual void _enableInterrupts(void) = 0;
      -
      92 
      -
      93 
      -
      94  public:
      -
      102  muComBase(struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func);
      -
      103 
      -
      104 
      -
      109  inline uint32_t getLastCommTime(void)
      -
      110  { return this->_lastCommTime; }
      -
      111 
      -
      112 
      -
      117  void setTimeout(int16_t timeout);
      -
      118 
      +
      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  //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 
      +
      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 
      -
      127  uint8_t handle(void);
      -
      128 
      -
      129 
      -
      135  int8_t linkFunction(uint8_t index, muComFunc function);
      +
      120 
      +
      125  void setTimeout(int16_t timeout);
      +
      126 
      +
      127 
      +
      135  uint8_t handle(void);
      136 
      137 
      -
      145  int8_t linkVariable(uint8_t index, uint8_t *var, uint8_t size);
      -
      146 
      -
      147  inline int8_t linkVariable(uint8_t index, uint8_t *var)
      -
      148  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint8_t)); }
      -
      149 
      -
      150  inline int8_t linkVariable(uint8_t index, int8_t *var)
      -
      151  { return this->linkVariable(index, (uint8_t*)var, sizeof(int8_t)); }
      -
      152 
      -
      153  inline int8_t linkVariable(uint8_t index, uint16_t *var)
      -
      154  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint16_t)); }
      -
      155 
      -
      156  inline int8_t linkVariable(uint8_t index, int16_t *var)
      -
      157  { return this->linkVariable(index, (uint8_t*)var, sizeof(int16_t)); }
      -
      158 
      -
      159  inline int8_t linkVariable(uint8_t index, uint32_t *var)
      -
      160  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint32_t)); }
      -
      161 
      -
      162  inline int8_t linkVariable(uint8_t index, int32_t *var)
      -
      163  { return this->linkVariable(index, (uint8_t*)var, sizeof(int32_t)); }
      -
      164 
      -
      165  inline int8_t linkVariable(uint8_t index, uint64_t *var)
      -
      166  { return this->linkVariable(index, (uint8_t*)var, sizeof(uint64_t)); }
      -
      167 
      -
      168  inline int8_t linkVariable(uint8_t index, int64_t *var)
      -
      169  { return this->linkVariable(index, (uint8_t*)var, sizeof(int64_t)); }
      -
      170 
      -
      171  inline int8_t linkVariable(uint8_t index, float *var)
      -
      172  { return this->linkVariable(index, (uint8_t*)var, sizeof(float)); }
      -
      173 
      -
      174  #ifndef __AVR__
      -
      175  inline int8_t linkVariable(uint8_t index, double *var)
      -
      176  { return this->linkVariable(index, (uint8_t*)var, sizeof(double)); }
      -
      177  #endif
      +
      143  int8_t linkFunction(uint8_t index, muComFunc function);
      +
      144 
      +
      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 
      +
      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 
      -
      185  inline void invokeFunction(uint8_t index, uint8_t* data, uint8_t cnt)
      -
      186  { this->writeRaw(MUCOM_EXECUTE_REQUEST, index, data, cnt); }
      -
      187 
      -
      193  inline void invokeFunction(uint8_t index)
      -
      194  { uint8_t dummy; this->writeRaw(MUCOM_EXECUTE_REQUEST, index, &dummy, 1); }
      -
      195 
      -
      196 
      -
      203  inline void write(uint8_t index, uint8_t *data, uint8_t cnt)
      -
      204  { this->writeRaw(MUCOM_WRITE_REQUEST, index, data, cnt); }
      -
      205 
      -
      211  inline void writeByte(uint8_t index, uint8_t data)
      -
      212  { this->write(index, (uint8_t*)&data, sizeof(uint8_t)); }
      -
      213 
      -
      219  inline void writeShort(uint8_t index, uint16_t data)
      -
      220  { this->write(index, (uint8_t*)&data, sizeof(uint16_t)); }
      -
      221 
      -
      227  inline void writeLong(uint8_t index, uint32_t data)
      -
      228  { this->write(index, (uint8_t*)&data, sizeof(uint32_t)); }
      -
      229 
      -
      235  inline void writeLongLong(uint8_t index, uint64_t data)
      -
      236  { this->write(index, (uint8_t*)&data, sizeof(uint64_t)); }
      -
      237 
      -
      243  inline void writeFloat(uint8_t index, float data)
      -
      244  { this->write(index, (uint8_t*)&data, sizeof(float)); }
      -
      245 
      -
      246  #ifndef __AVR__
      -
      247 
      -
      253  inline void writeDouble(uint8_t index, double data)
      -
      254  { this->write(index, (uint8_t*)&data, sizeof(double)); }
      -
      255 
      -
      256  #endif
      -
      257 
      -
      264  int8_t read(uint8_t index, uint8_t *data, uint8_t cnt);
      -
      265 
      -
      272  inline int8_t readByte(uint8_t index, uint8_t *data)
      -
      273  { return this->read(index, (uint8_t*)data, sizeof(uint8_t)); }
      -
      274 
      -
      275  inline int8_t readByte(uint8_t index, int8_t *data)
      -
      276  { return this->read(index, (uint8_t*)data, sizeof(int8_t)); }
      -
      277 
      -
      284  inline int8_t readShort(uint8_t index, uint16_t *data)
      -
      285  { return this->read(index, (uint8_t*)data, sizeof(uint16_t)); }
      -
      286 
      -
      287  inline int8_t readShort(uint8_t index, int16_t *data)
      -
      288  { return this->read(index, (uint8_t*)data, sizeof(int16_t)); }
      -
      289 
      -
      296  inline int8_t readLong(uint8_t index, uint32_t *data)
      -
      297  { return this->read(index, (uint8_t*)data, sizeof(uint32_t)); }
      -
      298 
      -
      299  inline int8_t readLong(uint8_t index, int32_t *data)
      -
      300  { return this->read(index, (uint8_t*)data, sizeof(int32_t)); }
      -
      301 
      -
      308  inline int8_t readLongLong(uint8_t index, uint64_t *data)
      -
      309  { return this->read(index, (uint8_t*)data, sizeof(uint64_t)); }
      -
      310 
      -
      311  inline int8_t readLongLong(uint8_t index, int64_t *data)
      -
      312  { return this->read(index, (uint8_t*)data, sizeof(int64_t)); }
      -
      313 
      -
      320  inline int8_t readFloat(uint8_t index, float *data)
      -
      321  { return this->read(index, (uint8_t*)data, sizeof(float)); }
      -
      322 
      -
      323  #ifndef __AVR__
      +
      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 
      -
      334  #endif
      -
      335 
      -
      342  uint8_t readByte(uint8_t index);
      -
      343 
      -
      350  uint16_t readShort(uint8_t index);
      -
      351 
      -
      358  uint32_t readLong(uint8_t index);
      -
      359 
      -
      366  uint64_t readLongLong(uint8_t index);
      -
      367 
      -
      374  float readFloat(uint8_t index);
      -
      375 
      -
      376  #ifndef __AVR__
      -
      377 
      -
      384  double readDouble(uint8_t index);
      -
      385 
      -
      386  #endif
      -
      387 };
      -
      388 
      -
      389 
      -
      390 #endif //MUCOMBASE_H
      +
      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::invokeFunction
      void invokeFunction(uint8_t index)
      Invoke a function at the communication partner.
      Definition: muComBase.h:193
      -
      muComBase::writeShort
      void writeShort(uint8_t index, uint16_t data)
      Write a short (16 bit) to the communication partner.
      Definition: muComBase.h:219
      +
      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:203
      -
      muComBase::readLongLong
      int8_t readLongLong(uint8_t index, uint64_t *data)
      Read a long long from the communication partner.
      Definition: muComBase.h:308
      -
      muComBase::invokeFunction
      void invokeFunction(uint8_t index, uint8_t *data, uint8_t cnt)
      Invoke a function at the communication partner.
      Definition: muComBase.h:185
      -
      muComBase::writeByte
      void writeByte(uint8_t index, uint8_t data)
      Write a byte (8 bit) to the communication partner.
      Definition: muComBase.h:211
      -
      muComBase::readShort
      int8_t readShort(uint8_t index, uint16_t *data)
      Read a short from the communication partner.
      Definition: muComBase.h:284
      -
      muComBase::writeLong
      void writeLong(uint8_t index, uint32_t data)
      Write a long (32 bit) to the communication partner.
      Definition: muComBase.h:227
      +
      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:320
      +
      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:260
      -
      muComBase::writeLongLong
      void writeLongLong(uint8_t index, uint64_t data)
      Write a long long (64 bit) to the communication partner.
      Definition: muComBase.h:235
      -
      muComBase::writeFloat
      void writeFloat(uint8_t index, float data)
      Write a float to the communication partner.
      Definition: muComBase.h:243
      -
      muComBase::getLastCommTime
      uint32_t getLastCommTime(void)
      Get timestamp of last successful communication.
      Definition: muComBase.h:109
      -
      muComBase::readByte
      int8_t readByte(uint8_t index, uint8_t *data)
      Read a byte from the communication partner.
      Definition: muComBase.h:272
      -
      muComBase::readLong
      int8_t readLong(uint8_t index, uint32_t *data)
      Read a long from the communication partner.
      Definition: muComBase.h:296
      -
      muComBase
      Base muCom class.
      Definition: muComBase.h:57
      +
      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:46
      -
      muComBase::writeDouble
      void writeDouble(uint8_t index, double data)
      Write a double to the communication partner (not available on AVR microcontrollers)
      Definition: muComBase.h:253
      +
      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
      From 0c0a5fbd5413da9538db966fb0dbb54556227cc0 Mon Sep 17 00:00:00 2001 From: kcl93 Date: Thu, 6 May 2021 22:49:52 +0200 Subject: [PATCH 14/14] start adding discovery functionality --- src/muComBase.cpp | 7 +++ src/muComBase.h | 123 +++++++++++++++++++++++++++++++++++----------- 2 files changed, 101 insertions(+), 29 deletions(-) diff --git a/src/muComBase.cpp b/src/muComBase.cpp index 4e4f8ab..e3ce689 100644 --- a/src/muComBase.cpp +++ b/src/muComBase.cpp @@ -205,7 +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) { @@ -214,6 +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; } diff --git a/src/muComBase.h b/src/muComBase.h index 9796116..69ff146 100644 --- a/src/muComBase.h +++ b/src/muComBase.h @@ -20,6 +20,10 @@ //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. #define MUCOM_ERR -1 //!< Misc. error! @@ -39,6 +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 */ @@ -52,6 +75,9 @@ struct muCom_LinkedVariable_str { uint8_t* addr; uint8_t size; + #ifndef MUCOM_DEACTIVATE_DISCOVERY + muCom_LinkedVariableType type; + #endif }; @@ -98,6 +124,10 @@ class muComBase //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: /** @@ -150,37 +180,72 @@ class muComBase \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 int8_t linkVariable(uint8_t index, uint8_t *var) - { return 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 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, 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, double *var) - { return this->linkVariable(index, (uint8_t*)var, sizeof(double)); } + 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

    Public Member Functions

    - muCom (Stream &ser, struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, 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 (struct muCom_LinkedVariable_str *var_buf, uint8_t num_var, muComFunc *func_buf, uint8_t num_func)
     Constructor of the base class. More...