FaSTTUBe/INS-VN-200
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This commit is contained in:
r.koeppe
2024-06-12 19:47:42 +02:00
parent 74509c8da3
commit 2cb8159470
56 changed files with 13176 additions and 9540 deletions
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17
vn200/Converter/Inc/Converter.h
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@ -70,23 +70,24 @@ HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan, cons
auto response = vn::pkg_response_t<payload_t>();
size_t datalen = 8;
uint16_t can_id = 0;
uint8_t *data = nullptr;
spi_read(hspi, &request, &response);
switch (id) {
case vn::YawPitchRollTrueBodyAccelerationAndAngularRatesRegisterID:
{
can_id = CAN1_VN200_YPR_FRAME_ID;
vn::YawPitchRollTrueBodyAccelerationAndAngularRatesRegister payload;
case vn::InsSolutionLlaRegisterID:
{
can_id = CAN1_VN200_INS_YPR_FRAME_ID;
vn::InsSolutionLlaRegister payload;
payload = response.payload;
//canlib::encode::can1::vn200_ypr(canlib::frame::decoded::can1::vn200_ypr_t((double) payload.yawPitchRoll.x, (double) payload.yawPitchRoll.y, (double) payload.yawPitchRoll.z));
}
auto data = canlib::encode::can1::vn200_ins_ypr(canlib::frame::decoded::can1::vn200_ins_ypr_t((double) payload.yawPitchRoll.x, (double) payload.yawPitchRoll.y, (double) payload.yawPitchRoll.z, (double) payload.attUncertainty));
ftcan_transmit(hcan, can_id, (uint8_t*)(&data), datalen);
}
break;
default:
break;
}
ftcan_transmit(hcan, can_id, data, datalen);
return HAL_OK;
}