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vn200 stm project

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r.koeppe
2024-06-06 11:36:00 +02:00
parent 62818b5ea7
commit c5f5e6fb98
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vn200/Converter/Inc/Converter.h Normal file
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#include <stm32f302xc.h>
#include <stm32f3xx_hal.h>
#include <stm32f3xx_hal_conf.h>
#include <vn-interface/helper.h>
#include <vn-interface/registers.h>
#include "canhalal.h"
#include "can1.h"
#include "endec.hpp"
template <typename payload_t>
HAL_StatusTypeDef spi_read(SPI_HandleTypeDef *hspi, vn::pkg_request_read_t *pRequestMOSI, vn::pkg_response_t<payload_t> *pResponseMISO){
HAL_StatusTypeDef status = HAL_OK;
vn::header_t::response_t requestMISO;
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
status = HAL_SPI_TransmitReceive(hspi,
(uint8_t *)(pRequestMOSI),
(uint8_t *)(&requestMISO), // not relevant, but there to function
sizeof(*pRequestMOSI), 100);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_SET);
HAL_Delay(1);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
vn::pkg_response_t<payload_t> responseMOSI;
status = HAL_SPI_TransmitReceive(hspi,
(uint8_t *)(&responseMOSI), // just empty byte to allow the slave to transmit
(uint8_t *)(pResponseMISO),
sizeof(*pResponseMISO), 100);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_SET);
return status;
}
template <typename payload_t>
HAL_StatusTypeDef spi_write(SPI_HandleTypeDef *hspi, vn::pkg_request_write_t<payload_t> *pRequestMOSI, vn::pkg_response_t<payload_t> *pResponseMISO){
HAL_StatusTypeDef status = HAL_OK;
vn::header_t::response_t requestMISO;
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
status = HAL_SPI_TransmitReceive(hspi,
(uint8_t *)(pRequestMOSI),
(uint8_t *)(&requestMISO), // not relevant, but there to function
sizeof(*pRequestMOSI), 100);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_SET);
HAL_Delay(1);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_RESET);
vn::pkg_response_t<payload_t> responseMOSI;
status = HAL_SPI_TransmitReceive(hspi,
(uint8_t *)(&responseMOSI), // just empty byte to allow the slave to transmit
(uint8_t *)(pResponseMISO),
sizeof(*pResponseMISO), 100);
HAL_GPIO_WritePin(GPIOA, GPIO_PIN_9, GPIO_PIN_SET);
return status;
}
template <typename payload_t>
HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan, const uint16_t& id){
auto request = vn::pkg_request_read_t(id);
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;
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));
}
break;
default:
break;
}
ftcan_transmit(hcan, can_id, data, datalen);
return HAL_OK;
}