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corrected and verified can bus output

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This commit is contained in:
Richard Koeppe
2024-06-25 10:08:31 +00:00
parent e2baacbc92
commit 137aa9bcb3
3 changed files with 72 additions and 43 deletions
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68
Converter/Src/Converter.cpp
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@ -1,36 +1,39 @@
#include "Converter.h"
#define DELAY 2 // ms
HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan) {
// Standard at FaSTTUBe - Sadly. Please fix this with CAN FD for such sensors.
size_t datalen = 8;
HAL_StatusTypeDef status = HAL_OK;
// ==================
// Hardware Version
// ==================
auto request_hw_version = vn::pkg_request_read_t(vn::HardwareVersion::ID);
auto response_hw_version = vn::pkg_response_t<vn::HardwareVersionRegister>();
spi_read(hspi, &request_hw_version, &response_hw_version);
// auto request_hw_version = vn::pkg_request_read_t(vn::HardwareVersion::ID);
// auto response_hw_version = vn::pkg_response_t<vn::HardwareVersionRegister>();
// spi_read(hspi, &request_hw_version, &response_hw_version);
// ==================
// Hardware Version --> 2001
// ==================
auto request_fw_version = vn::pkg_request_read_t(vn::FirmwareVersion::ID);
auto response_fw_version = vn::pkg_response_t<vn::FirmwareVersionRegister>();
spi_read(hspi, &request_fw_version, &response_fw_version);
// auto request_fw_version = vn::pkg_request_read_t(vn::FirmwareVersion::ID);
// auto response_fw_version = vn::pkg_response_t<vn::FirmwareVersionRegister>();
// spi_read(hspi, &request_fw_version, &response_fw_version);
// ==================
// ATT YawPitchRoll
// ==================
auto request_att_ypr = vn::pkg_request_read_t(vn::YawPitchRoll::ID);
auto response_att_ypr = vn::pkg_response_t<vn::YawPitchRollRegister>();
spi_read(hspi, &request_att_ypr, &response_att_ypr);
// auto request_att_ypr = vn::pkg_request_read_t(vn::YawPitchRoll::ID);
// auto response_att_ypr = vn::pkg_response_t<vn::YawPitchRollRegister>();
// spi_read(hspi, &request_att_ypr, &response_att_ypr);
// ==================
// IMU Accel
// ==================
auto request_imu_accel = vn::pkg_request_read_t(vn::ImuAccelerometer::ID);
auto response_imu_accel = vn::pkg_response_t<vn::ImuAccelerometerRegister>();
spi_read(hspi, &request_imu_accel, &response_imu_accel);
// auto request_imu_accel = vn::pkg_request_read_t(vn::ImuAccelerometer::ID);
// auto response_imu_accel = vn::pkg_response_t<vn::ImuAccelerometerRegister>();
// spi_read(hspi, &request_imu_accel, &response_imu_accel);
// ==================
// IMU Gyro
@ -52,15 +55,29 @@ HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan) {
// SEND INS YPR
auto data_ins_ypr = 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));
status = ftcan_transmit(hcan, CAN1_VN200_INS_YPR_FRAME_ID, (uint8_t *)(&data_ins_ypr), datalen);
uint8_t packed_data_ins_ypr[datalen];
can1_vn200_ins_ypr_pack(packed_data_ins_ypr, &data_ins_ypr, datalen);
status = ftcan_transmit(hcan, CAN1_VN200_INS_YPR_FRAME_ID, packed_data_ins_ypr, datalen);
HAL_Delay(DELAY);
// SEND INS LLA
auto data_ins_ll = canlib::encode::can1::vn200_ins_ll(canlib::frame::decoded::can1::vn200_ins_ll_t(
(double)payload.position.x, (double)payload.position.y, (double)payload.posUncertainty, (double)payload.posUncertainty));
status = ftcan_transmit(hcan, CAN1_VN200_INS_LL_FRAME_ID, (uint8_t *)(&data_ins_ll), datalen);
uint8_t packed_data_ins_ll[datalen];
can1_vn200_ins_ll_pack(packed_data_ins_ll, &data_ins_ll, datalen);
status = ftcan_transmit(hcan, CAN1_VN200_INS_LL_FRAME_ID, packed_data_ins_ll, datalen);
HAL_Delay(DELAY);
// SEND INS VEL
auto data_ins_vel = canlib::encode::can1::vn200_ins_vel(canlib::frame::decoded::can1::vn200_ins_vel_t(
(double)payload.nedVel.x, (double)payload.nedVel.y, (double)payload.velUncertainty, (double)payload.velUncertainty));
status = ftcan_transmit(hcan, CAN1_VN200_INS_VEL_FRAME_ID, (uint8_t *)(&data_ins_vel), datalen);
uint8_t packed_data_ins_vel[datalen];
can1_vn200_ins_vel_pack(packed_data_ins_vel, &data_ins_vel, datalen);
status = ftcan_transmit(hcan, CAN1_VN200_INS_VEL_FRAME_ID, packed_data_ins_vel, datalen);
HAL_Delay(DELAY);
// ==================
// IMU
@ -73,13 +90,22 @@ HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan) {
vn::MagneticAccelerationAndAngularRatesRegister payload_imu = response_imu.payload;
// SEND ACC LIN
auto data_imu_acc_lin = canlib::encode::can1::vn200_imu_acc_lin(
const auto data_imu_acc_lin = canlib::encode::can1::vn200_imu_acc_lin(
canlib::frame::decoded::can1::vn200_imu_acc_lin_t((double)payload_imu.accel.x, (double)payload_imu.accel.y, (double)payload_imu.accel.z));
status = ftcan_transmit(hcan, CAN1_VN200_IMU_ACC_LIN_FRAME_ID, (uint8_t *)(&data_imu_acc_lin), datalen);
uint8_t packed_data_imu_acc_lin[datalen];
can1_vn200_imu_acc_lin_pack(packed_data_imu_acc_lin, &data_imu_acc_lin, datalen);
status = ftcan_transmit(hcan, CAN1_VN200_IMU_ACC_LIN_FRAME_ID, packed_data_imu_acc_lin, datalen);
HAL_Delay(DELAY);
// SEND ACC ANG
auto data_imu_acc_ang = canlib::encode::can1::vn200_imu_acc_ang(
canlib::frame::decoded::can1::vn200_imu_acc_ang_t((double)payload_imu.gyro.x, (double)payload_imu.gyro.y, (double)payload_imu.gyro.z));
status = ftcan_transmit(hcan, CAN1_VN200_IMU_ACC_ANG_FRAME_ID, (uint8_t *)(&data_imu_acc_ang), datalen);
uint8_t packed_data_imu_acc_ang[datalen];
can1_vn200_imu_acc_ang_pack(packed_data_imu_acc_ang, &data_imu_acc_ang, datalen);
status = ftcan_transmit(hcan, CAN1_VN200_IMU_ACC_ANG_FRAME_ID, packed_data_imu_acc_ang, datalen);
HAL_Delay(DELAY);
// ==================
// GNSS
@ -94,7 +120,11 @@ HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan) {
// SEND ACC LIN
auto data_gnss = canlib::encode::can1::vn200_gnss_ll(canlib::frame::decoded::can1::vn200_gnss_ll_t(
(double)payload_gnss.lla.x, (double)payload_gnss.lla.y, (double)payload_gnss.nedAcc.x, (double)payload_gnss.nedAcc.y));
status = ftcan_transmit(hcan, CAN1_VN200_GNSS_LL_FRAME_ID, (uint8_t *)(&data_gnss), datalen);
uint8_t packed_data_gnss[datalen];
can1_vn200_gnss_ll_pack(packed_data_gnss, &data_gnss, datalen);
status = ftcan_transmit(hcan, CAN1_VN200_GNSS_LL_FRAME_ID, packed_data_gnss, datalen);
HAL_Delay(DELAY);
return HAL_OK;
}