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corrected and verified can bus output

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" #include "Converter.h"
#define DELAY 2 // ms
HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan) { HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan) {
// Standard at FaSTTUBe - Sadly. Please fix this with CAN FD for such sensors. // Standard at FaSTTUBe - Sadly. Please fix this with CAN FD for such sensors.
size_t datalen = 8; size_t datalen = 8;
HAL_StatusTypeDef status = HAL_OK; HAL_StatusTypeDef status = HAL_OK;
// ================== // ==================
// Hardware Version // Hardware Version
// ================== // ==================
auto request_hw_version = vn::pkg_request_read_t(vn::HardwareVersion::ID); // auto request_hw_version = vn::pkg_request_read_t(vn::HardwareVersion::ID);
auto response_hw_version = vn::pkg_response_t<vn::HardwareVersionRegister>(); // auto response_hw_version = vn::pkg_response_t<vn::HardwareVersionRegister>();
spi_read(hspi, &request_hw_version, &response_hw_version); // spi_read(hspi, &request_hw_version, &response_hw_version);
// ================== // ==================
// Hardware Version --> 2001 // Hardware Version --> 2001
// ================== // ==================
auto request_fw_version = vn::pkg_request_read_t(vn::FirmwareVersion::ID); // auto request_fw_version = vn::pkg_request_read_t(vn::FirmwareVersion::ID);
auto response_fw_version = vn::pkg_response_t<vn::FirmwareVersionRegister>(); // auto response_fw_version = vn::pkg_response_t<vn::FirmwareVersionRegister>();
spi_read(hspi, &request_fw_version, &response_fw_version); // spi_read(hspi, &request_fw_version, &response_fw_version);
// ================== // ==================
// ATT YawPitchRoll // ATT YawPitchRoll
// ================== // ==================
auto request_att_ypr = vn::pkg_request_read_t(vn::YawPitchRoll::ID); // auto request_att_ypr = vn::pkg_request_read_t(vn::YawPitchRoll::ID);
auto response_att_ypr = vn::pkg_response_t<vn::YawPitchRollRegister>(); // auto response_att_ypr = vn::pkg_response_t<vn::YawPitchRollRegister>();
spi_read(hspi, &request_att_ypr, &response_att_ypr); // spi_read(hspi, &request_att_ypr, &response_att_ypr);
// ================== // ==================
// IMU Accel // IMU Accel
// ================== // ==================
auto request_imu_accel = vn::pkg_request_read_t(vn::ImuAccelerometer::ID); // auto request_imu_accel = vn::pkg_request_read_t(vn::ImuAccelerometer::ID);
auto response_imu_accel = vn::pkg_response_t<vn::ImuAccelerometerRegister>(); // auto response_imu_accel = vn::pkg_response_t<vn::ImuAccelerometerRegister>();
spi_read(hspi, &request_imu_accel, &response_imu_accel); // spi_read(hspi, &request_imu_accel, &response_imu_accel);
// ================== // ==================
// IMU Gyro // IMU Gyro
@ -52,15 +55,29 @@ HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan) {
// SEND INS YPR // SEND INS YPR
auto data_ins_ypr = canlib::encode::can1::vn200_ins_ypr(canlib::frame::decoded::can1::vn200_ins_ypr_t( 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)); (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 // SEND INS LLA
auto data_ins_ll = canlib::encode::can1::vn200_ins_ll(canlib::frame::decoded::can1::vn200_ins_ll_t( 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)); (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 // SEND INS VEL
auto data_ins_vel = canlib::encode::can1::vn200_ins_vel(canlib::frame::decoded::can1::vn200_ins_vel_t( 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)); (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 // IMU
@ -73,13 +90,22 @@ HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan) {
vn::MagneticAccelerationAndAngularRatesRegister payload_imu = response_imu.payload; vn::MagneticAccelerationAndAngularRatesRegister payload_imu = response_imu.payload;
// SEND ACC LIN // 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)); 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 // SEND ACC ANG
auto data_imu_acc_ang = canlib::encode::can1::vn200_imu_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)); 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 // GNSS
@ -94,7 +120,11 @@ HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan) {
// SEND ACC LIN // SEND ACC LIN
auto data_gnss = canlib::encode::can1::vn200_gnss_ll(canlib::frame::decoded::can1::vn200_gnss_ll_t( 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)); (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; return HAL_OK;
} }

38
Core/Src/main.c
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@ -94,30 +94,28 @@ int main(void) {
MX_SPI1_Init(); MX_SPI1_Init();
/* USER CODE BEGIN 2 */ /* USER CODE BEGIN 2 */
// CAN_FilterTypeDef canfilterconfig; CAN_FilterTypeDef canfilterconfig;
// canfilterconfig.FilterActivation = ENABLE; canfilterconfig.FilterActivation = ENABLE;
// canfilterconfig.FilterBank = 1; // which filter bank to use from the assigned ones canfilterconfig.FilterBank = 1; // which filter bank to use from the assigned ones
// canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0; canfilterconfig.FilterFIFOAssignment = CAN_FILTER_FIFO0;
// canfilterconfig.FilterIdHigh = 0x0000; canfilterconfig.FilterIdHigh = 0x0000;
// canfilterconfig.FilterIdLow = 0x0000; canfilterconfig.FilterIdLow = 0x0000;
// canfilterconfig.FilterMaskIdHigh = 0x0000; canfilterconfig.FilterMaskIdHigh = 0x0000;
// canfilterconfig.FilterMaskIdLow = 0x0000; canfilterconfig.FilterMaskIdLow = 0x0000;
// canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK; canfilterconfig.FilterMode = CAN_FILTERMODE_IDMASK;
// canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT; canfilterconfig.FilterScale = CAN_FILTERSCALE_32BIT;
// canfilterconfig.SlaveStartFilterBank = 20; // how many filters to assign to the CAN1 (master can) canfilterconfig.SlaveStartFilterBank = 20; // how many filters to assign to the CAN1 (master can)
// HAL_CAN_ConfigFilter(&hcan, &canfilterconfig); HAL_CAN_ConfigFilter(&hcan, &canfilterconfig);
ftcan_init(&hcan); ftcan_init(&hcan);
ftcan_add_filter(&hcan, 0x10, 0x0000); // ftcan_add_filter(&hcan, 0x10, 0x0000);
// if (HAL_CAN_ActivateNotification(&hcan, CAN_IT_RX_FIFO0_MSG_PENDING) != HAL_OK) {
// Error_Handler();
// }
/* USER CODE END 2 */ /* USER CODE END 2 */
/* Infinite loop */ /* Infinite loop */
/* USER CODE BEGIN WHILE */ /* USER CODE BEGIN WHILE */
while (1) { while (1) {
// spi2can(&hspi1, &hcan); spi2can(&hspi1, &hcan);
HAL_Delay(100);
/* USER CODE END WHILE */ /* USER CODE END WHILE */
/* USER CODE BEGIN 3 */ /* USER CODE BEGIN 3 */
@ -171,11 +169,11 @@ static void MX_CAN_Init(void) {
/* USER CODE END CAN_Init 1 */ /* USER CODE END CAN_Init 1 */
hcan.Instance = CAN; hcan.Instance = CAN;
hcan.Init.Prescaler = 8; hcan.Init.Prescaler = 2;
hcan.Init.Mode = CAN_MODE_NORMAL; hcan.Init.Mode = CAN_MODE_NORMAL;
hcan.Init.SyncJumpWidth = CAN_SJW_1TQ; hcan.Init.SyncJumpWidth = CAN_SJW_1TQ;
hcan.Init.TimeSeg1 = CAN_BS1_2TQ; hcan.Init.TimeSeg1 = CAN_BS1_13TQ;
hcan.Init.TimeSeg2 = CAN_BS2_1TQ; hcan.Init.TimeSeg2 = CAN_BS2_2TQ;
hcan.Init.TimeTriggeredMode = DISABLE; hcan.Init.TimeTriggeredMode = DISABLE;
hcan.Init.AutoBusOff = DISABLE; hcan.Init.AutoBusOff = DISABLE;
hcan.Init.AutoWakeUp = DISABLE; hcan.Init.AutoWakeUp = DISABLE;

9
vn200.ioc
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@ -2,13 +2,14 @@
CAD.formats= CAD.formats=
CAD.pinconfig= CAD.pinconfig=
CAD.provider= CAD.provider=
CAN.BS1=CAN_BS1_2TQ CAN.BS1=CAN_BS1_13TQ
CAN.BS2=CAN_BS2_2TQ
CAN.CalculateBaudRate=500000 CAN.CalculateBaudRate=500000
CAN.CalculateTimeBit=2000 CAN.CalculateTimeBit=2000
CAN.CalculateTimeQuantum=500.0 CAN.CalculateTimeQuantum=125.0
CAN.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,Mode CAN.IPParameters=CalculateTimeQuantum,CalculateTimeBit,CalculateBaudRate,Prescaler,BS1,Mode,BS2
CAN.Mode=CAN_MODE_NORMAL CAN.Mode=CAN_MODE_NORMAL
CAN.Prescaler=8 CAN.Prescaler=2
File.Version=6 File.Version=6
GPIO.groupedBy=Group By Peripherals GPIO.groupedBy=Group By Peripherals
KeepUserPlacement=false KeepUserPlacement=false