131 lines
5.8 KiB
C++
131 lines
5.8 KiB
C++
#include "Converter.h"
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#define DELAY 2 // ms
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HAL_StatusTypeDef spi2can(SPI_HandleTypeDef *hspi, CAN_HandleTypeDef *hcan) {
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// Standard at FaSTTUBe - Sadly. Please fix this with CAN FD for such sensors.
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size_t datalen = 8;
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HAL_StatusTypeDef status = HAL_OK;
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// ==================
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// Hardware Version
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// ==================
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// auto request_hw_version = vn::pkg_request_read_t(vn::HardwareVersion::ID);
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// auto response_hw_version = vn::pkg_response_t<vn::HardwareVersionRegister>();
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// spi_read(hspi, &request_hw_version, &response_hw_version);
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// ==================
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// Hardware Version --> 2001
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// ==================
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// auto request_fw_version = vn::pkg_request_read_t(vn::FirmwareVersion::ID);
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// auto response_fw_version = vn::pkg_response_t<vn::FirmwareVersionRegister>();
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// spi_read(hspi, &request_fw_version, &response_fw_version);
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// ==================
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// ATT YawPitchRoll
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// ==================
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// auto request_att_ypr = vn::pkg_request_read_t(vn::YawPitchRoll::ID);
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// auto response_att_ypr = vn::pkg_response_t<vn::YawPitchRollRegister>();
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// spi_read(hspi, &request_att_ypr, &response_att_ypr);
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// ==================
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// IMU Accel
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// ==================
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// auto request_imu_accel = vn::pkg_request_read_t(vn::ImuAccelerometer::ID);
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// auto response_imu_accel = vn::pkg_response_t<vn::ImuAccelerometerRegister>();
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// spi_read(hspi, &request_imu_accel, &response_imu_accel);
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// ==================
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// IMU Gyro
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// ==================
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auto request_imu_gyro = vn::pkg_request_read_t(vn::ImuGyro::ID);
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auto response_imu_gyro = vn::pkg_response_t<vn::ImuGyroRegister>();
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spi_read(hspi, &request_imu_gyro, &response_imu_gyro);
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// ==================
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// INS
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// ==================
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// EXTRACT INS
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auto request_ins_solution_lla = vn::pkg_request_read_t(vn::InsSolutionLla::ID);
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auto response_ins_solution_lla = vn::pkg_response_t<vn::InsSolutionLlaRegister>();
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spi_read(hspi, &request_ins_solution_lla, &response_ins_solution_lla);
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vn::InsSolutionLlaRegister payload = response_ins_solution_lla.payload;
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// SEND INS YPR
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auto data_ins_ypr = canlib::encode::can1::vn200_ins_ypr(canlib::frame::decoded::can1::vn200_ins_ypr_t(
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(double)payload.yawPitchRoll.x, (double)payload.yawPitchRoll.y, (double)payload.yawPitchRoll.z, (double)payload.attUncertainty));
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uint8_t packed_data_ins_ypr[datalen];
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can1_vn200_ins_ypr_pack(packed_data_ins_ypr, &data_ins_ypr, datalen);
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status = ftcan_transmit(hcan, CAN1_VN200_INS_YPR_FRAME_ID, packed_data_ins_ypr, datalen);
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HAL_Delay(DELAY);
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// SEND INS LLA
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auto data_ins_ll = canlib::encode::can1::vn200_ins_ll(canlib::frame::decoded::can1::vn200_ins_ll_t(
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(double)payload.position.x, (double)payload.position.y, (double)payload.posUncertainty, (double)payload.posUncertainty));
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uint8_t packed_data_ins_ll[datalen];
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can1_vn200_ins_ll_pack(packed_data_ins_ll, &data_ins_ll, datalen);
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status = ftcan_transmit(hcan, CAN1_VN200_INS_LL_FRAME_ID, packed_data_ins_ll, datalen);
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HAL_Delay(DELAY);
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// SEND INS VEL
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auto data_ins_vel = canlib::encode::can1::vn200_ins_vel(canlib::frame::decoded::can1::vn200_ins_vel_t(
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(double)payload.nedVel.x, (double)payload.nedVel.y, (double)payload.velUncertainty, (double)payload.velUncertainty));
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uint8_t packed_data_ins_vel[datalen];
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can1_vn200_ins_vel_pack(packed_data_ins_vel, &data_ins_vel, datalen);
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status = ftcan_transmit(hcan, CAN1_VN200_INS_VEL_FRAME_ID, packed_data_ins_vel, datalen);
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HAL_Delay(DELAY);
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// ==================
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// IMU
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// ==================
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// EXTRACT IMU
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auto request_imu = vn::pkg_request_read_t(vn::MagneticAccelerationAndAngularRates::ID);
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auto response_imu = vn::pkg_response_t<vn::MagneticAccelerationAndAngularRatesRegister>();
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spi_read(hspi, &request_imu, &response_imu);
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vn::MagneticAccelerationAndAngularRatesRegister payload_imu = response_imu.payload;
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// SEND ACC LIN
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const auto data_imu_acc_lin = canlib::encode::can1::vn200_imu_acc_lin(
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canlib::frame::decoded::can1::vn200_imu_acc_lin_t((double)payload_imu.accel.x, (double)payload_imu.accel.y, (double)payload_imu.accel.z));
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uint8_t packed_data_imu_acc_lin[datalen];
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can1_vn200_imu_acc_lin_pack(packed_data_imu_acc_lin, &data_imu_acc_lin, datalen);
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status = ftcan_transmit(hcan, CAN1_VN200_IMU_ACC_LIN_FRAME_ID, packed_data_imu_acc_lin, datalen);
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HAL_Delay(DELAY);
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// SEND ACC ANG
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auto data_imu_acc_ang = canlib::encode::can1::vn200_imu_acc_ang(
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canlib::frame::decoded::can1::vn200_imu_acc_ang_t((double)payload_imu.gyro.x, (double)payload_imu.gyro.y, (double)payload_imu.gyro.z));
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uint8_t packed_data_imu_acc_ang[datalen];
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can1_vn200_imu_acc_ang_pack(packed_data_imu_acc_ang, &data_imu_acc_ang, datalen);
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status = ftcan_transmit(hcan, CAN1_VN200_IMU_ACC_ANG_FRAME_ID, packed_data_imu_acc_ang, datalen);
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HAL_Delay(DELAY);
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// ==================
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// GNSS
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// ==================
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// EXTRACT GNSS LLA
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auto request_gnss = vn::pkg_request_read_t(vn::GpsSolutionLla::ID);
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auto response_gnss = vn::pkg_response_t<vn::GpsSolutionLlaRegister>();
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spi_read(hspi, &request_gnss, &response_gnss);
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vn::GpsSolutionLlaRegister payload_gnss = response_gnss.payload;
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// SEND ACC LIN
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auto data_gnss = canlib::encode::can1::vn200_gnss_ll(canlib::frame::decoded::can1::vn200_gnss_ll_t(
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(double)payload_gnss.lla.x, (double)payload_gnss.lla.y, (double)payload_gnss.nedAcc.x, (double)payload_gnss.nedAcc.y));
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uint8_t packed_data_gnss[datalen];
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can1_vn200_gnss_ll_pack(packed_data_gnss, &data_gnss, datalen);
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status = ftcan_transmit(hcan, CAN1_VN200_GNSS_LL_FRAME_ID, packed_data_gnss, datalen);
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HAL_Delay(DELAY);
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return HAL_OK;
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}
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