void CASTranslator::TranslateProtocol()
{
const MsgBodyDefMap& msgbody_map = CVistor::GetMsgBodyMap();
for (MsgBodyDefMap::const_iterator itr = msgbody_map.begin();
itr != msgbody_map.end(); ++itr)
{
string msgid = GET_VARDEFMAP()->fetch_value(itr->first.msg_id_);
generate_package(itr->second, itr->first.msg_cname_, msgid);
}
const UserClassDescMap& user_class_map = CVistor::GetUserClassDescMap();
for (UserClassDescMap::const_iterator itr = user_class_map.begin();
itr != user_class_map.end(); ++itr)
{
generate_package(itr->second, itr->first);
}
}
int main(void)
{
int16_t buff[6];
uint8_t bin_buff[13];
comm_package imu_comm;
imu_comm.header = (uint8_t)'I';
init_led();
init_usart1();
MPU6050_I2C_Init();
MPU6050_Initialize();
init_tim2();
if( MPU6050_TestConnection() == TRUE)
{
puts("connection success\r\n");
}else {
puts("connection failed\r\n");
}
imu_calibration();
while (1) {
//puts("running now\r\n");
MPU6050_GetRawAccelGyro(buff);
imu_comm.acc_x = buff[0]-ACC_X_OFFSET;
imu_comm.acc_y = buff[1]-ACC_Y_OFFSET;
imu_comm.acc_z = buff[2]-ACC_Z_OFFSET;
imu_comm.gyro_x = buff[3]-GYRO_X_OFFSET;
imu_comm.gyro_y = buff[4]-GYRO_Y_OFFSET;
imu_comm.gyro_z = buff[5]-GYRO_Z_OFFSET;
generate_package( &imu_comm, &bin_buff[0]);
for (int i = 0 ; i<13 ; i++)
send_byte( bin_buff[i] );
gpio_toggle(GPIOA, GPIO_Pin_0);
gpio_toggle(GPIOA, GPIO_Pin_1);
delay_ms(10);
}
}
void* gen_retrans_req(uint16 seq) {
return generate_package(PDU_RETRANS, 0, seq);
}
void* gen_data(uint16 seq, uint32 data_len) {
void* data = generate_package(PDU_DATA, data_len, seq);
// dbg_print_msg(data);
return data;
}
void* gen_ack(uint16 seq){
return generate_package(PDU_ACK, 0, seq);
}
