HIPNUC ch0x0 series imu forward board

This board will receive ch0x0 imu data through UART and then forward it into the CAN network using three packets.

The baud rate of the CH0X0 IMU is 921600, using Hi92 protocol at 1 kHz.

If the board is not working, use the CHCenter Tool (the version in the repo, do not update) to check the settings of HIPNUC CH0X0 IMU through your USB2UART converter first!

The forward result includes three packets, two packets of length 8, 1 packet of length 5, defined as follows:

struct packet1_t {
    int16_t q0;
    int16_t q1;
    int16_t q2;
    int16_t q3;
} __attribute__((packed));

struct packet2_t {
    int16_t accx;
    int16_t accy;
    int16_t accz;
    int16_t gyrox;
} __attribute__((packed));

struct packet3_t {
    int16_t gyroy;
    int16_t gyroz;
    int8_t temperature;
} __attribute__((packed));

To change the packet ID of these three packets, nav to Core/Src/main.c, modify the lines 49-51 as follows:

#define PACKET1_CAN_ID 0x01
#define PACKET2_CAN_ID 0x02
#define PACKET3_CAN_ID 0x03

Original document available resources can be found here.

You can find our pre-built artifact .elf firmware file under the action page here, the packet ID is 0x01, 0x02, and 0x03.