From 499fd9d5de9534a86c6837f5251a61332cde553a Mon Sep 17 00:00:00 2001
From: Armaan Sengupta <senguptaarmaan@gmail.com>
Date: Sat, 6 Jul 2024 01:42:46 -0400
Subject: [PATCH] VN config stuff included in repo

---
 VN Stuff/VN_Config_All_Working.xml     | 32 ++++++++++++++++++++++++++
 VN Stuff/VN_Outputs.txt                | 18 +++++++++++++++
 VN Stuff/realterm_format_bytestring.py |  7 ++++++
 3 files changed, 57 insertions(+)
 create mode 100644 VN Stuff/VN_Config_All_Working.xml
 create mode 100644 VN Stuff/VN_Outputs.txt
 create mode 100644 VN Stuff/realterm_format_bytestring.py

diff --git a/VN Stuff/VN_Config_All_Working.xml b/VN Stuff/VN_Config_All_Working.xml
new file mode 100644
index 0000000..1453277
--- /dev/null
+++ b/VN Stuff/VN_Config_All_Working.xml	
@@ -0,0 +1,32 @@
+<?xml version="1.0" encoding="utf-8"?>
+<VectorNav_Sensor xmlns:xsd="http://www.w3.org/2001/XMLSchema" xmlns:xsi="http://www.w3.org/2001/XMLSchema-instance">
+  <Model>VN-300T-CR</Model>
+  <HardwareRevision>2</HardwareRevision>
+  <SerialNumber>0100092383</SerialNumber>
+  <FirmwareVersion>0.5.0.5</FirmwareVersion>
+  <Register>
+    <Id>7</Id>
+    <Name>Async Data Output Freq</Name>
+    <Values>5;5</Values>
+  </Register>
+  <Register>
+    <Id>26</Id>
+    <Name>Reference Frame Rotation</Name>
+    <Values>+1.000000,+0.000000,+0.000000,+0.000000,+0.000000,-1.000000,+0.000000,+1.000000,+0.000000</Values>
+  </Register>
+  <Register>
+    <Id>75</Id>
+    <Name>Binary Output Message Configuration #1</Name>
+    <Values>3,200,09,0041,0208</Values>
+  </Register>
+  <Register>
+    <Id>76</Id>
+    <Name>Binary Output Message Configuration #2</Name>
+    <Values>3,150,35,0001,0400,0002,0124</Values>
+  </Register>
+  <Register>
+    <Id>77</Id>
+    <Name>Binary Output Message Configuration #3</Name>
+    <Values>3,100,05,0001,000E</Values>
+  </Register>
+</VectorNav_Sensor>
\ No newline at end of file
diff --git a/VN Stuff/VN_Outputs.txt b/VN Stuff/VN_Outputs.txt
new file mode 100644
index 0000000..f2a5ccb
--- /dev/null
+++ b/VN Stuff/VN_Outputs.txt	
@@ -0,0 +1,18 @@
+First group: 53 bytes
+
+Time startup (Common), PosLla (common), NumSats (gnss), GnssPosUncertainty (gnss)
+
+FA 09 41 00 08 02 F8 EC 9E 4C BB 05 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 CD C5 27 4C CD C5 27 4C CD C5 27 4C 5C 7E
+
+
+
+Second group: 92 bytes
+Time startup (Common), Angular rate (IMU), Ypr (Attitude), PosEcef (INS), VelEcef (INS), LinAccelEcef (INS)
+
+FA 35 01 00 00 04 02 00 24 01 F8 40 95 C1 CC 07 00 00 C2 C4 51 3A 90 96 4D B9 42 8F 87 BA 33 80 D1 C0 8F 2B 13 3D AA B0 B3 C2 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 8C E9 C6 3C F8 EA 8C 3C 00 6A BE BC 75 71
+
+Third group: 42 bytes
+
+UncompMag (IMU). UncompAccel (IMU), UncompGyro (IMU)
+
+FA 04 0E 00 73 FE B2 3E 09 DD 40 BF AA A0 38 3D C6 C0 0E 3D 4B 7E 1C 41 3E CB 29 BD 3B E3 0A 3A 4C AD 92 BB D2 CC 1D 3B F0 3D
\ No newline at end of file
diff --git a/VN Stuff/realterm_format_bytestring.py b/VN Stuff/realterm_format_bytestring.py
new file mode 100644
index 0000000..c67434d
--- /dev/null
+++ b/VN Stuff/realterm_format_bytestring.py	
@@ -0,0 +1,7 @@
+s = "FA 05 01 00 0E 00 78 D8 F1 E0 2C 00 00 00 F5 01 01 BE BB A0 B7 3E DB 27 36 3F 70 8A 71 3A D6 A8 04 3D A7 F6 1C C1 B7 CB C5 39 C3 C8 8A 3A 6E 23 9B 3B E8 1E"
+
+#print(s.replace("[RX] - ", " ").replace(" ", " 0x").replace("\n ", "\n")[1:]) #if you are copying multiple liness
+
+#single line
+s = " " + s
+print(s.replace(" ", " 0x").replace("\n ", "\n")[1:])
\ No newline at end of file