Helical trajectory generation using frenet frame

How to generate a helical trajectory using frenet frame? Position vector given as [x y z]^T=[[500sin(0.01t) 500cos(0.01t) −2t−20000]^T initial position is ζ (0) = [−300 0 −19800]^T initial line velocity is υ(0) =[5 0 0]^T, the initial attitude is γ (0) = [0, 0, 0]^T How to convert this data to frenet frame and find attitude coordinates and then plot a helical trajectory