mirror of
https://github.com/thooge/esp32-nmea2000-obp60.git
synced 2025-12-16 07:23:07 +01:00
Split reading all sensor data in a separate task (thanks to Andreas)
This commit is contained in:
norbert-walter
371
lib/obp60task/OBPSensorTask.cpp
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371
lib/obp60task/OBPSensorTask.cpp
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#ifdef BOARD_NODEMCU32S_OBP60
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#include <Adafruit_Sensor.h> // Adafruit Lib for sensors
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#include <Adafruit_BME280.h> // Adafruit Lib for BME280
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#include <Adafruit_BMP280.h> // Adafruit Lib for BMP280
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#include <Adafruit_BMP085.h> // Adafruit Lib for BMP085 and BMP180
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#include <HTU21D.h> // Lib for SHT21/HTU21
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#include <AS5600.h>
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#include <Ticker.h> // Timer Lib for timer interrupts
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#include "OBPSensorTask.h"
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#include "OBP60Hardware.h"
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#include "N2kMessages.h"
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#include "NMEA0183.h"
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#include "ObpNmea0183.h"
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#include "OBP60ExtensionPort.h"
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// Timer Interrupts for hardware functions
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void underVoltageDetection();
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Ticker Timer1(underVoltageDetection, 1); // Start Timer1 with maximum speed with 1ms
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Ticker Timer2(blinkingFlashLED, 500); // Satrt Timer2 for flash LED all 500ms
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// Undervoltage function for shutdown display
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void underVoltageDetection(){
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float actVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.17) * 20; // V = 1/20 * Vin
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long starttime = 0;
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static bool undervoltage = false;
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if(actVoltage < MIN_VOLTAGE){
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if(undervoltage == false){
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starttime = millis();
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undervoltage = true;
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}
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if(millis() > starttime + POWER_FAIL_TIME){
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Timer1.stop(); // Stop Timer1
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setPortPin(OBP_BACKLIGHT_LED, false); // Backlight Off
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setPortPin(OBP_FLASH_LED, false); // Flash LED Off
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setPortPin(OBP_POWER_33, false); // Power rail 3.3V Off
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buzzer(TONE4, 20); // Buzzer tone 4kHz 20ms
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setPortPin(OBP_POWER_50, false); // Power rail 5.0V Off
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// Shutdown EInk display
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display.fillRect(0, 0, GxEPD_WIDTH, GxEPD_HEIGHT, GxEPD_WHITE); // Draw white sreen
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display.updateWindow(0, 0, GxEPD_WIDTH, GxEPD_HEIGHT, false); // Partial update
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display.update();
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// Stop system
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while(true){
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esp_deep_sleep_start(); // Deep Sleep without weakup. Weakup only after power cycle (restart).
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}
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}
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}
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else{
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undervoltage = false;
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}
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}
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// Initialization for all sensors (RS232, I2C, 1Wire, IOs)
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//####################################################################################
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void sensorTask(void *param){
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SharedData *shared = (SharedData *)param;
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GwApi *api = shared->api;
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GwLog *logger = api->getLogger();
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LOG_DEBUG(GwLog::LOG, "Sensor task started");
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SensorData sensors;
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ObpNmea0183 NMEA0183;
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Adafruit_BME280 bme280; // Evironment sensor BME280
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Adafruit_BMP280 bmp280; // Evironment sensor BMP280
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Adafruit_BMP085 bmp085; // Evironment sensor BMP085 and BMP180
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HTU21D sht21(HTU21D_RES_RH12_TEMP14); // Environment sensor SHT21 and HTU21
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AMS_5600 as5600; // Rotation sensor AS5600
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// Init sensor stuff
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bool gps_ready = false; // GPS initialized and ready to use
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bool BME280_ready = false; // BME280 initialized and ready to use
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bool BMP280_ready = false; // BMP280 initialized and ready to use
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bool BMP180_ready = false; // BMP180 initialized and ready to use
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bool SHT21_ready = false; // SHT21 initialized and ready to use
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bool AS5600_ready = false; // AS5600 initialized and ready to use
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// Start timer interrupts
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bool uvoltage = api->getConfig()->getConfigItem(api->getConfig()->underVoltage,true)->asBoolean();
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if(uvoltage == true){
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Timer1.start(); // Start Timer1 for undervoltage detection
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}
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Timer2.start(); // Start Timer2 for blinking LED
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// Settings for NMEA0183
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String nmea0183Mode = api->getConfig()->getConfigItem(api->getConfig()->serialDirection, true)->asString();
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api->getLogger()->logDebug(GwLog::DEBUG, "NMEA0183 Mode is: %s", nmea0183Mode);
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pinMode(OBP_DIRECTION_PIN, OUTPUT);
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if (String(nmea0183Mode) == "receive" || String(nmea0183Mode) == "off")
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{
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digitalWrite(OBP_DIRECTION_PIN, false);
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}
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if (String(nmea0183Mode) == "send")
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{
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digitalWrite(OBP_DIRECTION_PIN, true);
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}
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// Setting for GPS sensors
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String gpsOn=api->getConfig()->getConfigItem(api->getConfig()->useGPS,true)->asString();
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if(String(gpsOn) == "NEO-6M"){
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Serial2.begin(9600, SERIAL_8N1, OBP_GPS_TX, -1); // GPS RX unused in hardware (-1)
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if (!Serial2) {
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api->getLogger()->logDebug(GwLog::ERROR,"GPS modul NEO-6M not found, check wiring");
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gps_ready = false;
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}
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else{
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api->getLogger()->logDebug(GwLog::DEBUG,"GPS modul NEO-M6 found");
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NMEA0183.SetMessageStream(&Serial2);
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NMEA0183.Open();
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gps_ready = true;
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}
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}
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if(String(gpsOn) == "NEO-M8N"){
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Serial2.begin(9600, SERIAL_8N1, OBP_GPS_TX, -1); // GPS RX unused in hardware (-1)
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if (!Serial2) {
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api->getLogger()->logDebug(GwLog::ERROR,"GPS modul NEO-M8N not found, check wiring");
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gps_ready = false;
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}
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else{
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api->getLogger()->logDebug(GwLog::DEBUG,"GPS modul NEO-M8N found");
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NMEA0183.SetMessageStream(&Serial2);
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NMEA0183.Open();
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gps_ready = true;
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}
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}
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// Settings for temperature sensors
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String tempSensor = api->getConfig()->getConfigItem(api->getConfig()->useTempSensor,true)->asString();
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if(String(tempSensor) == "DS18B20"){
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api->getLogger()->logDebug(GwLog::DEBUG,"1Wire Mode is On");
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}
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else{
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api->getLogger()->logDebug(GwLog::DEBUG,"1Wire Mode is Off");
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}
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// Settings for environment sensors on I2C bus
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String envSensors=api->getConfig()->getConfigItem(api->getConfig()->useEnvSensor,true)->asString();
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if(String(envSensors) == "BME280"){
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if (!bme280.begin(BME280_I2C_ADDR)) {
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api->getLogger()->logDebug(GwLog::ERROR,"Modul BME280 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::DEBUG,"Modul BME280 found");
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sensors.airTemperature = bme280.readTemperature();
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sensors.airPressure = bme280.readPressure()/100;
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sensors.airHumidity = bme280.readHumidity();
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BME280_ready = true;
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}
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}
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else if(String(envSensors) == "BMP280"){
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if (!bmp280.begin(BMP280_I2C_ADDR)) {
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api->getLogger()->logDebug(GwLog::ERROR,"Modul BMP280 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::DEBUG,"Modul BMP280 found");
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sensors.airTemperature = bmp280.readTemperature();
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sensors.airPressure =bmp280.readPressure()/100;
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BMP280_ready = true;
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}
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}
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else if(String(envSensors) == "BMP085" || String(envSensors) == "BMP180"){
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if (!bmp085.begin()) {
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api->getLogger()->logDebug(GwLog::ERROR,"Modul BMP085/BMP180 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::DEBUG,"Modul BMP085/BMP180 found");
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sensors.airTemperature = bmp085.readTemperature();
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sensors.airPressure =bmp085.readPressure()/100;
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BMP180_ready = true;
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}
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}
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else if(String(envSensors) == "HTU21" || String(envSensors) == "SHT21"){
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if (!sht21.begin()) {
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api->getLogger()->logDebug(GwLog::ERROR,"Modul HTU21/SHT21 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::DEBUG,"Modul HTU21/SHT21 found");
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sensors.airHumidity = sht21.readCompensatedHumidity();
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sensors.airTemperature = sht21.readTemperature();
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SHT21_ready = true;
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}
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}
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// Settings for rotation sensors on I2C bus
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String envsensor = api->getConfig()->getConfigItem(api->getConfig()->useEnvSensor, true)->asString();
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String rotsensor = api->getConfig()->getConfigItem(api->getConfig()->useRotSensor, true)->asString();
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String rotfunction = api->getConfig()->getConfigItem(api->getConfig()->rotFunction, true)->asString();
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String rotSensor=api->getConfig()->getConfigItem(api->getConfig()->useRotSensor,true)->asString();
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if(String(rotSensor) == "AS5600"){
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Wire.beginTransmission(AS5600_I2C_ADDR);
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if (Wire.endTransmission() != 0) {
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api->getLogger()->logDebug(GwLog::ERROR,"Modul AS5600 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::DEBUG,"Modul AS5600 found");
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sensors.rotationAngle = DegToRad(as5600.getRawAngle() * 0.087); // 0...4095 segments = 0.087 degree
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//sensors.magnitude = as5600.getMagnitude(); // Magnetic magnitude in [mT]
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AS5600_ready = true;
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}
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}
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int rotoffset = api->getConfig()->getConfigItem(api->getConfig()->rotOffset,true)->asInt();
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long starttime0 = millis();
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long starttime5 = millis(); // Voltage update all 1s
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long starttime6 = millis(); // Environment sensor update all 1s
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long starttime7 = millis(); // Rotation sensor update all 100ms
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tN2kMsg N2kMsg;
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shared->setSensorData(sensors); //set initially read values
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// Sensor task loop runs with 10ms
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//####################################################################################
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while (true){
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delay(10);
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Timer1.update(); // Update for Timer1
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Timer2.update(); // Update for Timer2
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if (millis() > starttime0 + 100)
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{
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starttime0 = millis();
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// Send NMEA0183 GPS data on several bus systems all 1000ms
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if (gps_ready == true)
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{
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SNMEA0183Msg NMEA0183Msg;
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while (NMEA0183.GetMessageCor(NMEA0183Msg))
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{
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api->sendNMEA0183Message(NMEA0183Msg);
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}
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}
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}
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// Read sensors and set values in sensor data
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// Send supplay voltage value all 1s
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if(millis() > starttime5 + 1000){
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starttime5 = millis();
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sensors.batteryVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.17) * 20; // Vin = 1/20
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// Send to NMEA200 bus
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if(!isnan(sensors.batteryVoltage)){
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SetN2kDCBatStatus(N2kMsg, 0, sensors.batteryVoltage, N2kDoubleNA, N2kDoubleNA, 1);
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api->sendN2kMessage(N2kMsg);
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}
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}
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// Send data from environment sensor all 1s
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if(millis() > starttime6 + 2000){
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starttime6 = millis();
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unsigned char TempSource = 2; // Inside temperature
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unsigned char PressureSource = 0; // Atmospheric pressure
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unsigned char HumiditySource=0; // Inside humidity
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LOG_DEBUG(GwLog::LOG,"Ready status BME280 %d", BME280_ready);
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if(envsensor == "BME280" && BME280_ready == true){
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sensors.airTemperature = bme280.readTemperature();
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sensors.airPressure = bme280.readPressure()/100;
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sensors.airHumidity = bme280.readHumidity();
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// Send to NMEA200 bus
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if(!isnan(sensors.airTemperature)){
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SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
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api->sendN2kMessage(N2kMsg);
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}
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if(!isnan(sensors.airHumidity)){
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SetN2kPGN130313(N2kMsg, 0, 0,(tN2kHumiditySource) HumiditySource, sensors.airHumidity, N2kDoubleNA);
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api->sendN2kMessage(N2kMsg);
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}
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if(!isnan(sensors.airPressure)){
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SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) mBarToPascal(PressureSource), sensors.airPressure);
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api->sendN2kMessage(N2kMsg);
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}
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}
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else if(envsensor == "BMP280" && BMP280_ready == true){
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sensors.airTemperature = bmp280.readTemperature();
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sensors.airPressure =bmp280.readPressure()/100;
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// Send to NMEA200 bus
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if(!isnan(sensors.airTemperature)){
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SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
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api->sendN2kMessage(N2kMsg);
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}
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if(!isnan(sensors.airPressure)){
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SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) mBarToPascal(PressureSource), sensors.airPressure);
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api->sendN2kMessage(N2kMsg);
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}
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}
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else if((envsensor == "BMP085" || envsensor == "BMP180") && BMP180_ready == true){
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sensors.airTemperature = bmp085.readTemperature();
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sensors.airPressure =bmp085.readPressure()/100;
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// Send to NMEA200 bus
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if(!isnan(sensors.airTemperature)){
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SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
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api->sendN2kMessage(N2kMsg);
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}
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if(!isnan(sensors.airPressure)){
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SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) mBarToPascal(PressureSource), sensors.airPressure);
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api->sendN2kMessage(N2kMsg);
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}
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}
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else if((envsensor == "SHT21" || envsensor == "HTU21") && SHT21_ready == true){
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sensors.airHumidity = sht21.readCompensatedHumidity();
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sensors.airHumidity = sht21.readTemperature();
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// Send to NMEA200 bus
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if(!isnan(sensors.airTemperature)){
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SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
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api->sendN2kMessage(N2kMsg);
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}
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if(!isnan(sensors.airHumidity)){
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SetN2kPGN130313(N2kMsg, 0, 0,(tN2kHumiditySource) HumiditySource, sensors.airHumidity, N2kDoubleNA);
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api->sendN2kMessage(N2kMsg);
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}
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}
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}
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// Send rotation angle all 1000ms
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if(millis() > starttime7 + 500){
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starttime7 = millis();
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LOG_DEBUG(GwLog::LOG,"Rotation sensor");
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double rotationAngle=0;
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if(String(rotsensor) == "AS5600" && AS5600_ready == true && as5600.detectMagnet() == 1){
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rotationAngle = as5600.getRawAngle() * 0.087; // 0...4095 segments = 0.087 degree
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// Offset correction
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if(rotoffset >= 0){
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rotationAngle = rotationAngle + rotoffset;
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rotationAngle = int(rotationAngle) % 360;
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}
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else{
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rotationAngle = rotationAngle + 360 + rotoffset;
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rotationAngle = int(rotationAngle) % 360;
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}
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// Send to NMEA200 bus as rudder angle values
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if(!isnan(rotationAngle) && String(rotfunction) == "Rudder"){
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double rudder = rotationAngle - 180; // Center position is 180°
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// Rudder limits to +/-45°
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if(rudder < -45){
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rudder = -45;
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}
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if(rudder > 45){
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rudder = 45;
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}
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SetN2kRudder(N2kMsg, DegToRad(rudder), 0, N2kRDO_NoDirectionOrder, PI);
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api->sendN2kMessage(N2kMsg);
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}
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// Send to NMEA200 bus as wind angle values
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if(!isnan(rotationAngle) && String(rotfunction) == "Wind"){
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SetN2kWindSpeed(N2kMsg, 1, 0, DegToRad(rotationAngle), N2kWind_Apprent);
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api->sendN2kMessage(N2kMsg);
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}
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// Send to NMEA200 bus as trim angle values in [%]
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if(!isnan(rotationAngle) && (String(rotfunction) == "Mast" || String(rotfunction) == "Keel" || String(rotfunction) == "Trim" || String(rotfunction) == "Boom")){
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int trim = rotationAngle * 100 / 360; // 0...360° -> 0...100%
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SetN2kTrimTab(N2kMsg, trim, trim);
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api->sendN2kMessage(N2kMsg);
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}
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sensors.rotationAngle = DegToRad(rotationAngle); // Data take over to page
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sensors.validRotAngle = true; // Valid true, magnet present
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}
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else{
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sensors.rotationAngle = 0; // Center position 0°
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sensors.validRotAngle = false; // Valid false, magnet missing
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}
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}
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shared->setSensorData(sensors);
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}
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vTaskDelete(NULL);
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}
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void createSensorTask(SharedData *shared){
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xTaskCreate(sensorTask,"readSensors",4000,shared,3,NULL);
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}
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#endif
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