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esp32-nmea2000-obp60
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Split reading all sensor data in a separate task (thanks to Andreas)

This commit is contained in:
norbert-walter 2022-03-20 18:10:25 +01:00
parent 758778ace4
commit 1baa959d8f
5 changed files with 421 additions and 372 deletions
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2
lib/obp60task/OBP60Formater.cpp
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@ -14,7 +14,7 @@ FormatedData formatValue(GwApi::BoatValue *value, CommonData &commondata){
static int dayoffset = 0; static int dayoffset = 0;
// Load configuration values // Load configuration values
int timeZone = commondata.config->getInt(commondata.config->timeZone); // [UTC -12...+12] int timeZone = commondata.config->getInt(commondata.config->timeZone); // [UTC -12...+14]
String lengthFormat = commondata.config->getString(commondata.config->lengthFormat); // [m|ft] String lengthFormat = commondata.config->getString(commondata.config->lengthFormat); // [m|ft]
String distanceFormat = commondata.config->getString(commondata.config->distanceFormat); // [m|km|nm] String distanceFormat = commondata.config->getString(commondata.config->distanceFormat); // [m|km|nm]
String speedFormat = commondata.config->getString(commondata.config->speedFormat); // [m/s|km/h|kn] String speedFormat = commondata.config->getString(commondata.config->speedFormat); // [m/s|km/h|kn]

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

28
lib/obp60task/OBPSensorTask.h Normal file
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@ -0,0 +1,28 @@
#pragma once
#include "GwSynchronized.h"
#include "GwApi.h"
#include "freertos/semphr.h"
#include "Pagedata.h"
class SharedData{
private:
SemaphoreHandle_t locker;
SensorData sensors;
public:
GwApi *api=NULL;
SharedData(GwApi *api){
locker=xSemaphoreCreateMutex();
this->api=api;
}
void setSensorData(SensorData &values){
GWSYNCHRONIZED(&locker);
sensors=values;
}
SensorData getSensorData(){
GWSYNCHRONIZED(&locker);
return sensors;
}
};
void createSensorTask(SharedData *shared);

2
lib/obp60task/PageVoltage.cpp
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@ -35,7 +35,7 @@ public:
// Get voltage value // Get voltage value
String name1 = "VBat"; String name1 = "VBat";
double value1 = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.17) * 20; // Vin = 1/20 double value1 = commonData.data.batteryVoltage; // Live supplay voltage
bool valid1 = true; bool valid1 = true;
// Optical warning by limit violation // Optical warning by limit violation

384
lib/obp60task/obp60task.cpp
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@ -2,16 +2,8 @@
#include "obp60task.h" #include "obp60task.h"
#include "Pagedata.h" #include "Pagedata.h"
#include "OBP60Hardware.h" // PIN definitions #include "OBP60Hardware.h" // PIN definitions
#include <Ticker.h> // Timer Lib for timer interrupts
#include <Wire.h> // I2C connections #include <Wire.h> // I2C connections
#include <MCP23017.h> // MCP23017 extension Port #include <MCP23017.h> // MCP23017 extension Port
#include <Adafruit_Sensor.h> // Adafruit Lib for sensors
#include <Adafruit_BME280.h> // Adafruit Lib for BME280
#include <Adafruit_BMP280.h> // Adafruit Lib for BMP280
#include <Adafruit_BMP085.h> // Adafruit Lib for BMP085 and BMP180
#include <HTU21D.h> // Lib for SHT21/HTU21
#include <AS5600.h> // Lib for AS5600 magnetic rotation sensor
#include <N2kTypes.h> // NMEA2000 #include <N2kTypes.h> // NMEA2000
#include <N2kMessages.h> #include <N2kMessages.h>
#include <NMEA0183.h> // NMEA0183 #include <NMEA0183.h> // NMEA0183
@ -29,85 +21,17 @@
#include "MFD_OBP60_400x300_sw.h" // MFD with logo #include "MFD_OBP60_400x300_sw.h" // MFD with logo
#include "Logo_OBP_400x300_sw.h" // OBP Logo #include "Logo_OBP_400x300_sw.h" // OBP Logo
#include "OBP60QRWiFi.h" // Functions lib for WiFi QR code #include "OBP60QRWiFi.h" // Functions lib for WiFi QR code
#include "OBPSensorTask.h" // Functions lib for sensor data
#include "ObpNmea0183.h" // Bugfix lib for NMEA0183
#include "GwNmea0183Msg.h" // Bugfix lib for NMEA0183
ObpNmea0183 NMEA0183; // Use new Lib for NMEA0183
// tNMEA0183 NMEA0183; // Use old lib with problems for NMEA0183
Adafruit_BME280 bme280; // Evironment sensor BME280
Adafruit_BMP280 bmp280; // Evironment sensor BMP280
Adafruit_BMP085 bmp085; //Evironment sensor BMP085 and BMP180
HTU21D sht21(HTU21D_RES_RH12_TEMP14); // Environment sensor SHT21 and HTU21
AMS_5600 as5600; // Magnetic rotation sensor
// Global vars // Global vars
bool initComplete = false; // Initialization complete bool initComplete = false; // Initialization complete
int taskRunCounter = 0; // Task couter for loop section int taskRunCounter = 0; // Task couter for loop section
bool gps_ready = false; // GPS initialized and ready to use
bool BME280_ready = false; // BME280 initialized and ready to use
bool BMP280_ready = false; // BMP280 initialized and ready to use
bool BMP180_ready = false; // BMP180 initialized and ready to use
bool SHT21_ready = false; // SHT21 initialized and ready to use
bool AS5600_ready = false; // AS5600 initialized and ready to use
double airhumidity = 0; // Air Humitity value from environment sensor
double airtemperature = 0; // Air Temperature value from environment sensor
double airpressure = 0; // Air pressure value from environment sensor
double rotationangle = 0; // Rotaion sensor angle
double magnitude = 0; // Rotation sensor magnetic magnitude in [mT]
// Timer Interrupts for hardware functions
void underVoltageDetection();
Ticker Timer1(underVoltageDetection, 1); // Start Timer1 with maximum speed with 1ms
Ticker Timer2(blinkingFlashLED, 500); // Satrt Timer2 for flash LED all 500ms
// Undervoltage function for shutdown display
void underVoltageDetection(){
float actVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.17) * 20; // V = 1/20 * Vin
long starttime = 0;
static bool undervoltage = false;
if(actVoltage < MIN_VOLTAGE){
if(undervoltage == false){
starttime = millis();
undervoltage = true;
}
if(millis() > starttime + POWER_FAIL_TIME){
Timer1.stop(); // Stop Timer1
setPortPin(OBP_BACKLIGHT_LED, false); // Backlight Off
setPortPin(OBP_FLASH_LED, false); // Flash LED Off
setPortPin(OBP_POWER_33, false); // Power rail 3.3V Off
buzzer(TONE4, 20); // Buzzer tone 4kHz 20ms
setPortPin(OBP_POWER_50, false); // Power rail 5.0V Off
// Shutdown EInk display
display.fillRect(0, 0, GxEPD_WIDTH, GxEPD_HEIGHT, GxEPD_WHITE); // Draw white sreen
display.updateWindow(0, 0, GxEPD_WIDTH, GxEPD_HEIGHT, false); // Partial update
display.update();
// Stop system
while(true){
esp_deep_sleep_start(); // Deep Sleep without weakup. Weakup only after power cycle (restart).
}
}
}
else{
undervoltage = false;
}
}
// Hardware initialization before start all services // Hardware initialization before start all services
//################################################## //####################################################################################
void OBP60Init(GwApi *api){ void OBP60Init(GwApi *api){
api->getLogger()->logDebug(GwLog::LOG,"obp60init running"); api->getLogger()->logDebug(GwLog::LOG,"obp60init running");
// Start timer interrupts
bool uvoltage = api->getConfig()->getConfigItem(api->getConfig()->underVoltage,true)->asBoolean();
if(uvoltage == true){
Timer1.start(); // Start Timer1 for undervoltage detection
}
Timer2.start(); // Start Timer2 for blinking LED
// Extension port MCP23017 // Extension port MCP23017
// Check I2C devices MCP23017 // Check I2C devices MCP23017
Wire.begin(OBP_I2C_SDA, OBP_I2C_SCL); Wire.begin(OBP_I2C_SDA, OBP_I2C_SCL);
@ -120,17 +44,6 @@ void OBP60Init(GwApi *api){
// Init extension port // Init extension port
MCP23017Init(); MCP23017Init();
// Settings for NMEA0183
String nmea0183Mode = api->getConfig()->getConfigItem(api->getConfig()->serialDirection,true)->asString();
api->getLogger()->logDebug(GwLog::DEBUG,"NMEA0183 Mode is: %s", nmea0183Mode);
pinMode(OBP_DIRECTION_PIN, OUTPUT);
if(String(nmea0183Mode) == "receive" || String(nmea0183Mode) == "off"){
digitalWrite(OBP_DIRECTION_PIN, false);
}
if(String(nmea0183Mode) == "send"){
digitalWrite(OBP_DIRECTION_PIN, true);
}
// Settings for backlight // Settings for backlight
String backlightMode = api->getConfig()->getConfigItem(api->getConfig()->backlight,true)->asString(); String backlightMode = api->getConfig()->getConfigItem(api->getConfig()->backlight,true)->asString();
api->getLogger()->logDebug(GwLog::DEBUG,"Backlight Mode is: %s", backlightMode); api->getLogger()->logDebug(GwLog::DEBUG,"Backlight Mode is: %s", backlightMode);
@ -150,36 +63,6 @@ void OBP60Init(GwApi *api){
if(String(ledMode) == "Off"){ if(String(ledMode) == "Off"){
setBlinkingLED(false); setBlinkingLED(false);
} }
// Start serial stream and take over GPS data stream form internal GPS
String gpsOn=api->getConfig()->getConfigItem(api->getConfig()->useGPS,true)->asString();
if(String(gpsOn) == "NEO-6M"){
Serial2.begin(9600, SERIAL_8N1, OBP_GPS_TX, -1); // GPS RX unused in hardware (-1)
if (!Serial2) {
api->getLogger()->logDebug(GwLog::ERROR,"GPS modul NEO-6M not found, check wiring");
gps_ready = false;
}
else{
api->getLogger()->logDebug(GwLog::DEBUG,"GPS modul NEO-M6 found");
NMEA0183.SetMessageStream(&Serial2);
NMEA0183.Open();
gps_ready = true;
}
}
if(String(gpsOn) == "NEO-M8N"){
Serial2.begin(9600, SERIAL_8N1, OBP_GPS_TX, -1); // GPS RX unused in hardware (-1)
if (!Serial2) {
api->getLogger()->logDebug(GwLog::ERROR,"GPS modul NEO-M8N not found, check wiring");
gps_ready = false;
}
else{
api->getLogger()->logDebug(GwLog::DEBUG,"GPS modul NEO-M8N found");
NMEA0183.SetMessageStream(&Serial2);
NMEA0183.Open();
gps_ready = true;
}
}
// Marker for init complete // Marker for init complete
// Used in OBP60Task() // Used in OBP60Task()
initComplete = true; initComplete = true;
@ -189,81 +72,6 @@ void OBP60Init(GwApi *api){
buzzer(TONE4, 500); buzzer(TONE4, 500);
} }
// Settings for temperature sensors
String tempSensor = api->getConfig()->getConfigItem(api->getConfig()->useTempSensor,true)->asString();
if(String(tempSensor) == "DS18B20"){
api->getLogger()->logDebug(GwLog::DEBUG,"1Wire Mode is On");
}
else{
api->getLogger()->logDebug(GwLog::DEBUG,"1Wire Mode is Off");
}
// Settings for environment sensors on I2C bus
String envSensors=api->getConfig()->getConfigItem(api->getConfig()->useEnvSensor,true)->asString();
if(String(envSensors) == "BME280"){
if (!bme280.begin(BME280_I2C_ADDR)) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul BME280 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::DEBUG,"Modul BME280 found");
airtemperature = bme280.readTemperature();
airpressure = bme280.readPressure()/100;
airhumidity = bme280.readHumidity();
BME280_ready = true;
}
}
else if(String(envSensors) == "BMP280"){
if (!bmp280.begin(BMP280_I2C_ADDR)) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul BMP280 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::DEBUG,"Modul BMP280 found");
airtemperature = bmp280.readTemperature();
airpressure =bmp280.readPressure()/100;
BMP280_ready = true;
}
}
else if(String(envSensors) == "BMP085" || String(envSensors) == "BMP180"){
if (!bmp085.begin()) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul BMP085/BMP180 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::DEBUG,"Modul BMP085/BMP180 found");
airtemperature = bmp085.readTemperature();
airpressure =bmp085.readPressure()/100;
BMP180_ready = true;
}
}
else if(String(envSensors) == "HTU21" || String(envSensors) == "SHT21"){
if (!sht21.begin()) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul HTU21/SHT21 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::DEBUG,"Modul HTU21/SHT21 found");
airhumidity = sht21.readCompensatedHumidity();
airtemperature = sht21.readTemperature();
SHT21_ready = true;
}
}
// Settings for rotation sensors on I2C bus
String rotSensor=api->getConfig()->getConfigItem(api->getConfig()->useRotSensor,true)->asString();
if(String(rotSensor) == "AS5600"){
Wire.beginTransmission(AS5600_I2C_ADDR);
if (Wire.endTransmission() != 0) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul AS5600 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::DEBUG,"Modul AS5600 found");
rotationangle = as5600.getRawAngle() * 0.087; // 0...4095 segments = 0.087 degree
magnitude = as5600.getMagnitude(); // Magnetic magnitude in [mT]
AS5600_ready = true;
}
}
} }
typedef struct { typedef struct {
@ -273,7 +81,7 @@ typedef struct {
} MyData; } MyData;
// Keyboard Task // Keyboard Task
//####################################### //####################################################################################
int readKeypad(); int readKeypad();
void keyboardTask(void *param){ void keyboardTask(void *param){
@ -400,7 +208,7 @@ void registerAllPages(PageList &list){
} }
// OBP60 Task // OBP60 Task
//####################################### //####################################################################################
void OBP60Task(GwApi *api){ void OBP60Task(GwApi *api){
GwLog *logger=api->getLogger(); GwLog *logger=api->getLogger();
GwConfigHandler *config=api->getConfig(); GwConfigHandler *config=api->getConfig();
@ -517,19 +325,15 @@ void OBP60Task(GwApi *api){
allParameters.page0=3; allParameters.page0=3;
allParameters.queue=xQueueCreate(10,sizeof(int)); allParameters.queue=xQueueCreate(10,sizeof(int));
xTaskCreate(keyboardTask,"keyboard",2000,&allParameters,configMAX_PRIORITIES-1,NULL); xTaskCreate(keyboardTask,"keyboard",2000,&allParameters,configMAX_PRIORITIES-1,NULL);
SharedData *shared=new SharedData(api);
createSensorTask(shared);
// Task Loop // Task Loop
//############################### //####################################################################################
// Configuration values for main loop // Configuration values for main loop
String gpsFix = api->getConfig()->getConfigItem(api->getConfig()->flashLED,true)->asString(); String gpsFix = api->getConfig()->getConfigItem(api->getConfig()->flashLED,true)->asString();
String gps = api->getConfig()->getConfigItem(api->getConfig()->useGPS,true)->asString();
String backlight = api->getConfig()->getConfigItem(api->getConfig()->backlight,true)->asString(); String backlight = api->getConfig()->getConfigItem(api->getConfig()->backlight,true)->asString();
String envsensor = api->getConfig()->getConfigItem(api->getConfig()->useEnvSensor,true)->asString();
String rotsensor = api->getConfig()->getConfigItem(api->getConfig()->useRotSensor,true)->asString();
String rotfunction = api->getConfig()->getConfigItem(api->getConfig()->rotFunction,true)->asString();
int rotoffset = api->getConfig()->getConfigItem(api->getConfig()->rotOffset,true)->asInt();
// refreshmode defined in init section // refreshmode defined in init section
// displaycolor defined in init section // displaycolor defined in init section
@ -542,14 +346,10 @@ void OBP60Task(GwApi *api){
GwApi::BoatValue *date = boatValues.findValueOrCreate("GPSD"); // Load GpsDate GwApi::BoatValue *date = boatValues.findValueOrCreate("GPSD"); // Load GpsDate
GwApi::BoatValue *time = boatValues.findValueOrCreate("GPST"); // Load GpsTime GwApi::BoatValue *time = boatValues.findValueOrCreate("GPST"); // Load GpsTime
// Internal sensor values
double batteryVoltage = 0;
LOG_DEBUG(GwLog::LOG,"obp60task: start mainloop"); LOG_DEBUG(GwLog::LOG,"obp60task: start mainloop");
int pageNumber=0; int pageNumber=0;
int lastPage=pageNumber; int lastPage=pageNumber;
commonData.data.actpage = pageNumber + 1;
commonData.data.maxpage = numPages;
commonData.time = boatValues.findValueOrCreate("GPST"); // Load GpsTime commonData.time = boatValues.findValueOrCreate("GPST"); // Load GpsTime
commonData.date = boatValues.findValueOrCreate("GPSD"); // Load GpsTime commonData.date = boatValues.findValueOrCreate("GPSD"); // Load GpsTime
bool delayedDisplayUpdate = false; // If select a new pages then make a delayed full display update bool delayedDisplayUpdate = false; // If select a new pages then make a delayed full display update
@ -559,28 +359,19 @@ void OBP60Task(GwApi *api){
long starttime2 = millis(); // Full display refresh after 5 min long starttime2 = millis(); // Full display refresh after 5 min
long starttime3 = millis(); // Display update all 1s long starttime3 = millis(); // Display update all 1s
long starttime4 = millis(); // Delayed display update after 4s when select a new page long starttime4 = millis(); // Delayed display update after 4s when select a new page
long starttime5 = millis(); // Voltage update all 1s
long starttime6 = millis(); // Environment sensor update all 1s
long starttime7 = millis(); // Rotation sensor update all 100ms // Main loop runs with 100ms
//####################################################################################
while (true){ while (true){
delay(100); // Fix the problem with NMEA0183 and GPS sentences delay(100); // Delay 100ms (loop time)
Timer1.update(); // Update for Timer1
Timer2.update(); // Update for Timer2
LOG_DEBUG(GwLog::LOG,"Loop");
if(millis() > starttime0 + 100){ if(millis() > starttime0 + 100){
starttime0 = millis(); starttime0 = millis();
commonData.data=shared->getSensorData();
// Send NMEA0183 GPS data on several bus systems all 1000ms commonData.data.actpage = pageNumber + 1;
if(String(gps) == "NEO-6M" || String(gps) == "NEO-M8N"){ // If config enabled commonData.data.maxpage = numPages;
if(gps_ready == true){
SNMEA0183Msg NMEA0183Msg;
while(NMEA0183.GetMessageCor(NMEA0183Msg)){
api->sendNMEA0183Message(NMEA0183Msg);
}
}
}
// If GPS fix then LED off (HDOP) // If GPS fix then LED off (HDOP)
if(String(gpsFix) == "GPS Fix Lost" && hdop->valid == true && int(hdop->value) <= 50){ if(String(gpsFix) == "GPS Fix Lost" && hdop->valid == true && int(hdop->value) <= 50){
@ -630,14 +421,7 @@ void OBP60Task(GwApi *api){
commonData.data.actpage = pageNumber + 1; commonData.data.actpage = pageNumber + 1;
commonData.data.maxpage = numPages; commonData.data.maxpage = numPages;
} }
/*
// #9 or #10 Refresh display befor start a new page if reshresh is enabled
if(refreshmode == true && (keyboardMessage == 9 || keyboardMessage == 10)){
display.fillRect(0, 0, GxEPD_WIDTH, GxEPD_HEIGHT, GxEPD_WHITE); // Draw white sreen
display.updateWindow(0, 0, GxEPD_WIDTH, GxEPD_HEIGHT, true); // Needs partial update before full update to refresh the frame buffer
display.update(); // Full update
}
*/
// #9 or #10 Refresh display after a new page after 4s waiting time and if refresh is disabled // #9 or #10 Refresh display after a new page after 4s waiting time and if refresh is disabled
if(refreshmode == true && (keyboardMessage == 9 || keyboardMessage == 10)){ if(refreshmode == true && (keyboardMessage == 9 || keyboardMessage == 10)){
starttime4 = millis(); starttime4 = millis();
@ -668,140 +452,6 @@ void OBP60Task(GwApi *api){
display.update(); // Full update display.update(); // Full update
} }
// Send supplay voltage value all 1s
if(millis() > starttime5 + 1000){
starttime5 = millis();
batteryVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.17) * 20; // Vin = 1/20
commonData.data.batteryVoltage = batteryVoltage; // Data take over to page
// Send to NMEA200 bus
if(!isnan(batteryVoltage)){
SetN2kDCBatStatus(N2kMsg, 0, batteryVoltage, N2kDoubleNA, N2kDoubleNA, 1);
api->sendN2kMessage(N2kMsg);
}
}
// Send data from environment sensor all 1s
if(millis() > starttime6 + 2000){
starttime6 = millis();
unsigned char TempSource = 2; // Inside temperature
unsigned char PressureSource = 0; // Atmospheric pressure
unsigned char HumiditySource=0; // Inside humidity
LOG_DEBUG(GwLog::LOG,"Ready status BME280 %d", BME280_ready);
if(envsensor == "BME280" && BME280_ready == true){
airtemperature = bme280.readTemperature();
commonData.data.airTemperature = airtemperature; // Data take over to page
airpressure = bme280.readPressure()/100;
commonData.data.airPressure = airpressure; // Data take over to page
airhumidity = bme280.readHumidity();
commonData.data.airHumidity = airhumidity; // Data take over to page
// Send to NMEA200 bus
if(!isnan(airtemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(airtemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(airhumidity)){
SetN2kPGN130313(N2kMsg, 0, 0,(tN2kHumiditySource) HumiditySource, airhumidity, N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(airpressure)){
SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) mBarToPascal(PressureSource), airpressure);
api->sendN2kMessage(N2kMsg);
}
}
else if(envsensor == "BMP280" && BMP280_ready == true){
airtemperature = bmp280.readTemperature();
commonData.data.airTemperature = airtemperature; // Data take over to page
airpressure =bmp280.readPressure()/100;
commonData.data.airPressure = airpressure; // Data take over to page
// Send to NMEA200 bus
if(!isnan(airtemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(airtemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(airpressure)){
SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) mBarToPascal(PressureSource), airpressure);
api->sendN2kMessage(N2kMsg);
}
}
else if((envsensor == "BMP085" || envsensor == "BMP180") && BMP180_ready == true){
airtemperature = bmp085.readTemperature();
commonData.data.airTemperature = airtemperature; // Data take over to page
airpressure =bmp085.readPressure()/100;
commonData.data.airPressure = airpressure; // Data take over to page
// Send to NMEA200 bus
if(!isnan(airtemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(airtemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(airpressure)){
SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) mBarToPascal(PressureSource), airpressure);
api->sendN2kMessage(N2kMsg);
}
}
else if((envsensor == "SHT21" || envsensor == "HTU21") && SHT21_ready == true){
airhumidity = sht21.readCompensatedHumidity();
commonData.data.airHumidity = airhumidity; // Data take over to page
airtemperature = sht21.readTemperature();
commonData.data.airTemperature = airtemperature; // Data take over to page
// Send to NMEA200 bus
if(!isnan(airtemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(airtemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(airhumidity)){
SetN2kPGN130313(N2kMsg, 0, 0,(tN2kHumiditySource) HumiditySource, airhumidity, N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
}
}
// Send rotation angle all 1000ms
if(millis() > starttime7 + 500){
starttime7 = millis();
LOG_DEBUG(GwLog::LOG,"Rotation sensor");
if(String(rotsensor) == "AS5600" && AS5600_ready == true && as5600.detectMagnet() == 1){
rotationangle = as5600.getRawAngle() * 0.087; // 0...4095 segments = 0.087 degree
// Offset correction
if(rotoffset >= 0){
rotationangle = rotationangle + rotoffset;
rotationangle = int(rotationangle) % 360;
}
else{
rotationangle = rotationangle + 360 + rotoffset;
rotationangle = int(rotationangle) % 360;
}
commonData.data.rotationAngle = DegToRad(rotationangle); // Data take over to page
commonData.data.validRotAngle = true; // Valid true, magnet present
// Send to NMEA200 bus as rudder angle values
if(!isnan(rotationangle) && String(rotfunction) == "Rudder"){
double rudder = rotationangle - 180; // Center position is 180°
// Rudder limits to +/-45°
if(rudder < -45){
rudder = -45;
}
if(rudder > 45){
rudder = 45;
}
SetN2kRudder(N2kMsg, DegToRad(rudder), 0, N2kRDO_NoDirectionOrder, PI);
api->sendN2kMessage(N2kMsg);
}
// Send to NMEA200 bus as wind angle values
if(!isnan(rotationangle) && String(rotfunction) == "Wind"){
SetN2kWindSpeed(N2kMsg, 1, 0, DegToRad(rotationangle), N2kWind_Apprent);
api->sendN2kMessage(N2kMsg);
}
// Send to NMEA200 bus as trim angle values in [%]
if(!isnan(rotationangle) && (String(rotfunction) == "Mast" || String(rotfunction) == "Keel" || String(rotfunction) == "Trim" || String(rotfunction) == "Boom")){
int trim = rotationangle * 100 / 360; // 0...360° -> 0...100%
SetN2kTrimTab(N2kMsg, trim, trim);
api->sendN2kMessage(N2kMsg);
}
}
else{
commonData.data.rotationAngle = 0; // Center position 0°
commonData.data.validRotAngle = false; // Valid false, magnet missing
}
}
// Refresh display data all 1s // Refresh display data all 1s
if(millis() > starttime3 + 1000){ if(millis() > starttime3 + 1000){