Merge branch 'autopilot'

lib/obp60task/LedSpiTask.cpp

@@ -22,9 +22,11 @@ static uint8_t mulcolor(uint8_t f1, uint8_t f2){
 }
 
 Color setBrightness(const Color &color,uint8_t brightness){
+    if (brightness > 100) brightness = 100;
+
     uint16_t br255=brightness*255;
     br255=br255/100;
-    //very simple for now
+    //Very simple for now
     Color rt=color;
     rt.g=mulcolor(rt.g,br255);
     rt.b=mulcolor(rt.b,br255);

lib/obp60task/OBP60Extensions.cpp

@@ -205,7 +205,7 @@ void setPCF8574PortPinModul1(uint8_t pin, uint8_t value)
   if (pin > 7) return;
   Wire.setClock(I2C_SPEED_LOW);              // Set I2C clock on 10 kHz for longer wires
   // Set bit
-  if (pcf8574_Modul1.begin(port1))           // Check module availability
+  if (pcf8574_Modul1.begin(port1))           // Check module availability and start it
   {
     if (value == LOW)  port1 &= ~(1 << pin); // Set bit
     else               port1 |=  (1 << pin);
@@ -331,6 +331,40 @@ void toggleBacklightLED(uint brightness, const Color &color){
     ledTaskData->setLedData(current); 
 }
 
+void stepsBacklightLED(uint brightness, const Color &color){
+    static uint step = 0;
+    uint actBrightness = 0;
+    // Different brightness steps
+    if(step == 0){
+        actBrightness = brightness;         // 100% from brightess
+        statusBacklightLED = true;
+    }
+    if(step == 1){
+        actBrightness = brightness * 0.5;   // 50% from brightess
+        statusBacklightLED = true;
+    }
+    if(step == 2){
+        actBrightness = brightness * 0.2;   // 20% from brightess
+        statusBacklightLED = true;
+    }
+    if(step == 3){
+        actBrightness = 0;                  // 0%
+        statusBacklightLED = false;
+    }
+    if(actBrightness < 5){                  // Limiter if values too low
+        actBrightness = 5;
+    }
+    step = step + 1;    // Increment step counter
+    if(step == 4){      // Reset counter
+        step = 0;
+    }
+    if (ledTaskData == nullptr) return;
+    Color nv=setBrightness(statusBacklightLED?color:COLOR_BLACK,actBrightness);
+    LedInterface current=ledTaskData->getLedData();
+    current.setBacklight(nv);
+    ledTaskData->setLedData(current); 
+}
+
 void setFlashLED(bool status){
     if (ledTaskData == nullptr) return;
     Color c=status?COLOR_RED:COLOR_BLACK;

lib/obp60task/OBP60Extensions.h

@@ -96,6 +96,7 @@ void togglePortPin(uint pin);                   // Toggle extension port pin
 Color colorMapping(const String &colorString);          // Color mapping string to CHSV colors
 void setBacklightLED(uint brightness, const Color &color);// Set backlight LEDs
 void toggleBacklightLED(uint brightness,const Color &color);// Toggle backlight LEDs
+void stepsBacklightLED(uint brightness, const Color &color);// Set backlight LEDs in 4 steps (100%, 50%, 10%, 0%)
 BacklightMode backlightMapping(const String &backlightString);// Configuration string to value
 
 void setFlashLED(bool status);                  // Set flash LED

lib/obp60task/OBP60Hardware.h

@@ -23,8 +23,8 @@
     #define AS5600_I2C_ADDR 0x36    // Addr. 0x36 (fix)
     // INA219
     #define SHUNT_VOLTAGE 0.075     // Shunt voltage in V by max. current (75mV)
-    #define INA219_I2C_ADDR1 0x40   // Addr. 0x41 (fix A0 = 5V, A1 = GND) for battery
-    #define INA219_I2C_ADDR2 0x41   // Addr. 0x44 (fix A0 = GND, A1 = 5V) for solar panels
+    #define INA219_I2C_ADDR1 0x41   // Addr. 0x41 (fix A0 = 5V, A1 = GND) for battery
+    #define INA219_I2C_ADDR2 0x44   // Addr. 0x44 (fix A0 = GND, A1 = 5V) for solar panels
     #define INA219_I2C_ADDR3 0x45   // Addr. 0x45 (fix A0 = 5V, A1 = 5V) for generator
     // INA226
     #define INA226_I2C_ADDR1 0x41   // Addr. 0x41 (fix A0 = 5V, A1 = GND) for battery
@@ -103,8 +103,8 @@
     #define AS5600_I2C_ADDR 0x36    // Addr. 0x36 (fix)
     // INA219
     #define SHUNT_VOLTAGE 0.075     // Shunt voltage in V by max. current (75mV)
-    #define INA219_I2C_ADDR1 0x40   // Addr. 0x41 (fix A0 = 5V, A1 = GND) for battery
-    #define INA219_I2C_ADDR2 0x41   // Addr. 0x44 (fix A0 = GND, A1 = 5V) for solar panels
+    #define INA219_I2C_ADDR1 0x41   // Addr. 0x41 (fix A0 = 5V, A1 = GND) for battery
+    #define INA219_I2C_ADDR2 0x44   // Addr. 0x44 (fix A0 = GND, A1 = 5V) for solar panels
     #define INA219_I2C_ADDR3 0x45   // Addr. 0x45 (fix A0 = 5V, A1 = 5V) for generator
     // INA226
     #define INA226_I2C_ADDR1 0x41   // Addr. 0x41 (fix A0 = 5V, A1 = GND) for battery

lib/obp60task/PageAutopilot.cpp

@@ -0,0 +1,263 @@
+#if defined BOARD_OBP60S3 || defined BOARD_OBP40S3
+
+#include "Pagedata.h"
+#include "OBP60Extensions.h"
+
+// These constants have to match the declaration below in :
+//  PageDescription registerPageAutopilot(
+//  {"HDM","HDT", "COG", "STW", "SOG", "DBT","XTE", "DTW", "BTW"}, // Bus values we need in the page
+const int HowManyValues = 9;
+
+const int AverageValues = 4;
+
+const int ShowHDM = 0;
+const int ShowHDT = 1;
+const int ShowCOG = 2;
+const int ShowSTW = 3;
+const int ShowSOG = 4;
+const int ShowDBT = 5;
+const int ShowXTE = 6;
+const int ShowDTW = 7;
+const int ShowBTW = 8;
+
+const int Compass_X0 = 200;         // X center point of compass band
+const int Compass_Y0 = 220;         // Y position of compass lines
+const int Compass_LineLength = 22;  // Length of compass lines
+const float Compass_LineDelta = 8.0;// Compass band: 1deg = 5 Pixels, 10deg = 50 Pixels 
+
+class PageAutopilot : public Page
+{
+    int WhichDataCompass = ShowHDM; // Start value
+    int WhichDataDisplay = ShowHDM; // Start value
+
+    public:
+    PageAutopilot(CommonData &common){
+        commonData = &common;
+        common.logger->logDebug(GwLog::LOG,"Instantiate PageAutopilot");
+    }
+
+    virtual void setupKeys(){
+        Page::setupKeys();
+        commonData->keydata[0].label = "CMP";
+        commonData->keydata[1].label = "SRC";
+   }
+    
+    virtual int handleKey(int key){
+        // Code for keylock
+   
+        if ( key == 1 ) {
+            WhichDataCompass += 1;
+            if ( WhichDataCompass > ShowCOG)
+                 WhichDataCompass = ShowHDM;
+           return 0;
+            }
+      if ( key == 2 ) {
+            WhichDataDisplay += 1;
+            if ( WhichDataDisplay > ShowDBT)
+                 WhichDataDisplay = ShowHDM;
+             }
+
+        if(key == 11){
+            commonData->keylock = !commonData->keylock;
+            return 0;                   // Commit the key
+        }
+        return key;
+    }
+
+    int displayPage(PageData &pageData){
+        GwConfigHandler *config = commonData->config;
+        GwLog *logger = commonData->logger;
+    
+        // Old values for hold function
+        static String OldDataText[HowManyValues] = {"", "", "","", "", "","", "", ""};
+        static String OldDataUnits[HowManyValues] = {"", "", "","", "", "","", "", ""};
+
+        // Get config data
+        String lengthformat = config->getString(config->lengthFormat);
+        // bool simulation = config->getBool(config->useSimuData);
+        bool holdvalues = config->getBool(config->holdvalues);
+        String flashLED = config->getString(config->flashLED);
+        String backlightMode = config->getString(config->backlight);
+        
+        GwApi::BoatValue *bvalue;
+        String DataName[HowManyValues];
+        double DataValue[HowManyValues];
+        bool DataValid[HowManyValues];
+        String DataText[HowManyValues];
+        String DataUnits[HowManyValues];
+        String DataFormat[HowManyValues];
+        FormattedData TheFormattedData;
+
+        for (int i = 0; i < HowManyValues; i++){
+            bvalue = pageData.values[i];
+            TheFormattedData = formatValue(bvalue, *commonData);   
+            DataName[i] = xdrDelete(bvalue->getName());
+            DataName[i] = DataName[i].substring(0, 6);  // String length limit for value name
+            DataUnits[i] = formatValue(bvalue, *commonData).unit;   
+            DataText[i] = TheFormattedData.svalue;  // Formatted value as string including unit conversion and switching decimal places
+            DataValue[i] = TheFormattedData.value;  // Value as double in SI unit
+            DataValid[i] = bvalue->valid;
+            DataFormat[i] = bvalue->getFormat();    // Unit of value
+            LOG_DEBUG(GwLog::LOG,"Drawing at PageAutopilot: %d %s %f %s %s",  i,  DataName[i], DataValue[i], DataFormat[i], DataText[i] );
+        }
+
+        // Optical warning by limit violation (unused)
+        if(String(flashLED) == "Limit Violation"){
+            setBlinkingLED(false);
+            setFlashLED(false); 
+        }
+
+        if (bvalue == NULL) return PAGE_OK; // WTF why this statement?
+        
+        //***********************************************************
+
+        // Set display in partial refresh mode
+        getdisplay().setPartialWindow(0, 0, getdisplay().width(), getdisplay().height()); // Set partial update
+        getdisplay().setTextColor(commonData->fgcolor);
+
+        // Horizontal line 2 pix top & bottom
+        // Print data on top half
+        getdisplay().fillRect(0, 130, 400, 2, commonData->fgcolor); 
+        getdisplay().setFont(&Ubuntu_Bold20pt8b);
+        getdisplay().setCursor(10, 70);
+        getdisplay().print(DataName[WhichDataDisplay]);                         // Page name
+        // Show unit
+        getdisplay().setFont(&Ubuntu_Bold12pt8b);
+        getdisplay().setCursor(10, 120);
+        getdisplay().print(DataUnits[WhichDataDisplay]); 
+        getdisplay().setCursor(190, 120);
+        getdisplay().setFont(&DSEG7Classic_BoldItalic42pt7b);
+  
+        if(holdvalues == false){
+            getdisplay().print(DataText[WhichDataDisplay]);                     // Real value as formated string
+        }
+        else{
+            getdisplay().print(OldDataText[WhichDataDisplay]);                  // Old value as formated string
+        }
+        if(DataValid[WhichDataDisplay] == true){
+            OldDataText[WhichDataDisplay] = DataText[WhichDataDisplay];         // Save the old value
+            OldDataUnits[WhichDataDisplay] = DataUnits[WhichDataDisplay];       // Save the old unit
+        }
+
+        // Now draw compass band                
+        // Get the data
+        double TheAngle = DataValue[WhichDataCompass];
+        static double AvgAngle = 0;
+        AvgAngle = ( AvgAngle * AverageValues + TheAngle ) / (AverageValues + 1 );
+
+        int TheTrend = round( ( TheAngle - AvgAngle) * 180.0 / M_PI );
+
+        static const int bsize = 30;
+        char buffer[bsize+1];
+        buffer[0]=0;              
+
+        getdisplay().setFont(&Ubuntu_Bold16pt8b);
+        getdisplay().setCursor(10, Compass_Y0-60);
+        getdisplay().print(DataName[WhichDataCompass]);                         // Page name
+ 
+     
+        // Draw compass base line and pointer
+        getdisplay().fillRect(0, Compass_Y0, 400, 3, commonData->fgcolor);            
+        getdisplay().fillTriangle(Compass_X0,Compass_Y0-40,Compass_X0-10,Compass_Y0-80,Compass_X0+10,Compass_Y0-80,commonData->fgcolor);
+        // Draw trendlines
+        for ( int i = 1; i < abs(TheTrend) / 2; i++){
+            int x1;
+            if ( TheTrend < 0 )
+                    x1 = Compass_X0 +  20 * i;
+            else
+                    x1 = Compass_X0 - 20 * ( i + 1 );
+
+            getdisplay().fillRect(x1, Compass_Y0 -55, 10, 6, commonData->fgcolor);            
+                }          
+        // Central line +  satellite lines
+        double NextSector = round(TheAngle / ( M_PI / 9 )) * ( M_PI / 9 );  // Get the next 20degree value
+        double Offset = - ( NextSector -  TheAngle);                        // Offest of the center line compared to TheAngle in Radian
+        
+        int Delta_X = int (  Offset * 180.0 / M_PI  * Compass_LineDelta );
+        for ( int i = 0; i <=4; i++ ){
+                int x0;
+                x0 = Compass_X0 + Delta_X + 2 * i * 5 * Compass_LineDelta;
+                getdisplay().fillRect(x0-2, Compass_Y0 - 2 * Compass_LineLength, 5, 2 * Compass_LineLength, commonData->fgcolor);
+                x0 = Compass_X0 + Delta_X + ( 2 * i + 1 ) * 5 * Compass_LineDelta;
+                getdisplay().fillRect(x0-1, Compass_Y0 - Compass_LineLength, 3, Compass_LineLength, commonData->fgcolor);
+
+                x0 = Compass_X0 + Delta_X - 2 * i * 5 * Compass_LineDelta;
+                getdisplay().fillRect(x0-2, Compass_Y0 - 2 * Compass_LineLength, 5, 2 * Compass_LineLength, commonData->fgcolor);
+                x0 = Compass_X0 + Delta_X - ( 2 * i + 1 ) * 5 * Compass_LineDelta;
+                getdisplay().fillRect(x0-1, Compass_Y0 - Compass_LineLength, 3, Compass_LineLength, commonData->fgcolor);
+            }
+
+        getdisplay().fillRect(0, Compass_Y0, 400, 3, commonData->fgcolor);
+        // Add the numbers to the compass band
+        int x0;
+        float AngleToDisplay = NextSector * 180.0 / M_PI;
+
+        x0 = Compass_X0 + Delta_X;
+        getdisplay().setFont(&DSEG7Classic_BoldItalic16pt7b);
+
+        do {
+                getdisplay().setCursor(x0 - 40, Compass_Y0 + 40);
+                snprintf(buffer,bsize,"%03.0f", AngleToDisplay);
+                getdisplay().print(buffer);
+                AngleToDisplay += 20;
+                if ( AngleToDisplay >= 360.0 )
+                    AngleToDisplay -= 360.0;
+                x0 -= 4 * 5 * Compass_LineDelta;
+        } while (  x0 >= 0 - 60  );
+        
+        AngleToDisplay = NextSector * 180.0 / M_PI - 20;
+        if ( AngleToDisplay < 0 )
+            AngleToDisplay += 360.0;
+
+        x0 = Compass_X0 + Delta_X + 4 * 5 * Compass_LineDelta;
+        do {
+            getdisplay().setCursor(x0 - 40, Compass_Y0 + 40);
+            snprintf(buffer,bsize,"%03.0f", AngleToDisplay);
+            // Quick and dirty way to prevent wrapping text in next line
+            if ( ( x0 - 40 ) > 380 )
+                buffer[0] = 0;
+            else if ( ( x0 - 40 )  > 355 )
+                    buffer[1] = 0;
+            else if ( ( x0 - 40 )  >  325 ) 
+                buffer[2] = 0;
+                
+            getdisplay().print(buffer);             
+
+            AngleToDisplay -= 20;
+            if ( AngleToDisplay < 0 )
+                AngleToDisplay += 360.0;
+            x0 += 4 * 5 * Compass_LineDelta;
+        } while (x0 < ( 400 - 20 -40 ) );
+
+        // static int x_test = 320;
+        // x_test += 2;
+
+        // snprintf(buffer,bsize,"%03d", x_test);
+        // getdisplay().setCursor(x_test, Compass_Y0 - 60);
+        // getdisplay().print(buffer);
+        // if ( x_test > 390)
+        //     x_test = 320;
+
+        return PAGE_UPDATE;
+    };
+
+};
+
+static Page *createPage(CommonData &common){
+    return new PageAutopilot(common);
+}/**
+ * with the code below we make this page known to the PageTask
+ * we give it a type (name) that can be selected in the config
+ * we define which function is to be called
+ * and we provide the number of user parameters we expect
+ * this will be number of BoatValue pointers in pageData.values
+ */
+PageDescription registerPageAutopilot(
+    "Autopilot",    // Page name
+    createPage,     // Action
+    0,              // Number of bus values depends on selection in Web configuration
+    {"HDM","HDT", "COG", "STW", "SOG", "DBT","XTE", "DTW", "BTW"}, // Bus values we need in the page
+   true            // Show display header on/off
+);
+
+#endif

lib/obp60task/PageCompass.cpp

@@ -17,10 +17,10 @@ const int ShowSTW = 3;
 const int ShowSOG = 4;
 const int ShowDBS = 5;
 
-const int Compass_X0 = 200;         // center point of compass band
-const int Compass_Y0 = 220;         // position of compass lines
-const int Compass_LineLength = 22;  // length of compass lines
-const float Compass_LineDelta = 8.0;// compass band: 1deg = 5 Pixels, 10deg = 50 Pixels 
+const int Compass_X0 = 200;         // X center point of compass band
+const int Compass_Y0 = 220;         // Y position of compass lines
+const int Compass_LineLength = 22;  // Length of compass lines
+const float Compass_LineDelta = 8.0;// Compass band: 1deg = 5 Pixels, 10deg = 50 Pixels 
 
 class PageCompass : public Page
 {

lib/obp60task/config.json

@@ -1273,9 +1273,9 @@
         "type": "number",
         "default": "50",
         "check": "checkMinMax",
-        "min": 20,
+        "min": 5,
         "max": 100,
-        "description": "Backlight brightness [20...100%]",
+        "description": "Backlight brightness [5...100%]",
         "category": "OBP60 Display",
         "capabilities": {
             "obp60":"true"

lib/obp60task/config_obp40.json

@@ -1285,9 +1285,9 @@
         "type": "number",
         "default": "50",
         "check": "checkMinMax",
-        "min": 20,
+        "min": 5,
         "max": 100,
-        "description": "Backlight brightness [20...100%]",
+        "description": "Backlight brightness [5...100%]",
         "category": "OBP40 Display",
         "capabilities": {
             "obp40": "false"

lib/obp60task/obp60task.cpp

@@ -264,6 +264,8 @@ void registerAllPages(PageList &list){
     list.add(&registerPageNavigation);
     extern PageDescription registerPageDigitalOut;
     list.add(&registerPageDigitalOut);
+    extern PageDescription registerPageAutopilot;
+    list.add(&registerPageAutopilot);
 }
 
 // Undervoltage detection for shutdown display
@@ -531,7 +533,7 @@ void OBP60Task(GwApi *api){
 
     commonData.backlight.mode = backlightMapping(config->getConfigItem(config->backlight,true)->asString());
     commonData.backlight.color = colorMapping(config->getConfigItem(config->blColor,true)->asString());
-    commonData.backlight.brightness = 2.55 * uint(config->getConfigItem(config->blBrightness,true)->asInt());
+    commonData.backlight.brightness = uint(config->getConfigItem(config->blBrightness,true)->asInt());
     commonData.powermode = api->getConfig()->getConfigItem(api->getConfig()->powerMode,true)->asString();
 
     bool uvoltage = config->getConfigItem(config->underVoltage, true)->asBoolean();
@@ -658,7 +660,7 @@ void OBP60Task(GwApi *api){
                     // if(String(backlight) == "Control by Key"){
                         if(keyboardMessage == 6){
                             LOG_DEBUG(GwLog::LOG,"Toggle Backlight LED");
-                            toggleBacklightLED(commonData.backlight.brightness, commonData.backlight.color);
+                            stepsBacklightLED(commonData.backlight.brightness, commonData.backlight.color);
                         }
                     }
                     #ifdef BOARD_OBP40S3