thooge/esp32-nmea2000-obp60
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Add #ifdef BOARD_NODEMCU32S_OBP60 in all *.cpp

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norbert-walter
2022-03-18 18:54:17 +01:00
parent 86ab6e9177
commit 5e61754b08
22 changed files with 425 additions and 76 deletions
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58
lib/obp60task/obp60task.cpp
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@@ -252,7 +252,8 @@ void OBP60Init(GwApi *api){
String rotSensor=api->getConfig()->getConfigItem(api->getConfig()->useRotSensor,true)->asString();
if(String(rotSensor) == "AS5600"){
if (as5600.detectMagnet() == 0) {
Wire.beginTransmission(AS5600_I2C_ADDR);
if (Wire.endTransmission() != 0) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul AS5600 not found, check wiring");
}
else{
@@ -394,6 +395,8 @@ void registerAllPages(PageList &list){
list.add(&registerPageBME280);
extern PageDescription registerPageRudderPosition;
list.add(&registerPageRudderPosition);
extern PageDescription registerPageKeelPosition;
list.add(&registerPageKeelPosition);
}
// OBP60 Task
@@ -525,6 +528,8 @@ void OBP60Task(GwApi *api){
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
// displaycolor defined in init section
@@ -576,11 +581,11 @@ void OBP60Task(GwApi *api){
}
// If GPS fix then LED off (HDOP)
if(String(gpsFix) == "GPS Fix" && hdop->valid == true && int(hdop->value) <= 50){
if(String(gpsFix) == "GPS Fix Lost" && hdop->valid == true && int(hdop->value) <= 50){
setPortPin(OBP_FLASH_LED, false);
}
// Ifmissing GPS fix then LED on
if(String(gpsFix) == "GPS Fix" && ((hdop->valid == true && int(hdop->value) > 50) || hdop->valid == false)){
if(String(gpsFix) == "GPS Fix Lost" && ((hdop->valid == true && int(hdop->value) > 50) || hdop->valid == false)){
setPortPin(OBP_FLASH_LED, true);
}
@@ -748,17 +753,50 @@ void OBP60Task(GwApi *api){
}
}
// Send rotation angle all 100ms
if(millis() > starttime7 + 100){
// Send rotation angle all 1000ms
if(millis() > starttime7 + 1000){
starttime7 = millis();
if(String(rotsensor) == "AS5600" && AS5600_ready == true){
if(String(rotsensor) == "AS5600" && AS5600_ready == true && as5600.detectMagnet() == 1){
rotationangle = as5600.getRawAngle() * 0.087; // 0...4095 segments = 0.087 degree
commonData.data.rotationAngle = rotationangle; // Data take over to page
// Send to NMEA200 bus
if(!isnan(rotationangle)){
SetN2kRudder(N2kMsg, rotationangle, 0, N2kRDO_NoDirectionOrder, N2kDoubleNA);
// 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
}
}