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esp32-nmea2000-obp60
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send/receive GSA,GSV, 129540

This commit is contained in:
andreas 2021-11-13 15:44:54 +01:00
parent e7150d2259
commit 6ef75422d8
3 changed files with 134 additions and 4 deletions
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10
lib/boatData/GwBoatData.h
View File

@ -159,7 +159,7 @@ class GwSatInfoList{
return sats.size();
}
GwSatInfo *getAt(int idx){
if (idx > 0 && idx < sats.size()) return &sats.at(idx);
if (idx >= 0 && idx < sats.size()) return &sats.at(idx);
return NULL;
}
};
@ -191,6 +191,14 @@ public:
data.houseKeeping();
GwBoatItem<GwSatInfoList>::toJsonDoc(doc,minTime);
}
GwSatInfo *getAt(int idx){
if (! isValid()) return NULL;
return data.getAt(idx);
}
int getNumSats(){
if (! isValid()) return 0;
return data.getNumSats();
}
};

59
lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
View File

@ -631,6 +631,11 @@ private:
if (msg.Field(0)[0] == 'A') rmode=N2kGNSSdm_Auto;
double HDOP=N2kDoubleNA;
double VDOP=N2kDoubleNA;
double PDOP=N2kDoubleNA;
if (msg.FieldLen(14)> 0){
PDOP=atof(msg.Field(14));
if (!updateDouble(boatData->PDOP,PDOP,msg.sourceId)) return;
}
if (msg.FieldLen(15)> 0){
HDOP=atof(msg.Field(15));
if (!updateDouble(boatData->HDOP,HDOP,msg.sourceId)) return;
@ -642,6 +647,57 @@ private:
SetN2kGNSSDOPData(n2kMsg,1,rmode,mode,HDOP,VDOP,N2kDoubleNA);
send(n2kMsg);
}
void convertGSV(const SNMEA0183Msg &msg){
if (msg.FieldCount() < 7){
LOG_DEBUG(GwLog::DEBUG,"unable to parse GSV %s",msg.line);
return;
}
uint32_t total=atoi(msg.Field(0));
if (total < 1 || total > 9) {
LOG_DEBUG(GwLog::DEBUG,"GSV invalid total %u %s",total,msg.line);
return;
}
uint32_t current=atoi(msg.Field(1));
if (current < 1 || current > total) {
LOG_DEBUG(GwLog::DEBUG,"GSV invalid current %u %s",current,msg.line);
return;
}
for (int idx=2;idx < msg.FieldCount();idx+=4){
if (msg.FieldLen(idx) < 1 ||
msg.FieldLen(idx+1) < 1 ||
msg.FieldLen(idx+2) < 1 ||
msg.FieldLen(idx+3) < 1
) continue;
GwSatInfo info;
info.PRN=atoi(msg.Field(idx));
info.Elevation=atoi(msg.Field(idx+1));
info.Azimut=atoi(msg.Field(idx+2));
info.SNR=atoi(msg.Field(idx+3));
if (!boatData->SatInfo->update(info,msg.sourceId)) return;
}
int numSat=boatData->SatInfo->getNumSats();
if (current == total && numSat > 0){
tN2kMsg n2kMsg;
SetN2kGNSSSatellitesInView(n2kMsg,1);
bool hasInfos=false;
for (int i=0;i<numSat;i++){
tSatelliteInfo satInfo;
GwSatInfo *gwInfo=boatData->SatInfo->getAt(i);
if (gwInfo){
hasInfos=true;
satInfo.PRN=gwInfo->PRN;
satInfo.SNR=gwInfo->SNR;
satInfo.Elevation=DegToRad(gwInfo->Elevation);
satInfo.Azimuth=DegToRad(gwInfo->Azimut);
AppendSatelliteInfo(n2kMsg,satInfo);
}
}
if (hasInfos){
send(n2kMsg);
}
}
}
//shortcut for lambda converters
#define CVL [](const SNMEA0183Msg &msg, NMEA0183DataToN2KFunctions *p) -> void
@ -700,6 +756,9 @@ private:
converters.registerConverter(
129539UL,
String(F("GSA")), &NMEA0183DataToN2KFunctions::convertGSA);
converters.registerConverter(
129540UL,
String(F("GSV")), &NMEA0183DataToN2KFunctions::convertGSV);
unsigned long *aispgns=new unsigned long[7]{129810UL,129809UL,129040UL,129039UL,129802UL,129794UL,129038UL};
converters.registerConverter(7,&aispgns[0],
String(F("AIVDM")),&NMEA0183DataToN2KFunctions::convertAIVDX);

67
lib/nmea2kto0183/N2kDataToNMEA0183.cpp
View File

@ -278,6 +278,32 @@ private:
}
}
}
void sendGSA(bool autoMode, int fixMode)
{
if (boatData->SatInfo->isValid())
{
tNMEA0183Msg nmeaMsg;
nmeaMsg.Init("GSA", talkerId);
nmeaMsg.AddStrField(autoMode ? "A" : "M");
if (fixMode < 1)
fixMode = 1;
if (fixMode > 3)
fixMode = 1;
nmeaMsg.AddUInt32Field(fixMode);
for (int i = 0; i < 12; i++)
{
GwSatInfo *info = boatData->SatInfo->getAt(i);
if (info)
nmeaMsg.AddUInt32Field(info->PRN);
else
nmeaMsg.AddEmptyField();
}
nmeaMsg.AddDoubleField(boatData->PDOP->getDataWithDefault(NMEA0183DoubleNA));
nmeaMsg.AddDoubleField(boatData->HDOP->getDataWithDefault(NMEA0183DoubleNA));
nmeaMsg.AddDoubleField(boatData->VDOP->getDataWithDefault(NMEA0183DoubleNA));
SendMessage(nmeaMsg);
}
}
//*****************************************************************************
void HandleGNSS(const tN2kMsg &N2kMsg)
@ -331,6 +357,7 @@ private:
HDOP, VDOP, TDOP)){
updateDouble(boatData->HDOP,HDOP);
updateDouble(boatData->VDOP,VDOP);
sendGSA(DesiredMode==N2kGNSSdm_Auto,(int)ActualMode);
}
}
void HandleSats(const tN2kMsg &msg){
@ -343,12 +370,48 @@ private:
if (ParseN2kPGNSatellitesInView(msg,i,info)){
GwSatInfo satInfo;
satInfo.PRN=info.PRN;
satInfo.Elevation=info.Elevation;
satInfo.Azimut=info.Azimuth;
satInfo.Elevation=RadToDeg(info.Elevation);
satInfo.Azimut=RadToDeg(info.Azimuth);
satInfo.SNR=info.SNR;
if (! boatData->SatInfo->update(satInfo,sourceId)) return;
}
}
NumberOfSVs=boatData->SatInfo->getNumSats();
if (NumberOfSVs > 0){
LOG_DEBUG(GwLog::DEBUG+1,"send GSV for %d sats",NumberOfSVs);
tNMEA0183Msg nmeaMsg;
int numGSV=NumberOfSVs/4;
if (numGSV*4 < NumberOfSVs) numGSV++;
if (numGSV > 9) numGSV=9;
for (int i=0;i<numGSV ;i++){
int idx=i*4;
GwSatInfo *i0=boatData->SatInfo->getAt(idx);
GwSatInfo *i1=boatData->SatInfo->getAt(idx+1);
GwSatInfo *i2=boatData->SatInfo->getAt(idx+2);
GwSatInfo *i3=boatData->SatInfo->getAt(idx+3);
if (NMEA0183SetGSV(nmeaMsg,numGSV,i+1,NumberOfSVs,
i0?i0->PRN:NMEA0183UInt32NA,
i0?i0->Elevation:NMEA0183UInt32NA,
i0?i0->Azimut:NMEA0183UInt32NA,
i0?i0->SNR:NMEA0183UInt32NA,
i1?i1->PRN:NMEA0183UInt32NA,
i1?i1->Elevation:NMEA0183UInt32NA,
i1?i1->Azimut:NMEA0183UInt32NA,
i1?i1->SNR:NMEA0183UInt32NA,
i2?i2->PRN:NMEA0183UInt32NA,
i2?i2->Elevation:NMEA0183UInt32NA,
i2?i2->Azimut:NMEA0183UInt32NA,
i2?i2->SNR:NMEA0183UInt32NA,
i3?i3->PRN:NMEA0183UInt32NA,
i3?i3->Elevation:NMEA0183UInt32NA,
i3?i3->Azimut:NMEA0183UInt32NA,
i3?i3->SNR:NMEA0183UInt32NA,
talkerId
)){
SendMessage(nmeaMsg);
}
}
}
}
}