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esp32-nmea2000-obp60
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allow to convert 2 rudder instances

This commit is contained in:
andreas 2024-03-02 19:59:00 +01:00
parent ebd4a8907a
commit 71f0bfa6f3
8 changed files with 82 additions and 26 deletions
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3
lib/boatData/GwBoatData.h
View File

@ -192,7 +192,8 @@ class GwBoatData{
GWBOATDATA(double,HDOP,4000,formatDop)
GWBOATDATA(double,PDOP,4000,formatDop)
GWBOATDATA(double,VDOP,4000,formatDop)
GWBOATDATA(double,RPOS,4000,formatCourse) //RudderPosition
GWBOATDATA(double,RPOS,4000,formatWind) //RudderPosition
GWBOATDATA(double,PRPOS,4000,formatWind) //second rudder pos
GWBOATDATA(double,LAT,4000,formatLatitude)
GWBOATDATA(double,LON,4000,formatLongitude)
GWBOATDATA(double,ALT,4000,formatFixed0) //altitude

45
lib/nmea2kto0183/N2kDataToNMEA0183.cpp
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@ -62,7 +62,6 @@ class N2kToNMEA0183Functions : public N2kDataToNMEA0183
{
private:
int minXdrInterval=100; //minimal interval between 2 sends of the same transducer
GwXDRMappings *xdrMappings;
ConverterList<N2kToNMEA0183Functions,tN2kMsg> converters;
std::map<String,unsigned long> lastSendTransducers;
@ -75,7 +74,7 @@ private:
auto it=lastSendTransducers.find(entry.transducer);
unsigned long now=millis();
if (it != lastSendTransducers.end()){
if ((it->second + minXdrInterval) > now) return false;
if ((it->second + config.minXdrInterval) > now) return false;
}
lastSendTransducers[entry.transducer]=now;
if (! xdrOpened){
@ -611,24 +610,34 @@ private:
if (ParseN2kRudder(N2kMsg, RudderPosition, Instance, RudderDirectionOrder, AngleOrder))
{
updateDouble(boatData->RPOS, RudderPosition);
if (Instance != 0)
bool main=false;
if (Instance == config.starboardRudderInstance){
updateDouble(boatData->RPOS, RudderPosition);
main=true;
}
else if (Instance == config.portRudderInstance){
updateDouble(boatData->PRPOS, RudderPosition);
}
else{
return;
}
tNMEA0183Msg NMEA0183Msg;
if (!NMEA0183Msg.Init("RSA", talkerId))
return;
if (!NMEA0183Msg.AddDoubleField(formatCourse(RudderPosition)))
return;
if (!NMEA0183Msg.AddStrField("A"))
return;
if (!NMEA0183Msg.AddDoubleField(0.0))
return;
if (!NMEA0183Msg.AddStrField("A"))
return;
if (main){
if (!NMEA0183Msg.AddDoubleField(formatWind(RudderPosition)))return;
if (!NMEA0183Msg.AddStrField("A"))return;
if (!NMEA0183Msg.AddDoubleField(0.0))return;
if (!NMEA0183Msg.AddStrField("V"))return;
}
else{
if (!NMEA0183Msg.AddDoubleField(0.0))return;
if (!NMEA0183Msg.AddStrField("V"))return;
if (!NMEA0183Msg.AddDoubleField(formatWind(RudderPosition)))return;
if (!NMEA0183Msg.AddStrField("A"))return;
}
SendMessage(NMEA0183Msg);
}
}
@ -1508,7 +1517,7 @@ private:
public:
N2kToNMEA0183Functions(GwLog *logger, GwBoatData *boatData,
SendNMEA0183MessageCallback callback,
String talkerId, GwXDRMappings *xdrMappings, int minXdrInterval)
String talkerId, GwXDRMappings *xdrMappings, const Config &cfg)
: N2kDataToNMEA0183(logger, boatData, callback,talkerId)
{
LastPosSend = 0;
@ -1518,7 +1527,7 @@ private:
this->logger = logger;
this->boatData = boatData;
this->xdrMappings=xdrMappings;
this->minXdrInterval=minXdrInterval;
this->config=cfg;
registerConverters();
}
virtual void loop()
@ -1535,8 +1544,8 @@ private:
N2kDataToNMEA0183* N2kDataToNMEA0183::create(GwLog *logger, GwBoatData *boatData,
SendNMEA0183MessageCallback callback, String talkerId, GwXDRMappings *xdrMappings,
int minXdrInterval){
const N2kDataToNMEA0183::Config &cfg){
LOG_DEBUG(GwLog::LOG,"creating N2kToNMEA0183");
return new N2kToNMEA0183Functions(logger,boatData,callback, talkerId,xdrMappings,minXdrInterval);
return new N2kToNMEA0183Functions(logger,boatData,callback, talkerId,xdrMappings,cfg);
}
//*****************************************************************************

10
lib/nmea2kto0183/N2kDataToNMEA0183.h
View File

@ -36,8 +36,14 @@ class N2kDataToNMEA0183
{
public:
typedef std::function<void(const tNMEA0183Msg &NMEA0183Msg,int id)> SendNMEA0183MessageCallback;
class Config{
public:
int minXdrInterval=100;
int starboardRudderInstance=0;
int portRudderInstance=-1; //ignore
};
protected:
Config config;
GwLog *logger;
GwBoatData *boatData;
int sourceId=0;
@ -49,7 +55,7 @@ protected:
public:
static N2kDataToNMEA0183* create(GwLog *logger, GwBoatData *boatData, SendNMEA0183MessageCallback callback,
String talkerId, GwXDRMappings *xdrMappings,int minXdrInterval=100);
String talkerId, GwXDRMappings *xdrMappings,const Config &cfg);
virtual void HandleMsg(const tN2kMsg &N2kMsg, int sourceId) = 0;
virtual void loop();
virtual ~N2kDataToNMEA0183(){}

5
lib/spitask/GWDMS22B.cpp
View File

@ -89,6 +89,7 @@
class GWDMS22B : public SSISensor{
int zero=2047;
bool invt=false;
public:
using SSISensor::SSISensor;
virtual bool preinit(GwApi * api){
@ -105,7 +106,8 @@ class GWDMS22B : public SSISensor{
LOG_DEBUG(GwLog::ERROR,"unable to measure %s: %d",prefix.c_str(),(int)res);
}
double resolved=(((int)value-zero)*360.0/mask);
LOG_DEBUG(GwLog::LOG,"measure %s : %d, resolved: %f",prefix.c_str(),value,(float)resolved);
if (invt) resolved=-resolved;
LOG_DEBUG(GwLog::DEBUG,"measure %s : %d, resolved: %f",prefix.c_str(),value,(float)resolved);
tN2kMsg msg;
SetN2kRudder(msg,DegToRad(resolved),iid);
api->sendN2kMessage(msg);
@ -116,6 +118,7 @@ class GWDMS22B : public SSISensor{
CFG_GET(iid,PRFX); \
CFG_GET(fintv,PRFX); \
CFG_GET(zero,PRFX); \
CFG_GET(invt,PRFX); \
bits=12; \
clock=500000; \
cs=GW ## PRFX ## _CS; \

1
lib/spitask/GwSpiSensor.h
View File

@ -12,6 +12,7 @@
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
*/
//for SSI refer to https://www.posital.com/media/posital_media/documents/AbsoluteEncoders_Context_Technology_SSI_AppNote.pdf
#ifndef _GWSPISENSOR_H
#define _GWSPISENSOR_H
#include <driver/spi_master.h>

15
lib/spitask/config.json
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@ -6,12 +6,12 @@
{
"b": "1",
"i": "11",
"n": "11"
"n": "0"
},
{
"b": "1",
"i": "12",
"n": "12"
"n": "1"
},
{
"b": "1",
@ -86,6 +86,17 @@
"capabilities": {
"DMS22B$i": "true"
}
},
{
"name": "DMS22B$iinvt",
"label": "DMS22BX$i invert",
"type": "boolean",
"default": "false",
"description": "Invert the direction of the $i. SSI DMS22B rotary encoder (bus $b)",
"category": "spisensors$b",
"capabilities": {
"DMS22B$i": "true"
}
}
]
}

7
src/main.cpp
View File

@ -808,7 +808,10 @@ void setup() {
webserver.begin();
xdrMappings.begin();
logger.flush();
N2kDataToNMEA0183::Config n2kTo183cfg;
n2kTo183cfg.minXdrInterval=config.getInt(config.minXdrInterval,100);
n2kTo183cfg.starboardRudderInstance=config.getInt(config.stbRudderI,0);
n2kTo183cfg.portRudderInstance=config.getInt(config.portRudderI,-1);
nmea0183Converter= N2kDataToNMEA0183::create(&logger, &boatData,
[](const tNMEA0183Msg &msg, int sourceId){
SendNMEA0183Message(msg,sourceId,false);
@ -816,7 +819,7 @@ void setup() {
,
config.getString(config.talkerId,String("GP")),
&xdrMappings,
config.getInt(config.minXdrInterval,100)
n2kTo183cfg
);
toN2KConverter= NMEA0183DataToN2K::create(&logger,&boatData,[](const tN2kMsg &msg, int sourceId)->bool{

22
web/config.json
View File

@ -210,6 +210,28 @@
"description":"send out the converted data on the NMEA2000 bus\nIf set to off the converted data will still be shown at the data tab.",
"category":"converter"
},
{
"name": "stbRudderI",
"label":"stb rudder instance",
"type": "number",
"default": "0",
"check": "checkMinMax",
"min": 0,
"max": 253,
"description": "the n2k instance to be used as starboard(main) rudder 0...253",
"category": "converter"
},
{
"name": "portRudderI",
"label":"port rudder instance",
"type": "number",
"default": "-1",
"check": "checkMinMax",
"min": -1,
"max": 253,
"description": "the n2k instance to be used as port rudder 0...253, -1 to disable",
"category": "converter"
},
{
"name": "usbActisense",
"label": "USB mode",