allow to convert 2 rudder instances

lib/boatData/GwBoatData.h

@@ -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

lib/nmea2kto0183/N2kDataToNMEA0183.cpp

@@ -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);
 }
 //*****************************************************************************

lib/nmea2kto0183/N2kDataToNMEA0183.h

@@ -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(){}

lib/spitask/GWDMS22B.cpp

@@ -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; \

lib/spitask/GwSpiSensor.h

@@ -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>

lib/spitask/config.json

@@ -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"
+                }
             }
         ]
     }