thooge/esp32-nmea2000-obp60
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add conversion from NMEA0183 AIS type 21 (aton) to PGN 129041

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wellenvogel
2025-09-19 20:43:28 +02:00
parent e8c5440a79
commit 7fd1457296
1 changed files with 35 additions and 2 deletions
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37
lib/nmea0183ton2k/NMEA0183AIStoNMEA2000.h
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@@ -27,6 +27,8 @@ const double nmTom = 1.852 * 1000;
uint16_t DaysSince1970 = 0; uint16_t DaysSince1970 = 0;
#define boolbit(b) (b?1:0)
class MyAisDecoder : public AIS::AisDecoder class MyAisDecoder : public AIS::AisDecoder
{ {
public: public:
@@ -255,9 +257,40 @@ class MyAisDecoder : public AIS::AisDecoder
send(N2kMsg); send(N2kMsg);
} }
//mmsi, aidType, name + nameExt, posAccuracy, posLon, posLat, toBow, toStern, toPort, toStarboard
virtual void onType21(unsigned int , unsigned int , const std::string &, bool , int , int , unsigned int , unsigned int , unsigned int , unsigned int ) override { virtual void onType21(unsigned int mmsi , unsigned int aidType , const std::string & name, bool accuracy, int posLon, int posLat, unsigned int toBow, unsigned int toStern, unsigned int toPort, unsigned int toStarboard) override {
//Serial.println("21"); //Serial.println("21");
//in principle we should use tN2kAISAtoNReportData to directly call the library
//function for 129041. But this makes the conversion really complex.
int repeat=0; //TODO: should be part of the parameters
int seconds=0;
bool raim=false;
bool offPosition=false;
bool assignedMode=false;
bool virtualAton=false;
tN2kGNSStype gnssType=tN2kGNSStype::N2kGNSSt_GPS; //canboat considers 0 as undefined...
tN2kAISTransceiverInformation transceiverInfo=tN2kAISTransceiverInformation::N2kaischannel_A_VDL_reception;
tN2kMsg N2kMsg;
N2kMsg.SetPGN(129041);
N2kMsg.Priority=4;
N2kMsg.AddByte((repeat & 0x03) << 6 | (21 & 0x3f));
N2kMsg.Add4ByteUInt(mmsi); //N2kData.UserID
N2kMsg.Add4ByteDouble(posLon / 600000.0, 1e-07);
N2kMsg.Add4ByteDouble(posLat / 600000.0, 1e-07);
N2kMsg.AddByte((seconds & 0x3f)<<2 | boolbit(raim)<<1 | boolbit(accuracy));
N2kMsg.Add2ByteUDouble(toBow+toStern, 0.1);
N2kMsg.Add2ByteUDouble(toPort+toStarboard, 0.1);
N2kMsg.Add2ByteUDouble(toStarboard, 0.1);
N2kMsg.Add2ByteUDouble(toBow, 0.1);
N2kMsg.AddByte(boolbit(assignedMode) << 7
| boolbit(virtualAton) << 6
| boolbit(offPosition) << 5
| (aidType & 0x1f));
N2kMsg.AddByte((gnssType & 0x0F) << 1 | 0xe0);
N2kMsg.AddByte(N2kUInt8NA); //status
N2kMsg.AddByte((transceiverInfo & 0x1f) | 0xe0);
N2kMsg.AddVarStr(name.c_str());
send(N2kMsg);
} }
virtual void onType24A(unsigned int _uMsgType, unsigned int _repeat, unsigned int _uMmsi, virtual void onType24A(unsigned int _uMsgType, unsigned int _repeat, unsigned int _uMmsi,