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esp32-nmea2000-obp60
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handle HDG,HDM,HDT bothways

This commit is contained in:
andreas 2021-11-05 20:38:15 +01:00
parent fc57d73054
commit c782225e33
3 changed files with 120 additions and 11 deletions
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4
lib/boatData/GwBoatData.h
View File

@ -146,8 +146,10 @@ class GwBoatData{
GWBOATDATA(double,MaxTws,4000,&formatKnots)
GWBOATDATA(double,MaxAws,4000,&formatKnots)
GWBOATDATA(double,AWA,4000,&formatWind)
GWBOATDATA(double,Heading,4000,&formatCourse)
GWBOATDATA(double,Heading,4000,&formatCourse) //true
GWBOATDATA(double,MagneticHeading,4000,&formatCourse)
GWBOATDATA(double,Variation,4000,&formatCourse)
GWBOATDATA(double,Deviation,4000,&formatCourse)
GWBOATDATA(double,RudderPosition,4000,&formatCourse)
GWBOATDATA(double,Latitude,4000,NULL)
GWBOATDATA(double,Longitude,4000,NULL)

69
lib/nmea0183ton2k/NMEA0183DataToN2K.cpp
View File

@ -345,6 +345,66 @@ private:
}
}
void convertHDM(const SNMEA0183Msg &msg){
double MagneticHeading=NMEA0183DoubleNA;
if (!NMEA0183ParseHDM_nc(msg, MagneticHeading))
{
logger->logDebug(GwLog::DEBUG, "failed to parse HDM %s", msg.line);
return;
}
if (! UD(MagneticHeading)) return;
tN2kMsg n2kMsg;
SetN2kMagneticHeading(n2kMsg,1,MagneticHeading,
boatData->Variation->getDataWithDefault(N2kDoubleNA),
boatData->Deviation->getDataWithDefault(N2kDoubleNA)
);
send(n2kMsg);
}
void convertHDT(const SNMEA0183Msg &msg){
double Heading=NMEA0183DoubleNA;
if (!NMEA0183ParseHDT_nc(msg, Heading))
{
logger->logDebug(GwLog::DEBUG, "failed to parse HDT %s", msg.line);
return;
}
if (! UD(Heading)) return;
tN2kMsg n2kMsg;
SetN2kTrueHeading(n2kMsg,1,Heading);
send(n2kMsg);
}
void convertHDG(const SNMEA0183Msg &msg){
double MagneticHeading=NMEA0183DoubleNA;
double Variation=NMEA0183DoubleNA;
double Deviation=NMEA0183DoubleNA;
if (msg.FieldCount() < 5)
{
logger->logDebug(GwLog::DEBUG, "failed to parse HDG %s", msg.line);
return;
}
if (msg.FieldLen(0)>0){
MagneticHeading=formatDegToRad(atof(msg.Field(0)));
}
else{
return;
}
if (msg.FieldLen(1)>0){
Deviation=formatDegToRad(atof(msg.Field(1)));
if (msg.Field(2)[0] == 'W') Deviation=-Deviation;
}
if (msg.FieldLen(3)>0){
Variation=formatDegToRad(atof(msg.Field(3)));
if (msg.Field(4)[0] == 'W') Variation=-Variation;
}
if (! UD(MagneticHeading)) return;
UD(Variation);
UD(Deviation);
tN2kMsg n2kMsg;
SetN2kMagneticHeading(n2kMsg,1,MagneticHeading,Deviation,Variation);
send(n2kMsg);
}
//shortcut for lambda converters
#define CVL [](const SNMEA0183Msg &msg, NMEA0183DataToN2KFunctions *p) -> void
void registerConverters()
@ -363,6 +423,15 @@ private:
converters.registerConverter(
130306UL,
String(F("VWR")),&NMEA0183DataToN2KFunctions::convertVWR);
converters.registerConverter(
127250UL,
String(F("HDM")),&NMEA0183DataToN2KFunctions::convertHDM);
converters.registerConverter(
127250UL,
String(F("HDT")),&NMEA0183DataToN2KFunctions::convertHDT);
converters.registerConverter(
127250UL,
String(F("HDG")),&NMEA0183DataToN2KFunctions::convertHDG);
unsigned long *aispgns=new unsigned long[7]{129810UL,129809UL,129040UL,129039UL,129802UL,129794UL,129038UL};
converters.registerConverter(7,&aispgns[0],
String(F("AIVDM")),&NMEA0183DataToN2KFunctions::convertAIVDX);

50
lib/nmea2kto0183/N2kDataToNMEA0183.cpp
View File

@ -122,20 +122,58 @@ private:
double Variation;
tNMEA0183Msg NMEA0183Msg;
double Heading;
//if we have heading and variation we send HDG (mag.) and HDT
//if we have no variation we send either HDM or HDT
if (ParseN2kHeading(N2kMsg, SID, Heading, _Deviation, Variation, ref))
{
if (ref == N2khr_magnetic)
{
updateDouble(boatData->Variation, Variation); // Update Variation
if (!N2kIsNA(Heading) && boatData->Variation->isValid(millis()))
Heading -= boatData->Variation->getData();
updateDouble(boatData->Variation,Variation);
updateDouble(boatData->Deviation,_Deviation);
if (N2kIsNA(Variation)){
//maybe we still have a valid variation
Variation=boatData->Variation->getDataWithDefault(N2kDoubleNA);
}
if (N2kIsNA(Variation)){
//no variation
if (ref == N2khr_magnetic){
updateDouble(boatData->MagneticHeading,Heading);
if (NMEA0183SetHDM(NMEA0183Msg,Heading)){
SendMessage(NMEA0183Msg);
}
}
if (ref == N2khr_true){
updateDouble(boatData->Heading,Heading);
if (NMEA0183SetHDG(NMEA0183Msg, boatData->Heading->getDataWithDefault(NMEA0183DoubleNA), _Deviation, boatData->Variation->getDataWithDefault(NMEA0183DoubleNA)))
if (NMEA0183SetHDT(NMEA0183Msg,Heading)){
SendMessage(NMEA0183Msg);
}
}
}
else{
double MagneticHeading=N2kDoubleNA;
if (ref == N2khr_magnetic){
MagneticHeading=Heading;
Heading+=Variation;
}
if (ref == N2khr_true){
MagneticHeading=Heading-Variation;
}
updateDouble(boatData->MagneticHeading,MagneticHeading);
updateDouble(boatData->Heading,Heading);
if (!N2kIsNA(MagneticHeading)){
if (NMEA0183SetHDG(NMEA0183Msg, MagneticHeading,_Deviation,
Variation))
{
SendMessage(NMEA0183Msg);
}
}
if (!N2kIsNA(Heading)){
if (NMEA0183SetHDT(NMEA0183Msg, Heading))
{
SendMessage(NMEA0183Msg);
}
}
}
}
}
//*****************************************************************************