thooge/esp32-nmea2000-obp60
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Integrate many changes from master

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This commit is contained in:
Thomas Hooge
2026-03-18 13:29:57 +01:00
parent b2e67880d3
commit caf833e6ac
107 changed files with 8565 additions and 2688 deletions
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76
lib/nmea0183ton2k/NMEA0183AIStoNMEA2000.h
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@@ -2,7 +2,7 @@
This code is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
version 2 of the License, or (at your option) any later version.
This code is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
@@ -27,6 +27,8 @@ const double nmTom = 1.852 * 1000;
uint16_t DaysSince1970 = 0;
#define boolbit(b) (b?1:0)
class MyAisDecoder : public AIS::AisDecoder
{
public:
@@ -82,25 +84,24 @@ class MyAisDecoder : public AIS::AisDecoder
tN2kMsg N2kMsg;
// PGN129038
N2kMsg.SetPGN(129038L);
N2kMsg.Priority = 4;
N2kMsg.AddByte((_Repeat & 0x03) << 6 | (_uMsgType & 0x3f));
N2kMsg.Add4ByteUInt(_uMmsi);
N2kMsg.Add4ByteDouble(_iPosLon / 600000.0, 1e-07);
N2kMsg.Add4ByteDouble(_iPosLat / 600000.0, 1e-07);
N2kMsg.AddByte((_timestamp & 0x3f) << 2 | (_Raim & 0x01) << 1 | (_bPosAccuracy & 0x01));
N2kMsg.Add2ByteUDouble(decodeCog(_iCog), 1e-04);
N2kMsg.Add2ByteUDouble(_uSog * knToms/10.0, 0.01);
N2kMsg.AddByte(0x00); // Communication State (19 bits)
N2kMsg.AddByte(0x00);
N2kMsg.AddByte(0x00); // AIS transceiver information (5 bits)
N2kMsg.Add2ByteUDouble(decodeHeading(_iHeading), 1e-04);
N2kMsg.Add2ByteDouble(decodeRot(_iRot), 3.125E-05); // 1e-3/32.0
N2kMsg.AddByte(0xF0 | (_uNavstatus & 0x0f));
N2kMsg.AddByte(0xff); // Reserved
N2kMsg.AddByte(0xff); // SID (NA)
SetN2kPGN129038(
N2kMsg,
_uMsgType,
(tN2kAISRepeat)_Repeat,
_uMmsi,
_iPosLon/ 600000.0,
_iPosLat / 600000.0,
_bPosAccuracy,
_Raim,
_timestamp,
decodeCog(_iCog),
_uSog * knToms/10.0,
tN2kAISTransceiverInformation::N2kaischannel_A_VDL_reception,
decodeHeading(_iHeading),
decodeRot(_iRot),
(tN2kAISNavStatus)_uNavstatus,
0xff
);
send(N2kMsg);
}
@@ -255,9 +256,40 @@ class MyAisDecoder : public AIS::AisDecoder
send(N2kMsg);
}
virtual void onType21(unsigned int , unsigned int , const std::string &, bool , int , int , unsigned int , unsigned int , unsigned int , unsigned int ) override {
//mmsi, aidType, name + nameExt, posAccuracy, posLon, posLat, toBow, toStern, toPort, toStarboard
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,
unsigned int repeat,unsigned int timestamp, bool raim, bool virtualAton, bool offPosition) override {
//Serial.println("21");
//the name can be at most 120bit+88bit (35 byte) + termination -> 36 Byte
//in principle we should use tN2kAISAtoNReportData to directly call the library
//function for 129041. But this makes the conversion really complex.
bool assignedMode=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((timestamp & 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);
//bit offset 208 (see canboat/pgns.xml) -> 26 bytes from start
//as MaxDataLen is 223 and the string can be at most 36 bytes + 2 byte heading - no further check here
N2kMsg.AddVarStr(name.c_str());
send(N2kMsg);
}
virtual void onType24A(unsigned int _uMsgType, unsigned int _repeat, unsigned int _uMmsi,