#if defined BOARD_OBP60S3 || defined BOARD_OBP40S3
#include <Adafruit_Sensor.h> // Adafruit Lib for sensors
#include <Adafruit_BME280.h> // Adafruit Lib for BME280
#include <Adafruit_BMP280.h> // Adafruit Lib for BMP280
#include <Adafruit_BMP085.h> // Adafruit Lib for BMP085 and BMP180
#include <HTU21D.h> // Lib for SHT21/HTU21
#include "AS5600.h" // Lib for magnetic rotation sensor AS5600
#include <INA226.h> // Lib for power management IC INA226
#include <Ticker.h> // Timer Lib for timer
#include <RTClib.h> // DS1388 RTC
#include <OneWire.h> // 1Wire Lib
#include <DallasTemperature.h> // Lib for DS18B20
#include "OBPSensorTask.h" // Lib for sensor reading
#include "OBP60Hardware.h" // Hardware definitions
#include "N2kMessages.h" // Lib for NMEA2000
#include "NMEA0183.h" // Lib for NMEA0183
#include "ObpNmea0183.h" // Check NMEA0183 sentence for uncorrect content
#include "OBP60Extensions.h" // Lib for hardware extensions
#include "movingAvg.h" // Lib for moving average building
#include "time.h" // For getting NTP time
#include <ESP32Time.h> // Internal ESP32 RTC clock
// Timer for hardware functions
Ticker Timer1(blinkingFlashLED, 500); // Start Timer1 for flash LED all 500ms
// Initialization for all sensors (RS232, I2C, 1Wire, IOs)
//####################################################################################
void sensorTask(void *param){
SharedData *shared = (SharedData *)param;
GwApi *api = shared->api;
GwLog *logger = api->getLogger();
LOG_DEBUG(GwLog::LOG, "Sensor task started");
SensorData sensors;
ObpNmea0183 NMEA0183;
Adafruit_BME280 bme280; // Evironment sensor BME280
Adafruit_BMP280 bmp280; // Evironment sensor BMP280
Adafruit_BMP085 bmp085; // Evironment sensor BMP085 and BMP180
HTU21D sht21(HTU21D_RES_RH12_TEMP14); // Environment sensor SHT21 and HTU21
AMS_5600 as5600; // Rotation sensor AS5600
INA226 ina226_1(INA226_I2C_ADDR1);// Power management sensor INA226 Battery
INA226 ina226_2(INA226_I2C_ADDR2);// Power management sensor INA226 Solar
INA226 ina226_3(INA226_I2C_ADDR3);// Power management sensor INA226 Generator
RTC_DS1388 ds1388; // RTC DS1388
OneWire oneWire(OBP_1WIRE); // 1Wire bus
DallasTemperature ds18b20(&oneWire);// Sensors for DS18B20
DeviceAddress tempDeviceAddress;// Table for DS18B20 device addresses
// Init sensor stuff
bool oneWire_ready = false; // 1Wire initialized and ready to use
bool RTC_ready = false; // DS1388 initialized and ready to use
bool GPS_ready = false; // GPS initialized and ready to use
bool BME280_ready = false; // BME280 initialized and ready to use
bool BMP280_ready = false; // BMP280 initialized and ready to use
bool BMP180_ready = false; // BMP180 initialized and ready to use
bool SHT21_ready = false; // SHT21 initialized and ready to use
bool AS5600_ready = false; // AS5600 initialized and ready to use
bool INA226_1_ready = false; // INA226_1 initialized and ready to use
bool INA226_2_ready = false; // INA226_2 initialized and ready to use
bool INA226_3_ready = false; // INA226_3 initialized and ready to use
// Create integer arrays for average building
const int avgsize = 300;
constexpr int arrayBatV{avgsize};
constexpr int arrayBatC{avgsize};
movingAvg batV(arrayBatV);
movingAvg batC(arrayBatC);
batV.begin();
batC.begin();
// Start timer
Timer1.start(); // Start Timer1 for blinking LED
// Direction settings for NMEA0183
String nmea0183Mode = api->getConfig()->getConfigItem(api->getConfig()->serialDirection, true)->asString();
api->getLogger()->logDebug(GwLog::LOG, "NMEA0183 Mode is: %s", nmea0183Mode.c_str());
pinMode(OBP_DIRECTION_PIN, OUTPUT);
if (String(nmea0183Mode) == "receive" || String(nmea0183Mode) == "off")
{
digitalWrite(OBP_DIRECTION_PIN, false);
}
if (String(nmea0183Mode) == "send")
{
digitalWrite(OBP_DIRECTION_PIN, true);
}
// Internal voltage sensor initialization
String powsensor1 = api->getConfig()->getConfigItem(api->getConfig()->usePowSensor1, true)->asString();
double voffset = (api->getConfig()->getConfigItem(api->getConfig()->vOffset,true)->asString()).toFloat();
double vslope = (api->getConfig()->getConfigItem(api->getConfig()->vSlope,true)->asString()).toFloat();
if(String(powsensor1) == "off"){
#ifdef VOLTAGE_SENSOR
float rawVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.53) * 2; // Vin = 1/2 for OBP40
#else
float rawVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.17) * 20; // Vin = 1/20 for OBP60
#endif
sensors.batteryVoltage = rawVoltage * vslope + voffset; // Calibration
#ifdef LIPO_ACCU_1200
sensors.BatteryChargeStatus = 0; // Set to discharging
sensors.batteryLevelLiPo = 0; // Level 0...100%
#endif
sensors.batteryCurrent = 0;
sensors.batteryPower = 0;
// Fill average arrays with start values
for (int i=1; i<=avgsize+1; ++i) {
batV.reading(int(sensors.batteryVoltage * 100));
batC.reading(int(sensors.batteryCurrent * 10));
}
}
// Settings for 1Wire bus
String oneWireOn=api->getConfig()->getConfigItem(api->getConfig()->useTempSensor,true)->asString();
int numberOfDevices;
if(String(oneWireOn) == "DS18B20"){
ds18b20.begin();
DeviceAddress tempDeviceAddress;
numberOfDevices = ds18b20.getDeviceCount();
// Limit for 8 sensors
if(numberOfDevices > 8){
numberOfDevices = 8;
}
if (numberOfDevices < 1) {
oneWire_ready = false;
api->getLogger()->logDebug(GwLog::ERROR,"Modul DS18B20 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"1Wire modul found at:");
for(int i=0;i<numberOfDevices; i++){
// Search the wire for address
if(ds18b20.getAddress(tempDeviceAddress, i)){
api->getLogger()->logDebug(GwLog::LOG,"DS18B20-%01d: %12d", i, tempDeviceAddress[i]);
} else {
api->getLogger()->logDebug(GwLog::LOG,"DS18B20-%01d: Sensor with errors, check wiring!", i);
}
}
oneWire_ready = true;
}
}
// Settings for RTC
String rtcOn=api->getConfig()->getConfigItem(api->getConfig()->useRTC,true)->asString();
if(String(rtcOn) == "DS1388"){
if (!ds1388.begin()) {
RTC_ready = false;
api->getLogger()->logDebug(GwLog::ERROR,"Modul DS1388 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul DS1388 found");
uint year = ds1388.now().year();
if(year < 2023){
// ds1388.adjust(DateTime(__DATE__, __TIME__)); // Set date and time from PC file time
}
RTC_ready = true;
sensors.rtcValid = true;
}
}
// Settings for GPS sensors
String gpsOn=api->getConfig()->getConfigItem(api->getConfig()->useGPS,true)->asString();
uint hdopAccuracy = uint(api->getConfig()->getConfigItem(api->getConfig()->hdopAccuracy,true)->asInt());
if(String(gpsOn) == "NEO-6M"){
Serial2.begin(9600, SERIAL_8N1, OBP_GPS_RX, OBP_GPS_TX, false); // not inverted (false)
if (!Serial2) {
api->getLogger()->logDebug(GwLog::ERROR,"GPS modul NEO-6M not found, check wiring");
GPS_ready = false;
}
else{
api->getLogger()->logDebug(GwLog::LOG,"GPS modul NEO-M6 found");
NMEA0183.SetMessageStream(&Serial2);
NMEA0183.Open();
GPS_ready = true;
}
}
if(String(gpsOn) == "NEO-M8N"){
Serial2.begin(9600, SERIAL_8N1, OBP_GPS_RX, OBP_GPS_TX, false); // not inverted (false)
if (!Serial2) {
api->getLogger()->logDebug(GwLog::ERROR,"GPS modul NEO-M8N not found, check wiring");
GPS_ready = false;
}
else{
api->getLogger()->logDebug(GwLog::LOG,"GPS modul NEO-M8N found");
NMEA0183.SetMessageStream(&Serial2);
NMEA0183.Open();
GPS_ready = true;
}
}
if(String(gpsOn) == "ATGM336H"){
Serial2.begin(9600, SERIAL_8N1, OBP_GPS_RX, OBP_GPS_TX, false); // not inverted (false)
if (!Serial2) {
api->getLogger()->logDebug(GwLog::ERROR,"GPS modul ATGM336H not found, check wiring");
GPS_ready = false;
}
else{
api->getLogger()->logDebug(GwLog::LOG,"GPS modul ATGM336H found");
NMEA0183.SetMessageStream(&Serial2);
NMEA0183.Open();
GPS_ready = true;
}
}
// Settings for environment sensors on I2C bus
String envSensors=api->getConfig()->getConfigItem(api->getConfig()->useEnvSensor,true)->asString();
if(String(envSensors) == "BME280"){
if (!bme280.begin(BME280_I2C_ADDR)) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul BME280 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul BME280 found");
sensors.airTemperature = bme280.readTemperature();
sensors.airPressure = bme280.readPressure();
sensors.airHumidity = bme280.readHumidity();
BME280_ready = true;
}
}
else if(String(envSensors) == "BMP280"){
if (!bmp280.begin(BMP280_I2C_ADDR)) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul BMP280 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul BMP280 found");
sensors.airTemperature = bmp280.readTemperature();
sensors.airPressure = bmp280.readPressure();
BMP280_ready = true;
}
}
else if(String(envSensors) == "BMP085" || String(envSensors) == "BMP180"){
if (!bmp085.begin()) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul BMP085/BMP180 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul BMP085/BMP180 found");
sensors.airTemperature = bmp085.readTemperature();
sensors.airPressure = bmp085.readPressure();
BMP180_ready = true;
}
}
else if(String(envSensors) == "HTU21" || String(envSensors) == "SHT21"){
if (!sht21.begin()) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul HTU21/SHT21 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul HTU21/SHT21 found");
sensors.airHumidity = sht21.readCompensatedHumidity();
sensors.airTemperature = sht21.readTemperature();
SHT21_ready = true;
}
}
// Settings for rotation sensors AS5600 on I2C bus
String envsensor = api->getConfig()->getConfigItem(api->getConfig()->useEnvSensor, true)->asString();
String rotsensor = api->getConfig()->getConfigItem(api->getConfig()->useRotSensor, true)->asString();
String rotfunction = api->getConfig()->getConfigItem(api->getConfig()->rotFunction, true)->asString();
String rotSensor=api->getConfig()->getConfigItem(api->getConfig()->useRotSensor,true)->asString();
if(String(rotSensor) == "AS5600"){
Wire.beginTransmission(AS5600_I2C_ADDR);
if (Wire.endTransmission() != 0) {
api->getLogger()->logDebug(GwLog::ERROR,"Modul AS5600 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul AS5600 found");
sensors.rotationAngle = DegToRad(as5600.getRawAngle() * 0.087); // 0...4095 segments = 0.087 degree
//sensors.magnitude = as5600.getMagnitude(); // Magnetic magnitude in [mT]
AS5600_ready = true;
}
}
// Settings for power amangement sensors INA226 #1 for Battery on I2C bus
String shunt1 = api->getConfig()->getConfigItem(api->getConfig()->shunt1, true)->asString();
// Settings for power amangement sensors INA226 #1 for Solar on I2C bus
String powsensor2 = api->getConfig()->getConfigItem(api->getConfig()->usePowSensor2, true)->asString();
String shunt2 = api->getConfig()->getConfigItem(api->getConfig()->shunt2, true)->asString();
// Settings for power amangement sensors INA226 #1 for Generator on I2C bus
String powsensor3 = api->getConfig()->getConfigItem(api->getConfig()->usePowSensor3, true)->asString();
String shunt3 = api->getConfig()->getConfigItem(api->getConfig()->shunt3, true)->asString();
float shuntResistor = 1.0; // Default value for shunt resistor
float maxCurrent = 10.0; // Default value for max. current
float corrFactor = 1; // Correction factor for fix calibration
// Battery sensor initialization
if(String(powsensor1) == "INA226"){
if (!ina226_1.begin()){
api->getLogger()->logDebug(GwLog::ERROR,"Modul 1 INA226 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul 1 INA226 found");
shuntResistor = SHUNT_VOLTAGE / float(shunt1.toInt()); // Calculate shunt resisitor for max. shunt voltage 75mV
maxCurrent = shunt1.toFloat();
api->getLogger()->logDebug(GwLog::LOG,"Calibation Modul 2 INA226, Imax:%3.0fA Rs:%7.5fOhm Us:%5.3f", maxCurrent, shuntResistor, SHUNT_VOLTAGE);
// ina226_1.setMaxCurrentShunt(maxCurrent, shuntResistor);
ina226_1.setMaxCurrentShunt(10, 0.01); // Calibration with fix values (because the original values outer range)
corrFactor = (maxCurrent / 10) * (0.001 / shuntResistor) / (maxCurrent / 100); // Correction factor for fix calibration
sensors.batteryVoltage = ina226_1.getBusVoltage();
sensors.batteryCurrent = ina226_1.getCurrent() * corrFactor;
sensors.batteryPower = ina226_1.getPower() * corrFactor;
// Fill average arrays with start values
for (int i=1; i<=avgsize+1; ++i) {
batV.reading(int(sensors.batteryVoltage * 100));
batC.reading(int(sensors.batteryCurrent * 10));
}
INA226_1_ready = true;
}
}
// Solar sensor initialization
if(String(powsensor2) == "INA226"){
if (!ina226_2.begin()){
api->getLogger()->logDebug(GwLog::ERROR,"Modul 2 INA226 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul 2 INA226 found");
shuntResistor = SHUNT_VOLTAGE / float(shunt2.toInt()); // Calculate shunt resisitor for max. shunt voltage 75mV
maxCurrent = shunt2.toFloat();
api->getLogger()->logDebug(GwLog::LOG,"Calibation Modul 2 INA226, Imax:%3.0fA Rs:%7.5fOhm Us:%5.3f", maxCurrent, shuntResistor, SHUNT_VOLTAGE);
// ina226_1.setMaxCurrentShunt(maxCurrent, shuntResistor);
ina226_2.setMaxCurrentShunt(10, 0.01); // Calibration with fix values (because the original values outer range)
corrFactor = (maxCurrent / 10) * (0.001 / shuntResistor) / (maxCurrent / 100); // Correction factor for fix calibration
sensors.solarVoltage = ina226_2.getBusVoltage();
sensors.solarCurrent = ina226_2.getCurrent() * corrFactor;
sensors.solarPower = ina226_2.getPower() * corrFactor;
// Fill average arrays with start values
INA226_2_ready = true;
}
}
// Generator sensor initialization
if(String(powsensor3) == "INA226"){
if (!ina226_3.begin()){
api->getLogger()->logDebug(GwLog::ERROR,"Modul 3 INA226 not found, check wiring");
}
else{
api->getLogger()->logDebug(GwLog::LOG,"Modul 3 INA226 found");
shuntResistor = SHUNT_VOLTAGE / float(shunt3.toInt()); // Calculate shunt resisitor for max. shunt voltage 75mV
maxCurrent = shunt3.toFloat();
api->getLogger()->logDebug(GwLog::LOG,"Calibation Modul 3 INA226, Imax:%3.0fA Rs:%7.5fOhm Us:%5.3f", maxCurrent, shuntResistor, SHUNT_VOLTAGE);
// ina226_1.setMaxCurrentShunt(maxCurrent, shuntResistor);
ina226_3.setMaxCurrentShunt(10, 0.01); // Calibration with fix values (because the original values outer range)
corrFactor = (maxCurrent / 10) * (0.001 / shuntResistor) / (maxCurrent / 100); // Correction factor for fix calibration
sensors.generatorVoltage = ina226_3.getBusVoltage();
sensors.generatorCurrent = ina226_3.getCurrent() * corrFactor;
sensors.generatorPower = ina226_3.getPower() * corrFactor;
// Fill average arrays with start values
INA226_3_ready = true;
}
}
int rotoffset = api->getConfig()->getConfigItem(api->getConfig()->rotOffset,true)->asInt();
static long loopCounter = 0; // Loop counter for 1Wire data transmission
long starttime0 = millis(); // GPS update all 100ms
long starttime5 = millis(); // Voltage update all 1s
long starttime6 = millis(); // Environment sensor update all 1s
long starttime7 = millis(); // Rotation sensor update all 500ms
long starttime8 = millis(); // Battery power sensor update all 1s
long starttime9 = millis(); // Solar power sensor update all 1s
long starttime10 = millis(); // Generator power sensor update all 1s
long starttime11 = millis(); // Copy GPS data to RTC all 5min
long starttime12 = millis(); // Get RTC data all 500ms
long starttime13 = millis(); // Get 1Wire sensor data all 2s
tN2kMsg N2kMsg;
shared->setSensorData(sensors); //set initially read values
GwApi::BoatValue *gpsdays=new GwApi::BoatValue(GwBoatData::_GPSD);
GwApi::BoatValue *gpsseconds=new GwApi::BoatValue(GwBoatData::_GPST);
GwApi::BoatValue *hdop=new GwApi::BoatValue(GwBoatData::_HDOP);
GwApi::BoatValue *valueList[]={gpsdays, gpsseconds, hdop};
// Internal RTC with NTP init
ESP32Time rtc(0);
if (api->getConfig()->getString(api->getConfig()->timeSource) == "iRTC") {
GwApi::Status status;
api->getStatus(status);
if (status.wifiClientConnected) {
const char *ntpServer = api->getConfig()->getCString(api->getConfig()->timeServer);
api->getLogger()->logDebug(GwLog::LOG,"Fetching date and time from NTP server '%s'.", ntpServer);
configTime(0, 0, ntpServer); // get time in UTC
struct tm timeinfo;
if (getLocalTime(&timeinfo)) {
api->getLogger()->logDebug(GwLog::LOG,"NTP time: %04d-%02d-%02d %02d:%02d:%02d UTC", timeinfo.tm_year+1900, timeinfo.tm_mon+1, timeinfo.tm_mday, timeinfo.tm_hour, timeinfo.tm_min, timeinfo.tm_sec);
rtc.setTimeStruct(timeinfo);
sensors.rtcValid = true;
} else {
api->getLogger()->logDebug(GwLog::LOG,"NTP time fetch failed!");
}
} else {
api->getLogger()->logDebug(GwLog::LOG,"Wifi client not connected, NTP not available.");
}
}
// Sensor task loop runs with 100ms
//####################################################################################
while (true){
delay(100); // Loop time 100ms
Timer1.update(); // Update for Timer2
if (millis() > starttime0 + 100)
{
starttime0 = millis();
// Send NMEA0183 GPS data on several bus systems all 100ms
if (GPS_ready == true && hdop->value <= hdopAccuracy)
{
SNMEA0183Msg NMEA0183Msg;
while (NMEA0183.GetMessageCor(NMEA0183Msg))
{
api->sendNMEA0183Message(NMEA0183Msg);
}
}
}
// If RTC DS1388 ready, then copy GPS data to RTC all 5min
if(millis() > starttime11 + 5*60*1000){
starttime11 = millis();
if(rtcOn == "DS1388" && RTC_ready == true && GPS_ready == true){
api->getBoatDataValues(3,valueList);
if(gpsdays->valid && gpsseconds->valid && hdop->valid){
long ts = tNMEA0183Msg::daysToTime_t(gpsdays->value - (30*365+7))+floor(gpsseconds->value); // Adjusted to reference year 2000 (-30 years and 7 days for switch years)
// sample input: date = "Dec 26 2009", time = "12:34:56"
// ds1388.adjust(DateTime("Dec 26 2009", "12:34:56"));
DateTime adjusttime(ts);
api->getLogger()->logDebug(GwLog::LOG,"Adjust RTC time: %04d/%02d/%02d %02d:%02d:%02d",adjusttime.year(), adjusttime.month(), adjusttime.day(), adjusttime.hour(), adjusttime.minute(), adjusttime.second());
// Adjust RTC time as unix time value
ds1388.adjust(adjusttime);
}
}
}
// Send 1Wire data for all temperature sensors all 2s
if(millis() > starttime13 + 2000 && String(oneWireOn) == "DS18B20" && oneWire_ready == true){
starttime13 = millis();
float tempC;
ds18b20.requestTemperatures(); // Collect all temperature values (max.8)
for(int i=0;i<numberOfDevices; i++){
// Send only one 1Wire data per loop step (time reduction)
if(i == loopCounter % numberOfDevices){
if(ds18b20.getAddress(tempDeviceAddress, i)){
// Read temperature value in Celsius
tempC = ds18b20.getTempC(tempDeviceAddress);
}
// Send to NMEA200 bus for each sensor with instance number
if(!isnan(tempC)){
sensors.onewireTemp[i] = tempC; // Save values in SensorData
api->getLogger()->logDebug(GwLog::DEBUG,"DS18B20-%1d Temp: %.1f",i,tempC);
SetN2kPGN130316(N2kMsg, 0, i, N2kts_OutsideTemperature, CToKelvin(tempC), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
}
}
loopCounter++;
}
// Get current RTC date and time all 500ms
if (millis() > starttime12 + 500) {
starttime12 = millis();
if (rtcOn == "DS1388" && RTC_ready) {
DateTime dt = ds1388.now();
sensors.rtcTime.tm_year = dt.year() - 1900; // Save values in SensorData
sensors.rtcTime.tm_mon = dt.month() - 1;
sensors.rtcTime.tm_mday = dt.day();
sensors.rtcTime.tm_hour = dt.hour();
sensors.rtcTime.tm_min = dt.minute();
sensors.rtcTime.tm_sec = dt.second();
sensors.rtcTime.tm_isdst = 0; // Not considering daylight saving time
// If GPS not ready or installed then send RTC time on bus
// TODO If there are other time sources on the bus there should
// be a logic not to send or to send with lower frequency
// or something totally different
if ((GPS_ready == false) || (GPS_ready == true && hdop->valid == false)) {
// TODO implement daysAt1970 and sysTime as methods of DateTime
const short daysOfYear[12] = {0,31,59,90,120,151,181,212,243,273,304,334};
uint16_t switchYear = ((dt.year()-1)-1968)/4 - ((dt.year()-1)-1900)/100 + ((dt.year()-1)-1600)/400;
long daysAt1970 = (dt.year()-1970)*365 + switchYear + daysOfYear[dt.month()-1] + dt.day()-1;
// If switch year then add one day
if ((dt.month() > 2) && (dt.year() % 4 == 0 && (dt.year() % 100 != 0 || dt.year() % 400 == 0))) {
daysAt1970 += 1;
}
// N2K sysTime is double in n2klib
double sysTime = (dt.hour() * 3600) + (dt.minute() * 60) + dt.second();
// WHY? isnan should always fail here
//if(!isnan(daysAt1970) && !isnan(sysTime)){
//api->getLogger()->logDebug(GwLog::LOG,"RTC time: %04d/%02d/%02d %02d:%02d:%02d",sensors.rtcTime.tm_year+1900,sensors.rtcTime.tm_mon, sensors.rtcTime.tm_mday, sensors.rtcTime.tm_hour, sensors.rtcTime.tm_min, sensors.rtcTime.tm_sec);
//api->getLogger()->logDebug(GwLog::LOG,"Send PGN126992: %10d %10d",daysAt1970, (uint16_t)sysTime);
SetN2kPGN126992(N2kMsg,0,daysAt1970,sysTime,N2ktimes_LocalCrystalClock);
api->sendN2kMessage(N2kMsg);
// }
}
} else if (sensors.rtcValid) {
// use internal rtc feature
sensors.rtcTime = rtc.getTimeStruct();
}
}
// Send supply voltage value all 1s
if(millis() > starttime5 + 1000 && String(powsensor1) == "off"){
starttime5 = millis();
#ifdef VOLTAGE_SENSOR
float rawVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.53) * 2; // Vin = 1/2 for OBP40
#else
float rawVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.17) * 20; // Vin = 1/20 for OBP60
#endif
sensors.batteryVoltage = rawVoltage * vslope + voffset; // Calibration
// Save new data in average array
batV.reading(int(sensors.batteryVoltage * 100));
// Calculate the average values for different time lines from integer values
sensors.batteryVoltage10 = batV.getAvg(10) / 100.0;
sensors.batteryVoltage60 = batV.getAvg(60) / 100.0;
sensors.batteryVoltage300 = batV.getAvg(300) / 100.0;
#if defined LIPO_ACCU_1200 && defined VOLTAGE_SENSOR
// Polynomfit for LiPo capacity calculation for 3,7V LiPo accus, 0...100%
sensors.batteryLevelLiPo = sensors.batteryVoltage60 * 203.8312 -738.1635;
// Limiter
if(sensors.batteryLevelLiPo > 100){
sensors.batteryLevelLiPo = 100;
}
if(sensors.batteryLevelLiPo < 0){
sensors.batteryLevelLiPo = 0;
}
// Charging detection
float deltaV = sensors.batteryVoltage - sensors.batteryVoltage10;
// Higher limits for lower voltages
if(sensors.batteryVoltage10 < 4.0){
if(deltaV > 0.045){
sensors.BatteryChargeStatus = 1; // Charging active
}
if(deltaV < -0.04){
sensors.BatteryChargeStatus = 0; // Discharging
}
}
// Lower limits for higher voltages
else{
if(deltaV > 0.03){
sensors.BatteryChargeStatus = 1; // Charging active
}
if(deltaV < -0.03){
sensors.BatteryChargeStatus = 0; // Discharging
}
}
// Charging stops by grater than 4,15V
if(sensors.batteryVoltage10 > 4.15){
sensors.BatteryChargeStatus = 0; // Discharging
}
// Send to NMEA200 bus as instance 10
if(!isnan(sensors.batteryVoltage)){
SetN2kDCBatStatus(N2kMsg, 10, sensors.batteryVoltage, N2kDoubleNA, N2kDoubleNA, 0);
api->sendN2kMessage(N2kMsg);
}
#endif
#ifdef BOARD_OBP60S3
// Send to NMEA200 bus
if(!isnan(sensors.batteryVoltage)){
SetN2kDCBatStatus(N2kMsg, 0, sensors.batteryVoltage, N2kDoubleNA, N2kDoubleNA, 1);
api->sendN2kMessage(N2kMsg);
}
#endif
}
// Send data from environment sensor all 2s
if(millis() > starttime6 + 2000){
starttime6 = millis();
unsigned char TempSource = 2; // Inside temperature
unsigned char PressureSource = 0; // Atmospheric pressure
unsigned char HumiditySource = 0; // Inside humidity
if(envsensor == "BME280" && BME280_ready == true){
sensors.airTemperature = bme280.readTemperature();
sensors.airPressure = bme280.readPressure();
sensors.airHumidity = bme280.readHumidity();
// Send to NMEA200 bus
if(!isnan(sensors.airTemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(sensors.airHumidity)){
SetN2kPGN130313(N2kMsg, 0, 0,(tN2kHumiditySource) HumiditySource, sensors.airHumidity, N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(sensors.airPressure)){
SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) PressureSource, sensors.airPressure);
api->sendN2kMessage(N2kMsg);
}
}
else if(envsensor == "BMP280" && BMP280_ready == true){
sensors.airTemperature = bmp280.readTemperature();
sensors.airPressure = bmp280.readPressure();
// Send to NMEA200 bus
if(!isnan(sensors.airTemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(sensors.airPressure)){
SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) PressureSource, sensors.airPressure);
api->sendN2kMessage(N2kMsg);
}
}
else if((envsensor == "BMP085" || envsensor == "BMP180") && BMP180_ready == true){
sensors.airTemperature = bmp085.readTemperature();
sensors.airPressure = bmp085.readPressure();
// Send to NMEA200 bus
if(!isnan(sensors.airTemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(sensors.airPressure)){
SetN2kPGN130314(N2kMsg, 0, 0, (tN2kPressureSource) PressureSource, sensors.airPressure);
api->sendN2kMessage(N2kMsg);
}
}
else if((envsensor == "SHT21" || envsensor == "HTU21") && SHT21_ready == true){
sensors.airHumidity = sht21.readCompensatedHumidity();
sensors.airTemperature = sht21.readTemperature();
// Send to NMEA200 bus
if(!isnan(sensors.airTemperature)){
SetN2kPGN130312(N2kMsg, 0, 0,(tN2kTempSource) TempSource, CToKelvin(sensors.airTemperature), N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
if(!isnan(sensors.airHumidity)){
SetN2kPGN130313(N2kMsg, 0, 0,(tN2kHumiditySource) HumiditySource, sensors.airHumidity, N2kDoubleNA);
api->sendN2kMessage(N2kMsg);
}
}
}
// Send rotation angle all 500ms
if(millis() > starttime7 + 500){
starttime7 = millis();
double rotationAngle=0;
if(String(rotsensor) == "AS5600" && AS5600_ready == true && as5600.detectMagnet() == 1){
rotationAngle = as5600.getRawAngle() * 0.087; // 0...4095 segments = 0.087 degree
// Offset correction
if(rotoffset >= 0){
rotationAngle = rotationAngle + rotoffset;
rotationAngle = int(rotationAngle) % 360;
}
else{
rotationAngle = rotationAngle + 360 + rotoffset;
rotationAngle = int(rotationAngle) % 360;
}
// Send to NMEA200 bus as rudder angle values
if(!isnan(rotationAngle) && String(rotfunction) == "Rudder"){
double rudder = rotationAngle - 180; // Center position is 180°
// Rudder limits to +/-45°
if(rudder < -45){
rudder = -45;
}
if(rudder > 45){
rudder = 45;
}
SetN2kRudder(N2kMsg, DegToRad(rudder), 0, N2kRDO_NoDirectionOrder, PI);
api->sendN2kMessage(N2kMsg);
}
// Send to NMEA200 bus as wind angle values
if(!isnan(rotationAngle) && String(rotfunction) == "Wind"){
SetN2kWindSpeed(N2kMsg, 1, 0, DegToRad(rotationAngle), N2kWind_Apprent);
api->sendN2kMessage(N2kMsg);
}
// Send to NMEA200 bus as trim angle values in [%]
if(!isnan(rotationAngle) && (String(rotfunction) == "Mast" || String(rotfunction) == "Keel" || String(rotfunction) == "Trim" || String(rotfunction) == "Boom")){
int trim = rotationAngle * 100 / 360; // 0...360° -> 0...100%
SetN2kTrimTab(N2kMsg, trim, trim);
api->sendN2kMessage(N2kMsg);
}
sensors.rotationAngle = DegToRad(rotationAngle); // Data take over to page
sensors.validRotAngle = true; // Valid true, magnet present
}
else{
sensors.rotationAngle = 0; // Center position 0°
sensors.validRotAngle = false; // Valid false, magnet missing
}
}
// Send battery power value all 1s
if(millis() > starttime8 + 1000 && (String(powsensor1) == "INA219" || String(powsensor1) == "INA226")){
starttime8 = millis();
if(String(powsensor1) == "INA226" && INA226_1_ready == true){
double voltage = ina226_1.getBusVoltage();
// Limiter for voltage average building
if(voltage < 0){
voltage = 0;
}
if(voltage > 30){
voltage = 30;
}
sensors.batteryVoltage = voltage;
sensors.batteryCurrent = ina226_1.getCurrent() * corrFactor;
// Eliminates bit jitter by zero current values
float factor = maxCurrent / 100;
if(sensors.batteryCurrent >= (-0.015 * factor) && sensors.batteryCurrent <= (0.015 * factor)){
sensors.batteryCurrent = 0;
}
// Save actual values in average arrays as integer values
batV.reading(int(sensors.batteryVoltage * 100));
batC.reading(int(sensors.batteryCurrent * 10));
// Calculate the average values for different time lines from integer values
sensors.batteryVoltage10 = batV.getAvg(10) / 100.0;
sensors.batteryVoltage60 = batV.getAvg(60) / 100.0;
sensors.batteryVoltage300 = batV.getAvg(300) / 100.0;
sensors.batteryCurrent10 = batC.getAvg(10) / 10.0;
sensors.batteryCurrent60 = batC.getAvg(60) / 10.0;
sensors.batteryCurrent300 = batC.getAvg(300) / 10.0;
sensors.batteryPower10 = sensors.batteryVoltage10 * sensors.batteryCurrent10;
sensors.batteryPower60 = sensors.batteryVoltage60 * sensors.batteryCurrent60;
sensors.batteryPower300 = sensors.batteryVoltage300 * sensors.batteryCurrent300;
// sensors.batteryPower = ina226_1.getPower() * corrFactor; // Real value
sensors.batteryPower = sensors.batteryVoltage * sensors.batteryCurrent; // Calculated power value (more stable)
}
// Send battery live data to NMEA200 bus
if(!isnan(sensors.batteryVoltage) && !isnan(sensors.batteryCurrent)){
SetN2kDCBatStatus(N2kMsg, 0, sensors.batteryVoltage, sensors.batteryCurrent, N2kDoubleNA, 1);
api->sendN2kMessage(N2kMsg);
}
}
// Send solar power value all 1s
if(millis() > starttime9 + 1000 && (String(powsensor2) == "INA219" || String(powsensor2) == "INA226")){
starttime9 = millis();
if(String(powsensor2) == "INA226" && INA226_2_ready == true){
double voltage = ina226_2.getBusVoltage();
// Limiter for voltage average building
if(voltage < 0){
voltage = 0;
}
if(voltage > 30){
voltage = 30;
}
sensors.solarVoltage = voltage;
sensors.solarCurrent = ina226_2.getCurrent() * corrFactor;
// Eliminates bit jitter by zero current values
float factor = maxCurrent / 100;
if(sensors.solarCurrent >= (-0.015 * factor) && sensors.solarCurrent <= (0.015 * factor)){
sensors.solarCurrent = 0;
}
// Calculate power value
sensors.solarPower = sensors.solarVoltage * sensors.solarCurrent; // more stable
}
// Send solar live data to NMEA200 bus
if(!isnan(sensors.solarVoltage) && !isnan(sensors.solarCurrent)){
SetN2kDCBatStatus(N2kMsg, 1, sensors.solarVoltage, sensors.solarCurrent, N2kDoubleNA, 1);
api->sendN2kMessage(N2kMsg);
}
}
// Send generator power value all 1s
if(millis() > starttime10 + 1000 && (String(powsensor3) == "INA219" || String(powsensor3) == "INA226")){
starttime10 = millis();
if(String(powsensor3) == "INA226" && INA226_3_ready == true){
double voltage = ina226_3.getBusVoltage();
// Limiter for voltage average building
if(voltage < 0){
voltage = 0;
}
if(voltage > 30){
voltage = 30;
}
sensors.generatorVoltage = voltage;
sensors.generatorCurrent = ina226_3.getCurrent() * corrFactor;
// Eliminates bit jitter by zero current values
float factor = maxCurrent / 100;
if(sensors.generatorCurrent >= (-0.015 * factor) && sensors.generatorCurrent <= (0.015 * factor)){
sensors.generatorCurrent = 0;
}
// Calculate power value
sensors.generatorPower = sensors.generatorVoltage * sensors.generatorCurrent; // more stable
}
// Send solar live data to NMEA200 bus
if(!isnan(sensors.generatorVoltage) && !isnan(sensors.generatorCurrent)){
SetN2kDCBatStatus(N2kMsg, 2, sensors.generatorVoltage, sensors.generatorCurrent, N2kDoubleNA, 1);
api->sendN2kMessage(N2kMsg);
}
}
shared->setSensorData(sensors);
}
vTaskDelete(NULL);
}
void createSensorTask(SharedData *shared){
xTaskCreate(sensorTask,"readSensors",10000,shared,3,NULL);
}
#endif