702 lines
35 KiB
C++
702 lines
35 KiB
C++
#ifdef BOARD_OBP60S3
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#include <Adafruit_Sensor.h> // Adafruit Lib for sensors
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#include <Adafruit_BME280.h> // Adafruit Lib for BME280
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#include <Adafruit_BMP280.h> // Adafruit Lib for BMP280
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#include <Adafruit_BMP085.h> // Adafruit Lib for BMP085 and BMP180
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#include <HTU21D.h> // Lib for SHT21/HTU21
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#include "AS5600.h" // Lib for magnetic rotation sensor AS5600
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#include <INA226.h> // Lib for power management IC INA226
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#include <Ticker.h> // Timer Lib for timer
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#include <RTClib.h> // DS1388 RTC
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#include <OneWire.h> // 1Wire Lib
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#include <DallasTemperature.h> // Lib for DS18B20
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#include "OBPSensorTask.h" // Lib for sensor reading
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#include "OBP60Hardware.h" // Hardware definitions
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#include "N2kMessages.h" // Lib for NMEA2000
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#include "NMEA0183.h" // Lib for NMEA0183
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#include "ObpNmea0183.h" // Check NMEA0183 sentence for uncorrect content
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#include "OBP60Extensions.h" // Lib for hardware extensions
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#include "movingAvg.h" // Lib for moving average building
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// Timer for hardware functions
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Ticker Timer1(blinkingFlashLED, 500); // Satrt Timer1 for flash LED all 500ms
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// Initialization for all sensors (RS232, I2C, 1Wire, IOs)
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//####################################################################################
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void sensorTask(void *param){
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SharedData *shared = (SharedData *)param;
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GwApi *api = shared->api;
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GwLog *logger = api->getLogger();
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LOG_DEBUG(GwLog::LOG, "Sensor task started");
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SensorData sensors;
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ObpNmea0183 NMEA0183;
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Adafruit_BME280 bme280; // Evironment sensor BME280
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Adafruit_BMP280 bmp280; // Evironment sensor BMP280
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Adafruit_BMP085 bmp085; // Evironment sensor BMP085 and BMP180
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HTU21D sht21(HTU21D_RES_RH12_TEMP14); // Environment sensor SHT21 and HTU21
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AMS_5600 as5600; // Rotation sensor AS5600
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INA226 ina226_1(INA226_I2C_ADDR1);// Power management sensor INA226 Battery
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INA226 ina226_2(INA226_I2C_ADDR2);// Power management sensor INA226 Solar
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INA226 ina226_3(INA226_I2C_ADDR3);// Power management sensor INA226 Generator
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RTC_DS1388 ds1388; // RTC DS1388
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OneWire oneWire(OBP_1WIRE); // 1Wire bus
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DallasTemperature ds18b20(&oneWire);// Sensors for DS18B20
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DeviceAddress tempDeviceAddress;// Table for DS18B20 device addresses
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// Init sensor stuff
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bool oneWire_ready = false; // 1Wire initialized and ready to use
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bool RTC_ready = false; // DS1388 initialized and ready to use
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bool GPS_ready = false; // GPS initialized and ready to use
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bool BME280_ready = false; // BME280 initialized and ready to use
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bool BMP280_ready = false; // BMP280 initialized and ready to use
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bool BMP180_ready = false; // BMP180 initialized and ready to use
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bool SHT21_ready = false; // SHT21 initialized and ready to use
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bool AS5600_ready = false; // AS5600 initialized and ready to use
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bool INA226_1_ready = false; // INA226_1 initialized and ready to use
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bool INA226_2_ready = false; // INA226_2 initialized and ready to use
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bool INA226_3_ready = false; // INA226_3 initialized and ready to use
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// Create integer arrays for average building
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const int avgsize = 300;
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constexpr int arrayBatV{avgsize};
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constexpr int arrayBatC{avgsize};
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movingAvg batV(arrayBatV);
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movingAvg batC(arrayBatC);
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batV.begin();
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batC.begin();
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// Start timer
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Timer1.start(); // Start Timer1 for blinking LED
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// Direction settings for NMEA0183
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String nmea0183Mode = api->getConfig()->getConfigItem(api->getConfig()->serialDirection, true)->asString();
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api->getLogger()->logDebug(GwLog::LOG, "NMEA0183 Mode is: %s", nmea0183Mode.c_str());
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pinMode(OBP_DIRECTION_PIN, OUTPUT);
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if (String(nmea0183Mode) == "receive" || String(nmea0183Mode) == "off")
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{
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digitalWrite(OBP_DIRECTION_PIN, false);
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}
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if (String(nmea0183Mode) == "send")
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{
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digitalWrite(OBP_DIRECTION_PIN, true);
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}
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// Internal voltage sensor initialization
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String powsensor1 = api->getConfig()->getConfigItem(api->getConfig()->usePowSensor1, true)->asString();
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double voffset = (api->getConfig()->getConfigItem(api->getConfig()->vOffset,true)->asString()).toFloat();
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double vslope = (api->getConfig()->getConfigItem(api->getConfig()->vSlope,true)->asString()).toFloat();
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if(String(powsensor1) == "off"){
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sensors.batteryVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.17) * 20; // Vin = 1/20
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sensors.batteryVoltage = sensors.batteryVoltage * vslope + voffset; // Calibration
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sensors.batteryCurrent = 0;
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sensors.batteryPower = 0;
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// Fill average arrays with start values
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for (int i=1; i<=avgsize+1; ++i) {
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batV.reading(int(sensors.batteryVoltage * 100));
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batC.reading(int(sensors.batteryCurrent * 10));
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}
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}
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// Settings for 1Wire bus
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String oneWireOn=api->getConfig()->getConfigItem(api->getConfig()->useTempSensor,true)->asString();
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int numberOfDevices;
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if(String(oneWireOn) == "DS18B20"){
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ds18b20.begin();
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DeviceAddress tempDeviceAddress;
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numberOfDevices = ds18b20.getDeviceCount();
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// Limit for 8 sensors
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if(numberOfDevices > 8){
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numberOfDevices = 8;
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}
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if (numberOfDevices < 1) {
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oneWire_ready = false;
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api->getLogger()->logDebug(GwLog::ERROR,"Modul DS18B20 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"1Wire modul found at:");
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for(int i=0;i<numberOfDevices; i++){
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// Search the wire for address
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if(ds18b20.getAddress(tempDeviceAddress, i)){
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api->getLogger()->logDebug(GwLog::LOG,"DS18B20-%01d: %12d", i, tempDeviceAddress[i]);
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} else {
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api->getLogger()->logDebug(GwLog::LOG,"DS18B20-%01d: Sensor with errors, check wiring!", i);
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}
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}
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oneWire_ready = true;
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}
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}
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// Settings for RTC
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String rtcOn=api->getConfig()->getConfigItem(api->getConfig()->useRTC,true)->asString();
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if(String(rtcOn) == "DS1388"){
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if (!ds1388.begin()) {
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RTC_ready = false;
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api->getLogger()->logDebug(GwLog::ERROR,"Modul DS1388 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"Modul DS1388 found");
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uint year = ds1388.now().year();
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if(year < 2023){
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// ds1388.adjust(DateTime(__DATE__, __TIME__)); // Set date and time from PC file time
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}
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RTC_ready = true;
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}
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}
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// Settings for GPS sensors
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String gpsOn=api->getConfig()->getConfigItem(api->getConfig()->useGPS,true)->asString();
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uint hdopAccuracy = uint(api->getConfig()->getConfigItem(api->getConfig()->hdopAccuracy,true)->asInt());
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if(String(gpsOn) == "NEO-6M"){
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Serial2.begin(9600, SERIAL_8N1, OBP_GPS_RX, OBP_GPS_TX, false); // not inverted (false)
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if (!Serial2) {
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api->getLogger()->logDebug(GwLog::ERROR,"GPS modul NEO-6M not found, check wiring");
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GPS_ready = false;
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"GPS modul NEO-M6 found");
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NMEA0183.SetMessageStream(&Serial2);
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NMEA0183.Open();
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GPS_ready = true;
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}
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}
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if(String(gpsOn) == "NEO-M8N"){
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Serial2.begin(9600, SERIAL_8N1, OBP_GPS_RX, OBP_GPS_TX, false); // not inverted (false)
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if (!Serial2) {
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api->getLogger()->logDebug(GwLog::ERROR,"GPS modul NEO-M8N not found, check wiring");
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GPS_ready = false;
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"GPS modul NEO-M8N found");
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NMEA0183.SetMessageStream(&Serial2);
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NMEA0183.Open();
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GPS_ready = true;
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}
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}
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if(String(gpsOn) == "ATGM336H"){
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Serial2.begin(9600, SERIAL_8N1, OBP_GPS_RX, OBP_GPS_TX, false); // not inverted (false)
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if (!Serial2) {
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api->getLogger()->logDebug(GwLog::ERROR,"GPS modul ATGM336H not found, check wiring");
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GPS_ready = false;
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"GPS modul ATGM336H found");
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NMEA0183.SetMessageStream(&Serial2);
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NMEA0183.Open();
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GPS_ready = true;
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}
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}
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// Settings for environment sensors on I2C bus
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String envSensors=api->getConfig()->getConfigItem(api->getConfig()->useEnvSensor,true)->asString();
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if(String(envSensors) == "BME280"){
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if (!bme280.begin(BME280_I2C_ADDR)) {
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api->getLogger()->logDebug(GwLog::ERROR,"Modul BME280 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"Modul BME280 found");
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sensors.airTemperature = bme280.readTemperature();
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sensors.airPressure = bme280.readPressure();
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sensors.airHumidity = bme280.readHumidity();
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BME280_ready = true;
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}
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}
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else if(String(envSensors) == "BMP280"){
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if (!bmp280.begin(BMP280_I2C_ADDR)) {
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api->getLogger()->logDebug(GwLog::ERROR,"Modul BMP280 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"Modul BMP280 found");
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sensors.airTemperature = bmp280.readTemperature();
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sensors.airPressure = bmp280.readPressure();
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BMP280_ready = true;
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}
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}
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else if(String(envSensors) == "BMP085" || String(envSensors) == "BMP180"){
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if (!bmp085.begin()) {
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api->getLogger()->logDebug(GwLog::ERROR,"Modul BMP085/BMP180 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"Modul BMP085/BMP180 found");
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sensors.airTemperature = bmp085.readTemperature();
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sensors.airPressure = bmp085.readPressure();
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BMP180_ready = true;
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}
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}
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else if(String(envSensors) == "HTU21" || String(envSensors) == "SHT21"){
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if (!sht21.begin()) {
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api->getLogger()->logDebug(GwLog::ERROR,"Modul HTU21/SHT21 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"Modul HTU21/SHT21 found");
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sensors.airHumidity = sht21.readCompensatedHumidity();
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sensors.airTemperature = sht21.readTemperature();
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SHT21_ready = true;
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}
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}
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// Settings for rotation sensors AS5600 on I2C bus
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String envsensor = api->getConfig()->getConfigItem(api->getConfig()->useEnvSensor, true)->asString();
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String rotsensor = api->getConfig()->getConfigItem(api->getConfig()->useRotSensor, true)->asString();
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String rotfunction = api->getConfig()->getConfigItem(api->getConfig()->rotFunction, true)->asString();
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String rotSensor=api->getConfig()->getConfigItem(api->getConfig()->useRotSensor,true)->asString();
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if(String(rotSensor) == "AS5600"){
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Wire.beginTransmission(AS5600_I2C_ADDR);
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if (Wire.endTransmission() != 0) {
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api->getLogger()->logDebug(GwLog::ERROR,"Modul AS5600 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"Modul AS5600 found");
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sensors.rotationAngle = DegToRad(as5600.getRawAngle() * 0.087); // 0...4095 segments = 0.087 degree
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//sensors.magnitude = as5600.getMagnitude(); // Magnetic magnitude in [mT]
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AS5600_ready = true;
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}
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}
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// Settings for power amangement sensors INA226 #1 for Battery on I2C bus
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String shunt1 = api->getConfig()->getConfigItem(api->getConfig()->shunt1, true)->asString();
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// Settings for power amangement sensors INA226 #1 for Solar on I2C bus
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String powsensor2 = api->getConfig()->getConfigItem(api->getConfig()->usePowSensor2, true)->asString();
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String shunt2 = api->getConfig()->getConfigItem(api->getConfig()->shunt2, true)->asString();
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// Settings for power amangement sensors INA226 #1 for Generator on I2C bus
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String powsensor3 = api->getConfig()->getConfigItem(api->getConfig()->usePowSensor3, true)->asString();
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String shunt3 = api->getConfig()->getConfigItem(api->getConfig()->shunt3, true)->asString();
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float shuntResistor = 1.0; // Default value for shunt resistor
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float maxCurrent = 10.0; // Default value for max. current
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float corrFactor = 1; // Correction factor for fix calibration
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// Battery sensor initialization
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if(String(powsensor1) == "INA226"){
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if (!ina226_1.begin()){
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api->getLogger()->logDebug(GwLog::ERROR,"Modul 1 INA226 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"Modul 1 INA226 found");
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shuntResistor = SHUNT_VOLTAGE / float(shunt1.toInt()); // Calculate shunt resisitor for max. shunt voltage 75mV
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maxCurrent = shunt1.toFloat();
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api->getLogger()->logDebug(GwLog::LOG,"Calibation Modul 2 INA226, Imax:%3.0fA Rs:%7.5fOhm Us:%5.3f", maxCurrent, shuntResistor, SHUNT_VOLTAGE);
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// ina226_1.setMaxCurrentShunt(maxCurrent, shuntResistor);
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ina226_1.setMaxCurrentShunt(10, 0.01); // Calibration with fix values (because the original values outer range)
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corrFactor = (maxCurrent / 10) * (0.001 / shuntResistor) / (maxCurrent / 100); // Correction factor for fix calibration
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sensors.batteryVoltage = ina226_1.getBusVoltage();
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sensors.batteryCurrent = ina226_1.getCurrent() * corrFactor;
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sensors.batteryPower = ina226_1.getPower() * corrFactor;
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// Fill average arrays with start values
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for (int i=1; i<=avgsize+1; ++i) {
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batV.reading(int(sensors.batteryVoltage * 100));
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batC.reading(int(sensors.batteryCurrent * 10));
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}
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INA226_1_ready = true;
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}
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}
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// Solar sensor initialization
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if(String(powsensor2) == "INA226"){
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if (!ina226_2.begin()){
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api->getLogger()->logDebug(GwLog::ERROR,"Modul 2 INA226 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"Modul 2 INA226 found");
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shuntResistor = SHUNT_VOLTAGE / float(shunt2.toInt()); // Calculate shunt resisitor for max. shunt voltage 75mV
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maxCurrent = shunt2.toFloat();
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api->getLogger()->logDebug(GwLog::LOG,"Calibation Modul 2 INA226, Imax:%3.0fA Rs:%7.5fOhm Us:%5.3f", maxCurrent, shuntResistor, SHUNT_VOLTAGE);
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// ina226_1.setMaxCurrentShunt(maxCurrent, shuntResistor);
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ina226_2.setMaxCurrentShunt(10, 0.01); // Calibration with fix values (because the original values outer range)
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corrFactor = (maxCurrent / 10) * (0.001 / shuntResistor) / (maxCurrent / 100); // Correction factor for fix calibration
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sensors.solarVoltage = ina226_2.getBusVoltage();
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sensors.solarCurrent = ina226_2.getCurrent() * corrFactor;
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sensors.solarPower = ina226_2.getPower() * corrFactor;
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// Fill average arrays with start values
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INA226_2_ready = true;
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}
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}
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// Generator sensor initialization
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if(String(powsensor3) == "INA226"){
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if (!ina226_3.begin()){
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api->getLogger()->logDebug(GwLog::ERROR,"Modul 3 INA226 not found, check wiring");
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}
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else{
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api->getLogger()->logDebug(GwLog::LOG,"Modul 3 INA226 found");
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shuntResistor = SHUNT_VOLTAGE / float(shunt3.toInt()); // Calculate shunt resisitor for max. shunt voltage 75mV
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maxCurrent = shunt3.toFloat();
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api->getLogger()->logDebug(GwLog::LOG,"Calibation Modul 3 INA226, Imax:%3.0fA Rs:%7.5fOhm Us:%5.3f", maxCurrent, shuntResistor, SHUNT_VOLTAGE);
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// ina226_1.setMaxCurrentShunt(maxCurrent, shuntResistor);
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ina226_3.setMaxCurrentShunt(10, 0.01); // Calibration with fix values (because the original values outer range)
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corrFactor = (maxCurrent / 10) * (0.001 / shuntResistor) / (maxCurrent / 100); // Correction factor for fix calibration
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sensors.generatorVoltage = ina226_3.getBusVoltage();
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sensors.generatorCurrent = ina226_3.getCurrent() * corrFactor;
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sensors.generatorPower = ina226_3.getPower() * corrFactor;
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// Fill average arrays with start values
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INA226_3_ready = true;
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}
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}
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int rotoffset = api->getConfig()->getConfigItem(api->getConfig()->rotOffset,true)->asInt();
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static long loopCounter = 0; // Loop counter for 1Wire data transmission
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long starttime0 = millis(); // GPS update all 100ms
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long starttime5 = millis(); // Voltage update all 1s
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long starttime6 = millis(); // Environment sensor update all 1s
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long starttime7 = millis(); // Rotation sensor update all 500ms
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long starttime8 = millis(); // Battery power sensor update all 1s
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long starttime9 = millis(); // Solar power sensor update all 1s
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long starttime10 = millis(); // Generator power sensor update all 1s
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long starttime11 = millis(); // Copy GPS data to RTC all 5min
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long starttime12 = millis(); // Get RTC data all 500ms
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long starttime13 = millis(); // Get 1Wire sensor data all 2s
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tN2kMsg N2kMsg;
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shared->setSensorData(sensors); //set initially read values
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GwApi::BoatValue *gpsdays=new GwApi::BoatValue(GwBoatData::_GPSD);
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GwApi::BoatValue *gpsseconds=new GwApi::BoatValue(GwBoatData::_GPST);
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GwApi::BoatValue *hdop=new GwApi::BoatValue(GwBoatData::_HDOP);
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GwApi::BoatValue *valueList[]={gpsdays, gpsseconds, hdop};
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// Sensor task loop runs with 100ms
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//####################################################################################
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while (true){
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delay(100); // Loop time 100ms
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Timer1.update(); // Update for Timer2
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if (millis() > starttime0 + 100)
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{
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starttime0 = millis();
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// Send NMEA0183 GPS data on several bus systems all 100ms
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if (GPS_ready == true && hdop->value <= hdopAccuracy)
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{
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SNMEA0183Msg NMEA0183Msg;
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while (NMEA0183.GetMessageCor(NMEA0183Msg))
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{
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api->sendNMEA0183Message(NMEA0183Msg);
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}
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}
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}
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// If RTC DS1388 ready, then copy GPS data to RTC all 5min
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if(millis() > starttime11 + 5*60*1000){
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starttime11 = millis();
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if(rtcOn == "DS1388" && RTC_ready == true && GPS_ready == true){
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api->getBoatDataValues(3,valueList);
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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++;
|
|
}
|
|
|
|
// If GPS not ready or installed then send RTC time on bus all 500ms
|
|
if(millis() > starttime12 + 500){
|
|
starttime12 = millis();
|
|
if((rtcOn == "DS1388" && RTC_ready == true && GPS_ready == false) || (rtcOn == "DS1388" && RTC_ready == true && GPS_ready == true && hdop->valid == false)){
|
|
// Convert RTC time to Unix system time
|
|
// https://de.wikipedia.org/wiki/Unixzeit
|
|
const short daysOfYear[12] = {0,31,59,90,120,151,181,212,243,273,304,334};
|
|
long unixtime = ds1388.now().get();
|
|
uint16_t year = ds1388.now().year();
|
|
uint8_t month = ds1388.now().month();
|
|
uint8_t hour = ds1388.now().hour();
|
|
uint8_t minute = ds1388.now().minute();
|
|
uint8_t second = ds1388.now().second();
|
|
uint8_t day = ds1388.now().day();
|
|
uint16_t switchYear = ((year-1)-1968)/4 - ((year-1)-1900)/100 + ((year-1)-1600)/400;
|
|
long daysAt1970 = (year-1970)*365 + switchYear + daysOfYear[month-1] + day-1;
|
|
// If switch year then add one day
|
|
if ( (month>2) && (year%4==0 && (year%100!=0 || year%400==0)) ){
|
|
daysAt1970 += 1;
|
|
}
|
|
double sysTime = (hour * 3600) + (minute * 60) + second;
|
|
if(!isnan(daysAt1970) && !isnan(sysTime)){
|
|
sensors.rtcYear = year; // Save values in SensorData
|
|
sensors.rtcMonth = month;
|
|
sensors.rtcDay = day;
|
|
sensors.rtcHour = hour;
|
|
sensors.rtcMinute = minute;
|
|
sensors.rtcSecond = second;
|
|
// api->getLogger()->logDebug(GwLog::LOG,"RTC time: %04d/%02d/%02d %02d:%02d:%02d",year, month, day, hour, minute, second);
|
|
// api->getLogger()->logDebug(GwLog::LOG,"Send PGN126992: %10d %10d",daysAt1970, (uint16_t)sysTime);
|
|
SetN2kPGN126992(N2kMsg,0,daysAt1970,sysTime,N2ktimes_LocalCrystalClock);
|
|
api->sendN2kMessage(N2kMsg);
|
|
}
|
|
}
|
|
}
|
|
|
|
// Send supplay voltage value all 1s
|
|
if(millis() > starttime5 + 1000 && String(powsensor1) == "off"){
|
|
starttime5 = millis();
|
|
sensors.batteryVoltage = (float(analogRead(OBP_ANALOG0)) * 3.3 / 4096 + 0.17) * 20; // Vin = 1/20
|
|
sensors.batteryVoltage = sensors.batteryVoltage * 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;
|
|
// Send to NMEA200 bus
|
|
if(!isnan(sensors.batteryVoltage)){
|
|
SetN2kDCBatStatus(N2kMsg, 0, sensors.batteryVoltage, N2kDoubleNA, N2kDoubleNA, 1);
|
|
api->sendN2kMessage(N2kMsg);
|
|
}
|
|
}
|
|
|
|
// 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
|