Squashed 'lib/NMEA2000/' changes from 077effa..d3c5680

d3c5680 Document update
8a9afe7 Document update
7dce81e Missing updated file
62fdd2d Merge pull request #19 from xslim/patch-1
3010625 Re-send ISO Address claim if request came from 0xff
d451d77 New features and fixes. See. Changes on Readme
372890a Merge pull request #16 from thomasonw/master
47bfdfe User ISO Request Handler - REVISED
9c6912b Library reference update and new example
b5beec2 User ISO Request Handler
8e646fd New PGN 127257. Fix for PGN 127489
f286190 Merge pull request #12 from thomasonw/master
d80b511 Added to API -- Optional message lists
23bc3c6 Merge pull request #2 from ttlappalainen/master
67c140d Some example fixes and changes
3748175 Merge pull request #9 from thomasonw/master
8f5b979 Corrected parsing of DCBatStatus
ac2c890 Corrected Battery Current in ParseN2kPGN127508
86b4662 Merge pull request #1 from ttlappalainen/master
a804b96 Comment update

git-subtree-dir: lib/NMEA2000
git-subtree-split: d3c5680

Examples/MessageSender/MessageSender.ino

@@ -26,7 +26,7 @@ void setup() {
   // If you also want to see all traffic on the bus use N2km_ListenAndNode instead of N2km_NodeOnly below
   NMEA2000.SetMode(tNMEA2000::N2km_NodeOnly,22);
   //NMEA2000.SetDebugMode(tNMEA2000::dm_ClearText); // Uncomment this, so you can test code without CAN bus chips on Arduino Mega
-  NMEA2000.EnableForward(false); // Disable all msg forwarding to USB (=Serial)
+  //NMEA2000.EnableForward(false); // Disable all msg forwarding to USB (=Serial)
   NMEA2000.Open();
 }
 
@@ -57,6 +57,12 @@ void SendN2kSlowData() {
 
   if ( SlowDataUpdated+SlowDataUpdatePeriod<millis() ) {
     SlowDataUpdated=millis();
+
+    SetN2kDCBatStatus(N2kMsg, 1, 12.72);
+    delay(DelayBetweenSend); NMEA2000.SendMsg(N2kMsg);
+
+    SetN2kDCBatStatus(N2kMsg, 0, 12.45, 5.08, CToKelvin(27.15));
+    delay(DelayBetweenSend); NMEA2000.SendMsg(N2kMsg);
 
     SetN2kTemperatureExt(N2kMsg, 1, 1, N2kts_MainCabinTemperature, ReadCabinTemp(),CToKelvin(21.6));
     delay(DelayBetweenSend); NMEA2000.SendMsg(N2kMsg);
@@ -76,7 +82,10 @@ void SendN2kSlowData() {
     SetN2kDCStatus(N2kMsg,1,1,N2kDCt_Alternator,86,91,1420,0.21);
     delay(DelayBetweenSend); NMEA2000.SendMsg(N2kMsg);
 
-    SetN2kEngineDynamicParam(N2kMsg,1,656000,CToKelvin(86.3),CToKelvin(82.1),14.21,5.67,hToSeconds(2137.55));
+    SetN2kAttitude(N2kMsg,1,DegToRad(-3.1),DegToRad(2.4),DegToRad(-7.8));
+    delay(DelayBetweenSend); NMEA2000.SendMsg(N2kMsg);
+
+    SetN2kEngineDynamicParam(N2kMsg,1,656000,CToKelvin(86.3),CToKelvin(82.1),14.21,5.67,hToSeconds(2137.55),N2kDoubleNA,N2kDoubleNA,N2kInt8NA,N2kInt8NA,true);
     delay(DelayBetweenSend); NMEA2000.SendMsg(N2kMsg);
 
     SetN2kTransmissionParameters(N2kMsg,1,N2kTG_Forward,750000, CToKelvin(65.5),0x6f);
@@ -88,6 +97,9 @@ void SendN2kSlowData() {
     SetN2kGNSS(N2kMsg,1,17555,62000,-60.1,67.5,10.5,N2kGNSSt_GPS,N2kGNSSm_GNSSfix,12,0.8,0.5,15,1,N2kGNSSt_GPS,15,2);
     delay(DelayBetweenSend); NMEA2000.SendMsg(N2kMsg);
     // Serial.print(millis()); Serial.println(", Temperature send ready");
+
+    SetN2kMagneticHeading(N2kMsg, 0, DegToRad(127.5), DegToRad(0.0), DegToRad(7.5)); 
+    delay(DelayBetweenSend); NMEA2000.SendMsg(N2kMsg);
   }
 }
 

Examples/TeensyActisenseListenerSender/TeensyActisenseListenerSender.ino

@@ -0,0 +1,35 @@
+// Demo: NMEA2000 library. NMEA 2000 bus Actisense format listener and sender. 
+//   Sends all bus data to serial1 in Actisense format.
+//   Send all data received from serial (USB) in Actisense format to the N2kBus.
+//   Use this e.g. with NMEA Simulator (see. http://www.kave.fi/Apps/index.html) to send simulated data to the bus.
+
+#include <Arduino.h>
+#include <NMEA2000_CAN.h>
+#include <ActisenseReader.h>
+
+tActisenseReader ActisenseReader;
+
+void setup() {
+  Serial.begin(115200); // Data from PC
+  Serial1.begin(115200); // Data to PC
+  NMEA2000.SetForwardStream(&Serial1); 
+  NMEA2000.SetMode(tNMEA2000::N2km_ListenAndSend);
+  //NMEA2000.SetForwardType(tNMEA2000::fwdt_Text); // Show in clear text
+  NMEA2000.Open();
+
+  // I had problem to use same Serial stream for reading and sending.
+  // It worked for a while, but then stopped.
+  ActisenseReader.SetReadStream(&Serial);
+  ActisenseReader.SetMsgHandler(HandleStreamN2kMsg); 
+}
+
+void HandleStreamN2kMsg(const tN2kMsg &N2kMsg) {
+  // N2kMsg.Print(&Serial);
+  NMEA2000.SendMsg(N2kMsg,-1);
+}
+
+void loop() {
+  NMEA2000.ParseMessages();
+  ActisenseReader.ParseMessages();
+}
+

N2kCANMsg.h

@@ -32,6 +32,7 @@ class tN2kCANMsg
   bool Ready;  // Ready for handling
   bool FreeMsg; // Msg is free for fill up
   bool SystemMessage;
+  bool KnownMessage;
   unsigned char LastFrame; // Last received frame on fast packets
   unsigned char CopiedLen;
 

N2kMessages.cpp

@@ -113,6 +113,37 @@ bool ParseN2kPGN127251(const tN2kMsg &N2kMsg, unsigned char &SID, double &RateOf
   return true;
 }
 
+//*****************************************************************************
+// Attitude
+// Input:
+//  - SID                   Sequence ID. If your device is e.g. boat speed and heading at same time, you can set same SID for different messages
+//                          to indicate that they are measured at same time.
+//  - Yaw                   Heading in radians.
+//  - Pitch                 Pitch in radians. Positive, when your bow rises.
+//  - Roll                  Roll in radians. Positive, when tilted right.
+// Output:
+//  - N2kMsg                NMEA2000 message ready to be send.
+void SetN2kPGN127257(tN2kMsg &N2kMsg, unsigned char SID, double Yaw, double Pitch, double Roll) {
+    N2kMsg.SetPGN(127257L);
+    N2kMsg.Priority=2;
+    N2kMsg.AddByte(SID);
+    N2kMsg.Add2ByteDouble(Yaw,0.0001);
+    N2kMsg.Add2ByteDouble(Pitch,0.0001);
+    N2kMsg.Add2ByteDouble(Roll,0.0001);
+    N2kMsg.AddByte(0xff); // Reserved
+}
+
+bool ParseN2kPGN127257(const tN2kMsg &N2kMsg, unsigned char &SID, double &Yaw, double &Pitch, double &Roll){
+  if (N2kMsg.PGN!=127257L) return false;
+
+  int Index=0;
+  Yaw=N2kMsg.Get2ByteDouble(0.001,Index);
+  Pitch=N2kMsg.Get2ByteDouble(0.001,Index);
+  Roll=N2kMsg.Get2ByteDouble(0.001,Index);
+
+  return true;
+}
+
 //*****************************************************************************
 // Engine rapid param
 void SetN2kPGN127488(tN2kMsg &N2kMsg, unsigned char EngineInstance, double EngineSpeed, 
@@ -142,6 +173,7 @@ bool ParseN2kPGN127488(const tN2kMsg &N2kMsg, unsigned char &EngineInstance, dou
 }
 
 //*****************************************************************************
+// Engine parameters dynamic
 void SetN2kPGN127489(tN2kMsg &N2kMsg, unsigned char EngineInstance, double EngineOilPress, double EngineOilTemp, double EngineCoolantTemp, double AltenatorVoltage,
                        double FuelRate, double EngineHours, double EngineCoolantPress, double EngineFuelPress, int8_t EngineLoad, int8_t EngineTorque, 
                        bool flagCheckEngine,
@@ -162,8 +194,6 @@ void SetN2kPGN127489(tN2kMsg &N2kMsg, unsigned char EngineInstance, double Engin
   N2kMsg.Add2ByteUDouble(EngineCoolantPress, 100);
   N2kMsg.Add2ByteUDouble(EngineFuelPress, 1000);
   N2kMsg.AddByte(0xff);  // reserved
-  N2kMsg.Add2ByteInt(0x0000);  // Discrete Status 1
-  N2kMsg.Add2ByteInt(0x0000);  // Discrete Status 2
 
   int engineStatus1P1 = B00000000;
   int engineStatus1P2 = B00000000;
@@ -194,6 +224,8 @@ void SetN2kPGN127489(tN2kMsg &N2kMsg, unsigned char EngineInstance, double Engin
   if (flagSubThrottle) engineStatus2 |= B00100000;
   if (flagNeutralStartProtect) engineStatus2 |= B01000000;
   if (flagEngineShuttingDown) engineStatus2 |= B10000000;
+  N2kMsg.Add2ByteInt(engineStatus1P2<<8 | engineStatus1P1); // Discrete Status 1
+  N2kMsg.Add2ByteInt(engineStatus2);  // Discrete Status 1
 
   N2kMsg.AddByte(EngineLoad);
   N2kMsg.AddByte(EngineTorque);
@@ -333,7 +365,7 @@ bool ParseN2kPGN127508(const tN2kMsg &N2kMsg, unsigned char &BatteryInstance, do
   int Index=0;
   BatteryInstance=N2kMsg.GetByte(Index);
   BatteryVoltage=N2kMsg.Get2ByteDouble(0.01,Index);
-  BatteryCurrent=N2kMsg.Get2ByteDouble(0.01,Index);
+  BatteryCurrent=N2kMsg.Get2ByteDouble(0.1,Index);
   BatteryTemperature=N2kMsg.Get2ByteUDouble(0.01,Index);
   SID=N2kMsg.GetByte(Index);
 
@@ -953,7 +985,7 @@ void SetN2kPGN130310(tN2kMsg &N2kMsg, unsigned char SID, double WaterTemperature
     N2kMsg.AddByte(SID);
     N2kMsg.Add2ByteUDouble(WaterTemperature,0.01);
     N2kMsg.Add2ByteUDouble(OutsideAmbientAirTemperature,0.01);
-    N2kMsg.Add2ByteUDouble(AtmosphericPressure,1);
+    N2kMsg.Add2ByteUDouble(AtmosphericPressure,100);
     N2kMsg.AddByte(0xff);  // reserved
 }
 
@@ -964,7 +996,7 @@ bool ParseN2kPGN130310(const tN2kMsg &N2kMsg, unsigned char &SID, double &WaterT
   SID=N2kMsg.GetByte(Index);
   WaterTemperature=N2kMsg.Get2ByteUDouble(0.01,Index);
   OutsideAmbientAirTemperature=N2kMsg.Get2ByteUDouble(0.01,Index);
-  AtmosphericPressure=N2kMsg.Get2ByteUDouble(1,Index);
+  AtmosphericPressure=N2kMsg.Get2ByteUDouble(100,Index);
 
   return true;
 }                     
@@ -980,7 +1012,7 @@ void SetN2kPGN130311(tN2kMsg &N2kMsg, unsigned char SID, tN2kTempSource TempInst
     N2kMsg.AddByte(((HumidityInstance) & 0x03)<<6 | (TempInstance & 0x3f));
     N2kMsg.Add2ByteUDouble(Temperature,0.01);
     N2kMsg.Add2ByteDouble(Humidity,0.004);
-    N2kMsg.Add2ByteUDouble(AtmosphericPressure,1);
+    N2kMsg.Add2ByteUDouble(AtmosphericPressure,100);
 }
 
 //*****************************************************************************

N2kMessages.h

@@ -42,8 +42,12 @@ inline double RadToDeg(double v) { return v*180.0/3.1415926535897932384626433832
 inline double DegToRad(double v) { return v/180.0*3.1415926535897932384626433832795; }
 inline double CToKelvin(double v) { return v+273.15; }
 inline double KelvinToC(double v) { return v-273.15; }
+inline double FToKelvin(double v) { return (v-32)*5.0/9.0+273.15; }
+inline double KelvinToF(double v) { return (v-273.15)*9.0/5.0+32; }
 inline double mBarToPascal(double v) { return v*100; }
 inline double PascalTomBar(double v) { return v/100; }
+inline double hPAToPascal(double v) { return v*100; }
+inline double PascalTohPA(double v) { return v/100; }
 inline double AhToCoulomb(double v) { return v*3600; }
 inline double CoulombToAh(double v) { return v/3600; }
 inline double hToSeconds(double v) { return v*3600; }
@@ -327,6 +331,27 @@ inline bool ParseN2kRateOfTurn(const tN2kMsg &N2kMsg, unsigned char &SID, double
   return ParseN2kPGN127251(N2kMsg,SID,RateOfTurn);                   
 }
 
+//*****************************************************************************
+// Attitude
+// Input:
+//  - SID                   Sequence ID. If your device is e.g. boat speed and heading at same time, you can set same SID for different messages
+//                          to indicate that they are measured at same time.
+//  - Yaw                   Heading in radians.
+//  - Pitch                 Pitch in radians. Positive, when your bow rises.
+//  - Roll                  Roll in radians. Positive, when tilted right.
+// Output:
+//  - N2kMsg                NMEA2000 message ready to be send.
+void SetN2kPGN127257(tN2kMsg &N2kMsg, unsigned char SID, double Yaw, double Pitch, double Roll);
+
+inline void SetN2kAttitude(tN2kMsg &N2kMsg, unsigned char SID, double Yaw, double Pitch, double Roll) {
+  SetN2kPGN127257(N2kMsg,SID, Yaw, Pitch, Roll);
+}
+
+bool ParseN2kPGN127257(const tN2kMsg &N2kMsg, unsigned char &SID, double &Yaw, double &Pitch, double &Roll);
+inline bool ParseN2kAttitude(const tN2kMsg &N2kMsg, unsigned char &SID, double &Yaw, double &Pitch, double &Roll) {
+  return ParseN2kPGN127257(N2kMsg,SID, Yaw, Pitch, Roll);                   
+}
+
 //*****************************************************************************
 // Engine parameters rapid
 // Input:
@@ -431,20 +456,49 @@ inline bool ParseN2kEngineDynamicParam(const tN2kMsg &N2kMsg, unsigned char &Eng
 // Output:
 //  - N2kMsg                NMEA2000 message ready to be send.
 void SetN2kPGN127493(tN2kMsg &N2kMsg, unsigned char EngineInstance, tN2kTransmissionGear TransmissionGear, 
-                     double OilPressure, double OilTemperature, unsigned char DiscreteStatus1);
+                     double OilPressure, double OilTemperature, unsigned char DiscreteStatus1=0);
 
 inline void SetN2kTransmissionParameters(tN2kMsg &N2kMsg, unsigned char EngineInstance, tN2kTransmissionGear TransmissionGear, 
-                     double OilPressure, double OilTemperature, unsigned char DiscreteStatus1) {
+                     double OilPressure, double OilTemperature, unsigned char DiscreteStatus1=0) {
   SetN2kPGN127493(N2kMsg, EngineInstance, TransmissionGear, OilPressure, OilTemperature, DiscreteStatus1);
 }
 
+inline void SetN2kTransmissionParameters(tN2kMsg &N2kMsg, unsigned char EngineInstance, tN2kTransmissionGear TransmissionGear, 
+                     double OilPressure, double OilTemperature,
+                     bool flagCheck,       bool flagOverTemp,         bool flagLowOilPressure=false,         bool flagLowOilLevel=false,
+                     bool flagSailDrive=false) {
+  unsigned char DiscreteStatus1=0;
+
+  if (flagCheck) DiscreteStatus1 |= B00000001;
+  if (flagOverTemp) DiscreteStatus1 |= B00000010;
+  if (flagLowOilPressure) DiscreteStatus1 |= B00000100;
+  if (flagLowOilLevel) DiscreteStatus1 |= B00001000;
+  if (flagSailDrive) DiscreteStatus1 |= B00010000;
+  SetN2kPGN127493(N2kMsg, EngineInstance, TransmissionGear, OilPressure, OilTemperature,DiscreteStatus1);
+}
+
 bool ParseN2kPGN127493(const tN2kMsg &N2kMsg, unsigned char &EngineInstance, tN2kTransmissionGear &TransmissionGear, 
                      double &OilPressure, double &OilTemperature, unsigned char &DiscreteStatus1);
 inline bool ParseN2kTransmissionParameters(const tN2kMsg &N2kMsg, unsigned char &EngineInstance, tN2kTransmissionGear &TransmissionGear, 
                      double &OilPressure, double &OilTemperature, unsigned char &DiscreteStatus1) {
   return ParseN2kPGN127493(N2kMsg, EngineInstance, TransmissionGear, OilPressure, OilTemperature, DiscreteStatus1);                   
 }
 
+inline bool ParseN2kTransmissionParameters(const tN2kMsg &N2kMsg, unsigned char &EngineInstance, tN2kTransmissionGear &TransmissionGear, 
+                     double &OilPressure, double &OilTemperature, 
+                     bool &flagCheck,       bool &flagOverTemp,         bool &flagLowOilPressure,         bool &flagLowOilLevel,
+                     bool &flagSailDrive) {
+  unsigned char DiscreteStatus1;
+  bool ret=ParseN2kPGN127493(N2kMsg, EngineInstance, TransmissionGear, OilPressure, OilTemperature, DiscreteStatus1);
+  if (ret) {
+    flagCheck          = ((DiscreteStatus1&B00000001)!=0);
+    flagOverTemp       = ((DiscreteStatus1&B00000010)!=0);
+    flagLowOilPressure = ((DiscreteStatus1&B00000100)!=0);
+    flagLowOilLevel    = ((DiscreteStatus1&B00001000)!=0);
+    flagSailDrive      = ((DiscreteStatus1&B00010000)!=0);
+  }
+  return ret;
+}
 //*****************************************************************************
 // Fluid level
 // Input:
@@ -517,11 +571,11 @@ inline void SetN2kDCBatStatus(tN2kMsg &N2kMsg, unsigned char BatteryInstance, do
   SetN2kPGN127508(N2kMsg,BatteryInstance,BatteryVoltage,BatteryCurrent,BatteryTemperature,SID);
 }
 
-bool ParseN2kPGN130312(const tN2kMsg &N2kMsg, unsigned char &BatteryInstance, double &BatteryVoltage, double &BatteryCurrent,
+bool ParseN2kPGN127508(const tN2kMsg &N2kMsg, unsigned char &BatteryInstance, double &BatteryVoltage, double &BatteryCurrent,
                      double &BatteryTemperature, unsigned char &SID);
 inline bool ParseN2kDCBatStatus(const tN2kMsg &N2kMsg, unsigned char &BatteryInstance, double &BatteryVoltage, double &BatteryCurrent,
                      double &BatteryTemperature, unsigned char &SID) {
-  return ParseN2kPGN130312(N2kMsg, BatteryInstance, BatteryVoltage, BatteryCurrent, BatteryTemperature, SID);
+  return ParseN2kPGN127508(N2kMsg, BatteryInstance, BatteryVoltage, BatteryCurrent, BatteryTemperature, SID);
 }
 
 

N2kMsg.cpp

@@ -560,7 +560,7 @@ void PrintBuf(Stream *port, unsigned char len, const unsigned char *pData) {
 
 //*****************************************************************************
 void tN2kMsg::Print(Stream *port, bool NoData) const {
-  if (!IsValid()) return;
+  if (port==0 || !IsValid()) return;
   port->print(F("Pri:")); port->print(Priority);
   port->print(F(" PGN:")); port->print(PGN);
   port->print(F(" Source:")); port->print(Source);
@@ -595,7 +595,7 @@ void tN2kMsg::SendInActisenseFormat(Stream *port) const {
   byte CheckSum;
   unsigned char ActisenseMsgBuf[MaxActisenseMsgBuf];
 
-  if (!IsValid()) return;
+  if (port==0 || !IsValid()) return;
   // Serial.print("freeMemory()="); Serial.println(freeMemory());
 
   ActisenseMsgBuf[msgIdx++]=Escape;