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New features and fixes. See. Changes on Readme
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@ttlappalainen
ttlappalainen committed Aug 18, 2016
1 parent 372890a commit d451d77
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Showing 7 changed files with 162 additions and 43 deletions.
8 changes: 5 additions & 3 deletions N2kMessages.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -140,6 +140,8 @@ bool ParseN2kPGN127257(const tN2kMsg &N2kMsg, unsigned char &SID, double &Yaw, d
Yaw=N2kMsg.Get2ByteDouble(0.001,Index);
Pitch=N2kMsg.Get2ByteDouble(0.001,Index);
Roll=N2kMsg.Get2ByteDouble(0.001,Index);

return true;
}

//*****************************************************************************
Expand Down Expand Up @@ -983,7 +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
}

Expand All @@ -994,7 +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;
}
Expand All @@ -1010,7 +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);
}

//*****************************************************************************
Expand Down
37 changes: 35 additions & 2 deletions N2kMessages.h
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Original file line number Diff line number Diff line change
Expand Up @@ -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; }
Expand Down Expand Up @@ -452,20 +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:
Expand Down
4 changes: 2 additions & 2 deletions N2kMsg.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -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);
Expand Down Expand Up @@ -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;
Expand Down
119 changes: 86 additions & 33 deletions NMEA2000.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -29,14 +29,43 @@ const unsigned long SingleFrameSystemMessages[] PROGMEM={59392L /*ISO Acknowledg
0};
const unsigned long FastPacketSystemMessages[] PROGMEM={126208L,
0};
const unsigned long DefSingleFrameMessages[] PROGMEM={126992L, 127245L, 127250L, 127257L, 127488L, 127505L, 127508L, 128259L, 128267L , 129026L, 130311L,
const unsigned long DefSingleFrameMessages[] PROGMEM={
126992L, // System date/time
127245L, // Rudder
127250L, // Vessel Heading
127251L, // Rate of Turn
127257L, // Attitude
127488L, // Engine parameters rapid
127493L, // Transmission parameters, dynamic
127505L, // Fluid level
127508L, // Battery Status
127513L, // Battery Configuration Status
128259L, // Boat speed
128267L, // Water depth
129025L, // Lat/lon rapid
129026L, // COG SOG rapid
129283L, // Cross Track Error
130306L, // Wind Speed
130310L, // Outside Environmental parameters
130311L, // Environmental parameters
130312L, // Temperature
130316L, // Temperature extended range
0};
const unsigned long DefFastPacketMessages[] PROGMEM={126996L,126998L,127489L,127506L,128275L,129029L,
const unsigned long DefFastPacketMessages[] PROGMEM={
126996L, /* Product information */
126998L, /* Configuration information */
127489L, /* Engine parameters dynamic */
127506L, /* DC Detailed status */
128275L, /* Distance log */
129029L, /* GNSS Position Data */
129038L, /*AIS Class A Position Report*/
129039L, /*AIS Class B Position Report*/
129284L, // Navigation info
129285L, // Waypoint list
129794L, /*AIS Class A Static data*/
129809L, /*AIS Class B Static Data, Part A*/
129810L, /*AIS Class B Static Data Part B*/
130074L, // Waypoint list
0};

const tProductInformation DefProductInformation PROGMEM={
Expand Down Expand Up @@ -69,24 +98,12 @@ void ClearSetCharBuf(const char *str, int MaxLen, char *buf) {
if (str) SetCharBuf(str,MaxLen,buf);
}


//*****************************************************************************
void tNMEA2000::SetSingleFrameMessages(const unsigned long *_SingleFrameMessages) {
SingleFrameMessages=_SingleFrameMessages;
if (SingleFrameMessages==0) SingleFrameMessages=DefSingleFrameMessages;
}

//*****************************************************************************
void tNMEA2000::SetFastPacketMessages(const unsigned long *_FastPacketMessages) {
FastPacketMessages=_FastPacketMessages;
if (FastPacketMessages==0) FastPacketMessages=DefFastPacketMessages;
}

//*****************************************************************************
//*****************************************************************************
tNMEA2000::tNMEA2000() {

SingleFrameMessages=DefSingleFrameMessages;
FastPacketMessages=DefFastPacketMessages;
SingleFrameMessages[0]=DefSingleFrameMessages;
FastPacketMessages[0]=DefFastPacketMessages;
for (int i=1; i<N2kMessageGroups; i++) {SingleFrameMessages[i]=0; FastPacketMessages[i]=0;}

N2kCANMsgBuf=0;
MaxN2kCANMsgs=0;
Expand Down Expand Up @@ -172,6 +189,28 @@ void tNMEA2000::SetDeviceInformation(unsigned long _UniqueNumber,
if (_IndustryGroup!=0xff) DeviceInformation[0].SetIndustryGroup(_IndustryGroup);
}

//*****************************************************************************
void tNMEA2000::SetSingleFrameMessages(const unsigned long *_SingleFrameMessages) {
SingleFrameMessages[0]=_SingleFrameMessages;
if (SingleFrameMessages==0) SingleFrameMessages[0]=DefSingleFrameMessages;
}

//*****************************************************************************
void tNMEA2000::SetFastPacketMessages(const unsigned long *_FastPacketMessages) {
FastPacketMessages[0]=_FastPacketMessages;
if (FastPacketMessages==0) FastPacketMessages[0]=DefFastPacketMessages;
}

//*****************************************************************************
void tNMEA2000::ExtendSingleFrameMessages(const unsigned long *_SingleFrameMessages) {
SingleFrameMessages[1]=_SingleFrameMessages;
}

//*****************************************************************************
void tNMEA2000::ExtendFastPacketMessages(const unsigned long *_FastPacketMessages) {
FastPacketMessages[1]=_FastPacketMessages;
}

//*****************************************************************************
void tNMEA2000::SetMode(tN2kMode _N2kMode, unsigned long _N2kSource) {
N2kMode=_N2kMode;
Expand All @@ -189,14 +228,14 @@ bool tNMEA2000::Open() {
}

DeviceReady=CANOpen();
if ( ForwardType==tNMEA2000::fwdt_Text) {
if ( (ForwardStream!=0) && (ForwardType==tNMEA2000::fwdt_Text) ) {
if ( DeviceReady ) { ForwardStream->println(F("CAN device ready")); } else { ForwardStream->println(F("CAN device failed to open")); }
}

delay(200);
if ((DeviceReady || dbMode!=dm_None) && (N2kMode!=N2km_ListenOnly) && (N2kMode!=N2km_SendOnly) && (N2kMode!=N2km_ListenAndSend) ) { // Start address claim automatically
AddressClaimStarted=0;
if ( ForwardType==tNMEA2000::fwdt_Text) ForwardStream->println(F("Start address claim"));
if ( (ForwardStream!=0) && ( ForwardType==tNMEA2000::fwdt_Text) ) ForwardStream->println(F("Start address claim"));
SendIsoAddressClaim(0xff,0);
AddressClaimStarted=millis();
}
Expand Down Expand Up @@ -269,7 +308,7 @@ bool tNMEA2000::SendMsg(const tN2kMsg &N2kMsg, int DeviceIndex) {
if ( (AddressClaimStarted!=0) && (AddressClaimStarted+N2kAddressClaimTimeout>millis()) ) return false; // Do not send during address claiming
if (N2kMsg.DataLen<=8) { // We can send single frame
result=CANSendFrame(canId, N2kMsg.DataLen, N2kMsg.Data);
if (!result && ForwardType==tNMEA2000::fwdt_Text) { ForwardStream->print(F("PGN ")); ForwardStream->print(N2kMsg.PGN); ForwardStream->println(F(" send failed")); }
if (!result && ForwardStream!=0 && ForwardType==tNMEA2000::fwdt_Text) { ForwardStream->print(F("PGN ")); ForwardStream->print(N2kMsg.PGN); ForwardStream->println(F(" send failed")); }
} else { // Send it as fast packet in multiple frames
unsigned char temp[8]; // {0,0,0,0,0,0,0,0};
int cur=0;
Expand Down Expand Up @@ -298,7 +337,7 @@ bool tNMEA2000::SendMsg(const tN2kMsg &N2kMsg, int DeviceIndex) {
}
// delay(3);
result=CANSendFrame(canId, 8, temp, true);
if (!result && ForwardType==tNMEA2000::fwdt_Text) { ForwardStream->print(F("PGN ")); ForwardStream->print(N2kMsg.PGN); ForwardStream->println(F(" send failed")); }
if (!result && ForwardStream!=0 && ForwardType==tNMEA2000::fwdt_Text) { ForwardStream->print(F("PGN ")); ForwardStream->print(N2kMsg.PGN); ForwardStream->println(F(" send failed")); }
}
SendOrder++; if (SendOrder>7) SendOrder=0;
};
Expand Down Expand Up @@ -339,18 +378,24 @@ bool tNMEA2000::CheckKnownMessage(unsigned long PGN, bool &SystemMessage, bool &
FastPacket=true;
return true;
}

// It was not system message, so check other messages
SystemMessage=false;
for (i=0; pgm_read_dword(&SingleFrameMessages[i])!=PGN && pgm_read_dword(&SingleFrameMessages[i])!=0; i++);
if (pgm_read_dword(&SingleFrameMessages[i])==PGN) return true;

for (i=0; pgm_read_dword(&FastPacketMessages[i])!=PGN && pgm_read_dword(&FastPacketMessages[i])!=0; i++);
if (pgm_read_dword(&FastPacketMessages[i])==PGN) {
FastPacket=true;
return true;
for (unsigned char igroup=0; (igroup<N2kMessageGroups); igroup++) {
if (SingleFrameMessages[igroup]!=0) {
for (i=0; pgm_read_dword(&SingleFrameMessages[igroup][i])!=PGN && pgm_read_dword(&SingleFrameMessages[igroup][i])!=0; i++);
if (pgm_read_dword(&SingleFrameMessages[igroup][i])==PGN) return true;
}

if (FastPacketMessages[igroup]!=0) {
for (i=0; pgm_read_dword(&FastPacketMessages[igroup][i])!=PGN && pgm_read_dword(&FastPacketMessages[igroup][i])!=0; i++);
if (pgm_read_dword(&FastPacketMessages[igroup][i])==PGN) {
FastPacket=true;
return true;
}
}
}

return false;
}

Expand All @@ -364,11 +409,13 @@ int tNMEA2000::SetN2kCANBufMsg(unsigned long canId, unsigned char len, unsigned
unsigned char Destination;
bool FastPacket;
bool SystemMessage;
bool KnownMessage;
int i;
int result=-1;

CanIdToN2k(canId,Priority,PGN,Source,Destination);
if ( (CheckKnownMessage(PGN,SystemMessage,FastPacket)? true: !ForwardOnlyKnownMessages()) ) {
KnownMessage=CheckKnownMessage(PGN,SystemMessage,FastPacket);
if ( KnownMessage || !HandleOnlyKnownMessages() ) {
if (FastPacket && ((buf[0] & 0x1F)>0) ) { // Not first frame
// Serial.print("New frame="); Serial.print(PGN); Serial.print(" frame="); Serial.print(buf[0],HEX); Serial.print("\r\n");
// Find previous slot for this PGN
Expand All @@ -393,6 +440,7 @@ int tNMEA2000::SetN2kCANBufMsg(unsigned long canId, unsigned char len, unsigned
if ( i==MaxN2kCANMsgs && OldestMsgTime+Max_N2kMsgBuf_Time<CurTime) i=OldestIndex; // Use the old one, which has timed out
if (i==MaxN2kCANMsgs) return result; // we did not find free place, so skip this
N2kCANMsgBuf[i].FreeMsg=false;
N2kCANMsgBuf[i].KnownMessage=KnownMessage;
N2kCANMsgBuf[i].SystemMessage=SystemMessage;
N2kCANMsgBuf[i].N2kMsg.Init(Priority,PGN,Source,Destination);
N2kCANMsgBuf[i].CopiedLen=0;
Expand Down Expand Up @@ -449,6 +497,11 @@ void tNMEA2000::ForwardMessage(const tN2kMsg &N2kMsg) {
}
}

//*****************************************************************************
void tNMEA2000::ForwardMessage(const tN2kCANMsg &N2kCanMsg) {
if ( N2kCanMsg.KnownMessage || !ForwardOnlyKnownMessages() ) ForwardMessage(N2kCanMsg.N2kMsg);
}

//*****************************************************************************
void tNMEA2000::SendIsoAddressClaim(unsigned char Destination, int DeviceIndex) {
if ( DeviceIndex<0 || DeviceIndex>=DeviceCount) return;
Expand Down Expand Up @@ -639,7 +692,7 @@ void tNMEA2000::ParseMessages() {
if (MsgIndex>=0) {
if ( !HandleReceivedSystemMessage(MsgIndex) ) {
// Serial.println(MsgIndex);
ForwardMessage(N2kCANMsgBuf[MsgIndex].N2kMsg);
ForwardMessage(N2kCANMsgBuf[MsgIndex]);
}
// N2kCANMsgBuf[MsgIndex].N2kMsg.Print(Serial);
if ( MsgHandler!=0 ) MsgHandler(N2kCANMsgBuf[MsgIndex].N2kMsg);
Expand Down
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