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ESP32_Precision-9_compass_BNO055.ino
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ESP32_Precision-9_compass_BNO055.ino
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//
// NMEA 2000 Kurssensor
// Bernd Cirotzki 2022 -
//
#define ESP32_CAN_TX_PIN GPIO_NUM_32 // Set CAN TX port TX to TX !!
#define ESP32_CAN_RX_PIN GPIO_NUM_34 // Set CAN RX port RX to RX !!
#define NMEA2000_DEVICEID 65
#define DEV_COMPASS 0 // 60-140
#include <Arduino.h>
#include <EEPROM.h>
#include <Wire.h>
#include <Adafruit_Sensor.h>
#include <Adafruit_BNO055.h>
#include <utility/imumaths.h>
#include <math.h>
#include <EEPROM.h>
#include <esp_task_wdt.h>
#include <Time.h>
#include <N2kMsg.h>
#include <NMEA2000.h>
#include <N2kMessages.h>
#include <NMEA2000_CAN.h>
#include "BluetoothStream.h"
#include "soc/soc.h"
#include "soc/rtc_cntl_reg.h"
//5 seconds WDT127237
#define WDT_TIMEOUT 40
// To Put out debug to Serial
//#define DEBUG 1
// Offset set by Plotter
enum EEP_ADDR
{
EEP_CALIB_FLAG = 0x00,
EEP_HEADING_OFFSET = 0x01,
EEP_HEEL_OFFSET = 0x02,
EEP_TRIM_OFFSET = 0x03,
EEP_AUTOCALIBRATION = 0x04,
ADDR_ACC_X = 0x05, // To get the right floor value
ADDR_ACC_Y = 0x09,
ADDR_ACC_Z = 0x0D,
ADDR_SEND_HEADING = 0x11,
ADDR_BNO055_CONFIG = 0x12 // address of BNO055Offset
};
// B&G calibration stop/start
bool calibrationStart = false;
bool calibrationStop = false;
bool OnlyMag = false;
float heading, heading_true,
heading_offset_rad = 0,
heel_offset_rad = 0,
trim_offset_rad = 0;
int heading_offset_deg = 0,
heel_offset_deg = 0,
trim_offset_deg = 0;
bool send_heading = true; // to do 20 vs 10hz
unsigned char compass_autocalibration = 0x00;
// List here messages your device will transmit.
const unsigned long TransmitMessagesCompass[] PROGMEM = { 127250L, 127251L, 127257L , 0 }; //Vessel Heading, Rate of Turn, Attitude
const unsigned long ReceiveMessages[] PROGMEM = { 127258L, // Magnetic variation
130845L, // B&G Config from Plotter
130850L // B&G Calibration start
};
int DEVICE_ID = 65; // globale Definitionen. NMEA2000
int SID = 0;
tN2kMsg N2kMsg;
tN2kMsg N2kMsgReply;
const double radToDeg = 180.0 / M_PI;
const double degToRad= M_PI / 180.0;
// globale Definitionen für BNO055 Sensor
// Acc
float PitchAcc;
float RollAcc;
float PitchAccold=0;
float PitchAccnew;
// Gyo
float dt;
unsigned long millisOld;
// ACC
float acc_x, acc_y, acc_z;
float acc_x_ground, acc_y_ground, acc_z_ground;
// Pitch und Roll sind falsch herum ... bei Schiff
float Pitch; // Best of both worlds
float Roll;
float PitchRad;
float RollRad;
float PitchAccHead=0;
float RollAccHead=0;
float PitchHead=0;
float RollHead=0;
// Magnetic Values
float MagX_uT,MagX_uT_old = 0;
float MagY_uT,MagY_uT_old = 0;
float MagZ_uT,MagZ_uT_old = 0;
// Heading berechnung
float Xm;
float Ym;
float XmNew;
float YmNew;
float XmOld;
float YmOld;
#ifdef DEBUG
float Heading; // only use filtered Heading
#endif
float HeadingFiltered;
double HeadingVariation = N2kDoubleNA;
double EnteredVariation = N2kDoubleNA;
unsigned long LastVariation;
// rate of Turn
float RateofTurn;
float RateofTurnOld = 0;
#define BNO055_SAMPLERATE_DELAY_MS 50
unsigned long SampleTimer;
unsigned long lastTimeCaltext;
unsigned long SensorStartMillis;
// Function addeed in Class Adafruit Library
bool Adafruit_BNO055::getSensorMagneticOffsets(adafruit_bno055_offsets_t &offsets_type)
{
adafruit_bno055_opmode_t lastMode = _mode;
setMode(OPERATION_MODE_CONFIG);
delay(25);
/* Magnetometer offset range = +/- 6400 LSB where 1uT = 16 LSB */
offsets_type.mag_offset_x =
(read8(MAG_OFFSET_X_MSB_ADDR) << 8) | (read8(MAG_OFFSET_X_LSB_ADDR));
offsets_type.mag_offset_y =
(read8(MAG_OFFSET_Y_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Y_LSB_ADDR));
offsets_type.mag_offset_z =
(read8(MAG_OFFSET_Z_MSB_ADDR) << 8) | (read8(MAG_OFFSET_Z_LSB_ADDR));
/* Magnetometer radius = +/- 960 LSB */
offsets_type.mag_radius =
(read8(MAG_RADIUS_MSB_ADDR) << 8) | (read8(MAG_RADIUS_LSB_ADDR));
setMode(lastMode);
return true;
}
Adafruit_BNO055 BNO055 = Adafruit_BNO055();
adafruit_bno055_offsets_t BNO055Offset;
const uint16_t EEPROM_SIZE = (18 + sizeof(adafruit_bno055_offsets_t) + 363 + 2 * 360 + 1);
const uint16_t ADDR_Deviationtabel = 19 + sizeof(adafruit_bno055_offsets_t);
const uint16_t ADDR_Deviationtabel_copy1 = ADDR_Deviationtabel + 363;
const uint16_t ADDR_Deviationtabel_copy2 = ADDR_Deviationtabel_copy1 + 360;
BluetoothStream *pBlueTooth;
uint8_t LastMAGCal = 0;
unsigned long LastCOG = millis();
double DEGCOG = N2kDoubleNA;
double SOG;
bool MakeDeviationtabel = false;
unsigned long LastMakeTabelOutout;
bool Derr1 = false;
bool Derr2 = false;
bool SendHeadingwithDeviation;
bool showDiv = false;
unsigned long LastShowdiv;
void setup()
{
pinMode(18, OUTPUT); // Set GPIO18 as digital output to BNO Reset PIN
digitalWrite(18, HIGH); // Set GPIO18 active high
Wire.begin(16,17);
Serial.begin(115200);
Serial.println("Start Kurssensor ...");
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 0); //disable brownout detector
delay(100);
pBlueTooth = new BluetoothStream();
delay(3500);
WRITE_PERI_REG(RTC_CNTL_BROWN_OUT_REG, 1); //enable brownout detector
pBlueTooth->SendString("Start Kurssensor ...");
Serial.println("EEPROM start");
if (!EEPROM.begin(EEPROM_SIZE))
{
Serial.println("EEPROM start failed");
pBlueTooth->SendString("EEPROM start failed\n");
}
// Settings for BNO055
BNO055.begin(Adafruit_BNO055::OPERATION_MODE_NDOF_FMC_OFF);
delay(500);
BNO055.enterNormalMode();
delay(500);
// Get Calibrations
acc_x_ground = 0;
acc_y_ground = 0;
acc_z_ground = 0;
if (loadCalibration())
{
Serial.println("Sensor - Calibration sucessfully read from EEPROM");
pBlueTooth->SendString("Sensor - Calibration sucessfully read from EEPROM\n");
BNO055.setSensorOffsets(BNO055Offset);
calibrationStart = false; // Set to Calibration is OK. The GetCalibration is swinging
calibrationStop = true;
delay(100);
}
else
{
Serial.println("No Sensor - Calibration from EEPROM");
pBlueTooth->SendString("No Sensor - Calibration from EEPROM\n");
calibrationStart = false;
calibrationStop = false;
}
if (loadGroundCalibration())
{
Serial.println("Ground - Calibration sucessfully read from EEPROM");
pBlueTooth->SendString("Ground - Calibration sucessfully read from EEPROM\n");
}
else
{
Serial.println("No Ground - Calibration from EEPROM");
pBlueTooth->SendString("No Ground - Calibration from EEPROM\n");
}
if(EEPROM.readByte(ADDR_Deviationtabel + 361) != 0)
{
Serial.println("Send Heading with Deviation");
pBlueTooth->SendString("Send Heading with Deviation\n");
SendHeadingwithDeviation = true;
}
else
{
Serial.println("Not Send Heading with Deviation");
pBlueTooth->SendString("Not Send Heading with Deviation\n");
SendHeadingwithDeviation = false;
}
delay(500);
send_heading=true;
int8_t temp=BNO055.getTemp();
BNO055.setExtCrystalUse(true); // Sets the external Crystal for use
// NMEA 2000 Settings
NMEA2000.SetProductInformation("107018103", // Manufacturer's Model serial code
13233, // Manufacturer's product code
"Precision-9 Compass", // Manufacturer's Model ID
"2.0.3-0", // Manufacturer's Software version code
"", // Manufacturer's Model version
1, // load equivalency *50ma
0xffff, // NMEA 2000 version - use default
0xff, // Sertification level - use default
DEV_COMPASS
);
// Set device information
NMEA2000.SetDeviceInformation(1048678, // Unique number. Use e.g. Serial number.
140, // Device function=Temperature See codes on http://www.nmea.org/Assets/20120726%20nmea%202000%20class%20%26%20function%20codes%20v%202.00.pdf
60, // Device class=Sensor Communication Interface. See codes on http://www.nmea.org/Assets/20120726%20nmea%202000%20class%20%26%20function%20codes%20v%202.00.pdf
275, // Just choosen free from code list on http://www.nmea.org/Assets/20121020%20nmea%202000%20registration%20list.pdf
4,
DEV_COMPASS
);
NMEA2000.SetN2kCANMsgBufSize(20);
NMEA2000.SetMsgHandler(HandleNMEA2000Msg);
NMEA2000.SetN2kCANReceiveFrameBufSize(250);
NMEA2000.SetN2kCANSendFrameBufSize(250);
NMEA2000.SetForwardSystemMessages(false);
NMEA2000.SetMode(tNMEA2000::N2km_NodeOnly,DEVICE_ID);
NMEA2000.EnableForward(false);
if(false == NMEA2000.Open())
Serial.println("NMEA2000 not Ready");
else
Serial.println("NMEA2000 is Ready");
NMEA2000.SendProductInformation();
millisOld = millis();
lastTimeCaltext = millis();
SensorStartMillis = millis();
esp_task_wdt_init(WDT_TIMEOUT, false); //enable panic so ESP32 restarts ... muss false Sein, damit wirklicher Neustart... kein Panic. auf treue zum debuggen.
esp_task_wdt_add(NULL); //add current thread to WDT watch ... ESP.restart()
}
bool GetBNO055Values()
{
if (SampleTimer + BNO055_SAMPLERATE_DELAY_MS <= millis()) // Set timer
{
SampleTimer = millis();
#ifdef DEBUG
uint8_t Calsystem, Calgyro, Calaccel, Calmag = 0;
BNO055.getCalibration(&Calsystem, &Calgyro, &Calaccel, &Calmag);
#endif
imu::Vector<3> acc = BNO055.getVector(Adafruit_BNO055::VECTOR_ACCELEROMETER);
imu::Vector<3> gyr = BNO055.getVector(Adafruit_BNO055::VECTOR_GYROSCOPE);
imu::Vector<3> mag = BNO055.getVector(Adafruit_BNO055::VECTOR_MAGNETOMETER);
// Acc
acc_x = acc.x() - acc_x_ground;
acc_y = acc.y() - acc_y_ground;
acc_z = acc.z() - acc_z_ground;
if(acc.x() == 0 && acc.y() == 0 && acc.z() == 0 && (millis() - SensorStartMillis) > 5000)
{
Serial.println("No Data from Sensor. Reset.");
digitalWrite(18, LOW); // Set GPIO18
delay(900);
digitalWrite(18, HIGH); // Set GPIO18
delay(400);
//BNO055.enterSuspendMode(); // Old Reset
//delay(400);
ESP.restart(); //call reset
}
PitchAcc =-atan2(acc_x/9.81,acc_z/9.81) * radToDeg;
RollAcc=-atan2(acc_y/9.81,acc_z/9.81) * radToDeg;
// Gyro
dt = (millis()-millisOld)/1000.;
millisOld = millis();
Pitch = (Pitch+gyr.y()*dt) * 0.90 + PitchAcc * 0.1;
Roll = (Roll-gyr.x()*dt) * 0.90 + RollAcc * 0.1;
// Rate of turn
RateofTurn = gyr.z() * 0.3 + RateofTurnOld * 0.7;
// Now everthing New, because the Heading is to the state of the Chip
PitchAccHead = -atan2(acc.x()/9.81,acc.z()/9.81) * radToDeg;
RollAccHead = -atan2(acc.y()/9.81,acc.z()/9.81) * radToDeg;
PitchHead = (PitchHead+gyr.y()*dt) * 0.01 + PitchAccHead * 0.99;
RollHead = (RollHead-gyr.x()*dt) * 0.01 + RollAccHead * 0.99;
PitchRad = PitchHead * degToRad + trim_offset_rad;
RollRad = RollHead * degToRad + heel_offset_rad;
// Heading berechnen
// with tilt compensated ... standard formel.
MagX_uT = mag.x() * 0.99 + MagX_uT_old * 0.01;
MagY_uT = mag.y() * 0.99 + MagY_uT_old * 0.01;
MagZ_uT = mag.z() * 0.99 + MagZ_uT_old * 0.01;
MagX_uT_old = MagX_uT;
MagY_uT_old = MagY_uT;
MagZ_uT_old = MagZ_uT;
Xm=MagX_uT*cos(PitchRad)-MagY_uT*sin(RollRad)*sin(PitchRad)+MagZ_uT*cos(RollRad)*sin(PitchRad);
Ym=MagY_uT*cos(RollRad)+MagZ_uT*sin(RollRad);
//Xm=mag.x()*cos(PitchRad)-mag.y()*sin(RollRad)*sin(PitchRad)+mag.z()*cos(RollRad)*sin(PitchRad);
//Ym=mag.y()*cos(RollRad)+mag.z()*sin(RollRad);
XmNew=0.9*XmOld + 0.1*Xm;
YmNew=0.9*YmOld + 0.1*Ym;
#ifdef DEBUG
Heading=atan2(Ym,Xm) * radToDeg;
if (Heading < 0) Heading += 360.0;
#endif
HeadingFiltered=atan2(YmNew,XmNew) * radToDeg;
HeadingFiltered -= heading_offset_deg; // Set from Plotter
if (HeadingFiltered < 0) HeadingFiltered += 360.0;
if (HeadingFiltered >= 360) HeadingFiltered -= 360.0;
RateofTurnOld=RateofTurn;
XmOld=XmNew;
YmOld=YmNew;
#ifdef DEBUG
Serial.print(acc.x()/9.8*10);
Serial.print(",");
Serial.print(acc.y()/9.8*10);
Serial.print(",");
Serial.print(acc.z()/9.8*10);
Serial.print(",");
Serial.print(gyr.x());
Serial.print(",");
Serial.print(gyr.y());
Serial.print(",");
Serial.print(gyr.z());
Serial.print(",");
Serial.print(Calsystem);
Serial.print(",");
Serial.print(PitchAcc);
Serial.print(",");
Serial.print(RollAcc);
Serial.print(",");
Serial.print(mag.x());
Serial.print(",");
Serial.print(mag.y());
Serial.print(",");
Serial.print(mag.z());
Serial.print(",");
Serial.print(-Roll);
Serial.print(",");
Serial.print(Heading);
Serial.print(",");
Serial.println(HeadingFiltered);
#endif
return true;
}
return false;
}
void loop()
{
CheckForCalibration(); // Only returns, if nothing must be done
if (GetBNO055Values()) // returns true if New data
{
if (MakeDeviationtabel == true)
{
MakeBoatDeviationtable();
}
else
{
if (send_heading)
{
if (0 != EEPROM.readByte(ADDR_SEND_HEADING))
{
N2kMsg.Clear();
if(SendHeadingwithDeviation)
SetN2kPGN127250(N2kMsg, SID, (GetHeadingwithDeviation(HeadingFiltered) * degToRad), N2kDoubleNA, N2kDoubleNA, N2khr_magnetic);
else
SetN2kPGN127250(N2kMsg, SID, (HeadingFiltered * degToRad), GetDeviation(HeadingFiltered), GetVariation(), N2khr_magnetic);
NMEA2000.SendMsg(N2kMsg, DEV_COMPASS);
}
// Rate of Turn
N2kMsg.Clear();
SetN2kRateOfTurn(N2kMsg, SID, -(RateofTurn * degToRad)); // radians
NMEA2000.SendMsg(N2kMsg, DEV_COMPASS);
}
send_heading = !send_heading;
SetN2kAttitude(N2kMsg, SID, N2kDoubleNA, -((Pitch * degToRad) - trim_offset_rad), -((Roll * degToRad) - heel_offset_rad));
NMEA2000.SendMsg(N2kMsg, DEV_COMPASS);
SID++; if (SID > 250) SID = 1;
}
}
NMEA2000.ParseMessages();
// Watchdog reset !
if(LastCOG + 2000 < millis())
DEGCOG = N2kDoubleNA;
if (LastVariation + 5000 < millis())
HeadingVariation = N2kDoubleNA;
esp_task_wdt_reset();
}
double GetVariation()
{
double Variation = HeadingVariation;
if (EnteredVariation != N2kDoubleNA)
Variation = EnteredVariation;
if (Variation != N2kDoubleNA)
Variation *= degToRad;
return Variation;
}
double GetDeviation(float HeadingFiltered)
{
int D;
int8_t DHv, DLv;
uint8_t j,i;
char dummy[10];
D = (int)round(HeadingFiltered);
if(D >= 360) D -= 360;
int8_t v = (int8_t)EEPROM.readByte(ADDR_Deviationtabel + D);
if (v == 0x7F) // Not set try to interpolier
{
for (j = 1; j < 40; j++)
{
D = (int)round(HeadingFiltered) - j;
if(D < 0) D += 360;
DLv = (int8_t)EEPROM.readByte(ADDR_Deviationtabel + D);
if (DLv != 0x7F)
break;
}
for (i = 1; i < 40; i++)
{
D = (int)round(HeadingFiltered) + i;
if(D >= 360) D -= 360;
DHv = (int8_t)EEPROM.readByte(ADDR_Deviationtabel + D);
if (DHv != 0x7F)
break;
}
if (DHv != 0x7F && DLv != 0x7F)
{
v = (int8_t)((double)DLv *(double)((double)i/((double)j+(double)i)) + (double)DHv * (double)((double)j/((double)j+(double)i)));
if(showDiv && LastShowdiv + 400 < millis())
{
LastShowdiv = millis();
sprintf(dummy,"%3.1f",HeadingFiltered);
pBlueTooth->SendString(" Heading:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
/*sprintf(dummy,"%i",i);
pBlueTooth->SendString(" i:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%i",j);
pBlueTooth->SendString(" j:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%i",DLv);
pBlueTooth->SendString(" DLv:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%i",DHv);
pBlueTooth->SendString(" DHv:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%i",v);
pBlueTooth->SendString(" v:");pBlueTooth->SendString(dummy);pBlueTooth->SendString(" \n");*/
sprintf(dummy,"%2.1f",(float) ((int8_t)v / (double)10));
pBlueTooth->SendString("Deviation :");pBlueTooth->SendString(dummy);pBlueTooth->SendString(" (interpoliert)\n");
}
return (((double)((int8_t)v / (double)10.0)) * degToRad);
}
else
{
if(showDiv && LastShowdiv + 400 < millis())
{
LastShowdiv = millis();
sprintf(dummy,"%3.1f",HeadingFiltered);
pBlueTooth->SendString(" Heading:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
pBlueTooth->SendString("No Deviation.\n");
}
}
return N2kDoubleNA;
}
if(showDiv && LastShowdiv + 400 < millis())
{
LastShowdiv = millis();
sprintf(dummy,"%3.1f",HeadingFiltered);
pBlueTooth->SendString(" Heading:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%2.1f",(float) ((int8_t)v / (double)10));
pBlueTooth->SendString("Deviation :");pBlueTooth->SendString(dummy);pBlueTooth->SendString(" \n");
}
return (((double)((int8_t)v / (double)10.0)) * degToRad);
}
float GetHeadingwithDeviation(float HeadingFiltered)
{
int D;
int8_t DHv, DLv;
uint8_t j,i;
float HeadingReturn;
char dummy[10];
D = (int)round(HeadingFiltered);
if(D >= 360) D -= 360;
int8_t v = (int8_t)EEPROM.readByte(ADDR_Deviationtabel + D);
if (v == 0x7F) // Not set try to interpolier
{
for (j = 1; j < 40; j++)
{
D = (int)round(HeadingFiltered) - j;
if(D < 0) D += 360;
DLv = (int8_t)EEPROM.readByte(ADDR_Deviationtabel + D);
if (DLv != 0x7F)
break;
}
for (i = 1; i < 40; i++)
{
D = (int)round(HeadingFiltered) + i;
if(D >= 360) D -= 360;
DHv = (int8_t)EEPROM.readByte(ADDR_Deviationtabel + D);
if (DHv != 0x7F)
break;
}
if (DHv != 0x7F && DLv != 0x7F)
{
v = (int8_t)((double)DLv *(double)((double)i/((double)j+(double)i)) + (double)DHv * (double)((double)j/((double)j+(double)i)));
HeadingReturn = HeadingFiltered + (float) ((int8_t)v / (double)10);
if (HeadingReturn < 0) HeadingReturn += 360;
if (HeadingReturn >= 360) HeadingReturn -= 360;
if(showDiv && LastShowdiv + 400 < millis())
{
LastShowdiv = millis();
sprintf(dummy,"%3.1f",HeadingFiltered);
pBlueTooth->SendString("(send with Deviation) old Heading:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
/*sprintf(dummy,"%i",i);
pBlueTooth->SendString(" i:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%i",j);
pBlueTooth->SendString(" j:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%i",DLv);
pBlueTooth->SendString(" DLv:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%i",DHv);
pBlueTooth->SendString(" DHv:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%i",v);
pBlueTooth->SendString(" v:");pBlueTooth->SendString(dummy);pBlueTooth->SendString(" \n");*/
sprintf(dummy,"%2.1f",(float) ((int8_t)v / (double)10));
pBlueTooth->SendString("Deviation :");pBlueTooth->SendString(dummy);pBlueTooth->SendString(" (interpoliert) ");
sprintf(dummy,"%3.1f",HeadingReturn);
pBlueTooth->SendString("new Heading:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" \n");
}
return (HeadingReturn);
}
else
{
if(showDiv && LastShowdiv + 400 < millis())
{
LastShowdiv = millis();
sprintf(dummy,"%3.1f",HeadingFiltered);
pBlueTooth->SendString(" Heading:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
pBlueTooth->SendString("No Deviation.\n");
}
}
return HeadingFiltered;
}
HeadingReturn = HeadingFiltered + (float) ((int8_t)v / (double)10);
if (HeadingReturn < 0) HeadingReturn += 360;
if (HeadingReturn >= 360) HeadingReturn -= 360;
if(showDiv && LastShowdiv + 400 < millis())
{
LastShowdiv = millis();
sprintf(dummy,"%3.1f",HeadingFiltered);
pBlueTooth->SendString("(send with Deviation) old Heading:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%2.1f",(float) ((int8_t)v / (double)10));
pBlueTooth->SendString("Deviation :");pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%3.1f",HeadingReturn);
pBlueTooth->SendString("new Heading:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" \n");
}
return (HeadingReturn);
}
void MakeBoatDeviationtable()
{
if(DEGCOG == N2kDoubleNA)
{
Serial.println("COG lost");
pBlueTooth->SendString("COG lost\n");
MakeDeviationtabel = false;
return;
}
if(HeadingVariation == N2kDoubleNA && EnteredVariation == N2kDoubleNA)
{
Serial.println("Variation lost");
pBlueTooth->SendString("Variation lost\n");
MakeDeviationtabel = false;
return;
}
if(SOG < 2)
{
if (LastMakeTabelOutout < millis())
{
Serial.println("Boat too slow");
pBlueTooth->SendString("Boat too slow\n");
}
return;
}
double Variation = HeadingVariation;
if (EnteredVariation != N2kDoubleNA)
Variation = EnteredVariation;
// COG = Heading + Variation + Deviation
double Deviation = DEGCOG - HeadingFiltered - Variation;
if ( Deviation < -12)
{
Derr1 = true;
Deviation = -12;
}
if ( Deviation > 12)
{
Derr2 = true;
Deviation = 12;
}
// Write to EEPROM
int8_t v = 0x7F;
if (Deviation != 12 && Deviation != -12) // Not when Deviation ist bad
v = (int8_t) (Deviation * 10); // Kommastelle
int D = (int)round(HeadingFiltered);
if(D >= 360) D -= 360;
int8_t ve = (int8_t)EEPROM.readByte(ADDR_Deviationtabel + D);
if( ve != 0x7F) // Not first Use
{
if (v != 0x7F) // Not when Deviation ist bad
v = (int8_t) ((double) v * 0.9 + (double)ve * 0.1);
else
v = ve; // Do not loose the old value
}
EEPROM.writeByte(ADDR_Deviationtabel + D , (int8_t)v);
if (LastMakeTabelOutout < millis())
{
char dummy[10];
LastMakeTabelOutout = millis() + 500;
sprintf(dummy,"%2.1f",Deviation);
Serial.print("Set:");Serial.print(Deviation);Serial.print(" for Heading:");Serial.print(D);
Serial.print(" for COG:");Serial.print((int)round(DEGCOG));
pBlueTooth->SendString("Set:");pBlueTooth->SendString(dummy);pBlueTooth->SendString(" for Heading:");
sprintf(dummy,"%i",D); pBlueTooth->SendString(dummy);
pBlueTooth->SendString(" / COG:");
sprintf(dummy,"%i",(int)round(DEGCOG)); pBlueTooth->SendString(dummy);
pBlueTooth->SendString("\n");
if (Derr1)
{
Serial.println("Deviation < -12 do not set");
pBlueTooth->SendString("Deviation < -12 do not set\n");
}
if (Derr2)
{
Serial.println("Deviation > 12 do not set");
pBlueTooth->SendString("Deviation > 12 do not set\n");
}
Derr1 = false;
Derr2 = false;
}
}
void CheckForCalibration()
{
String Val;
char dummy[10];
uint8_t Calsystem, Calgyro, Calaccel, Calmag = 0;
if(false == BNO055.isFullyCalibrated() && calibrationStart == false && calibrationStop == false)
{
if(lastTimeCaltext < millis())
{
lastTimeCaltext = millis() + 5000;
Serial.println("Kursensor is not fully-calibrated. Enter \"cal\" to calibrate.");
pBlueTooth->SendString("Kursensor is not fully-calibrated. Enter \"cal\" to calibrate.");
}
}
if (Serial.available() || pBlueTooth->available())
{
if (Serial.available())
{
Val = Serial.readString();
pBlueTooth->ConfigBluetooth(Val);
}
else
pBlueTooth->ParseMessages(Val);
pBlueTooth->SendString("\n");
if(Val == String("help") )
{
Serial.println("reset : Reset Kurssensor.");
Serial.println("sendhead : Switch Send Heading ON.");
Serial.println("stophead : Switch Send heading OFF.");
Serial.println("senddev : Send Heading with Deviation");
Serial.println("stopdev : Do not Send Heading with Deviation. Send Deviation in the rigth field");
Serial.println("cal : Start Sensor Calibration.");
Serial.println("calmag : Start Sensor only Magnetic Calibration.");
Serial.println("clearcal : Delete the Calibration.");
Serial.println("setground : Set the Ground Calibration.");
Serial.println("setvari V : Define Magnetic Variation V (this has prio to the Variation over NMEA2000) East = positiv");
Serial.println("mcogdev : Make a Deviationtabel while turnig a Cycle");
Serial.println("scogdev : Stop turning Mode.");
Serial.println("coghead : Save one the Value at this time calculate from COG and Heading");
Serial.println("hdev H D : Save Deviation Value D (NA = delete) at Heading H");
Serial.println("devdiv D : Enter Deviation D for the momentan Heading");
Serial.println("cleardev : delete Deviationtabel");
Serial.println("printdev : show Deviationtabel Values");
Serial.println("showdev : show Deviation Values used at the moment (turn off when aktiv)");
Serial.println("copyd1 : Save Deviationtabel to Storage Area 1");
Serial.println("copyd2 : Save Deviationtabel to Storage Area 2");
Serial.println("restd1 : Restore Deviationtabel from Storage Area 1");
Serial.println("restd2 : Restore Deviationtabel from Storage Area 2");
pBlueTooth->SendString("reset : Reset Kurssensor.\n");
pBlueTooth->SendString("sendhead : Switch Send Heading ON.\n");
pBlueTooth->SendString("stophead : Switch Send heading OFF.\n");
pBlueTooth->SendString("senddev : Send Heading with Deviation\n");
pBlueTooth->SendString("stopdev : Do not Send Heading with Deviation. Send Deviation in the rigth field\n");
pBlueTooth->SendString("cal : Start Sensor Calibration.\n");
pBlueTooth->SendString("calmag : Start Sensor only Magnetic Calibration.\n");
pBlueTooth->SendString("clearcal : Delete the Calibration.\n");
pBlueTooth->SendString("setground : Set the Ground Calibration.\n");
pBlueTooth->SendString("setvari V : Define Magnetic Variation V (this has prio to the Variation over NMEA2000) East = positiv\n");
pBlueTooth->SendString("mcogdev : Make a Deviationtabel while turnig a Cycle\n");
pBlueTooth->SendString("scogdev : Stop turning Mode.\n");
pBlueTooth->SendString("coghead : Save one the Value at this time calculate from COG and Heading\n");
pBlueTooth->SendString("hdev H D : Save Deviation Value D (NA = delete) at Heading H\n");
pBlueTooth->SendString("defdev D : Enter Deviation D for the momentan Heading\n");
pBlueTooth->SendString("cleardev : delete Deviationtabel\n");
pBlueTooth->SendString("printdev : show Deviationtabel Values\n");
pBlueTooth->SendString("showdev : show Deviation Values used at the moment (turn off when aktiv)\n");
pBlueTooth->SendString("copyd1 : Save Deviationtabel to Storage Area 1\n");
pBlueTooth->SendString("copyd2 : Save Deviationtabel to Storage Area 2\n");
pBlueTooth->SendString("restd1 : Restore Deviationtabel from Storage Area 1\n");
pBlueTooth->SendString("restd2 : Restore Deviationtabel from Storage Area 2\n");
}
if(Val == String("copyd1"))
{
int8_t v;
for (uint16_t i = 0; i < 360;i++)
{
v = (int8_t)EEPROM.readByte(ADDR_Deviationtabel + i);
EEPROM.writeByte(ADDR_Deviationtabel_copy1 + i, v);
}
EEPROM.commit();
Serial.println("Deviationtabel copy saved in StorageArea 1");
pBlueTooth->SendString("Deviationtabel copy saved in StorageArea 1\n");
}
if(Val == String("copyd2"))
{
int8_t v;
for (uint16_t i = 0; i < 360;i++)
{
v = (int8_t)EEPROM.readByte(ADDR_Deviationtabel + i);
EEPROM.writeByte(ADDR_Deviationtabel_copy2 + i, v);
}
EEPROM.commit();
Serial.println("Deviationtabel copy saved in StorageArea 2");
pBlueTooth->SendString("Deviationtabel copy saved in StorageArea 2\n");
}
if(Val == String("restd1"))
{
int8_t v;
for (uint16_t i = 0; i < 360;i++)
{
v = (int8_t)EEPROM.readByte(ADDR_Deviationtabel_copy1 + i);
EEPROM.writeByte(ADDR_Deviationtabel + i, v);
}
EEPROM.commit();
Serial.println("Deviationtabel resored from StorageArea 1");
pBlueTooth->SendString("Deviationtabel resored from StorageArea 1\n");
}
if(Val == String("restd2"))
{
int8_t v;
for (uint16_t i = 0; i < 360;i++)
{
v = (int8_t)EEPROM.readByte(ADDR_Deviationtabel_copy2 + i);
EEPROM.writeByte(ADDR_Deviationtabel + i, v);
}
EEPROM.commit();
Serial.println("Deviationtabel resored from StorageArea 2");
pBlueTooth->SendString("Deviationtabel resored from StorageArea 2\n");
}
if(Val == String("showdev"))
{
showDiv = !showDiv;
}
if(Val == String("senddev"))
{
Serial.println("Heading send with Deviation");
pBlueTooth->SendString("Heading send with Deviation\n");
SendHeadingwithDeviation = true;
EEPROM.writeByte(ADDR_Deviationtabel + 361, 0x01);
EEPROM.commit();
}
if(Val == String("stopdev"))
{
Serial.println("Heading not send with Deviation");
pBlueTooth->SendString("Heading not send with Deviation\n");
SendHeadingwithDeviation = false;
EEPROM.writeByte(ADDR_Deviationtabel + 361, 0x00);
EEPROM.commit();
}
if(Val.substring(0, 7) == String("setvari"))
{
EnteredVariation = Val.substring(8, Val.length()).toDouble();
sprintf(dummy,"%2.1f",EnteredVariation);
Serial.print("Set Variation:");Serial.println(EnteredVariation);
pBlueTooth->SendString("Set Variation:");pBlueTooth->SendString(dummy);pBlueTooth->SendString("\n");
delay(1000);
return;
}
if(Val.substring(0, 6) == String("defdev"))
{
double vd = Val.substring(7, Val.length()).toDouble();
if (vd < -12 || vd > 12 || HeadingFiltered > 359)
{
Serial.println("Wert nicht moeglich");
pBlueTooth->SendString("Wert nicht moeglich\n");
return;
}
int8_t v = (int8_t) (vd * 10); // Kommastelle
int D = (int)round(HeadingFiltered);
if(D >= 360) D -= 360;
EEPROM.writeByte(ADDR_Deviationtabel + D , v);
EEPROM.commit();
sprintf(dummy,"%2.1f",vd);
Serial.print("Set:");Serial.print(vd);Serial.print(" for Heading:");Serial.println(D);
pBlueTooth->SendString("Set:");pBlueTooth->SendString(dummy);pBlueTooth->SendString(" for Heading:");
sprintf(dummy,"%i",D); pBlueTooth->SendString(dummy);
pBlueTooth->SendString("\n");
return;
}
if(Val == String("mcogdev"))
{
if(HeadingVariation == N2kDoubleNA && EnteredVariation == N2kDoubleNA)
{
Serial.println("Variation nicht vorhanden.");
pBlueTooth->SendString("Variation nicht vorhanden.\n");
return;
}
if(DEGCOG == N2kDoubleNA)
{
Serial.println("COG nicht vorhanden.");
pBlueTooth->SendString("COG nicht vorhanden.\n");
return;
}
Serial.println("make Deviationtabel. Turn Boat ....");
pBlueTooth->SendString("make Deviationtabel. Turn Boat ....\n");
// Turn ON make Table
MakeDeviationtabel = true;
}
if(Val == String("scogdev"))
{
Serial.println("Deviationtabel ready");
pBlueTooth->SendString("Deviationtabel ready\n");
EEPROM.commit();
MakeDeviationtabel = false;
}
if(Val == String("coghead"))
{
if(HeadingVariation == N2kDoubleNA && EnteredVariation == N2kDoubleNA)
{
Serial.println("Variation nicht vorhanden.");
pBlueTooth->SendString("Variation nicht vorhanden.\n");
return;
}
if(DEGCOG == N2kDoubleNA)
{
Serial.println("COG nicht vorhanden.");
pBlueTooth->SendString("COG nicht vorhanden.\n");
return;
}
double Variation = HeadingVariation;
if (EnteredVariation != N2kDoubleNA)
Variation = EnteredVariation;
// COG = Heading + Variation + Deviation
double Deviation = DEGCOG - HeadingFiltered - Variation;
if ( Deviation < -12)
Deviation = -12;
if ( Deviation > 12)
Deviation = 12;
// Write to EEPROM
int8_t v = 0x7F;
if (Deviation != 12 && Deviation != -12) // Not when Deviation ist bad
v = (int8_t) (Deviation * 10); // Kommastelle
int D = (int)round(HeadingFiltered);
if(D >= 360) D -= 360;
int8_t ve = (int8_t)EEPROM.readByte(ADDR_Deviationtabel + D);
if( ve != 0x7F) // Not first Use
{
Serial.println("Deviation bereits vorhanden.");
pBlueTooth->SendString("Deviation bereits vorhanden.\n");
if (v != 0x7F) // Not when Deviation ist bad
{
v = (int8_t) ((double) v * 0.9 + (double)ve * 0.1);
}
else
{
Serial.println("New Deviation too big");
pBlueTooth->SendString("New Deviation too big\n");
v = ve; // Do not loose the old value
}
}
Serial.print("Save Heading:"); Serial.print(HeadingFiltered);
sprintf(dummy,"%3.1f",HeadingFiltered);
pBlueTooth->SendString("Save Heading:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%2.1f",(float) ((int8_t)v / (double)10));
Serial.print(" Deviation :");
pBlueTooth->SendString(" Deviation :");
if (v == 0x7F)
{
Serial.println("NA");
pBlueTooth->SendString("NA\n");
}
else
{
Serial.println(v);
pBlueTooth->SendString(dummy);pBlueTooth->SendString(" \n");
}
EEPROM.writeByte(ADDR_Deviationtabel + D , (int8_t)v);
EEPROM.commit();
}
if(Val.substring(0, 4) == String("hdev"))
{
double v;
int hd = Val.substring(5, Val.indexOf(" ",6)).toInt();
if(Val.substring(Val.indexOf(" ",6),Val.length()) == " NA")
{
Serial.print("delete Deviation at Heading: ");Serial.println(hd);
sprintf(dummy,"%i",hd);
pBlueTooth->SendString("delete Deviation at Heading: ");
pBlueTooth->SendString(dummy);pBlueTooth->SendString("\n");
EEPROM.writeByte(ADDR_Deviationtabel + hd , 0x7F);
EEPROM.commit();
return;
}
else
v = Val.substring(Val.indexOf(" ",6),Val.length()).toDouble();
if(hd >= 360 || hd < 0)
{
Serial.println("Heading wrong");
pBlueTooth->SendString("Heading wrong\n");
return;
}
if (v < -12 || v > 12)
{
Serial.println("Deviation wrong");
pBlueTooth->SendString("Deviation wrong\n");
return;
}
Serial.print("Save Heading:"); Serial.print(hd);
sprintf(dummy,"%i",hd);
pBlueTooth->SendString("Save Heading:"); pBlueTooth->SendString(dummy);pBlueTooth->SendString(" ");
sprintf(dummy,"%2.1f",(float) v);
Serial.print(" Deviation :");
Serial.println(v);
pBlueTooth->SendString(" Deviation :");
pBlueTooth->SendString(dummy);pBlueTooth->SendString(" \n");
EEPROM.writeByte(ADDR_Deviationtabel + hd , (int8_t)(v * 10));
EEPROM.commit();
}
if(Val == String("cleardev"))