feat(firmware): BNO085 node, concentrador y listener PGN 127237

AR_electronics — AR-Autopilot Project Tarea #3 — firmware/ar_bno085_node_v1/ Nodo compacto ESP32+CAN lee heading y yaw rate del BNO085 via I2C y los publica en el backbone NMEA 2000 como PGN 127250+127251 a 10 Hz. Tarea #4 — firmware/ar_concentrador_v1/ Gateway NMEA2000<->NMEA0183 con 4 puertos OUT (UART1 TX broadcast) y 4 puertos IN (UART2 RX comandos). Parsea sentencias $PARP, gestiona autoridad de mando entre estaciones con timeout 10s y override del puente. Reenvía comandos autopilot como PGN 127237 al backbone. Tarea #5 — nmea2000_consumer (ar_autopilot_v1) Listener PGN 127237 entrante desde concentrador: HeadingControlSnapshot, HandleHeadingControl() con filtro source address, nmea2000_htc() publico, ventana stale 3s para comandos externos.
2026-05-23 11:00:22 -04:00
parent 4cc5b19f0c
commit 080e47efc0
12 changed files with 1191 additions and 4 deletions
@@ -0,0 +1,45 @@
+// =============================================================================
+//  protocols/n2k_bridge.h -- NMEA 2000 <-> NMEA 0183 conversion
+// =============================================================================
+//
+//  Outbound (NMEA 2000 → NMEA 0183 for USB-OUT ports):
+//    Receives PGNs from the backbone and formats standard/proprietary sentences.
+//
+//  Inbound (NMEA 0183 → NMEA 2000 for $PARP commands from USB-IN ports):
+//    Converts parsed ParpCommand structs into NMEA 2000 PGN 127237.
+// =============================================================================
+
+#pragma once
+
+#include "nmea0183_parser.h"
+#include <N2kMessages.h>
+#include <Stream.h>
+
+namespace arconcentrador::protocols {
+
+/// Initialise the NMEA 2000 stack and register PGN handlers.
+void n2k_bridge_init();
+
+/// Process one incoming NMEA 2000 message.
+/// Formats the corresponding NMEA 0183 sentence into out_buf.
+/// Returns true if a sentence was written.
+bool n2k_to_0183(const tN2kMsg& msg, char* out_buf, size_t out_len);
+
+/// Convert a parsed $PARP command into a NMEA 2000 PGN 127237 and send it.
+/// Returns true if a PGN was sent.
+bool parp_to_n2k(const ParpCommand& cmd, float current_heading_deg);
+
+/// Latest vessel heading received from backbone (degrees, for status broadcasts).
+float n2k_latest_heading_deg();
+
+/// Latest autopilot status received from backbone (PGN 127237 from autopilot).
+struct ApStatus {
+    float   heading_deg;       ///< actual vessel heading
+    float   commanded_deg;     ///< heading setpoint
+    float   rudder_deg;        ///< rudder angle
+    uint8_t mode;              ///< 0=STANDBY 1=HEADING_HOLD 2=TRACK
+    bool    valid;
+};
+ApStatus n2k_ap_status();
+
+}  // namespace arconcentrador::protocols