alro65
080e47efc0
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.
46 lines
1.7 KiB
C++
46 lines
1.7 KiB
C++
// =============================================================================
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// protocols/n2k_bridge.h -- NMEA 2000 <-> NMEA 0183 conversion
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// =============================================================================
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//
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// Outbound (NMEA 2000 → NMEA 0183 for USB-OUT ports):
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// Receives PGNs from the backbone and formats standard/proprietary sentences.
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//
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// Inbound (NMEA 0183 → NMEA 2000 for $PARP commands from USB-IN ports):
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// Converts parsed ParpCommand structs into NMEA 2000 PGN 127237.
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// =============================================================================
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#pragma once
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#include "nmea0183_parser.h"
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#include <N2kMessages.h>
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#include <Stream.h>
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namespace arconcentrador::protocols {
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/// Initialise the NMEA 2000 stack and register PGN handlers.
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void n2k_bridge_init();
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/// Process one incoming NMEA 2000 message.
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/// Formats the corresponding NMEA 0183 sentence into out_buf.
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/// Returns true if a sentence was written.
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bool n2k_to_0183(const tN2kMsg& msg, char* out_buf, size_t out_len);
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/// Convert a parsed $PARP command into a NMEA 2000 PGN 127237 and send it.
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/// Returns true if a PGN was sent.
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bool parp_to_n2k(const ParpCommand& cmd, float current_heading_deg);
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/// Latest vessel heading received from backbone (degrees, for status broadcasts).
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float n2k_latest_heading_deg();
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/// Latest autopilot status received from backbone (PGN 127237 from autopilot).
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struct ApStatus {
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float heading_deg; ///< actual vessel heading
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float commanded_deg; ///< heading setpoint
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float rudder_deg; ///< rudder angle
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uint8_t mode; ///< 0=STANDBY 1=HEADING_HOLD 2=TRACK
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bool valid;
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};
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ApStatus n2k_ap_status();
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} // namespace arconcentrador::protocols
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