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N2kMessages.h
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N2kMessages.h
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/* N2kMessages.h
*
* Copyright (c) 2015-2024 Timo Lappalainen, Kave Oy, www.kave.fi
*
* Permission is hereby granted, free of charge, to any person obtaining a
* copy of this software and associated documentation files (the "Software"),
* to deal in the Software without restriction, including without limitation
* the rights to use, copy, modify, merge, publish, distribute, sublicense,
* and/or sell copies of the Software, and to permit persons to whom the
* Software is furnished to do so, subject to the following conditions:
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
* SOFTWARE.
*/
/************************************************************************//**
* \file N2kMessages.h
* \brief This File contains all SetXXX functions which will be needed to
* transfer data with a specific PGN.
*
* This is a collection of functions for handling NMEA2000 bus messages.
* Library contains functions to e.g. create message named with PGN like
* \ref SetN2kPGN129025 and alias easy for humans to read like \ref
* SetN2kLatLonRapid.
*
* Each SetN2kPNGxxx function sets related message PGN and its default
* priority. The default priority can be different for each PGN. So if you
* want to change priority on function, you have to do it after Setxxx call.
*
* Each SetN2kPNGxxx function has a corresponding ParsN2kPGNxxx function which
* can extract the data out of an incoming N2k Message. These functions have as
* well an inline alias easy for humans to read like \ref ParseN2kPositionRapid.
*
* The content of the PGNs is specified by the NMEA2000 Standard under
*
* - https://web.archive.org/web/20220515054117/https://www.nmea.org/Assets/july%202010%20nmea2000_v1-301_app_b_pgn_field_list.pdf
* - https://web.archive.org/web/20200918140201/https://www.nmea.org/Assets/20151026%20nmea%202000%20pgn_website_description_list.pdf
*
* If you do not send anything to NMEA2000 bus, you do not need this library.
* Funtions for BUS handling PGN:s like 60928 "ISO Address Claim" has been
* defined in bus device library
*
* NMEA2000.h
*
* ********************************************************************/
#ifndef _N2kMessages_H_
#define _N2kMessages_H_
#include "N2kMsg.h"
#include "N2kTypes.h"
#include <string.h>
#include <stdint.h>
/************************************************************************//**
* \brief Converting a value from Rad to Deg
* \param v Input value in [rad]
* \return Corresponding value in [deg]
*/
inline double RadToDeg(double v) { return N2kIsNA(v)?v:v*180.0/3.1415926535897932384626433832795L; }
/************************************************************************//**
* \brief Converting a value from Deg to Rad
* \param v Input value in [deg]
* \return Corresponding value in [rad]
*/
inline double DegToRad(double v) { return N2kIsNA(v)?v:v/180.0*3.1415926535897932384626433832795L; }
/************************************************************************//**
* \brief Converting a value from Celsius to Kelvin
* \param v Input value in [degC]
* \return Corresponding value in [K]
*/
inline double CToKelvin(double v) { return N2kIsNA(v)?v:v+273.15L; }
/************************************************************************//**
* \brief Converting a value from Kelvin to Celsius
* \param v Input value in [K]
* \return Corresponding value in [degC]
*/
inline double KelvinToC(double v) { return N2kIsNA(v)?v:v-273.15L; }
/************************************************************************//**
* \brief Converting a value from Fahrenheit to Kelvin
* \param v Input value in [degF]
* \return Corresponding value in [K]
*/
inline double FToKelvin(double v) { return N2kIsNA(v)?v:(v-32)*5.0/9.0+273.15; }
/************************************************************************//**
* \brief Converting a value from Kelvin to Fahrenheit
* \param v Input value in [F]
* \return Corresponding value in [degF]
*/
inline double KelvinToF(double v) { return N2kIsNA(v)?v:(v-273.15)*9.0/5.0+32; }
/************************************************************************//**
* \brief Converting a value from Millibar to Pascal
* \param v Input value in [mBar]
* \return Corresponding value in [Pa]
*/
inline double mBarToPascal(double v) { return N2kIsNA(v)?v:v*100L; }
/************************************************************************//**
* \brief Converting a value from Pascal to Millibar
* \param v Input value in [Pa]
* \return Corresponding value in [mBar]
*/
inline double PascalTomBar(double v) { return N2kIsNA(v)?v:v/100L; }
/************************************************************************//**
* \brief Converting a value from HectoPascal to Pascal
* \param v Input value in [hPa]
* \return Corresponding value in [Pa]
*/
inline double hPAToPascal(double v) { return N2kIsNA(v)?v:v*100L; }
/************************************************************************//**
* \brief Converting a value from Pascal to HectoPascal
* \param v Input value in [Pa]
* \return Corresponding value in [hPa]
*/
inline double PascalTohPA(double v) { return N2kIsNA(v)?v:v/100L; }
/************************************************************************//**
* \brief Converting a value from AmpereHours to Coulomb
* \param v Input value in [Ah]
* \return Corresponding value in [C]
*/
inline double AhToCoulomb(double v) { return N2kIsNA(v)?v:v*3600L; }
/************************************************************************//**
* \brief Converting a value from Coulomb to AmpereHours
* \param v Input value in [C]
* \return Corresponding value in [Ah]
*/
inline double CoulombToAh(double v) { return N2kIsNA(v)?v:v/3600L; }
/************************************************************************//**
* \brief Converting a value from Hours to Seconds
* \param v Input value in [h]
* \return Corresponding value in [s]
*/
inline double hToSeconds(double v) { return N2kIsNA(v)?v:v*3600L; }
/************************************************************************//**
* \brief Converting a value from Seconds to Hours
* \param v Input value in [s]
* \return Corresponding value in [h]
*/
inline double SecondsToh(double v) { return N2kIsNA(v)?v:v/3600L; }
/************************************************************************//**
* \brief Converting a value from MeterPerSecond to Knots
* \param v Input value in [mps]
* \return Corresponding value in [kn]
*/
inline double msToKnots(double v) { return N2kIsNA(v)?v:v*1.9438444924406047516198704103672L; } // 3600L/1852.0L
/************************************************************************//**
* \brief Converting a value from Knots to MeterPerSecond
* \param v Input value in [kn]
* \return Corresponding value in [mps]
*/
inline double KnotsToms(double v) { return N2kIsNA(v)?v:v*0.51444444444444444444444444444444L; } // 1852L/3600.0L
/************************************************************************//**
* \brief Setting up PGN126992 Message "System date/time"
* \ingroup group_msgSetUp
*
* The purpose of this PGN is to provide a regular transmission of UTC time
* and date; optionally synchronized to other parameter groups from the same
* source.
*
* The default Priority is set to 3.
*
* \param N2kMsg Reference to a N2kMsg Object
* \param SID Sequence ID. In most cases you can use just 0xff for SID. See \ref secRefTermSID. \n
* \n
* SID has been designed to make difference between sensor sampling or calculation.
* Same SID in different PGNs sent by same device defines that values on PGN:s has been sampled or
* calculated at same time.
* \param SystemDate Days since 1970-01-01 (UTC)
* \param SystemTime seconds since midnight (UTC)
* \param TimeSource Source of the Systemtime
*
*
* \sa SetN2kSystemTime, tN2kTimeSource
*/
void SetN2kPGN126992(tN2kMsg &N2kMsg, unsigned char SID, uint16_t SystemDate,
double SystemTime, tN2kTimeSource TimeSource=N2ktimes_GPS);
/************************************************************************//**
* \brief Setting up Message "System date/time" - PGN 126992
* \ingroup group_msgSetUp
*
* Alias of PGN 126992. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref SetN2kPGN126992
*
*/
inline void SetN2kSystemTime(tN2kMsg &N2kMsg, unsigned char SID, uint16_t SystemDate,
double SystemTime, tN2kTimeSource TimeSource=N2ktimes_GPS) {
SetN2kPGN126992(N2kMsg,SID,SystemDate,SystemTime,TimeSource);
}
/************************************************************************//**
* \brief Parsing the Content of a PGN126992 Message - "System date/time"
* \ingroup group_msgParsers
*
* The PGN126992 purpose is twofold: To provide a regular transmission of UTC
* time and date. To provide synchronism for measurement data.
*
* \param N2kMsg N2kMsg Object, Output: NMEA2000 message ready to be send.
* \param SID Sequence ID. Normally you can just forget its value. See \ref secRefTermSID.
* \param SystemDate Systemdate in days since 1970-01-01 (UTC)
* \param SystemTime System time seconds since midnight (UTC)
* \param TimeSource Source of the Systemtime
* \return true Parsing of PGN Message successful
* \return false Parsing of PGN Message aborted
*/
bool ParseN2kPGN126992(const tN2kMsg &N2kMsg, unsigned char &SID, uint16_t &SystemDate,
double &SystemTime, tN2kTimeSource &TimeSource);
/************************************************************************//**
* \brief Parsing the content of a "System date/time" message - PGN 126992
* \ingroup group_msgParsers
*
* Alias of PGN 126992. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref ParseN2kPGN126992
*/
inline bool ParseN2kSystemTime(const tN2kMsg &N2kMsg, unsigned char &SID, uint16_t &SystemDate,
double &SystemTime, tN2kTimeSource &TimeSource) {
return ParseN2kPGN126992(N2kMsg,SID,SystemDate,SystemTime,TimeSource);
}
/************************************************************************//**
* \brief Setting up PGN129802 Message "AIS Safety Related Broadcast Message"
* \ingroup group_msgSetUp
*
* This parameter group provides data associated with the ITU-R M.1371
* Message 14 Safety Related Broadcast Message supporting broadcast
* communication of safety related data. An AIS device may generate this
* parameter group either upon receiving a VHF data link message 14,
* or upon receipt of an ISO or NMEA request PGN.
*
* \param N2kMsg Reference to a N2kMsg Object,
* Output: NMEA2000 message ready to be send.
* \param MessageID Message type
* \param Repeat Repeat indicator
* \param SourceID MMSI
* \param AISTransceiverInformation Transceiver Information
* \param SafetyRelatedText Safety related Text of the Broadcast
* communication
*
* \sa tN2kAISTransceiverInformation
*/
void SetN2kPGN129802(tN2kMsg &N2kMsg, uint8_t MessageID, tN2kAISRepeat Repeat, uint32_t SourceID,
tN2kAISTransceiverInformation AISTransceiverInformation, char * SafetyRelatedText);
/************************************************************************//**
* \brief Setting up Message "AIS Safety Related Broadcast Message" -
* PGN 129802
* \ingroup group_msgSetUp
*
* Alias of PGN 129802. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref SetN2kPGN129802
*
*/
inline void SetN2kAISSafetyRelatedBroadcastMsg(tN2kMsg &N2kMsg, uint8_t MessageID, tN2kAISRepeat Repeat, uint32_t SourceID,
tN2kAISTransceiverInformation AISTransceiverInformation, char * SafetyRelatedText) {
SetN2kPGN129802(N2kMsg, MessageID, Repeat, SourceID, AISTransceiverInformation, SafetyRelatedText);
}
/************************************************************************//**
* \brief Parsing the Content of a PGN129802 Message - "AIS Safety Related
* Broadcast Message"
* \ingroup group_msgParsers
*
* This parameter group provides data associated with the ITU-R M.1371
* Message 14 Safety Related Broadcast Message supporting broadcast
* communication of safety related data. An AIS device may generate this
* parameter group either upon receiving a VHF data link message 14,
* or upon receipt of an ISO or NMEA request PGN.
*
* \param N2kMsg Reference to a N2kMsg Object,
* Output: NMEA2000 message ready to be send.
* \param MessageID Message type
* \param Repeat Repeat indicator
* \param SourceID MMSI
* \param AISTransceiverInformation Transceiver Information
* \param SafetyRelatedText Safety related Text of the Broadcast
* communication
* \param SafetyRelatedTextMaxSize size of SafetyRelatedText
*
* \return true Parsing of PGN Message successful
* \return false Parsing of PGN Message aborted
*
* \sa tN2kAISTransceiverInformation
*/
bool ParseN2kPGN129802(const tN2kMsg &N2kMsg, uint8_t &MessageID, tN2kAISRepeat &Repeat, uint32_t &SourceID,
tN2kAISTransceiverInformation &AISTransceiverInformation, char * SafetyRelatedText, size_t &SafetyRelatedTextMaxSize);
/************************************************************************//**
* \brief Parsing the content of a "AIS Safety Related Broadcast Message"
* message - PGN 129802
* \ingroup group_msgParsers
*
* Alias of PGN 129802. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref ParseN2kPGN129802
*/
inline bool ParseN2kAISSafetyRelatedBroadcastMsg(const tN2kMsg &N2kMsg, uint8_t &MessageID, tN2kAISRepeat &Repeat, uint32_t &SourceID,
tN2kAISTransceiverInformation &AISTransceiverInformation, char * SafetyRelatedText, size_t &SafetyRelatedTextMaxSize) {
return ParseN2kPGN129802(N2kMsg, MessageID, Repeat, SourceID, AISTransceiverInformation, SafetyRelatedText, SafetyRelatedTextMaxSize);
}
/************************************************************************//**
* \brief Setting up PGN127233 Message "Man Overboard Notification"
* \ingroup group_msgSetUp
*
* The MOB PGN is intended to provide notification from a MOB monitoring
* system. The included position information may be that of the vessel or the
* MOB device itself as identified in field “X”, position source. Additional
* information may include the current state of the MOB device, time of
* activation, and MOB device battery status.
* \param N2kMsg Reference to a N2kMsg Object,
* Output: NMEA2000 message ready to be send.
* \param SID Sequence identifier. In most cases you can use just 0xff for SID. See \ref secRefTermSID. \n
* \n
* The sequence identifier field is used to tie different PGNs data together to same
* sampling or calculation time.
* \param MobEmitterId Identifier for each MOB emitter, unique to
* the vessel
* \param MOBStatus MOB Status
* \param ActivationTime Time of day (UTC) when MOB was activated
* \param PositionSource Position Source
* \param PositionDate Date of MOB position
* \param PositionTime Time of day of MOB position (UTC)
* \param Latitude Latitude in degrees
* \param Longitude Longitude in degrees
* \param COGReference True or Magnetic
* \param COG Course Over Ground in radians
* \param SOG Speed Over Ground in m/s
* \param MMSI MMSI
* \param MOBEmitterBatteryStatus Battery status
*
*/
void SetN2kPGN127233(tN2kMsg &N2kMsg,
unsigned char SID,
uint32_t MobEmitterId,
tN2kMOBStatus MOBStatus,
double ActivationTime,
tN2kMOBPositionSource PositionSource,
uint16_t PositionDate,
double PositionTime,
double Latitude,
double Longitude,
tN2kHeadingReference COGReference,
double COG,
double SOG,
uint32_t MMSI,
tN2kMOBEmitterBatteryStatus MOBEmitterBatteryStatus);
/************************************************************************//**
* \brief Setting up Message "Man Overboard Notification" - PGN 127233
* \ingroup group_msgSetUp
*
* Alias of PGN 127233. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref SetN2kPGN127233
*
*/
inline void SetN2kMOBNotification(tN2kMsg &N2kMsg,
unsigned char SID,
uint32_t MobEmitterId,
tN2kMOBStatus MOBStatus,
double ActivationTime,
tN2kMOBPositionSource PositionSource,
uint16_t PositionDate,
double PositionTime,
double Latitude,
double Longitude,
tN2kHeadingReference COGReference,
double COG,
double SOG,
uint32_t MMSI,
tN2kMOBEmitterBatteryStatus MOBEmitterBatteryStatus) {
SetN2kPGN127233(N2kMsg,SID,MobEmitterId,MOBStatus,ActivationTime,PositionSource,PositionDate,PositionTime,Latitude,Longitude,COGReference,COG,SOG,MMSI,MOBEmitterBatteryStatus);
}
/************************************************************************//**
* \brief Parsing the Content of Message PGN127233 "Man Overboard Notification"
* \ingroup group_msgParsers
*
* The MOB PGN is intended to provide notification from a MOB monitoring
* system. The included position information may be that of the vessel or the
* MOB device itself as identified in field “X”, position source. Additional
* information may include the current state of the MOB device, time of
* activation, and MOB device battery status.
*
* \param N2kMsg Reference to a N2kMsg Object,
* \param SID Sequence ID. Normally you can just forget its value. See \ref secRefTermSID.
* \param MobEmitterId Identifier for each MOB emitter, unique to
* the vessel
* \param MOBStatus MOB Status
* \param ActivationTime Time of day (UTC) when MOB was activated
* \param PositionSource Position Source
* \param PositionDate Date of MOB position
* \param PositionTime Time of day of MOB position (UTC)
* \param Latitude Latitude in degrees
* \param Longitude Longitude in degrees
* \param COGReference True or Magnetic
* \param COG Course Over Ground in radians
* \param SOG Speed Over Ground in m/s
* \param MMSI MMSI
* \param MOBEmitterBatteryStatus Battery status
*
* \return true Parsing of PGN Message successful
* \return false Parsing of PGN Message aborted
*
*/
bool ParseN2kPGN127233(const tN2kMsg &N2kMsg,
unsigned char &SID,
uint32_t &MobEmitterId,
tN2kMOBStatus &MOBStatus,
double &ActivationTime,
tN2kMOBPositionSource &PositionSource,
uint16_t &PositionDate,
double &PositionTime,
double &Latitude,
double &Longitude,
tN2kHeadingReference &COGReference,
double &COG,
double &SOG,
uint32_t &MMSI,
tN2kMOBEmitterBatteryStatus &MOBEmitterBatteryStatus);
/************************************************************************//**
* \brief Parsing the content of a "Man Overboard Notification"
* message - PGN 127233
* \ingroup group_msgParsers
*
* Alias of PGN 127233. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref ParseN2kPGN127233
*/
inline bool ParseN2kMOBNotification(const tN2kMsg &N2kMsg,
unsigned char &SID,
uint32_t &MobEmitterId,
tN2kMOBStatus &MOBStatus,
double &ActivationTime,
tN2kMOBPositionSource &PositionSource,
uint16_t &PositionDate,
double &PositionTime,
double &Latitude,
double &Longitude,
tN2kHeadingReference &COGReference,
double &COG,
double &SOG,
uint32_t &MMSI,
tN2kMOBEmitterBatteryStatus &MOBEmitterBatteryStatus) {
return ParseN2kPGN127233(N2kMsg,SID,MobEmitterId,MOBStatus,ActivationTime,PositionSource,PositionDate,PositionTime,Latitude,Longitude,COGReference,COG,SOG,MMSI,MOBEmitterBatteryStatus);
}
/************************************************************************//**
* \brief Setting up PGN127237 Message "Heading/Track control"
* \ingroup group_msgSetUp
*
* Sends commands to, and receives data from, heading control systems. Allows
* for navigational (remote) control of a heading control system and direct
* rudder control.
*
* \param N2kMsg Reference to a N2kMsg Object,
* Output: NMEA2000 message ready to be send.
* \param RudderLimitExceeded Yes/No
* \param OffHeadingLimitExceeded Yes/No
* \param OffTrackLimitExceeded Yes/No
* \param Override Yes/No
* \param SteeringMode Steering mode
* \param TurnMode Turn mode
* \param HeadingReference True or Magnetic
* \param CommandedRudderDirection Port or Starboard
* \param CommandedRudderAngle In radians
* \param HeadingToSteerCourse In radians
* \param Track In radians
* \param RudderLimit In radians
* \param OffHeadingLimit In radians
* \param RadiusOfTurnOrder In meter
* \param RateOfTurnOrder In radians/s
* \param OffTrackLimit In meters
* \param VesselHeading in radians
*
*/
void SetN2kPGN127237(tN2kMsg &N2kMsg,
tN2kOnOff RudderLimitExceeded,
tN2kOnOff OffHeadingLimitExceeded,
tN2kOnOff OffTrackLimitExceeded,
tN2kOnOff Override,
tN2kSteeringMode SteeringMode,
tN2kTurnMode TurnMode,
tN2kHeadingReference HeadingReference,
tN2kRudderDirectionOrder CommandedRudderDirection,
double CommandedRudderAngle,
double HeadingToSteerCourse,
double Track,
double RudderLimit,
double OffHeadingLimit,
double RadiusOfTurnOrder,
double RateOfTurnOrder,
double OffTrackLimit,
double VesselHeading);
/************************************************************************//**
* \brief Setting up Message "Heading/Track control" - PGN 127237
* \ingroup group_msgSetUp
*
* Alias of PGN 127237. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref SetN2kPGN127237
*
*/
inline void SetN2kHeadingTrackControl(tN2kMsg &N2kMsg,
tN2kOnOff RudderLimitExceeded,
tN2kOnOff OffHeadingLimitExceeded,
tN2kOnOff OffTrackLimitExceeded,
tN2kOnOff Override,
tN2kSteeringMode SteeringMode,
tN2kTurnMode TurnMode,
tN2kHeadingReference HeadingReference,
tN2kRudderDirectionOrder CommandedRudderDirection,
double CommandedRudderAngle,
double HeadingToSteerCourse,
double Track,
double RudderLimit,
double OffHeadingLimit,
double RadiusOfTurnOrder,
double RateOfTurnOrder,
double OffTrackLimit,
double VesselHeading) {
SetN2kPGN127237(N2kMsg, RudderLimitExceeded,OffHeadingLimitExceeded,OffTrackLimitExceeded,Override,SteeringMode,TurnMode,
HeadingReference,CommandedRudderDirection,CommandedRudderAngle,HeadingToSteerCourse,Track,RudderLimit,OffHeadingLimit,
RadiusOfTurnOrder,RateOfTurnOrder,OffTrackLimit,VesselHeading);
}
/************************************************************************//**
* \brief Parsing the Content of Message PGN127237 "Heading/Track control"
* \ingroup group_msgParsers
*
* Sends commands to, and receives data from, heading control systems. Allows
* for navigational (remote) control of a heading control system and direct
* rudder control.
*
* \param N2kMsg Reference to a N2kMsg Object,
* \param RudderLimitExceeded Yes/No
* \param OffHeadingLimitExceeded Yes/No
* \param OffTrackLimitExceeded Yes/No
* \param Override Yes/No
* \param SteeringMode Steering mode
* \param TurnMode Turn mode
* \param HeadingReference True or Magnetic
* \param CommandedRudderDirection Port or Starboard
* \param CommandedRudderAngle In radians
* \param HeadingToSteerCourse In radians
* \param Track In radians
* \param RudderLimit In radians
* \param OffHeadingLimit In radians
* \param RadiusOfTurnOrder In meter
* \param RateOfTurnOrder In radians/s
* \param OffTrackLimit In meters
* \param VesselHeading in radians
*
* \return true Parsing of PGN Message successful
* \return false Parsing of PGN Message aborted
*/
bool ParseN2kPGN127237(const tN2kMsg &N2kMsg,
tN2kOnOff &RudderLimitExceeded,
tN2kOnOff &OffHeadingLimitExceeded,
tN2kOnOff &OffTrackLimitExceeded,
tN2kOnOff &Override,
tN2kSteeringMode &SteeringMode,
tN2kTurnMode &TurnMode,
tN2kHeadingReference &HeadingReference,
tN2kRudderDirectionOrder &CommandedRudderDirection,
double &CommandedRudderAngle,
double &HeadingToSteerCourse,
double &Track,
double &RudderLimit,
double &OffHeadingLimit,
double &RadiusOfTurnOrder,
double &RateOfTurnOrder,
double &OffTrackLimit,
double &VesselHeading);
/************************************************************************//**
* \brief Parsing the content of a "Heading/Track control"
* message - PGN 127237
* \ingroup group_msgParsers
*
* Alias of PGN 127237. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref ParseN2kPGN127237
*/
inline bool ParseN2kHeadingTrackControl(const tN2kMsg &N2kMsg,
tN2kOnOff &RudderLimitExceeded,
tN2kOnOff &OffHeadingLimitExceeded,
tN2kOnOff &OffTrackLimitExceeded,
tN2kOnOff &Override,
tN2kSteeringMode &SteeringMode,
tN2kTurnMode &TurnMode,
tN2kHeadingReference &HeadingReference,
tN2kRudderDirectionOrder &CommandedRudderDirection,
double &CommandedRudderAngle,
double &HeadingToSteerCourse,
double &Track,
double &RudderLimit,
double &OffHeadingLimit,
double &RadiusOfTurnOrder,
double &RateOfTurnOrder,
double &OffTrackLimit,
double &VesselHeading)
{
return ParseN2kPGN127237(N2kMsg,RudderLimitExceeded,OffHeadingLimitExceeded,OffTrackLimitExceeded,Override,SteeringMode,
TurnMode,HeadingReference,CommandedRudderDirection, CommandedRudderAngle,HeadingToSteerCourse,Track,RudderLimit,
OffHeadingLimit,RadiusOfTurnOrder,RateOfTurnOrder,OffTrackLimit,VesselHeading);
}
/************************************************************************//**
* \brief Setting up PGN127245 Message "Rudder"
* \ingroup group_msgSetUp
*
* Rudder order command in direction or angle with current rudder angle reading.
*
* \param N2kMsg Reference to a N2kMsg Object,
* Output: NMEA2000 message ready to be send.
* \param RudderPosition Current rudder postion in radians.
* \param Instance Rudder instance.
* \param RudderDirectionOrder Direction, where rudder should be turned.
* \param AngleOrder In radians angle where rudder should be turned.
*
* \sa tN2kRudderDirectionOrder
*/
void SetN2kPGN127245(tN2kMsg &N2kMsg, double RudderPosition, unsigned char Instance=0,
tN2kRudderDirectionOrder RudderDirectionOrder=N2kRDO_NoDirectionOrder, double AngleOrder=N2kDoubleNA);
/************************************************************************//**
* \brief Setting up Message "Rudder" - PGN 127245
* \ingroup group_msgSetUp
*
* Alias of PGN 127245. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref SetN2kPGN127245
*
*/
inline void SetN2kRudder(tN2kMsg &N2kMsg, double RudderPosition, unsigned char Instance=0,
tN2kRudderDirectionOrder RudderDirectionOrder=N2kRDO_NoDirectionOrder, double AngleOrder=N2kDoubleNA) {
SetN2kPGN127245(N2kMsg,RudderPosition,Instance,RudderDirectionOrder,AngleOrder);
}
/************************************************************************//**
* \brief Parsing the content of Message PGN127245 "Rudder"
* \ingroup group_msgParsers
*
* Rudder order command in direction or angle with current rudder angle reading.
*
* \param N2kMsg Reference to a N2kMsg Object,
* Output: NMEA2000 message ready to be send.
* \param RudderPosition Current rudder postion in radians.
* \param Instance Rudder instance.
* \param RudderDirectionOrder Direction, where rudder should be turned.
* \param AngleOrder In radians angle where rudder should be turned.
*
* \return true Parsing of PGN Message successful
* \return false Parsing of PGN Message aborted
*
* \sa tN2kRudderDirectionOrder
*/
bool ParseN2kPGN127245(const tN2kMsg &N2kMsg, double &RudderPosition, unsigned char &Instance,
tN2kRudderDirectionOrder &RudderDirectionOrder, double &AngleOrder);
/************************************************************************//**
* \brief Parsing the content of a "Rudder"
* message - PGN 127245
* \ingroup group_msgParsers
*
* Alias of PGN 127245. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref ParseN2kPGN127245
*/
inline bool ParseN2kRudder(const tN2kMsg &N2kMsg, double &RudderPosition, unsigned char &Instance,
tN2kRudderDirectionOrder &RudderDirectionOrder, double &AngleOrder) {
return ParseN2kPGN127245(N2kMsg,RudderPosition,Instance,RudderDirectionOrder,AngleOrder);
}
/************************************************************************//**
* \brief Parsing the content of a "Rudder"
* message - PGN 127245
* \ingroup group_msgParsers
*
* Alias of PGN 127245. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref ParseN2kPGN127245
*/
inline bool ParseN2kRudder(const tN2kMsg &N2kMsg, double &RudderPosition) {
tN2kRudderDirectionOrder RudderDirectionOrder;
double AngleOrder;
unsigned char Instance;
return ParseN2kPGN127245(N2kMsg,RudderPosition,Instance,RudderDirectionOrder,AngleOrder);
}
/************************************************************************//**
* \brief Setting up PGN127250 Message "Vessel Heading"
* \ingroup group_msgSetUp
*
* Heading sensor value with a flag for True or Magnetic. If the sensor value
* is Magnetic, the deviation field can be used to produce a Magnetic heading,
* and the variation field can be used to correct the Magnetic heading to
* produce a True heading.
*
* \param N2kMsg Reference to a N2kMsg Object,
* Output: NMEA2000 message ready to be send.
* \param SID Sequence identifier. In most cases you can use just 0xff for SID. See \ref secRefTermSID. \n
* \n
* The sequence identifier field is used to tie different PGNs data together to same
* sampling or calculation time.
* \param Heading Heading in radians
* \param Deviation Magnetic deviation in radians. Use N2kDoubleNA
* for undefined value.
* \param Variation Heading reference. See definition
* of \ref tN2kHeadingReference.
* \param ref Heading reference. See definition
* of \ref tN2kHeadingReference.
*/
void SetN2kPGN127250(tN2kMsg &N2kMsg, unsigned char SID, double Heading, double Deviation, double Variation, tN2kHeadingReference ref);
/************************************************************************//**
* \brief Setting up Message "Vessel Heading" - PGN 127250
* \ingroup group_msgSetUp
*
* Alias of PGN 127250. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref SetN2kPGN127250
*/
inline void SetN2kTrueHeading(tN2kMsg &N2kMsg, unsigned char SID, double Heading) {
SetN2kPGN127250(N2kMsg,SID,Heading,N2kDoubleNA,N2kDoubleNA,N2khr_true);
}
/************************************************************************//**
* \brief Setting up Message "Vessel Heading" - PGN 127250
* \ingroup group_msgSetUp
*
* Alias of PGN 127250. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref SetN2kPGN127250
*/
inline void SetN2kMagneticHeading(tN2kMsg &N2kMsg, unsigned char SID, double Heading, double Deviation=N2kDoubleNA, double Variation=N2kDoubleNA) {
SetN2kPGN127250(N2kMsg,SID,Heading,Deviation,Variation,N2khr_magnetic);
}
/************************************************************************//**
* \brief Parsing Content of Message PGN 127250 "Vessel Heading"
* \ingroup group_msgParsers
*
* Heading sensor value with a flag for True or Magnetic. If the sensor value
* is Magnetic, the deviation field can be used to produce a Magnetic heading,
* and the variation field can be used to correct the Magnetic heading to
* produce a True heading.
*
* \param N2kMsg Reference to a N2kMsg Object,
* \param SID Sequence ID. Normally you can just forget its value. See \ref secRefTermSID.
* \param Heading Heading in radians
* \param Deviation Magnetic deviation in radians. Use N2kDoubleNA
* for undefined value.
* \param Variation Heading reference. See definition
* of \ref tN2kHeadingReference.
* \param ref Heading reference. See definition
* of \ref tN2kHeadingReference.
*
* \return true Parsing of PGN Message successful
* \return false Parsing of PGN Message aborted
*
*/
bool ParseN2kPGN127250(const tN2kMsg &N2kMsg, unsigned char &SID, double &Heading, double &Deviation, double &Variation, tN2kHeadingReference &ref);
/************************************************************************//**
* \brief Parsing the content of a "Vessel Heading"
* message - PGN 127250
* \ingroup group_msgParsers
*
* Alias of PGN 127250. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref ParseN2kPGN127250
*/
inline bool ParseN2kHeading(const tN2kMsg &N2kMsg, unsigned char &SID, double &Heading, double &Deviation, double &Variation, tN2kHeadingReference &ref) {
return ParseN2kPGN127250(N2kMsg,SID,Heading,Deviation,Variation,ref);
}
/************************************************************************//**
* \brief Setting up PGN 127251 Message "Rate of Turn"
*\ingroup group_msgSetUp
*
* Rate of Turn is the rate of change of the Heading.
*
* \param N2kMsg Reference to a N2kMsg Object,
* Output: NMEA2000 message ready to be send.
* \param SID Sequence identifier. In most cases you can use just 0xff for SID. See \ref secRefTermSID. \n
* \n
* The sequence identifier field is used to tie different PGNs data together to same
* sampling or calculation time.
* \param RateOfTurn Change in heading in radians per second
*
*/
void SetN2kPGN127251(tN2kMsg &N2kMsg, unsigned char SID, double RateOfTurn);
/************************************************************************//**
* \brief Setting up Message "Rate of Turn" - PGN 127251
* \ingroup group_msgSetUp
*
* Alias of PGN 127251. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref SetN2kPGN127251
*/
inline void SetN2kRateOfTurn(tN2kMsg &N2kMsg, unsigned char SID, double RateOfTurn) {
SetN2kPGN127251(N2kMsg,SID,RateOfTurn);
}
/************************************************************************//**
* \brief Parsing the content of Message PGN127251 "Rate of Turn"
* \ingroup group_msgParsers
*
* Rate of Turn is the rate of change of the Heading.
*
* \param N2kMsg Reference to a N2kMsg Object,
* \param SID Sequence ID. Normally you can just forget its value. See \ref secRefTermSID.
* \param RateOfTurn Change in heading in radians per second
*
* \return true Parsing of PGN Message successful
* \return false Parsing of PGN Message aborted
*
*/
bool ParseN2kPGN127251(const tN2kMsg &N2kMsg, unsigned char &SID, double &RateOfTurn);
/************************************************************************//**
* \brief Parsing the content of a "Rate of Turn"
* message - PGN 127251
* \ingroup group_msgParsers
*
* Alias of PGN 127251. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref ParseN2kPGN127251
*/
inline bool ParseN2kRateOfTurn(const tN2kMsg &N2kMsg, unsigned char &SID, double &RateOfTurn) {
return ParseN2kPGN127251(N2kMsg,SID,RateOfTurn);
}
/************************************************************************//**
* \brief Setting up PGN 127252 Message "Heave"
* \ingroup group_msgSetUp
*
* Vertical displacement perpendicular to (smooth, wave-free water on)
* the earth’s surface.
*
* \param N2kMsg Reference to a N2kMsg Object,
* \param SID Sequence identifier. In most cases you can use just 0xff for SID. See \ref secRefTermSID. \n
* \n
* The sequence identifier field is used to tie different PGNs data together to same
* sampling or calculation time.
* \param Heave Vertical displacement perpendicular to the earth’s
* surface in meters
* \param Delay Delay added by calculations in seconds
* \param DelaySource Delay Source, see \ref tN2kDelaySource
*/
void SetN2kPGN127252(tN2kMsg &N2kMsg, unsigned char SID, double Heave,
double Delay=N2kDoubleNA, tN2kDelaySource DelaySource=N2kDD374_DataNotAvailable);
/************************************************************************//**
* \brief Setting up Message "Rate of Turn" - PGN 127252
* \ingroup group_msgSetUp
*
* Alias of PGN 127252. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref SetN2kPGN127252
*/
inline void SetN2kHeave(tN2kMsg &N2kMsg, unsigned char SID, double Heave,
double Delay=N2kDoubleNA, tN2kDelaySource DelaySource=N2kDD374_DataNotAvailable) {
SetN2kPGN127252(N2kMsg, SID, Heave, Delay, DelaySource);
}
/************************************************************************//**
* \brief Parsing the content of Message PGN127252 "Heave"
* \ingroup group_msgParsers
*
* Vertical displacement perpendicular to (smooth, wave-free water on)
* the earth’s surface.
*
* \param N2kMsg Reference to a N2kMsg Object,
* \param SID Sequence ID. Normally you can just forget its value. See \ref secRefTermSID.
* \param Heave Vertical displacement perpendicular to the earth’s
* surface in meters
* \param Delay Delay added by calculations in seconds
* \param DelaySource Delay Source, see \ref tN2kDelaySource
*
* \return true Parsing of PGN Message successful
* \return false Parsing of PGN Message aborted
*
*/
bool ParseN2kPGN127252(const tN2kMsg &N2kMsg, unsigned char &SID, double &Heave, double &Delay, tN2kDelaySource &DelaySource);
/************************************************************************//**
* \brief Parsing the content of a "Heave"
* message - PGN 127252
* \ingroup group_msgParsers
*
* Alias of PGN 127252. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref ParseN2kPGN127252
*/
inline bool ParseN2kHeave(const tN2kMsg &N2kMsg, unsigned char &SID, double &Heave) {
double Delay;
tN2kDelaySource DelaySource;
return ParseN2kPGN127252(N2kMsg, SID, Heave, Delay, DelaySource);
}
/************************************************************************//**
* \brief Parsing the content of a "Heave"
* message - PGN 127252
* \ingroup group_msgParsers
*
* Alias of PGN 127252. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref ParseN2kPGN127252
*/
inline bool ParseN2kHeave(const tN2kMsg &N2kMsg, unsigned char &SID, double &Heave, double &Delay, tN2kDelaySource &DelaySource) {
return ParseN2kPGN127252(N2kMsg, SID, Heave, Delay, DelaySource);
}
/************************************************************************//**
* \brief Setting up PGN 127257 Message "Attitude"
* \ingroup group_msgSetUp
*
* This parameter group provides a single transmission that describes the
* position of a vessel relative to both horizontal and vertical
* planes. This would typically be used for vessel stabilization, vessel
* control and onboard platform stabilization.
*
* \param N2kMsg Reference to a N2kMsg Object,
* Output: NMEA2000 message ready to be send.
* \param SID Sequence identifier. In most cases you can use just 0xff for SID. See \ref secRefTermSID. \n
* \n
* The sequence identifier field is used to tie different PGNs data together to same
* sampling or calculation time.
* \param Yaw Heading in radians.
* \param Pitch Pitch in radians. Positive, when your bow rises.
* \param Roll Roll in radians. Positive, when tilted right.
*
*/
void SetN2kPGN127257(tN2kMsg &N2kMsg, unsigned char SID, double Yaw, double Pitch, double Roll);
/************************************************************************//**
* \brief Setting up Message "Attitude" - PGN 127257
* \ingroup group_msgSetUp
*
* Alias of PGN 127257. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref SetN2kPGN127257
*/
inline void SetN2kAttitude(tN2kMsg &N2kMsg, unsigned char SID, double Yaw, double Pitch, double Roll) {
SetN2kPGN127257(N2kMsg,SID, Yaw, Pitch, Roll);
}
/************************************************************************//**
* \brief Parsing the content of Message PGN 127257 "Attitude"
* \ingroup group_msgParsers
*
* This parameter group provides a single transmission that describes the
* position of a vessel relative to both horizontal and vertical
* planes. This would typically be used for vessel stabilization, vessel
* control and onboard platform stabilization.
*
* \param N2kMsg Reference to a N2kMsg Object,
* \param SID Sequence ID. Normally you can just forget its value. See \ref secRefTermSID.
* \param Yaw Heading in radians.
* \param Pitch Pitch in radians. Positive, when your bow rises.
* \param Roll Roll in radians. Positive, when tilted right.
*
* \return true Parsing of PGN Message successful
* \return false Parsing of PGN Message aborted
*
*/
bool ParseN2kPGN127257(const tN2kMsg &N2kMsg, unsigned char &SID, double &Yaw, double &Pitch, double &Roll);
/************************************************************************//**
* \brief Parsing the content of a "Attitude"
* message - PGN 127257
* \ingroup group_msgParsers
*
* Alias of PGN 127257. This alias was introduced to improve the readability
* of the source code. See parameter details on \ref ParseN2kPGN127257
*/
inline bool ParseN2kAttitude(const tN2kMsg &N2kMsg, unsigned char &SID, double &Yaw, double &Pitch, double &Roll) {
return ParseN2kPGN127257(N2kMsg,SID, Yaw, Pitch, Roll);
}
/************************************************************************//**
* \brief Setting up PGN 127258 Message "Magnetic Variation"
* \ingroup group_msgSetUp
*
* Message for transmitting variation. The message contains a sequence number
* to allow synchronization of other messages such as Heading or Course over
* Ground. The quality of service and age of service are provided to enable