View source for Sail-by-wire

== aim ==
retrofit propulsion (engine, gearbox) and steering (rudder) with controller based on Sean's work 
* https://pypilot.org/schematics/
* https://github.com/pypilot/pypilot/tree/master/arduino/motor
* https://hackaday.io/project/168592-opencpn-chart-plotter-w-autopilot-and-waypoints
=== hardware ===
* ESP32 fully featured Microcontroller (< EUR 10,-)
* IBT-2 BTS7960 based Double-H-Bridge (< EUR 10,-)
* sensors:
** angular:
*** 10k Ohm linear pot (as suggested by Sean)
*** off-the-shelf rudder angle sensor 0-190 Ohm
*** rotary encoder
** position switches:
*** end stop
*** forward/ neutral / reverse
** current sense:
*** BTS7960 feature
** over temprature:
*** BTS7960 feature
** voltage sense
* power-drive:
** windshield wiper motor
** hydraulic pump
** linear drive
** ...

== commercial products ==
* ZF Pod Drives
** DeviceNet ?
* Volvo† IPS und Volvo Aquamatic
** J1939 ?
* Teleflex Optimus 360 Systems
** DeviceNet ?
* Yanmar VC10 und JC10 (Joystick) Control Systeme)
** DebiceNet ?
=== toDo ===
* explore communication protocols

== communication ==
=== channels ===
remote control via
* autopilot
** pyPilot
** Raymarine EV-2 https://www.raymarine.de/view/index-id=7686.html
** Garmin Steer-by-wire
* remote controller
** Android, iOS, Windows, Linux, ...
** buttons, joysticks, levers, ...

=== physical layer ===
* on-device via web-server
* wifi
* ethernet
* can-bus
** nmea2000
** ...
* serial
** Sean's pyPilot
* bluetooth
* infrared
* radio 10kHz

=== protocol layer ===
[...] = proposed feature
==== signalK ====
* rudder
** control
*** /vessels/<RegExp>/steering/rudderAngleTarget
** feedback
*** /vessels/<RegExp>/steering/rudderAngle
* autopilot
** control
/vessels/<RegExp>/steering/autopilot/target/windAngleApparent
/vessels/<RegExp>/steering/autopilot/target/headingTrue
/vessels/<RegExp>/steering/autopilot/target/headingMagnetic
** feedback
*** /vessels/<RegExp>/steering/autopilot/state
*** /vessels/<RegExp>/steering/autopilot/mode
*** /vessels/<RegExp>/steering/autopilot/deadZone
*** /vessels/<RegExp>/steering/autopilot/backlash
*** /vessels/<RegExp>/steering/autopilot/gain
*** /vessels/<RegExp>/steering/autopilot/maxDriveCurrent
*** /vessels/<RegExp>/steering/[controllerState]
**** [overTemp]
**** [overCurrent]
**** [underVoltage]
**** ....
* gear
** control
*** /vessels/<RegExp>/propulsion/<RegExp>/transmission/gear[Target]
** feedback
*** /vessels/<RegExp>/propulsion/<RegExp>/transmission/gear
*** /vessels/<RegExp>/propulsion/<RegExp>/transmission/[controllerState]
**** ...
* engine
** control
*** /vessels/<RegExp>/propulsion/<RegExp>/revolutions[Target]
*** /vessels/<RegExp>/propulsion/<RegExp>/engineLoad[Target]
** feedback
*** /vessels/<RegExp>/propulsion/<RegExp>/revolutions
*** /vessels/<RegExp>/propulsion/<RegExp>/engineLoad
*** /vessels/<RegExp>/propulsion/<RegExp>/[controllerState]
**** ...

==== nmea2000 ==== 
* rudder
** control
*** pgn 127237 Heading/Track Control
** feedback
*** pgn 127245 Rudder
* gear
** control
*** NONE
** feedback
*** pgn 127493 Transmission Parameters, Dynamic
* engine
** control
*** NONE
** feedback
*** pgn 127488 Engine Parameters, Rapid Update
*** pgn 127489 Engine Parameters, Dynamic

==== Sean's serial ====
(just a quick shot, details pending ...)
* rudder
** rudder_angle_sense
** port_endstop_pin
** starboard_endstop_pin
** controller_temperature
** motor_temperature
** voltage_sense
** shunt_sense_pin
** low_current_pin
** clutch_pin
** led_pin
** pwm_style_pin
** ...

== roadmap ==
=== angular measurement ===
* 3-wire 10k Ohm linear pot / 2-wire 190 Ohm stock rudder-angle-sensor
==== schematics ====
* ...
==== code ====
* ...
=== position switch readout ===
* endstops / forward / neutral / reverse
==== schematics ====
* ...
==== code ====
* ...

=== battery voltage measurement ===
* 12V/ 24V
==== schematics ====
* ...
==== code ====
* ...
=== BTS7960 fault reading ===
* ...
==== schematics ====
* ...
==== code ====
* ...
=== IBT-2 PWM control ===
* ...
==== schematics ====
* ...
==== code ====
* ...
=== ESP32 web-interface ===
* gauges
* control-buttons
==== code ====
* ...

== discussion ==
* https://www.segeln-forum.de/board194-boot-technik/board35-elektrik-und-elektronik/board195-open-boat-projects-org/75477-sail-by-wire-esp32-und-ibt-2/ (german)
* https://signalk-dev.slack.com/archives/C02EU366Y/p1586759016008500 (english)
* https://www.facebook.com/groups/1666364153609573/permalink/2634203136825665/ (english)
* http://forum.openmarine.net/showthread.php?tid=2508 (english)

== see also ==
=== IBT-2 ===
* https://github.com/custom-build-robots/Motor-Driver-BTS7960B-H-Bridge (Raspi)
* https://electronics.stackexchange.com/questions/458722/how-to-get-right-voltage-output-with-bts7960b-h-bridge (esp32)
* http://wiki.ardumower.de/index.php?title=Ardumower_Gasoline (Arduino)
* http://www.hessmer.org/blog/2013/12/28/ibt-2-h-bridge-with-arduino/ (Arduino)
* https://forum.allaboutcircuits.com/threads/how-to-connect-h-bridge-for-its-protection-features.141724/ (current sense)
* https://www.mouser.de/ProductDetail/Infineon-Technologies/BTS7960B?qs=wK%252BoHS4yu57Y%2Fa%252Bbuozvew%3D%3D

=== ADC ===
* https://www.arduinoforum.de/arduino-Thread-Messen-der-eigenen-Betriebsspannung-mit-dem-Arduino
* https://esp32.com/viewtopic.php?f=2&t=4354
* https://docs.espressif.com/projects/esp-idf/en/latest/api-reference/peripherals/adc.html

=== protocol ===
* http://forum.openmarine.net/showthread.php?tid=2265&pid=12945
* https://signalk.org/specification/1.5.0/doc/request_response.html
* http://signalk.org/specification/1.5.0/doc/put.html
* https://signalk.org/specification/1.5.0/doc/vesselsBranch.html

[[category:Projekte]]