OpenPlotter

general

Aim

• fit a cheap and open source ECDIS on board of a sailing vessel

analog

• rudder angle sensor (VDO 10-180 Ohm) not yet connected
• fuel-level port (???) not yet connected
• fuel-level starboard (???) not yet connected
• drinking water (???) not yet connected
• see also:
  • https://blog.emilecantin.com/web/sysadmin/iot/javascript/sailing/2016/03/19/arduino-signalk-part-2.html
  • https://sailoog.gitbooks.io/openplotter-documentation/en/standalone-tools.html
  • https://sailoog.gitbooks.io/openplotter-documentation/en/wiring-i2c-sensors.html

nmea0183

• VHV radio (Navman VHF 7100) RS-422, differential
• gps (Garmin GPS 126) RS-232, single-ended
• see also http://boatprojects.blogspot.de/2012/12/beginners-guide-to-nmea-2000-nmea-0183.html

SeaTalkng network

• (AIS Class-B transceiver) ( http://www.allaboutais.com/index.php/en/products/products-on-the-market )
• autopilot control unit (Raymarine ACU-200)
• autopilot sensor (Raymarine EV1)
• autopilot instrument (Raymarine p70s)
• battery monitor (Victron BMV-702, 'VE.Direct to NMEA2000 interface')
• battery inverter/charger (Victron MultiPlus, 'VE.Bus to NMEA2000 interface')
• Raymarine iTC-5 converter
  • sumlog (VDO, Model?)
  • depth sounder (Airmar, Model?)
• Raymarine SeaTalk-SeaTalkng converter
  • instrument (ST70)
  • autopilot remote Raymarine A18106
  • wind & close hauled/VMG instrument (Raymarine Wind ST50 Plus)

Parts (boat specific)

• Seatalkng extensions:
  • Spur-Kabel mit 1 offenen Ende 3m Art.-Nr: A06044 EUR 40,-
  • 5-Wege-Verbinder Art.-Nr: A06064 EUR 35,- (alternativ T-Stück Art.-Nr.: A06028 EUR 25,-)
  • Backbone-Kabel 0,40m - A06033 EUR 30,-

Mini-PC

• Raspberry Pi 3 Model B EUR 33,50 or Raspberry Pi 3 Model B+ EUR 35,-
• 16GB MicroSD Card EUR 10,-
• PiCAN 2 EUR 45,- or PiCAN 2 incl. SMPS EUR 52,-

openPlotter

• hardware
  • Raspberry Pi 3 Model B
  • PiCAN 2
• eth0 IP set to static (192.168.1.112)

Setup Pi:

• see also
  • https://sailoog.gitbooks.io/openplotter-documentation/en/getting_started.html
• connect to openplotter-UI (eg. VNC)
  • update openCPN
  • upgrade Raspbian
  • upgrade to openPlotter 0.17.1
  • Preferences > Raspberry Configuration > Interfaces > SSH:enable (Remote-access via WinSCP and Putty defaults pi:raspberry)
• (sudo apt-get install tightvncserver (make RDP working))
• sudo apt-get install can-utils
• sudo apt-get install mc
• update node

curl -sL https://deb.nodesource.com/setup_8.x | sudo -E bash -
sudo apt install nodejs

• update signalk to latest
  • kill running signalk-server process

cd /home/pi/.config
rm -rf signalk-server-node_tmp
git clone https://github.com/SignalK/signalk-server-node.git signalk-server-node_tmp
cd signalk-server-node_tmp
npm install && npm run prepublishOnly
npm install mdns
cd /home/pi/.config
rm -rf signalk-server-node
mv signalk-server-node_tmp signalk-server-node

• restart signalk @ openplotter-UI

Setup Android:

• RDC from playStore (working)
• aRDP free from playStore (suits my needs best)

Setup piCAN2:

• see also
  • https://dayba.wordpress.com/category/canbus/pican2/
  • http://forum.openmarine.net/showthread.php?tid=92&page=2

• (in case you want to play with virtual-can-interfaces) add to /etc/modules

vcan

• add to /boot/config.txt

dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25
dtoverlay=spi-bcm2835-overlay

• add to /etc/network/interfaces (might be overwritten by /home/pi/.config/openplotter/wifi_server.py!)
  • https://github.com/sailoog/openplotter/issues/198

source /etc/network/interfaces.d/*

• add to /etc/network/interfaces/interfaces.d/can0

#physical can interfaces
allow-hotplug can0
iface can0 can static
bitrate 250000
down /sbin/ip link set $IFACE down
up /sbin/ifconfig $IFACE txqueuelen 10000

• (in case you want to play with virtual-can-interfaces) add to /etc/network/interfaces/interfaces.d/vcan0

#virtual can interfaces
auto vcan0
iface vcan0 inet manual
pre-up /sbin/ip link add dev $IFACE type vcan
up /sbin/ifconfig $IFACE up

• restart interfaces

service networking restart

• check interfaces (can0 and vcan0)

ifconfig

• install canboat

mkdir ~/canboat
cd ~/canboat
sudo apt-get install xsltproc
git clone git://github.com/canboat/canboat
cd canboat
sudo make
sudo make install

• add data-providers @ signalk web-interface
  • NMEA2000 > canbus (canboat) (working)
  • NMEA2000 > canbus (canboatjs) (not working https://github.com/SignalK/signalk-server-node/issues/489)

• working admin-ui generated canboat sample

    {
      "id": "canboat",
      "pipeElements": [
        {
          "type": "providers/simple",
          "options": {
            "logging": false,
            "type": "NMEA2000",
            "subOptions": {
              "type": "canbus",
              "interface": "vcan0"
            }
          }
        }
      ],
      "enabled": false
    }

• not working admin-ui generated canboatjs sample

    {
      "id": "canboatjs",
      "pipeElements": [
        {
          "type": "providers/simple",
          "options": {
            "logging": false,
            "type": "NMEA2000",
            "subOptions": {
              "type": "canbus-canboatjs",
              "interface": "vcan0"
            }
          }
        }
      ],
      "enabled": true
    }

• working canboatjs sample

    {                                                                           
      "id": "canbus-canboatjs",                                          
      "enabled": true,                                                          
      "pipeElements": [                                                         
        {                                                                       
          "type": "providers/canbus",                                           
          "options": {
            "canDevice": "vcan0"
          }                                                                     
        },                                                                      
        {                                                                       
          "type": "providers/canboatjs"                                         
        },                                                                      
        {                                                                       
          "type": "providers/n2k-signalk"                                       
        }                                                                       
      ]                                                                         
    }

• old working canboat sample

{
  "id": "n2k-vcan0",
  "pipeElements": [
    {
      "type": "providers/execute",
      "options": {
        "command": "candump vcan0 | candump2analyzer "
      }
    },
    {
      "type": "providers/liner",
      "options": {
        "rawlogging": true,
        "logdir": "logs",
        "discriminator": "2"
      }
    },
    {
      "type": "providers/n2kAnalyzer"
    },
    {
      "type": "providers/n2k-signalk"
    }
  ]
}

configure kplex and signalk

• 'Signal K Server Plugin Configuration' > activate 'Convert Signal K to NMEA0183'
  • select sentences you are interested in
• NMEA0183 (this is kplex) > Advanced >
  • add input channel tcp:localhost:10110
  • remove filter at opencpn out channel

[tcp]
name=signalk_in
direction=in
address=localhost
port=10110

[tcp]
name=opencpn
direction=out
mode=server
port=10109

experimental

• https://github.com/chacal/signalk-socketcan-device
• add to add to /home/pi/.openplotter/openplotter-settings.json

    {"pipeElements": [
      {"type": "providers/execute", "options": {"command": "candump can0 | candump2analyzer | analyzer -json -si -nv"}},
      {"type": "providers/liner"},
      {"type": "providers/from_json"},
      {"type": "signalk-socketcan-device", "options": {"n2kAddress": 110, "canDevice": "can0"}},
      {"type": "providers/n2k-signalk"}
      ],"id": "n2k-can0"
    }

blackBox

• hardware
  • Raspberry Pi 3 Model B+
  • PiCAN 2 incl. SMPS
• eth0 IP set to static (here 192.168.1.111)

setup Raspbian Stretch Lite

• download Raspbian Stretch Lite and copy image to SD-card (Etcher or win32diskimager)
• log in (hdmi) as pi:raspberry (us-keboard-layout!)
• start sudo raspi-config
  • enable ssh
  • resize SD-card
  • set wifi locale
  • ...
  • reboot
• connect via ssh or scp

sudo apt-get update
sudo apt-get upgrade
sudo apt-get install mc

• enable root login over SSH
  • add to /etc/ssh/sshd_config

    PermitRootLogin yes

  • restart service

    sudo /etc/init.d/ssh restart

  • set root password

    sudo passwd root

• set up static IP at /etc/dhcpcd.conf

interface eth0
static ip_address=192.168.1.111/24
static routers=192.168.1.1
static domain_name_servers=192.168.1.1

setup piCAN2 (as root)

• see also:
  • https://dayba.wordpress.com/2017/05/25/playing-with-socketcan-using-can-utils/
  • https://dayba.wordpress.com/2017/05/25/connecting-socket-can-adapter-to-signalk/

• install can-utils

apt-get update
apt-get install can-utils

• add to /boot/config.txt

dtparam=spi=on
dtoverlay=mcp2515-can0,oscillator=16000000,interrupt=25
dtoverlay=spi-bcm2835-overlay

• add to /etc/modules

vcan

• add to /etc/network/interfaces

source /etc/network/interfaces.d/*

• add to /etc/network/interfaces/interfaces.d/can0

#physical can interfaces
allow-hotplug can0
iface can0 can static
bitrate 250000
down /sbin/ip link set $IFACE down
up /sbin/ifconfig $IFACE txqueuelen 10000

• add to /etc/network/interfaces/interfaces.d/vcan0

#virtual can interfaces
auto vcan0
iface vcan0 inet manual
pre-up /sbin/ip link add dev $IFACE type vcan
up /sbin/ifconfig $IFACE up

• install canboat

apt-get install xsltproc
apt-get install git
mkdir ~/canboat
cd ~/canboat
git clone git://github.com/canboat/canboat
cd canboat
make
make install

install signalK (as root)

• see also
  • https://github.com/SignalK/signalk-server-node/blob/master/raspberry_pi_installation.md

apt-get update
apt-get install -y curl git build-essential dialog
curl -sL https://deb.nodesource.com/setup_8.x | bash -
apt-get install nodejs
apt-get install libnss-mdns avahi-utils libavahi-compat-libdnssd-dev
npm install -g --unsafe-perm signalk-server

setup signalK (as pi)

sudo signalk-server-setup
reboot

• in your browser, start signalk-web-interface (eg. http://192.168.1.111:3000)
• add admin-user via admin-ui and log-in (here admin:A****M**)
• add canboat Data-Provider via Admin-UI (stored in home/pi/.signalk/settings.json )

    {
      "id": "canboat",
      "pipeElements": [
        {
          "type": "providers/simple",
          "options": {
            "logging": false,
            "type": "NMEA2000",
            "subOptions": {
              "type": "canbus",
              "interface": "vcan0"
            }
          }
        }
      ],
      "enabled": true
    }

• alternative add canboatjs Data-Provider via Admin-UI (stored in home/pi/.signalk/settings.json )

    {
      "id": "canboatjs",
      "pipeElements": [
        {
          "type": "providers/simple",
          "options": {
            "logging": false,
            "type": "NMEA2000",
            "subOptions": {
              "type": "canbus-canboatjs",
              "interface": "vcan0"
            }
          }
        }
      ],
      "enabled": true
    }

signalk sandbox

signalk-server --sample-nmea0183-data

sudo systemctl stop signalk.service
sudo systemctl stop signalk.socket

sudo systemctl start signalk.service
sudo systemctl start signalk.socket

sudo systemctl disable signalk.service
sudo systemctl disable signalk.socket

sudo systemctl status signalk*

export DEBUG=signalk-server:udp-provider
export DEBUG=signalk-parser-nmea0183
./signalk-server

aisdispatcher

• see also
  • https://github.com/dgiardini/rtl-ais
  • http://www.aishub.net/ais-dispatcher?tab=linux
  • issue: https://groups.google.com/forum/#!topic/signalk/-9b07zcGCOk
• add data-provider via admin-ui

    {
      "id": "AIS-udp",
      "pipeElements": [
        {
          "type": "providers/simple",
          "options": {
            "logging": false,
            "type": "NMEA0183",
            "subOptions": {
              "type": "udp",
              "port": "77777"
            }
          }
        }
      ],
      "enabled": true
    }

raymarine autopilot

• see also
  • http://themarineinstallersrant.blogspot.de/2014/01/installing-raymarine-evolution-autopilot.html
  • https://github.com/sbender9/wilhelmsk-node-server-setup
  • http://www.yachtd.com/news/raymarine_autopilot_support.html

wifi client and access-point

• see also
  • https://github.com/Mateus-Romera/rpi3-wifi-station-ap-stretch
  • https://pifi.imti.co/#getting-started
  • https://github.com/peebles/rpi3-wifi-station-ap
  • https://albeec13.github.io/2017/09/26/raspberry-pi-zero-w-simultaneous-ap-and-managed-mode-wifi/
• issues
  • https://www.raspberrypi.org/forums/viewtopic.php?t=188891#p1189305