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
      • [overTemp]
      • [overCurrent]
      • [underVoltage]
      • ....
    • /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
    • ...
• 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
• https://bitbucket.org/Blackneron/esp32_adc/src/master/

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
• https://signalk.org/2020/12/18/sensesp-1.html