S/V Constance, Alberg 30 #262 -- Homebrew Navigation System

Some Notes

YakBitz SeaTalk to NMEA WiFi SeaYak output: DBT, MWV, VWR, MTW, VHW, HDG, HDM, HDT, RMB, RMC, VTG, XTE, BWC, APB, GGA, GLL, ZDA
YakBitz SeaTalk to NMEA WiFi: operate as Access Point or Station mode for WiFi. Supports TCP and UDP.
QK-A027 SeaTalk 4800 baud to NMEA RS-422 w/ WiFi w/AIS output: 4800 baud or 38400 (default): DBT, MWV, VHW, VLW, MTW, RMC, HDG
QK-A027 SeaTalk 4800 baud to NMEA RS-422 w/ WiFi w/AIS output: Ad-Hoc or Station modes for WiFi via 802.11 b/g/n WPA/WPA2. Supports TCP/2000.
Garmin GPS192C NMEA RS-422(?) output: GPRMC, GPGGA, GPGSA, GPGSV, GPGLL, GPBOD, GPRTE, and GPWPL
Garmin GPS192C NMEA RS-422(?) input: DBT, DPT, MTW, VHW
WestMarine VHF NMEA output: 4800N8,1 GPRMC
Standard Horizon GX2400GPS NMEA input 4800 and 38400 baud: GGA, GLL, RMC, GSA, GSV, DSC/DSE
Standard Horizon GX2400GPS NMEA output 4800 and 38400 baud: DSC, DSE, GGA, GLL, GNS, RMC, GSA, GSV, VDM

Goal

A homebrew navigation system with the following capabilites:

Navigation: display of our course on NOAA charts. Data required: course over ground, speed over ground, GPS location.
Performance: true wind direction and speed, apparent wind direction and speed, speed through the water, speed over ground, course over ground.
Logging: all information captured to log file in ASCII format.

An article on Apple or Android tablets.
OpenPlotter a combination of software and hardware to be used as navigational aid on small and medium boats.
Motissier Hat provides AIS receiver, GNSS receiver, compass, heel and trim, barometric pressure, OpenPlotter compatible
An implementation using Raspberry Pi, OpenPlotter, RTL-SDR for AIS, and Motissier Hat for Raspberry Pi (playlist)
Enhanced Solutions NMEA wired connections (up to four inputs, one output) to WiFi Network (up to four clients), $129 as of 2019-07-04.
James Conger Building your own Chartplotter with a Raspberry Pi and OpenCPN
Sailing Balachandran How to Sail Digital for CHEAP with Raspberry Pi (2019-01-12) and video report two years later (2020-10-17)
Sailing Brick House OpenPlotter, raspberry pi for Sailboats
David Burch OpenCPN Series
Smart Sailing Boat Openplotter instruction video for "Raspberry Pi
Seatalk to NMEA and Seatalk to WiFi converters from YakBitz about $70
Seatalk to NMEA and Seatalk to WiFi converter with AIS splitter about $70.

Development

20201026
1. Tried to boot the Raspberry Pi 3B+. No luck. Red LED only. No green LED activity meaning no SD card activity.
2. Installed the more recent Raspberry Pi OS using the Raspberry Pi Imager and the Cana MicroSD card reader.
3. Booted without issue. Set the localization information (country, keyboard, timezone), pi user password, WiFi network and password. host google.com fails. (access configuration utility with sudo piwiz)
4. Wireless connection failed. Restarted. Now the wireless network is working. host google.com resolves.
5. editted /etc/config.txt to set framebuffer_width=1280 and framebuffer_height=720. Not very good. /opt/vc/bin/tvservice -s indicates state 0xa [HDMI DMT (39) RGB 16:9] 1360x768 @ 60.00Hz, progressive
6. updated the Raspberry Pi OS using sudo apt-get update and sudo apt-get dist-upgrade per https://www.raspberrypi.org/blog/raspbian-update-june-2018/
7. rebooted with sudo poweroff
8. enabled SSH via the graphical Raspberry Pi Configuration utility. Confirmed SSH works.
9. Following instructions at https://opencpn.org/wiki/dokuwiki/doku.php?id=opencpn:opencpn_user_manual:getting_started:opencpn_installation:raspberrypi_rpi2 to install OpenCPN
  1. sudo vi /etc/apt/sources.list
  2. add deb http://ppa.launchpad.net/opencpn/opencpn/ubuntu/ bionic main
  3. sudo apt install dirmngr
  4. sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys C865EB40
  5. sudo apt-get update
  6. sudo apt-get install opencpn
10. OpenCPN was added to the Education menu under the Raspberry.
11. Started OpenCPN . Shows Failed to inspect lock file '/home/pi/opencpn/_OpenCPN_SLock' (error 2: No such file or directory). Starts anyway!
12. Downloaded charts: GSHHG World Basemap and 05 CGD - Pennslyvania, ....
13. Install Mesa Utils (sudo apt-get install mesa-utils)
14. Change graphics memory split to 128MB (sudo raspi-config -> Advanced Options -> Memory Split)
15. Enable OpenGL Driver (sudo raspi-config -> Advanced Options -> GL Driver)
16. Reboot to verify video functionality
17. Much better video. /opt/vc/bin/tvservice -s indicates state 0x120009 [HDMI DMT (39) RGB 16:9] 1360x768 @ 60.00Hz, progressive
18. Turn off screen blanking (sudo vi /etc/lightdm/lightdm.conf -> [Seat:*] -> xserver-command=X -s 0 dpms)
19. Verify OpenGL (glxinfo | grep Gallium and glxinfo | grep Mesa)
20. Download NTP software sudo apt-get install ntp, sudo systemctl stop systemd-timesyncd, sudo systemctl disable systemd-timesyncd, sudo /etc/init.d/ntp stop, and sudo /etc/init.d/ntp start
21. Install supporting packages for OpenCPN (sudo apt-get install gpsd gpsd-clients screen)
22. Configure GPSD per "VK-162 G-Mouse USB GPS Dongle" below
23. Confirmed GPS functioning using cgps first and then cgps -s
24. Enable GPS in OpenCPN as detailed at https://opencpn.org/wiki/dokuwiki/doku.php?id=opencpn:opencpn_user_manual:options_setting:connections#network_gpsd_connection
20190122
- Build QRP-Labs QLG1. Connected to QRP-Labs QCX. Receiving 1PPS, time synch, tracking 12 satellites in kitchen window with signal strength of 37. No luck getting a fix reported by the QCX
- Decided to connect the QLG1 to the Raspberry Pi.
- Pi booted into "blue screen". With USB to TTL convertor plugged into the Pi
- Google'd and set "hmdi_safe=1" in /boot/config.txt of Raspberry Pi via ssh connection. Now it shows a login window. See video documentation
- Comment out "hdmi_safe=1" in /boot/config.txt and reboot. Now it shows a login window. Connect USB to TTL convertor to the Pi. Device recognized as /dev/ttyUSBV0. Reboot.
- Rebooted and shows login window. WTF was that about.
- Installed kermit (sudo apt-get install ckermit) (see http://www.ronnutter.com/raspberry-pi-making-a-serial-console-server/)
- Find USB serial port using 'lsudb'.
- Find the tty using 'dmesg | grep FT', its 'ttyUSB0'.
- Add myself to the dialout group (sudo adduser jmb dialout)
- Run kermit and enter the following commands 'set carrier-watch off', 'set line /dev/ttyUSB0', 'set speed 9600', 'set stop-bits 1', 'set parity none' and connect
- Getting NMEA GPS sentences.
- Disconnect.
- Run OpenCPN and set a data connection as above for kermit. Got GPS lock!. OpenCPN showing own ship at 39d 02.7067'N x 077d 1.7659'W.
- Using Kermit, its possible to see all the data being sent:
  - $GPGLL,3902.7067,N,07701.7659,W,223007.000,A,A*4D
- Seems that the QCX will not display a fix if GLL and VTG sentences are present per Paul Jorgenson KE7HR 03/06/18 #22215 https://groups.io/g/QRPLabs/topic/12511107#22230
20190121
- See OpenCPN install docs.
- Configure WiFi
- Improve security: Add my account with "sudo"
- Remove the default "pi" account and home diretory
- Enable SSH
- Reboot to verify SSHD functionality
- Test SSH connectivity
- Update kernel (sudo branch=next rpi-update)
- Update system (sudo apt-get update)
- Upgrade system (sudo apt-get update)
- Install Mesa Utils (sudo apt-get install mesa-utils)
- Change graphics memory split to 128MB (sudo raspi-config -> Advanced Options -> Memory Split)
- Enable OpenGL Driver (sudo raspi-config -> Advanced Options -> GL Driver)
- Reboot to verify video functionality
- Turn off screen blanking (sudo nano /etc/lightdm/lightdm.conf -> [Seat:*] -> xserver-command=X -s 0 dpms)
- Verify OpenGL (glxinfo | grep Gallium and glxinfo | grep Mesa)
- Install supporting packages for OpenCPN (sudo apt-get install gpsd gpsd-clients screen)
- Reboot to verify functionality
- Install OpenCPN from Ubuntu PPA (sudo nano /etc/apt/sources.list, add "deb http://ppa.launchpad.net/opencpn/opencpn/ubuntu/ xenial main") ("xenial" for Stretch; "trusty" for "Jessie")
- Install dirmngr (sudo apt-get install dirmngr)
- Add Ubuntu key server (sudo apt-key adv --keyserver keyserver.ubuntu.com --recv-keys C865EB40)
- Get data (xsudo apt-get update)
- Install OpenCPN (sudo apt-get install opencpn)
- Download charts using the built-in Chart Downloader
20190118 Unpack Raspberry Pi, get it on the home WiFi using WPS, install most recent Raspbian, install updates.

Parts

CanaKit Raspberry Pi 3 B+ $90
Etepon 1024x600 TFT Screen $50
QRP Labs GPS Receiver QLG1 $23
TTL to USB adaptor to bring GPS NMEA signals to Raspberry Pi $12.50
12V to 3.3V Optoisolator to bring RayMarine SeaTalk NMEA signals to Raspberry Pi $7.50 using EL817 C809N
Various Dupont connectors $13
USB keyboard and mouse from Best Buy $14
dAISy Hat AIS receiver $65
dAISy 2+ dual channel AIS receiver with NMEA output $89
Additional Samsung MicroSD memory cards

References

Raspberry Pi UARTS UARTS are 3.3V. One UART is a PL011 (/dev/ttyAMA0) used for wireless/Bluetooth. One is a mini-UART (/dev/ttyS0) used for the console.
Using the UART on Raspberry Pi.
Raspberry Pi GPIO and its pinout. UART TX (GPIO 14) and RX (GPIO 15).
3.3V pins are limited to 50mA current draw. (see https://www.circuits.dk/everything-about-raspberry-gpio/)
GPIO pins have programmable(?) current limits. (see https://www.circuits.dk/everything-about-raspberry-gpio/) Recommended not to exceed 0.5mA.
GPIO output pins are limited to sourcing 16mA each and 50mA alltogether. (see https://www.circuits.dk/everything-about-raspberry-gpio/)
GPIO pins can safely sink 16mA each. (see https://www.circuits.dk/everything-about-raspberry-gpio/)
Use 200ohm or higher series reistors on the GPIO pins (3.3V / 16mA ~= 220ohm)
How to setup the UART on Raspberry Pi 3.
Everything You Want to Know About Raspberry Pi GPIO: But Were Afraid to Ask
Google search for nmea data capture arduino
OpenCPN on Raspberry Pi with AIS. Pi 2, and a year later Pi 3
QRP-Labs QLC1 and assembly instructions
GPS/GNSS receive module YIC5 Series used in QLC1
MediaTek GPS Module NMEA Protocol Manual
Eric Raymond's NMEA Revealed
Eric Raymond's AIVDM/AIVDO protocol decoding
Google Chrome Extention NMEA Sleuth
AISHub an AIS data exchange open participation effort
FairWind an Android-based Smart, Cloud-Enabled Navigation System for small Yachts with Boat Apps
Maritime Instrument & Display Controller based on UDOO Neo, acting as a navigator, chart plotter, wireless NMEA multiplexer
OpenPlotter from Sailoog
Sailoog Moitessier Hat with dual channel AIS, GNSS, Compass, Heel, Trim from gyroscope, accelerometer, and magnetometer sensors (IMU), and atmospheric pressure 120 Euro
S/V Matilda write up on using OpenCPN and OpenPlotter on a Raspberry Pi

VK-162 G-Mouse USB GPS Dongle

sudo apt-get update && sudo apt-get -y install gpsd gpsd-clients python-gps
sudo shutdown -r now
sudo dpkg-reconfigure gpsd
sudo nano /etc/default/gpsd
# Default settings for the gpsd init script and the hotplug wrapper.

# Start the gpsd daemon automatically at boot time
START_DAEMON="false"

# Use USB hotplugging to add new USB devices automatically to the daemon
USBAUTO="true"

# Devices gpsd should collect to at boot time.
# They need to be read/writeable, either by user gpsd or the group dialout.
DEVICES="/dev/ttyACM0"

# Other options you want to pass to gpsd
GPSD_SOCKET="/var/run/gpsd.sock"
GPSD_OPTIONS="-n"

sudo nano /etc/rc.local
agregar:
/bin/systemctl stop gpsd.socket
/bin/sleep 1
/usr/sbin/gpsd /dev/ttyACM0 -n -F /var/run/gpsd.sock
/bin/sleep 1
/usr/sbin/service ntp restart

sudo nano /etc/ntp.conf
agregar:
# Use GPS receiver
server 127.127.28.0 prefer
fudge 127.127.28.0 time1 0.0 refid GPS
# GPS PPS reference, if provided by GPS device
server 127.127.28.1 prefer
fudge 127.127.28.1 refid PPS

Servicio de inicio: Detener servicio: Finalmente, use este comando para obtener información del módulo de GPS. Verás esto:
sudo systemctl enable gpsd.socket
sudo systemctl start gpsd.socket
//Para detener
//sudo systemctl stop gpsd.sock
//sudo systemctl disable gpsd.sock

Verificar:
cgps –s