Categories
arduino C/C++ Coding microcontrollers Software weather station

Sunrise / Sunset – Is Arduino ahead of Its Time?

Recently I added Sun Moon Library to my DIY Arduino Weather Station.

Given a location specified as Latitude / Longitude coordinates and a date / time this clever algorithm uses astronomical math routines to provide timing of sunrise, sunset and moon age.

https://www.flickr.com/photos/jannerboy62/31589567761/

In spite of Arduino ATMega328p chipset being only an 8 bit architecture and float data type being low precision ( 6 – 7 decimal digits ) timings output by sun moon are said to be accurate to second scale.

Comparing results with UK Met Office weather forecast during testing I found Arduino sunrise / sunset timings to be out, with a margin or error of around 15 minutes.

Being suspicious of data, one sunny afternoon I found a vantage point and watched sun disappear below horizon, timing the event.

Sure enough Arduino data was indeed inaccurate.

Arduino DIY Weather Station and sensors.

What could be the problem?

While my knowledge of maths is not sufficiently advanced to properly understand each line of Sun Moon library algorithm, to eliminate possibility of faulty code I decided to try another implementation, Dusk to Dawn.

After running a test for same location, result with new library continued to show an inaccuracy of 15 minutes.

Weather Station timing (date / time) is provided by a Real Time Clock (DS3132 module) which is synced from internet via Network Time Protocol (NTP). A quick check showed date and time to be correct, although manual correction for daylight savings time (DST) seemed sub-optimal.

This pointed to a coordinate error.

Google gives my location Bournemouth, UK as Longitude / Latitude 50.7192° N, 1.8808° W.

Google results for Latitude / Longitude Bournemouth, UK

These coordinates are defined in Weather Station code as:

// Lat/Long: Bournemouth 50.7192° N, 1.8808° W
#define LOC_latitude    50.7192
#define LOC_longtitude  1.8808

Here was the problem.

Checking cooordinates for another location, London, UK ( 51.5074° N, 0.1278° W ) Arduino gave sunrise / sunset with only a minor ( < 1 minute) difference in timing.

Bournemouth is West of Greenwich Meridian (zero line for Longitude) by approx 107 miles. Each degree of latitude is approximately 69 miles (111 kilometers) apart.

Google gives coordinates (50.7192° N, 1.8808° W) as decimal degrees and “N/S/E/W”, a human friendly representation.

Arduino code expects decimal degrees and Plus/minus symbol.

ISO 6709 International Standard defines Longitude as a number preceded by a sign character. A plus sign (+) denotes east longitude or the prime meridian, and a minus sign (-) denotes west longitude or 180° meridian (opposite of the prime meridian)

Similarly, according to Microsoft, “The latitude is preceded by a minus sign ( – ) if it is south of the equator (a positive number implies north)”.

Updating Weather Station to include latitude minus symbol, code now provided accurate timings –

// Lat/Long: Bournemouth 50.7192° N, 1.8808° W
#define LOC_latitude    50.7192
#define LOC_longtitude  -1.8808

In navigation, the 1 in 60 rule states that for each degree off (or displacement) over a distance of 60 nautical miles (NM), it will result in 1 NM off course

A trans Atlantic journey by boat from Southampton to New York ( 2974.5 nautical miles ), given a similar error in bearing of ~2 degrees might arrive in Boston or possibly Washington.

Sunrise / Sunset times on Arduino LCD Weather Station display

We were in agreement at last, today sunrise would occur at 06:25 and sunset at 19:46.

References:

https://github.com/steveio/arduino/blob/master/WeatherStation/WeatherStation.ino

https://en.wikipedia.org/wiki/ISO_6709#Longitude

https://docs.microsoft.com/en-us/previous-versions/mappoint/aa578799(v=msdn.10)?redirectedfrom=MSDN

https://stackoverflow.com/questions/51626412/getting-negative-values-of-latitude-and-longitude

https://www.metoffice.gov.uk/weather/forecast

Categories
C/C++ Coding Embedded microcontrollers Software

Binary – Bits, Bitwise Operators & Bitmasks

First we define bits, bit fields and bit masks, relating these to data structures, addressable memory storage, registers and binary protocol frames.

Bitwise logic is introduced with simple practical examples – bitwise operators and bit shifts – setting individual bits on or off, extracting bits for reading, manipulating bits or checking bit field values.

Bitwise Logic Gates

In Assembler, C and other programming languages bit manipulation is common especially when implementing low level hardware interfaces, embedded microcontroller based IOT devices, processing sensor, machine, network and peripheral data.

Graphics programming and image manipulation also utilises bitwise operations and bitmaps to perform animation (shifting and moving bits), compositing and pixel value modification.

Bits, Bytes & Bitmasks Explained

Bits are smallest unit of storage representing either a binary 1 or 0.

A byte is a group of binary digits or bits (typically eight) operated on as a unit.

Bit fields are a series or array of bits in adjacent memory.

Bit field values might represent a set of individual attributes (boolean on/off “flags” or status fields), a register value (storage address / instruction), or encapsulate binary encoded data.

AND bitmask

A bitmask (or mask) is an ordered set of bits of defined length used in bitwise logic to set, invert or manipulate another bit field.

Registers – Bit Arrays

Registers encapsulate a set of ordered bits in storage with a defined bit length typically expressed as power of base 2 (commonly 8 / 16 / 32 / 64 / 128 bit).

76543210
8 bit register where least significant bit (LSB) starts with (2º = 1)

An 8 bit register can hold unsigned (positive) numbers from 0 to 255 or signed (includes negative) values from -128 to +127 (where bit 7 is a sign bit).

Registers are used to address memory locations for computations within central processing unit, configuration parameters, IO from data storage, ports, or peripherals.

Bits in a Byte – Memory Address

Bitwise shift operators, along with logical AND can be used to access individual bits within a byte of memory for any variable in C.

To read value of bit at index 4 of an 8 bit length variable x

int x = 16; // 10000
printf("%d\n", (x >> 4) &amp; 0x01); // Prints 1

Network Protocols – Binary Bit Sequences

Bit sequences are used in network protocols where packetised messages are arranged into frames containing fields with defined offset and length.

A frame refers to the entire data packet which is being sent/received during a communication. Each protocol defines a specification of its own frame format.

An RS232 serial protocol frame defines a bit sequence –

Frame:StartDataParityStop
Size (bits):15-911-2
Bit sequence format of a USART serial protocol frame

Bitwise operators and shifts can be used to efficiently read, set or modify fields within a network protocol packet.

Bitwise Operators

Bitwise operations allow setting bit sequence values in a single operation and are more efficient than loops or maintaining individual bits.

SymbolOperator
&bitwise AND
|bitwise inclusive OR
^bitwise XOR (exclusive OR)
<<left shift
>>right shift
~bitwise NOT (one’s complement) (unary)
Bitwise and shift operators

Logical operators AND, OR, XOR (Exclusive OR) and NOT (Negation) implement bitwise manipulation, incurring a minimal number of processing instructions.

Comparing bit by bit –

  • OR sets a bit if one or both operators are true: 1110 OR 0000 = 1110
  • AND sets a bit if both operators are true: 1010 AND 1101 = 1000
  • AND with zero-check tests if any bit is set: 1010 AND 0010 = 0010 ≠ 0
  • XOR sets a bit if only one operator is true: 1010 XOR 0100 = 1110
  • NOT inverts all bits: NOT 1011 = 0100

Bitwise operators work on integer and character data types and do not modify value of their arguments so assignment (=, +=, -=, |=, &=) is typically used for example x |= (y & z).

Arithmetic Bit Shifts

Left Arithmetic Shift

Bit or Arithmetic shift operators << >> treat a value as a series of individual bits rather than a numerical quantity, shifting (or moving) bit positions left or right.

These operations are useful to move a bit or set of bits to a specific positional index.

In a left shift operation (<<) bits are moved by one position to the left and last digit is zero filled. This is equivalent to multiplication of a signed integer by a power of 2.

01101011
8 bit Binary encoding of decimal 107

Left shifting 2 bits ( << 2) results in

10101100
8 bit Binary encoding of decimal 172

A right shift operation (>>) moves bits right by a specified number of positions, dividing number by 2.

In more general form we can say –

// x multiplied by 2ⁿ
x << n
// x divided by 2ⁿ 
x >> N

Notes –

  • Bits shifted from end are lost due to overflow, they do not wrap around.
  • Right bitshift on signed types – gcc promises to always give the sane behavior (sign-bit-extension) but ISO C allows the implementation to zero-fill the upper bits.

Defining bit masks in C

Bitmasks are used in bit manipulation and combined with a logical operator (AND, OR XOR) define a pattern for bits to keep or discard.

In c++14 which supports binary literals bit masks are defined –

const uint8_t mask0 = 0b00000001 ; // represents bit 0
const uint8_t mask1 = 0b00000010 ; // represents bit 1
const uint8_t mask2 = 0b00000100 ; // represents bit 2
...  

Using Hexadecimal

const uint8_t mask0 = 0x01 ; // bit 0  0000 0001
const uint8_t mask1 = 0x02 ; // bit 1  0000 0010
const uint8_t mask2 = 0x03 ; // bit 2  0000 0100
...  

Or with bit shift operator

const uint8_t mask0 = 1 << 0 ; // 0000 0001
const uint8_t mask1 = 1 << 1 ; // 0000 0010
const uint8_t mask2 = 1 << 2 ; // 0000 0100
...

Set, Clear, Modify, Toggle & Check Bits

Set a bit
Set the nth bit ( zero up to n-1 ) of number

number |= 1UL << n

Set bit 0 of i to one

i |= 1 << 0;

// Example
000 i
001 1 << 0;
001 i |= 1 << 0;

  • the << operator is left “bit shift” operator which moves all bits to the left n times.
  • 1UL species numeric literal 1 with type Unsigned Long

Clear a bit
Set nth bit of number to zero

number &= ~(1UL << n);

Set bit 1 of i to zero

i &= ~(1UL << 1);

// Example
010 i
000 ~(1UL << 1)
000 i &= ~(1UL << 1);
  • ~ negates value of bit 1 from 1 to 0
  • AND evaulates false as both operands are not equal

Toggle (flip) a bit

Toggle nth bit of number

number ^= 1UL << n;

Toggle (flip) bit 0 of i

i ^= 1 << 0;

// Example
001 i
001 1 << 0
000 i ^= 1 << 0
  • ^= represents XOR exclusive OR with assignment, output is true when operand bits are different

Check a bit is set

True if nth bit of number equals 1

bit = (number >> n) & 1U;

Check bit 7 of i assign 1 or 0 to bit

int bit = (i >> 7) & 1U;

Modify – Changing a bit to x (1 or 0)

// 2s complement system with negation behaviour
number ^= (-x ^ number) & (1UL << n); 
// portable
number = (number & ~(1UL << n)) | (x << n);

Set bit 7 of i to x

i ^= (-x ^ i) & (1UL << 7);
i = (i & ~(1UL << 7)) | (x << 7);

Notes –

  • range / bounds checking is not applied, out of bounds shift index result in undefined behaviour
  • Use 1ULL if number is wider than unsigned long
  • endianess (position of most / least significant bit) and signing varies between platforms and compilers

Bitwise Functions as C Pre-Processor Macros

To minimise code duplication bit operator functions can be defined in a header file as pre-processor macros

/* a=number, b=bit index 0-n */
#define BIT_SET(a,b) ((a) |= (1UL<<(b)))
#define BIT_CLEAR(a,b) ((a) &amp;= ~(1UL<<(b)))
#define BIT_FLIP(a,b) ((a) ^= (1UL<<(b)))
#define BIT_CHECK(a,b) (!!((a) &amp; (1UL<<(b))))

Print Bits in C as Left Padded Binary String

In C printf() does not have a format specifier to print a string representation of binary, but we can write a function to achieve this –

const unsigned bits = 8;

// print integer value as a left padded binary string
void print_bits(unsigned value)
{
    unsigned mask = 1 << (bits-1);

    while (mask)
    {
        printf("%d", (mask &amp; value) != 0);
        mask >>= 1;
    }

    printf("\n");
}

int main()
{
  int i = 0x145;
  print_bits(i);
}

Result:
01000101

References and Further Reading:

[1] Methods for Bit Manipulation & Discussion:
https://stackoverflow.com/questions/47981/how-do-you-set-clear-and-toggle-a-single-bit/263738#263738

[2] Theory and examples of Bitwise Operation:
https://en.wikipedia.org/wiki/Bitwise_operation

[3] Bit Twiddling Hacks – Advanced Bitwise Algorithms http://graphics.stanford.edu/~seander/bithacks.html

Categories
C/C++ esp8266 Internet of Things microcontrollers WebSockets

ESP8266 IOT Microservo WebSocket

Internet of things devices can be networked wirelessly over internet and integrate easily with cloud, mobile and web applications.

WebSockets ( RFC6455 ) run on a variety of platforms including embedded systems and web browsers enabling low latency bidirectional binary socket communication over TCP/IP.

ESP8266 is a low cost Wi-Fi micro-controller compatible with Arduino open-source electronics framework designed for networked sensor, robotics and micro-electronic control applications.

A microservo controlled by ESP8266 with web & mobile interface

WebSocket MicroServo

In a simple example a micro-servo reports position data and is controlled via a potentiometer (rotary encoder), web and mobile interfaces.

This tutorial demonstrates:

  • Microservo / Potentiometer GPIO control
  • ESP8266 WebSocket Client
  • Binary format Messaging
  • Python WebSocket Library to synchronise state between clients
  • Responsive HTML5 / Javascript Browser Control Interface

Circuit Wiring

  • 5v regulated DC power supply
  • Microservo connected to ESP8266 GPIO 15
  • 100k Potentiometer – CLK -> GPIO 12, DT -> GPIO 13

Microservo Setup

Microservo power is provided by an external regulated 5v DC power supply sharing a common ground connection to microcontroller.

Servo library initialisation and global variables –

#include <Servo.h>
int servoPin = 15;
int angle; // current angle (degrees)
int servoStartAngle = 90; // initial position
int limit = 90; // range of servo in degrees
Servo Servo1;

// in setup()
Servo1.attach(servoPin);
rotateServo(0);

Servo position is set in a function by passing angle in degrees as a parameter –

void rotateServo(int angle)
{
  Serial.print("RotateServo: ");
  Serial.println(angle);
  Servo1.write(angle);
}

Potentiometer / Rotary Encoder Setup

Potentiometer, a type of incremental rotary encoder based on variable resistance, allows relative rotary motion to be tracked, 2 out-of-phase output channels indicate direction of travel.

#define outputA 12 // Rotary Encoder #1 CLK
#define outputB 13 // Rotary Encoder #2 DT

int counter = 0; // rotary encoder incremental position
int aState; // rotary encoder state comparator
int aLastState;  

void setup() {
   pinMode(outputA,INPUT);
   pinMode(outputB,INPUT);
       
   aLastState = digitalRead(outputA);
}

Rotary encoder CLK and DT pins are compared to determine direction of rotation. Calling map() converts counter (relative position) to angle –

void readRotaryEncoder()
{  

  aState = digitalRead(outputA);

   if (aState != aLastState){     
     // If the outputB state is different to the outputA state, that means the encoder is rotating clockwise
    if (digitalRead(outputB) != aState) { 
      if (counter < limit)
      {
        counter ++;
        angle = map(counter, -90, 90, 0, 180);
        rotateServo(angle);
      }
    } else {
      if (counter + limit > 0)
      {
        counter --;
        angle = map(counter, -90, 90, 0, 180);
        rotateServo(angle);
      }
    }
  } 
  aLastState = aState;
}

ESP8266 microcontroller, Potentiometer (Rotary Encoder), Microservo, 5v DC power supply

Websocket Binary Message Framing

WebSocket protocol natively supports binary framed messaging, offering a compact lightweight format for fast and efficient endpoint messaging.

To report and update microservo position command messages are passed between control interfaces and microcontroller as binary data.

A Python service running on server creates WebSocket and maintains and synchronises shared application state between connected clients.

In web browser user interface, Javascript also has native support for (un)packing binary data.

Data Serialisation

A C struct data_t encapsulates two fields – “cmd” (unit8_t) and “value” (int) – two commands are defined, one to report servo position and another to set a new position, value represents an angle.

To assist serialisation data_t is wrapped in a packet union –

// data message
typedef struct data_t
{
  uint8_t cmd;
  int value;
};

// message packaging / envelope
typedef union packet_t {
 struct data_t data;
 uint8_t packet[sizeof(struct data_t)];
};

#define PACKET_SIZE sizeof(struct data_t)

#define CMD_SERVO_ANGLE 12 // command to report servo position
#define CMD_SERVO_ROTATE 13 // move servo to a specified position

Instances of data structs are created representing send and receive messages.

// send / receive msg data structures
union packet_t sendMsg;
union packet_t receiveMsg;

// messaging function prototypes
void readByteArray(uint8_t * byteArray);
void writeByteArray();
void printByteArray();

// buffer 
uint8_t byteArray[PACKET_SIZE];

Methods allow struct data to be written and read from byte array buffer –

// read bytes from buffer
void readByteArray(uint8_t * byteArray)
{
  for (int i=0; i < PACKET_SIZE; i++)
  {
    receiveMsg.packet[i] = byteArray[i];
  }
}

// write data to buffer
void writeByteArray()
{
  for(int i=0; i<PACKET_SIZE; i++)
  {
    // msg into byte array
    byteArray[i] = sendMsg.packet[i]; 
  }
}

ESP8266 Wifi / Websocket Setup

Details for setting up ESP8266 wifi can be found here.

ESP8266 Websocket library is added by including headers, defining server IP address / port / path and creating a WebSocketsClient class instance.

#include <WebSocketsClient.h>

WebSocketsClient webSocket;

const char* ws_server = "192.168.1.127";
const uint16_t ws_port = 6789;
const char* ws_path = "/";

In setup WebSocket library is initialised –

void setup() {
    ...

    // server address, port and URL
    webSocket.begin(ws_server, ws_port, ws_path);
  
    // event handler
    webSocket.onEvent(webSocketEvent);
  
    // use HTTP Basic Authorization (optional)
    //webSocket.setAuthorization("user", "Password");
  
    // try again if connection has failed
    webSocket.setReconnectInterval(5000);

WebSocket – Message Receive

Event of type “WStype_BIN” defines handling when a binary format message is received, size is reported and hexdump() displays message contents –

void webSocketEvent(WStype_t type, uint8_t * payload, size_t length) {

  switch(type) {
    ...
    case WStype_BIN:
      Serial.printf("[WSc] get binary length: %u\n", length);
      hexdump(payload, length);
      setServoPosition(payload);
      break;

In setServoPosition() received byte array is de-serialised into message data structure. Angle field is used to update servo and potentiometer position.

void setServoPosition(uint8_t * byteArray)
{
  readByteArray(byteArray);
  printByteArray(receiveMsg);

  int angle = (int) receiveMsg.data.value;
  rotateServo(angle);

  counter = map(angle, 0, 180, -90, 90); // update rotary encoder
}

WebSocket – Message Send

Servo position is reported by populating sendMsg data structure, converting to byte array and calling webSocket.sendBIN() passing a pointer payload data and size.

// send servo position to Websocket server
void sendServoPosition()
{
  sendMsg.data.cmd = CMD_SERVO_ANGLE;
  sendMsg.data.value = angle;

  // write message to buffer
  writeByteArray();
  
  webSocket.sendBIN(byteArray, PACKET_SIZE);
}

Server Side – Python WebSocket (WS) Library

A simple WebSocket server implemented in Python v3x is tasked with text / binary message exchange, tracking connected clients and maintaining shared application state.

WebSocket server event loop is started by passing function/method name, IP address and port –

start_server = websockets.serve(wsApi, "192.168.1.127", 6789)
asyncio.get_event_loop().run_until_complete(start_server)
asyncio.get_event_loop().run_forever()

In event loop new clients are registered. Clients can be identified by checking protocol headers –

async def wsApi(websocket, path):
    # register(websocket) sends user_event() to websocket
    await register(websocket)

...
async def register(websocket):
    USERS.add(websocket)
    await notify_users()
    print(websocket.request_headers);
...

### debug output
Host: 192.168.1.127:6789
Connection: Upgrade
Upgrade: websocket
Sec-WebSocket-Version: 13
Sec-WebSocket-Key: LnOM1uj7n3gE4cFGqJ1yFg==
Sec-WebSocket-Protocol: arduino
Origin: file://
User-Agent: arduino-WebSocket-Client

Received message and headers are printed and handling is defined for binary (byte array) format messages.

### <class 'bytes'>
### b'\x0c\x00\x00\x00@\x00\x00\x00'
### (12, 64)

Python struct library allows packed binary bytes representing C structs to be unpacked as native python data types.

Format specifier “Ii” represents a message containing an int and unsigned int.

    try:
        async for message in websocket:
            print('Sec-WebSocket-Key: '+websocket.request_headers['Sec-WebSocket-Key'])
            print('MessageType: '+str(type(message)))
            print(message);
            if isinstance(message, (bytes, bytearray)):

                tuple_of_data = struct.unpack("Ii", message)
                cmd = tuple_of_data[0]
                value = tuple_of_data[1]
                STATE["value"] = value
                await notify_state()
    except Exception as e:
        print(e);
    finally:
        await unregister(websocket)

Connected WebSocket clients are push notified (synchronised) when position data (state) is updated –

async def notify_state():
    if USERS: 
        binary_data = struct.pack("Ii", 12, STATE['value'])
        await asyncio.wait([user.send(binary_data) for user in USERS])

WebSocket Browser Client – Binary Messaging in JavaScript

Web Interface is responsive and runs in mobile and web browser clients.

A radial D3.js radial gauge displays current angle. HTML5 buttons (divs) and slider control allow position to be updated.

Web / Mobile Interface provisioned by WebSocket (RFC6455)

JavaScript WebSocket onmessage function handles decoding of binary framed data.

A FileReader object is used to convert Blob to ByteArray in an asynchronous function, with flow control provided by a promise (future). TypedArray Uint8Array is used to extract 4 byte int and unsigned int command and value data fields –

websocket.onmessage = function (event) {
    if (event.data instanceof Blob)  // Binary Frame
    {
      async function readBinaryData(blob) {
          let promise = new Promise((res, rej) => {

            var fileReader = new FileReader();
            fileReader.onload = function(event) {
                var arrayBuffer = event.target.result;
                res(arrayBuffer);
            };
            fileReader.readAsArrayBuffer(blob);
          });

          // wait until the promise returns us a value
          let arrayBuffer = await promise;

          var v = new Uint8Array(arrayBuffer);
          // v[0] = cmd, v[4] = value
          //console.log(v[0] + " " + v[4]);

          // update UI elements
          value.textContent = v[4];
          angleSlider.value = v[4];
          gauges.forEach(function(g) {
              g.gauge.update(v[4]);
          });
      };

      readBinaryData(event.data);

Conclusion

WebSockets offer significant advantages over HTTP request/response polling techniques for real time data exchange, principally overhead of opening connection should occur only once per client.

Message push notify model, lightweight protocol framing, client libraries for embedded devices and native support in modern web browsers make this protocol well suited to real time Internet of Things data message exchange.

While underlying TCP provides message ordering and re-transmission (of failed packets), higher level application abstractions: guaranteed message delivery (at least once, at most once), message acknowledgements and queue / persist / forward (to offline clients) are not specified by WebSocket specification.

Similarly, TLS SSL can be used at network layer to encrypt data transmission (WebSocket Secure WSS), but client authentication / authorisation is not handled by WebSocket protocol, meaning a strategy for token or key based client identification (OAuth for example) must be considered for secure use cases.

Event driven implementations supporting asynchronous non-blocking IO result in efficient, well structured and modular code with handlers dedicated to specific tasks.

Factors influencing choice between binary framing and text format messages (field delimeted, JSON) include legibility, convenience, compactness and parsing overhead. Binary format introduces complexity due to differences in compiler / platform / network architectures and data type implementations between programming languages.

Full Source Code on GitHub –

Web UI –
https://github.com/steveio/arduino/blob/master/python/wsESP8266RotaryEncoderServo.html

Python WebSocket Server –
https://github.com/steveio/arduino/blob/master/python/wsESP8266RotaryEncoderServo.html

ESP8266 WebSocket MicroServo Sketch –
https://github.com/steveio/arduino/blob/master/ESP8266RotaryEncoderServo/ESP8266RotaryEncoderServo.ino

Categories
circuits Internet of Things microcontrollers sensors Software weather station

Weather Station Wind Vane

What types of sensor can be used for a weather vane? How to track angular position using a rotary encoder? How easy is calibration? What coding considerations for a weather station wind direction project?

Mesopotamian base-60 number system resulted in our idea of 360° in a full circle. Early compasses described 32 points and eight cardinal directions of wind, serving as navigational aids for maritime exploration.

References recorded in ancient China as early as 139 BC described “wind observing fan”. In classical Greece astronomer Andronicus constructed a weather vane at “tower of winds” in Athens. Weather vanes were known in many places of antiquity.

The word “vane” derives from Old English “fane” (Germanic Fahne) signifying “cloth, banner, flag” all of which can be deployed as visual wind direction indicators.

In modern times, absolute and incremental encoders are sensor devices measuring rotary position (angle) and motion. Resolution, precision and accuracy have distinct meaning.

Absolute encoders maintain position during power off or device reset. Incremental motion encoder data is relative, sensors of this type require “homing” (passing a known position) to calibrate.

Lets consider some types of rotary encoder

  • magnetic rotary encoder
  • 360° Potentiometer
  • optical encoder
  • magnetic sensor array

Magnetic Rotary Encoder

Contactless magnetic encoders track a dipole magnet attached to a rotating shaft above sensor, recording rotational angle and direction through a full turn of 360° with high resolution and precision.

Internally hall sensors measure angular position of a magnetic field presented at surface, converting this to a voltage.

On chip digital signal processing (DSP) amplifies and filters planar field data before conversion by Analogue to Digital conversion (ADC).

Having no mechanical friction leads to long expected life span.

A wide operating temperature range (-40 Deg.C to 150 Deg.C) and environmental tolerances (~80% humidity) allow for a wide potential application range.

2/3 wire I2C/SPI programmable interfaces provide standardised micro-controller connectivity and control.

AS5600 Datasheet
MLX90316 Datasheet

Potentiometer 360 degree

Several commercial wind vanes targeted at maritime applications deploy a 360° potentiometer connected directly to vane shaft.

Having a compact, space efficient design, high resolution (degrees of direction) can be tracked.

Detent (stops or clicks) add rotational resistance and a fixed set of positions but increase friction.

Electro-mechanical contacts are subject to mechanical wear and surface corrosion of contact track impacting accuracy, durability and longevity.

Optical Encoder

Optical incremental encoders – IR LED / Sensor pair with a spinning disk interrupter are accurate at very high RPM rates with low sensor latency (rise time).

Resolution is determined by interrupt light “chopper” disk design and relative position is measured by counting rotational sensor ticks.

Quadrature or two channel encoding, with a phase offset, is employed to determine rotational direction.

Calibration, including between device reset/power off is a challenge – sensor pulse counting during rotation must be relative to a fixed/known initial position.

Magnetic Sensor Array

Early compasses recorded 32 points to indicate winds as a navigational aid to sailors.

Wiring 32 sensors together requires considerable soldering & assembly skill. If 4 or 8 bit resolution is sufficient, magnetic linear hall or reed switches might be used – both are contactless, low cost and widely available.

Sensors arranged in a ring array activated by a rotating magnet allow a micro-controller to track position changes.

One approach is to use polling and a GPIO pin per sensor. Pin change interrupts can also be used for state notification.

An analogue multiplexer (CD4051) reduces number of required input pins to 4 (3 address pins, 1 data), optionally a common interrupt enables this to work with an event (interrupt) driven model.

Sensor Implementation – Polling vs Event Model

Polling, reading position at a set frequency (interval), provides consistency and allows simple computation analysis – roll-up averages for example. Higher frequency sampling results in higher precision.

In event model – an interrupt is triggered when sensor state (position) changes.

Recording position data only when direction changes is a low power consumption approach, extending operating duration of a battery powered device, especially on windless days.

To implement event driven design with a multiplexer poses a challenge, at circuit level a common interrupt line wired with isolating diodes to each sensor is required.

A change to any individual sensor triggers an interrupt, micro-controller can then check each multiplexer channel to determine position.

Calibration – how to determine magnetic north?

A compass bearing is required to determine direction relative to cardinal directions.

Wind vanes in a fixed position are manually calibrated. Electronic sensor devices can resolve orientation relative to magnetic compass.

Wind direction is defined by World Geodetic System (WGS) as direction from which wind blows and is measured clockwise from geographical north, namely, true north (meteorology) or in aviation reporting relative to magentic north. 

Visualisation – Wind Rose and Polar Distribution Charts

Wind roses, a type of polar bar chart provide a visualisation of wind distribution: direction and magnitude (velocity) frequency at a location over a given time interval.

Categories
arduino circuits Coding Internet of Things microcontrollers sensors Software

Weather Vane – Magnetic Sensor Rotary Encoder

A ring of 8 magnetic digital hall sensors (one per cardinal direction) are activated by a rotating neodymium magnet attached to a shaft, creating a simple rotary encoder.

Hall Effect Magnetic Sensor array connected to Arduino UNO microcontroller.

Input Pull-Up Resistors

Each hall effect sensor is wired to a digital micro-controller pin.

To prevent “floating”, input pin state is biased HIGH using pull-up resistors .

External pull-up 10k resistors are connected between hall effect sensor 5v+ and digital out pins.

If no external resistors are present GPIO pins should be setup as INPUT_PULLUP activating microcontroller internal 20k pull up resistor.

Polling for Active Pin

Each iteration of loop() reads input pins to determine active sensor.

// current and previous active sensor pin
int active = NULL;
int lastActive = NULL;

void loop() {

  int v;
  active = 0;

  for(int i = 3; i <= 10; i++)
  {
    v = digitalRead(i);

    if (v == 0)
    {
      active = i;
    }
  }
  if (active == 0) // magnet between sensor positions
  {
      active = lastActive;      
  }
  if (active != lastActive)
  {
    Serial.print(active);
    Serial.print("\t");
    Serial.println(directionLabel[active-3]);
  }

  lastActive = active;
}

Variables are maintained to track current and previous activation, direction is updated on position change.

If magnet is between sensor positions and no pin is active, last active position is reported.

Compass Direction Labels

Finally pin number is translated to direction (“N”, “NE”, “E” etc) by indexing into an ordered character pointer array.

// pin order direction labels
char d0[] = "NE";
char d1[] = "SE";
char d2[] = "E";
char d3[] = "S";
char d4[] = "N";
char d5[] = "W";
char d6[] = "NW";
char d7[] = "SW";

char * directionLabel[] = { d0, d1, d2, d3, d4, d5, d6, d7 };

...
// i == active sensor pin number 3 - 10 
Serial.println(directionLabel[i-3]);

Interrupts – Event Driven

Instead of polling (reading sensors on each loop() iteration) we can minimise processing and power consumption by updating direction only when magnet position changes.

Less power is consumed reading current position from a variable in flash memory compared to reading each sensor input pin – decoupling logic to maintain position from code reporting current value increases efficiency.

On Arduino (Uno, Nano etc) by default specific pins trigger external interrupts. Any GPIO pin can be used as an interrupt trigger with pin change interrupts.

To setup pin-change interrupts for digital pins 3 – 10 :

volatile int irqState = 0;
unsigned long lastIrq;
int irqDelay = 100; // millisecs

ISR (PCINT0_vect) 
{
  irqState = 1; 
}

ISR(PCINT2_vect)
{
  irqState = 1; 
}

void setupPinChangeInterrupt()
{
  cli();

  // 1 – Turn on Pin Change Interrupts
  PCICR |= 0b00000001;      // turn on port b (PCINT0 – PCINT7) pins D8 - D13
  PCICR |= 0b00000100;      // turn on port d (PCINT16 – PCINT23) pins D0 - D7

  // 2 – Choose Which Pins to Interrupt ( 3 mask registers correspond to 3 INT ports )
  PCMSK0 |= 0b00000111;    // turn on pins D8,D9,D10
  PCMSK2 |= 0b11111000;    // turn on pins D3 - D7 (PCINT19 - 23)

  sei();                     // turn on interrupts
}

A full example of setting up Arduino pin change interrupts, checking state and reading pins from data register can be found on github and there’s a useful guide here.

Now in loop() we can check for active pin only when interrupt event occurs, software de-bounce timeout prevents multiple repeat activations:

void loop() {

  if (irqState == 1 &amp;&amp; (millis() - lastIrq > irqDelay))
  {

    // check for active pin...

    lastIrq = millis();
    irqState = 0;
  }
}

Hardware Common Interrupt

A more portable solution can be implemented in hardware by adding a common interrupt line from each Hall Sensor input, isolating switch input with a diode which conducts only in one direction.

Now a change to any sensor input causes common interrupt (pin D2) to go LOW, signalling to micro-controller to check and update active magnet position.

1N4148 High Speed Signal Diode isolate common interrupt line

A single external interrupt can be handled by Arduino Uno/Nano pin D2

attachInterrupt(0, pin2IRQ, FALLING);

Power consumption can be reduced further by implementing deep sleep between sensor change interrupts, waking only to update state or transmit position data at intervals.

Arduino Nano v3 micro-controller tracking interrupt triggered magnetic switch position

Real Time Wind Compass Web Interface

D3.js Wind Compass UI has a design inspired by Dieter Rams who worked for Braun and is single HTML file adapted from a simple clock.

Units range is changed to 360 divided into sub-divisions of 10 and 45 (8 compass directions).

User Interface (UI) Data Provisioning

A finished product might transmit data wirelessly using LORA, Wifi, Bluetooth or 433mhz RF.

For prototype testing we can use serialToWebsocket.py a script based on Python’s PySerial library to capture serial console output and relay this to a websocket.

python3 serialToWebsocket.py 
connected to: /dev/ttyUSB0

3	S
5	SW
4	W
6	NW

We can use Python to run a simple webserver to develop and test our interface –

python -m SimpleHTTPServer 3001

Wind Compass can now be loaded in a browser –

http://127.0.0.1:3001/wsWindCompass.html

UI demo and source code can be found below –

See it in action –

Full source code can on github:

Arduino Wind Vane Sketch:
https://github.com/steveio/arduino/tree/master/WindVane8HallSensor
Wind Compass D3.js Web UI:
https://github.com/steveio/mqttWebSocket/blob/master/wsWindCompass.html
Serial to Websocket Python Script
https://github.com/steveio/arduino/blob/master/python/serialToWebsocket.py

Categories
esp32 esp8266 expressif microcontrollers

ESP32 / ESP8266 ESPTOOL.py

TTGO ESP32 LORA 0.96 OLED microcontroller “Paxcounter” ships with firmware pre-installed. Existing flash image can be backed up using esptool.py ( https://github.com/espressif/esptool/ ), an open source python utility for managing ROM bootloader in Espressif ESP8266 & ESP32 chips.

Install & setup esptool.py

$ git clone https://github.com/espressif/esptool.git
$ cd esptool
$ pip install --user -e .

ESPTOOL “flash_id” provides info on chip hardware:

python ../esptool/esptool.py --port /dev/ttyUSB0 flash_id 
esptool.py v3.0-dev
Serial port /dev/ttyUSB0
Connecting....
Detecting chip type... ESP32
Chip is ESP32-PICO-D4 (revision 1)
Features: WiFi, BT, Dual Core, 240MHz, Embedded Flash, Coding Scheme None
Crystal is 40MHz
MAC: 50:02:91:8c:16:e0
Uploading stub...
Running stub...
Stub running...
Manufacturer: c8
Device: 4016
Detected flash size: 4MB

To read (backup) existing ESP 4mb flash image:

stevee@ideapad-530S:~/esp/ttgo-esp-lora32$ python ../esptool/esptool.py -b 115200 --port /dev/ttyUSB0

read_flash 0x00000 0x400000 flash_4M.bin
esptool.py v3.0-dev
Serial port /dev/ttyUSB0
Connecting.....
...
Uploading stub...
Running stub...
Stub running...
4194304 (100 %)
4194304 (100 %)
Read 4194304 bytes at 0x0 in 377.5 seconds (88.9 kbit/s)...
Hard resetting via RTS pin...

Flash image can be restored with:

python esptool.py -b 115200 --port /dev/ttyUSB0  write_flash --flash_freq 80m 0x000000 flash_4M.bin