ardupilot/Tools/AP_Periph/adsb.cpp

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/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
AP_Periph ADSB support. This is designed to talk to a Ping ADSB
module over the UART
*/
#include <AP_HAL/AP_HAL_Boards.h>
#include "AP_Periph.h"
#ifdef HAL_PERIPH_ENABLE_ADSB
#include <AP_SerialManager/AP_SerialManager.h>
extern const AP_HAL::HAL &hal;
# if !HAL_GCS_ENABLED
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#include "include/mavlink/v2.0/protocol.h"
#include "include/mavlink/v2.0/mavlink_types.h"
#include "include/mavlink/v2.0/all/mavlink.h"
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wmissing-declarations"
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#include "include/mavlink/v2.0/mavlink_helpers.h"
#pragma GCC diagnostic pop
#endif
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/*
init ADSB support
*/
void AP_Periph_FW::adsb_init(void)
{
if (g.adsb_baudrate > 0) {
auto *uart = hal.serial(g.adsb_port);
if (uart == nullptr) {
return;
}
uart->begin(AP_SerialManager::map_baudrate(g.adsb_baudrate), 256, 256);
}
}
/*
update ADSB subsystem
*/
void AP_Periph_FW::adsb_update(void)
{
if (g.adsb_baudrate <= 0) {
return;
}
auto *uart = hal.serial(g.adsb_port);
if (uart == nullptr) {
return;
}
// look for incoming MAVLink ADSB_VEHICLE packets
const uint16_t nbytes = uart->available();
for (uint16_t i=0; i<nbytes; i++) {
const uint8_t c = (uint8_t)uart->read();
// Try to get a new message
if (mavlink_parse_char(MAVLINK_COMM_0, c, &adsb.msg, &adsb.status)) {
if (adsb.msg.msgid == MAVLINK_MSG_ID_ADSB_VEHICLE) {
// decode and send as UAVCAN TrafficReport
static mavlink_adsb_vehicle_t msg;
mavlink_msg_adsb_vehicle_decode(&adsb.msg, &msg);
can_send_ADSB(msg);
}
}
}
}
#endif // HAL_PERIPH_ENABLE_ADSB