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AP_ADSB: Style fixes

This commit is contained in:
nicholas-inocencio 2024-10-17 09:52:25 -05:00 committed by Tom Pittenger
parent 7a6031c746
commit c270c392c4
4 changed files with 505 additions and 515 deletions
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45
libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp
View File

@ -90,9 +90,8 @@ void AP_ADSB_uAvionix_UCP::update()
}
} // while nbytes
if (run_state.last_packet_Transponder_Id_ms == 0 && run_state.request_Transponder_Id_tries < 5)
{
if (run_state.last_packet_Transponder_Id_ms == 0 && run_state.request_Transponder_Id_tries < 5) {
if (now_ms - run_state.last_packet_Request_Transponder_Id_ms >= 1000)
{
request_msg(GDL90_ID_IDENTIFICATION);
@ -100,8 +99,7 @@ void AP_ADSB_uAvionix_UCP::update()
}
}
if (run_state.last_packet_Transponder_Config_ms == 0 && run_state.request_Transponder_Config_tries < 5)
{
if (run_state.last_packet_Transponder_Config_ms == 0 && run_state.request_Transponder_Config_tries < 5) {
if (now_ms - run_state.last_packet_Request_Transponder_Config_ms >= 1000)
{
request_msg(GDL90_ID_TRANSPONDER_CONFIG);
@ -114,9 +112,10 @@ void AP_ADSB_uAvionix_UCP::update()
// We want to use the defaults stored on the ping200X, if possible.
// Until we get the config message (or we've tried requesting it several times),
// don't send the control message.
if (run_state.last_packet_Transponder_Config_ms != 0 || run_state.request_Transponder_Config_tries >= 5)
send_Transponder_Control();
// don't send the control message.
if (run_state.last_packet_Transponder_Config_ms != 0 || run_state.request_Transponder_Config_tries >= 5) {
send_Transponder_Control();
}
}
if ((now_ms - run_state.last_packet_GPS_ms >= 200) && (_frontend._options & uint32_t(AP_ADSB::AdsbOption::Ping200X_Send_GPS)) != 0) {
@ -124,14 +123,12 @@ void AP_ADSB_uAvionix_UCP::update()
send_GPS_Data();
}
// if the transponder has stopped giving us the data needed to
// if the transponder has stopped giving us the data needed to
// fill the transponder status mavlink message, indicate status unavailable.
if ((now_ms - run_state.last_packet_Transponder_Status_ms >= 10000)
&& (now_ms - run_state.last_packet_Transponder_Heartbeat_ms >= 10000)
&& (now_ms - run_state.last_packet_Transponder_Ownship_ms >= 10000))
{
&& (now_ms - run_state.last_packet_Transponder_Ownship_ms >= 10000)) {
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL;
// TODO reset the data for each message when timeout occurs
}
}
@ -187,7 +184,7 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
char primaryFwPartNumber[str_len+1];
memcpy(&primaryFwPartNumber, rx.decoded.identification.primaryFwPartNumber, str_len);
primaryFwPartNumber[str_len] = 0;
GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"ADSB:Detected %s v%u.%u.%u SN:%u %s",
get_hardware_name(rx.decoded.identification.primary.hwId),
(unsigned)rx.decoded.identification.primary.fwMajorVersion,
@ -230,10 +227,8 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
case GDL90_ID_TRANSPONDER_STATUS:
{
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL;
switch (msg.payload[0])
{
case 1:
{
switch (msg.payload[0]) {
case 1: {
// version 1 of the transponder status message is sent at 1 Hz (if UCP protocol out is enabled on the transponder)
memcpy(&rx.decoded.transponder_status, msg.raw, sizeof(rx.decoded.transponder_status));
if (rx.decoded.transponder_status.identActive) {
@ -295,8 +290,7 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
case 2:
// deprecated
break;
case 3:
{
case 3: {
// Version 3 of the transponder status message is sent in response to the transponder control message (if UCP-HD protocol out is enabled on the transponder)
memcpy(&rx.decoded.transponder_status_v3, msg.raw, sizeof(rx.decoded.transponder_status_v3));
@ -345,7 +339,6 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
_frontend.out_state.tx_status.NIC_NACp = rx.decoded.transponder_status_v3.NIC | (rx.decoded.transponder_status_v3.NACp << 4);
_frontend.out_state.tx_status.boardTemp = rx.decoded.transponder_status_v3.temperature;
// TODO not the best approach
if (run_state.last_packet_Transponder_Status_ms == 0 && run_state.last_packet_Transponder_Config_ms == 0) {
// If this is the first time we've seen a status message,
// and we haven't initialized the control message from the config message,
@ -535,14 +528,14 @@ uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const ui
// Set flag byte in frame buffer
gdl90FrameBuffer[0] = GDL90_FLAG_BYTE;
uint16_t frameIndex = 1;
// Copy and stuff all payload bytes into frame buffer
for (uint16_t i = 0; i < length+2; i++) {
// Check for overflow of frame buffer
if (frameIndex >= GDL90_TX_MAX_FRAME_LENGTH) {
return 0;
}
uint8_t data;
// Append CRC to payload
if (i == length) {
@ -550,7 +543,7 @@ uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const ui
} else if (i == length+1) {
data = HIGHBYTE(frameCrc);
} else {
data = message.raw[i];
data = message.raw[i];
}
if (data == GDL90_FLAG_BYTE || data == GDL90_CONTROL_ESCAPE_BYTE) {
@ -558,7 +551,7 @@ uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const ui
if (frameIndex + 2 > GDL90_TX_MAX_FRAME_LENGTH) {
return 0;
}
// Set control break and stuff this byte
gdl90FrameBuffer[frameIndex++] = GDL90_CONTROL_ESCAPE_BYTE;
gdl90FrameBuffer[frameIndex++] = data ^ GDL90_STUFF_BYTE;
@ -566,7 +559,7 @@ uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const ui
gdl90FrameBuffer[frameIndex++] = data;
}
}
// Add end of frame indication
gdl90FrameBuffer[frameIndex++] = GDL90_FLAG_BYTE;
@ -574,7 +567,7 @@ uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const ui
if (hostTransmit(gdl90FrameBuffer, frameIndex)) {
return frameIndex;
}
return 0;
}

2
libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h
View File

@ -82,7 +82,7 @@ private:
uint32_t last_gcs_send_message_Transponder_Status_ms; // out
uint32_t last_packet_Request_Transponder_Config_ms; // out
uint32_t last_packet_Transponder_Config_ms; // in
uint32_t request_Transponder_Config_tries;
uint32_t request_Transponder_Config_tries;
uint32_t last_packet_Request_Transponder_Id_ms; // out
uint32_t last_packet_Transponder_Id_ms; // in
uint32_t request_Transponder_Id_tries;

882
libraries/AP_ADSB/GDL90_protocol/GDL90_Message_Structs.h
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File diff suppressed because it is too large Load Diff

91
libraries/AP_ADSB/GDL90_protocol/hostGDL90Support.h
View File

@ -1,22 +1,22 @@
/*
Copyright (C) 2021 Kraus Hamdani Aerospace Inc. All rights reserved.
Copyright (C) 2021 Kraus Hamdani Aerospace Inc. All rights reserved.
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 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.
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/>.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
Author: GDL90/UCP protocol by uAvionix, 2021.
Implemented by: Tom Pittenger
Author: GDL90/UCP protocol by uAvionix, 2021.
Implemented by: Tom Pittenger
*/
#ifndef _GDL90_H_
@ -24,60 +24,57 @@
#include <stdint.h>
#define GDL90_QUEUE_LENGTH (2)
#define GDL90_QUEUE_LENGTH (2)
#define GDL90_FLAG_BYTE (0x7E)
#define GDL90_CONTROL_ESCAPE_BYTE (0x7D)
#define GDL90_STUFF_BYTE (0x20)
#define GDL90_OVERHEAD_LENGTH (3) // Not counting framing bytes
#define GDL90_FLAG_BYTE (0x7E)
#define GDL90_CONTROL_ESCAPE_BYTE (0x7D)
#define GDL90_STUFF_BYTE (0x20)
#define GDL90_OVERHEAD_LENGTH (3) // Not counting framing bytes
// Transmit message sizes
#define GDL90_TX_MAX_PAYLOAD_LENGTH (552)
#define GDL90_TX_MAX_PACKET_LENGTH (GDL90_TX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH)
#define GDL90_TX_MAX_FRAME_LENGTH (2 + ((15 * GDL90_TX_MAX_PACKET_LENGTH) / 10)) // IF every other byte was stuffed
#define GDL90_TX_MAX_PAYLOAD_LENGTH (552)
#define GDL90_TX_MAX_PACKET_LENGTH (GDL90_TX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH)
#define GDL90_TX_MAX_FRAME_LENGTH (2 + ((15 * GDL90_TX_MAX_PACKET_LENGTH) / 10)) // IF every other byte was stuffed
// Receive message sizes
#define GDL90_RX_MAX_PAYLOAD_LENGTH (128)
#define GDL90_RX_MAX_PACKET_LENGTH (GDL90_RX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH)
#define GDL90_RX_MAX_PAYLOAD_LENGTH (128)
#define GDL90_RX_MAX_PACKET_LENGTH (GDL90_RX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH)
typedef union __attribute__((__packed__))
{
struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t payload[GDL90_TX_MAX_PAYLOAD_LENGTH];
uint16_t crc; // Actually CRC location varies. This is a placeholder
};
uint8_t raw[GDL90_TX_MAX_PACKET_LENGTH];
struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t payload[GDL90_TX_MAX_PAYLOAD_LENGTH];
uint16_t crc; // Actually CRC location varies. This is a placeholder
};
uint8_t raw[GDL90_TX_MAX_PACKET_LENGTH];
} GDL90_TX_MESSAGE;
typedef union __attribute__((__packed__))
{
struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t payload[GDL90_RX_MAX_PAYLOAD_LENGTH];
uint16_t crc; // Actually CRC location varies. This is a placeholder
};
uint8_t raw[GDL90_RX_MAX_PACKET_LENGTH];
struct __attribute__((__packed__))
{
GDL90_MESSAGE_ID messageId;
uint8_t payload[GDL90_RX_MAX_PAYLOAD_LENGTH];
uint16_t crc; // Actually CRC location varies. This is a placeholder
};
uint8_t raw[GDL90_RX_MAX_PACKET_LENGTH];
} GDL90_RX_MESSAGE;
typedef enum
{
GDL90_RX_IDLE,
GDL90_RX_IN_PACKET,
GDL90_RX_UNSTUFF,
//GDL90_RX_END,
GDL90_RX_IDLE,
GDL90_RX_IN_PACKET,
GDL90_RX_UNSTUFF,
} GDL90_RX_STATE;
typedef struct
{
GDL90_RX_STATE state;
uint16_t length;
//uint32_t overflow;
//uint32_t complete;
uint8_t prev_data;
GDL90_RX_STATE state;
uint16_t length;
uint8_t prev_data;
} GDL90_RX_STATUS;
#endif