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ardupilot/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp
Peter Barker b3ff88c519 AP_ADSB: avoid using GPS and RTC libraries in backend 
instead, add fields to canonical AP_ADSB location "_my_loc" to hold all of the information backends might want.  This will allow consistent presentation of data regardless of backend type, and for the sources of the information to change more easily.
2023-11-07 10:30:04 +11:00

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/*
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 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/>.
Author: Tom Pittenger
*/
#include "AP_ADSB_uAvionix_UCP.h"
// This driver implements the UCP protocol from uAvionix which is a variant of the GDL90 protocol by Garmin
// https://uavionix.com/downloads/ping200X/uAvionix-UCP-Transponder-ICD-Rev-Q.pdf
#if HAL_ADSB_UCP_ENABLED
#include <AP_SerialManager/AP_SerialManager.h>
#include <GCS_MAVLink/GCS.h>
#include <AP_HAL/AP_HAL.h>
#include <AP_Math/AP_Math.h>
#include <AP_Math/crc.h>
#include <ctype.h>
#include <AP_Notify/AP_Notify.h>
extern const AP_HAL::HAL &hal;
#define AP_ADSB_UAVIONIX_HEALTH_TIMEOUT_MS (5000UL)
#define AP_ADSB_UAVIONIX_GCS_LOST_COMMS_LONG_TIMEOUT_MINUTES (15UL)
#define AP_ADSB_UAVIONIX_GCS_LOST_COMMS_LONG_TIMEOUT_MS (1000UL * 60UL * AP_ADSB_UAVIONIX_GCS_LOST_COMMS_LONG_TIMEOUT_MINUTES)
#define AP_ADSB_UAVIONIX_DETECT_GROUNDSTATE 0
#define AP_ADSB_UAVIONIX_EMERGENCY_STATUS_ON_LOST_LINK 0
// detect if any port is configured as uAvionix_UCP
bool AP_ADSB_uAvionix_UCP::detect()
{
return AP::serialmanager().have_serial(AP_SerialManager::SerialProtocol_ADSB, 0);
}
// Init, called once after class is constructed
bool AP_ADSB_uAvionix_UCP::init()
{
_port = AP::serialmanager().find_serial(AP_SerialManager::SerialProtocol_ADSB, 0);
if (_port == nullptr) {
return false;
}
request_msg(GDL90_ID_IDENTIFICATION);
request_msg(GDL90_ID_TRANSPONDER_CONFIG);
return true;
}
void AP_ADSB_uAvionix_UCP::update()
{
if (_port == nullptr) {
return;
}
const uint32_t now_ms = AP_HAL::millis();
// -----------------------------
// read any available data on serial port
// -----------------------------
uint32_t nbytes = MIN(_port->available(), 10UL * GDL90_RX_MAX_PACKET_LENGTH);
while (nbytes-- > 0) {
uint8_t data;
if (!_port->read(data)) {
break;
}
if (parseByte(data, rx.msg, rx.status)) {
rx.last_msg_ms = now_ms;
handle_msg(rx.msg);
}
} // while nbytes
if (now_ms - run_state.last_packet_Transponder_Control_ms >= 1000) {
run_state.last_packet_Transponder_Control_ms = now_ms;
send_Transponder_Control();
}
if ((now_ms - run_state.last_packet_GPS_ms >= 200) && (_frontend._options & uint32_t(AP_ADSB::AdsbOption::Ping200X_Send_GPS)) != 0) {
run_state.last_packet_GPS_ms = now_ms;
send_GPS_Data();
}
// if the transponder has stopped giving us the data needed to
// fill the transponder status mavlink message, reset that data.
if ((now_ms - run_state.last_packet_Transponder_Status_ms >= 10000 && run_state.last_packet_Transponder_Status_ms != 0)
&& (now_ms - run_state.last_packet_Transponder_Heartbeat_ms >= 10000 && run_state.last_packet_Transponder_Heartbeat_ms != 0)
&& (now_ms - run_state.last_packet_Transponder_Ownship_ms >= 10000 && run_state.last_packet_Transponder_Ownship_ms != 0))
{
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL;
}
}
void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
{
switch(msg.messageId) {
case GDL90_ID_HEARTBEAT: {
// The Heartbeat message provides real-time indications of the status and operation of the
// transponder. The message will be transmitted with a period of one second for the UCP
// protocol.
memcpy(&rx.decoded.heartbeat, msg.raw, sizeof(rx.decoded.heartbeat));
run_state.last_packet_Transponder_Heartbeat_ms = AP_HAL::millis();
// this is always true. The "ground/air bit place" is set meaning we're always in the air
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_ON_GROUND;
if (rx.decoded.heartbeat.status.one.maintenanceRequired) {
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_MAINT_REQ;
} else {
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_MAINT_REQ;
}
if (rx.decoded.heartbeat.status.two.functionFailureGnssUnavailable) {
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_GPS_UNAVAIL;
} else {
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_GPS_UNAVAIL;
}
if (rx.decoded.heartbeat.status.two.functionFailureGnssNo3dFix) {
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_GPS_NO_POS;
} else {
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_GPS_NO_POS;
}
if (rx.decoded.heartbeat.status.two.functionFailureTransmitSystem) {
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_TX_SYSTEM_FAIL;
} else {
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_TX_SYSTEM_FAIL;
}
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL;
}
break;
case GDL90_ID_IDENTIFICATION:
// The Identification message contains information used to identify the connected device. The
// Identification message will be transmitted with a period of one second regardless of data status
// or update for the UCP protocol and will be transmitted upon request for the UCP-HD protocol.
if (memcmp(&rx.decoded.identification, msg.raw, sizeof(rx.decoded.identification)) != 0) {
memcpy(&rx.decoded.identification, msg.raw, sizeof(rx.decoded.identification));
// Firmware Part Number (not null terminated, but null padded if part number is less than 15 characters).
// Copy into a temporary string that is 1 char longer so we ensure it's null terminated
const uint8_t str_len = sizeof(rx.decoded.identification.primaryFwPartNumber);
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,
(unsigned)rx.decoded.identification.primary.fwMinorVersion,
(unsigned)rx.decoded.identification.primary.fwBuildVersion,
(unsigned)rx.decoded.identification.primary.serialNumber,
primaryFwPartNumber);
}
break;
case GDL90_ID_TRANSPONDER_CONFIG:
memcpy(&rx.decoded.transponder_config, msg.raw, sizeof(rx.decoded.transponder_config));
break;
#if AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS
case GDL90_ID_OWNSHIP_REPORT:
// The Ownship message contains information on the GNSS position. If the Ownship GNSS
// position fix is invalid, the Latitude, Longitude, and NIC fields will all have the ZERO value. The
// Ownship message will be transmitted with a period of one second regardless of data status or
// update for the UCP protocol. All fields in the ownship message are transmitted MSB first
memcpy(&rx.decoded.ownship_report, msg.raw, sizeof(rx.decoded.ownship_report));
run_state.last_packet_Transponder_Ownship_ms = AP_HAL::millis();
_frontend.out_state.tx_status.NIC_NACp = rx.decoded.ownship_report.report.NIC | (rx.decoded.ownship_report.report.NACp << 4);
memcpy(_frontend.out_state.tx_status.flight_id, rx.decoded.ownship_report.report.callsign, sizeof(_frontend.out_state.tx_status.flight_id));
//_frontend.out_state.tx_status.temperature = rx.decoded.ownship_report.report.temperature; // there is no message in the vocabulary of the 200x that has board temperature
break;
case GDL90_ID_OWNSHIP_GEOMETRIC_ALTITUDE:
// An Ownship Geometric Altitude message will be transmitted with a period of one second when
// the GNSS fix is valid for the UCP protocol. All fields in the Geometric Ownship Altitude
// message are transmitted MSB first.
memcpy(&rx.decoded.ownship_geometric_altitude, msg.raw, sizeof(rx.decoded.ownship_geometric_altitude));
break;
case GDL90_ID_SENSOR_MESSAGE:
memcpy(&rx.decoded.sensor_message, msg.raw, sizeof(rx.decoded.sensor_message));
break;
case GDL90_ID_TRANSPONDER_STATUS:
memcpy(&rx.decoded.transponder_status, msg.raw, sizeof(rx.decoded.transponder_status));
if (rx.decoded.transponder_status.identActive) {
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_IDENT_ACTIVE;
} else {
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_IDENT_ACTIVE;
}
if (rx.decoded.transponder_status.modeAEnabled) {
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_A_ENABLED;
} else {
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_A_ENABLED;
}
if (rx.decoded.transponder_status.modeCEnabled) {
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_C_ENABLED;
} else {
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_C_ENABLED;
}
if (rx.decoded.transponder_status.modeSEnabled) {
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_S_ENABLED;
} else {
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_MODE_S_ENABLED;
}
if (rx.decoded.transponder_status.es1090TxEnabled) {
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_1090ES_TX_ENABLED;
} else {
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_1090ES_TX_ENABLED;
}
if (rx.decoded.transponder_status.x_bit) {
_frontend.out_state.tx_status.state |= UAVIONIX_ADSB_OUT_STATUS_STATE_XBIT_ENABLED;
} else {
_frontend.out_state.tx_status.state &= ~UAVIONIX_ADSB_OUT_STATUS_STATE_XBIT_ENABLED;
}
_frontend.out_state.tx_status.squawk = rx.decoded.transponder_status.squawkCode;
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL;
if (run_state.last_packet_Transponder_Status_ms == 0) {
// set initial control message contents to transponder defaults
_frontend.out_state.ctrl.modeAEnabled = rx.decoded.transponder_status.modeAEnabled;
_frontend.out_state.ctrl.modeCEnabled = rx.decoded.transponder_status.modeCEnabled;
_frontend.out_state.ctrl.modeSEnabled = rx.decoded.transponder_status.modeSEnabled;
_frontend.out_state.ctrl.es1090TxEnabled = rx.decoded.transponder_status.es1090TxEnabled;
_frontend.out_state.ctrl.squawkCode = rx.decoded.transponder_status.squawkCode;
_frontend.out_state.ctrl.x_bit = rx.decoded.transponder_status.x_bit;
}
run_state.last_packet_Transponder_Status_ms = AP_HAL::millis();
GCS_SEND_MESSAGE(MSG_UAVIONIX_ADSB_OUT_STATUS);
break;
#endif // AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS
case GDL90_ID_TRANSPONDER_CONTROL:
case GDL90_ID_GPS_DATA:
case GDL90_ID_MESSAGE_REQUEST:
// not handled, outbound only
break;
default:
//GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"ADSB:Unknown msg %d", (int)msg.messageId);
break;
}
}
const char* AP_ADSB_uAvionix_UCP::get_hardware_name(const uint8_t hwId)
{
switch(hwId) {
case 0x09: return "Ping200s";
case 0x0A: return "Ping20s";
case 0x18: return "Ping200C";
case 0x27: return "Ping20Z";
case 0x2D: return "SkyBeaconX"; // (certified)
case 0x26: //return "Ping200Z/Ping200X"; // (uncertified). Let's fallthrough and use Ping200X
case 0x2F: return "Ping200X"; // (certified)
case 0x30: return "TailBeaconX"; // (certified)
} // switch hwId
return "Unknown HW";
}
void AP_ADSB_uAvionix_UCP::send_Transponder_Control()
{
GDL90_TRANSPONDER_CONTROL_MSG msg {};
msg.messageId = GDL90_ID_TRANSPONDER_CONTROL;
msg.version = GDL90_TRANSPONDER_CONTROL_VERSION;
#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
// when using the simulator, always declare we're on the ground to help
// inhibit chaos if this ias actually being broadcasted on real hardware
msg.airGroundState = ADSB_ON_GROUND;
#elif AP_ADSB_UAVIONIX_DETECT_GROUNDSTATE
msg.airGroundState = _frontend.out_state.is_flying ? ADSB_AIRBORNE_SUBSONIC : ADSB_ON_GROUND;
#else
msg.airGroundState = ADSB_AIRBORNE_SUBSONIC;
#endif
msg.baroCrossChecked = ADSB_NIC_BARO_UNVERIFIED;
msg.identActive = _frontend.out_state.ctrl.identActive;
_frontend.out_state.ctrl.identActive = false; // only send identButtonActive once per request
msg.modeAEnabled = _frontend.out_state.ctrl.modeAEnabled;
msg.modeCEnabled = _frontend.out_state.ctrl.modeCEnabled;
msg.modeSEnabled = _frontend.out_state.ctrl.modeSEnabled;
msg.es1090TxEnabled = _frontend.out_state.ctrl.es1090TxEnabled;
// if enabled via param ADSB_OPTIONS, use squawk 7400 while in any Loss-Comms related failsafe
// https://www.faa.gov/documentLibrary/media/Notice/N_JO_7110.724_5-2-9_UAS_Lost_Link_2.pdf
const AP_Notify& notify = AP::notify();
if (((_frontend._options & uint32_t(AP_ADSB::AdsbOption::Squawk_7400_FS_RC)) && notify.flags.failsafe_radio) ||
((_frontend._options & uint32_t(AP_ADSB::AdsbOption::Squawk_7400_FS_GCS)) && notify.flags.failsafe_gcs)) {
msg.squawkCode = 7400;
} else {
msg.squawkCode = _frontend.out_state.ctrl.squawkCode;
}
#if AP_ADSB_UAVIONIX_EMERGENCY_STATUS_ON_LOST_LINK
const uint32_t last_gcs_ms = gcs().sysid_myggcs_last_seen_time_ms();
const bool gcs_lost_comms = (last_gcs_ms != 0) && (AP_HAL::millis() - last_gcs_ms > AP_ADSB_UAVIONIX_GCS_LOST_COMMS_LONG_TIMEOUT_MS);
msg.emergencyState = gcs_lost_comms ? ADSB_EMERGENCY_STATUS::ADSB_EMERGENCY_UAS_LOST_LINK : ADSB_EMERGENCY_STATUS::ADSB_EMERGENCY_NONE;
#else
msg.emergencyState = ADSB_EMERGENCY_STATUS::ADSB_EMERGENCY_NONE;
#endif
#if GDL90_TRANSPONDER_CONTROL_VERSION == 2
msg.x_bit = 0;
#endif
memcpy(msg.callsign, _frontend.out_state.ctrl.callsign, sizeof(msg.callsign));
gdl90Transmit((GDL90_TX_MESSAGE&)msg, sizeof(msg));
}
void AP_ADSB_uAvionix_UCP::send_GPS_Data()
{
GDL90_GPS_DATA_V2 msg {};
msg.messageId = GDL90_ID_GPS_DATA;
msg.version = 2;
const AP_ADSB::Loc &gps { _frontend._my_loc };
const GPS_FIX fix = (GPS_FIX)gps.status();
const bool fix_is_good = (fix >= GPS_FIX_3D);
const Vector3f velocity = fix_is_good ? gps.velocity() : Vector3f();
msg.utcTime_s = gps.time_epoch_usec() * 1E-6;
msg.latitude_ddE7 = fix_is_good ? _frontend._my_loc.lat : INT32_MAX;
msg.longitude_ddE7 = fix_is_good ? _frontend._my_loc.lng : INT32_MAX;
msg.altitudeGnss_mm = fix_is_good ? (_frontend._my_loc.alt * 10): INT32_MAX;
// Protection Limits. FD or SBAS-based depending on state bits
msg.HPL_mm = UINT32_MAX;
msg.VPL_cm = UINT32_MAX;
// Figure of Merits
float accHoriz;
msg.horizontalFOM_mm = gps.horizontal_accuracy(accHoriz) ? accHoriz * 1E3 : UINT32_MAX;
float accVert;
msg.verticalFOM_cm = gps.vertical_accuracy(accVert) ? accVert * 1E2 : UINT16_MAX;
float accVel;
msg.horizontalVelocityFOM_mmps = gps.speed_accuracy(accVel) ? accVel * 1E3 : UINT16_MAX;
msg.verticalVelocityFOM_mmps = msg.horizontalVelocityFOM_mmps;
// Velocities
msg.verticalVelocity_cmps = fix_is_good ? -1.0f * velocity.z * 1E2 : INT16_MAX;
msg.northVelocity_mmps = fix_is_good ? velocity.x * 1E3 : INT32_MAX;
msg.eastVelocity_mmps = fix_is_good ? velocity.y * 1E3 : INT32_MAX;
// State
msg.fixType = fix;
GDL90_GPS_NAV_STATE nav_state {};
nav_state.HPLfdeActive = 1;
nav_state.fault = 0;
nav_state.HrdMagNorth = 0; // 1 means "north" is magnetic north
msg.navState = nav_state;
msg.satsUsed = gps.num_sats();
gdl90Transmit((GDL90_TX_MESSAGE&)msg, sizeof(msg));
}
bool AP_ADSB_uAvionix_UCP::hostTransmit(uint8_t *buffer, uint16_t length)
{
if (_port == nullptr || _port->txspace() < length) {
return false;
}
_port->write(buffer, length);
return true;
}
bool AP_ADSB_uAvionix_UCP::request_msg(const GDL90_MESSAGE_ID msg_id)
{
const GDL90_TRANSPONDER_MESSAGE_REQUEST_V2 msg = {
messageId : GDL90_ID_MESSAGE_REQUEST,
version : 2,
reqMsgId : msg_id
};
return gdl90Transmit((GDL90_TX_MESSAGE&)msg, sizeof(msg)) != 0;
}
uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const uint16_t length)
{
uint8_t gdl90FrameBuffer[GDL90_TX_MAX_FRAME_LENGTH] {};
const uint16_t frameCrc = crc16_ccitt_GDL90((uint8_t*)&message.raw, length, 0);
// 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) {
data = LOWBYTE(frameCrc);
} else if (i == length+1) {
data = HIGHBYTE(frameCrc);
} else {
data = message.raw[i];
}
if (data == GDL90_FLAG_BYTE || data == GDL90_CONTROL_ESCAPE_BYTE) {
// Check for frame buffer overflow on stuffed byte
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;
} else {
gdl90FrameBuffer[frameIndex++] = data;
}
}
// Add end of frame indication
gdl90FrameBuffer[frameIndex++] = GDL90_FLAG_BYTE;
// Push packet to UART
if (hostTransmit(gdl90FrameBuffer, frameIndex)) {
return frameIndex;
}
return 0;
}
bool AP_ADSB_uAvionix_UCP::parseByte(const uint8_t data, GDL90_RX_MESSAGE &msg, GDL90_RX_STATUS &status)
{
switch (status.state)
{
case GDL90_RX_IDLE:
if (data == GDL90_FLAG_BYTE && status.prev_data == GDL90_FLAG_BYTE) {
status.length = 0;
status.state = GDL90_RX_IN_PACKET;
}
break;
case GDL90_RX_IN_PACKET:
if (data == GDL90_CONTROL_ESCAPE_BYTE) {
status.state = GDL90_RX_UNSTUFF;
} else if (data == GDL90_FLAG_BYTE) {
// packet complete! Check CRC and restart packet cycle on all pass or fail scenarios
status.state = GDL90_RX_IDLE;
if (status.length < GDL90_OVERHEAD_LENGTH) {
// something is wrong, there's no actual data
return false;
}
const uint8_t crc_LSB = msg.raw[status.length - 2];
const uint8_t crc_MSB = msg.raw[status.length - 1];
// NOTE: status.length contains messageId, payload and CRC16. So status.length-3 is effective payload length
msg.crc = (uint16_t)crc_LSB | ((uint16_t)crc_MSB << 8);
const uint16_t crc = crc16_ccitt_GDL90((uint8_t*)&msg.raw, status.length-2, 0);
if (crc == msg.crc) {
status.prev_data = data;
// NOTE: this is the only path that returns true
return true;
}
} else if (status.length < GDL90_RX_MAX_PACKET_LENGTH) {
msg.raw[status.length++] = data;
} else {
status.state = GDL90_RX_IDLE;
}
break;
case GDL90_RX_UNSTUFF:
msg.raw[status.length++] = data ^ GDL90_STUFF_BYTE;
status.state = GDL90_RX_IN_PACKET;
break;
}
status.prev_data = data;
return false;
}
#endif // HAL_ADSB_UCP_ENABLED
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