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