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ardupilot/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp

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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>
#include <AP_GPS/AP_GPS.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();
#if AP_MAVLINK_MSG_UAVIONIX_ADSB_OUT_STATUS_ENABLED
GCS_SEND_MESSAGE(MSG_UAVIONIX_ADSB_OUT_STATUS);
#endif
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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