mirror of https://github.com/ArduPilot/ardupilot
95 lines
2.9 KiB
C++
95 lines
2.9 KiB
C++
/*
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Copyright (C) 2021 Kraus Hamdani Aerospace Inc. All rights reserved.
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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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Author: Tom Pittenger
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*/
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#pragma once
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#include "AP_ADSB_Backend.h"
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#ifndef HAL_ADSB_UCP_ENABLED
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#define HAL_ADSB_UCP_ENABLED HAL_ADSB_ENABLED
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#endif
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#if HAL_ADSB_UCP_ENABLED
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#define AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS 1
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#include <AP_GPS/AP_GPS.h>
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#include <AP_Baro/AP_Baro.h>
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#include <AP_AHRS/AP_AHRS.h>
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#include "GDL90_protocol/GDL90_Message_Structs.h"
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#include "GDL90_protocol/hostGDL90Support.h"
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class AP_ADSB_uAvionix_UCP : public AP_ADSB_Backend {
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public:
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using AP_ADSB_Backend::AP_ADSB_Backend;
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// init - performs any required initialisation for this instance
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bool init() override;
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// update - should be called periodically
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void update() override;
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// static detection function
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static bool detect();
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private:
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void handle_msg(const GDL90_RX_MESSAGE &msg);
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bool request_msg(const GDL90_MESSAGE_ID msg_id);
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void send_GPS_Data();
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void send_Transponder_Control();
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const char* get_hardware_name(const uint8_t hwId);
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bool hostTransmit(uint8_t *buffer, uint16_t length);
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uint16_t gdl90Transmit(GDL90_TX_MESSAGE &message, const uint16_t length);
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static bool parseByte(const uint8_t data, GDL90_RX_MESSAGE &msg, GDL90_RX_STATUS &status);
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struct {
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uint32_t last_msg_ms;
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GDL90_RX_MESSAGE msg;
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GDL90_RX_STATUS status;
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// cache local copies so we always have the latest info of everything.
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struct {
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GDL90_IDENTIFICATION_V3 identification;
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GDL90_TRANSPONDER_CONFIG_MSG_V4_V5 transponder_config;
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GDL90_HEARTBEAT heartbeat;
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GDL90_TRANSPONDER_STATUS_MSG transponder_status;
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#if AP_ADSB_UAVIONIX_UCP_CAPTURE_ALL_RX_PACKETS
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GDL90_OWNSHIP_REPORT ownship_report;
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GDL90_OWNSHIP_GEO_ALTITUDE ownship_geometric_altitude;
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GDL90_SENSOR_BARO_MESSAGE sensor_message;
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#endif
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} decoded;
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} rx;
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struct {
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uint32_t last_packet_GPS_ms;
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uint32_t last_packet_Transponder_Control_ms;
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uint32_t last_packet_Transponder_Status_ms;
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uint32_t last_packet_Transponder_Heartbeat_ms;
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uint32_t last_packet_Transponder_Ownship_ms;
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} run_state;
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};
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#endif // HAL_ADSB_UCP_ENABLED
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