ardupilot/libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h

95 lines
2.9 KiB
C++

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