mirror of https://github.com/ArduPilot/ardupilot
91 lines
2.8 KiB
C++
91 lines
2.8 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"
|
|
|
|
#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
|
|
|