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ardupilot/libraries/AP_ADSB/AP_ADSB_Sagetech_MXS.h

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/*
* Copyright (C) 2022 Sagetech Avionics Inc. All rights reserved.
*
* This file 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 file 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/>.
*
* SDK specification
* https://github.com/Sagetech-Avionics/sagetech-mxs-sdk/blob/main/doc/pdf/ICD02373_MXS_Host_ICD.pdf
*
* Authors: Chuck Faber, Tom Pittenger
*/
#pragma once
#include "AP_ADSB_Backend.h"
#if HAL_ADSB_SAGETECH_MXS_ENABLED
#include "sagetech-sdk/sagetech_mxs.h"
class AP_ADSB_Sagetech_MXS : public AP_ADSB_Backend {
public:
using AP_ADSB_Backend::AP_ADSB_Backend;
/**
* @brief Performs required initialization for this instance
*
* @return true if initialization successful
*/
bool init() override;
/**
* @brief The main callback function (Called with freq of 10Hz) that sends
* appropriate message types at specific times.
*
* Read Byte from Serial Port Buffer (10Hz)
* Send installation message (every 5 seconds)
* Send Flight ID (every 8.2 s)
* Send Operating Message (every second)
* Send GPS data (flying: 5Hz, not flying: 1Hz)
*
*/
void update() override;
/**
* @brief Detect if a port is configured as Sagetech
*
* @return true
* @return false
*/
static bool detect();
private:
static const uint32_t PAYLOAD_MXS_MAX_SIZE = 255;
static const uint8_t START_BYTE = 0xAA;
static const uint8_t rf_capable_flags_default =
ADSB_BITBASK_RF_CAPABILITIES_1090ES_IN |
ADSB_BITBASK_RF_CAPABILITIES_1090ES_OUT;
enum class MsgType : uint8_t {
Installation = SG_MSG_TYPE_HOST_INSTALL,
FlightID = SG_MSG_TYPE_HOST_FLIGHT,
Operating = SG_MSG_TYPE_HOST_OPMSG,
GPS_Data = SG_MSG_TYPE_HOST_GPS,
Data_Request = SG_MSG_TYPE_HOST_DATAREQ,
// RESERVED 0x06 - 0x0A
Target_Request = SG_MSG_TYPE_HOST_TARGETREQ,
Mode = SG_MSG_TYPE_HOST_MODE,
// RESERVED 0x0D - 0xC1
ACK = SG_MSG_TYPE_XPNDR_ACK,
Installation_Response = SG_MSG_TYPE_XPNDR_INSTALL,
FlightID_Response = SG_MSG_TYPE_XPNDR_FLIGHT,
Status_Response = SG_MSG_TYPE_XPNDR_STATUS,
RESERVED_0x84 = 0x84,
RESERVED_0x85 = 0x85,
Mode_Settings = SG_MSG_TYPE_XPNDR_MODE,
RESERVED_0x8D = 0x8D,
Version_Response = SG_MSG_TYPE_XPNDR_VERSION,
Serial_Number_Response = SG_MSG_TYPE_XPNDR_SERIALNUM,
Target_Summary_Report = SG_MSG_TYPE_ADSB_TSUMMARY,
ADSB_StateVector_Report = SG_MSG_TYPE_ADSB_SVR,
ADSB_ModeStatus_Report = SG_MSG_TYPE_ADSB_MSR,
ADSB_Target_State_Report= SG_MSG_TYPE_ADSB_TSTATE,
ADSB_Air_Ref_Vel_Report = SG_MSG_TYPE_ADSB_ARVR,
};
enum class ParseState {
WaitingFor_Start,
WaitingFor_MsgType,
WaitingFor_MsgId,
WaitingFor_PayloadLen,
WaitingFor_PayloadContents,
WaitingFor_Checksum,
};
struct __attribute__((packed)) Packet {
const uint8_t start = SG_MSG_START_BYTE;
MsgType type;
uint8_t id;
uint8_t payload_length;
uint8_t payload[PAYLOAD_MXS_MAX_SIZE];
};
struct {
ParseState state;
uint8_t index;
Packet packet;
uint8_t checksum;
} message_in;
/**
* @brief Given the dataReqType, send the appropriate data request message
*
* @param dataReqType
*/
void send_data_req(const sg_datatype_t dataReqType);
/**
* @brief Takes incoming packets, gets their message type, and
* appropriately handles them with the correct callbacks.
*
* @param msg Message packet received, cast into Packet type.
*/
void handle_packet(const Packet &msg);
/**
* @brief Sends data received from ADSB State Vector Report to AutoPilot
*
* @param svr
*/
void handle_svr(const sg_svr_t svr);
/**
* @brief Handle a received ADSB mode status report and updates the vehicle list
*
* @param msr Sagetech SDK Mode Status Report type
*/
void handle_msr(const sg_msr_t msr);
/**
* @brief Handles an incoming byte and processes it through the state
* machine to determine if end of message is reached.
*
* @param data : incoming byte
* @return false : if not yet reached packet termination
*/
bool parse_byte(const uint8_t data);
/**
* @brief Takes a raw buffer and writes it out to the device port.
*
* @param data : pointer to data buffer
* @param len : number of bytes to write
*/
void msg_write(const uint8_t *data, const uint16_t len) const;
/**
* @brief Callback for sending an installation message.
*
*/
void send_install_msg();
/**
* @brief Callback for sending a FlightID message
*
*/
void send_flight_id_msg();
/**
* @brief Callback for sending an operating message.
*
*/
void send_operating_msg();
/**
* @brief Callback for sending a GPS data message
*
*/
void send_gps_msg();
/**
* @brief Callback for sending a Target Request message
*
*/
void send_targetreq_msg();
/**
* @brief Convert the AP_ADSB uint8_t Emitter Type to the Sagetech Emitter Type definition
*
* @param emitterType
* @return sg_emitter_t
*/
sg_emitter_t convert_emitter_type_to_sg(const uint8_t emitterType) const;
/**
* @brief Convert the float maxAirSpeed value to the Sagetech Max Airspeed Type
*
* @param maxAirSpeed
* @return sg_airspeed_t
*/
sg_airspeed_t convert_airspeed_knots_to_sg(const float maxAirSpeed) const;
/**
* @brief Converts a Sagetech Emitter type value to the values used by ADSB.
*
* @return uint8_t
*/
uint8_t convert_sg_emitter_type_to_adsb(const sg_emitter_t sgEmitterType) const;
void auto_config_operating();
void auto_config_installation();
void auto_config_flightid();
void handle_ack(const sg_ack_t ack);
struct {
// timers for each out-bound packet
uint32_t packet_initialize_ms;
uint32_t packet_PreFlight_ms;
uint32_t packet_GPS_ms;
uint32_t packet_Operating_ms;
uint32_t packet_targetReq;
// cached variables to compare against params so we can send msg on param change.
uint16_t operating_squawk;
int32_t operating_alt;
uint8_t operating_rf_select;
bool modeAEnabled;
bool modeCEnabled;
bool modeSEnabled;
bool failXpdr;
bool failSystem;
uint8_t callsign[8];
struct {
uint8_t id;
uint8_t type;
} msg;
} last;
struct {
bool init;
bool init_failed;
sg_operating_t op;
sg_install_t inst;
sg_targetreq_t treq;
sg_flightid_t fid;
sg_ack_t ack;
} mxs_state;
// helper functions for populating the operating message:
void populate_op_altitude(const struct AP_ADSB::Loc &loc);
void populate_op_climbrate(const struct AP_ADSB::Loc &loc);
void populate_op_airspeed_and_heading(const struct AP_ADSB::Loc &loc);
// last course-over-ground calculated from groundspeed vector.
// This is cached so we don't flip to a COG of 90-degrees when
// we stop moving.
float cog;
};
#endif // HAL_ADSB_SAGETECH_MXS_ENABLED
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