mirror of https://github.com/ArduPilot/ardupilot
150 lines
4.5 KiB
C++
150 lines
4.5 KiB
C++
#pragma once
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/*
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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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*/
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#include "AP_ADSB_Backend.h"
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class AP_ADSB_Sagetech : public AP_ADSB_Backend {
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public:
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// constructor
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AP_ADSB_Sagetech(AP_ADSB &adsb);
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void init() override;
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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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static const uint8_t PAYLOAD_XP_MAX_SIZE = 52;
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//static const uint8_t PAYLOAD_MX_MAX_SIZE = 250;
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enum SystemStateBits {
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Error_Transponder = (1<<0),
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Altitidue_Source = (1<<1),
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Error_GPS = (1<<2),
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Error_ICAO = (1<<3),
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Error_Over_Temperature = (1<<4),
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Error_Extended_Squitter = (1<<5),
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Mode_Transponder = (3<<6), // 2 bit status:
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};
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enum Transponder_Type {
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Mode_C = 0x00,
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Mode_S_ADSB_OUT = 0x01,
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Mode_S_ADSB_OUT_and_IN = 0x02,
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Unknown = 0xFF,
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};
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enum MsgTypes_XP {
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INVALID = 0,
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Installation_Set = 0x01,
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Preflight_Set = 0x02,
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Operating_Set = 0x03,
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GPS_Set = 0x04,
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Request = 0x05,
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ACK = 0x80,
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Installatioin_Response = 0x81,
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Preflight_Response = 0x82,
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Status_Response = 0x83,
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ADSB_StateVector_Report = 0x91,
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ADSB_ModeStatus_Report = 0x92,
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TISB_StateVector_Report = 0x93,
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TISB_ModeStatus_Report = 0x94,
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TISB_CorasePos_Report = 0x95,
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TISB_ADSB_Mgr_Report = 0x96,
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};
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enum Protocol {
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NONE = 0,
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XP = 1,
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MX = 2,
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} protocol;
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enum ParseState {
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WaitingFor_Start,
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WaitingFor_AssmAddr,
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WaitingFor_MsgType,
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WaitingFor_MsgId,
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WaitingFor_PayloadLen,
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WaitingFor_PayloadContents,
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WaitingFor_ChecksumFletcher,
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WaitingFor_Checksum,
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WaitingFor_End,
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};
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struct Packet_XP {
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const uint8_t start = 0xA5;
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const uint8_t assemAddr = 0x01;
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MsgTypes_XP type;
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uint8_t id;
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uint8_t payload_length;
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uint8_t payload[PAYLOAD_XP_MAX_SIZE];
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uint8_t checksumFletcher;
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uint8_t checksum;
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const uint8_t end = 0x5A;
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};
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struct {
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ParseState state;
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uint8_t index;
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Packet_XP packet;
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} message_in_xp;
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// protocol XP
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bool checksum_XP(Packet_XP &msg);
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bool parse_byte_XP(const uint8_t data);
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void parse_packet_XP(const Packet_XP &msg);
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void send_msg(Packet_XP &msg);
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// protocol MX
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bool parse_byte_MX(const uint8_t data) { return false; }
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void parse_packet_MX() {}
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void handle_adsb_in_msg(const Packet_XP &msg);
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void send_Installation();
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void send_PreFlight();
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void send_Operating();
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void send_GPS();
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void send_packet(const MsgTypes_XP type);
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void request_packet(const MsgTypes_XP type);
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const char* type_to_str(const uint8_t type);
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const char* systemStatsBits_to_str(const SystemStateBits systemStateBits);
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AP_HAL::UARTDriver *uart;
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uint32_t last_packet_initialize_ms;
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uint32_t last_packet_PreFlight_ms;
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uint32_t last_packet_GPS_ms;
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uint32_t last_packet_send_ms;
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MsgTypes_XP last_packet_type_sent = MsgTypes_XP::INVALID;
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uint32_t baudrate;
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uint32_t last_packet_Operating_ms;
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uint16_t last_operating_squawk;
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int32_t last_operating_alt;
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uint8_t last_operating_rf_select;
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uint8_t last_ack_transponder_mode;
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Transponder_Type transponder_type = Transponder_Type::Unknown;
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};
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