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94 lines
2.9 KiB
94 lines
2.9 KiB
/* |
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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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