AP_ADSB: added Ping200X driver /w UCP protocol

libraries/AP_ADSB/AP_ADSB.cpp

@@ -24,6 +24,7 @@
 
 #if HAL_ADSB_ENABLED
 #include "AP_ADSB_uAvionix_MAVLink.h"
+#include "AP_ADSB_uAvionix_UCP.h"
 #include "AP_ADSB_Sagetech.h"
 #include <AP_Vehicle/AP_Vehicle.h>
 #include <GCS_MAVLink/GCS.h>
@@ -54,7 +55,7 @@ const AP_Param::GroupInfo AP_ADSB::var_info[] = {
     // @Param: TYPE
     // @DisplayName: ADSB Type
     // @Description: Type of ADS-B hardware for ADSB-in and ADSB-out configuration and operation. If any type is selected then MAVLink based ADSB-in messages will always be enabled
-    // @Values: 0:Disabled,1:uAvionix-MAVLink,2:Sagetech
+    // @Values: 0:Disabled,1:uAvionix-MAVLink,2:Sagetech,3:uAvionix-UCP
     // @User: Standard
     // @RebootRequired: True
     AP_GROUPINFO_FLAGS("TYPE",     0, AP_ADSB, _type[0],    0, AP_PARAM_FLAG_ENABLE),
@@ -80,7 +81,7 @@ const AP_Param::GroupInfo AP_ADSB::var_info[] = {
 
     // @Param: ICAO_ID
     // @DisplayName: ICAO_ID vehicle identification number
-    // @Description: ICAO_ID unique vehicle identification number of this aircraft. This is a integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.
+    // @Description: ICAO_ID unique vehicle identification number of this aircraft. This is an integer limited to 24bits. If set to 0 then one will be randomly generated. If set to -1 then static information is not sent, transceiver is assumed pre-programmed.
     // @Range: -1 16777215
     // @User: Advanced
     AP_GROUPINFO("ICAO_ID",   4, AP_ADSB, out_state.cfg.ICAO_id_param, 0),
@@ -156,6 +157,12 @@ const AP_Param::GroupInfo AP_ADSB::var_info[] = {
     // @User: Advanced
     AP_GROUPINFO("LOG",  14, AP_ADSB, _log, 1),
 
+    // @Param: OPTIONS
+    // @DisplayName: ADS-B Options
+    // @Bitmask: 0:Ping200X Send GPS,1:Squawk 7400 on RC failsafe,2:Squawk 7400 on GCS failsafe
+    // @User: Advanced
+    AP_GROUPINFO("OPTIONS",  15, AP_ADSB, _options, 0),
+
     AP_GROUPEND
 };
 
@@ -250,17 +257,30 @@ void AP_ADSB::detect_instance(uint8_t instance)
         return;
 
     case Type::uAvionix_MAVLink:
+#if HAL_ADSB_UAVIONIX_MAVLINK_ENABLED
         if (AP_ADSB_uAvionix_MAVLink::detect()) {
             _backend[instance] = new AP_ADSB_uAvionix_MAVLink(*this, instance);
             return;
         }
+#endif
+        break;
+
+    case Type::uAvionix_UCP:
+#if HAL_ADSB_UCP_ENABLED
+        if (AP_ADSB_uAvionix_UCP::detect()) {
+            _backend[instance] = new AP_ADSB_uAvionix_UCP(*this, instance);
+            return;
+        }
+#endif
         break;
 
     case Type::Sagetech:
+#if HAL_ADSB_SAGETECH_ENABLED
         if (AP_ADSB_Sagetech::detect()) {
             _backend[instance] = new AP_ADSB_Sagetech(*this, instance);
             return;
         }
+#endif
         break;
     }
 }

libraries/AP_ADSB/AP_ADSB.h

@@ -36,12 +36,16 @@
 
 #define ADSB_MAX_INSTANCES             1   // Maximum number of ADSB sensor instances available on this platform
 
+#define ADSB_BITBASK_RF_CAPABILITIES_UAT_IN         (1 << 0)
+#define ADSB_BITBASK_RF_CAPABILITIES_1090ES_IN      (1 << 1)
+
 class AP_ADSB_Backend;
 
 class AP_ADSB {
 public:
     friend class AP_ADSB_Backend;
     friend class AP_ADSB_uAvionix_MAVLink;
+    friend class AP_ADSB_uAvionix_UCP;
     friend class AP_ADSB_Sagetech;
 
     // constructor
@@ -61,6 +65,7 @@ public:
         None                = 0,
         uAvionix_MAVLink    = 1,
         Sagetech            = 2,
+        uAvionix_UCP        = 3,
     };
 
     struct adsb_vehicle_t {
@@ -68,6 +73,13 @@ public:
         uint32_t last_update_ms; // last time this was refreshed, allows timeouts
     };
 
+    // enum for adsb optional features
+    enum class AdsbOption {
+        Ping200X_Send_GPS               = (1<<0),
+        Squawk_7400_FS_RC               = (1<<1),
+        Squawk_7400_FS_GCS              = (1<<2),
+    };
+
     // for holding parameters
     static const struct AP_Param::GroupInfo var_info[];
 
@@ -138,6 +150,21 @@ public:
     // confirm a value is a valid callsign
     static bool is_valid_callsign(uint16_t octal) WARN_IF_UNUSED;
 
+    // Mode-S IDENT is active. While true, we are currently a large "HEY LOOK AT ME" symbol on the Air Traffic Controllers' radar screen.
+    bool ident_is_active() const {
+        return out_state.ident_is_active;
+    }
+
+    // Trigger a Mode 3/A transponder IDENT. This should only be done when requested to do so by an Air Traffic Controller.
+    // See wikipedia for IDENT explaination https://en.wikipedia.org/wiki/Transponder_(aeronautics)
+    bool ident_start() {
+        if (ident_is_active() || !healthy() || ((out_state.cfg.rfSelect & UAVIONIX_ADSB_OUT_RF_SELECT_TX_ENABLED) == 0)) {
+            return false;
+        }
+        out_state.ident_pending = true;
+        return true;
+    }
+
     AP_ADSB::Type get_type(uint8_t instance) const;
 
 private:
@@ -209,6 +236,11 @@ private:
         bool        is_flying;
         bool        is_in_auto_mode;
 
+        // Mode 3/A transponder IDENT. This triggers, or shows status of, an active IDENT status should only be done when requested to do so by an Air Traffic Controller.
+        // See wikipedia for IDENT explaination https://en.wikipedia.org/wiki/Transponder_(aeronautics)
+        bool        ident_pending;
+        bool        ident_is_active;
+
         // ADSB-OUT configuration
         struct {
             int32_t     ICAO_id;
@@ -235,6 +267,8 @@ private:
     // special ICAO of interest that ignored filters when != 0
     AP_Int32 _special_ICAO_target;
 
+    AP_Int32 _options;
+
     static const uint8_t _max_samples = 30;
     ObjectBuffer<adsb_vehicle_t> _samples{_max_samples};
 

libraries/AP_ADSB/AP_ADSB_uAvionix_MAVLink.cpp

@@ -25,9 +25,6 @@
 
 #define ADSB_CHAN_TIMEOUT_MS            15000
 
-#define ADSB_BITBASK_RF_CAPABILITIES_UAT_IN         (1 << 0)
-#define ADSB_BITBASK_RF_CAPABILITIES_1090ES_IN      (1 << 1)
-
 
 extern const AP_HAL::HAL& hal;
 

libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h

@@ -0,0 +1,91 @@
+/*
+   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;
+#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;
+            GDL90_TRANSPONDER_STATUS_MSG transponder_status;
+#endif
+        } decoded;
+    } rx;
+
+    struct {
+        uint32_t last_packet_GPS_ms;
+        uint32_t last_packet_Transponder_Control_ms;
+    } run_state;
+
+};
+#endif // HAL_ADSB_UCP_ENABLED
+

libraries/AP_ADSB/GDL90_protocol/hostGDL90Support.h

@@ -0,0 +1,83 @@
+/*
+   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: GDL90/UCP protocol by uAvionix, 2021.
+  Implemented by: Tom Pittenger
+ */
+
+#ifndef _GDL90_H_
+#define _GDL90_H_
+
+#include <stdint.h>
+
+#define GDL90_QUEUE_LENGTH      (2)
+
+#define GDL90_FLAG_BYTE                   (0x7E)
+#define GDL90_CONTROL_ESCAPE_BYTE         (0x7D)
+#define GDL90_STUFF_BYTE                  (0x20)
+#define GDL90_OVERHEAD_LENGTH             (3) // Not counting framing bytes
+
+
+// Transmit message sizes
+#define GDL90_TX_MAX_PAYLOAD_LENGTH      (552)
+#define GDL90_TX_MAX_PACKET_LENGTH       (GDL90_TX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH)
+#define GDL90_TX_MAX_FRAME_LENGTH        (2 + ((15 * GDL90_TX_MAX_PACKET_LENGTH) / 10)) // IF every other byte was stuffed
+
+// Receive message sizes
+#define GDL90_RX_MAX_PAYLOAD_LENGTH      (128)
+#define GDL90_RX_MAX_PACKET_LENGTH       (GDL90_RX_MAX_PAYLOAD_LENGTH + GDL90_OVERHEAD_LENGTH)
+
+typedef union __attribute__((__packed__))
+{
+  struct __attribute__((__packed__))
+  {
+    GDL90_MESSAGE_ID messageId;
+    uint8_t          payload[GDL90_TX_MAX_PAYLOAD_LENGTH];
+    uint16_t         crc; // Actually CRC location varies. This is a placeholder
+  };
+  uint8_t raw[GDL90_TX_MAX_PACKET_LENGTH];
+} GDL90_TX_MESSAGE;
+
+typedef union __attribute__((__packed__))
+{
+  struct __attribute__((__packed__))
+  {
+    GDL90_MESSAGE_ID messageId;
+    uint8_t          payload[GDL90_RX_MAX_PAYLOAD_LENGTH];
+    uint16_t         crc; // Actually CRC location varies. This is a placeholder
+  };
+  uint8_t raw[GDL90_RX_MAX_PACKET_LENGTH];
+} GDL90_RX_MESSAGE;
+
+typedef enum
+{
+  GDL90_RX_IDLE,
+  GDL90_RX_IN_PACKET,
+  GDL90_RX_UNSTUFF,
+  //GDL90_RX_END,
+} GDL90_RX_STATE;
+
+typedef struct
+{
+  GDL90_RX_STATE state;
+  uint16_t       length;
+  //uint32_t       overflow;
+  //uint32_t       complete;
+  uint8_t       prev_data;
+} GDL90_RX_STATUS;
+
+#endif