AP_ADSB: add Sagetech driver

libraries/AP_ADSB/AP_ADSB.h

@@ -27,15 +27,34 @@
 #include <AP_Common/Location.h>
 #include <GCS_MAVLink/GCS_MAVLink.h>
 
+#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;
+
     // constructor
     AP_ADSB();
 
     /* Do not allow copies */
     AP_ADSB(const AP_ADSB &other) = delete;
     AP_ADSB &operator=(const AP_ADSB&) = delete;
 
+    // get singleton instance
+    static AP_ADSB *get_singleton(void) {
+        return _singleton;
+    }
+
+    const char* GcsHeader = "ADSB: ";
+
+    enum class AP_ADSB_Protocol {
+        MAVLink             = 0,
+        SAGETECH            = 1,
+    };
+
     struct adsb_vehicle_t {
         mavlink_adsb_vehicle_t info; // the whole mavlink struct with all the juicy details. sizeof() == 38
         uint32_t last_update_ms; // last time this was refreshed, allows timeouts
@@ -52,11 +71,16 @@ class AP_ADSB {
     // send ADSB_VEHICLE mavlink message, usually as a StreamRate
     void send_adsb_vehicle(mavlink_channel_t chan);
 
-    void set_stall_speed_cm(const uint16_t stall_speed_cm) { out_state.cfg.stall_speed_cm = stall_speed_cm; }
+    void set_stall_speed_cm(const uint16_t stall_speed_cm) {
+        if (!out_state.cfg.was_set_externally) {
+            out_state.cfg.stall_speed_cm = MAX(0,stall_speed_cm);
+        }
+    }
+
     void set_max_speed(int16_t max_speed) {
         if (!out_state.cfg.was_set_externally) {
             // convert m/s to knots
-            out_state.cfg.maxAircraftSpeed_knots = (float)max_speed * 1.94384f;
+            out_state.cfg.maxAircraftSpeed_knots = (float)MAX(0,max_speed) * 1.94384f;
         }
     }
 
@@ -89,58 +113,6 @@ class AP_ADSB {
     // confirm a value is a valid callsign
     static bool is_valid_callsign(uint16_t octal) WARN_IF_UNUSED;
 
-    // get singleton instance
-    static AP_ADSB *get_singleton(void) {
-        return _singleton;
-    }
-
-private:
-    static AP_ADSB *_singleton;
-
-    // initialize _vehicle_list
-    void init();
-
-    // free _vehicle_list
-    void deinit();
-
-    // compares current vector against vehicle_list to detect threats
-    void determine_furthest_aircraft(void);
-
-    // return index of given vehicle if ICAO_ADDRESS matches. return -1 if no match
-    bool find_index(const adsb_vehicle_t &vehicle, uint16_t *index) const;
-
-    // remove a vehicle from the list
-    void delete_vehicle(const uint16_t index);
-
-    void set_vehicle(const uint16_t index, const adsb_vehicle_t &vehicle);
-
-    // Generates pseudorandom ICAO from gps time, lat, and lon
-    uint32_t genICAO(const Location &loc);
-
-    // set callsign: 8char string (plus null termination) then optionally append last 4 digits of icao
-    void set_callsign(const char* str, const bool append_icao);
-
-    // send static and dynamic data to ADSB transceiver
-    void send_configure(const mavlink_channel_t chan);
-    void send_dynamic_out(const mavlink_channel_t chan);
-
-    // special helpers for uAvionix workarounds
-    uint32_t get_encoded_icao(void);
-    uint8_t get_encoded_callsign_null_char(void);
-
-    // add or update vehicle_list from inbound mavlink msg
-    void handle_vehicle(const mavlink_message_t &msg);
-
-    // handle ADS-B transceiver report for ping2020
-    void handle_transceiver_report(mavlink_channel_t chan, const mavlink_message_t &msg);
-
-    void handle_out_cfg(const mavlink_message_t &msg);
-
-    AP_Int8     _enabled;
-
-    Location  _my_loc;
-
-
     // ADSB-IN state. Maintains list of external vehicles
     struct {
         // list management
@@ -161,8 +133,6 @@ class AP_ADSB {
     struct {
         uint32_t    last_config_ms; // send once every 10s
         uint32_t    last_report_ms; // send at 5Hz
-        int8_t      chan = -1; // channel that contains an ADS-b Transceiver. -1 means transceiver is not detected
-        uint32_t    chan_last_ms;
         UAVIONIX_ADSB_RF_HEALTH status;     // transceiver status
         bool        is_flying;
         bool        _is_in_auto_mode;
@@ -188,6 +158,44 @@ class AP_ADSB {
 
     } out_state;
 
+    AP_Int8     _enabled;
+
+    Location     _my_loc;
+    AP_Int8     _type;
+
+private:
+
+    static AP_ADSB *_singleton;
+
+    // initialize driver
+    void hw_init();
+
+    // free/load _vehicle_list
+    void list_init();
+    void list_deinit();
+
+    // compares current vector against vehicle_list to detect threats
+    void determine_furthest_aircraft(void);
+
+    // return index of given vehicle if ICAO_ADDRESS matches. return -1 if no match
+    bool find_index(const adsb_vehicle_t &vehicle, uint16_t *index) const;
+
+    // remove a vehicle from the list
+    void delete_vehicle(const uint16_t index);
+
+    void set_vehicle(const uint16_t index, const adsb_vehicle_t &vehicle);
+
+    // Generates pseudorandom ICAO from gps time, lat, and lon
+    uint32_t genICAO(const Location &loc);
+
+    // set callsign: 8char string (plus null termination) then optionally append last 4 digits of icao
+    void set_callsign(const char* str, const bool append_icao);
+
+    // add or update vehicle_list from inbound mavlink msg
+    void handle_vehicle(const mavlink_message_t &msg);
+
+    // configure ADSB-out transceivers
+    void handle_out_cfg(const mavlink_uavionix_adsb_out_cfg_t &packet);
 
     // index of and distance to furthest vehicle in list
     uint16_t    furthest_vehicle_index;
@@ -211,6 +219,9 @@ class AP_ADSB {
         ALL             = 2
     };
 
+    // reference to backend
+    AP_ADSB_Backend *backend;
+
 
 };
 

libraries/AP_ADSB/AP_ADSB_Backend.cpp

@@ -0,0 +1,26 @@
+/*
+   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/>.
+ */
+
+#include "AP_ADSB_Backend.h"
+
+/*
+  base class constructor.
+  This incorporates initialisation as well.
+*/
+AP_ADSB_Backend::AP_ADSB_Backend(AP_ADSB &_frontend) :
+    frontend(_frontend)
+{
+}
+

libraries/AP_ADSB/AP_ADSB_Backend.h

@@ -0,0 +1,43 @@
+/*
+   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/>.
+ */
+#pragma once
+
+#include "AP_ADSB.h"
+
+class AP_ADSB_Backend
+{
+public:
+    // constructor. This incorporates initialization as well.
+    AP_ADSB_Backend(AP_ADSB &_frontend);
+
+
+    virtual void init() = 0;
+
+    virtual void update() = 0;
+
+    // handle mavlink messages
+    virtual void handle_msg(const mavlink_channel_t chan, const mavlink_message_t &msg) {}
+protected:
+
+    // references
+    AP_ADSB &frontend;
+
+
+    // semaphore for access to shared frontend data
+    //HAL_Semaphore _sem;
+
+private:
+
+};