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AP_ADSB: Style fixes
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@nicholas-inocencio @magicrub
nicholas-inocencio authored and magicrub committed Oct 31, 2024
1 parent 7a6031c commit c270c39
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Showing 4 changed files with 511 additions and 521 deletions.
45 changes: 19 additions & 26 deletions libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -90,18 +90,16 @@ void AP_ADSB_uAvionix_UCP::update()
}
} // while nbytes


if (run_state.last_packet_Transponder_Id_ms == 0 && run_state.request_Transponder_Id_tries < 5)
{

if (run_state.last_packet_Transponder_Id_ms == 0 && run_state.request_Transponder_Id_tries < 5) {
if (now_ms - run_state.last_packet_Request_Transponder_Id_ms >= 1000)
{
request_msg(GDL90_ID_IDENTIFICATION);
run_state.request_Transponder_Id_tries++;
}
}

if (run_state.last_packet_Transponder_Config_ms == 0 && run_state.request_Transponder_Config_tries < 5)
{
if (run_state.last_packet_Transponder_Config_ms == 0 && run_state.request_Transponder_Config_tries < 5) {
if (now_ms - run_state.last_packet_Request_Transponder_Config_ms >= 1000)
{
request_msg(GDL90_ID_TRANSPONDER_CONFIG);
Expand All @@ -114,24 +112,23 @@ void AP_ADSB_uAvionix_UCP::update()

// We want to use the defaults stored on the ping200X, if possible.
// Until we get the config message (or we've tried requesting it several times),
// don't send the control message.
if (run_state.last_packet_Transponder_Config_ms != 0 || run_state.request_Transponder_Config_tries >= 5)
send_Transponder_Control();
// don't send the control message.
if (run_state.last_packet_Transponder_Config_ms != 0 || run_state.request_Transponder_Config_tries >= 5) {
send_Transponder_Control();
}
}

if ((now_ms - run_state.last_packet_GPS_ms >= 200) && (_frontend._options & uint32_t(AP_ADSB::AdsbOption::Ping200X_Send_GPS)) != 0) {
run_state.last_packet_GPS_ms = now_ms;
send_GPS_Data();
}

// if the transponder has stopped giving us the data needed to
// if the transponder has stopped giving us the data needed to
// fill the transponder status mavlink message, indicate status unavailable.
if ((now_ms - run_state.last_packet_Transponder_Status_ms >= 10000)
&& (now_ms - run_state.last_packet_Transponder_Heartbeat_ms >= 10000)
&& (now_ms - run_state.last_packet_Transponder_Ownship_ms >= 10000))
{
&& (now_ms - run_state.last_packet_Transponder_Ownship_ms >= 10000)) {
_frontend.out_state.tx_status.fault |= UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL;
// TODO reset the data for each message when timeout occurs
}
}

Expand Down Expand Up @@ -187,7 +184,7 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
char primaryFwPartNumber[str_len+1];
memcpy(&primaryFwPartNumber, rx.decoded.identification.primaryFwPartNumber, str_len);
primaryFwPartNumber[str_len] = 0;

GCS_SEND_TEXT(MAV_SEVERITY_DEBUG,"ADSB:Detected %s v%u.%u.%u SN:%u %s",
get_hardware_name(rx.decoded.identification.primary.hwId),
(unsigned)rx.decoded.identification.primary.fwMajorVersion,
Expand Down Expand Up @@ -230,10 +227,8 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
case GDL90_ID_TRANSPONDER_STATUS:
{
_frontend.out_state.tx_status.fault &= ~UAVIONIX_ADSB_OUT_STATUS_FAULT_STATUS_MESSAGE_UNAVAIL;
switch (msg.payload[0])
{
case 1:
{
switch (msg.payload[0]) {
case 1: {
// version 1 of the transponder status message is sent at 1 Hz (if UCP protocol out is enabled on the transponder)
memcpy(&rx.decoded.transponder_status, msg.raw, sizeof(rx.decoded.transponder_status));
if (rx.decoded.transponder_status.identActive) {
Expand Down Expand Up @@ -295,8 +290,7 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
case 2:
// deprecated
break;
case 3:
{
case 3: {
// Version 3 of the transponder status message is sent in response to the transponder control message (if UCP-HD protocol out is enabled on the transponder)
memcpy(&rx.decoded.transponder_status_v3, msg.raw, sizeof(rx.decoded.transponder_status_v3));

Expand Down Expand Up @@ -345,7 +339,6 @@ void AP_ADSB_uAvionix_UCP::handle_msg(const GDL90_RX_MESSAGE &msg)
_frontend.out_state.tx_status.NIC_NACp = rx.decoded.transponder_status_v3.NIC | (rx.decoded.transponder_status_v3.NACp << 4);
_frontend.out_state.tx_status.boardTemp = rx.decoded.transponder_status_v3.temperature;

// TODO not the best approach
if (run_state.last_packet_Transponder_Status_ms == 0 && run_state.last_packet_Transponder_Config_ms == 0) {
// If this is the first time we've seen a status message,
// and we haven't initialized the control message from the config message,
Expand Down Expand Up @@ -535,46 +528,46 @@ uint16_t AP_ADSB_uAvionix_UCP::gdl90Transmit(GDL90_TX_MESSAGE &message, const ui
// Set flag byte in frame buffer
gdl90FrameBuffer[0] = GDL90_FLAG_BYTE;
uint16_t frameIndex = 1;

// Copy and stuff all payload bytes into frame buffer
for (uint16_t i = 0; i < length+2; i++) {
// Check for overflow of frame buffer
if (frameIndex >= GDL90_TX_MAX_FRAME_LENGTH) {
return 0;
}

uint8_t data;
// Append CRC to payload
if (i == length) {
data = LOWBYTE(frameCrc);
} else if (i == length+1) {
data = HIGHBYTE(frameCrc);
} else {
data = message.raw[i];
data = message.raw[i];
}

if (data == GDL90_FLAG_BYTE || data == GDL90_CONTROL_ESCAPE_BYTE) {
// Check for frame buffer overflow on stuffed byte
if (frameIndex + 2 > GDL90_TX_MAX_FRAME_LENGTH) {
return 0;
}

// Set control break and stuff this byte
gdl90FrameBuffer[frameIndex++] = GDL90_CONTROL_ESCAPE_BYTE;
gdl90FrameBuffer[frameIndex++] = data ^ GDL90_STUFF_BYTE;
} else {
gdl90FrameBuffer[frameIndex++] = data;
}
}

// Add end of frame indication
gdl90FrameBuffer[frameIndex++] = GDL90_FLAG_BYTE;

// Push packet to UART
if (hostTransmit(gdl90FrameBuffer, frameIndex)) {
return frameIndex;
}

return 0;
}

Expand Down
2 changes: 1 addition & 1 deletion libraries/AP_ADSB/AP_ADSB_uAvionix_UCP.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,7 @@ class AP_ADSB_uAvionix_UCP : public AP_ADSB_Backend {
uint32_t last_gcs_send_message_Transponder_Status_ms; // out
uint32_t last_packet_Request_Transponder_Config_ms; // out
uint32_t last_packet_Transponder_Config_ms; // in
uint32_t request_Transponder_Config_tries;
uint32_t request_Transponder_Config_tries;
uint32_t last_packet_Request_Transponder_Id_ms; // out
uint32_t last_packet_Transponder_Id_ms; // in
uint32_t request_Transponder_Id_tries;
Expand Down
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