1 // atc610x.cxx -- FGFS interface to ATC 610x hardware
3 // Written by Curtis Olson, started January 2002
5 // Copyright (C) 2002 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
28 #include <simgear/compiler.h>
30 #include <stdlib.h> // atoi() atof() abs()
31 #include <sys/types.h>
34 #include <stdio.h> //snprintf
35 #if defined( _MSC_VER ) || defined(__MINGW32__)
36 # include <io.h> //lseek, read, write
43 #include <simgear/debug/logstream.hxx>
44 #include <simgear/io/iochannel.hxx>
45 #include <simgear/math/sg_types.hxx>
46 #include <simgear/misc/props.hxx>
47 #include <simgear/misc/sg_path.hxx>
49 #include <Main/fg_props.hxx>
50 #include <Main/globals.hxx>
52 #include "atc610x.hxx"
57 // Lock the ATC 610 hardware
58 static int ATC610xLock( int fd ) {
60 lseek( fd, 0, SEEK_SET );
63 int result = read( fd, tmp, 1 );
65 SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
72 // Write a radios command
73 static int ATC610xRelease( int fd ) {
75 lseek( fd, 0, SEEK_SET );
79 int result = write( fd, tmp, 1 );
82 SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
90 static void ATC610xReadAnalogInputs( int fd, unsigned char *analog_in_bytes ) {
92 lseek( fd, 0, SEEK_SET );
94 int result = read( fd, analog_in_bytes, ATC_ANAL_IN_BYTES );
95 if ( result != ATC_ANAL_IN_BYTES ) {
96 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
102 // Write a radios command
103 static int ATC610xSetRadios( int fd,
104 unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
107 lseek( fd, 0, SEEK_SET );
109 int result = write( fd, data, ATC_RADIO_DISPLAY_BYTES );
111 if ( result != ATC_RADIO_DISPLAY_BYTES ) {
112 SG_LOG( SG_IO, SG_DEBUG, "Write failed" );
119 // Read status of last radios written to
120 static void ATC610xReadRadios( int fd, unsigned char *switch_data ) {
122 lseek( fd, 0, SEEK_SET );
124 int result = read( fd, switch_data, ATC_RADIO_SWITCH_BYTES );
125 if ( result != ATC_RADIO_SWITCH_BYTES ) {
126 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
131 // Write a stepper command
132 static int ATC610xSetStepper( int fd, unsigned char channel,
133 unsigned char value )
136 lseek( fd, 0, SEEK_SET );
139 unsigned char buf[3];
143 int result = write( fd, buf, 2 );
145 SG_LOG( SG_IO, SG_INFO, "Write failed" );
147 SG_LOG( SG_IO, SG_DEBUG,
148 "Sent cmd = " << (int)channel << " value = " << (int)value );
153 // Read status of last stepper written to
154 static unsigned char ATC610xReadStepper( int fd ) {
158 lseek( fd, 0, SEEK_SET );
161 unsigned char buf[2];
162 result = read( fd, buf, 1 );
164 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
167 SG_LOG( SG_IO, SG_DEBUG, "Read result = " << (int)buf[0] );
173 // Read switch inputs
174 static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
176 lseek( fd, 0, SEEK_SET );
178 int result = read( fd, switch_bytes, ATC_SWITCH_BYTES );
179 if ( result != ATC_SWITCH_BYTES ) {
180 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
186 // Turn a lamp on or off
187 void ATC610xSetLamp( int fd, int channel, bool value ) {
188 // lamp channels 0-63 are written to LampPort0, channels 64-127
189 // are written to LampPort1
191 // bits 0-6 are the lamp address
192 // bit 7 is the value (on/off)
197 unsigned char buf[3];
201 result = write( fd, buf, 2 );
203 SG_LOG( SG_IO, SG_ALERT, "Write failed" );
209 void FGATC610x::init_config() {
210 #if defined( unix ) || defined( __CYGWIN__ )
211 // Next check home directory for .fgfsrc.hostname file
212 char *envp = ::getenv( "HOME" );
213 if ( envp != NULL ) {
214 SGPath atc610x_config( envp );
215 atc610x_config.append( ".fgfs-atc610x.xml" );
216 readProperties( atc610x_config.str(), globals->get_props() );
222 // Open and initialize ATC 610x hardware
223 bool FGATC610x::open() {
224 if ( is_enabled() ) {
225 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
226 << "is already in use, ignoring" );
230 // This loads the config parameters generated by "simcal"
233 SG_LOG( SG_IO, SG_ALERT,
234 "Initializing ATC 610x hardware, please wait ..." );
236 set_hz( 30 ); // default to processing requests @ 30Hz
239 board = 0; // 610x uses a single board number = 0
241 snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
242 snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
243 snprintf( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
244 snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
245 snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
246 snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
248 /////////////////////////////////////////////////////////////////////
249 // Open the /proc files
250 /////////////////////////////////////////////////////////////////////
252 lock_fd = ::open( lock_file, O_RDWR );
253 if ( lock_fd == -1 ) {
254 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
256 snprintf( msg, 256, "Error opening %s", lock_file );
261 analog_in_fd = ::open( analog_in_file, O_RDONLY );
262 if ( analog_in_fd == -1 ) {
263 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
265 snprintf( msg, 256, "Error opening %s", analog_in_file );
270 lamps_fd = ::open( lamps_file, O_WRONLY );
271 if ( lamps_fd == -1 ) {
272 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
274 snprintf( msg, 256, "Error opening %s", lamps_file );
279 radios_fd = ::open( radios_file, O_RDWR );
280 if ( radios_fd == -1 ) {
281 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
283 snprintf( msg, 256, "Error opening %s", radios_file );
288 stepper_fd = ::open( stepper_file, O_RDWR );
289 if ( stepper_fd == -1 ) {
290 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
292 snprintf( msg, 256, "Error opening %s", stepper_file );
297 switches_fd = ::open( switches_file, O_RDONLY );
298 if ( switches_fd == -1 ) {
299 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
301 snprintf( msg, 256, "Error opening %s", switches_file );
306 /////////////////////////////////////////////////////////////////////
307 // Home the compass stepper motor
308 /////////////////////////////////////////////////////////////////////
310 SG_LOG( SG_IO, SG_ALERT,
311 " - Homing the compass stepper motor" );
313 // Lock the hardware, keep trying until we succeed
314 while ( ATC610xLock( lock_fd ) <= 0 );
316 // Send the stepper home command
317 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
319 // Release the hardware
320 ATC610xRelease( lock_fd );
322 SG_LOG( SG_IO, SG_ALERT,
323 " - Waiting for compass to come home." );
326 int timeout = 900; // about 30 seconds
328 while ( ! home && timeout > 0 ) {
329 if ( timeout % 150 == 0 ) {
330 SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
332 SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
335 while ( ATC610xLock( lock_fd ) <= 0 );
337 unsigned char result = ATC610xReadStepper( stepper_fd );
342 ATC610xRelease( lock_fd );
344 #if defined( _MSC_VER )
345 ulMilliSecondSleep(33);
346 #elif defined (WIN32) && !defined(__CYGWIN__)
355 compass_position = 0.0;
357 /////////////////////////////////////////////////////////////////////
358 // Blank the radio display
359 /////////////////////////////////////////////////////////////////////
361 SG_LOG( SG_IO, SG_ALERT,
362 " - Clearing the radios displays." );
365 unsigned char value = 0xff;
366 for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
367 radio_display_data[channel] = value;
370 // Lock the hardware, keep trying until we succeed
371 while ( ATC610xLock( lock_fd ) <= 0 );
374 ATC610xSetRadios( radios_fd, radio_display_data );
376 ATC610xRelease( lock_fd );
378 /////////////////////////////////////////////////////////////////////
380 /////////////////////////////////////////////////////////////////////
382 for ( int i = 0; i < 128; ++i ) {
383 ATC610xSetLamp( lamps_fd, i, false );
386 /////////////////////////////////////////////////////////////////////
387 // Finished initing hardware
388 /////////////////////////////////////////////////////////////////////
390 SG_LOG( SG_IO, SG_ALERT,
391 "Done initializing ATC 610x hardware." );
393 /////////////////////////////////////////////////////////////////////
394 // Connect up to property values
395 /////////////////////////////////////////////////////////////////////
397 mag_compass = fgGetNode( "/steam/mag-compass-deg", true );
399 dme_min = fgGetNode( "/radios/dme/ete-min", true );
400 dme_kt = fgGetNode( "/radios/dme/speed-kt", true );
401 dme_nm = fgGetNode( "/radios/dme/distance-nm", true );
403 adf_bus_power = fgGetNode( "/systems/electrical/outputs/adf", true );
404 dme_bus_power = fgGetNode( "/systems/electrical/outputs/dme", true );
405 navcom1_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[0]",
407 navcom2_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[1]",
409 xpdr_bus_power = fgGetNode( "/systems/electrical/outputs/transponder",
412 navcom1_power_btn = fgGetNode( "/radios/comm[0]/inputs/power-btn", true );
413 navcom2_power_btn = fgGetNode( "/radios/comm[1]/inputs/power-btn", true );
415 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
417 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
419 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
421 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
423 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
425 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
426 nav1_obs = fgGetNode( "/radios/nav[0]/radials/selected-deg", true );
428 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
430 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
431 nav2_obs = fgGetNode( "/radios/nav[1]/radials/selected-deg", true );
433 adf_power_btn = fgGetNode( "/radios/kr-87/inputs/power-btn", true );
434 adf_vol = fgGetNode( "/radios/kr-87/inputs/volume", true );
435 adf_adf_btn = fgGetNode( "/radios/kr-87/inputs/adf-btn", true );
436 adf_bfo_btn = fgGetNode( "/radios/kr-87/inputs/bfo-btn", true );
437 adf_freq = fgGetNode( "/radios/kr-87/outputs/selected-khz", true );
438 adf_stby_freq = fgGetNode( "/radios/kr-87/outputs/standby-khz", true );
439 adf_stby_mode = fgGetNode( "/radios/kr-87/modes/stby", true );
440 adf_timer_mode = fgGetNode( "/radios/kr-87/modes/timer", true );
441 adf_count_mode = fgGetNode( "/radios/kr-87/modes/count", true );
442 adf_flight_timer = fgGetNode( "/radios/kr-87/outputs/flight-timer", true );
443 adf_elapsed_timer = fgGetNode( "/radios/kr-87/outputs/elapsed-timer",
445 adf_ant_ann = fgGetNode( "/radios/kr-87/annunciators/ant", true );
446 adf_adf_ann = fgGetNode( "/radios/kr-87/annunciators/adf", true );
447 adf_bfo_ann = fgGetNode( "/radios/kr-87/annunciators/bfo", true );
448 adf_frq_ann = fgGetNode( "/radios/kr-87/annunciators/frq", true );
449 adf_flt_ann = fgGetNode( "/radios/kr-87/annunciators/flt", true );
450 adf_et_ann = fgGetNode( "/radios/kr-87/annunciators/et", true );
452 inner = fgGetNode( "/radios/marker-beacon/inner", true );
453 middle = fgGetNode( "/radios/marker-beacon/middle", true );
454 outer = fgGetNode( "/radios/marker-beacon/outer", true );
456 xpdr_ident_btn = fgGetNode( "/radios/kt-70/inputs/ident-btn", true );
457 xpdr_digit1 = fgGetNode( "/radios/kt-70/inputs/digit1", true );
458 xpdr_digit2 = fgGetNode( "/radios/kt-70/inputs/digit2", true );
459 xpdr_digit3 = fgGetNode( "/radios/kt-70/inputs/digit3", true );
460 xpdr_digit4 = fgGetNode( "/radios/kt-70/inputs/digit4", true );
461 xpdr_func_knob = fgGetNode( "/radios/kt-70/inputs/func-knob", true );
462 xpdr_id_code = fgGetNode( "/radios/kt-70/outputs/id-code", true );
463 xpdr_flight_level = fgGetNode( "/radios/kt-70/outputs/flight-level", true );
464 xpdr_fl_ann = fgGetNode( "/radios/kt-70/annunciators/fl", true );
465 xpdr_alt_ann = fgGetNode( "/radios/kt-70/annunciators/alt", true );
466 xpdr_gnd_ann = fgGetNode( "/radios/kt-70/annunciators/gnd", true );
467 xpdr_on_ann = fgGetNode( "/radios/kt-70/annunciators/on", true );
468 xpdr_sby_ann = fgGetNode( "/radios/kt-70/annunciators/sby", true );
469 xpdr_reply_ann = fgGetNode( "/radios/kt-70/annunciators/reply", true );
471 elevator_center = fgGetNode( "/input/atc610x/elevator/center", true );
472 elevator_min = fgGetNode( "/input/atc610x/elevator/min", true );
473 elevator_max = fgGetNode( "/input/atc610x/elevator/max", true );
475 ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", true );
476 ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", true );
477 ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", true );
479 rudder_center = fgGetNode( "/input/atc610x/rudder/center", true );
480 rudder_min = fgGetNode( "/input/atc610x/rudder/min", true );
481 rudder_max = fgGetNode( "/input/atc610x/rudder/max", true );
483 throttle_min = fgGetNode( "/input/atc610x/throttle/min", true );
484 throttle_max = fgGetNode( "/input/atc610x/throttle/max", true );
486 mixture_min = fgGetNode( "/input/atc610x/mixture/min", true );
487 mixture_max = fgGetNode( "/input/atc610x/mixture/max", true );
489 trim_center = fgGetNode( "/input/atc610x/trim/center", true );
490 trim_min = fgGetNode( "/input/atc610x/trim/min", true );
491 trim_max = fgGetNode( "/input/atc610x/trim/max", true );
493 nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", true );
494 nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", true );
496 nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", true );
497 nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", true );
499 comm1_servicable = fgGetNode( "/instrumentation/comm[0]/servicable", true );
500 comm2_servicable = fgGetNode( "/instrumentation/comm[1]/servicable", true );
501 nav1_servicable = fgGetNode( "/instrumentation/nav[0]/servicable", true );
502 nav2_servicable = fgGetNode( "/instrumentation/nav[1]/servicable", true );
503 adf_servicable = fgGetNode( "/instrumentation/adf/servicable", true );
504 xpdr_servicable = fgGetNode( "/instrumentation/transponder/servicable",
506 dme_servicable = fgGetNode( "/instrumentation/dme/servicable", true );
508 // default to having everything servicable
509 comm1_servicable->setBoolValue( true );
510 comm2_servicable->setBoolValue( true );
511 nav1_servicable->setBoolValue( true );
512 nav2_servicable->setBoolValue( true );
513 adf_servicable->setBoolValue( true );
514 xpdr_servicable->setBoolValue( true );
515 dme_servicable->setBoolValue( true );
521 /////////////////////////////////////////////////////////////////////
522 // Read analog inputs
523 /////////////////////////////////////////////////////////////////////
525 // scale a number between min and max (with center defined) to a scale
527 static double scale( int center, int min, int max, int value ) {
528 // cout << center << " " << min << " " << max << " " << value << " ";
532 if ( value <= center ) {
533 range = center - min;
534 result = (value - center) / range;
536 range = max - center;
537 result = (value - center) / range;
540 if ( result < -1.0 ) result = -1.0;
541 if ( result > 1.0 ) result = 1.0;
543 // cout << result << endl;
549 // scale a number between min and max to a scale from 0.0 to 1.0
550 static double scale( int min, int max, int value ) {
551 // cout << center << " " << min << " " << max << " " << value << " ";
556 result = (value - min) / range;
558 if ( result < 0.0 ) result = 0.0;
559 if ( result > 1.0 ) result = 1.0;
561 // cout << result << endl;
567 bool FGATC610x::do_analog_in() {
568 // Read raw data in byte form
569 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
571 // Convert to integer values
572 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
573 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
574 unsigned char lo = analog_in_bytes[2 * channel + 1];
575 analog_in_data[channel] = hi * 256 + lo;
577 // printf("%02x %02x ", hi, lo );
578 // printf("%04d ", value );
584 tmp = scale( ailerons_center->getIntValue(), ailerons_min->getIntValue(),
585 ailerons_max->getIntValue(), analog_in_data[0] );
586 fgSetFloat( "/controls/aileron", tmp );
587 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
590 tmp = -scale( elevator_center->getIntValue(), elevator_min->getIntValue(),
591 elevator_max->getIntValue(), analog_in_data[5] );
592 fgSetFloat( "/controls/elevator", tmp );
593 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
596 tmp = scale( trim_center->getIntValue(), trim_min->getIntValue(),
597 trim_max->getIntValue(), analog_in_data[4] );
598 fgSetFloat( "/controls/elevator-trim", tmp );
599 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
602 tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
604 fgSetFloat( "/controls/mixture[0]", tmp );
605 fgSetFloat( "/controls/mixture[1]", tmp );
608 tmp = scale( throttle_min->getIntValue(), throttle_max->getIntValue(),
610 fgSetFloat( "/controls/throttle[0]", tmp );
611 fgSetFloat( "/controls/throttle[1]", tmp );
612 // cout << "throttle = " << tmp << endl;
616 tmp = scale( rudder_center->getIntValue(), rudder_min->getIntValue(),
617 rudder_max->getIntValue(), analog_in_data[10] );
618 fgSetFloat( "/controls/rudder", -tmp );
622 tmp = (float)analog_in_data[25] / 1024.0f;
623 fgSetFloat( "/radios/nav[0]/volume", tmp );
626 tmp = (float)analog_in_data[24] / 1024.0f;
627 fgSetFloat( "/radios/nav[1]/volume", tmp );
630 tmp = (float)analog_in_data[26] / 1024.0f;
631 fgSetFloat( "/radios/kr-87/inputs/volume", tmp );
633 #define FG_SECOND_TRY
636 static int last_obs1 = analog_in_data[29];
637 static double diff1_ave = 0.0;
640 #if defined( FG_FIRST_TRY )
641 if ( analog_in_data[29] < 150 || analog_in_data[29] > 990 ) {
642 if ( last_obs1 > 512 && last_obs1 <= 990 ) {
644 } else if ( last_obs1 >= 150 && last_obs1 <= 990 ) {
647 } else if ( last_obs1 < 150 || last_obs1 > 990 ) {
648 if ( analog_in_data[29] > 512 && analog_in_data[29] <= 990 ) {
650 } else if ( analog_in_data[29] >= 150 && analog_in_data[29] <= 990 ) {
654 diff1 = analog_in_data[29] - last_obs1;
656 #elif defined( FG_SECOND_TRY )
657 if ( analog_in_data[29] < 20 ) {
658 if ( last_obs1 >= 110 && last_obs1 < 512 ) {
660 } else if ( last_obs1 >= 512 ) {
663 last_obs1 = analog_in_data[29];
664 } else if ( analog_in_data[29] < 110 ) {
666 } else if ( last_obs1 < 20 ) {
667 if ( analog_in_data[29] >= 110 && analog_in_data[29] < 512 ) {
669 } else if ( analog_in_data[29] >= 512 ) {
672 last_obs1 = analog_in_data[29];
674 diff1 = analog_in_data[29] - last_obs1;
675 if ( abs(diff1) > 200 ) {
679 last_obs1 = analog_in_data[29];
681 #elif defined( FG_FOURTH_TRY )
682 static bool ignore_next = false;
683 diff1 = analog_in_data[29] - last_obs1;
684 if ( abs(diff1) > 200 ) {
688 } else if ( ignore_next ) {
692 last_obs1 = analog_in_data[29];
695 // cout << " diff1 = " << diff1 << endl;
696 if ( diff1 < -500 ) { diff1 += 1024; }
697 if ( diff1 > 500 ) { diff1 -= 1024; }
699 if ( fabs(diff1_ave - diff1) < 200 || fabs(diff1) < fabs(diff1_ave) ) {
700 diff1_ave = (2.0/3.0) * diff1_ave + (1.0/3.0) * diff1;
703 tmp = nav1_obs->getDoubleValue() + (diff1_ave * (72.0/914.0) );
704 while ( tmp >= 360.0 ) { tmp -= 360.0; }
705 while ( tmp < 0.0 ) { tmp += 360.0; }
707 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp );
710 static int last_obs2 = analog_in_data[30];
711 static double diff2_ave = 0.0;
714 // cout << "obs2 = " << analog_in_data[30] << " last obs2 = " << last_obs2;
716 #if defined( FG_FIRST_TRY )
717 if ( analog_in_data[30] < 150 || analog_in_data[30] > 990 ) {
718 if ( last_obs2 > 512 && last_obs2 <= 990 ) {
720 } else if ( last_obs2 >= 150 && last_obs2 <= 990 ) {
723 } else if ( last_obs2 < 150 || last_obs2 > 990 ) {
724 if ( analog_in_data[30] > 512 && analog_in_data[30] <= 990 ) {
726 } else if ( analog_in_data[30] >= 150 && analog_in_data[30] <= 990 ) {
730 diff2 = analog_in_data[30] - last_obs2;
732 #elif defined( FG_SECOND_TRY )
733 if ( analog_in_data[30] < 30 ) {
734 if ( last_obs2 >= 43 && last_obs2 < 480 ) {
736 } else if ( last_obs2 >= 480 ) {
739 last_obs2 = analog_in_data[30];
740 } else if ( analog_in_data[30] < 43 ) {
742 } else if ( last_obs2 < 30 ) {
743 if ( analog_in_data[30] >= 23 && analog_in_data[30] < 480 ) {
745 } else if ( analog_in_data[30] >= 480 ) {
748 last_obs2 = analog_in_data[30];
749 } else if ( analog_in_data[30] > 930 ) {
750 if ( last_obs2 <= 924 && last_obs2 > 480 ) {
752 } else if ( last_obs2 <= 480 ) {
755 last_obs2 = analog_in_data[30];
756 } else if ( analog_in_data[30] > 924 ) {
758 } else if ( last_obs2 > 930 ) {
759 if ( analog_in_data[30] <= 924 && analog_in_data[30] > 480 ) {
761 } else if ( analog_in_data[30] <= 480 ) {
764 last_obs2 = analog_in_data[30];
766 diff2 = analog_in_data[30] - last_obs2;
767 if ( abs(diff2) > 200 ) {
771 last_obs2 = analog_in_data[30];
773 #elif defined( FG_FOURTH_TRY )
774 static bool ignore_next = false;
775 diff2 = analog_in_data[30] - last_obs2;
776 if ( abs(diff2) > 200 ) {
780 } else if ( ignore_next ) {
784 last_obs2 = analog_in_data[30];
787 // cout << " diff2 = " << diff2 << endl;
788 if ( diff2 < -500 ) { diff2 += 1024; }
789 if ( diff2 > 500 ) { diff2 -= 1024; }
791 if ( fabs(diff2_ave - diff2) < 200 || fabs(diff2) < fabs(diff2_ave) ) {
792 diff2_ave = (2.0/3.0) * diff2_ave + (1.0/3.0) * diff2;
795 tmp = nav2_obs->getDoubleValue() + (diff2_ave * (72.0/880.0) );
796 while ( tmp >= 360.0 ) { tmp -= 360.0; }
797 while ( tmp < 0.0 ) { tmp += 360.0; }
798 // cout << " obs = " << tmp << endl;
799 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
805 /////////////////////////////////////////////////////////////////////
807 /////////////////////////////////////////////////////////////////////
809 bool FGATC610x::do_lights() {
812 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
813 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
814 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
817 ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
818 ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
819 ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
820 ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
821 ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
822 ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
824 // Transponder annunciators
825 ATC610xSetLamp( lamps_fd, 17, xpdr_fl_ann->getBoolValue() ); // FL
826 ATC610xSetLamp( lamps_fd, 18, xpdr_alt_ann->getBoolValue() ); // ALT
827 ATC610xSetLamp( lamps_fd, 19, xpdr_gnd_ann->getBoolValue() ); // GND
828 ATC610xSetLamp( lamps_fd, 20, xpdr_on_ann->getBoolValue() ); // ON
829 ATC610xSetLamp( lamps_fd, 21, xpdr_sby_ann->getBoolValue() ); // SBY
830 ATC610xSetLamp( lamps_fd, 22, xpdr_reply_ann->getBoolValue() ); // R
836 /////////////////////////////////////////////////////////////////////
837 // Read radio switches
838 /////////////////////////////////////////////////////////////////////
840 bool FGATC610x::do_radio_switches() {
841 double freq, coarse_freq, fine_freq, value;
844 ATC610xReadRadios( radios_fd, radio_switch_data );
847 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
848 if ( dme_switch == 0 ) {
850 fgSetInt( "/radios/dme/switch-position", 0 );
851 } else if ( dme_switch == 2 ) {
853 fgSetInt( "/radios/dme/switch-position", 1 );
854 } else if ( dme_switch == 1 ) {
856 fgSetInt( "/radios/dme/switch-position", 3 );
860 fgSetBool( "/radios/comm[0]/inputs/power-btn",
861 radio_switch_data[7] & 0x01 );
863 if ( navcom1_has_power() && comm1_servicable->getBoolValue() ) {
865 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
866 static int last_com1_swap;
867 if ( com1_swap && (last_com1_swap != com1_swap) ) {
868 float tmp = com1_freq->getFloatValue();
869 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
870 com1_stby_freq->getFloatValue() );
871 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
873 last_com1_swap = com1_swap;
877 fgSetBool( "/radios/comm[1]/inputs/power-btn",
878 radio_switch_data[15] & 0x01 );
880 if ( navcom2_has_power() && comm2_servicable->getBoolValue() ) {
882 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
883 static int last_com2_swap;
884 if ( com2_swap && (last_com2_swap != com2_swap) ) {
885 float tmp = com2_freq->getFloatValue();
886 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
887 com2_stby_freq->getFloatValue() );
888 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
890 last_com2_swap = com2_swap;
893 if ( navcom1_has_power() && nav1_servicable->getBoolValue() ) {
895 int nav1_swap = radio_switch_data[11] & 0x01;
896 static int last_nav1_swap;
897 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
898 float tmp = nav1_freq->getFloatValue();
899 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
900 nav1_stby_freq->getFloatValue() );
901 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
903 last_nav1_swap = nav1_swap;
906 if ( navcom2_has_power() && nav2_servicable->getBoolValue() ) {
908 int nav2_swap = !(radio_switch_data[19] & 0x01);
909 static int last_nav2_swap;
910 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
911 float tmp = nav2_freq->getFloatValue();
912 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
913 nav2_stby_freq->getFloatValue() );
914 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
916 last_nav2_swap = nav2_swap;
919 if ( navcom1_has_power() && comm1_servicable->getBoolValue() ) {
921 int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
922 int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
923 static int last_com1_tuner_fine = com1_tuner_fine;
924 static int last_com1_tuner_coarse = com1_tuner_coarse;
926 freq = com1_stby_freq->getFloatValue();
927 coarse_freq = (int)freq;
928 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
930 if ( com1_tuner_fine != last_com1_tuner_fine ) {
931 diff = com1_tuner_fine - last_com1_tuner_fine;
932 if ( abs(diff) > 4 ) {
934 if ( com1_tuner_fine < last_com1_tuner_fine ) {
936 diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
939 diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
944 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
945 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
947 if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
948 diff = com1_tuner_coarse - last_com1_tuner_coarse;
949 if ( abs(diff) > 4 ) {
951 if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
953 diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
956 diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
961 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
962 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
964 last_com1_tuner_fine = com1_tuner_fine;
965 last_com1_tuner_coarse = com1_tuner_coarse;
967 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
968 coarse_freq + fine_freq / 40.0 );
971 if ( navcom2_has_power() && comm2_servicable->getBoolValue() ) {
973 int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
974 int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
975 static int last_com2_tuner_fine = com2_tuner_fine;
976 static int last_com2_tuner_coarse = com2_tuner_coarse;
978 freq = com2_stby_freq->getFloatValue();
979 coarse_freq = (int)freq;
980 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
982 if ( com2_tuner_fine != last_com2_tuner_fine ) {
983 diff = com2_tuner_fine - last_com2_tuner_fine;
984 if ( abs(diff) > 4 ) {
986 if ( com2_tuner_fine < last_com2_tuner_fine ) {
988 diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
991 diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
996 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
997 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
999 if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
1000 diff = com2_tuner_coarse - last_com2_tuner_coarse;
1001 if ( abs(diff) > 4 ) {
1003 if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
1005 diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
1008 diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
1011 coarse_freq += diff;
1013 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
1014 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
1016 last_com2_tuner_fine = com2_tuner_fine;
1017 last_com2_tuner_coarse = com2_tuner_coarse;
1019 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
1020 coarse_freq + fine_freq / 40.0 );
1023 if ( navcom1_has_power() && nav1_servicable->getBoolValue() ) {
1025 int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
1026 int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
1027 static int last_nav1_tuner_fine = nav1_tuner_fine;
1028 static int last_nav1_tuner_coarse = nav1_tuner_coarse;
1030 freq = nav1_stby_freq->getFloatValue();
1031 coarse_freq = (int)freq;
1032 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
1034 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
1035 diff = nav1_tuner_fine - last_nav1_tuner_fine;
1036 if ( abs(diff) > 4 ) {
1038 if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
1040 diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
1043 diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
1048 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
1049 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
1051 if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
1052 diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
1053 if ( abs(diff) > 4 ) {
1055 if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
1057 diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
1060 diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
1063 coarse_freq += diff;
1065 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
1066 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
1068 last_nav1_tuner_fine = nav1_tuner_fine;
1069 last_nav1_tuner_coarse = nav1_tuner_coarse;
1071 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
1072 coarse_freq + fine_freq / 20.0 );
1075 if ( navcom2_has_power() && nav2_servicable->getBoolValue() ) {
1077 int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
1078 int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
1079 static int last_nav2_tuner_fine = nav2_tuner_fine;
1080 static int last_nav2_tuner_coarse = nav2_tuner_coarse;
1082 freq = nav2_stby_freq->getFloatValue();
1083 coarse_freq = (int)freq;
1084 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
1086 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
1087 diff = nav2_tuner_fine - last_nav2_tuner_fine;
1088 if ( abs(diff) > 4 ) {
1090 if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
1092 diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
1095 diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
1100 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
1101 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
1103 if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
1104 diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
1105 if ( abs(diff) > 4 ) {
1107 if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
1109 diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
1112 diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
1115 coarse_freq += diff;
1117 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
1118 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
1120 last_nav2_tuner_fine = nav2_tuner_fine;
1121 last_nav2_tuner_coarse = nav2_tuner_coarse;
1123 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
1124 coarse_freq + fine_freq / 20.0);
1129 int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
1130 int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
1131 static int last_adf_tuner_fine = adf_tuner_fine;
1132 static int last_adf_tuner_coarse = adf_tuner_coarse;
1134 if ( adf_has_power() && adf_servicable->getBoolValue() ) {
1135 // cout << "adf_stby_mode = " << adf_stby_mode->getIntValue() << endl;
1136 if ( adf_count_mode->getIntValue() == 2 ) {
1137 // tune count down timer
1138 value = adf_elapsed_timer->getDoubleValue();
1141 if ( adf_stby_mode->getIntValue() == 1 ) {
1142 value = adf_freq->getFloatValue();
1144 value = adf_stby_freq->getFloatValue();
1148 if ( adf_tuner_fine != last_adf_tuner_fine ) {
1149 diff = adf_tuner_fine - last_adf_tuner_fine;
1150 if ( abs(diff) > 4 ) {
1152 if ( adf_tuner_fine < last_adf_tuner_fine ) {
1154 diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
1157 diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
1163 if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
1164 diff = adf_tuner_coarse - last_adf_tuner_coarse;
1165 if ( abs(diff) > 4 ) {
1167 if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
1169 diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
1172 diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
1175 if ( adf_count_mode->getIntValue() == 2 ) {
1181 if ( adf_count_mode->getIntValue() == 2 ) {
1182 if ( value < 0 ) { value += 3600; }
1183 if ( value > 3599 ) { value -= 3600; }
1185 if ( value < 200 ) { value += 1600; }
1186 if ( value > 1799 ) { value -= 1600; }
1189 if ( adf_count_mode->getIntValue() == 2 ) {
1190 fgSetFloat( "/radios/kr-87/outputs/elapsed-timer", value );
1192 if ( adf_stby_mode->getIntValue() == 1 ) {
1193 fgSetFloat( "/radios/kr-87/outputs/selected-khz", value );
1195 fgSetFloat( "/radios/kr-87/outputs/standby-khz", value );
1199 last_adf_tuner_fine = adf_tuner_fine;
1200 last_adf_tuner_coarse = adf_tuner_coarse;
1204 fgSetInt( "/radios/kr-87/inputs/adf-btn",
1205 !(radio_switch_data[23] & 0x01) );
1206 fgSetInt( "/radios/kr-87/inputs/bfo-btn",
1207 !(radio_switch_data[23] >> 1 & 0x01) );
1208 fgSetInt( "/radios/kr-87/inputs/frq-btn",
1209 !(radio_switch_data[23] >> 2 & 0x01) );
1210 fgSetInt( "/radios/kr-87/inputs/flt-et-btn",
1211 !(radio_switch_data[23] >> 3 & 0x01) );
1212 fgSetInt( "/radios/kr-87/inputs/set-rst-btn",
1213 !(radio_switch_data[23] >> 4 & 0x01) );
1214 fgSetInt( "/radios/kr-87/inputs/power-btn",
1215 radio_switch_data[23] >> 5 & 0x01 );
1216 /* cout << "adf = " << !(radio_switch_data[23] & 0x01)
1217 << " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
1218 << " frq = " << !(radio_switch_data[23] >> 2 & 0x01)
1219 << " flt/et = " << !(radio_switch_data[23] >> 3 & 0x01)
1220 << " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
1223 // Transponder Tuner
1226 digit_tuner[0] = radio_switch_data[25] & 0x0f;
1227 digit_tuner[1] = ( radio_switch_data[25] >> 4 ) & 0x0f;
1228 digit_tuner[2] = radio_switch_data[29] & 0x0f;
1229 digit_tuner[3] = ( radio_switch_data[29] >> 4 ) & 0x0f;
1231 static int last_digit_tuner[4];
1232 static bool first_time = true;
1235 for ( i = 0; i < 4; ++i ) {
1236 last_digit_tuner[i] = digit_tuner[i];
1240 if ( xpdr_has_power() && xpdr_servicable->getBoolValue() ) {
1241 int id_code = xpdr_id_code->getIntValue();
1244 for ( i = 0; i < 4; ++i ) {
1245 digit[i] = id_code / place;
1246 id_code -= digit[i] * place;
1250 for ( i = 0; i < 4; ++i ) {
1251 if ( digit_tuner[i] != last_digit_tuner[i] ) {
1252 diff = digit_tuner[i] - last_digit_tuner[i];
1253 if ( abs(diff) > 4 ) {
1255 if ( digit_tuner[i] < last_digit_tuner[i] ) {
1257 diff = 15 - last_digit_tuner[i] + digit_tuner[i];
1260 diff = digit_tuner[i] - 15 - last_digit_tuner[i];
1265 while ( digit[i] >= 8 ) { digit[i] -= 8; }
1266 while ( digit[i] < 0 ) { digit[i] += 8; }
1269 fgSetInt( "/radios/kt-70/inputs/digit1", digit[0] );
1270 fgSetInt( "/radios/kt-70/inputs/digit2", digit[1] );
1271 fgSetInt( "/radios/kt-70/inputs/digit3", digit[2] );
1272 fgSetInt( "/radios/kt-70/inputs/digit4", digit[3] );
1274 for ( i = 0; i < 4; ++i ) {
1275 last_digit_tuner[i] = digit_tuner[i];
1279 for ( i = 0; i < 5; ++i ) {
1280 if ( radio_switch_data[27] >> i & 0x01 ) {
1284 fgSetInt( "/radios/kt-70/inputs/func-knob", tmp );
1285 fgSetInt( "/radios/kt-70/inputs/ident-btn",
1286 !(radio_switch_data[27] >> 5 & 0x01) );
1288 // Audio panel switches
1289 fgSetInt( "/radios/nav[0]/audio-btn",
1290 (radio_switch_data[3] & 0x01) );
1291 fgSetInt( "/radios/nav[1]/audio-btn",
1292 (radio_switch_data[3] >> 2 & 0x01) );
1293 fgSetInt( "/radios/kr-87/inputs/audio-btn",
1294 (radio_switch_data[3] >> 4 & 0x01) );
1295 fgSetInt( "/radios/marker-beacon/audio-btn",
1296 (radio_switch_data[3] >> 6 & 0x01) );
1302 /////////////////////////////////////////////////////////////////////
1303 // Update the radio display
1304 /////////////////////////////////////////////////////////////////////
1306 bool FGATC610x::do_radio_display() {
1311 if ( dme_has_power() && dme_servicable->getBoolValue() ) {
1313 float minutes = dme_min->getFloatValue();
1314 if ( minutes > 999 ) {
1317 snprintf(digits, 7, "%03.0f", minutes);
1318 for ( i = 0; i < 6; ++i ) {
1321 radio_display_data[0] = digits[1] << 4 | digits[2];
1322 radio_display_data[1] = 0xf0 | digits[0];
1325 float knots = dme_kt->getFloatValue();
1326 if ( knots > 999 ) {
1329 snprintf(digits, 7, "%03.0f", knots);
1330 for ( i = 0; i < 6; ++i ) {
1333 radio_display_data[2] = digits[1] << 4 | digits[2];
1334 radio_display_data[3] = 0xf0 | digits[0];
1336 // DME distance (nm)
1337 float nm = dme_nm->getFloatValue();
1341 snprintf(digits, 7, "%04.1f", nm);
1342 for ( i = 0; i < 6; ++i ) {
1345 radio_display_data[4] = digits[1] << 4 | digits[3];
1346 radio_display_data[5] = 0x00 | digits[0];
1347 // the 0x00 in the upper nibble of the 6th byte of each
1348 // display turns on the decimal point
1350 // blank dem display
1351 for ( i = 0; i < 6; ++i ) {
1352 radio_display_data[i] = 0xff;
1356 if ( navcom1_has_power() && comm1_servicable->getBoolValue() ) {
1357 // Com1 standby frequency
1358 float com1_stby = com1_stby_freq->getFloatValue();
1359 if ( fabs(com1_stby) > 999.99 ) {
1362 snprintf(digits, 7, "%06.3f", com1_stby);
1363 for ( i = 0; i < 6; ++i ) {
1366 radio_display_data[6] = digits[4] << 4 | digits[5];
1367 radio_display_data[7] = digits[1] << 4 | digits[2];
1368 radio_display_data[8] = 0xf0 | digits[0];
1370 // Com1 in use frequency
1371 float com1 = com1_freq->getFloatValue();
1372 if ( fabs(com1) > 999.99 ) {
1375 snprintf(digits, 7, "%06.3f", com1);
1376 for ( i = 0; i < 6; ++i ) {
1379 radio_display_data[9] = digits[4] << 4 | digits[5];
1380 radio_display_data[10] = digits[1] << 4 | digits[2];
1381 radio_display_data[11] = 0x00 | digits[0];
1382 // the 0x00 in the upper nibble of the 6th byte of each display
1383 // turns on the decimal point
1385 radio_display_data[6] = 0xff;
1386 radio_display_data[7] = 0xff;
1387 radio_display_data[8] = 0xff;
1388 radio_display_data[9] = 0xff;
1389 radio_display_data[10] = 0xff;
1390 radio_display_data[11] = 0xff;
1393 if ( navcom2_has_power() && comm2_servicable->getBoolValue() ) {
1394 // Com2 standby frequency
1395 float com2_stby = com2_stby_freq->getFloatValue();
1396 if ( fabs(com2_stby) > 999.99 ) {
1399 snprintf(digits, 7, "%06.3f", com2_stby);
1400 for ( i = 0; i < 6; ++i ) {
1403 radio_display_data[18] = digits[4] << 4 | digits[5];
1404 radio_display_data[19] = digits[1] << 4 | digits[2];
1405 radio_display_data[20] = 0xf0 | digits[0];
1407 // Com2 in use frequency
1408 float com2 = com2_freq->getFloatValue();
1409 if ( fabs(com2) > 999.99 ) {
1412 snprintf(digits, 7, "%06.3f", com2);
1413 for ( i = 0; i < 6; ++i ) {
1416 radio_display_data[21] = digits[4] << 4 | digits[5];
1417 radio_display_data[22] = digits[1] << 4 | digits[2];
1418 radio_display_data[23] = 0x00 | digits[0];
1419 // the 0x00 in the upper nibble of the 6th byte of each display
1420 // turns on the decimal point
1422 radio_display_data[18] = 0xff;
1423 radio_display_data[19] = 0xff;
1424 radio_display_data[20] = 0xff;
1425 radio_display_data[21] = 0xff;
1426 radio_display_data[22] = 0xff;
1427 radio_display_data[23] = 0xff;
1430 if ( navcom1_has_power() && nav1_servicable->getBoolValue() ) {
1431 // Nav1 standby frequency
1432 float nav1_stby = nav1_stby_freq->getFloatValue();
1433 if ( fabs(nav1_stby) > 999.99 ) {
1436 snprintf(digits, 7, "%06.2f", nav1_stby);
1437 for ( i = 0; i < 6; ++i ) {
1440 radio_display_data[12] = digits[4] << 4 | digits[5];
1441 radio_display_data[13] = digits[1] << 4 | digits[2];
1442 radio_display_data[14] = 0xf0 | digits[0];
1444 // Nav1 in use frequency
1445 float nav1 = nav1_freq->getFloatValue();
1446 if ( fabs(nav1) > 999.99 ) {
1449 snprintf(digits, 7, "%06.2f", nav1);
1450 for ( i = 0; i < 6; ++i ) {
1453 radio_display_data[15] = digits[4] << 4 | digits[5];
1454 radio_display_data[16] = digits[1] << 4 | digits[2];
1455 radio_display_data[17] = 0x00 | digits[0];
1456 // the 0x00 in the upper nibble of the 6th byte of each display
1457 // turns on the decimal point
1459 radio_display_data[12] = 0xff;
1460 radio_display_data[13] = 0xff;
1461 radio_display_data[14] = 0xff;
1462 radio_display_data[15] = 0xff;
1463 radio_display_data[16] = 0xff;
1464 radio_display_data[17] = 0xff;
1467 if ( navcom2_has_power() && nav2_servicable->getBoolValue() ) {
1468 // Nav2 standby frequency
1469 float nav2_stby = nav2_stby_freq->getFloatValue();
1470 if ( fabs(nav2_stby) > 999.99 ) {
1473 snprintf(digits, 7, "%06.2f", nav2_stby);
1474 for ( i = 0; i < 6; ++i ) {
1477 radio_display_data[24] = digits[4] << 4 | digits[5];
1478 radio_display_data[25] = digits[1] << 4 | digits[2];
1479 radio_display_data[26] = 0xf0 | digits[0];
1481 // Nav2 in use frequency
1482 float nav2 = nav2_freq->getFloatValue();
1483 if ( fabs(nav2) > 999.99 ) {
1486 snprintf(digits, 7, "%06.2f", nav2);
1487 for ( i = 0; i < 6; ++i ) {
1490 radio_display_data[27] = digits[4] << 4 | digits[5];
1491 radio_display_data[28] = digits[1] << 4 | digits[2];
1492 radio_display_data[29] = 0x00 | digits[0];
1493 // the 0x00 in the upper nibble of the 6th byte of each display
1494 // turns on the decimal point
1496 radio_display_data[24] = 0xff;
1497 radio_display_data[25] = 0xff;
1498 radio_display_data[26] = 0xff;
1499 radio_display_data[27] = 0xff;
1500 radio_display_data[28] = 0xff;
1501 radio_display_data[29] = 0xff;
1504 // ADF standby frequency / timer
1505 if ( adf_has_power() && adf_servicable->getBoolValue() ) {
1506 if ( adf_stby_mode->getIntValue() == 0 ) {
1508 float adf_stby = adf_stby_freq->getFloatValue();
1509 if ( fabs(adf_stby) > 1799 ) {
1512 snprintf(digits, 7, "%04.0f", adf_stby);
1513 for ( i = 0; i < 6; ++i ) {
1516 radio_display_data[30] = digits[3] << 4 | 0x0f;
1517 radio_display_data[31] = digits[1] << 4 | digits[2];
1518 if ( digits[0] == 0 ) {
1519 radio_display_data[32] = 0xff;
1521 radio_display_data[32] = 0xf0 | digits[0];
1526 int hours, min, sec;
1527 if ( adf_timer_mode->getIntValue() == 0 ) {
1528 time = adf_flight_timer->getDoubleValue();
1530 time = adf_elapsed_timer->getDoubleValue();
1532 // cout << time << endl;
1533 hours = (int)(time / 3600.0);
1534 time -= hours * 3600.00;
1535 min = (int)(time / 60.0);
1552 // cout << big << ":" << little << endl;
1553 snprintf(digits, 7, "%02d%02d", big, little);
1554 for ( i = 0; i < 6; ++i ) {
1557 radio_display_data[30] = digits[2] << 4 | digits[3];
1558 radio_display_data[31] = digits[0] << 4 | digits[1];
1559 radio_display_data[32] = 0xff;
1562 // ADF in use frequency
1563 float adf = adf_freq->getFloatValue();
1564 if ( fabs(adf) > 1799 ) {
1567 snprintf(digits, 7, "%04.0f", adf);
1568 for ( i = 0; i < 6; ++i ) {
1571 radio_display_data[33] = digits[2] << 4 | digits[3];
1572 if ( digits[0] == 0 ) {
1573 radio_display_data[34] = 0xf0 | digits[1];
1575 radio_display_data[34] = digits[0] << 4 | digits[1];
1577 if ( adf_stby_mode->getIntValue() == 0 ) {
1578 radio_display_data[35] = 0xff;
1580 radio_display_data[35] = 0x0f;
1583 radio_display_data[30] = 0xff;
1584 radio_display_data[31] = 0xff;
1585 radio_display_data[32] = 0xff;
1586 radio_display_data[33] = 0xff;
1587 radio_display_data[34] = 0xff;
1588 radio_display_data[35] = 0xff;
1591 // Transponder code and flight level
1592 if ( xpdr_has_power() && xpdr_servicable->getBoolValue() ) {
1593 if ( xpdr_func_knob->getIntValue() == 2 ) {
1595 radio_display_data[36] = 8 << 4 | 8;
1596 radio_display_data[37] = 8 << 4 | 8;
1597 radio_display_data[38] = 0xff;
1598 radio_display_data[39] = 8 << 4 | 0x0f;
1599 radio_display_data[40] = 8 << 4 | 8;
1602 int id_code = xpdr_id_code->getIntValue();
1604 for ( i = 0; i < 4; ++i ) {
1605 digits[i] = id_code / place;
1606 id_code -= digits[i] * place;
1609 radio_display_data[36] = digits[2] << 4 | digits[3];
1610 radio_display_data[37] = digits[0] << 4 | digits[1];
1611 radio_display_data[38] = 0xff;
1613 if ( xpdr_func_knob->getIntValue() == 3 ||
1614 xpdr_func_knob->getIntValue() == 5 )
1616 // do flight level display
1617 snprintf(digits, 7, "%03d", xpdr_flight_level->getIntValue() );
1618 for ( i = 0; i < 6; ++i ) {
1621 radio_display_data[39] = digits[2] << 4 | 0x0f;
1622 radio_display_data[40] = digits[0] << 4 | digits[1];
1624 // blank flight level display
1625 radio_display_data[39] = 0xff;
1626 radio_display_data[40] = 0xff;
1631 radio_display_data[36] = 0xff;
1632 radio_display_data[37] = 0xff;
1633 radio_display_data[38] = 0xff;
1634 radio_display_data[39] = 0xff;
1635 radio_display_data[40] = 0xff;
1638 ATC610xSetRadios( radios_fd, radio_display_data );
1644 /////////////////////////////////////////////////////////////////////
1645 // Drive the stepper motors
1646 /////////////////////////////////////////////////////////////////////
1648 bool FGATC610x::do_steppers() {
1649 float diff = mag_compass->getFloatValue() - compass_position;
1650 while ( diff < -180.0 ) { diff += 360.0; }
1651 while ( diff > 180.0 ) { diff -= 360.0; }
1653 int steps = (int)(diff * 4);
1654 // cout << "steps = " << steps << endl;
1655 if ( steps > 4 ) { steps = 4; }
1656 if ( steps < -4 ) { steps = -4; }
1658 if ( abs(steps) > 0 ) {
1659 unsigned char cmd = 0x80; // stepper command
1661 cmd |= 0x20; // go up
1663 cmd |= 0x00; // go down
1667 // sync compass_position with hardware position
1668 compass_position += (float)steps / 4.0;
1670 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1677 /////////////////////////////////////////////////////////////////////
1678 // Read the switch positions
1679 /////////////////////////////////////////////////////////////////////
1681 // decode the packed switch data
1682 static void update_switch_matrix(
1684 unsigned char switch_data[ATC_SWITCH_BYTES],
1685 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1687 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1688 unsigned char switches = switch_data[row];
1690 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1691 switch_matrix[board][column][row] = switches & 1;
1692 switches = switches >> 1;
1697 bool FGATC610x::do_switches() {
1698 ATC610xReadSwitches( switches_fd, switch_data );
1700 // unpack the switch data
1701 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1702 update_switch_matrix( board, switch_data, switch_matrix );
1705 fgSetBool( "/controls/switches/master-bat", switch_matrix[board][4][1] );
1706 fgSetBool( "/controls/switches/master-alt", switch_matrix[board][5][1] );
1707 fgSetBool( "/controls/switches/master-avionics",
1708 switch_matrix[board][0][3] );
1710 // magnetos and starter switch
1712 bool starter = false;
1713 if ( switch_matrix[board][3][1] == 1 ) {
1716 } else if ( switch_matrix[board][2][1] == 1 ) {
1719 } else if ( switch_matrix[board][1][1] == 1 ) {
1722 } else if ( switch_matrix[board][0][1] == 1 ) {
1730 // do a bit of filtering on the magneto/starter switch and the
1731 // flap lever because these are not well debounced in hardware
1732 static int mag1, mag2, mag3;
1736 if ( mag1 == mag2 && mag2 == mag3 ) {
1737 fgSetInt( "/controls/magnetos[0]", magnetos );
1739 static bool start1, start2, start3;
1743 if ( start1 == start2 && start2 == start3 ) {
1744 fgSetBool( "/controls/starter[0]", starter );
1747 // other toggle switches
1748 fgSetBool( "/controls/fuel-pump[0]", switch_matrix[board][0][2] );
1749 fgSetBool( "/controls/switches/flashing-beacon",
1750 switch_matrix[board][1][2] );
1751 fgSetBool( "/controls/switches/landing-light", switch_matrix[board][2][2] );
1752 fgSetBool( "/controls/switches/taxi-lights", switch_matrix[board][3][2] );
1753 fgSetBool( "/controls/switches/nav-lights",
1754 switch_matrix[board][4][2] );
1755 fgSetBool( "/controls/switches/strobe-lights", switch_matrix[board][5][2] );
1756 fgSetBool( "/controls/switches/pitot-heat", switch_matrix[board][6][2] );
1760 if ( switch_matrix[board][6][3] ) {
1762 } else if ( switch_matrix[board][5][3] ) {
1764 } else if ( switch_matrix[board][4][3] ) {
1766 } else if ( !switch_matrix[board][4][3] ) {
1770 // do a bit of filtering on the magneto/starter switch and the
1771 // flap lever because these are not well debounced in hardware
1772 static float flap1, flap2, flap3;
1776 if ( flap1 == flap2 && flap2 == flap3 ) {
1777 fgSetFloat( "/controls/flaps", flaps );
1780 // fuel selector (also filtered)
1782 if ( switch_matrix[board][2][3] ) {
1785 } else if ( switch_matrix[board][1][3] ) {
1788 } else if ( switch_matrix[board][3][3] ) {
1796 static int fuel1, fuel2, fuel3;
1800 if ( fuel1 == fuel2 && fuel2 == fuel3 ) {
1801 fgSetBool( "/controls/fuel-selector[0]", (fuel & 0x01) > 0 );
1802 fgSetBool( "/controls/fuel-selector[1]", (fuel & 0x02) > 0 );
1806 fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr",
1807 switch_matrix[board][0][0] );
1808 fgSetBool( "/controls/circuit-breakers/instr-ignition-switch",
1809 switch_matrix[board][1][0] );
1810 fgSetBool( "/controls/circuit-breakers/flaps",
1811 switch_matrix[board][2][0] );
1812 fgSetBool( "/controls/circuit-breakers/avn-bus-1",
1813 switch_matrix[board][3][0] );
1814 fgSetBool( "/controls/circuit-breakers/avn-bus-2",
1815 switch_matrix[board][4][0] );
1816 fgSetBool( "/controls/circuit-breakers/turn-coordinator",
1817 switch_matrix[board][5][0] );
1818 fgSetBool( "/controls/circuit-breakers/instrument-lights",
1819 switch_matrix[board][6][0] );
1820 fgSetBool( "/controls/circuit-breakers/annunciators",
1821 switch_matrix[board][7][0] );
1823 fgSetDouble( "/controls/parking-brake",
1824 switch_matrix[board][7][3] );
1825 fgSetDouble( "/radios/marker-beacon/power-btn",
1826 switch_matrix[board][6][1] );
1832 bool FGATC610x::process() {
1833 // Lock the hardware, skip if it's not ready yet
1834 if ( ATC610xLock( lock_fd ) > 0 ) {
1838 do_radio_switches();
1843 ATC610xRelease( lock_fd );
1852 bool FGATC610x::close() {