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>
48 #include <Main/fg_props.hxx>
49 #include <Main/globals.hxx>
51 #include "atc610x.hxx"
55 // Lock the ATC 610 hardware
56 static int ATC610xLock( int fd ) {
58 lseek( fd, 0, SEEK_SET );
61 int result = read( fd, tmp, 1 );
63 SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
70 // Write a radios command
71 static int ATC610xRelease( int fd ) {
73 lseek( fd, 0, SEEK_SET );
77 int result = write( fd, tmp, 1 );
80 SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
88 static void ATC610xReadAnalogInputs( int fd, unsigned char *analog_in_bytes ) {
90 lseek( fd, 0, SEEK_SET );
92 int result = read( fd, analog_in_bytes, ATC_ANAL_IN_BYTES );
93 if ( result != ATC_ANAL_IN_BYTES ) {
94 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
100 // Write a radios command
101 static int ATC610xSetRadios( int fd,
102 unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
105 lseek( fd, 0, SEEK_SET );
107 int result = write( fd, data, ATC_RADIO_DISPLAY_BYTES );
109 if ( result != ATC_RADIO_DISPLAY_BYTES ) {
110 SG_LOG( SG_IO, SG_DEBUG, "Write failed" );
117 // Read status of last radios written to
118 static void ATC610xReadRadios( int fd, unsigned char *switch_data ) {
120 lseek( fd, 0, SEEK_SET );
122 int result = read( fd, switch_data, ATC_RADIO_SWITCH_BYTES );
123 if ( result != ATC_RADIO_SWITCH_BYTES ) {
124 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
129 // Write a stepper command
130 static int ATC610xSetStepper( int fd, unsigned char channel,
131 unsigned char value )
134 lseek( fd, 0, SEEK_SET );
137 unsigned char buf[3];
141 int result = write( fd, buf, 2 );
143 SG_LOG( SG_IO, SG_INFO, "Write failed" );
145 SG_LOG( SG_IO, SG_DEBUG,
146 "Sent cmd = " << (int)channel << " value = " << (int)value );
151 // Read status of last stepper written to
152 static unsigned char ATC610xReadStepper( int fd ) {
156 lseek( fd, 0, SEEK_SET );
159 unsigned char buf[2];
160 result = read( fd, buf, 1 );
162 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
165 SG_LOG( SG_IO, SG_DEBUG, "Read result = " << (int)buf[0] );
171 // Read switch inputs
172 static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
174 lseek( fd, 0, SEEK_SET );
176 int result = read( fd, switch_bytes, ATC_SWITCH_BYTES );
177 if ( result != ATC_SWITCH_BYTES ) {
178 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
184 // Turn a lamp on or off
185 void ATC610xSetLamp( int fd, int channel, bool value ) {
186 // lamp channels 0-63 are written to LampPort0, channels 64-127
187 // are written to LampPort1
189 // bits 0-6 are the lamp address
190 // bit 7 is the value (on/off)
195 unsigned char buf[3];
199 result = write( fd, buf, 2 );
201 SG_LOG( SG_IO, SG_ALERT, "Write failed" );
207 // Open and initialize ATC 610x hardware
208 bool FGATC610x::open() {
209 if ( is_enabled() ) {
210 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
211 << "is already in use, ignoring" );
215 SG_LOG( SG_IO, SG_ALERT,
216 "Initializing ATC 610x hardware, please wait ..." );
218 set_hz( 30 ); // default to processing requests @ 30Hz
221 board = 0; // 610x uses a single board number = 0
223 snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
224 snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
225 snprintf( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
226 snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
227 snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
228 snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
230 /////////////////////////////////////////////////////////////////////
231 // Open the /proc files
232 /////////////////////////////////////////////////////////////////////
234 lock_fd = ::open( lock_file, O_RDWR );
235 if ( lock_fd == -1 ) {
236 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
238 snprintf( msg, 256, "Error opening %s", lock_file );
243 analog_in_fd = ::open( analog_in_file, O_RDONLY );
244 if ( analog_in_fd == -1 ) {
245 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
247 snprintf( msg, 256, "Error opening %s", analog_in_file );
252 lamps_fd = ::open( lamps_file, O_WRONLY );
253 if ( lamps_fd == -1 ) {
254 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
256 snprintf( msg, 256, "Error opening %s", lamps_file );
261 radios_fd = ::open( radios_file, O_RDWR );
262 if ( radios_fd == -1 ) {
263 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
265 snprintf( msg, 256, "Error opening %s", radios_file );
270 stepper_fd = ::open( stepper_file, O_RDWR );
271 if ( stepper_fd == -1 ) {
272 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
274 snprintf( msg, 256, "Error opening %s", stepper_file );
279 switches_fd = ::open( switches_file, O_RDONLY );
280 if ( switches_fd == -1 ) {
281 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
283 snprintf( msg, 256, "Error opening %s", switches_file );
288 /////////////////////////////////////////////////////////////////////
289 // Home the compass stepper motor
290 /////////////////////////////////////////////////////////////////////
292 SG_LOG( SG_IO, SG_ALERT,
293 " - Homing the compass stepper motor" );
295 // Lock the hardware, keep trying until we succeed
296 while ( ATC610xLock( lock_fd ) <= 0 );
298 // Send the stepper home command
299 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
301 // Release the hardware
302 ATC610xRelease( lock_fd );
304 SG_LOG( SG_IO, SG_ALERT,
305 " - Waiting for compass to come home." );
308 int timeout = 900; // about 30 seconds
309 while ( ! home && timeout > 0 ) {
310 if ( timeout % 150 == 0 ) {
311 SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
313 SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
316 while ( ATC610xLock( lock_fd ) <= 0 );
318 unsigned char result = ATC610xReadStepper( stepper_fd );
323 ATC610xRelease( lock_fd );
325 #if defined( _MSC_VER )
326 ulMilliSecondSleep(33);
327 #elif defined (WIN32) && !defined(__CYGWIN__)
336 compass_position = 0.0;
338 /////////////////////////////////////////////////////////////////////
339 // Blank the radio display
340 /////////////////////////////////////////////////////////////////////
342 SG_LOG( SG_IO, SG_ALERT,
343 " - Clearing the radios displays." );
346 unsigned char value = 0xff;
347 for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
348 radio_display_data[channel] = value;
351 // Lock the hardware, keep trying until we succeed
352 while ( ATC610xLock( lock_fd ) <= 0 );
355 ATC610xSetRadios( radios_fd, radio_display_data );
357 ATC610xRelease( lock_fd );
359 /////////////////////////////////////////////////////////////////////
361 /////////////////////////////////////////////////////////////////////
363 for ( int i = 0; i < 128; ++i ) {
364 ATC610xSetLamp( lamps_fd, i, false );
367 /////////////////////////////////////////////////////////////////////
368 // Finished initing hardware
369 /////////////////////////////////////////////////////////////////////
371 SG_LOG( SG_IO, SG_ALERT,
372 "Done initializing ATC 610x hardware." );
374 /////////////////////////////////////////////////////////////////////
375 // Connect up to property values
376 /////////////////////////////////////////////////////////////////////
378 mag_compass = fgGetNode( "/steam/mag-compass-deg", true );
380 dme_min = fgGetNode( "/radios/dme/ete-min", true );
381 dme_kt = fgGetNode( "/radios/dme/speed-kt", true );
382 dme_nm = fgGetNode( "/radios/dme/distance-nm", true );
384 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
386 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
387 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
389 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
391 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
393 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
395 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
397 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
399 adf_freq = fgGetNode( "/radios/adf/frequencies/selected-khz", true );
400 adf_stby_freq = fgGetNode( "/radios/adf/frequencies/standby-khz", true );
402 inner = fgGetNode( "/radios/marker-beacon/inner", true );
403 middle = fgGetNode( "/radios/marker-beacon/middle", true );
404 outer = fgGetNode( "/radios/marker-beacon/outer", true );
410 /////////////////////////////////////////////////////////////////////
411 // Read analog inputs
412 /////////////////////////////////////////////////////////////////////
414 #define ATC_AILERON_CENTER 535
415 #define ATC_ELEVATOR_TRIM_CENTER 512
416 #define ATC_ELEVATOR_CENTER 543
418 bool FGATC610x::do_analog_in() {
419 // Read raw data in byte form
420 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
422 // Convert to integer values
423 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
424 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
425 unsigned char lo = analog_in_bytes[2 * channel + 1];
426 analog_in_data[channel] = hi * 256 + lo;
428 // printf("%02x %02x ", hi, lo );
429 // printf("%04d ", value );
432 float tmp, tmp1, tmp2;
435 tmp = (float)(analog_in_data[0] - ATC_AILERON_CENTER) / 256.0f;
436 fgSetFloat( "/controls/aileron", tmp );
437 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
440 tmp = (float)(analog_in_data[4] - ATC_ELEVATOR_TRIM_CENTER) / 512.0f;
441 fgSetFloat( "/controls/elevator-trim", tmp );
442 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
445 tmp = (float)(ATC_ELEVATOR_CENTER - analog_in_data[5]) / 100.0f;
446 fgSetFloat( "/controls/elevator", tmp );
447 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
450 tmp = (float)analog_in_data[7] / 680.0f;
451 fgSetFloat( "/controls/mixture[0]", tmp );
454 tmp = (float)analog_in_data[8] / 690.0f;
455 fgSetFloat( "/controls/throttle[0]", tmp );
458 tmp = (float)analog_in_data[25] / 1024.0f;
459 fgSetFloat( "/radios/nav[0]/volume", tmp );
462 tmp = (float)analog_in_data[24] / 1024.0f;
463 fgSetFloat( "/radios/nav[1]/volume", tmp );
466 tmp = (float)analog_in_data[26] / 1024.0f;
467 fgSetFloat( "/radios/adf/volume", tmp );
470 tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
471 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
474 tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
475 tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
476 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
482 /////////////////////////////////////////////////////////////////////
484 /////////////////////////////////////////////////////////////////////
486 bool FGATC610x::do_lights() {
488 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
489 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
490 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
496 /////////////////////////////////////////////////////////////////////
497 // Read radio switches
498 /////////////////////////////////////////////////////////////////////
500 bool FGATC610x::do_radio_switches() {
501 float freq, coarse_freq, fine_freq, inc;
503 ATC610xReadRadios( radios_fd, radio_switch_data );
506 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
507 if ( dme_switch == 0 ) {
509 fgSetInt( "/radios/dme/switch-position", 0 );
510 } else if ( dme_switch == 2 ) {
512 fgSetInt( "/radios/dme/switch-position", 1 );
513 } else if ( dme_switch == 1 ) {
515 fgSetInt( "/radios/dme/switch-position", 3 );
519 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
520 static int last_com1_swap;
521 if ( com1_swap && (last_com1_swap != com1_swap) ) {
522 float tmp = com1_freq->getFloatValue();
523 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
524 com1_stby_freq->getFloatValue() );
525 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
527 last_com1_swap = com1_swap;
530 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
531 static int last_com2_swap;
532 if ( com2_swap && (last_com2_swap != com2_swap) ) {
533 float tmp = com2_freq->getFloatValue();
534 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
535 com2_stby_freq->getFloatValue() );
536 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
538 last_com2_swap = com2_swap;
541 int nav1_swap = radio_switch_data[11] & 0x01;
542 static int last_nav1_swap;
543 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
544 float tmp = nav1_freq->getFloatValue();
545 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
546 nav1_stby_freq->getFloatValue() );
547 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
549 last_nav1_swap = nav1_swap;
552 int nav2_swap = !(radio_switch_data[19] & 0x01);
553 static int last_nav2_swap;
554 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
555 float tmp = nav2_freq->getFloatValue();
556 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
557 nav2_stby_freq->getFloatValue() );
558 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
560 last_nav2_swap = nav2_swap;
563 int com1_tuner_fine = (radio_switch_data[5] >> 4) & 0x0f;
564 int com1_tuner_course = radio_switch_data[5] & 0x0f;
565 // cout << "com1 = " << com1_tuner_fine << " " << com1_tuner_course << endl;
566 static int last_com1_tuner_fine = com1_tuner_fine;
567 static int last_com1_tuner_course = com1_tuner_course;
569 if ( com1_tuner_fine != last_com1_tuner_fine ) {
570 if ( com1_tuner_fine == 0x0c && last_com1_tuner_fine == 0x01 ) {
572 } else if ( com1_tuner_fine == 0x01 && last_com1_tuner_fine == 0x0c ) {
574 } else if ( com1_tuner_fine > last_com1_tuner_fine ) {
580 if ( com1_tuner_course != last_com1_tuner_course ) {
581 if ( com1_tuner_course == 0x0c && last_com1_tuner_course == 0x01 ) {
583 } else if ( com1_tuner_course == 0x01
584 && last_com1_tuner_course == 0x0c ) {
586 } else if ( com1_tuner_course > last_com1_tuner_course ) {
592 last_com1_tuner_fine = com1_tuner_fine;
593 last_com1_tuner_course = com1_tuner_course;
595 freq = com1_stby_freq->getFloatValue() + inc;
599 if ( freq > 140.0 ) {
602 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", freq );
605 int com2_tuner_fine = (radio_switch_data[13] >> 4) & 0x0f;
606 int com2_tuner_course = radio_switch_data[13] & 0x0f;
607 static int last_com2_tuner_fine = com2_tuner_fine;
608 static int last_com2_tuner_course = com2_tuner_course;
610 if ( com2_tuner_fine != last_com2_tuner_fine ) {
611 if ( com2_tuner_fine == 0x0c && last_com2_tuner_fine == 0x01 ) {
613 } else if ( com2_tuner_fine == 0x01 && last_com2_tuner_fine == 0x0c ) {
615 } else if ( com2_tuner_fine > last_com2_tuner_fine ) {
621 if ( com2_tuner_course != last_com2_tuner_course ) {
622 if ( com2_tuner_course == 0x0c && last_com2_tuner_course == 0x01 ) {
624 } else if ( com2_tuner_course == 0x01
625 && last_com2_tuner_course == 0x0c ) {
627 } else if ( com2_tuner_course > last_com2_tuner_course ) {
633 last_com2_tuner_fine = com2_tuner_fine;
634 last_com2_tuner_course = com2_tuner_course;
636 freq = com2_stby_freq->getFloatValue() + inc;
640 if ( freq > 140.0 ) {
643 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", freq );
646 int nav1_tuner_fine = (radio_switch_data[9] >> 4) & 0x0f;
647 int nav1_tuner_course = radio_switch_data[9] & 0x0f;
648 static int last_nav1_tuner_fine = nav1_tuner_fine;
649 static int last_nav1_tuner_course = nav1_tuner_course;
651 freq = nav1_stby_freq->getFloatValue();
652 coarse_freq = (int)freq;
653 fine_freq = freq - coarse_freq;
656 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
657 if ( nav1_tuner_fine == 0x0c && last_nav1_tuner_fine == 0x01 ) {
659 } else if ( nav1_tuner_fine == 0x01 && last_nav1_tuner_fine == 0x0c ) {
661 } else if ( nav1_tuner_fine > last_nav1_tuner_fine ) {
667 if ( fine_freq < 0.0 ) {
670 if ( fine_freq > 0.95 ) {
674 if ( nav1_tuner_course != last_nav1_tuner_course ) {
675 if ( nav1_tuner_course == 0x0c && last_nav1_tuner_course == 0x01 ) {
677 } else if ( nav1_tuner_course == 0x01
678 && last_nav1_tuner_course == 0x0c ) {
680 } else if ( nav1_tuner_course > last_nav1_tuner_course ) {
686 if ( coarse_freq < 108.0 ) {
689 if ( coarse_freq > 117.0 ) {
693 last_nav1_tuner_fine = nav1_tuner_fine;
694 last_nav1_tuner_course = nav1_tuner_course;
696 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
697 coarse_freq + fine_freq );
700 int nav2_tuner_fine = (radio_switch_data[17] >> 4) & 0x0f;
701 int nav2_tuner_course = radio_switch_data[17] & 0x0f;
702 static int last_nav2_tuner_fine = nav2_tuner_fine;
703 static int last_nav2_tuner_course = nav2_tuner_course;
705 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
706 if ( nav2_tuner_fine == 0x0c && last_nav2_tuner_fine == 0x01 ) {
708 } else if ( nav2_tuner_fine == 0x01 && last_nav2_tuner_fine == 0x0c ) {
710 } else if ( nav2_tuner_fine > last_nav2_tuner_fine ) {
716 if ( nav2_tuner_course != last_nav2_tuner_course ) {
717 if ( nav2_tuner_course == 0x0c && last_nav2_tuner_course == 0x01 ) {
719 } else if ( nav2_tuner_course == 0x01
720 && last_nav2_tuner_course == 0x0c ) {
722 } else if ( nav2_tuner_course > last_nav2_tuner_course ) {
728 last_nav2_tuner_fine = nav2_tuner_fine;
729 last_nav2_tuner_course = nav2_tuner_course;
731 freq = nav2_stby_freq->getFloatValue() + inc;
732 if ( freq < 108.0 ) {
735 if ( freq > 117.95 ) {
738 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", freq );
741 int adf_tuner_fine = (radio_switch_data[21] >> 4) & 0x0f;
742 int adf_tuner_course = radio_switch_data[21] & 0x0f;
743 // cout << "adf = " << adf_tuner_fine << " " << adf_tuner_course << endl;
744 static int last_adf_tuner_fine = adf_tuner_fine;
745 static int last_adf_tuner_course = adf_tuner_course;
747 if ( adf_tuner_fine != last_adf_tuner_fine ) {
748 if ( adf_tuner_fine == 0x0c && last_adf_tuner_fine == 0x01 ) {
750 } else if ( adf_tuner_fine == 0x01 && last_adf_tuner_fine == 0x0c ) {
752 } else if ( adf_tuner_fine > last_adf_tuner_fine ) {
758 if ( adf_tuner_course != last_adf_tuner_course ) {
759 if ( adf_tuner_course == 0x0c && last_adf_tuner_course == 0x01 ) {
761 } else if ( adf_tuner_course == 0x01
762 && last_adf_tuner_course == 0x0c ) {
764 } else if ( adf_tuner_course > last_adf_tuner_course ) {
770 last_adf_tuner_fine = adf_tuner_fine;
771 last_adf_tuner_course = adf_tuner_course;
773 freq = adf_freq->getFloatValue() + inc;
774 if ( freq < 100.0 ) {
780 fgSetFloat( "/radios/adf/frequencies/selected-khz", freq );
786 /////////////////////////////////////////////////////////////////////
787 // Update the radio display
788 /////////////////////////////////////////////////////////////////////
790 bool FGATC610x::do_radio_display() {
795 if ( dme_switch != 0 ) {
797 float minutes = dme_min->getFloatValue();
798 if ( minutes > 999 ) {
801 sprintf(digits, "%03.0f", minutes);
802 for ( i = 0; i < 6; ++i ) {
805 radio_display_data[0] = digits[1] << 4 | digits[2];
806 radio_display_data[1] = 0xf0 | digits[0];
809 float knots = dme_kt->getFloatValue();
813 sprintf(digits, "%03.0f", knots);
814 for ( i = 0; i < 6; ++i ) {
817 radio_display_data[2] = digits[1] << 4 | digits[2];
818 radio_display_data[3] = 0xf0 | digits[0];
821 float nm = dme_nm->getFloatValue();
825 sprintf(digits, "%04.1f", nm);
826 for ( i = 0; i < 6; ++i ) {
829 radio_display_data[4] = digits[1] << 4 | digits[3];
830 radio_display_data[5] = 0x00 | digits[0];
831 // the 0x00 in the upper nibble of the 6th byte of each
832 // display turns on the decimal point
835 for ( i = 0; i < 6; ++i ) {
836 radio_display_data[i] = 0xff;
840 // Com1 standby frequency
841 float com1_stby = com1_stby_freq->getFloatValue();
842 if ( fabs(com1_stby) > 999.99 ) {
845 sprintf(digits, "%06.3f", com1_stby);
846 for ( i = 0; i < 6; ++i ) {
849 radio_display_data[6] = digits[4] << 4 | digits[5];
850 radio_display_data[7] = digits[1] << 4 | digits[2];
851 radio_display_data[8] = 0xf0 | digits[0];
853 // Com1 in use frequency
854 float com1 = com1_freq->getFloatValue();
855 if ( fabs(com1) > 999.99 ) {
858 sprintf(digits, "%06.3f", com1);
859 for ( i = 0; i < 6; ++i ) {
862 radio_display_data[9] = digits[4] << 4 | digits[5];
863 radio_display_data[10] = digits[1] << 4 | digits[2];
864 radio_display_data[11] = 0x00 | digits[0];
865 // the 0x00 in the upper nibble of the 6th byte of each display
866 // turns on the decimal point
868 // Com2 standby frequency
869 float com2_stby = com2_stby_freq->getFloatValue();
870 if ( fabs(com2_stby) > 999.99 ) {
873 sprintf(digits, "%06.3f", com2_stby);
874 for ( i = 0; i < 6; ++i ) {
877 radio_display_data[18] = digits[4] << 4 | digits[5];
878 radio_display_data[19] = digits[1] << 4 | digits[2];
879 radio_display_data[20] = 0xf0 | digits[0];
881 // Com2 in use frequency
882 float com2 = com2_freq->getFloatValue();
883 if ( fabs(com2) > 999.99 ) {
886 sprintf(digits, "%06.3f", com2);
887 for ( i = 0; i < 6; ++i ) {
890 radio_display_data[21] = digits[4] << 4 | digits[5];
891 radio_display_data[22] = digits[1] << 4 | digits[2];
892 radio_display_data[23] = 0x00 | digits[0];
893 // the 0x00 in the upper nibble of the 6th byte of each display
894 // turns on the decimal point
896 // Nav1 standby frequency
897 float nav1_stby = nav1_stby_freq->getFloatValue();
898 if ( fabs(nav1_stby) > 999.99 ) {
901 sprintf(digits, "%06.2f", nav1_stby);
902 for ( i = 0; i < 6; ++i ) {
905 radio_display_data[12] = digits[4] << 4 | digits[5];
906 radio_display_data[13] = digits[1] << 4 | digits[2];
907 radio_display_data[14] = 0xf0 | digits[0];
909 // Nav1 in use frequency
910 float nav1 = nav1_freq->getFloatValue();
911 if ( fabs(nav1) > 999.99 ) {
914 sprintf(digits, "%06.2f", nav1);
915 for ( i = 0; i < 6; ++i ) {
918 radio_display_data[15] = digits[4] << 4 | digits[5];
919 radio_display_data[16] = digits[1] << 4 | digits[2];
920 radio_display_data[17] = 0x00 | digits[0];
921 // the 0x00 in the upper nibble of the 6th byte of each display
922 // turns on the decimal point
924 // Nav2 standby frequency
925 float nav2_stby = nav2_stby_freq->getFloatValue();
926 if ( fabs(nav2_stby) > 999.99 ) {
929 sprintf(digits, "%06.2f", nav2_stby);
930 for ( i = 0; i < 6; ++i ) {
933 radio_display_data[24] = digits[4] << 4 | digits[5];
934 radio_display_data[25] = digits[1] << 4 | digits[2];
935 radio_display_data[26] = 0xf0 | digits[0];
937 // Nav2 in use frequency
938 float nav2 = nav2_freq->getFloatValue();
939 if ( fabs(nav2) > 999.99 ) {
942 sprintf(digits, "%06.2f", nav2);
943 for ( i = 0; i < 6; ++i ) {
946 radio_display_data[27] = digits[4] << 4 | digits[5];
947 radio_display_data[28] = digits[1] << 4 | digits[2];
948 radio_display_data[29] = 0x00 | digits[0];
949 // the 0x00 in the upper nibble of the 6th byte of each display
950 // turns on the decimal point
952 // ADF standby frequency
953 float adf_stby = adf_stby_freq->getFloatValue();
954 if ( fabs(adf_stby) > 999.99 ) {
957 sprintf(digits, "%03.0f", adf_stby);
958 for ( i = 0; i < 6; ++i ) {
961 radio_display_data[30] = digits[2] << 4 | 0x0f;
962 radio_display_data[31] = digits[0] << 4 | digits[1];
964 // ADF in use frequency
965 float adf = adf_freq->getFloatValue();
966 if ( fabs(adf) > 999.99 ) {
969 sprintf(digits, "%03.0f", adf);
970 for ( i = 0; i < 6; ++i ) {
973 radio_display_data[33] = digits[1] << 4 | digits[2];
974 radio_display_data[34] = 0xf0 | digits[0];
976 ATC610xSetRadios( radios_fd, radio_display_data );
982 /////////////////////////////////////////////////////////////////////
983 // Drive the stepper motors
984 /////////////////////////////////////////////////////////////////////
986 bool FGATC610x::do_steppers() {
987 float diff = mag_compass->getFloatValue() - compass_position;
988 while ( diff < -180.0 ) { diff += 360.0; }
989 while ( diff > 180.0 ) { diff -= 360.0; }
991 int steps = (int)(diff * 4);
992 // cout << "steps = " << steps << endl;
993 if ( steps > 4 ) { steps = 4; }
994 if ( steps < -4 ) { steps = -4; }
996 if ( abs(steps) > 0 ) {
997 unsigned char cmd = 0x80; // stepper command
999 cmd |= 0x20; // go up
1001 cmd |= 0x00; // go down
1005 // sync compass_position with hardware position
1006 compass_position += (float)steps / 4.0;
1008 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1015 /////////////////////////////////////////////////////////////////////
1016 // Read the switch positions
1017 /////////////////////////////////////////////////////////////////////
1019 // decode the packed switch data
1020 static void update_switch_matrix(
1022 unsigned char switch_data[ATC_SWITCH_BYTES],
1023 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1025 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1026 unsigned char switches = switch_data[row];
1028 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1029 switch_matrix[board][column][row] = switches & 1;
1030 switches = switches >> 1;
1035 bool FGATC610x::do_switches() {
1036 ATC610xReadSwitches( switches_fd, switch_data );
1038 // unpack the switch data
1039 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1040 update_switch_matrix( board, switch_data, switch_matrix );
1042 // magnetos and starter switch
1043 if ( switch_matrix[board][3][1] == 1 ) {
1044 fgSetInt( "/controls/magnetos[0]", 3 );
1045 fgSetBool( "/controls/starter[0]", true );
1046 } else if ( switch_matrix[board][2][1] == 1 ) {
1047 fgSetInt( "/controls/magnetos[0]", 3 );
1048 fgSetBool( "/controls/starter[0]", false );
1049 } else if ( switch_matrix[board][1][1] == 1 ) {
1050 fgSetInt( "/controls/magnetos[0]", 2 );
1051 fgSetBool( "/controls/starter[0]", false );
1052 } else if ( switch_matrix[board][0][1] == 1 ) {
1053 fgSetInt( "/controls/magnetos[0]", 1 );
1054 fgSetBool( "/controls/starter[0]", false );
1056 fgSetInt( "/controls/magnetos[0]", 0 );
1057 fgSetBool( "/controls/starter[0]", false );
1061 if ( switch_matrix[board][6][3] == 1 ) {
1062 fgSetFloat( "/controls/flaps", 1.0 );
1063 } else if ( switch_matrix[board][5][3] == 1 ) {
1064 fgSetFloat( "/controls/flaps", 2.0 / 3.0 );
1065 } else if ( switch_matrix[board][4][3] == 1 ) {
1066 fgSetFloat( "/controls/flaps", 1.0 / 3.0 );
1067 } else if ( switch_matrix[board][4][3] == 0 ) {
1068 fgSetFloat( "/controls/flaps", 0.0 );
1075 bool FGATC610x::process() {
1077 // Lock the hardware, skip if it's not ready yet
1078 if ( ATC610xLock( lock_fd ) > 0 ) {
1082 do_radio_switches();
1087 ATC610xRelease( lock_fd );
1096 bool FGATC610x::close() {