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/sg_path.hxx>
47 #include <simgear/props/props.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( "/instrumentation/magnetic-compass/indicated-heading-deg", true );
399 dme_min = fgGetNode( "/instrumentation/dme/indicated-time-min", true );
400 dme_kt = fgGetNode( "/instrumentation/dme/indicated-ground-speed-kt",
402 dme_nm = fgGetNode( "/instrumentation/dme/indicated-distance-nm", true );
403 dme_in_range = fgGetNode( "/instrumentation/dme/in-range", true );
405 adf_bus_power = fgGetNode( "/systems/electrical/outputs/adf", true );
406 dme_bus_power = fgGetNode( "/systems/electrical/outputs/dme", true );
407 navcom1_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[0]",
409 navcom2_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[1]",
411 xpdr_bus_power = fgGetNode( "/systems/electrical/outputs/transponder",
414 navcom1_power_btn = fgGetNode( "/radios/comm[0]/inputs/power-btn", true );
415 navcom2_power_btn = fgGetNode( "/radios/comm[1]/inputs/power-btn", true );
417 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
419 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
421 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
423 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
425 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
427 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
428 nav1_obs = fgGetNode( "/radios/nav[0]/radials/selected-deg", true );
430 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
432 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
433 nav2_obs = fgGetNode( "/radios/nav[1]/radials/selected-deg", true );
435 adf_power_btn = fgGetNode( "/radios/kr-87/inputs/power-btn", true );
436 adf_vol = fgGetNode( "/radios/kr-87/inputs/volume", true );
437 adf_adf_btn = fgGetNode( "/radios/kr-87/inputs/adf-btn", true );
438 adf_bfo_btn = fgGetNode( "/radios/kr-87/inputs/bfo-btn", true );
439 adf_freq = fgGetNode( "/radios/kr-87/outputs/selected-khz", true );
440 adf_stby_freq = fgGetNode( "/radios/kr-87/outputs/standby-khz", true );
441 adf_stby_mode = fgGetNode( "/radios/kr-87/modes/stby", true );
442 adf_timer_mode = fgGetNode( "/radios/kr-87/modes/timer", true );
443 adf_count_mode = fgGetNode( "/radios/kr-87/modes/count", true );
444 adf_flight_timer = fgGetNode( "/radios/kr-87/outputs/flight-timer", true );
445 adf_elapsed_timer = fgGetNode( "/radios/kr-87/outputs/elapsed-timer",
447 adf_ant_ann = fgGetNode( "/radios/kr-87/annunciators/ant", true );
448 adf_adf_ann = fgGetNode( "/radios/kr-87/annunciators/adf", true );
449 adf_bfo_ann = fgGetNode( "/radios/kr-87/annunciators/bfo", true );
450 adf_frq_ann = fgGetNode( "/radios/kr-87/annunciators/frq", true );
451 adf_flt_ann = fgGetNode( "/radios/kr-87/annunciators/flt", true );
452 adf_et_ann = fgGetNode( "/radios/kr-87/annunciators/et", true );
454 inner = fgGetNode( "/radios/marker-beacon/inner", true );
455 middle = fgGetNode( "/radios/marker-beacon/middle", true );
456 outer = fgGetNode( "/radios/marker-beacon/outer", true );
458 xpdr_ident_btn = fgGetNode( "/radios/kt-70/inputs/ident-btn", true );
459 xpdr_digit1 = fgGetNode( "/radios/kt-70/inputs/digit1", true );
460 xpdr_digit2 = fgGetNode( "/radios/kt-70/inputs/digit2", true );
461 xpdr_digit3 = fgGetNode( "/radios/kt-70/inputs/digit3", true );
462 xpdr_digit4 = fgGetNode( "/radios/kt-70/inputs/digit4", true );
463 xpdr_func_knob = fgGetNode( "/radios/kt-70/inputs/func-knob", true );
464 xpdr_id_code = fgGetNode( "/radios/kt-70/outputs/id-code", true );
465 xpdr_flight_level = fgGetNode( "/radios/kt-70/outputs/flight-level", true );
466 xpdr_fl_ann = fgGetNode( "/radios/kt-70/annunciators/fl", true );
467 xpdr_alt_ann = fgGetNode( "/radios/kt-70/annunciators/alt", true );
468 xpdr_gnd_ann = fgGetNode( "/radios/kt-70/annunciators/gnd", true );
469 xpdr_on_ann = fgGetNode( "/radios/kt-70/annunciators/on", true );
470 xpdr_sby_ann = fgGetNode( "/radios/kt-70/annunciators/sby", true );
471 xpdr_reply_ann = fgGetNode( "/radios/kt-70/annunciators/reply", true );
474 = fgGetNode( "/instrumentation/attitude-indicator/horizon-offset-deg",
476 alt_press = fgGetNode( "/instrumentation/altimeter/setting-inhg", true );
477 adf_hdg = fgGetNode( "/radios/kr-87/inputs/rotation-deg", true );
478 hdg_bug = fgGetNode( "/autopilot/settings/heading-bug-deg", true );
480 elevator_center = fgGetNode( "/input/atc610x/elevator/center", true );
481 elevator_min = fgGetNode( "/input/atc610x/elevator/min", true );
482 elevator_max = fgGetNode( "/input/atc610x/elevator/max", true );
484 ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", true );
485 ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", true );
486 ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", true );
488 rudder_center = fgGetNode( "/input/atc610x/rudder/center", true );
489 rudder_min = fgGetNode( "/input/atc610x/rudder/min", true );
490 rudder_max = fgGetNode( "/input/atc610x/rudder/max", true );
492 brake_left_min = fgGetNode( "/input/atc610x/brake-left/min", true );
493 brake_left_max = fgGetNode( "/input/atc610x/brake-left/max", true );
495 brake_right_min = fgGetNode( "/input/atc610x/brake-right/min", true );
496 brake_right_max = fgGetNode( "/input/atc610x/brake-right/max", true );
498 throttle_min = fgGetNode( "/input/atc610x/throttle/min", true );
499 throttle_max = fgGetNode( "/input/atc610x/throttle/max", true );
501 mixture_min = fgGetNode( "/input/atc610x/mixture/min", true );
502 mixture_max = fgGetNode( "/input/atc610x/mixture/max", true );
504 trim_center = fgGetNode( "/input/atc610x/trim/center", true );
505 trim_min = fgGetNode( "/input/atc610x/trim/min", true );
506 trim_max = fgGetNode( "/input/atc610x/trim/max", true );
508 nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", true );
509 nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", true );
511 nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", true );
512 nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", true );
514 comm1_serviceable = fgGetNode( "/instrumentation/comm[0]/serviceable", true );
515 comm2_serviceable = fgGetNode( "/instrumentation/comm[1]/serviceable", true );
516 nav1_serviceable = fgGetNode( "/instrumentation/nav[0]/serviceable", true );
517 nav2_serviceable = fgGetNode( "/instrumentation/nav[1]/serviceable", true );
518 adf_serviceable = fgGetNode( "/instrumentation/adf/serviceable", true );
519 xpdr_serviceable = fgGetNode( "/radios/kt-70/inputs/serviceable",
521 dme_serviceable = fgGetNode( "/instrumentation/dme/serviceable", true );
523 // default to having everything serviceable
524 comm1_serviceable->setBoolValue( true );
525 comm2_serviceable->setBoolValue( true );
526 nav1_serviceable->setBoolValue( true );
527 nav2_serviceable->setBoolValue( true );
528 adf_serviceable->setBoolValue( true );
529 xpdr_serviceable->setBoolValue( true );
530 dme_serviceable->setBoolValue( true );
536 /////////////////////////////////////////////////////////////////////
537 // Read analog inputs
538 /////////////////////////////////////////////////////////////////////
540 // scale a number between min and max (with center defined) to a scale
542 static double scale( int center, int min, int max, int value ) {
543 // cout << center << " " << min << " " << max << " " << value << " ";
547 if ( value <= center ) {
548 range = center - min;
549 result = (value - center) / range;
551 range = max - center;
552 result = (value - center) / range;
555 if ( result < -1.0 ) result = -1.0;
556 if ( result > 1.0 ) result = 1.0;
558 // cout << result << endl;
564 // scale a number between min and max to a scale from 0.0 to 1.0
565 static double scale( int min, int max, int value ) {
566 // cout << center << " " << min << " " << max << " " << value << " ";
571 result = (value - min) / range;
573 if ( result < 0.0 ) result = 0.0;
574 if ( result > 1.0 ) result = 1.0;
576 // cout << result << endl;
582 static int tony_magic( int raw, int obs[3] ) {
588 if ( obs[2] >= 68 && obs[2] < 480 ) {
590 } else if ( obs[2] >= 480 ) {
595 } else if ( obs[1] < 68 ) {
598 } else if ( obs[2] < 30 ) {
599 if ( obs[1] >= 68 && obs[1] < 480 ) {
603 } else if ( obs[1] >= 480 ) {
605 if ( obs[0] < obs[1] ) {
613 } else if ( obs[1] > 980 ) {
614 if ( obs[2] <= 956 && obs[2] > 480 ) {
616 } else if ( obs[2] <= 480 ) {
621 } else if ( obs[1] > 956 ) {
624 } else if ( obs[2] > 980 ) {
625 if ( obs[1] <= 956 && obs[1] > 480 ) {
629 } else if ( obs[1] <= 480 ) {
631 if ( obs[0] > obs[1] ) {
640 if ( obs[1] < 480 && obs[2] > 480 ) {
641 // crossed gap going up
642 if ( obs[0] < obs[1] ) {
643 // caught a bogus intermediate value coming out of the gap
646 } else if ( obs[1] > 480 && obs[2] < 480 ) {
647 // crossed gap going down
648 if ( obs[0] > obs[1] ) {
649 // caught a bogus intermediate value coming out of the gap
652 } else if ( obs[0] > 480 && obs[1] < 480 && obs[2] < 480 ) {
653 // crossed the gap going down
654 if ( obs[1] > obs[2] ) {
655 // caught a bogus intermediate value coming out of the gap
658 } else if ( obs[0] < 480 && obs[1] > 480 && obs[2] > 480 ) {
659 // crossed the gap going up
660 if ( obs[1] < obs[2] ) {
661 // caught a bogus intermediate value coming out of the gap
665 result = obs[1] - obs[2];
666 if ( abs(result) > 400 ) {
674 // cout << " result = " << result << endl;
675 if ( result < -500 ) { result += 1024; }
676 if ( result > 500 ) { result -= 1024; }
682 static double instr_pot_filter( double ave, double val ) {
683 if ( fabs(ave - val) < 400 || fabs(val) < fabs(ave) ) {
684 return 0.5 * ave + 0.5 * val;
691 bool FGATC610x::do_analog_in() {
692 // Read raw data in byte form
693 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
695 // Convert to integer values
696 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
697 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
698 unsigned char lo = analog_in_bytes[2 * channel + 1];
699 analog_in_data[channel] = hi * 256 + lo;
701 // printf("%02x %02x ", hi, lo );
702 // printf("%04d ", value );
708 tmp = scale( ailerons_center->getIntValue(), ailerons_min->getIntValue(),
709 ailerons_max->getIntValue(), analog_in_data[0] );
710 fgSetFloat( "/controls/flight/aileron", tmp );
711 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
713 tmp = -scale( elevator_center->getIntValue(), elevator_min->getIntValue(),
714 elevator_max->getIntValue(), analog_in_data[5] );
715 fgSetFloat( "/controls/flight/elevator", tmp * 0.5 );
716 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
719 tmp = scale( trim_center->getIntValue(), trim_min->getIntValue(),
720 trim_max->getIntValue(), analog_in_data[4] );
721 fgSetFloat( "/controls/flight/elevator-trim", tmp );
722 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
725 tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
727 fgSetFloat( "/controls/engines/engine[0]/mixture", tmp );
728 fgSetFloat( "/controls/engines/engine[1]/mixture", tmp );
731 tmp = scale( throttle_min->getIntValue(), throttle_max->getIntValue(),
733 fgSetFloat( "/controls/engines/engine[0]/throttle", tmp );
734 fgSetFloat( "/controls/engines/engine[1]/throttle", tmp );
735 // cout << "throttle = " << tmp << endl;
739 tmp = scale( rudder_center->getIntValue(), rudder_min->getIntValue(),
740 rudder_max->getIntValue(), analog_in_data[10] );
741 fgSetFloat( "/controls/flight/rudder", -tmp );
744 tmp = scale( brake_left_min->getIntValue(),
745 brake_left_max->getIntValue(),
746 analog_in_data[20] );
747 fgSetFloat( "/controls/gear/wheel[0]/brake", tmp );
748 tmp = scale( brake_right_min->getIntValue(),
749 brake_right_max->getIntValue(),
750 analog_in_data[21] );
751 fgSetFloat( "/controls/gear/wheel[1]/brake", tmp );
755 tmp = (float)analog_in_data[25] / 1024.0f;
756 fgSetFloat( "/radios/nav[0]/volume", tmp );
759 tmp = (float)analog_in_data[24] / 1024.0f;
760 fgSetFloat( "/radios/nav[1]/volume", tmp );
763 tmp = (float)analog_in_data[26] / 1024.0f;
764 fgSetFloat( "/radios/kr-87/inputs/volume", tmp );
766 // instrument panel pots
767 static bool first = true;
768 static int obs1[3], obs2[3], obs3[3], obs4[3], obs5[3], obs6[3];
769 static double diff1_ave = 0.0;
770 static double diff2_ave = 0.0;
771 static double diff3_ave = 0.0;
772 static double diff4_ave = 0.0;
773 static double diff5_ave = 0.0;
774 static double diff6_ave = 0.0;
778 obs1[0] = obs1[1] = obs1[2] = analog_in_data[11];
779 obs2[0] = obs2[1] = obs2[2] = analog_in_data[28];
780 obs3[0] = obs3[1] = obs3[2] = analog_in_data[29];
781 obs4[0] = obs4[1] = obs4[2] = analog_in_data[30];
782 obs5[0] = obs5[1] = obs5[2] = analog_in_data[31];
783 obs6[0] = obs6[1] = obs6[2] = analog_in_data[14];
786 int diff1 = tony_magic( analog_in_data[11], obs1 );
787 int diff2 = tony_magic( analog_in_data[28], obs2 );
788 int diff3 = tony_magic( analog_in_data[29], obs3 );
789 int diff4 = tony_magic( analog_in_data[30], obs4 );
790 int diff5 = tony_magic( analog_in_data[31], obs5 );
791 int diff6 = tony_magic( analog_in_data[14], obs6 );
793 diff1_ave = instr_pot_filter( diff1_ave, diff1 );
794 diff2_ave = instr_pot_filter( diff2_ave, diff2 );
795 diff3_ave = instr_pot_filter( diff3_ave, diff3 );
796 diff4_ave = instr_pot_filter( diff4_ave, diff4 );
797 diff5_ave = instr_pot_filter( diff5_ave, diff5 );
798 diff6_ave = instr_pot_filter( diff6_ave, diff6 );
800 tmp = alt_press->getDoubleValue() + (diff1_ave * (0.25/888.0) );
801 if ( tmp < 27.9 ) { tmp = 27.9; }
802 if ( tmp > 31.4 ) { tmp = 31.4; }
803 fgSetFloat( "/instrumentation/altimeter/setting-inhg", tmp );
805 tmp = ati_bird->getDoubleValue() + (diff2_ave * (20.0/888.0) );
806 if ( tmp < -10.0 ) { tmp = -10.0; }
807 if ( tmp > 10.0 ) { tmp = 10.0; }
808 fgSetFloat( "/instrumentation/attitude-indicator/horizon-offset-deg", tmp );
810 tmp = nav1_obs->getDoubleValue() + (diff3_ave * (72.0/888.0) );
811 while ( tmp >= 360.0 ) { tmp -= 360.0; }
812 while ( tmp < 0.0 ) { tmp += 360.0; }
813 // cout << " obs = " << tmp << endl;
814 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp );
816 tmp = nav2_obs->getDoubleValue() + (diff4_ave * (72.0/888.0) );
817 while ( tmp >= 360.0 ) { tmp -= 360.0; }
818 while ( tmp < 0.0 ) { tmp += 360.0; }
819 // cout << " obs = " << tmp << endl;
820 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
822 tmp = adf_hdg->getDoubleValue() + (diff5_ave * (72.0/888.0) );
823 while ( tmp >= 360.0 ) { tmp -= 360.0; }
824 while ( tmp < 0.0 ) { tmp += 360.0; }
825 // cout << " obs = " << tmp << endl;
826 fgSetFloat( "/radios/kr-87/inputs/rotation-deg", tmp );
828 tmp = hdg_bug->getDoubleValue() + (diff6_ave * (72.0/888.0) );
829 while ( tmp >= 360.0 ) { tmp -= 360.0; }
830 while ( tmp < 0.0 ) { tmp += 360.0; }
831 // cout << " obs = " << tmp << endl;
832 fgSetFloat( "/autopilot/settings/heading-bug-deg", tmp );
838 /////////////////////////////////////////////////////////////////////
840 /////////////////////////////////////////////////////////////////////
842 bool FGATC610x::do_lights() {
845 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
846 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
847 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
850 ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
851 ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
852 ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
853 ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
854 ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
855 ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
857 // Transponder annunciators
858 ATC610xSetLamp( lamps_fd, 17, xpdr_fl_ann->getBoolValue() ); // FL
859 ATC610xSetLamp( lamps_fd, 18, xpdr_alt_ann->getBoolValue() ); // ALT
860 ATC610xSetLamp( lamps_fd, 19, xpdr_gnd_ann->getBoolValue() ); // GND
861 ATC610xSetLamp( lamps_fd, 20, xpdr_on_ann->getBoolValue() ); // ON
862 ATC610xSetLamp( lamps_fd, 21, xpdr_sby_ann->getBoolValue() ); // SBY
863 ATC610xSetLamp( lamps_fd, 22, xpdr_reply_ann->getBoolValue() ); // R
869 /////////////////////////////////////////////////////////////////////
870 // Read radio switches
871 /////////////////////////////////////////////////////////////////////
873 bool FGATC610x::do_radio_switches() {
874 double freq, coarse_freq, fine_freq, value;
877 ATC610xReadRadios( radios_fd, radio_switch_data );
880 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
881 if ( dme_switch == 0 ) {
883 fgSetInt( "/instrumentation/dme/switch-position", 0 );
884 } else if ( dme_switch == 2 ) {
886 fgSetInt( "/instrumentation/dme/switch-position", 1 );
887 fgSetString( "/instrumentation/dme/frequencies/source",
888 "/radios/nav[0]/frequencies/selected-mhz" );
889 freq = fgGetFloat( "/radios/nav[0]/frequencies/selected-mhz", true );
890 fgSetFloat( "/instrumentation/dme/frequencies/selected-mhz", freq );
891 } else if ( dme_switch == 1 ) {
893 fgSetInt( "/instrumentation/dme/switch-position", 3 );
894 fgSetString( "/instrumentation/dme/frequencies/source",
895 "/radios/nav[1]/frequencies/selected-mhz" );
896 freq = fgGetFloat( "/radios/nav[1]/frequencies/selected-mhz", true );
897 fgSetFloat( "/instrumentation/dme/frequencies/selected-mhz", freq );
901 fgSetBool( "/radios/comm[0]/inputs/power-btn",
902 radio_switch_data[7] & 0x01 );
904 if ( navcom1_has_power() && comm1_serviceable->getBoolValue() ) {
906 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
907 static int last_com1_swap;
908 if ( com1_swap && (last_com1_swap != com1_swap) ) {
909 float tmp = com1_freq->getFloatValue();
910 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
911 com1_stby_freq->getFloatValue() );
912 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
914 last_com1_swap = com1_swap;
918 fgSetBool( "/radios/comm[1]/inputs/power-btn",
919 radio_switch_data[15] & 0x01 );
921 if ( navcom2_has_power() && comm2_serviceable->getBoolValue() ) {
923 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
924 static int last_com2_swap;
925 if ( com2_swap && (last_com2_swap != com2_swap) ) {
926 float tmp = com2_freq->getFloatValue();
927 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
928 com2_stby_freq->getFloatValue() );
929 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
931 last_com2_swap = com2_swap;
934 if ( navcom1_has_power() && nav1_serviceable->getBoolValue() ) {
936 int nav1_swap = radio_switch_data[11] & 0x01;
937 static int last_nav1_swap;
938 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
939 float tmp = nav1_freq->getFloatValue();
940 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
941 nav1_stby_freq->getFloatValue() );
942 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
944 last_nav1_swap = nav1_swap;
947 if ( navcom2_has_power() && nav2_serviceable->getBoolValue() ) {
949 int nav2_swap = !(radio_switch_data[19] & 0x01);
950 static int last_nav2_swap;
951 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
952 float tmp = nav2_freq->getFloatValue();
953 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
954 nav2_stby_freq->getFloatValue() );
955 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
957 last_nav2_swap = nav2_swap;
960 if ( navcom1_has_power() && comm1_serviceable->getBoolValue() ) {
962 int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
963 int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
964 static int last_com1_tuner_fine = com1_tuner_fine;
965 static int last_com1_tuner_coarse = com1_tuner_coarse;
967 freq = com1_stby_freq->getFloatValue();
968 coarse_freq = (int)freq;
969 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
971 if ( com1_tuner_fine != last_com1_tuner_fine ) {
972 diff = com1_tuner_fine - last_com1_tuner_fine;
973 if ( abs(diff) > 4 ) {
975 if ( com1_tuner_fine < last_com1_tuner_fine ) {
977 diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
980 diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
985 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
986 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
988 if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
989 diff = com1_tuner_coarse - last_com1_tuner_coarse;
990 if ( abs(diff) > 4 ) {
992 if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
994 diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
997 diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
1000 coarse_freq += diff;
1002 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
1003 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
1005 last_com1_tuner_fine = com1_tuner_fine;
1006 last_com1_tuner_coarse = com1_tuner_coarse;
1008 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
1009 coarse_freq + fine_freq / 40.0 );
1012 if ( navcom2_has_power() && comm2_serviceable->getBoolValue() ) {
1014 int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
1015 int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
1016 static int last_com2_tuner_fine = com2_tuner_fine;
1017 static int last_com2_tuner_coarse = com2_tuner_coarse;
1019 freq = com2_stby_freq->getFloatValue();
1020 coarse_freq = (int)freq;
1021 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
1023 if ( com2_tuner_fine != last_com2_tuner_fine ) {
1024 diff = com2_tuner_fine - last_com2_tuner_fine;
1025 if ( abs(diff) > 4 ) {
1027 if ( com2_tuner_fine < last_com2_tuner_fine ) {
1029 diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
1032 diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
1037 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
1038 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
1040 if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
1041 diff = com2_tuner_coarse - last_com2_tuner_coarse;
1042 if ( abs(diff) > 4 ) {
1044 if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
1046 diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
1049 diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
1052 coarse_freq += diff;
1054 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
1055 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
1057 last_com2_tuner_fine = com2_tuner_fine;
1058 last_com2_tuner_coarse = com2_tuner_coarse;
1060 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
1061 coarse_freq + fine_freq / 40.0 );
1064 if ( navcom1_has_power() && nav1_serviceable->getBoolValue() ) {
1066 int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
1067 int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
1068 static int last_nav1_tuner_fine = nav1_tuner_fine;
1069 static int last_nav1_tuner_coarse = nav1_tuner_coarse;
1071 freq = nav1_stby_freq->getFloatValue();
1072 coarse_freq = (int)freq;
1073 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
1075 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
1076 diff = nav1_tuner_fine - last_nav1_tuner_fine;
1077 if ( abs(diff) > 4 ) {
1079 if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
1081 diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
1084 diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
1089 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
1090 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
1092 if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
1093 diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
1094 if ( abs(diff) > 4 ) {
1096 if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
1098 diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
1101 diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
1104 coarse_freq += diff;
1106 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
1107 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
1109 last_nav1_tuner_fine = nav1_tuner_fine;
1110 last_nav1_tuner_coarse = nav1_tuner_coarse;
1112 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
1113 coarse_freq + fine_freq / 20.0 );
1116 if ( navcom2_has_power() && nav2_serviceable->getBoolValue() ) {
1118 int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
1119 int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
1120 static int last_nav2_tuner_fine = nav2_tuner_fine;
1121 static int last_nav2_tuner_coarse = nav2_tuner_coarse;
1123 freq = nav2_stby_freq->getFloatValue();
1124 coarse_freq = (int)freq;
1125 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
1127 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
1128 diff = nav2_tuner_fine - last_nav2_tuner_fine;
1129 if ( abs(diff) > 4 ) {
1131 if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
1133 diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
1136 diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
1141 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
1142 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
1144 if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
1145 diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
1146 if ( abs(diff) > 4 ) {
1148 if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
1150 diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
1153 diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
1156 coarse_freq += diff;
1158 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
1159 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
1161 last_nav2_tuner_fine = nav2_tuner_fine;
1162 last_nav2_tuner_coarse = nav2_tuner_coarse;
1164 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
1165 coarse_freq + fine_freq / 20.0);
1170 int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
1171 int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
1172 static int last_adf_tuner_fine = adf_tuner_fine;
1173 static int last_adf_tuner_coarse = adf_tuner_coarse;
1175 if ( adf_has_power() && adf_serviceable->getBoolValue() ) {
1176 // cout << "adf_stby_mode = " << adf_stby_mode->getIntValue() << endl;
1177 if ( adf_count_mode->getIntValue() == 2 ) {
1178 // tune count down timer
1179 value = adf_elapsed_timer->getDoubleValue();
1182 if ( adf_stby_mode->getIntValue() == 1 ) {
1183 value = adf_freq->getFloatValue();
1185 value = adf_stby_freq->getFloatValue();
1189 if ( adf_tuner_fine != last_adf_tuner_fine ) {
1190 diff = adf_tuner_fine - last_adf_tuner_fine;
1191 if ( abs(diff) > 4 ) {
1193 if ( adf_tuner_fine < last_adf_tuner_fine ) {
1195 diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
1198 diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
1204 if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
1205 diff = adf_tuner_coarse - last_adf_tuner_coarse;
1206 if ( abs(diff) > 4 ) {
1208 if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
1210 diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
1213 diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
1216 if ( adf_count_mode->getIntValue() == 2 ) {
1222 if ( adf_count_mode->getIntValue() == 2 ) {
1223 if ( value < 0 ) { value += 3600; }
1224 if ( value > 3599 ) { value -= 3600; }
1226 if ( value < 200 ) { value += 1600; }
1227 if ( value > 1799 ) { value -= 1600; }
1230 if ( adf_count_mode->getIntValue() == 2 ) {
1231 fgSetFloat( "/radios/kr-87/outputs/elapsed-timer", value );
1233 if ( adf_stby_mode->getIntValue() == 1 ) {
1234 fgSetFloat( "/radios/kr-87/outputs/selected-khz", value );
1236 fgSetFloat( "/radios/kr-87/outputs/standby-khz", value );
1240 last_adf_tuner_fine = adf_tuner_fine;
1241 last_adf_tuner_coarse = adf_tuner_coarse;
1245 fgSetInt( "/radios/kr-87/inputs/adf-btn",
1246 !(radio_switch_data[23] & 0x01) );
1247 fgSetInt( "/radios/kr-87/inputs/bfo-btn",
1248 !(radio_switch_data[23] >> 1 & 0x01) );
1249 fgSetInt( "/radios/kr-87/inputs/frq-btn",
1250 !(radio_switch_data[23] >> 2 & 0x01) );
1251 fgSetInt( "/radios/kr-87/inputs/flt-et-btn",
1252 !(radio_switch_data[23] >> 3 & 0x01) );
1253 fgSetInt( "/radios/kr-87/inputs/set-rst-btn",
1254 !(radio_switch_data[23] >> 4 & 0x01) );
1255 fgSetInt( "/radios/kr-87/inputs/power-btn",
1256 radio_switch_data[23] >> 5 & 0x01 );
1257 /* cout << "adf = " << !(radio_switch_data[23] & 0x01)
1258 << " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
1259 << " frq = " << !(radio_switch_data[23] >> 2 & 0x01)
1260 << " flt/et = " << !(radio_switch_data[23] >> 3 & 0x01)
1261 << " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
1264 // Transponder Tuner
1267 digit_tuner[0] = radio_switch_data[25] & 0x0f;
1268 digit_tuner[1] = ( radio_switch_data[25] >> 4 ) & 0x0f;
1269 digit_tuner[2] = radio_switch_data[29] & 0x0f;
1270 digit_tuner[3] = ( radio_switch_data[29] >> 4 ) & 0x0f;
1272 static int last_digit_tuner[4];
1273 static bool first_time = true;
1276 for ( i = 0; i < 4; ++i ) {
1277 last_digit_tuner[i] = digit_tuner[i];
1281 if ( xpdr_has_power() && xpdr_serviceable->getBoolValue() ) {
1282 int id_code = xpdr_id_code->getIntValue();
1285 for ( i = 0; i < 4; ++i ) {
1286 digit[i] = id_code / place;
1287 id_code -= digit[i] * place;
1291 for ( i = 0; i < 4; ++i ) {
1292 if ( digit_tuner[i] != last_digit_tuner[i] ) {
1293 diff = digit_tuner[i] - last_digit_tuner[i];
1294 if ( abs(diff) > 4 ) {
1296 if ( digit_tuner[i] < last_digit_tuner[i] ) {
1298 diff = 15 - last_digit_tuner[i] + digit_tuner[i];
1301 diff = digit_tuner[i] - 15 - last_digit_tuner[i];
1306 while ( digit[i] >= 8 ) { digit[i] -= 8; }
1307 while ( digit[i] < 0 ) { digit[i] += 8; }
1310 fgSetInt( "/radios/kt-70/inputs/digit1", digit[0] );
1311 fgSetInt( "/radios/kt-70/inputs/digit2", digit[1] );
1312 fgSetInt( "/radios/kt-70/inputs/digit3", digit[2] );
1313 fgSetInt( "/radios/kt-70/inputs/digit4", digit[3] );
1315 for ( i = 0; i < 4; ++i ) {
1316 last_digit_tuner[i] = digit_tuner[i];
1320 for ( i = 0; i < 5; ++i ) {
1321 if ( radio_switch_data[27] >> i & 0x01 ) {
1325 fgSetInt( "/radios/kt-70/inputs/func-knob", tmp );
1326 fgSetInt( "/radios/kt-70/inputs/ident-btn",
1327 !(radio_switch_data[27] >> 5 & 0x01) );
1329 // Audio panel switches
1330 fgSetInt( "/radios/nav[0]/audio-btn",
1331 (radio_switch_data[3] & 0x01) );
1332 fgSetInt( "/radios/nav[1]/audio-btn",
1333 (radio_switch_data[3] >> 2 & 0x01) );
1334 fgSetInt( "/radios/kr-87/inputs/audio-btn",
1335 (radio_switch_data[3] >> 4 & 0x01) );
1336 fgSetInt( "/radios/marker-beacon/audio-btn",
1337 (radio_switch_data[3] >> 6 & 0x01) );
1343 /////////////////////////////////////////////////////////////////////
1344 // Update the radio display
1345 /////////////////////////////////////////////////////////////////////
1347 bool FGATC610x::do_radio_display() {
1352 if ( dme_has_power() && dme_serviceable->getBoolValue() ) {
1353 if ( dme_in_range->getBoolValue() ) {
1355 float minutes = dme_min->getFloatValue();
1356 if ( minutes > 999 ) {
1359 snprintf(digits, 7, "%03.0f", minutes);
1360 for ( i = 0; i < 6; ++i ) {
1363 radio_display_data[0] = digits[1] << 4 | digits[2];
1364 radio_display_data[1] = 0xf0 | digits[0];
1367 float knots = dme_kt->getFloatValue();
1368 if ( knots > 999 ) {
1371 snprintf(digits, 7, "%03.0f", knots);
1372 for ( i = 0; i < 6; ++i ) {
1375 radio_display_data[2] = digits[1] << 4 | digits[2];
1376 radio_display_data[3] = 0xf0 | digits[0];
1378 // DME distance (nm)
1379 float nm = dme_nm->getFloatValue();
1383 snprintf(digits, 7, "%04.1f", nm);
1384 for ( i = 0; i < 6; ++i ) {
1387 radio_display_data[4] = digits[1] << 4 | digits[3];
1388 radio_display_data[5] = 0x00 | digits[0];
1389 // the 0x00 in the upper nibble of the 6th byte of each
1390 // display turns on the decimal point
1393 radio_display_data[0] = 0xbb;
1394 radio_display_data[1] = 0xfb;
1395 radio_display_data[2] = 0xbb;
1396 radio_display_data[3] = 0xfb;
1397 radio_display_data[4] = 0xbb;
1398 radio_display_data[5] = 0x0b;
1401 // blank dem display
1402 for ( i = 0; i < 6; ++i ) {
1403 radio_display_data[i] = 0xff;
1407 if ( navcom1_has_power() && comm1_serviceable->getBoolValue() ) {
1408 // Com1 standby frequency
1409 float com1_stby = com1_stby_freq->getFloatValue();
1410 if ( fabs(com1_stby) > 999.99 ) {
1413 snprintf(digits, 7, "%06.3f", com1_stby);
1414 for ( i = 0; i < 6; ++i ) {
1417 radio_display_data[6] = digits[4] << 4 | digits[5];
1418 radio_display_data[7] = digits[1] << 4 | digits[2];
1419 radio_display_data[8] = 0xf0 | digits[0];
1421 // Com1 in use frequency
1422 float com1 = com1_freq->getFloatValue();
1423 if ( fabs(com1) > 999.99 ) {
1426 snprintf(digits, 7, "%06.3f", com1);
1427 for ( i = 0; i < 6; ++i ) {
1430 radio_display_data[9] = digits[4] << 4 | digits[5];
1431 radio_display_data[10] = digits[1] << 4 | digits[2];
1432 radio_display_data[11] = 0x00 | digits[0];
1433 // the 0x00 in the upper nibble of the 6th byte of each display
1434 // turns on the decimal point
1436 radio_display_data[6] = 0xff;
1437 radio_display_data[7] = 0xff;
1438 radio_display_data[8] = 0xff;
1439 radio_display_data[9] = 0xff;
1440 radio_display_data[10] = 0xff;
1441 radio_display_data[11] = 0xff;
1444 if ( navcom2_has_power() && comm2_serviceable->getBoolValue() ) {
1445 // Com2 standby frequency
1446 float com2_stby = com2_stby_freq->getFloatValue();
1447 if ( fabs(com2_stby) > 999.99 ) {
1450 snprintf(digits, 7, "%06.3f", com2_stby);
1451 for ( i = 0; i < 6; ++i ) {
1454 radio_display_data[18] = digits[4] << 4 | digits[5];
1455 radio_display_data[19] = digits[1] << 4 | digits[2];
1456 radio_display_data[20] = 0xf0 | digits[0];
1458 // Com2 in use frequency
1459 float com2 = com2_freq->getFloatValue();
1460 if ( fabs(com2) > 999.99 ) {
1463 snprintf(digits, 7, "%06.3f", com2);
1464 for ( i = 0; i < 6; ++i ) {
1467 radio_display_data[21] = digits[4] << 4 | digits[5];
1468 radio_display_data[22] = digits[1] << 4 | digits[2];
1469 radio_display_data[23] = 0x00 | digits[0];
1470 // the 0x00 in the upper nibble of the 6th byte of each display
1471 // turns on the decimal point
1473 radio_display_data[18] = 0xff;
1474 radio_display_data[19] = 0xff;
1475 radio_display_data[20] = 0xff;
1476 radio_display_data[21] = 0xff;
1477 radio_display_data[22] = 0xff;
1478 radio_display_data[23] = 0xff;
1481 if ( navcom1_has_power() && nav1_serviceable->getBoolValue() ) {
1482 // Nav1 standby frequency
1483 float nav1_stby = nav1_stby_freq->getFloatValue();
1484 if ( fabs(nav1_stby) > 999.99 ) {
1487 snprintf(digits, 7, "%06.2f", nav1_stby);
1488 for ( i = 0; i < 6; ++i ) {
1491 radio_display_data[12] = digits[4] << 4 | digits[5];
1492 radio_display_data[13] = digits[1] << 4 | digits[2];
1493 radio_display_data[14] = 0xf0 | digits[0];
1495 // Nav1 in use frequency
1496 float nav1 = nav1_freq->getFloatValue();
1497 if ( fabs(nav1) > 999.99 ) {
1500 snprintf(digits, 7, "%06.2f", nav1);
1501 for ( i = 0; i < 6; ++i ) {
1504 radio_display_data[15] = digits[4] << 4 | digits[5];
1505 radio_display_data[16] = digits[1] << 4 | digits[2];
1506 radio_display_data[17] = 0x00 | digits[0];
1507 // the 0x00 in the upper nibble of the 6th byte of each display
1508 // turns on the decimal point
1510 radio_display_data[12] = 0xff;
1511 radio_display_data[13] = 0xff;
1512 radio_display_data[14] = 0xff;
1513 radio_display_data[15] = 0xff;
1514 radio_display_data[16] = 0xff;
1515 radio_display_data[17] = 0xff;
1518 if ( navcom2_has_power() && nav2_serviceable->getBoolValue() ) {
1519 // Nav2 standby frequency
1520 float nav2_stby = nav2_stby_freq->getFloatValue();
1521 if ( fabs(nav2_stby) > 999.99 ) {
1524 snprintf(digits, 7, "%06.2f", nav2_stby);
1525 for ( i = 0; i < 6; ++i ) {
1528 radio_display_data[24] = digits[4] << 4 | digits[5];
1529 radio_display_data[25] = digits[1] << 4 | digits[2];
1530 radio_display_data[26] = 0xf0 | digits[0];
1532 // Nav2 in use frequency
1533 float nav2 = nav2_freq->getFloatValue();
1534 if ( fabs(nav2) > 999.99 ) {
1537 snprintf(digits, 7, "%06.2f", nav2);
1538 for ( i = 0; i < 6; ++i ) {
1541 radio_display_data[27] = digits[4] << 4 | digits[5];
1542 radio_display_data[28] = digits[1] << 4 | digits[2];
1543 radio_display_data[29] = 0x00 | digits[0];
1544 // the 0x00 in the upper nibble of the 6th byte of each display
1545 // turns on the decimal point
1547 radio_display_data[24] = 0xff;
1548 radio_display_data[25] = 0xff;
1549 radio_display_data[26] = 0xff;
1550 radio_display_data[27] = 0xff;
1551 radio_display_data[28] = 0xff;
1552 radio_display_data[29] = 0xff;
1555 // ADF standby frequency / timer
1556 if ( adf_has_power() && adf_serviceable->getBoolValue() ) {
1557 if ( adf_stby_mode->getIntValue() == 0 ) {
1559 float adf_stby = adf_stby_freq->getFloatValue();
1560 if ( fabs(adf_stby) > 1799 ) {
1563 snprintf(digits, 7, "%04.0f", adf_stby);
1564 for ( i = 0; i < 6; ++i ) {
1567 radio_display_data[30] = digits[3] << 4 | 0x0f;
1568 radio_display_data[31] = digits[1] << 4 | digits[2];
1569 if ( digits[0] == 0 ) {
1570 radio_display_data[32] = 0xff;
1572 radio_display_data[32] = 0xf0 | digits[0];
1577 int hours, min, sec;
1578 if ( adf_timer_mode->getIntValue() == 0 ) {
1579 time = adf_flight_timer->getDoubleValue();
1581 time = adf_elapsed_timer->getDoubleValue();
1583 // cout << time << endl;
1584 hours = (int)(time / 3600.0);
1585 time -= hours * 3600.00;
1586 min = (int)(time / 60.0);
1603 // cout << big << ":" << little << endl;
1604 snprintf(digits, 7, "%02d%02d", big, little);
1605 for ( i = 0; i < 6; ++i ) {
1608 radio_display_data[30] = digits[2] << 4 | digits[3];
1609 radio_display_data[31] = digits[0] << 4 | digits[1];
1610 radio_display_data[32] = 0xff;
1613 // ADF in use frequency
1614 float adf = adf_freq->getFloatValue();
1615 if ( fabs(adf) > 1799 ) {
1618 snprintf(digits, 7, "%04.0f", adf);
1619 for ( i = 0; i < 6; ++i ) {
1622 radio_display_data[33] = digits[2] << 4 | digits[3];
1623 if ( digits[0] == 0 ) {
1624 radio_display_data[34] = 0xf0 | digits[1];
1626 radio_display_data[34] = digits[0] << 4 | digits[1];
1628 if ( adf_stby_mode->getIntValue() == 0 ) {
1629 radio_display_data[35] = 0xff;
1631 radio_display_data[35] = 0x0f;
1634 radio_display_data[30] = 0xff;
1635 radio_display_data[31] = 0xff;
1636 radio_display_data[32] = 0xff;
1637 radio_display_data[33] = 0xff;
1638 radio_display_data[34] = 0xff;
1639 radio_display_data[35] = 0xff;
1642 // Transponder code and flight level
1643 if ( xpdr_has_power() && xpdr_serviceable->getBoolValue() ) {
1644 if ( xpdr_func_knob->getIntValue() == 2 ) {
1646 radio_display_data[36] = 8 << 4 | 8;
1647 radio_display_data[37] = 8 << 4 | 8;
1648 radio_display_data[38] = 0xff;
1649 radio_display_data[39] = 8 << 4 | 0x0f;
1650 radio_display_data[40] = 8 << 4 | 8;
1653 int id_code = xpdr_id_code->getIntValue();
1655 for ( i = 0; i < 4; ++i ) {
1656 digits[i] = id_code / place;
1657 id_code -= digits[i] * place;
1660 radio_display_data[36] = digits[2] << 4 | digits[3];
1661 radio_display_data[37] = digits[0] << 4 | digits[1];
1662 radio_display_data[38] = 0xff;
1664 if ( xpdr_func_knob->getIntValue() == 3 ||
1665 xpdr_func_knob->getIntValue() == 5 )
1667 // do flight level display
1668 snprintf(digits, 7, "%03d", xpdr_flight_level->getIntValue() );
1669 for ( i = 0; i < 6; ++i ) {
1672 radio_display_data[39] = digits[2] << 4 | 0x0f;
1673 radio_display_data[40] = digits[0] << 4 | digits[1];
1675 // blank flight level display
1676 radio_display_data[39] = 0xff;
1677 radio_display_data[40] = 0xff;
1682 radio_display_data[36] = 0xff;
1683 radio_display_data[37] = 0xff;
1684 radio_display_data[38] = 0xff;
1685 radio_display_data[39] = 0xff;
1686 radio_display_data[40] = 0xff;
1689 ATC610xSetRadios( radios_fd, radio_display_data );
1695 /////////////////////////////////////////////////////////////////////
1696 // Drive the stepper motors
1697 /////////////////////////////////////////////////////////////////////
1699 bool FGATC610x::do_steppers() {
1700 float diff = mag_compass->getFloatValue() - compass_position;
1701 while ( diff < -180.0 ) { diff += 360.0; }
1702 while ( diff > 180.0 ) { diff -= 360.0; }
1704 int steps = (int)(diff * 4);
1705 // cout << "steps = " << steps << endl;
1706 if ( steps > 4 ) { steps = 4; }
1707 if ( steps < -4 ) { steps = -4; }
1709 if ( abs(steps) > 0 ) {
1710 unsigned char cmd = 0x80; // stepper command
1712 cmd |= 0x20; // go up
1714 cmd |= 0x00; // go down
1718 // sync compass_position with hardware position
1719 compass_position += (float)steps / 4.0;
1721 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1728 /////////////////////////////////////////////////////////////////////
1729 // Read the switch positions
1730 /////////////////////////////////////////////////////////////////////
1732 // decode the packed switch data
1733 static void update_switch_matrix(
1735 unsigned char switch_data[ATC_SWITCH_BYTES],
1736 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1738 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1739 unsigned char switches = switch_data[row];
1741 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1742 switch_matrix[board][column][row] = switches & 1;
1743 switches = switches >> 1;
1748 bool FGATC610x::do_switches() {
1749 ATC610xReadSwitches( switches_fd, switch_data );
1751 // unpack the switch data
1752 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1753 update_switch_matrix( board, switch_data, switch_matrix );
1756 fgSetBool( "/controls/switches/master-bat", switch_matrix[board][5][1] );
1757 fgSetBool( "/controls/switches/master-alt", switch_matrix[board][4][1] );
1758 fgSetBool( "/controls/switches/master-avionics",
1759 switch_matrix[board][0][3] );
1761 // magnetos and starter switch
1763 bool starter = false;
1764 if ( switch_matrix[board][3][1] == 1 ) {
1767 } else if ( switch_matrix[board][2][1] == 1 ) {
1770 } else if ( switch_matrix[board][1][1] == 1 ) {
1773 } else if ( switch_matrix[board][0][1] == 1 ) {
1781 // do a bit of filtering on the magneto/starter switch and the
1782 // flap lever because these are not well debounced in hardware
1783 static int mag1, mag2, mag3;
1787 if ( mag1 == mag2 && mag2 == mag3 ) {
1788 fgSetInt( "/controls/engines/engine[0]/magnetos", magnetos );
1790 static bool start1, start2, start3;
1794 if ( start1 == start2 && start2 == start3 ) {
1795 fgSetBool( "/controls/engines/engine[0]/starter", starter );
1798 // other toggle switches
1799 fgSetBool( "/controls/engines/engine[0]/fuel-pump",
1800 switch_matrix[board][0][2] );
1801 fgSetBool( "/controls/switches/flashing-beacon",
1802 switch_matrix[board][1][2] );
1803 fgSetBool( "/controls/switches/landing-light", switch_matrix[board][2][2] );
1804 fgSetBool( "/controls/switches/taxi-lights", switch_matrix[board][3][2] );
1805 fgSetBool( "/controls/switches/nav-lights",
1806 switch_matrix[board][4][2] );
1807 fgSetBool( "/controls/switches/strobe-lights", switch_matrix[board][5][2] );
1808 fgSetBool( "/controls/switches/pitot-heat", switch_matrix[board][6][2] );
1812 if ( switch_matrix[board][6][3] ) {
1814 } else if ( switch_matrix[board][5][3] ) {
1816 } else if ( switch_matrix[board][4][3] ) {
1818 } else if ( !switch_matrix[board][4][3] ) {
1822 // do a bit of filtering on the magneto/starter switch and the
1823 // flap lever because these are not well debounced in hardware
1824 static float flap1, flap2, flap3;
1828 if ( flap1 == flap2 && flap2 == flap3 ) {
1829 fgSetFloat( "/controls/flight/flaps", flaps );
1832 // fuel selector (also filtered)
1834 if ( switch_matrix[board][2][3] ) {
1837 } else if ( switch_matrix[board][1][3] ) {
1840 } else if ( switch_matrix[board][3][3] ) {
1848 static int fuel1, fuel2, fuel3;
1852 if ( fuel1 == fuel2 && fuel2 == fuel3 ) {
1853 fgSetBool( "/controls/fuel/tank[0]/fuel_selector", (fuel & 0x01) > 0 );
1854 fgSetBool( "/controls/fuel/tank[1]/fuel_selector", (fuel & 0x02) > 0 );
1858 #ifdef ATC_SUPPORT_CIRCUIT_BREAKERS_NOT_THE_DEFAULT
1859 fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr",
1860 switch_matrix[board][0][0] );
1861 fgSetBool( "/controls/circuit-breakers/instr-ignition-switch",
1862 switch_matrix[board][1][0] );
1863 fgSetBool( "/controls/circuit-breakers/flaps",
1864 switch_matrix[board][2][0] );
1865 fgSetBool( "/controls/circuit-breakers/avn-bus-1",
1866 switch_matrix[board][3][0] );
1867 fgSetBool( "/controls/circuit-breakers/avn-bus-2",
1868 switch_matrix[board][4][0] );
1869 fgSetBool( "/controls/circuit-breakers/turn-coordinator",
1870 switch_matrix[board][5][0] );
1871 fgSetBool( "/controls/circuit-breakers/instrument-lights",
1872 switch_matrix[board][6][0] );
1873 fgSetBool( "/controls/circuit-breakers/annunciators",
1874 switch_matrix[board][7][0] );
1876 fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr", true );
1877 fgSetBool( "/controls/circuit-breakers/instr-ignition-switch", true );
1878 fgSetBool( "/controls/circuit-breakers/flaps", true );
1879 fgSetBool( "/controls/circuit-breakers/avn-bus-1", true );
1880 fgSetBool( "/controls/circuit-breakers/avn-bus-2", true );
1881 fgSetBool( "/controls/circuit-breakers/turn-coordinator", true );
1882 fgSetBool( "/controls/circuit-breakers/instrument-lights", true );
1883 fgSetBool( "/controls/circuit-breakers/annunciators", true );
1886 fgSetDouble( "/controls/gear/parking-brake",
1887 switch_matrix[board][7][3] );
1888 fgSetDouble( "/radios/marker-beacon/power-btn",
1889 switch_matrix[board][6][1] );
1895 bool FGATC610x::process() {
1896 // Lock the hardware, skip if it's not ready yet
1897 if ( ATC610xLock( lock_fd ) > 0 ) {
1901 do_radio_switches();
1906 ATC610xRelease( lock_fd );
1915 bool FGATC610x::close() {