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"
56 // Lock the ATC 610 hardware
57 static int ATC610xLock( int fd ) {
59 lseek( fd, 0, SEEK_SET );
62 int result = read( fd, tmp, 1 );
64 SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
71 // Write a radios command
72 static int ATC610xRelease( int fd ) {
74 lseek( fd, 0, SEEK_SET );
78 int result = write( fd, tmp, 1 );
81 SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
89 static void ATC610xReadAnalogInputs( int fd, unsigned char *analog_in_bytes ) {
91 lseek( fd, 0, SEEK_SET );
93 int result = read( fd, analog_in_bytes, ATC_ANAL_IN_BYTES );
94 if ( result != ATC_ANAL_IN_BYTES ) {
95 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
101 // Write a radios command
102 static int ATC610xSetRadios( int fd,
103 unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
106 lseek( fd, 0, SEEK_SET );
108 int result = write( fd, data, ATC_RADIO_DISPLAY_BYTES );
110 if ( result != ATC_RADIO_DISPLAY_BYTES ) {
111 SG_LOG( SG_IO, SG_DEBUG, "Write failed" );
118 // Read status of last radios written to
119 static void ATC610xReadRadios( int fd, unsigned char *switch_data ) {
121 lseek( fd, 0, SEEK_SET );
123 int result = read( fd, switch_data, ATC_RADIO_SWITCH_BYTES );
124 if ( result != ATC_RADIO_SWITCH_BYTES ) {
125 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
130 // Write a stepper command
131 static int ATC610xSetStepper( int fd, unsigned char channel,
132 unsigned char value )
135 lseek( fd, 0, SEEK_SET );
138 unsigned char buf[3];
142 int result = write( fd, buf, 2 );
144 SG_LOG( SG_IO, SG_INFO, "Write failed" );
146 SG_LOG( SG_IO, SG_DEBUG,
147 "Sent cmd = " << (int)channel << " value = " << (int)value );
152 // Read status of last stepper written to
153 static unsigned char ATC610xReadStepper( int fd ) {
157 lseek( fd, 0, SEEK_SET );
160 unsigned char buf[2];
161 result = read( fd, buf, 1 );
163 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
166 SG_LOG( SG_IO, SG_DEBUG, "Read result = " << (int)buf[0] );
172 // Read switch inputs
173 static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
175 lseek( fd, 0, SEEK_SET );
177 int result = read( fd, switch_bytes, ATC_SWITCH_BYTES );
178 if ( result != ATC_SWITCH_BYTES ) {
179 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
185 // Turn a lamp on or off
186 void ATC610xSetLamp( int fd, int channel, bool value ) {
187 // lamp channels 0-63 are written to LampPort0, channels 64-127
188 // are written to LampPort1
190 // bits 0-6 are the lamp address
191 // bit 7 is the value (on/off)
196 unsigned char buf[3];
200 result = write( fd, buf, 2 );
202 SG_LOG( SG_IO, SG_ALERT, "Write failed" );
208 void FGATC610x::init_config() {
209 #if defined( unix ) || defined( __CYGWIN__ )
210 // Next check home directory for .fgfsrc.hostname file
211 char *envp = ::getenv( "HOME" );
212 if ( envp != NULL ) {
213 SGPath atc610x_config( envp );
214 atc610x_config.append( ".fgfs-atc610x.xml" );
215 readProperties( atc610x_config.str(), globals->get_props() );
221 // Open and initialize ATC 610x hardware
222 bool FGATC610x::open() {
223 if ( is_enabled() ) {
224 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
225 << "is already in use, ignoring" );
229 // This loads the config parameters generated by "simcal"
232 SG_LOG( SG_IO, SG_ALERT,
233 "Initializing ATC 610x hardware, please wait ..." );
235 set_hz( 30 ); // default to processing requests @ 30Hz
238 board = 0; // 610x uses a single board number = 0
240 snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
241 snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
242 snprintf( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
243 snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
244 snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
245 snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
247 /////////////////////////////////////////////////////////////////////
248 // Open the /proc files
249 /////////////////////////////////////////////////////////////////////
251 lock_fd = ::open( lock_file, O_RDWR );
252 if ( lock_fd == -1 ) {
253 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
255 snprintf( msg, 256, "Error opening %s", lock_file );
260 analog_in_fd = ::open( analog_in_file, O_RDONLY );
261 if ( analog_in_fd == -1 ) {
262 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
264 snprintf( msg, 256, "Error opening %s", analog_in_file );
269 lamps_fd = ::open( lamps_file, O_WRONLY );
270 if ( lamps_fd == -1 ) {
271 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
273 snprintf( msg, 256, "Error opening %s", lamps_file );
278 radios_fd = ::open( radios_file, O_RDWR );
279 if ( radios_fd == -1 ) {
280 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
282 snprintf( msg, 256, "Error opening %s", radios_file );
287 stepper_fd = ::open( stepper_file, O_RDWR );
288 if ( stepper_fd == -1 ) {
289 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
291 snprintf( msg, 256, "Error opening %s", stepper_file );
296 switches_fd = ::open( switches_file, O_RDONLY );
297 if ( switches_fd == -1 ) {
298 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
300 snprintf( msg, 256, "Error opening %s", switches_file );
305 /////////////////////////////////////////////////////////////////////
306 // Home the compass stepper motor
307 /////////////////////////////////////////////////////////////////////
309 SG_LOG( SG_IO, SG_ALERT,
310 " - Homing the compass stepper motor" );
312 // Lock the hardware, keep trying until we succeed
313 while ( ATC610xLock( lock_fd ) <= 0 );
315 // Send the stepper home command
316 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
318 // Release the hardware
319 ATC610xRelease( lock_fd );
321 SG_LOG( SG_IO, SG_ALERT,
322 " - Waiting for compass to come home." );
325 int timeout = 900; // about 30 seconds
327 while ( ! home && timeout > 0 ) {
328 if ( timeout % 150 == 0 ) {
329 SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
331 SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
334 while ( ATC610xLock( lock_fd ) <= 0 );
336 unsigned char result = ATC610xReadStepper( stepper_fd );
341 ATC610xRelease( lock_fd );
343 #if defined( _MSC_VER )
344 ulMilliSecondSleep(33);
345 #elif defined (WIN32) && !defined(__CYGWIN__)
354 compass_position = 0.0;
356 /////////////////////////////////////////////////////////////////////
357 // Blank the radio display
358 /////////////////////////////////////////////////////////////////////
360 SG_LOG( SG_IO, SG_ALERT,
361 " - Clearing the radios displays." );
364 unsigned char value = 0xff;
365 for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
366 radio_display_data[channel] = value;
369 // Lock the hardware, keep trying until we succeed
370 while ( ATC610xLock( lock_fd ) <= 0 );
373 ATC610xSetRadios( radios_fd, radio_display_data );
375 ATC610xRelease( lock_fd );
377 /////////////////////////////////////////////////////////////////////
379 /////////////////////////////////////////////////////////////////////
381 for ( int i = 0; i < 128; ++i ) {
382 ATC610xSetLamp( lamps_fd, i, false );
385 /////////////////////////////////////////////////////////////////////
386 // Finished initing hardware
387 /////////////////////////////////////////////////////////////////////
389 SG_LOG( SG_IO, SG_ALERT,
390 "Done initializing ATC 610x hardware." );
392 /////////////////////////////////////////////////////////////////////
393 // Connect up to property values
394 /////////////////////////////////////////////////////////////////////
396 mag_compass = fgGetNode( "/steam/mag-compass-deg", true );
398 dme_min = fgGetNode( "/radios/dme/ete-min", true );
399 dme_kt = fgGetNode( "/radios/dme/speed-kt", true );
400 dme_nm = fgGetNode( "/radios/dme/distance-nm", true );
402 adf_bus_power = fgGetNode( "/systems/electrical/outputs/adf", true );
403 dme_bus_power = fgGetNode( "/systems/electrical/outputs/dme", true );
404 navcom1_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[0]",
406 navcom2_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[1]",
408 xpdr_bus_power = fgGetNode( "/systems/electrical/outputs/transponder",
411 navcom1_power_btn = fgGetNode( "/radios/comm[0]/inputs/power-btn", true );
412 navcom2_power_btn = fgGetNode( "/radios/comm[1]/inputs/power-btn", true );
414 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
416 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
418 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
420 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
422 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
424 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
425 nav1_obs = fgGetNode( "/radios/nav[0]/radials/selected-deg", true );
427 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
429 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
430 nav2_obs = fgGetNode( "/radios/nav[1]/radials/selected-deg", true );
432 adf_power_btn = fgGetNode( "/radios/kr-87/inputs/power-btn", true );
433 adf_vol = fgGetNode( "/radios/kr-87/inputs/volume", true );
434 adf_adf_btn = fgGetNode( "/radios/kr-87/inputs/adf-btn", true );
435 adf_bfo_btn = fgGetNode( "/radios/kr-87/inputs/bfo-btn", true );
436 adf_freq = fgGetNode( "/radios/kr-87/outputs/selected-khz", true );
437 adf_stby_freq = fgGetNode( "/radios/kr-87/outputs/standby-khz", true );
438 adf_stby_mode = fgGetNode( "/radios/kr-87/modes/stby", true );
439 adf_timer_mode = fgGetNode( "/radios/kr-87/modes/timer", true );
440 adf_count_mode = fgGetNode( "/radios/kr-87/modes/count", true );
441 adf_flight_timer = fgGetNode( "/radios/kr-87/outputs/flight-timer", true );
442 adf_elapsed_timer = fgGetNode( "/radios/kr-87/outputs/elapsed-timer",
444 adf_ant_ann = fgGetNode( "/radios/kr-87/annunciators/ant", true );
445 adf_adf_ann = fgGetNode( "/radios/kr-87/annunciators/adf", true );
446 adf_bfo_ann = fgGetNode( "/radios/kr-87/annunciators/bfo", true );
447 adf_frq_ann = fgGetNode( "/radios/kr-87/annunciators/frq", true );
448 adf_flt_ann = fgGetNode( "/radios/kr-87/annunciators/flt", true );
449 adf_et_ann = fgGetNode( "/radios/kr-87/annunciators/et", true );
451 inner = fgGetNode( "/radios/marker-beacon/inner", true );
452 middle = fgGetNode( "/radios/marker-beacon/middle", true );
453 outer = fgGetNode( "/radios/marker-beacon/outer", true );
455 xpdr_ident_btn = fgGetNode( "/radios/kt-70/inputs/ident-btn", true );
456 xpdr_digit1 = fgGetNode( "/radios/kt-70/inputs/digit1", true );
457 xpdr_digit2 = fgGetNode( "/radios/kt-70/inputs/digit2", true );
458 xpdr_digit3 = fgGetNode( "/radios/kt-70/inputs/digit3", true );
459 xpdr_digit4 = fgGetNode( "/radios/kt-70/inputs/digit4", true );
460 xpdr_func_knob = fgGetNode( "/radios/kt-70/inputs/func-knob", true );
461 xpdr_id_code = fgGetNode( "/radios/kt-70/outputs/id-code", true );
462 xpdr_flight_level = fgGetNode( "/radios/kt-70/outputs/flight-level", true );
463 xpdr_fl_ann = fgGetNode( "/radios/kt-70/annunciators/fl", true );
464 xpdr_alt_ann = fgGetNode( "/radios/kt-70/annunciators/alt", true );
465 xpdr_gnd_ann = fgGetNode( "/radios/kt-70/annunciators/gnd", true );
466 xpdr_on_ann = fgGetNode( "/radios/kt-70/annunciators/on", true );
467 xpdr_sby_ann = fgGetNode( "/radios/kt-70/annunciators/sby", true );
468 xpdr_reply_ann = fgGetNode( "/radios/kt-70/annunciators/reply", true );
470 elevator_center = fgGetNode( "/input/atc610x/elevator/center", 0 );
471 elevator_min = fgGetNode( "/input/atc610x/elevator/min", 0 );
472 elevator_max = fgGetNode( "/input/atc610x/elevator/max", 0 );
474 ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", 0 );
475 ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", 0 );
476 ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", 0 );
478 rudder_center = fgGetNode( "/input/atc610x/rudder/center", 0 );
479 rudder_min = fgGetNode( "/input/atc610x/rudder/min", 0 );
480 rudder_max = fgGetNode( "/input/atc610x/rudder/max", 0 );
482 throttle_min = fgGetNode( "/input/atc610x/throttle/min", 0 );
483 throttle_max = fgGetNode( "/input/atc610x/throttle/max", 0 );
485 mixture_min = fgGetNode( "/input/atc610x/mixture/min", 0 );
486 mixture_max = fgGetNode( "/input/atc610x/mixture/max", 0 );
488 trim_center = fgGetNode( "/input/atc610x/trim/center", 0 );
489 trim_min = fgGetNode( "/input/atc610x/trim/min", 0 );
490 trim_max = fgGetNode( "/input/atc610x/trim/max", 0 );
492 nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", 0 );
493 nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", 0 );
495 nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", 0 );
496 nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", 0 );
502 /////////////////////////////////////////////////////////////////////
503 // Read analog inputs
504 /////////////////////////////////////////////////////////////////////
506 // scale a number between min and max (with center defined) to a scale
508 static double scale( int center, int min, int max, int value ) {
509 // cout << center << " " << min << " " << max << " " << value << " ";
513 if ( value <= center ) {
514 range = center - min;
515 result = (value - center) / range;
517 range = max - center;
518 result = (value - center) / range;
521 if ( result < -1.0 ) result = -1.0;
522 if ( result > 1.0 ) result = 1.0;
524 // cout << result << endl;
530 // scale a number between min and max to a scale from 0.0 to 1.0
531 static double scale( int min, int max, int value ) {
532 // cout << center << " " << min << " " << max << " " << value << " ";
537 result = (value - min) / range;
539 if ( result < 0.0 ) result = 0.0;
540 if ( result > 1.0 ) result = 1.0;
542 // cout << result << endl;
548 bool FGATC610x::do_analog_in() {
549 // Read raw data in byte form
550 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
552 // Convert to integer values
553 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
554 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
555 unsigned char lo = analog_in_bytes[2 * channel + 1];
556 analog_in_data[channel] = hi * 256 + lo;
558 // printf("%02x %02x ", hi, lo );
559 // printf("%04d ", value );
562 float tmp, tmp1, tmp2;
565 tmp = scale( ailerons_center->getIntValue(), ailerons_min->getIntValue(),
566 ailerons_max->getIntValue(), analog_in_data[0] );
567 fgSetFloat( "/controls/aileron", tmp );
568 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
571 tmp = -scale( elevator_center->getIntValue(), elevator_min->getIntValue(),
572 elevator_max->getIntValue(), analog_in_data[5] );
573 fgSetFloat( "/controls/elevator", tmp );
574 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
577 tmp = scale( trim_center->getIntValue(), trim_min->getIntValue(),
578 trim_max->getIntValue(), analog_in_data[4] );
579 fgSetFloat( "/controls/elevator-trim", tmp );
580 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
583 tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
585 fgSetFloat( "/controls/mixture[0]", tmp );
586 fgSetFloat( "/controls/mixture[1]", tmp );
589 tmp = scale( throttle_min->getIntValue(), throttle_max->getIntValue(),
591 fgSetFloat( "/controls/throttle[0]", tmp );
592 fgSetFloat( "/controls/throttle[1]", tmp );
593 // cout << "throttle = " << tmp << endl;
597 tmp = scale( rudder_center->getIntValue(), rudder_min->getIntValue(),
598 rudder_max->getIntValue(), analog_in_data[10] );
599 fgSetFloat( "/controls/rudder", -tmp );
603 tmp = (float)analog_in_data[25] / 1024.0f;
604 fgSetFloat( "/radios/nav[0]/volume", tmp );
607 tmp = (float)analog_in_data[24] / 1024.0f;
608 fgSetFloat( "/radios/nav[1]/volume", tmp );
611 tmp = (float)analog_in_data[26] / 1024.0f;
612 fgSetFloat( "/radios/kr-87/inputs/volume", tmp );
615 static int last_obs2 = analog_in_data[29];
616 static double diff_ave = 0.0;
619 // cout << "val = " << analog_in_data[29] << " last_obs = " << last_obs2;
621 #define FG_SECOND_TRY
623 #if defined( FG_FIRST_TRY )
624 if ( analog_in_data[29] < 150 || analog_in_data[29] > 990 ) {
625 if ( last_obs2 > 512 && last_obs2 <= 990 ) {
627 } else if ( last_obs2 >= 150 && last_obs2 <= 990 ) {
630 } else if ( last_obs2 < 150 || last_obs2 > 990 ) {
631 if ( analog_in_data[29] > 512 && analog_in_data[29] <= 990 ) {
633 } else if ( analog_in_data[29] >= 150 && analog_in_data[29] <= 990 ) {
637 diff = analog_in_data[29] - last_obs2;
639 #elif defined( FG_SECOND_TRY )
640 if ( analog_in_data[29] < 20 ) {
641 if ( last_obs2 >= 110 && last_obs2 < 512 ) {
643 } else if ( last_obs2 >= 512 ) {
646 last_obs2 = analog_in_data[29];
647 } else if ( analog_in_data[29] < 110 ) {
649 } else if ( last_obs2 < 20 ) {
650 if ( analog_in_data[29] >= 110 && analog_in_data[29] < 512 ) {
652 } else if ( analog_in_data[29] >= 512 ) {
655 last_obs2 = analog_in_data[29];
657 diff = analog_in_data[29] - last_obs2;
658 if ( abs(diff) > 200 ) {
662 last_obs2 = analog_in_data[29];
664 #elif defined( FG_THIRD_TRY )
665 static bool ignore_next = false;
666 diff = analog_in_data[29] - last_obs2;
667 if ( abs(diff) > 200 ) {
671 } else if ( ignore_next ) {
675 last_obs2 = analog_in_data[29];
678 // cout << " diff = " << diff << endl;
679 if ( diff < -500 ) { diff += 1024; }
680 if ( diff > 500 ) { diff -= 1024; }
682 if ( fabs(diff_ave - diff) < 200 || fabs(diff) < fabs(diff_ave) ) {
683 diff_ave = (2.0/3.0) * diff_ave + (1.0/3.0) * diff;
686 tmp = nav2_obs->getDoubleValue() + (diff_ave * (60.0/914.0) );
687 while ( tmp >= 360.0 ) { tmp -= 360.0; }
688 while ( tmp < 0.0 ) { tmp += 360.0; }
689 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
692 tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
693 tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
694 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
700 /////////////////////////////////////////////////////////////////////
702 /////////////////////////////////////////////////////////////////////
704 bool FGATC610x::do_lights() {
707 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
708 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
709 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
712 ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
713 ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
714 ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
715 ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
716 ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
717 ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
719 // Transponder annunciators
720 ATC610xSetLamp( lamps_fd, 17, xpdr_fl_ann->getBoolValue() ); // FL
721 ATC610xSetLamp( lamps_fd, 18, xpdr_alt_ann->getBoolValue() ); // ALT
722 ATC610xSetLamp( lamps_fd, 19, xpdr_gnd_ann->getBoolValue() ); // GND
723 ATC610xSetLamp( lamps_fd, 20, xpdr_on_ann->getBoolValue() ); // ON
724 ATC610xSetLamp( lamps_fd, 21, xpdr_sby_ann->getBoolValue() ); // SBY
725 ATC610xSetLamp( lamps_fd, 22, xpdr_reply_ann->getBoolValue() ); // R
731 /////////////////////////////////////////////////////////////////////
732 // Read radio switches
733 /////////////////////////////////////////////////////////////////////
735 bool FGATC610x::do_radio_switches() {
736 double freq, coarse_freq, fine_freq, value;
739 ATC610xReadRadios( radios_fd, radio_switch_data );
742 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
743 if ( dme_switch == 0 ) {
745 fgSetInt( "/radios/dme/switch-position", 0 );
746 } else if ( dme_switch == 2 ) {
748 fgSetInt( "/radios/dme/switch-position", 1 );
749 } else if ( dme_switch == 1 ) {
751 fgSetInt( "/radios/dme/switch-position", 3 );
755 fgSetBool( "/radios/comm[0]/inputs/power-btn",
756 radio_switch_data[7] & 0x01 );
758 if ( navcom1_has_power() ) {
760 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
761 static int last_com1_swap;
762 if ( com1_swap && (last_com1_swap != com1_swap) ) {
763 float tmp = com1_freq->getFloatValue();
764 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
765 com1_stby_freq->getFloatValue() );
766 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
768 last_com1_swap = com1_swap;
772 fgSetBool( "/radios/comm[1]/inputs/power-btn",
773 radio_switch_data[15] & 0x01 );
775 if ( navcom2_has_power() ) {
777 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
778 static int last_com2_swap;
779 if ( com2_swap && (last_com2_swap != com2_swap) ) {
780 float tmp = com2_freq->getFloatValue();
781 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
782 com2_stby_freq->getFloatValue() );
783 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
785 last_com2_swap = com2_swap;
788 if ( navcom1_has_power() ) {
790 int nav1_swap = radio_switch_data[11] & 0x01;
791 static int last_nav1_swap;
792 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
793 float tmp = nav1_freq->getFloatValue();
794 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
795 nav1_stby_freq->getFloatValue() );
796 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
798 last_nav1_swap = nav1_swap;
801 if ( navcom2_has_power() ) {
803 int nav2_swap = !(radio_switch_data[19] & 0x01);
804 static int last_nav2_swap;
805 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
806 float tmp = nav2_freq->getFloatValue();
807 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
808 nav2_stby_freq->getFloatValue() );
809 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
811 last_nav2_swap = nav2_swap;
814 if ( navcom1_has_power() ) {
816 int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
817 int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
818 static int last_com1_tuner_fine = com1_tuner_fine;
819 static int last_com1_tuner_coarse = com1_tuner_coarse;
821 freq = com1_stby_freq->getFloatValue();
822 coarse_freq = (int)freq;
823 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
825 if ( com1_tuner_fine != last_com1_tuner_fine ) {
826 diff = com1_tuner_fine - last_com1_tuner_fine;
827 if ( abs(diff) > 4 ) {
829 if ( com1_tuner_fine < last_com1_tuner_fine ) {
831 diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
834 diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
839 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
840 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
842 if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
843 diff = com1_tuner_coarse - last_com1_tuner_coarse;
844 if ( abs(diff) > 4 ) {
846 if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
848 diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
851 diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
856 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
857 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
859 last_com1_tuner_fine = com1_tuner_fine;
860 last_com1_tuner_coarse = com1_tuner_coarse;
862 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
863 coarse_freq + fine_freq / 40.0 );
866 if ( navcom2_has_power() ) {
868 int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
869 int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
870 static int last_com2_tuner_fine = com2_tuner_fine;
871 static int last_com2_tuner_coarse = com2_tuner_coarse;
873 freq = com2_stby_freq->getFloatValue();
874 coarse_freq = (int)freq;
875 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
877 if ( com2_tuner_fine != last_com2_tuner_fine ) {
878 diff = com2_tuner_fine - last_com2_tuner_fine;
879 if ( abs(diff) > 4 ) {
881 if ( com2_tuner_fine < last_com2_tuner_fine ) {
883 diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
886 diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
891 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
892 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
894 if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
895 diff = com2_tuner_coarse - last_com2_tuner_coarse;
896 if ( abs(diff) > 4 ) {
898 if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
900 diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
903 diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
908 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
909 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
911 last_com2_tuner_fine = com2_tuner_fine;
912 last_com2_tuner_coarse = com2_tuner_coarse;
914 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
915 coarse_freq + fine_freq / 40.0 );
918 if ( navcom1_has_power() ) {
920 int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
921 int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
922 static int last_nav1_tuner_fine = nav1_tuner_fine;
923 static int last_nav1_tuner_coarse = nav1_tuner_coarse;
925 freq = nav1_stby_freq->getFloatValue();
926 coarse_freq = (int)freq;
927 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
929 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
930 diff = nav1_tuner_fine - last_nav1_tuner_fine;
931 if ( abs(diff) > 4 ) {
933 if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
935 diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
938 diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
943 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
944 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
946 if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
947 diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
948 if ( abs(diff) > 4 ) {
950 if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
952 diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
955 diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
960 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
961 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
963 last_nav1_tuner_fine = nav1_tuner_fine;
964 last_nav1_tuner_coarse = nav1_tuner_coarse;
966 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
967 coarse_freq + fine_freq / 20.0 );
970 if ( navcom2_has_power() ) {
972 int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
973 int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
974 static int last_nav2_tuner_fine = nav2_tuner_fine;
975 static int last_nav2_tuner_coarse = nav2_tuner_coarse;
977 freq = nav2_stby_freq->getFloatValue();
978 coarse_freq = (int)freq;
979 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
981 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
982 diff = nav2_tuner_fine - last_nav2_tuner_fine;
983 if ( abs(diff) > 4 ) {
985 if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
987 diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
990 diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
995 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
996 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
998 if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
999 diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
1000 if ( abs(diff) > 4 ) {
1002 if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
1004 diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
1007 diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
1010 coarse_freq += diff;
1012 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
1013 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
1015 last_nav2_tuner_fine = nav2_tuner_fine;
1016 last_nav2_tuner_coarse = nav2_tuner_coarse;
1018 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
1019 coarse_freq + fine_freq / 20.0);
1024 int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
1025 int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
1026 static int last_adf_tuner_fine = adf_tuner_fine;
1027 static int last_adf_tuner_coarse = adf_tuner_coarse;
1029 if ( adf_has_power() ) {
1030 // cout << "adf_stby_mode = " << adf_stby_mode->getIntValue() << endl;
1031 if ( adf_count_mode->getIntValue() == 2 ) {
1032 // tune count down timer
1033 value = adf_elapsed_timer->getDoubleValue();
1036 if ( adf_stby_mode->getIntValue() == 1 ) {
1037 value = adf_freq->getFloatValue();
1039 value = adf_stby_freq->getFloatValue();
1043 if ( adf_tuner_fine != last_adf_tuner_fine ) {
1044 diff = adf_tuner_fine - last_adf_tuner_fine;
1045 if ( abs(diff) > 4 ) {
1047 if ( adf_tuner_fine < last_adf_tuner_fine ) {
1049 diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
1052 diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
1058 if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
1059 diff = adf_tuner_coarse - last_adf_tuner_coarse;
1060 if ( abs(diff) > 4 ) {
1062 if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
1064 diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
1067 diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
1070 if ( adf_count_mode->getIntValue() == 2 ) {
1076 if ( adf_count_mode->getIntValue() == 2 ) {
1077 if ( value < 0 ) { value += 3600; }
1078 if ( value > 3599 ) { value -= 3600; }
1080 if ( value < 200 ) { value += 1600; }
1081 if ( value > 1799 ) { value -= 1600; }
1084 if ( adf_count_mode->getIntValue() == 2 ) {
1085 fgSetFloat( "/radios/kr-87/outputs/elapsed-timer", value );
1087 if ( adf_stby_mode->getIntValue() == 1 ) {
1088 fgSetFloat( "/radios/kr-87/outputs/selected-khz", value );
1090 fgSetFloat( "/radios/kr-87/outputs/standby-khz", value );
1094 last_adf_tuner_fine = adf_tuner_fine;
1095 last_adf_tuner_coarse = adf_tuner_coarse;
1099 fgSetInt( "/radios/kr-87/inputs/adf-btn",
1100 !(radio_switch_data[23] & 0x01) );
1101 fgSetInt( "/radios/kr-87/inputs/bfo-btn",
1102 !(radio_switch_data[23] >> 1 & 0x01) );
1103 fgSetInt( "/radios/kr-87/inputs/frq-btn",
1104 (radio_switch_data[23] >> 2 & 0x01) );
1105 fgSetInt( "/radios/kr-87/inputs/flt-et-btn",
1106 !(radio_switch_data[23] >> 3 & 0x01) );
1107 fgSetInt( "/radios/kr-87/inputs/set-rst-btn",
1108 !(radio_switch_data[23] >> 4 & 0x01) );
1109 fgSetInt( "/radios/kr-87/inputs/power-btn",
1110 radio_switch_data[23] >> 5 & 0x01 );
1111 /* cout << "adf = " << !(radio_switch_data[23] & 0x01)
1112 << " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
1113 << " stby = " << !(radio_switch_data[23] >> 2 & 0x01)
1114 << " timer = " << !(radio_switch_data[23] >> 3 & 0x01)
1115 << " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
1118 // Transponder Tuner
1121 digit_tuner[0] = radio_switch_data[25] & 0x0f;
1122 digit_tuner[1] = ( radio_switch_data[25] >> 4 ) & 0x0f;
1123 digit_tuner[2] = radio_switch_data[29] & 0x0f;
1124 digit_tuner[3] = ( radio_switch_data[29] >> 4 ) & 0x0f;
1126 static int last_digit_tuner[4];
1127 static bool first_time = true;
1130 for ( i = 0; i < 4; ++i ) {
1131 last_digit_tuner[i] = digit_tuner[i];
1135 if ( xpdr_has_power() ) {
1136 int id_code = xpdr_id_code->getIntValue();
1139 for ( i = 0; i < 4; ++i ) {
1140 digit[i] = id_code / place;
1141 id_code -= digit[i] * place;
1145 for ( i = 0; i < 4; ++i ) {
1146 if ( digit_tuner[i] != last_digit_tuner[i] ) {
1147 diff = digit_tuner[i] - last_digit_tuner[i];
1148 if ( abs(diff) > 4 ) {
1150 if ( digit_tuner[i] < last_digit_tuner[i] ) {
1152 diff = 15 - last_digit_tuner[i] + digit_tuner[i];
1155 diff = digit_tuner[i] - 15 - last_digit_tuner[i];
1160 while ( digit[i] >= 8 ) { digit[i] -= 8; }
1161 while ( digit[i] < 0 ) { digit[i] += 8; }
1164 fgSetInt( "/radios/kt-70/inputs/digit1", digit[0] );
1165 fgSetInt( "/radios/kt-70/inputs/digit2", digit[1] );
1166 fgSetInt( "/radios/kt-70/inputs/digit3", digit[2] );
1167 fgSetInt( "/radios/kt-70/inputs/digit4", digit[3] );
1169 for ( i = 0; i < 4; ++i ) {
1170 last_digit_tuner[i] = digit_tuner[i];
1174 for ( i = 0; i < 5; ++i ) {
1175 if ( radio_switch_data[27] >> i & 0x01 ) {
1179 fgSetInt( "/radios/kt-70/inputs/func-knob", tmp );
1180 fgSetInt( "/radios/kt-70/inputs/ident-btn",
1181 !(radio_switch_data[27] >> 5 & 0x01) );
1187 /////////////////////////////////////////////////////////////////////
1188 // Update the radio display
1189 /////////////////////////////////////////////////////////////////////
1191 bool FGATC610x::do_radio_display() {
1196 if ( dme_has_power() ) {
1198 float minutes = dme_min->getFloatValue();
1199 if ( minutes > 999 ) {
1202 snprintf(digits, 7, "%03.0f", minutes);
1203 for ( i = 0; i < 6; ++i ) {
1206 radio_display_data[0] = digits[1] << 4 | digits[2];
1207 radio_display_data[1] = 0xf0 | digits[0];
1210 float knots = dme_kt->getFloatValue();
1211 if ( knots > 999 ) {
1214 snprintf(digits, 7, "%03.0f", knots);
1215 for ( i = 0; i < 6; ++i ) {
1218 radio_display_data[2] = digits[1] << 4 | digits[2];
1219 radio_display_data[3] = 0xf0 | digits[0];
1221 // DME distance (nm)
1222 float nm = dme_nm->getFloatValue();
1226 snprintf(digits, 7, "%04.1f", nm);
1227 for ( i = 0; i < 6; ++i ) {
1230 radio_display_data[4] = digits[1] << 4 | digits[3];
1231 radio_display_data[5] = 0x00 | digits[0];
1232 // the 0x00 in the upper nibble of the 6th byte of each
1233 // display turns on the decimal point
1235 // blank dem display
1236 for ( i = 0; i < 6; ++i ) {
1237 radio_display_data[i] = 0xff;
1241 if ( navcom1_has_power() ) {
1242 // Com1 standby frequency
1243 float com1_stby = com1_stby_freq->getFloatValue();
1244 if ( fabs(com1_stby) > 999.99 ) {
1247 snprintf(digits, 7, "%06.3f", com1_stby);
1248 for ( i = 0; i < 6; ++i ) {
1251 radio_display_data[6] = digits[4] << 4 | digits[5];
1252 radio_display_data[7] = digits[1] << 4 | digits[2];
1253 radio_display_data[8] = 0xf0 | digits[0];
1255 // Com1 in use frequency
1256 float com1 = com1_freq->getFloatValue();
1257 if ( fabs(com1) > 999.99 ) {
1260 snprintf(digits, 7, "%06.3f", com1);
1261 for ( i = 0; i < 6; ++i ) {
1264 radio_display_data[9] = digits[4] << 4 | digits[5];
1265 radio_display_data[10] = digits[1] << 4 | digits[2];
1266 radio_display_data[11] = 0x00 | digits[0];
1267 // the 0x00 in the upper nibble of the 6th byte of each display
1268 // turns on the decimal point
1270 radio_display_data[6] = 0xff;
1271 radio_display_data[7] = 0xff;
1272 radio_display_data[8] = 0xff;
1273 radio_display_data[9] = 0xff;
1274 radio_display_data[10] = 0xff;
1275 radio_display_data[11] = 0xff;
1278 if ( navcom2_has_power() ) {
1279 // Com2 standby frequency
1280 float com2_stby = com2_stby_freq->getFloatValue();
1281 if ( fabs(com2_stby) > 999.99 ) {
1284 snprintf(digits, 7, "%06.3f", com2_stby);
1285 for ( i = 0; i < 6; ++i ) {
1288 radio_display_data[18] = digits[4] << 4 | digits[5];
1289 radio_display_data[19] = digits[1] << 4 | digits[2];
1290 radio_display_data[20] = 0xf0 | digits[0];
1292 // Com2 in use frequency
1293 float com2 = com2_freq->getFloatValue();
1294 if ( fabs(com2) > 999.99 ) {
1297 snprintf(digits, 7, "%06.3f", com2);
1298 for ( i = 0; i < 6; ++i ) {
1301 radio_display_data[21] = digits[4] << 4 | digits[5];
1302 radio_display_data[22] = digits[1] << 4 | digits[2];
1303 radio_display_data[23] = 0x00 | digits[0];
1304 // the 0x00 in the upper nibble of the 6th byte of each display
1305 // turns on the decimal point
1307 radio_display_data[18] = 0xff;
1308 radio_display_data[19] = 0xff;
1309 radio_display_data[20] = 0xff;
1310 radio_display_data[21] = 0xff;
1311 radio_display_data[22] = 0xff;
1312 radio_display_data[23] = 0xff;
1315 if ( navcom1_has_power() ) {
1316 // Nav1 standby frequency
1317 float nav1_stby = nav1_stby_freq->getFloatValue();
1318 if ( fabs(nav1_stby) > 999.99 ) {
1321 snprintf(digits, 7, "%06.2f", nav1_stby);
1322 for ( i = 0; i < 6; ++i ) {
1325 radio_display_data[12] = digits[4] << 4 | digits[5];
1326 radio_display_data[13] = digits[1] << 4 | digits[2];
1327 radio_display_data[14] = 0xf0 | digits[0];
1329 // Nav1 in use frequency
1330 float nav1 = nav1_freq->getFloatValue();
1331 if ( fabs(nav1) > 999.99 ) {
1334 snprintf(digits, 7, "%06.2f", nav1);
1335 for ( i = 0; i < 6; ++i ) {
1338 radio_display_data[15] = digits[4] << 4 | digits[5];
1339 radio_display_data[16] = digits[1] << 4 | digits[2];
1340 radio_display_data[17] = 0x00 | digits[0];
1341 // the 0x00 in the upper nibble of the 6th byte of each display
1342 // turns on the decimal point
1344 radio_display_data[12] = 0xff;
1345 radio_display_data[13] = 0xff;
1346 radio_display_data[14] = 0xff;
1347 radio_display_data[15] = 0xff;
1348 radio_display_data[16] = 0xff;
1349 radio_display_data[17] = 0xff;
1352 if ( navcom2_has_power() ) {
1353 // Nav2 standby frequency
1354 float nav2_stby = nav2_stby_freq->getFloatValue();
1355 if ( fabs(nav2_stby) > 999.99 ) {
1358 snprintf(digits, 7, "%06.2f", nav2_stby);
1359 for ( i = 0; i < 6; ++i ) {
1362 radio_display_data[24] = digits[4] << 4 | digits[5];
1363 radio_display_data[25] = digits[1] << 4 | digits[2];
1364 radio_display_data[26] = 0xf0 | digits[0];
1366 // Nav2 in use frequency
1367 float nav2 = nav2_freq->getFloatValue();
1368 if ( fabs(nav2) > 999.99 ) {
1371 snprintf(digits, 7, "%06.2f", nav2);
1372 for ( i = 0; i < 6; ++i ) {
1375 radio_display_data[27] = digits[4] << 4 | digits[5];
1376 radio_display_data[28] = digits[1] << 4 | digits[2];
1377 radio_display_data[29] = 0x00 | digits[0];
1378 // the 0x00 in the upper nibble of the 6th byte of each display
1379 // turns on the decimal point
1381 radio_display_data[24] = 0xff;
1382 radio_display_data[25] = 0xff;
1383 radio_display_data[26] = 0xff;
1384 radio_display_data[27] = 0xff;
1385 radio_display_data[28] = 0xff;
1386 radio_display_data[29] = 0xff;
1389 // ADF standby frequency / timer
1390 if ( adf_has_power() ) {
1391 if ( adf_stby_mode->getIntValue() == 0 ) {
1393 float adf_stby = adf_stby_freq->getFloatValue();
1394 if ( fabs(adf_stby) > 1799 ) {
1397 snprintf(digits, 7, "%04.0f", adf_stby);
1398 for ( i = 0; i < 6; ++i ) {
1401 radio_display_data[30] = digits[3] << 4 | 0x0f;
1402 radio_display_data[31] = digits[1] << 4 | digits[2];
1403 if ( digits[0] == 0 ) {
1404 radio_display_data[32] = 0xff;
1406 radio_display_data[32] = 0xf0 | digits[0];
1411 int hours, min, sec;
1412 if ( adf_timer_mode->getIntValue() == 0 ) {
1413 time = adf_flight_timer->getDoubleValue();
1415 time = adf_elapsed_timer->getDoubleValue();
1417 // cout << time << endl;
1418 hours = (int)(time / 3600.0);
1419 time -= hours * 3600.00;
1420 min = (int)(time / 60.0);
1437 // cout << big << ":" << little << endl;
1438 snprintf(digits, 7, "%02d%02d", big, little);
1439 for ( i = 0; i < 6; ++i ) {
1442 radio_display_data[30] = digits[3] << 4 | 0x0f;
1443 radio_display_data[31] = digits[1] << 4 | digits[2];
1444 radio_display_data[32] = 0xf0 | digits[0];
1447 // ADF in use frequency
1448 float adf = adf_freq->getFloatValue();
1449 if ( fabs(adf) > 1799 ) {
1452 snprintf(digits, 7, "%04.0f", adf);
1453 for ( i = 0; i < 6; ++i ) {
1456 radio_display_data[33] = digits[2] << 4 | digits[3];
1457 if ( digits[0] == 0 ) {
1458 radio_display_data[34] = 0xf0 | digits[1];
1460 radio_display_data[34] = digits[0] << 4 | digits[1];
1462 if ( adf_stby_mode->getIntValue() == 0 ) {
1463 radio_display_data[35] = 0xff;
1465 radio_display_data[35] = 0x0f;
1468 radio_display_data[30] = 0xff;
1469 radio_display_data[31] = 0xff;
1470 radio_display_data[32] = 0xff;
1471 radio_display_data[33] = 0xff;
1472 radio_display_data[34] = 0xff;
1473 radio_display_data[35] = 0xff;
1476 // Transponder code and flight level
1477 if ( xpdr_has_power() ) {
1478 if ( xpdr_func_knob->getIntValue() == 2 ) {
1480 radio_display_data[36] = 8 << 4 | 8;
1481 radio_display_data[37] = 8 << 4 | 8;
1482 radio_display_data[38] = 0xff;
1483 radio_display_data[39] = 8 << 4 | 0x0f;
1484 radio_display_data[40] = 8 << 4 | 8;
1487 int id_code = xpdr_id_code->getIntValue();
1489 for ( i = 0; i < 4; ++i ) {
1490 digits[i] = id_code / place;
1491 id_code -= digits[i] * place;
1494 radio_display_data[36] = digits[2] << 4 | digits[3];
1495 radio_display_data[37] = digits[0] << 4 | digits[1];
1496 radio_display_data[38] = 0xff;
1498 if ( xpdr_func_knob->getIntValue() == 3 ||
1499 xpdr_func_knob->getIntValue() == 5 )
1501 // do flight level display
1502 snprintf(digits, 7, "%03d", xpdr_flight_level->getIntValue() );
1503 for ( i = 0; i < 6; ++i ) {
1506 radio_display_data[39] = digits[2] << 4 | 0x0f;
1507 radio_display_data[40] = digits[0] << 4 | digits[1];
1509 // blank flight level display
1510 radio_display_data[39] = 0xff;
1511 radio_display_data[40] = 0xff;
1516 radio_display_data[36] = 0xff;
1517 radio_display_data[37] = 0xff;
1518 radio_display_data[38] = 0xff;
1519 radio_display_data[39] = 0xff;
1520 radio_display_data[40] = 0xff;
1523 ATC610xSetRadios( radios_fd, radio_display_data );
1529 /////////////////////////////////////////////////////////////////////
1530 // Drive the stepper motors
1531 /////////////////////////////////////////////////////////////////////
1533 bool FGATC610x::do_steppers() {
1534 float diff = mag_compass->getFloatValue() - compass_position;
1535 while ( diff < -180.0 ) { diff += 360.0; }
1536 while ( diff > 180.0 ) { diff -= 360.0; }
1538 int steps = (int)(diff * 4);
1539 // cout << "steps = " << steps << endl;
1540 if ( steps > 4 ) { steps = 4; }
1541 if ( steps < -4 ) { steps = -4; }
1543 if ( abs(steps) > 0 ) {
1544 unsigned char cmd = 0x80; // stepper command
1546 cmd |= 0x20; // go up
1548 cmd |= 0x00; // go down
1552 // sync compass_position with hardware position
1553 compass_position += (float)steps / 4.0;
1555 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1562 /////////////////////////////////////////////////////////////////////
1563 // Read the switch positions
1564 /////////////////////////////////////////////////////////////////////
1566 // decode the packed switch data
1567 static void update_switch_matrix(
1569 unsigned char switch_data[ATC_SWITCH_BYTES],
1570 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1572 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1573 unsigned char switches = switch_data[row];
1575 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1576 switch_matrix[board][column][row] = switches & 1;
1577 switches = switches >> 1;
1582 bool FGATC610x::do_switches() {
1583 ATC610xReadSwitches( switches_fd, switch_data );
1585 // unpack the switch data
1586 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1587 update_switch_matrix( board, switch_data, switch_matrix );
1590 fgSetBool( "/controls/switches/master-bat", switch_matrix[board][4][1] );
1591 fgSetBool( "/controls/switches/master-alt", switch_matrix[board][5][1] );
1592 fgSetBool( "/controls/switches/master-avionics",
1593 switch_matrix[board][0][3] );
1595 // magnetos and starter switch
1597 bool starter = false;
1598 if ( switch_matrix[board][3][1] == 1 ) {
1601 } else if ( switch_matrix[board][2][1] == 1 ) {
1604 } else if ( switch_matrix[board][1][1] == 1 ) {
1607 } else if ( switch_matrix[board][0][1] == 1 ) {
1615 // do a bit of filtering on the magneto/starter switch and the
1616 // flap lever because these are not well debounced in hardware
1617 static int mag1, mag2, mag3;
1621 if ( mag1 == mag2 && mag2 == mag3 ) {
1622 fgSetInt( "/controls/magnetos[0]", magnetos );
1624 static bool start1, start2, start3;
1628 if ( start1 == start2 && start2 == start3 ) {
1629 fgSetBool( "/controls/starter[0]", starter );
1632 // other toggle switches
1633 fgSetBool( "/controls/fuel-pump[0]", switch_matrix[board][0][2] );
1634 fgSetBool( "/controls/switches/flashing-beacon",
1635 switch_matrix[board][1][2] );
1636 fgSetBool( "/controls/switches/landing-light", switch_matrix[board][2][2] );
1637 fgSetBool( "/controls/switches/taxi-lights", switch_matrix[board][3][2] );
1638 fgSetBool( "/controls/switches/nav-lights",
1639 switch_matrix[board][4][2] );
1640 fgSetBool( "/controls/switches/strobe-lights", switch_matrix[board][5][2] );
1641 fgSetBool( "/controls/switches/pitot-heat", switch_matrix[board][6][2] );
1645 if ( switch_matrix[board][6][3] ) {
1647 } else if ( switch_matrix[board][5][3] ) {
1649 } else if ( switch_matrix[board][4][3] ) {
1651 } else if ( !switch_matrix[board][4][3] ) {
1655 // do a bit of filtering on the magneto/starter switch and the
1656 // flap lever because these are not well debounced in hardware
1657 static float flap1, flap2, flap3;
1661 if ( flap1 == flap2 && flap2 == flap3 ) {
1662 fgSetFloat( "/controls/flaps", flaps );
1665 // fuel selector (also filtered)
1667 if ( switch_matrix[board][2][3] ) {
1670 } else if ( switch_matrix[board][1][3] ) {
1673 } else if ( switch_matrix[board][3][3] ) {
1681 static int fuel1, fuel2, fuel3;
1685 if ( fuel1 == fuel2 && fuel2 == fuel3 ) {
1686 fgSetBool( "/controls/fuel-selector[0]", (fuel & 0x01) > 0 );
1687 fgSetBool( "/controls/fuel-selector[1]", (fuel & 0x02) > 0 );
1691 fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr",
1692 switch_matrix[board][0][0] );
1693 fgSetBool( "/controls/circuit-breakers/instr-ignition-switch",
1694 switch_matrix[board][1][0] );
1695 fgSetBool( "/controls/circuit-breakers/flaps",
1696 switch_matrix[board][2][0] );
1697 fgSetBool( "/controls/circuit-breakers/avn-bus-1",
1698 switch_matrix[board][3][0] );
1699 fgSetBool( "/controls/circuit-breakers/avn-bus-2",
1700 switch_matrix[board][4][0] );
1701 fgSetBool( "/controls/circuit-breakers/turn-coordinator",
1702 switch_matrix[board][5][0] );
1703 fgSetBool( "/controls/circuit-breakers/instrument-lights",
1704 switch_matrix[board][6][0] );
1705 fgSetBool( "/controls/circuit-breakers/annunciators",
1706 switch_matrix[board][7][0] );
1712 bool FGATC610x::process() {
1713 // Lock the hardware, skip if it's not ready yet
1714 if ( ATC610xLock( lock_fd ) > 0 ) {
1718 do_radio_switches();
1723 ATC610xRelease( lock_fd );
1732 bool FGATC610x::close() {