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 )
36 # include <io.h> //lseek, read, write
43 #include <simgear/debug/logstream.hxx>
44 #include <simgear/io/iochannel.hxx>
45 #include <simgear/math/sg_types.hxx>
46 #include <simgear/misc/props.hxx>
48 #include <Main/fg_props.hxx>
49 #include <Main/globals.hxx>
51 #include "atc610x.hxx"
55 #if defined( _MSC_VER )
56 # define snprintf _snprintf
59 // Lock the ATC 610 hardware
60 static int ATC610xLock( int fd ) {
62 lseek( fd, 0, SEEK_SET );
65 int result = read( fd, tmp, 1 );
67 SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
74 // Write a radios command
75 static int ATC610xRelease( int fd ) {
77 lseek( fd, 0, SEEK_SET );
81 int result = write( fd, tmp, 1 );
84 SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
92 static void ATC610xReadAnalogInputs( int fd, unsigned char *analog_in_bytes ) {
94 lseek( fd, 0, SEEK_SET );
96 int result = read( fd, analog_in_bytes, ATC_ANAL_IN_BYTES );
97 if ( result != ATC_ANAL_IN_BYTES ) {
98 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
104 // Write a radios command
105 static int ATC610xSetRadios( int fd,
106 unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
109 lseek( fd, 0, SEEK_SET );
111 int result = write( fd, data, ATC_RADIO_DISPLAY_BYTES );
113 if ( result != ATC_RADIO_DISPLAY_BYTES ) {
114 SG_LOG( SG_IO, SG_DEBUG, "Write failed" );
121 // Read status of last radios written to
122 static void ATC610xReadRadios( int fd, unsigned char *switch_data ) {
124 lseek( fd, 0, SEEK_SET );
126 int result = read( fd, switch_data, ATC_RADIO_SWITCH_BYTES );
127 if ( result != ATC_RADIO_SWITCH_BYTES ) {
128 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
133 // Write a stepper command
134 static int ATC610xSetStepper( int fd, unsigned char channel,
135 unsigned char value )
138 lseek( fd, 0, SEEK_SET );
141 unsigned char buf[3];
145 int result = write( fd, buf, 2 );
147 SG_LOG( SG_IO, SG_INFO, "Write failed" );
149 SG_LOG( SG_IO, SG_DEBUG,
150 "Sent cmd = " << (int)channel << " value = " << (int)value );
155 // Read status of last stepper written to
156 static unsigned char ATC610xReadStepper( int fd ) {
160 lseek( fd, 0, SEEK_SET );
163 unsigned char buf[2];
164 result = read( fd, buf, 1 );
166 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
169 SG_LOG( SG_IO, SG_DEBUG, "Read result = " << (int)buf[0] );
175 // Read switch inputs
176 static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
178 lseek( fd, 0, SEEK_SET );
180 int result = read( fd, switch_bytes, ATC_SWITCH_BYTES );
181 if ( result != ATC_SWITCH_BYTES ) {
182 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
188 // Open and initialize ATC 610x hardware
189 bool FGATC610x::open() {
190 if ( is_enabled() ) {
191 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
192 << "is already in use, ignoring" );
196 SG_LOG( SG_IO, SG_ALERT,
197 "Initializing ATC 610x hardware, please wait ..." );
199 set_hz( 30 ); // default to processing requests @ 30Hz
202 board = 0; // 610x uses a single board number = 0
204 snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
205 snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
206 snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
207 snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
208 snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
210 /////////////////////////////////////////////////////////////////////
211 // Open the /proc files
212 /////////////////////////////////////////////////////////////////////
214 lock_fd = ::open( lock_file, O_RDWR );
215 if ( lock_fd == -1 ) {
216 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
218 snprintf( msg, 256, "Error opening %s", lock_file );
223 analog_in_fd = ::open( analog_in_file, O_RDONLY );
224 if ( analog_in_fd == -1 ) {
225 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
227 snprintf( msg, 256, "Error opening %s", analog_in_file );
232 radios_fd = ::open( radios_file, O_RDWR );
233 if ( radios_fd == -1 ) {
234 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
236 snprintf( msg, 256, "Error opening %s", radios_file );
241 stepper_fd = ::open( stepper_file, O_RDWR );
242 if ( stepper_fd == -1 ) {
243 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
245 snprintf( msg, 256, "Error opening %s", stepper_file );
250 switches_fd = ::open( switches_file, O_RDONLY );
251 if ( switches_fd == -1 ) {
252 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
254 snprintf( msg, 256, "Error opening %s", switches_file );
259 /////////////////////////////////////////////////////////////////////
260 // Home the compass stepper motor
261 /////////////////////////////////////////////////////////////////////
263 SG_LOG( SG_IO, SG_ALERT,
264 " - Homing the compass stepper motor" );
266 // Lock the hardware, keep trying until we succeed
267 while ( ATC610xLock( lock_fd ) <= 0 );
269 // Send the stepper home command
270 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
272 // Release the hardware
273 ATC610xRelease( lock_fd );
277 SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
279 while ( ATC610xLock( lock_fd ) <= 0 );
281 unsigned char result = ATC610xReadStepper( stepper_fd );
286 ATC610xRelease( lock_fd );
288 #if defined( _MSC_VER )
289 ulMilliSecondSleep(33);
290 #elif defined (WIN32) && !defined(__CYGWIN__)
297 compass_position = 0.0;
299 /////////////////////////////////////////////////////////////////////
300 // Blank the radio display
301 /////////////////////////////////////////////////////////////////////
303 SG_LOG( SG_IO, SG_ALERT,
304 " - Clearing the radios displays." );
307 unsigned char value = 0xff;
308 for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
309 radio_display_data[channel] = value;
312 // Lock the hardware, keep trying until we succeed
313 while ( ATC610xLock( lock_fd ) <= 0 );
316 ATC610xSetRadios( radios_fd, radio_display_data );
318 ATC610xRelease( lock_fd );
320 /////////////////////////////////////////////////////////////////////
321 // Finished initing hardware
322 /////////////////////////////////////////////////////////////////////
324 SG_LOG( SG_IO, SG_ALERT,
325 "Done initializing ATC 610x hardware." );
327 /////////////////////////////////////////////////////////////////////
328 // Connect up to property values
329 /////////////////////////////////////////////////////////////////////
331 mag_compass = fgGetNode( "/steam/mag-compass-deg", true );
333 dme_min = fgGetNode( "/radios/dme/ete-min", true );
334 dme_kt = fgGetNode( "/radios/dme/speed-kt", true );
335 dme_nm = fgGetNode( "/radios/dme/distance-nm", true );
337 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
339 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
340 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
342 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
344 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
346 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
348 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
350 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
352 adf_freq = fgGetNode( "/radios/adf/frequencies/selected-khz", true );
353 adf_stby_freq = fgGetNode( "/radios/adf/frequencies/standby-khz", true );
359 /////////////////////////////////////////////////////////////////////
360 // Read analog inputs
361 /////////////////////////////////////////////////////////////////////
363 #define ATC_AILERON_CENTER 535
364 #define ATC_ELEVATOR_TRIM_CENTER 512
365 #define ATC_ELEVATOR_CENTER 543
367 bool FGATC610x::do_analog_in() {
368 // Read raw data in byte form
369 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
371 // Convert to integer values
372 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
373 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
374 unsigned char lo = analog_in_bytes[2 * channel + 1];
375 analog_in_data[channel] = hi * 256 + lo;
377 // printf("%02x %02x ", hi, lo );
378 // printf("%04d ", value );
381 float tmp, tmp1, tmp2;
384 tmp = (float)(analog_in_data[0] - ATC_AILERON_CENTER) / 256.0f;
385 fgSetFloat( "/controls/aileron", tmp );
386 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
389 tmp = (float)(analog_in_data[4] - ATC_ELEVATOR_TRIM_CENTER) / 512.0f;
390 fgSetFloat( "/controls/elevator-trim", tmp );
391 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
394 tmp = (float)(ATC_ELEVATOR_CENTER - analog_in_data[5]) / 100.0f;
395 fgSetFloat( "/controls/elevator", tmp );
396 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
399 tmp = (float)analog_in_data[7] / 680.0f;
400 fgSetFloat( "/controls/mixture[0]", tmp );
403 tmp = (float)analog_in_data[8] / 690.0f;
404 fgSetFloat( "/controls/throttle[0]", tmp );
407 tmp = (float)analog_in_data[25] / 1024.0f;
408 fgSetFloat( "/radios/nav[0]/volume", tmp );
411 tmp = (float)analog_in_data[24] / 1024.0f;
412 fgSetFloat( "/radios/nav[1]/volume", tmp );
415 tmp = (float)analog_in_data[26] / 1024.0f;
416 fgSetFloat( "/radios/adf/volume", tmp );
419 tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
420 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
423 tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
424 tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
425 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
431 /////////////////////////////////////////////////////////////////////
432 // Read radio switches
433 /////////////////////////////////////////////////////////////////////
435 bool FGATC610x::do_radio_switches() {
438 ATC610xReadRadios( radios_fd, radio_switch_data );
441 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
442 if ( dme_switch == 0 ) {
444 fgSetInt( "/radios/dme/switch-position", 0 );
445 } else if ( dme_switch == 2 ) {
447 fgSetInt( "/radios/dme/switch-position", 1 );
448 } else if ( dme_switch == 1 ) {
450 fgSetInt( "/radios/dme/switch-position", 3 );
454 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
455 static int last_com1_swap;
456 if ( com1_swap && (last_com1_swap != com1_swap) ) {
457 float tmp = com1_freq->getFloatValue();
458 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
459 com1_stby_freq->getFloatValue() );
460 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
462 last_com1_swap = com1_swap;
465 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
466 static int last_com2_swap;
467 if ( com2_swap && (last_com2_swap != com2_swap) ) {
468 float tmp = com2_freq->getFloatValue();
469 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
470 com2_stby_freq->getFloatValue() );
471 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
473 last_com2_swap = com2_swap;
476 int nav1_swap = radio_switch_data[11] & 0x01;
477 static int last_nav1_swap;
478 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
479 float tmp = nav1_freq->getFloatValue();
480 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
481 nav1_stby_freq->getFloatValue() );
482 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
484 last_nav1_swap = nav1_swap;
487 int nav2_swap = !(radio_switch_data[19] & 0x01);
488 static int last_nav2_swap;
489 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
490 float tmp = nav2_freq->getFloatValue();
491 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
492 nav2_stby_freq->getFloatValue() );
493 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
495 last_nav2_swap = nav2_swap;
498 int com1_tuner_fine = (radio_switch_data[5] >> 4) & 0x0f;
499 int com1_tuner_course = radio_switch_data[5] & 0x0f;
500 // cout << "com1 = " << com1_tuner_fine << " " << com1_tuner_course << endl;
501 static int last_com1_tuner_fine = com1_tuner_fine;
502 static int last_com1_tuner_course = com1_tuner_course;
504 if ( com1_tuner_fine != last_com1_tuner_fine ) {
505 if ( com1_tuner_fine == 0x0c && last_com1_tuner_fine == 0x01 ) {
507 } else if ( com1_tuner_fine == 0x01 && last_com1_tuner_fine == 0x0c ) {
509 } else if ( com1_tuner_fine > last_com1_tuner_fine ) {
515 if ( com1_tuner_course != last_com1_tuner_course ) {
516 if ( com1_tuner_course == 0x0c && last_com1_tuner_course == 0x01 ) {
518 } else if ( com1_tuner_course == 0x01
519 && last_com1_tuner_course == 0x0c ) {
521 } else if ( com1_tuner_course > last_com1_tuner_course ) {
527 last_com1_tuner_fine = com1_tuner_fine;
528 last_com1_tuner_course = com1_tuner_course;
530 freq = com1_stby_freq->getFloatValue() + inc;
534 if ( freq > 140.0 ) {
537 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", freq );
540 int com2_tuner_fine = (radio_switch_data[13] >> 4) & 0x0f;
541 int com2_tuner_course = radio_switch_data[13] & 0x0f;
542 static int last_com2_tuner_fine = com2_tuner_fine;
543 static int last_com2_tuner_course = com2_tuner_course;
545 if ( com2_tuner_fine != last_com2_tuner_fine ) {
546 if ( com2_tuner_fine == 0x0c && last_com2_tuner_fine == 0x01 ) {
548 } else if ( com2_tuner_fine == 0x01 && last_com2_tuner_fine == 0x0c ) {
550 } else if ( com2_tuner_fine > last_com2_tuner_fine ) {
556 if ( com2_tuner_course != last_com2_tuner_course ) {
557 if ( com2_tuner_course == 0x0c && last_com2_tuner_course == 0x01 ) {
559 } else if ( com2_tuner_course == 0x01
560 && last_com2_tuner_course == 0x0c ) {
562 } else if ( com2_tuner_course > last_com2_tuner_course ) {
568 last_com2_tuner_fine = com2_tuner_fine;
569 last_com2_tuner_course = com2_tuner_course;
571 freq = com2_stby_freq->getFloatValue() + inc;
575 if ( freq > 140.0 ) {
578 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", freq );
581 int nav1_tuner_fine = (radio_switch_data[9] >> 4) & 0x0f;
582 int nav1_tuner_course = radio_switch_data[9] & 0x0f;
583 static int last_nav1_tuner_fine = nav1_tuner_fine;
584 static int last_nav1_tuner_course = nav1_tuner_course;
586 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
587 if ( nav1_tuner_fine == 0x0c && last_nav1_tuner_fine == 0x01 ) {
589 } else if ( nav1_tuner_fine == 0x01 && last_nav1_tuner_fine == 0x0c ) {
591 } else if ( nav1_tuner_fine > last_nav1_tuner_fine ) {
597 if ( nav1_tuner_course != last_nav1_tuner_course ) {
598 if ( nav1_tuner_course == 0x0c && last_nav1_tuner_course == 0x01 ) {
600 } else if ( nav1_tuner_course == 0x01
601 && last_nav1_tuner_course == 0x0c ) {
603 } else if ( nav1_tuner_course > last_nav1_tuner_course ) {
609 last_nav1_tuner_fine = nav1_tuner_fine;
610 last_nav1_tuner_course = nav1_tuner_course;
612 freq = nav1_stby_freq->getFloatValue() + inc;
613 if ( freq < 108.0 ) {
616 if ( freq > 117.95 ) {
619 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", freq );
622 int nav2_tuner_fine = (radio_switch_data[17] >> 4) & 0x0f;
623 int nav2_tuner_course = radio_switch_data[17] & 0x0f;
624 static int last_nav2_tuner_fine = nav2_tuner_fine;
625 static int last_nav2_tuner_course = nav2_tuner_course;
627 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
628 if ( nav2_tuner_fine == 0x0c && last_nav2_tuner_fine == 0x01 ) {
630 } else if ( nav2_tuner_fine == 0x01 && last_nav2_tuner_fine == 0x0c ) {
632 } else if ( nav2_tuner_fine > last_nav2_tuner_fine ) {
638 if ( nav2_tuner_course != last_nav2_tuner_course ) {
639 if ( nav2_tuner_course == 0x0c && last_nav2_tuner_course == 0x01 ) {
641 } else if ( nav2_tuner_course == 0x01
642 && last_nav2_tuner_course == 0x0c ) {
644 } else if ( nav2_tuner_course > last_nav2_tuner_course ) {
650 last_nav2_tuner_fine = nav2_tuner_fine;
651 last_nav2_tuner_course = nav2_tuner_course;
653 freq = nav2_stby_freq->getFloatValue() + inc;
654 if ( freq < 108.0 ) {
657 if ( freq > 117.95 ) {
660 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", freq );
663 int adf_tuner_fine = (radio_switch_data[21] >> 4) & 0x0f;
664 int adf_tuner_course = radio_switch_data[21] & 0x0f;
665 // cout << "adf = " << adf_tuner_fine << " " << adf_tuner_course << endl;
666 static int last_adf_tuner_fine = adf_tuner_fine;
667 static int last_adf_tuner_course = adf_tuner_course;
669 if ( adf_tuner_fine != last_adf_tuner_fine ) {
670 if ( adf_tuner_fine == 0x0c && last_adf_tuner_fine == 0x01 ) {
672 } else if ( adf_tuner_fine == 0x01 && last_adf_tuner_fine == 0x0c ) {
674 } else if ( adf_tuner_fine > last_adf_tuner_fine ) {
680 if ( adf_tuner_course != last_adf_tuner_course ) {
681 if ( adf_tuner_course == 0x0c && last_adf_tuner_course == 0x01 ) {
683 } else if ( adf_tuner_course == 0x01
684 && last_adf_tuner_course == 0x0c ) {
686 } else if ( adf_tuner_course > last_adf_tuner_course ) {
692 last_adf_tuner_fine = adf_tuner_fine;
693 last_adf_tuner_course = adf_tuner_course;
695 freq = adf_freq->getFloatValue() + inc;
696 if ( freq < 100.0 ) {
702 fgSetFloat( "/radios/adf/frequencies/selected-khz", freq );
708 /////////////////////////////////////////////////////////////////////
709 // Update the radio display
710 /////////////////////////////////////////////////////////////////////
712 bool FGATC610x::do_radio_display() {
717 if ( dme_switch != 0 ) {
719 float minutes = dme_min->getFloatValue();
720 if ( minutes > 999 ) {
723 sprintf(digits, "%03.0f", minutes);
724 for ( i = 0; i < 6; ++i ) {
727 radio_display_data[0] = digits[1] << 4 | digits[2];
728 radio_display_data[1] = 0xf0 | digits[0];
731 float knots = dme_kt->getFloatValue();
735 sprintf(digits, "%03.0f", knots);
736 for ( i = 0; i < 6; ++i ) {
739 radio_display_data[2] = digits[1] << 4 | digits[2];
740 radio_display_data[3] = 0xf0 | digits[0];
743 float nm = dme_nm->getFloatValue();
747 sprintf(digits, "%04.1f", nm);
748 for ( i = 0; i < 6; ++i ) {
751 radio_display_data[4] = digits[1] << 4 | digits[3];
752 radio_display_data[5] = 0x00 | digits[0];
753 // the 0x00 in the upper nibble of the 6th byte of each
754 // display turns on the decimal point
757 for ( i = 0; i < 6; ++i ) {
758 radio_display_data[i] = 0xff;
762 // Com1 standby frequency
763 float com1_stby = com1_stby_freq->getFloatValue();
764 if ( fabs(com1_stby) > 999.99 ) {
767 sprintf(digits, "%06.3f", com1_stby);
768 for ( i = 0; i < 6; ++i ) {
771 radio_display_data[6] = digits[4] << 4 | digits[5];
772 radio_display_data[7] = digits[1] << 4 | digits[2];
773 radio_display_data[8] = 0xf0 | digits[0];
775 // Com1 in use frequency
776 float com1 = com1_freq->getFloatValue();
777 if ( fabs(com1) > 999.99 ) {
780 sprintf(digits, "%06.3f", com1);
781 for ( i = 0; i < 6; ++i ) {
784 radio_display_data[9] = digits[4] << 4 | digits[5];
785 radio_display_data[10] = digits[1] << 4 | digits[2];
786 radio_display_data[11] = 0x00 | digits[0];
787 // the 0x00 in the upper nibble of the 6th byte of each display
788 // turns on the decimal point
790 // Com2 standby frequency
791 float com2_stby = com2_stby_freq->getFloatValue();
792 if ( fabs(com2_stby) > 999.99 ) {
795 sprintf(digits, "%06.3f", com2_stby);
796 for ( i = 0; i < 6; ++i ) {
799 radio_display_data[18] = digits[4] << 4 | digits[5];
800 radio_display_data[19] = digits[1] << 4 | digits[2];
801 radio_display_data[20] = 0xf0 | digits[0];
803 // Com2 in use frequency
804 float com2 = com2_freq->getFloatValue();
805 if ( fabs(com2) > 999.99 ) {
808 sprintf(digits, "%06.3f", com2);
809 for ( i = 0; i < 6; ++i ) {
812 radio_display_data[21] = digits[4] << 4 | digits[5];
813 radio_display_data[22] = digits[1] << 4 | digits[2];
814 radio_display_data[23] = 0x00 | digits[0];
815 // the 0x00 in the upper nibble of the 6th byte of each display
816 // turns on the decimal point
818 // Nav1 standby frequency
819 float nav1_stby = nav1_stby_freq->getFloatValue();
820 if ( fabs(nav1_stby) > 999.99 ) {
823 sprintf(digits, "%06.2f", nav1_stby);
824 for ( i = 0; i < 6; ++i ) {
827 radio_display_data[12] = digits[4] << 4 | digits[5];
828 radio_display_data[13] = digits[1] << 4 | digits[2];
829 radio_display_data[14] = 0xf0 | digits[0];
831 // Nav1 in use frequency
832 float nav1 = nav1_freq->getFloatValue();
833 if ( fabs(nav1) > 999.99 ) {
836 sprintf(digits, "%06.2f", nav1);
837 for ( i = 0; i < 6; ++i ) {
840 radio_display_data[15] = digits[4] << 4 | digits[5];
841 radio_display_data[16] = digits[1] << 4 | digits[2];
842 radio_display_data[17] = 0x00 | digits[0];
843 // the 0x00 in the upper nibble of the 6th byte of each display
844 // turns on the decimal point
846 // Nav2 standby frequency
847 float nav2_stby = nav2_stby_freq->getFloatValue();
848 if ( fabs(nav2_stby) > 999.99 ) {
851 sprintf(digits, "%06.2f", nav2_stby);
852 for ( i = 0; i < 6; ++i ) {
855 radio_display_data[24] = digits[4] << 4 | digits[5];
856 radio_display_data[25] = digits[1] << 4 | digits[2];
857 radio_display_data[26] = 0xf0 | digits[0];
859 // Nav2 in use frequency
860 float nav2 = nav2_freq->getFloatValue();
861 if ( fabs(nav2) > 999.99 ) {
864 sprintf(digits, "%06.2f", nav2);
865 for ( i = 0; i < 6; ++i ) {
868 radio_display_data[27] = digits[4] << 4 | digits[5];
869 radio_display_data[28] = digits[1] << 4 | digits[2];
870 radio_display_data[29] = 0x00 | digits[0];
871 // the 0x00 in the upper nibble of the 6th byte of each display
872 // turns on the decimal point
874 // ADF standby frequency
875 float adf_stby = adf_stby_freq->getFloatValue();
876 if ( fabs(adf_stby) > 999.99 ) {
879 sprintf(digits, "%03.0f", adf_stby);
880 for ( i = 0; i < 6; ++i ) {
883 radio_display_data[30] = digits[2] << 4 | 0x0f;
884 radio_display_data[31] = digits[0] << 4 | digits[1];
886 // ADF in use frequency
887 float adf = adf_freq->getFloatValue();
888 if ( fabs(adf) > 999.99 ) {
891 sprintf(digits, "%03.0f", adf);
892 for ( i = 0; i < 6; ++i ) {
895 radio_display_data[33] = digits[1] << 4 | digits[2];
896 radio_display_data[34] = 0xf0 | digits[0];
898 ATC610xSetRadios( radios_fd, radio_display_data );
904 /////////////////////////////////////////////////////////////////////
905 // Drive the stepper motors
906 /////////////////////////////////////////////////////////////////////
908 bool FGATC610x::do_steppers() {
909 float diff = mag_compass->getFloatValue() - compass_position;
910 while ( diff < -180.0 ) { diff += 360.0; }
911 while ( diff > 180.0 ) { diff -= 360.0; }
913 int steps = (int)(diff * 4);
914 // cout << "steps = " << steps << endl;
915 if ( steps > 4 ) { steps = 4; }
916 if ( steps < -4 ) { steps = -4; }
918 if ( abs(steps) > 0 ) {
919 unsigned char cmd = 0x80; // stepper command
921 cmd |= 0x20; // go up
923 cmd |= 0x00; // go down
927 // sync compass_position with hardware position
928 compass_position += (float)steps / 4.0;
930 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
937 /////////////////////////////////////////////////////////////////////
938 // Read the switch positions
939 /////////////////////////////////////////////////////////////////////
941 // decode the packed switch data
942 static void update_switch_matrix(
944 unsigned char switch_data[ATC_SWITCH_BYTES],
945 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
947 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
948 unsigned char switches = switch_data[row];
950 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
951 switch_matrix[board][column][row] = switches & 1;
952 switches = switches >> 1;
957 bool FGATC610x::do_switches() {
958 ATC610xReadSwitches( switches_fd, switch_data );
960 // unpack the switch data
961 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
962 update_switch_matrix( board, switch_data, switch_matrix );
964 // magnetos and starter switch
965 if ( switch_matrix[board][3][1] == 1 ) {
966 fgSetInt( "/controls/magnetos[0]", 3 );
967 fgSetBool( "/controls/starter[0]", true );
968 } else if ( switch_matrix[board][2][1] == 1 ) {
969 fgSetInt( "/controls/magnetos[0]", 3 );
970 fgSetBool( "/controls/starter[0]", false );
971 } else if ( switch_matrix[board][1][1] == 1 ) {
972 fgSetInt( "/controls/magnetos[0]", 2 );
973 fgSetBool( "/controls/starter[0]", false );
974 } else if ( switch_matrix[board][0][1] == 1 ) {
975 fgSetInt( "/controls/magnetos[0]", 1 );
976 fgSetBool( "/controls/starter[0]", false );
978 fgSetInt( "/controls/magnetos[0]", 0 );
979 fgSetBool( "/controls/starter[0]", false );
983 if ( switch_matrix[board][6][3] == 1 ) {
984 fgSetFloat( "/controls/flaps", 1.0 );
985 } else if ( switch_matrix[board][5][3] == 1 ) {
986 fgSetFloat( "/controls/flaps", 0.66 );
987 } else if ( switch_matrix[board][4][3] == 1 ) {
988 fgSetFloat( "/controls/flaps", 0.33 );
989 } else if ( switch_matrix[board][4][3] == 0 ) {
990 fgSetFloat( "/controls/flaps", 0.0 );
997 bool FGATC610x::process() {
999 // Lock the hardware, skip if it's not ready yet
1000 if ( ATC610xLock( lock_fd ) > 0 ) {
1003 do_radio_switches();
1008 ATC610xRelease( lock_fd );
1017 bool FGATC610x::close() {