1 // atc610x.cxx -- FGFS interface to ATC 610x hardware
3 // Written by Curtis Olson, started January 2002
5 // Copyright (C) 2002 Curtis L. Olson - curt@flightgear.org
7 // This program is free software; you can redistribute it and/or
8 // modify it under the terms of the GNU General Public License as
9 // published by the Free Software Foundation; either version 2 of the
10 // License, or (at your option) any later version.
12 // This program is distributed in the hope that it will be useful, but
13 // WITHOUT ANY WARRANTY; without even the implied warranty of
14 // MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
15 // General Public License for more details.
17 // You should have received a copy of the GNU General Public License
18 // along with this program; if not, write to the Free Software
19 // Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
28 #include <simgear/compiler.h>
30 #include <stdlib.h> // atoi() atof() abs()
31 #include <sys/types.h>
34 #include <stdio.h> //snprintf
35 #if defined( _MSC_VER ) || defined(__MINGW32__)
36 # include <io.h> //lseek, read, write
43 #include <simgear/debug/logstream.hxx>
44 #include <simgear/io/iochannel.hxx>
45 #include <simgear/math/sg_types.hxx>
46 #include <simgear/misc/props.hxx>
48 #include <Main/fg_props.hxx>
49 #include <Main/globals.hxx>
51 #include "atc610x.hxx"
55 // Lock the ATC 610 hardware
56 static int ATC610xLock( int fd ) {
58 lseek( fd, 0, SEEK_SET );
61 int result = read( fd, tmp, 1 );
63 SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
70 // Write a radios command
71 static int ATC610xRelease( int fd ) {
73 lseek( fd, 0, SEEK_SET );
77 int result = write( fd, tmp, 1 );
80 SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
88 static void ATC610xReadAnalogInputs( int fd, unsigned char *analog_in_bytes ) {
90 lseek( fd, 0, SEEK_SET );
92 int result = read( fd, analog_in_bytes, ATC_ANAL_IN_BYTES );
93 if ( result != ATC_ANAL_IN_BYTES ) {
94 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
100 // Write a radios command
101 static int ATC610xSetRadios( int fd,
102 unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
105 lseek( fd, 0, SEEK_SET );
107 int result = write( fd, data, ATC_RADIO_DISPLAY_BYTES );
109 if ( result != ATC_RADIO_DISPLAY_BYTES ) {
110 SG_LOG( SG_IO, SG_DEBUG, "Write failed" );
117 // Read status of last radios written to
118 static void ATC610xReadRadios( int fd, unsigned char *switch_data ) {
120 lseek( fd, 0, SEEK_SET );
122 int result = read( fd, switch_data, ATC_RADIO_SWITCH_BYTES );
123 if ( result != ATC_RADIO_SWITCH_BYTES ) {
124 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
129 // Write a stepper command
130 static int ATC610xSetStepper( int fd, unsigned char channel,
131 unsigned char value )
134 lseek( fd, 0, SEEK_SET );
137 unsigned char buf[3];
141 int result = write( fd, buf, 2 );
143 SG_LOG( SG_IO, SG_INFO, "Write failed" );
145 SG_LOG( SG_IO, SG_DEBUG,
146 "Sent cmd = " << (int)channel << " value = " << (int)value );
151 // Read status of last stepper written to
152 static unsigned char ATC610xReadStepper( int fd ) {
156 lseek( fd, 0, SEEK_SET );
159 unsigned char buf[2];
160 result = read( fd, buf, 1 );
162 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
165 SG_LOG( SG_IO, SG_DEBUG, "Read result = " << (int)buf[0] );
171 // Read switch inputs
172 static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
174 lseek( fd, 0, SEEK_SET );
176 int result = read( fd, switch_bytes, ATC_SWITCH_BYTES );
177 if ( result != ATC_SWITCH_BYTES ) {
178 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
184 // Turn a lamp on or off
185 void ATC610xSetLamp( int fd, int channel, bool value ) {
186 // lamp channels 0-63 are written to LampPort0, channels 64-127
187 // are written to LampPort1
189 // bits 0-6 are the lamp address
190 // bit 7 is the value (on/off)
195 unsigned char buf[3];
199 result = write( fd, buf, 2 );
201 SG_LOG( SG_IO, SG_ALERT, "Write failed" );
207 // Open and initialize ATC 610x hardware
208 bool FGATC610x::open() {
209 if ( is_enabled() ) {
210 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
211 << "is already in use, ignoring" );
215 SG_LOG( SG_IO, SG_ALERT,
216 "Initializing ATC 610x hardware, please wait ..." );
218 set_hz( 30 ); // default to processing requests @ 30Hz
221 board = 0; // 610x uses a single board number = 0
223 snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
224 snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
225 snprintf( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
226 snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
227 snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
228 snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
230 /////////////////////////////////////////////////////////////////////
231 // Open the /proc files
232 /////////////////////////////////////////////////////////////////////
234 lock_fd = ::open( lock_file, O_RDWR );
235 if ( lock_fd == -1 ) {
236 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
238 snprintf( msg, 256, "Error opening %s", lock_file );
243 analog_in_fd = ::open( analog_in_file, O_RDONLY );
244 if ( analog_in_fd == -1 ) {
245 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
247 snprintf( msg, 256, "Error opening %s", analog_in_file );
252 lamps_fd = ::open( lamps_file, O_WRONLY );
253 if ( lamps_fd == -1 ) {
254 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
256 snprintf( msg, 256, "Error opening %s", lamps_file );
261 radios_fd = ::open( radios_file, O_RDWR );
262 if ( radios_fd == -1 ) {
263 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
265 snprintf( msg, 256, "Error opening %s", radios_file );
270 stepper_fd = ::open( stepper_file, O_RDWR );
271 if ( stepper_fd == -1 ) {
272 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
274 snprintf( msg, 256, "Error opening %s", stepper_file );
279 switches_fd = ::open( switches_file, O_RDONLY );
280 if ( switches_fd == -1 ) {
281 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
283 snprintf( msg, 256, "Error opening %s", switches_file );
288 /////////////////////////////////////////////////////////////////////
289 // Home the compass stepper motor
290 /////////////////////////////////////////////////////////////////////
292 SG_LOG( SG_IO, SG_ALERT,
293 " - Homing the compass stepper motor" );
295 // Lock the hardware, keep trying until we succeed
296 while ( ATC610xLock( lock_fd ) <= 0 );
298 // Send the stepper home command
299 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
301 // Release the hardware
302 ATC610xRelease( lock_fd );
304 SG_LOG( SG_IO, SG_ALERT,
305 " - Waiting for compass to come home." );
308 int timeout = 900; // about 30 seconds
309 while ( ! home && timeout > 0 ) {
310 if ( timeout % 150 == 0 ) {
311 SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
313 SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
316 while ( ATC610xLock( lock_fd ) <= 0 );
318 unsigned char result = ATC610xReadStepper( stepper_fd );
323 ATC610xRelease( lock_fd );
325 #if defined( _MSC_VER )
326 ulMilliSecondSleep(33);
327 #elif defined (WIN32) && !defined(__CYGWIN__)
336 compass_position = 0.0;
338 /////////////////////////////////////////////////////////////////////
339 // Blank the radio display
340 /////////////////////////////////////////////////////////////////////
342 SG_LOG( SG_IO, SG_ALERT,
343 " - Clearing the radios displays." );
346 unsigned char value = 0xff;
347 for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
348 radio_display_data[channel] = value;
351 // Lock the hardware, keep trying until we succeed
352 while ( ATC610xLock( lock_fd ) <= 0 );
355 ATC610xSetRadios( radios_fd, radio_display_data );
357 ATC610xRelease( lock_fd );
359 /////////////////////////////////////////////////////////////////////
361 /////////////////////////////////////////////////////////////////////
363 for ( int i = 0; i < 128; ++i ) {
364 ATC610xSetLamp( lamps_fd, i, false );
367 /////////////////////////////////////////////////////////////////////
368 // Finished initing hardware
369 /////////////////////////////////////////////////////////////////////
371 SG_LOG( SG_IO, SG_ALERT,
372 "Done initializing ATC 610x hardware." );
374 /////////////////////////////////////////////////////////////////////
375 // Connect up to property values
376 /////////////////////////////////////////////////////////////////////
378 mag_compass = fgGetNode( "/steam/mag-compass-deg", true );
380 dme_min = fgGetNode( "/radios/dme/ete-min", true );
381 dme_kt = fgGetNode( "/radios/dme/speed-kt", true );
382 dme_nm = fgGetNode( "/radios/dme/distance-nm", true );
384 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
386 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
387 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
389 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
391 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
393 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
395 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
397 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
399 adf_on_off_vol = fgGetNode( "/radios/kr-87/on-off-volume", true );
400 adf_adf_btn = fgGetNode( "/radios/kr-87/adf-btn", true );
401 adf_bfo_btn = fgGetNode( "/radios/kr-87/bfo-btn", true );
402 adf_freq = fgGetNode( "/radios/kr-87/frequencies/selected-khz", true );
403 adf_stby_freq = fgGetNode( "/radios/kr-87/frequencies/standby-khz", true );
404 adf_stby_mode = fgGetNode( "/radios/kr-87/stby-mode", true );
405 adf_timer_mode = fgGetNode( "/radios/kr-87/timer-mode", true );
406 adf_count_mode = fgGetNode( "/radios/kr-87/count-mode", true );
407 adf_flight_timer = fgGetNode( "/radios/kr-87/flight-timer", true );
408 adf_elapsed_timer = fgGetNode( "/radios/kr-87/elapsed-timer", true );
410 inner = fgGetNode( "/radios/marker-beacon/inner", true );
411 middle = fgGetNode( "/radios/marker-beacon/middle", true );
412 outer = fgGetNode( "/radios/marker-beacon/outer", true );
418 /////////////////////////////////////////////////////////////////////
419 // Read analog inputs
420 /////////////////////////////////////////////////////////////////////
422 #define ATC_AILERON_CENTER 535
423 #define ATC_ELEVATOR_TRIM_CENTER 512
424 #define ATC_ELEVATOR_CENTER 543
426 bool FGATC610x::do_analog_in() {
427 // Read raw data in byte form
428 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
430 // Convert to integer values
431 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
432 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
433 unsigned char lo = analog_in_bytes[2 * channel + 1];
434 analog_in_data[channel] = hi * 256 + lo;
436 // printf("%02x %02x ", hi, lo );
437 // printf("%04d ", value );
440 float tmp, tmp1, tmp2;
443 tmp = (float)(analog_in_data[0] - ATC_AILERON_CENTER) / 256.0f;
444 fgSetFloat( "/controls/aileron", tmp );
445 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
448 tmp = (float)(analog_in_data[4] - ATC_ELEVATOR_TRIM_CENTER) / 512.0f;
449 fgSetFloat( "/controls/elevator-trim", tmp );
450 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
453 tmp = (float)(ATC_ELEVATOR_CENTER - analog_in_data[5]) / 100.0f;
454 fgSetFloat( "/controls/elevator", tmp );
455 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
458 tmp = (float)analog_in_data[7] / 680.0f;
459 fgSetFloat( "/controls/mixture[0]", tmp );
462 tmp = (float)analog_in_data[8] / 690.0f;
463 fgSetFloat( "/controls/throttle[0]", tmp );
466 tmp = (float)analog_in_data[25] / 1024.0f;
467 fgSetFloat( "/radios/nav[0]/volume", tmp );
470 tmp = (float)analog_in_data[24] / 1024.0f;
471 fgSetFloat( "/radios/nav[1]/volume", tmp );
474 tmp = (float)analog_in_data[26] / 1024.0f;
475 fgSetFloat( "/radios/kr-87/on-off-volume", tmp );
478 tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
479 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
482 tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
483 tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
484 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
490 /////////////////////////////////////////////////////////////////////
492 /////////////////////////////////////////////////////////////////////
494 bool FGATC610x::do_lights( double dt ) {
497 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
498 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
499 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
502 if ( adf_on_off_vol->getDoubleValue() >= 0.01 ) {
503 ATC610xSetLamp( lamps_fd, 11, !adf_adf_btn->getBoolValue() ); // ANT
504 ATC610xSetLamp( lamps_fd, 12, adf_adf_btn->getBoolValue() ); // ADF
505 ATC610xSetLamp( lamps_fd, 13, adf_bfo_btn->getBoolValue() ); // BFO
506 ATC610xSetLamp( lamps_fd, 14, !adf_stby_mode->getBoolValue() ); // FRQ
507 ATC610xSetLamp( lamps_fd, 15, adf_stby_mode->getBoolValue() &&
508 !adf_timer_mode->getBoolValue() ); // FLT
510 // ET needs to blink when we are in ET set countdown time
511 if ( adf_count_mode->getIntValue() < 2 ) {
512 ATC610xSetLamp( lamps_fd, 16, adf_stby_mode->getBoolValue() &&
513 adf_timer_mode->getBoolValue() ); // ET
516 if ( et_flash && et_flash_time > 0.5 ) {
518 et_flash_time -= 0.5;
519 } else if ( !et_flash && et_flash_time > 0.2 ) {
521 et_flash_time -= 0.2;
523 ATC610xSetLamp( lamps_fd, 16, et_flash ); // ET
526 ATC610xSetLamp( lamps_fd, 11, false ); // ANT
527 ATC610xSetLamp( lamps_fd, 12, false ); // ADF
528 ATC610xSetLamp( lamps_fd, 13, false ); // BFO
529 ATC610xSetLamp( lamps_fd, 14, false ); // FRQ
530 ATC610xSetLamp( lamps_fd, 15, false ); // FLT
531 ATC610xSetLamp( lamps_fd, 16, false ); // ET
538 /////////////////////////////////////////////////////////////////////
539 // Read radio switches
540 /////////////////////////////////////////////////////////////////////
542 bool FGATC610x::do_radio_switches() {
543 double freq, coarse_freq, fine_freq, value;
546 ATC610xReadRadios( radios_fd, radio_switch_data );
549 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
550 if ( dme_switch == 0 ) {
552 fgSetInt( "/radios/dme/switch-position", 0 );
553 } else if ( dme_switch == 2 ) {
555 fgSetInt( "/radios/dme/switch-position", 1 );
556 } else if ( dme_switch == 1 ) {
558 fgSetInt( "/radios/dme/switch-position", 3 );
562 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
563 static int last_com1_swap;
564 if ( com1_swap && (last_com1_swap != com1_swap) ) {
565 float tmp = com1_freq->getFloatValue();
566 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
567 com1_stby_freq->getFloatValue() );
568 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
570 last_com1_swap = com1_swap;
573 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
574 static int last_com2_swap;
575 if ( com2_swap && (last_com2_swap != com2_swap) ) {
576 float tmp = com2_freq->getFloatValue();
577 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
578 com2_stby_freq->getFloatValue() );
579 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
581 last_com2_swap = com2_swap;
584 int nav1_swap = radio_switch_data[11] & 0x01;
585 static int last_nav1_swap;
586 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
587 float tmp = nav1_freq->getFloatValue();
588 fgSetFloat( "/radios/nav[0]/freqencies/selected-mhz",
589 nav1_stby_freq->getFloatValue() );
590 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
592 last_nav1_swap = nav1_swap;
595 int nav2_swap = !(radio_switch_data[19] & 0x01);
596 static int last_nav2_swap;
597 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
598 float tmp = nav2_freq->getFloatValue();
599 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
600 nav2_stby_freq->getFloatValue() );
601 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
603 last_nav2_swap = nav2_swap;
606 int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
607 int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
608 static int last_com1_tuner_fine = com1_tuner_fine;
609 static int last_com1_tuner_coarse = com1_tuner_coarse;
611 freq = com1_stby_freq->getFloatValue();
612 coarse_freq = (int)freq;
613 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
615 if ( com1_tuner_fine != last_com1_tuner_fine ) {
616 diff = com1_tuner_fine - last_com1_tuner_fine;
617 if ( abs(diff) > 4 ) {
619 if ( com1_tuner_fine < last_com1_tuner_fine ) {
621 diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
624 diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
629 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
630 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
632 if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
633 diff = com1_tuner_coarse - last_com1_tuner_coarse;
634 if ( abs(diff) > 4 ) {
636 if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
638 diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
641 diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
646 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
647 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
649 last_com1_tuner_fine = com1_tuner_fine;
650 last_com1_tuner_coarse = com1_tuner_coarse;
652 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
653 coarse_freq + fine_freq / 40.0 );
656 int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
657 int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
658 static int last_com2_tuner_fine = com2_tuner_fine;
659 static int last_com2_tuner_coarse = com2_tuner_coarse;
661 freq = com2_stby_freq->getFloatValue();
662 coarse_freq = (int)freq;
663 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
665 if ( com2_tuner_fine != last_com2_tuner_fine ) {
666 diff = com2_tuner_fine - last_com2_tuner_fine;
667 if ( abs(diff) > 4 ) {
669 if ( com2_tuner_fine < last_com2_tuner_fine ) {
671 diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
674 diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
679 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
680 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
682 if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
683 diff = com2_tuner_coarse - last_com2_tuner_coarse;
684 if ( abs(diff) > 4 ) {
686 if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
688 diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
691 diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
696 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
697 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
699 last_com2_tuner_fine = com2_tuner_fine;
700 last_com2_tuner_coarse = com2_tuner_coarse;
702 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
703 coarse_freq + fine_freq / 40.0 );
706 int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
707 int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
708 static int last_nav1_tuner_fine = nav1_tuner_fine;
709 static int last_nav1_tuner_coarse = nav1_tuner_coarse;
711 freq = nav1_stby_freq->getFloatValue();
712 coarse_freq = (int)freq;
713 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
715 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
716 diff = nav1_tuner_fine - last_nav1_tuner_fine;
717 if ( abs(diff) > 4 ) {
719 if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
721 diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
724 diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
729 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
730 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
732 if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
733 diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
734 if ( abs(diff) > 4 ) {
736 if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
738 diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
741 diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
746 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
747 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
749 last_nav1_tuner_fine = nav1_tuner_fine;
750 last_nav1_tuner_coarse = nav1_tuner_coarse;
752 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
753 coarse_freq + fine_freq / 20.0 );
756 int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
757 int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
758 static int last_nav2_tuner_fine = nav2_tuner_fine;
759 static int last_nav2_tuner_coarse = nav2_tuner_coarse;
761 freq = nav2_stby_freq->getFloatValue();
762 coarse_freq = (int)freq;
763 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
765 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
766 diff = nav2_tuner_fine - last_nav2_tuner_fine;
767 if ( abs(diff) > 4 ) {
769 if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
771 diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
774 diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
779 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
780 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
782 if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
783 diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
784 if ( abs(diff) > 4 ) {
786 if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
788 diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
791 diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
796 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
797 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
799 last_nav2_tuner_fine = nav2_tuner_fine;
800 last_nav2_tuner_coarse = nav2_tuner_coarse;
802 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
803 coarse_freq + fine_freq / 20.0);
806 int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
807 int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
808 static int last_adf_tuner_fine = adf_tuner_fine;
809 static int last_adf_tuner_coarse = adf_tuner_coarse;
811 if ( adf_count_mode->getIntValue() == 2 ) {
812 // tune count down timer
813 value = adf_elapsed_timer->getDoubleValue();
816 if ( adf_stby_mode->getIntValue() == 1 ) {
817 value = adf_freq->getFloatValue();
819 value = adf_stby_freq->getFloatValue();
823 if ( adf_tuner_fine != last_adf_tuner_fine ) {
824 diff = adf_tuner_fine - last_adf_tuner_fine;
825 if ( abs(diff) > 4 ) {
827 if ( adf_tuner_fine < last_adf_tuner_fine ) {
829 diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
832 diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
838 if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
839 diff = adf_tuner_coarse - last_adf_tuner_coarse;
840 if ( abs(diff) > 4 ) {
842 if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
844 diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
847 diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
850 if ( adf_count_mode->getIntValue() == 2 ) {
856 if ( adf_count_mode->getIntValue() == 2 ) {
857 if ( value < 0 ) { value += 3600; }
858 if ( value > 3599 ) { value -= 3600; }
860 if ( value < 200 ) { value += 1600; }
861 if ( value > 1799 ) { value -= 1600; }
864 last_adf_tuner_fine = adf_tuner_fine;
865 last_adf_tuner_coarse = adf_tuner_coarse;
867 if ( adf_count_mode->getIntValue() == 2 ) {
868 fgSetFloat( "/radios/kr-87/elapsed-timer", value );
870 if ( adf_stby_mode->getIntValue() == 1 ) {
871 fgSetFloat( "/radios/kr-87/frequencies/selected-khz", value );
873 fgSetFloat( "/radios/kr-87/frequencies/standby-khz", value );
878 fgSetInt( "/radios/kr-87/adf-btn", !(radio_switch_data[23] & 0x01) );
879 fgSetInt( "/radios/kr-87/bfo-btn", !(radio_switch_data[23] >> 1 & 0x01) );
880 fgSetInt( "/radios/kr-87/frq-btn", !(radio_switch_data[23] >> 2 & 0x01) );
881 fgSetInt( "/radios/kr-87/flt-et-btn", !(radio_switch_data[23] >> 3 & 0x01) );
882 fgSetInt( "/radios/kr-87/set-rst-btn", !(radio_switch_data[23] >> 4 & 0x01) );
883 /* cout << "adf = " << !(radio_switch_data[23] & 0x01)
884 << " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
885 << " stby = " << !(radio_switch_data[23] >> 2 & 0x01)
886 << " timer = " << !(radio_switch_data[23] >> 3 & 0x01)
887 << " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
894 /////////////////////////////////////////////////////////////////////
895 // Update the radio display
896 /////////////////////////////////////////////////////////////////////
898 bool FGATC610x::do_radio_display() {
903 if ( dme_switch != 0 ) {
905 float minutes = dme_min->getFloatValue();
906 if ( minutes > 999 ) {
909 sprintf(digits, "%03.0f", minutes);
910 for ( i = 0; i < 6; ++i ) {
913 radio_display_data[0] = digits[1] << 4 | digits[2];
914 radio_display_data[1] = 0xf0 | digits[0];
917 float knots = dme_kt->getFloatValue();
921 sprintf(digits, "%03.0f", knots);
922 for ( i = 0; i < 6; ++i ) {
925 radio_display_data[2] = digits[1] << 4 | digits[2];
926 radio_display_data[3] = 0xf0 | digits[0];
929 float nm = dme_nm->getFloatValue();
933 sprintf(digits, "%04.1f", nm);
934 for ( i = 0; i < 6; ++i ) {
937 radio_display_data[4] = digits[1] << 4 | digits[3];
938 radio_display_data[5] = 0x00 | digits[0];
939 // the 0x00 in the upper nibble of the 6th byte of each
940 // display turns on the decimal point
943 for ( i = 0; i < 6; ++i ) {
944 radio_display_data[i] = 0xff;
948 // Com1 standby frequency
949 float com1_stby = com1_stby_freq->getFloatValue();
950 if ( fabs(com1_stby) > 999.99 ) {
953 sprintf(digits, "%06.3f", com1_stby);
954 for ( i = 0; i < 6; ++i ) {
957 radio_display_data[6] = digits[4] << 4 | digits[5];
958 radio_display_data[7] = digits[1] << 4 | digits[2];
959 radio_display_data[8] = 0xf0 | digits[0];
961 // Com1 in use frequency
962 float com1 = com1_freq->getFloatValue();
963 if ( fabs(com1) > 999.99 ) {
966 sprintf(digits, "%06.3f", com1);
967 for ( i = 0; i < 6; ++i ) {
970 radio_display_data[9] = digits[4] << 4 | digits[5];
971 radio_display_data[10] = digits[1] << 4 | digits[2];
972 radio_display_data[11] = 0x00 | digits[0];
973 // the 0x00 in the upper nibble of the 6th byte of each display
974 // turns on the decimal point
976 // Com2 standby frequency
977 float com2_stby = com2_stby_freq->getFloatValue();
978 if ( fabs(com2_stby) > 999.99 ) {
981 sprintf(digits, "%06.3f", com2_stby);
982 for ( i = 0; i < 6; ++i ) {
985 radio_display_data[18] = digits[4] << 4 | digits[5];
986 radio_display_data[19] = digits[1] << 4 | digits[2];
987 radio_display_data[20] = 0xf0 | digits[0];
989 // Com2 in use frequency
990 float com2 = com2_freq->getFloatValue();
991 if ( fabs(com2) > 999.99 ) {
994 sprintf(digits, "%06.3f", com2);
995 for ( i = 0; i < 6; ++i ) {
998 radio_display_data[21] = digits[4] << 4 | digits[5];
999 radio_display_data[22] = digits[1] << 4 | digits[2];
1000 radio_display_data[23] = 0x00 | digits[0];
1001 // the 0x00 in the upper nibble of the 6th byte of each display
1002 // turns on the decimal point
1004 // Nav1 standby frequency
1005 float nav1_stby = nav1_stby_freq->getFloatValue();
1006 if ( fabs(nav1_stby) > 999.99 ) {
1009 sprintf(digits, "%06.2f", nav1_stby);
1010 for ( i = 0; i < 6; ++i ) {
1013 radio_display_data[12] = digits[4] << 4 | digits[5];
1014 radio_display_data[13] = digits[1] << 4 | digits[2];
1015 radio_display_data[14] = 0xf0 | digits[0];
1017 // Nav1 in use frequency
1018 float nav1 = nav1_freq->getFloatValue();
1019 if ( fabs(nav1) > 999.99 ) {
1022 sprintf(digits, "%06.2f", nav1);
1023 for ( i = 0; i < 6; ++i ) {
1026 radio_display_data[15] = digits[4] << 4 | digits[5];
1027 radio_display_data[16] = digits[1] << 4 | digits[2];
1028 radio_display_data[17] = 0x00 | digits[0];
1029 // the 0x00 in the upper nibble of the 6th byte of each display
1030 // turns on the decimal point
1032 // Nav2 standby frequency
1033 float nav2_stby = nav2_stby_freq->getFloatValue();
1034 if ( fabs(nav2_stby) > 999.99 ) {
1037 sprintf(digits, "%06.2f", nav2_stby);
1038 for ( i = 0; i < 6; ++i ) {
1041 radio_display_data[24] = digits[4] << 4 | digits[5];
1042 radio_display_data[25] = digits[1] << 4 | digits[2];
1043 radio_display_data[26] = 0xf0 | digits[0];
1045 // Nav2 in use frequency
1046 float nav2 = nav2_freq->getFloatValue();
1047 if ( fabs(nav2) > 999.99 ) {
1050 sprintf(digits, "%06.2f", nav2);
1051 for ( i = 0; i < 6; ++i ) {
1054 radio_display_data[27] = digits[4] << 4 | digits[5];
1055 radio_display_data[28] = digits[1] << 4 | digits[2];
1056 radio_display_data[29] = 0x00 | digits[0];
1057 // the 0x00 in the upper nibble of the 6th byte of each display
1058 // turns on the decimal point
1060 // ADF standby frequency / timer
1061 if ( adf_on_off_vol->getDoubleValue() >= 0.01 ) {
1062 if ( adf_stby_mode->getIntValue() == 0 ) {
1064 float adf_stby = adf_stby_freq->getFloatValue();
1065 if ( fabs(adf_stby) > 1799 ) {
1068 sprintf(digits, "%04.0f", adf_stby);
1069 for ( i = 0; i < 6; ++i ) {
1072 radio_display_data[30] = digits[3] << 4 | 0x0f;
1073 radio_display_data[31] = digits[1] << 4 | digits[2];
1074 if ( digits[0] == 0 ) {
1075 radio_display_data[32] = 0xff;
1077 radio_display_data[32] = 0xf0 | digits[0];
1082 int hours, min, sec;
1083 if ( adf_timer_mode->getIntValue() == 0 ) {
1084 time = adf_flight_timer->getDoubleValue();
1086 time = adf_elapsed_timer->getDoubleValue();
1088 // cout << time << endl;
1089 hours = (int)(time / 3600.0);
1090 time -= hours * 3600.00;
1091 min = (int)(time / 60.0);
1108 // cout << big << ":" << small << endl;
1109 sprintf(digits, "%02d%02d", big, small);
1110 for ( i = 0; i < 6; ++i ) {
1113 radio_display_data[30] = digits[3] << 4 | 0x0f;
1114 radio_display_data[31] = digits[1] << 4 | digits[2];
1115 radio_display_data[32] = 0xf0 | digits[0];
1118 // ADF in use frequency
1119 float adf = adf_freq->getFloatValue();
1120 if ( fabs(adf) > 1799 ) {
1123 sprintf(digits, "%04.0f", adf);
1124 for ( i = 0; i < 6; ++i ) {
1127 radio_display_data[33] = digits[2] << 4 | digits[3];
1128 if ( digits[0] == 0 ) {
1129 radio_display_data[34] = 0xf0 | digits[1];
1131 radio_display_data[34] = digits[0] << 4 | digits[1];
1134 radio_display_data[30] = 0xff;
1135 radio_display_data[31] = 0xff;
1136 radio_display_data[32] = 0xff;
1137 radio_display_data[33] = 0xff;
1138 radio_display_data[34] = 0xff;
1142 ATC610xSetRadios( radios_fd, radio_display_data );
1148 /////////////////////////////////////////////////////////////////////
1149 // Drive the stepper motors
1150 /////////////////////////////////////////////////////////////////////
1152 bool FGATC610x::do_steppers() {
1153 float diff = mag_compass->getFloatValue() - compass_position;
1154 while ( diff < -180.0 ) { diff += 360.0; }
1155 while ( diff > 180.0 ) { diff -= 360.0; }
1157 int steps = (int)(diff * 4);
1158 // cout << "steps = " << steps << endl;
1159 if ( steps > 4 ) { steps = 4; }
1160 if ( steps < -4 ) { steps = -4; }
1162 if ( abs(steps) > 0 ) {
1163 unsigned char cmd = 0x80; // stepper command
1165 cmd |= 0x20; // go up
1167 cmd |= 0x00; // go down
1171 // sync compass_position with hardware position
1172 compass_position += (float)steps / 4.0;
1174 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1181 /////////////////////////////////////////////////////////////////////
1182 // Read the switch positions
1183 /////////////////////////////////////////////////////////////////////
1185 // decode the packed switch data
1186 static void update_switch_matrix(
1188 unsigned char switch_data[ATC_SWITCH_BYTES],
1189 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1191 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1192 unsigned char switches = switch_data[row];
1194 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1195 switch_matrix[board][column][row] = switches & 1;
1196 switches = switches >> 1;
1201 bool FGATC610x::do_switches() {
1202 ATC610xReadSwitches( switches_fd, switch_data );
1204 // unpack the switch data
1205 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1206 update_switch_matrix( board, switch_data, switch_matrix );
1208 // magnetos and starter switch
1210 bool starter = false;
1211 if ( switch_matrix[board][3][1] == 1 ) {
1214 } else if ( switch_matrix[board][2][1] == 1 ) {
1217 } else if ( switch_matrix[board][1][1] == 1 ) {
1220 } else if ( switch_matrix[board][0][1] == 1 ) {
1230 if ( switch_matrix[board][6][3] == 1 ) {
1232 } else if ( switch_matrix[board][5][3] == 1 ) {
1234 } else if ( switch_matrix[board][4][3] == 1 ) {
1236 } else if ( switch_matrix[board][4][3] == 0 ) {
1240 // do a bit of filtering on the magneto/starter switch and the
1241 // flap lever because these are not well debounced in hardware
1242 static int mag1, mag2, mag3;
1246 if ( mag1 == mag2 && mag2 == mag3 ) {
1247 fgSetInt( "/controls/magnetos[0]", magnetos );
1250 static bool start1, start2, start3;
1254 if ( start1 == start2 && start2 == start3 ) {
1255 fgSetBool( "/controls/starter[0]", starter );
1258 static float flap1, flap2, flap3;
1262 if ( flap1 == flap2 && flap2 == flap3 ) {
1263 fgSetFloat( "/controls/flaps", flaps );
1270 bool FGATC610x::process() {
1271 SGTimeStamp current;
1274 double dt = (double)(current - last_time_stamp) / 1000000;
1275 last_time_stamp.stamp();
1277 // Lock the hardware, skip if it's not ready yet
1278 if ( ATC610xLock( lock_fd ) > 0 ) {
1282 do_radio_switches();
1287 ATC610xRelease( lock_fd );
1296 bool FGATC610x::close() {