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/inputs/on-off-volume", true );
400 adf_adf_btn = fgGetNode( "/radios/kr-87/inputs/adf-btn", true );
401 adf_bfo_btn = fgGetNode( "/radios/kr-87/inputs/bfo-btn", true );
402 adf_freq = fgGetNode( "/radios/kr-87/outputs/selected-khz", true );
403 adf_stby_freq = fgGetNode( "/radios/kr-87/outputs/standby-khz", true );
404 adf_stby_mode = fgGetNode( "/radios/kr-87/modes/stby", true );
405 adf_timer_mode = fgGetNode( "/radios/kr-87/modes/timer", true );
406 adf_count_mode = fgGetNode( "/radios/kr-87/modes/count", true );
407 adf_flight_timer = fgGetNode( "/radios/kr-87/outputs/flight-timer", true );
408 adf_elapsed_timer = fgGetNode( "/radios/kr-87/outputs/elapsed-timer",
410 adf_ant_ann = fgGetNode( "/radios/kr-87/annunciators/ant", true );
411 adf_adf_ann = fgGetNode( "/radios/kr-87/annunciators/adf", true );
412 adf_bfo_ann = fgGetNode( "/radios/kr-87/annunciators/bfo", true );
413 adf_frq_ann = fgGetNode( "/radios/kr-87/annunciators/frq", true );
414 adf_flt_ann = fgGetNode( "/radios/kr-87/annunciators/flt", true );
415 adf_et_ann = fgGetNode( "/radios/kr-87/annunciators/et", true );
417 inner = fgGetNode( "/radios/marker-beacon/inner", true );
418 middle = fgGetNode( "/radios/marker-beacon/middle", true );
419 outer = fgGetNode( "/radios/marker-beacon/outer", true );
425 /////////////////////////////////////////////////////////////////////
426 // Read analog inputs
427 /////////////////////////////////////////////////////////////////////
429 #define ATC_AILERON_CENTER 535
430 #define ATC_ELEVATOR_TRIM_CENTER 512
431 #define ATC_ELEVATOR_CENTER 543
433 bool FGATC610x::do_analog_in() {
434 // Read raw data in byte form
435 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
437 // Convert to integer values
438 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
439 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
440 unsigned char lo = analog_in_bytes[2 * channel + 1];
441 analog_in_data[channel] = hi * 256 + lo;
443 // printf("%02x %02x ", hi, lo );
444 // printf("%04d ", value );
447 float tmp, tmp1, tmp2;
450 tmp = (float)(analog_in_data[0] - ATC_AILERON_CENTER) / 256.0f;
451 fgSetFloat( "/controls/aileron", tmp );
452 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
455 tmp = (float)(analog_in_data[4] - ATC_ELEVATOR_TRIM_CENTER) / 512.0f;
456 fgSetFloat( "/controls/elevator-trim", tmp );
457 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
460 tmp = (float)(ATC_ELEVATOR_CENTER - analog_in_data[5]) / 100.0f;
461 fgSetFloat( "/controls/elevator", tmp );
462 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
465 tmp = (float)analog_in_data[7] / 680.0f;
466 fgSetFloat( "/controls/mixture[0]", tmp );
469 tmp = (float)analog_in_data[8] / 690.0f;
470 fgSetFloat( "/controls/throttle[0]", tmp );
473 tmp = (float)analog_in_data[25] / 1024.0f;
474 fgSetFloat( "/radios/nav[0]/volume", tmp );
477 tmp = (float)analog_in_data[24] / 1024.0f;
478 fgSetFloat( "/radios/nav[1]/volume", tmp );
481 tmp = (float)analog_in_data[26] / 1024.0f;
482 fgSetFloat( "/radios/kr-87/inputs/on-off-volume", tmp );
485 tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
486 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
489 tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
490 tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
491 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
497 /////////////////////////////////////////////////////////////////////
499 /////////////////////////////////////////////////////////////////////
501 bool FGATC610x::do_lights() {
504 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
505 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
506 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
509 ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
510 ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
511 ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
512 ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
513 ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
514 ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
520 /////////////////////////////////////////////////////////////////////
521 // Read radio switches
522 /////////////////////////////////////////////////////////////////////
524 bool FGATC610x::do_radio_switches() {
525 double freq, coarse_freq, fine_freq, value;
528 ATC610xReadRadios( radios_fd, radio_switch_data );
531 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
532 if ( dme_switch == 0 ) {
534 fgSetInt( "/radios/dme/switch-position", 0 );
535 } else if ( dme_switch == 2 ) {
537 fgSetInt( "/radios/dme/switch-position", 1 );
538 } else if ( dme_switch == 1 ) {
540 fgSetInt( "/radios/dme/switch-position", 3 );
544 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
545 static int last_com1_swap;
546 if ( com1_swap && (last_com1_swap != com1_swap) ) {
547 float tmp = com1_freq->getFloatValue();
548 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
549 com1_stby_freq->getFloatValue() );
550 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
552 last_com1_swap = com1_swap;
555 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
556 static int last_com2_swap;
557 if ( com2_swap && (last_com2_swap != com2_swap) ) {
558 float tmp = com2_freq->getFloatValue();
559 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
560 com2_stby_freq->getFloatValue() );
561 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
563 last_com2_swap = com2_swap;
566 int nav1_swap = radio_switch_data[11] & 0x01;
567 static int last_nav1_swap;
568 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
569 float tmp = nav1_freq->getFloatValue();
570 fgSetFloat( "/radios/nav[0]/freqencies/selected-mhz",
571 nav1_stby_freq->getFloatValue() );
572 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
574 last_nav1_swap = nav1_swap;
577 int nav2_swap = !(radio_switch_data[19] & 0x01);
578 static int last_nav2_swap;
579 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
580 float tmp = nav2_freq->getFloatValue();
581 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
582 nav2_stby_freq->getFloatValue() );
583 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
585 last_nav2_swap = nav2_swap;
588 int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
589 int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
590 static int last_com1_tuner_fine = com1_tuner_fine;
591 static int last_com1_tuner_coarse = com1_tuner_coarse;
593 freq = com1_stby_freq->getFloatValue();
594 coarse_freq = (int)freq;
595 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
597 if ( com1_tuner_fine != last_com1_tuner_fine ) {
598 diff = com1_tuner_fine - last_com1_tuner_fine;
599 if ( abs(diff) > 4 ) {
601 if ( com1_tuner_fine < last_com1_tuner_fine ) {
603 diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
606 diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
611 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
612 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
614 if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
615 diff = com1_tuner_coarse - last_com1_tuner_coarse;
616 if ( abs(diff) > 4 ) {
618 if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
620 diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
623 diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
628 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
629 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
631 last_com1_tuner_fine = com1_tuner_fine;
632 last_com1_tuner_coarse = com1_tuner_coarse;
634 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
635 coarse_freq + fine_freq / 40.0 );
638 int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
639 int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
640 static int last_com2_tuner_fine = com2_tuner_fine;
641 static int last_com2_tuner_coarse = com2_tuner_coarse;
643 freq = com2_stby_freq->getFloatValue();
644 coarse_freq = (int)freq;
645 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
647 if ( com2_tuner_fine != last_com2_tuner_fine ) {
648 diff = com2_tuner_fine - last_com2_tuner_fine;
649 if ( abs(diff) > 4 ) {
651 if ( com2_tuner_fine < last_com2_tuner_fine ) {
653 diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
656 diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
661 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
662 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
664 if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
665 diff = com2_tuner_coarse - last_com2_tuner_coarse;
666 if ( abs(diff) > 4 ) {
668 if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
670 diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
673 diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
678 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
679 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
681 last_com2_tuner_fine = com2_tuner_fine;
682 last_com2_tuner_coarse = com2_tuner_coarse;
684 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
685 coarse_freq + fine_freq / 40.0 );
688 int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
689 int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
690 static int last_nav1_tuner_fine = nav1_tuner_fine;
691 static int last_nav1_tuner_coarse = nav1_tuner_coarse;
693 freq = nav1_stby_freq->getFloatValue();
694 coarse_freq = (int)freq;
695 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
697 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
698 diff = nav1_tuner_fine - last_nav1_tuner_fine;
699 if ( abs(diff) > 4 ) {
701 if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
703 diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
706 diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
711 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
712 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
714 if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
715 diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
716 if ( abs(diff) > 4 ) {
718 if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
720 diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
723 diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
728 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
729 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
731 last_nav1_tuner_fine = nav1_tuner_fine;
732 last_nav1_tuner_coarse = nav1_tuner_coarse;
734 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
735 coarse_freq + fine_freq / 20.0 );
738 int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
739 int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
740 static int last_nav2_tuner_fine = nav2_tuner_fine;
741 static int last_nav2_tuner_coarse = nav2_tuner_coarse;
743 freq = nav2_stby_freq->getFloatValue();
744 coarse_freq = (int)freq;
745 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
747 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
748 diff = nav2_tuner_fine - last_nav2_tuner_fine;
749 if ( abs(diff) > 4 ) {
751 if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
753 diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
756 diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
761 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
762 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
764 if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
765 diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
766 if ( abs(diff) > 4 ) {
768 if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
770 diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
773 diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
778 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
779 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
781 last_nav2_tuner_fine = nav2_tuner_fine;
782 last_nav2_tuner_coarse = nav2_tuner_coarse;
784 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
785 coarse_freq + fine_freq / 20.0);
788 int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
789 int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
790 static int last_adf_tuner_fine = adf_tuner_fine;
791 static int last_adf_tuner_coarse = adf_tuner_coarse;
793 if ( adf_count_mode->getIntValue() == 2 ) {
794 // tune count down timer
795 value = adf_elapsed_timer->getDoubleValue();
798 if ( adf_stby_mode->getIntValue() == 1 ) {
799 value = adf_freq->getFloatValue();
801 value = adf_stby_freq->getFloatValue();
805 if ( adf_tuner_fine != last_adf_tuner_fine ) {
806 diff = adf_tuner_fine - last_adf_tuner_fine;
807 if ( abs(diff) > 4 ) {
809 if ( adf_tuner_fine < last_adf_tuner_fine ) {
811 diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
814 diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
820 if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
821 diff = adf_tuner_coarse - last_adf_tuner_coarse;
822 if ( abs(diff) > 4 ) {
824 if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
826 diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
829 diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
832 if ( adf_count_mode->getIntValue() == 2 ) {
838 if ( adf_count_mode->getIntValue() == 2 ) {
839 if ( value < 0 ) { value += 3600; }
840 if ( value > 3599 ) { value -= 3600; }
842 if ( value < 200 ) { value += 1600; }
843 if ( value > 1799 ) { value -= 1600; }
846 last_adf_tuner_fine = adf_tuner_fine;
847 last_adf_tuner_coarse = adf_tuner_coarse;
849 if ( adf_count_mode->getIntValue() == 2 ) {
850 fgSetFloat( "/radios/kr-87/outputs/elapsed-timer", value );
852 if ( adf_stby_mode->getIntValue() == 1 ) {
853 fgSetFloat( "/radios/kr-87/outputs/selected-khz", value );
855 fgSetFloat( "/radios/kr-87/outputs/standby-khz", value );
860 fgSetInt( "/radios/kr-87/inputs/adf-btn", !(radio_switch_data[23] & 0x01) );
861 fgSetInt( "/radios/kr-87/inputs/bfo-btn", !(radio_switch_data[23] >> 1 & 0x01) );
862 fgSetInt( "/radios/kr-87/inputs/frq-btn", !(radio_switch_data[23] >> 2 & 0x01) );
863 fgSetInt( "/radios/kr-87/inputs/flt-et-btn", !(radio_switch_data[23] >> 3 & 0x01) );
864 fgSetInt( "/radios/kr-87/inputs/set-rst-btn", !(radio_switch_data[23] >> 4 & 0x01) );
865 /* cout << "adf = " << !(radio_switch_data[23] & 0x01)
866 << " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
867 << " stby = " << !(radio_switch_data[23] >> 2 & 0x01)
868 << " timer = " << !(radio_switch_data[23] >> 3 & 0x01)
869 << " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
876 /////////////////////////////////////////////////////////////////////
877 // Update the radio display
878 /////////////////////////////////////////////////////////////////////
880 bool FGATC610x::do_radio_display() {
885 if ( dme_switch != 0 ) {
887 float minutes = dme_min->getFloatValue();
888 if ( minutes > 999 ) {
891 sprintf(digits, "%03.0f", minutes);
892 for ( i = 0; i < 6; ++i ) {
895 radio_display_data[0] = digits[1] << 4 | digits[2];
896 radio_display_data[1] = 0xf0 | digits[0];
899 float knots = dme_kt->getFloatValue();
903 sprintf(digits, "%03.0f", knots);
904 for ( i = 0; i < 6; ++i ) {
907 radio_display_data[2] = digits[1] << 4 | digits[2];
908 radio_display_data[3] = 0xf0 | digits[0];
911 float nm = dme_nm->getFloatValue();
915 sprintf(digits, "%04.1f", nm);
916 for ( i = 0; i < 6; ++i ) {
919 radio_display_data[4] = digits[1] << 4 | digits[3];
920 radio_display_data[5] = 0x00 | digits[0];
921 // the 0x00 in the upper nibble of the 6th byte of each
922 // display turns on the decimal point
925 for ( i = 0; i < 6; ++i ) {
926 radio_display_data[i] = 0xff;
930 // Com1 standby frequency
931 float com1_stby = com1_stby_freq->getFloatValue();
932 if ( fabs(com1_stby) > 999.99 ) {
935 sprintf(digits, "%06.3f", com1_stby);
936 for ( i = 0; i < 6; ++i ) {
939 radio_display_data[6] = digits[4] << 4 | digits[5];
940 radio_display_data[7] = digits[1] << 4 | digits[2];
941 radio_display_data[8] = 0xf0 | digits[0];
943 // Com1 in use frequency
944 float com1 = com1_freq->getFloatValue();
945 if ( fabs(com1) > 999.99 ) {
948 sprintf(digits, "%06.3f", com1);
949 for ( i = 0; i < 6; ++i ) {
952 radio_display_data[9] = digits[4] << 4 | digits[5];
953 radio_display_data[10] = digits[1] << 4 | digits[2];
954 radio_display_data[11] = 0x00 | digits[0];
955 // the 0x00 in the upper nibble of the 6th byte of each display
956 // turns on the decimal point
958 // Com2 standby frequency
959 float com2_stby = com2_stby_freq->getFloatValue();
960 if ( fabs(com2_stby) > 999.99 ) {
963 sprintf(digits, "%06.3f", com2_stby);
964 for ( i = 0; i < 6; ++i ) {
967 radio_display_data[18] = digits[4] << 4 | digits[5];
968 radio_display_data[19] = digits[1] << 4 | digits[2];
969 radio_display_data[20] = 0xf0 | digits[0];
971 // Com2 in use frequency
972 float com2 = com2_freq->getFloatValue();
973 if ( fabs(com2) > 999.99 ) {
976 sprintf(digits, "%06.3f", com2);
977 for ( i = 0; i < 6; ++i ) {
980 radio_display_data[21] = digits[4] << 4 | digits[5];
981 radio_display_data[22] = digits[1] << 4 | digits[2];
982 radio_display_data[23] = 0x00 | digits[0];
983 // the 0x00 in the upper nibble of the 6th byte of each display
984 // turns on the decimal point
986 // Nav1 standby frequency
987 float nav1_stby = nav1_stby_freq->getFloatValue();
988 if ( fabs(nav1_stby) > 999.99 ) {
991 sprintf(digits, "%06.2f", nav1_stby);
992 for ( i = 0; i < 6; ++i ) {
995 radio_display_data[12] = digits[4] << 4 | digits[5];
996 radio_display_data[13] = digits[1] << 4 | digits[2];
997 radio_display_data[14] = 0xf0 | digits[0];
999 // Nav1 in use frequency
1000 float nav1 = nav1_freq->getFloatValue();
1001 if ( fabs(nav1) > 999.99 ) {
1004 sprintf(digits, "%06.2f", nav1);
1005 for ( i = 0; i < 6; ++i ) {
1008 radio_display_data[15] = digits[4] << 4 | digits[5];
1009 radio_display_data[16] = digits[1] << 4 | digits[2];
1010 radio_display_data[17] = 0x00 | digits[0];
1011 // the 0x00 in the upper nibble of the 6th byte of each display
1012 // turns on the decimal point
1014 // Nav2 standby frequency
1015 float nav2_stby = nav2_stby_freq->getFloatValue();
1016 if ( fabs(nav2_stby) > 999.99 ) {
1019 sprintf(digits, "%06.2f", nav2_stby);
1020 for ( i = 0; i < 6; ++i ) {
1023 radio_display_data[24] = digits[4] << 4 | digits[5];
1024 radio_display_data[25] = digits[1] << 4 | digits[2];
1025 radio_display_data[26] = 0xf0 | digits[0];
1027 // Nav2 in use frequency
1028 float nav2 = nav2_freq->getFloatValue();
1029 if ( fabs(nav2) > 999.99 ) {
1032 sprintf(digits, "%06.2f", nav2);
1033 for ( i = 0; i < 6; ++i ) {
1036 radio_display_data[27] = digits[4] << 4 | digits[5];
1037 radio_display_data[28] = digits[1] << 4 | digits[2];
1038 radio_display_data[29] = 0x00 | digits[0];
1039 // the 0x00 in the upper nibble of the 6th byte of each display
1040 // turns on the decimal point
1042 // ADF standby frequency / timer
1043 if ( adf_on_off_vol->getDoubleValue() >= 0.01 ) {
1044 if ( adf_stby_mode->getIntValue() == 0 ) {
1046 float adf_stby = adf_stby_freq->getFloatValue();
1047 if ( fabs(adf_stby) > 1799 ) {
1050 sprintf(digits, "%04.0f", adf_stby);
1051 for ( i = 0; i < 6; ++i ) {
1054 radio_display_data[30] = digits[3] << 4 | 0x0f;
1055 radio_display_data[31] = digits[1] << 4 | digits[2];
1056 if ( digits[0] == 0 ) {
1057 radio_display_data[32] = 0xff;
1059 radio_display_data[32] = 0xf0 | digits[0];
1064 int hours, min, sec;
1065 if ( adf_timer_mode->getIntValue() == 0 ) {
1066 time = adf_flight_timer->getDoubleValue();
1068 time = adf_elapsed_timer->getDoubleValue();
1070 // cout << time << endl;
1071 hours = (int)(time / 3600.0);
1072 time -= hours * 3600.00;
1073 min = (int)(time / 60.0);
1090 // cout << big << ":" << small << endl;
1091 sprintf(digits, "%02d%02d", big, small);
1092 for ( i = 0; i < 6; ++i ) {
1095 radio_display_data[30] = digits[3] << 4 | 0x0f;
1096 radio_display_data[31] = digits[1] << 4 | digits[2];
1097 radio_display_data[32] = 0xf0 | digits[0];
1100 // ADF in use frequency
1101 float adf = adf_freq->getFloatValue();
1102 if ( fabs(adf) > 1799 ) {
1105 sprintf(digits, "%04.0f", adf);
1106 for ( i = 0; i < 6; ++i ) {
1109 radio_display_data[33] = digits[2] << 4 | digits[3];
1110 if ( digits[0] == 0 ) {
1111 radio_display_data[34] = 0xf0 | digits[1];
1113 radio_display_data[34] = digits[0] << 4 | digits[1];
1116 radio_display_data[30] = 0xff;
1117 radio_display_data[31] = 0xff;
1118 radio_display_data[32] = 0xff;
1119 radio_display_data[33] = 0xff;
1120 radio_display_data[34] = 0xff;
1124 ATC610xSetRadios( radios_fd, radio_display_data );
1130 /////////////////////////////////////////////////////////////////////
1131 // Drive the stepper motors
1132 /////////////////////////////////////////////////////////////////////
1134 bool FGATC610x::do_steppers() {
1135 float diff = mag_compass->getFloatValue() - compass_position;
1136 while ( diff < -180.0 ) { diff += 360.0; }
1137 while ( diff > 180.0 ) { diff -= 360.0; }
1139 int steps = (int)(diff * 4);
1140 // cout << "steps = " << steps << endl;
1141 if ( steps > 4 ) { steps = 4; }
1142 if ( steps < -4 ) { steps = -4; }
1144 if ( abs(steps) > 0 ) {
1145 unsigned char cmd = 0x80; // stepper command
1147 cmd |= 0x20; // go up
1149 cmd |= 0x00; // go down
1153 // sync compass_position with hardware position
1154 compass_position += (float)steps / 4.0;
1156 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1163 /////////////////////////////////////////////////////////////////////
1164 // Read the switch positions
1165 /////////////////////////////////////////////////////////////////////
1167 // decode the packed switch data
1168 static void update_switch_matrix(
1170 unsigned char switch_data[ATC_SWITCH_BYTES],
1171 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1173 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1174 unsigned char switches = switch_data[row];
1176 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1177 switch_matrix[board][column][row] = switches & 1;
1178 switches = switches >> 1;
1183 bool FGATC610x::do_switches() {
1184 ATC610xReadSwitches( switches_fd, switch_data );
1186 // unpack the switch data
1187 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1188 update_switch_matrix( board, switch_data, switch_matrix );
1190 // magnetos and starter switch
1192 bool starter = false;
1193 if ( switch_matrix[board][3][1] == 1 ) {
1196 } else if ( switch_matrix[board][2][1] == 1 ) {
1199 } else if ( switch_matrix[board][1][1] == 1 ) {
1202 } else if ( switch_matrix[board][0][1] == 1 ) {
1212 if ( switch_matrix[board][6][3] == 1 ) {
1214 } else if ( switch_matrix[board][5][3] == 1 ) {
1216 } else if ( switch_matrix[board][4][3] == 1 ) {
1218 } else if ( switch_matrix[board][4][3] == 0 ) {
1222 // do a bit of filtering on the magneto/starter switch and the
1223 // flap lever because these are not well debounced in hardware
1224 static int mag1, mag2, mag3;
1228 if ( mag1 == mag2 && mag2 == mag3 ) {
1229 fgSetInt( "/controls/magnetos[0]", magnetos );
1232 static bool start1, start2, start3;
1236 if ( start1 == start2 && start2 == start3 ) {
1237 fgSetBool( "/controls/starter[0]", starter );
1240 static float flap1, flap2, flap3;
1244 if ( flap1 == flap2 && flap2 == flap3 ) {
1245 fgSetFloat( "/controls/flaps", flaps );
1252 bool FGATC610x::process() {
1253 // Lock the hardware, skip if it's not ready yet
1254 if ( ATC610xLock( lock_fd ) > 0 ) {
1258 do_radio_switches();
1263 ATC610xRelease( lock_fd );
1272 bool FGATC610x::close() {