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>
37 #include <simgear/debug/logstream.hxx>
38 #include <simgear/io/iochannel.hxx>
39 #include <simgear/math/sg_types.hxx>
40 #include <simgear/misc/props.hxx>
42 #include <Main/fg_props.hxx>
43 #include <Main/globals.hxx>
45 #include "atc610x.hxx"
50 // Lock the ATC 610 hardware
51 static int ATC610xLock( int fd ) {
53 lseek( fd, 0, SEEK_SET );
56 int result = read( fd, tmp, 1 );
58 SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
65 // Write a radios command
66 static int ATC610xRelease( int fd ) {
68 lseek( fd, 0, SEEK_SET );
72 int result = write( fd, tmp, 1 );
75 SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
83 static void ATC610xReadAnalogInputs( int fd, unsigned char *analog_in_bytes ) {
85 lseek( fd, 0, SEEK_SET );
87 int result = read( fd, analog_in_bytes, ATC_ANAL_IN_BYTES );
88 if ( result != ATC_ANAL_IN_BYTES ) {
89 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
95 // Write a radios command
96 static int ATC610xSetRadios( int fd,
97 unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
100 lseek( fd, 0, SEEK_SET );
102 int result = write( fd, data, ATC_RADIO_DISPLAY_BYTES );
104 if ( result != ATC_RADIO_DISPLAY_BYTES ) {
105 SG_LOG( SG_IO, SG_DEBUG, "Write failed" );
112 // Read status of last radios written to
113 static void ATC610xReadRadios( int fd, unsigned char *switch_data ) {
115 lseek( fd, 0, SEEK_SET );
117 int result = read( fd, switch_data, ATC_RADIO_SWITCH_BYTES );
118 if ( result != ATC_RADIO_SWITCH_BYTES ) {
119 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
124 // Write a stepper command
125 static int ATC610xSetStepper( int fd, unsigned char channel,
126 unsigned char value )
129 lseek( fd, 0, SEEK_SET );
132 unsigned char buf[3];
136 int result = write( fd, buf, 2 );
138 SG_LOG( SG_IO, SG_INFO, "Write failed" );
140 SG_LOG( SG_IO, SG_DEBUG,
141 "Sent cmd = " << (int)channel << " value = " << (int)value );
146 // Read status of last stepper written to
147 static unsigned char ATC610xReadStepper( int fd ) {
151 lseek( fd, 0, SEEK_SET );
154 unsigned char buf[2];
155 result = read( fd, buf, 1 );
157 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
160 SG_LOG( SG_IO, SG_DEBUG, "Read result = " << (int)buf[0] );
166 // Read switch inputs
167 static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
169 lseek( fd, 0, SEEK_SET );
171 int result = read( fd, switch_bytes, ATC_SWITCH_BYTES );
172 if ( result != ATC_SWITCH_BYTES ) {
173 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
179 // Open and initialize ATC 610x hardware
180 bool FGATC610x::open() {
181 if ( is_enabled() ) {
182 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
183 << "is already in use, ignoring" );
187 SG_LOG( SG_IO, SG_ALERT,
188 "Initializing ATC 610x hardware, please wait ..." );
190 set_hz( 30 ); // default to processing requests @ 30Hz
193 board = 0; // 610x uses a single board number = 0
195 snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
196 snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
197 snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
198 snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
199 snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
201 /////////////////////////////////////////////////////////////////////
202 // Open the /proc files
203 /////////////////////////////////////////////////////////////////////
205 lock_fd = ::open( lock_file, O_RDWR );
206 if ( lock_fd == -1 ) {
207 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
209 snprintf( msg, 256, "Error opening %s", lock_file );
214 analog_in_fd = ::open( analog_in_file, O_RDONLY );
215 if ( analog_in_fd == -1 ) {
216 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
218 snprintf( msg, 256, "Error opening %s", analog_in_file );
223 radios_fd = ::open( radios_file, O_RDWR );
224 if ( radios_fd == -1 ) {
225 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
227 snprintf( msg, 256, "Error opening %s", radios_file );
232 stepper_fd = ::open( stepper_file, O_RDWR );
233 if ( stepper_fd == -1 ) {
234 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
236 snprintf( msg, 256, "Error opening %s", stepper_file );
241 switches_fd = ::open( switches_file, O_RDONLY );
242 if ( switches_fd == -1 ) {
243 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
245 snprintf( msg, 256, "Error opening %s", switches_file );
250 /////////////////////////////////////////////////////////////////////
251 // Home the compass stepper motor
252 /////////////////////////////////////////////////////////////////////
254 SG_LOG( SG_IO, SG_ALERT,
255 " - Homing the compass stepper motor" );
257 // Lock the hardware, keep trying until we succeed
258 while ( ATC610xLock( lock_fd ) <= 0 );
260 // Send the stepper home command
261 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
263 // Release the hardware
264 ATC610xRelease( lock_fd );
268 SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
270 while ( ATC610xLock( lock_fd ) <= 0 );
272 unsigned char result = ATC610xReadStepper( stepper_fd );
277 ATC610xRelease( lock_fd );
282 compass_position = 0.0;
284 /////////////////////////////////////////////////////////////////////
285 // Blank the radio display
286 /////////////////////////////////////////////////////////////////////
288 SG_LOG( SG_IO, SG_ALERT,
289 " - Clearing the radios displays." );
292 unsigned char value = 0xff;
293 for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
294 radio_display_data[channel] = value;
297 // Lock the hardware, keep trying until we succeed
298 while ( ATC610xLock( lock_fd ) <= 0 );
301 ATC610xSetRadios( radios_fd, radio_display_data );
303 ATC610xRelease( lock_fd );
305 /////////////////////////////////////////////////////////////////////
306 // Finished initing hardware
307 /////////////////////////////////////////////////////////////////////
309 SG_LOG( SG_IO, SG_ALERT,
310 "Done initializing ATC 610x hardware." );
312 /////////////////////////////////////////////////////////////////////
313 // Connect up to property values
314 /////////////////////////////////////////////////////////////////////
316 mag_compass = fgGetNode( "/steam/mag-compass-deg", true );
318 dme_min = fgGetNode( "/radios/dme/ete-min", true );
319 dme_kt = fgGetNode( "/radios/dme/speed-kt", true );
320 dme_nm = fgGetNode( "/radios/dme/distance-nm", true );
322 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
324 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
325 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
327 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
329 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
331 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
333 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
335 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
337 adf_freq = fgGetNode( "/radios/adf/frequencies/selected-khz", true );
338 adf_stby_freq = fgGetNode( "/radios/adf/frequencies/standby-khz", true );
344 /////////////////////////////////////////////////////////////////////
345 // Read analog inputs
346 /////////////////////////////////////////////////////////////////////
348 #define ATC_AILERON_CENTER 535
349 #define ATC_ELEVATOR_TRIM_CENTER 512
350 #define ATC_ELEVATOR_CENTER 543
352 bool FGATC610x::do_analog_in() {
353 // Read raw data in byte form
354 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
356 // Convert to integer values
357 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
358 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
359 unsigned char lo = analog_in_bytes[2 * channel + 1];
360 analog_in_data[channel] = hi * 256 + lo;
362 // printf("%02x %02x ", hi, lo );
363 // printf("%04d ", value );
366 float tmp, tmp1, tmp2;
369 tmp = (float)(analog_in_data[0] - ATC_AILERON_CENTER) / 256.0f;
370 fgSetFloat( "/controls/aileron", tmp );
371 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
374 tmp = (float)(analog_in_data[4] - ATC_ELEVATOR_TRIM_CENTER) / 512.0f;
375 fgSetFloat( "/controls/elevator-trim", tmp );
376 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
379 tmp = (float)(ATC_ELEVATOR_CENTER - analog_in_data[5]) / 100.0f;
380 fgSetFloat( "/controls/elevator", tmp );
381 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
384 tmp = (float)analog_in_data[7] / 680.0f;
385 fgSetFloat( "/controls/mixture[0]", tmp );
388 tmp = (float)analog_in_data[8] / 690.0f;
389 fgSetFloat( "/controls/throttle[0]", tmp );
392 tmp = (float)analog_in_data[25] / 1024.0f;
393 fgSetFloat( "/radios/nav[0]/volume", tmp );
396 tmp = (float)analog_in_data[24] / 1024.0f;
397 fgSetFloat( "/radios/nav[1]/volume", tmp );
400 tmp = (float)analog_in_data[26] / 1024.0f;
401 fgSetFloat( "/radios/adf/volume", tmp );
404 tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
405 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
408 tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
409 tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
410 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
416 /////////////////////////////////////////////////////////////////////
417 // Read radio switches
418 /////////////////////////////////////////////////////////////////////
420 bool FGATC610x::do_radio_switches() {
423 ATC610xReadRadios( radios_fd, radio_switch_data );
426 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
427 if ( dme_switch == 0 ) {
429 fgSetInt( "/radios/dme/switch-position", 0 );
430 } else if ( dme_switch == 2 ) {
432 fgSetInt( "/radios/dme/switch-position", 1 );
433 } else if ( dme_switch == 1 ) {
435 fgSetInt( "/radios/dme/switch-position", 3 );
439 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
440 static int last_com1_swap;
441 if ( com1_swap && (last_com1_swap != com1_swap) ) {
442 float tmp = com1_freq->getFloatValue();
443 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
444 com1_stby_freq->getFloatValue() );
445 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
447 last_com1_swap = com1_swap;
450 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
451 static int last_com2_swap;
452 if ( com2_swap && (last_com2_swap != com2_swap) ) {
453 float tmp = com2_freq->getFloatValue();
454 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
455 com2_stby_freq->getFloatValue() );
456 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
458 last_com2_swap = com2_swap;
461 int nav1_swap = radio_switch_data[11] & 0x01;
462 static int last_nav1_swap;
463 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
464 float tmp = nav1_freq->getFloatValue();
465 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
466 nav1_stby_freq->getFloatValue() );
467 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
469 last_nav1_swap = nav1_swap;
472 int nav2_swap = !(radio_switch_data[19] & 0x01);
473 static int last_nav2_swap;
474 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
475 float tmp = nav2_freq->getFloatValue();
476 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
477 nav2_stby_freq->getFloatValue() );
478 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
480 last_nav2_swap = nav2_swap;
483 int com1_tuner_fine = (radio_switch_data[5] >> 4) & 0x0f;
484 int com1_tuner_course = radio_switch_data[5] & 0x0f;
485 // cout << "com1 = " << com1_tuner_fine << " " << com1_tuner_course << endl;
486 static int last_com1_tuner_fine = com1_tuner_fine;
487 static int last_com1_tuner_course = com1_tuner_course;
489 if ( com1_tuner_fine != last_com1_tuner_fine ) {
490 if ( com1_tuner_fine == 0x0c && last_com1_tuner_fine == 0x01 ) {
492 } else if ( com1_tuner_fine == 0x01 && last_com1_tuner_fine == 0x0c ) {
494 } else if ( com1_tuner_fine > last_com1_tuner_fine ) {
500 if ( com1_tuner_course != last_com1_tuner_course ) {
501 if ( com1_tuner_course == 0x0c && last_com1_tuner_course == 0x01 ) {
503 } else if ( com1_tuner_course == 0x01
504 && last_com1_tuner_course == 0x0c ) {
506 } else if ( com1_tuner_course > last_com1_tuner_course ) {
512 last_com1_tuner_fine = com1_tuner_fine;
513 last_com1_tuner_course = com1_tuner_course;
515 freq = com1_stby_freq->getFloatValue() + inc;
519 if ( freq > 140.0 ) {
522 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", freq );
525 int com2_tuner_fine = (radio_switch_data[13] >> 4) & 0x0f;
526 int com2_tuner_course = radio_switch_data[13] & 0x0f;
527 static int last_com2_tuner_fine = com2_tuner_fine;
528 static int last_com2_tuner_course = com2_tuner_course;
530 if ( com2_tuner_fine != last_com2_tuner_fine ) {
531 if ( com2_tuner_fine == 0x0c && last_com2_tuner_fine == 0x01 ) {
533 } else if ( com2_tuner_fine == 0x01 && last_com2_tuner_fine == 0x0c ) {
535 } else if ( com2_tuner_fine > last_com2_tuner_fine ) {
541 if ( com2_tuner_course != last_com2_tuner_course ) {
542 if ( com2_tuner_course == 0x0c && last_com2_tuner_course == 0x01 ) {
544 } else if ( com2_tuner_course == 0x01
545 && last_com2_tuner_course == 0x0c ) {
547 } else if ( com2_tuner_course > last_com2_tuner_course ) {
553 last_com2_tuner_fine = com2_tuner_fine;
554 last_com2_tuner_course = com2_tuner_course;
556 freq = com2_stby_freq->getFloatValue() + inc;
560 if ( freq > 140.0 ) {
563 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", freq );
566 int nav1_tuner_fine = (radio_switch_data[9] >> 4) & 0x0f;
567 int nav1_tuner_course = radio_switch_data[9] & 0x0f;
568 static int last_nav1_tuner_fine = nav1_tuner_fine;
569 static int last_nav1_tuner_course = nav1_tuner_course;
571 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
572 if ( nav1_tuner_fine == 0x0c && last_nav1_tuner_fine == 0x01 ) {
574 } else if ( nav1_tuner_fine == 0x01 && last_nav1_tuner_fine == 0x0c ) {
576 } else if ( nav1_tuner_fine > last_nav1_tuner_fine ) {
582 if ( nav1_tuner_course != last_nav1_tuner_course ) {
583 if ( nav1_tuner_course == 0x0c && last_nav1_tuner_course == 0x01 ) {
585 } else if ( nav1_tuner_course == 0x01
586 && last_nav1_tuner_course == 0x0c ) {
588 } else if ( nav1_tuner_course > last_nav1_tuner_course ) {
594 last_nav1_tuner_fine = nav1_tuner_fine;
595 last_nav1_tuner_course = nav1_tuner_course;
597 freq = nav1_stby_freq->getFloatValue() + inc;
598 if ( freq < 108.0 ) {
601 if ( freq > 117.95 ) {
604 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", freq );
607 int nav2_tuner_fine = (radio_switch_data[17] >> 4) & 0x0f;
608 int nav2_tuner_course = radio_switch_data[17] & 0x0f;
609 static int last_nav2_tuner_fine = nav2_tuner_fine;
610 static int last_nav2_tuner_course = nav2_tuner_course;
612 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
613 if ( nav2_tuner_fine == 0x0c && last_nav2_tuner_fine == 0x01 ) {
615 } else if ( nav2_tuner_fine == 0x01 && last_nav2_tuner_fine == 0x0c ) {
617 } else if ( nav2_tuner_fine > last_nav2_tuner_fine ) {
623 if ( nav2_tuner_course != last_nav2_tuner_course ) {
624 if ( nav2_tuner_course == 0x0c && last_nav2_tuner_course == 0x01 ) {
626 } else if ( nav2_tuner_course == 0x01
627 && last_nav2_tuner_course == 0x0c ) {
629 } else if ( nav2_tuner_course > last_nav2_tuner_course ) {
635 last_nav2_tuner_fine = nav2_tuner_fine;
636 last_nav2_tuner_course = nav2_tuner_course;
638 freq = nav2_stby_freq->getFloatValue() + inc;
639 if ( freq < 108.0 ) {
642 if ( freq > 117.95 ) {
645 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", freq );
648 int adf_tuner_fine = (radio_switch_data[21] >> 4) & 0x0f;
649 int adf_tuner_course = radio_switch_data[21] & 0x0f;
650 // cout << "adf = " << adf_tuner_fine << " " << adf_tuner_course << endl;
651 static int last_adf_tuner_fine = adf_tuner_fine;
652 static int last_adf_tuner_course = adf_tuner_course;
654 if ( adf_tuner_fine != last_adf_tuner_fine ) {
655 if ( adf_tuner_fine == 0x0c && last_adf_tuner_fine == 0x01 ) {
657 } else if ( adf_tuner_fine == 0x01 && last_adf_tuner_fine == 0x0c ) {
659 } else if ( adf_tuner_fine > last_adf_tuner_fine ) {
665 if ( adf_tuner_course != last_adf_tuner_course ) {
666 if ( adf_tuner_course == 0x0c && last_adf_tuner_course == 0x01 ) {
668 } else if ( adf_tuner_course == 0x01
669 && last_adf_tuner_course == 0x0c ) {
671 } else if ( adf_tuner_course > last_adf_tuner_course ) {
677 last_adf_tuner_fine = adf_tuner_fine;
678 last_adf_tuner_course = adf_tuner_course;
680 freq = adf_freq->getFloatValue() + inc;
681 if ( freq < 100.0 ) {
687 fgSetFloat( "/radios/adf/frequencies/selected-khz", freq );
693 /////////////////////////////////////////////////////////////////////
694 // Update the radio display
695 /////////////////////////////////////////////////////////////////////
697 bool FGATC610x::do_radio_display() {
701 if ( dme_switch != 0 ) {
703 float minutes = dme_min->getFloatValue();
704 if ( minutes > 999 ) {
707 sprintf(digits, "%03.0f", minutes);
708 for ( int i = 0; i < 6; ++i ) {
711 radio_display_data[0] = digits[1] << 4 | digits[2];
712 radio_display_data[1] = 0xf0 | digits[0];
715 float knots = dme_kt->getFloatValue();
719 sprintf(digits, "%03.0f", knots);
720 for ( int i = 0; i < 6; ++i ) {
723 radio_display_data[2] = digits[1] << 4 | digits[2];
724 radio_display_data[3] = 0xf0 | digits[0];
727 float nm = dme_nm->getFloatValue();
731 sprintf(digits, "%04.1f", nm);
732 for ( int i = 0; i < 6; ++i ) {
735 radio_display_data[4] = digits[1] << 4 | digits[3];
736 radio_display_data[5] = 0x00 | digits[0];
737 // the 0x00 in the upper nibble of the 6th byte of each
738 // display turns on the decimal point
741 for ( int i = 0; i < 6; ++i ) {
742 radio_display_data[i] = 0xff;
746 // Com1 standby frequency
747 float com1_stby = com1_stby_freq->getFloatValue();
748 if ( fabs(com1_stby) > 999.99 ) {
751 sprintf(digits, "%06.3f", com1_stby);
752 for ( int i = 0; i < 6; ++i ) {
755 radio_display_data[6] = digits[4] << 4 | digits[5];
756 radio_display_data[7] = digits[1] << 4 | digits[2];
757 radio_display_data[8] = 0xf0 | digits[0];
759 // Com1 in use frequency
760 float com1 = com1_freq->getFloatValue();
761 if ( fabs(com1) > 999.99 ) {
764 sprintf(digits, "%06.3f", com1);
765 for ( int i = 0; i < 6; ++i ) {
768 radio_display_data[9] = digits[4] << 4 | digits[5];
769 radio_display_data[10] = digits[1] << 4 | digits[2];
770 radio_display_data[11] = 0x00 | digits[0];
771 // the 0x00 in the upper nibble of the 6th byte of each display
772 // turns on the decimal point
774 // Com2 standby frequency
775 float com2_stby = com2_stby_freq->getFloatValue();
776 if ( fabs(com2_stby) > 999.99 ) {
779 sprintf(digits, "%06.3f", com2_stby);
780 for ( int i = 0; i < 6; ++i ) {
783 radio_display_data[18] = digits[4] << 4 | digits[5];
784 radio_display_data[19] = digits[1] << 4 | digits[2];
785 radio_display_data[20] = 0xf0 | digits[0];
787 // Com2 in use frequency
788 float com2 = com2_freq->getFloatValue();
789 if ( fabs(com2) > 999.99 ) {
792 sprintf(digits, "%06.3f", com2);
793 for ( int i = 0; i < 6; ++i ) {
796 radio_display_data[21] = digits[4] << 4 | digits[5];
797 radio_display_data[22] = digits[1] << 4 | digits[2];
798 radio_display_data[23] = 0x00 | digits[0];
799 // the 0x00 in the upper nibble of the 6th byte of each display
800 // turns on the decimal point
802 // Nav1 standby frequency
803 float nav1_stby = nav1_stby_freq->getFloatValue();
804 if ( fabs(nav1_stby) > 999.99 ) {
807 sprintf(digits, "%06.2f", nav1_stby);
808 for ( int i = 0; i < 6; ++i ) {
811 radio_display_data[12] = digits[4] << 4 | digits[5];
812 radio_display_data[13] = digits[1] << 4 | digits[2];
813 radio_display_data[14] = 0xf0 | digits[0];
815 // Nav1 in use frequency
816 float nav1 = nav1_freq->getFloatValue();
817 if ( fabs(nav1) > 999.99 ) {
820 sprintf(digits, "%06.2f", nav1);
821 for ( int i = 0; i < 6; ++i ) {
824 radio_display_data[15] = digits[4] << 4 | digits[5];
825 radio_display_data[16] = digits[1] << 4 | digits[2];
826 radio_display_data[17] = 0x00 | digits[0];
827 // the 0x00 in the upper nibble of the 6th byte of each display
828 // turns on the decimal point
830 // Nav2 standby frequency
831 float nav2_stby = nav2_stby_freq->getFloatValue();
832 if ( fabs(nav2_stby) > 999.99 ) {
835 sprintf(digits, "%06.2f", nav2_stby);
836 for ( int i = 0; i < 6; ++i ) {
839 radio_display_data[24] = digits[4] << 4 | digits[5];
840 radio_display_data[25] = digits[1] << 4 | digits[2];
841 radio_display_data[26] = 0xf0 | digits[0];
843 // Nav2 in use frequency
844 float nav2 = nav2_freq->getFloatValue();
845 if ( fabs(nav2) > 999.99 ) {
848 sprintf(digits, "%06.2f", nav2);
849 for ( int i = 0; i < 6; ++i ) {
852 radio_display_data[27] = digits[4] << 4 | digits[5];
853 radio_display_data[28] = digits[1] << 4 | digits[2];
854 radio_display_data[29] = 0x00 | digits[0];
855 // the 0x00 in the upper nibble of the 6th byte of each display
856 // turns on the decimal point
858 // ADF standby frequency
859 float adf_stby = adf_stby_freq->getFloatValue();
860 if ( fabs(adf_stby) > 999.99 ) {
863 sprintf(digits, "%03.0f", adf_stby);
864 for ( int i = 0; i < 6; ++i ) {
867 radio_display_data[30] = digits[2] << 4 | 0x0f;
868 radio_display_data[31] = digits[0] << 4 | digits[1];
870 // ADF in use frequency
871 float adf = adf_freq->getFloatValue();
872 if ( fabs(adf) > 999.99 ) {
875 sprintf(digits, "%03.0f", adf);
876 for ( int i = 0; i < 6; ++i ) {
879 radio_display_data[33] = digits[1] << 4 | digits[2];
880 radio_display_data[34] = 0xf0 | digits[0];
882 ATC610xSetRadios( radios_fd, radio_display_data );
888 /////////////////////////////////////////////////////////////////////
889 // Drive the stepper motors
890 /////////////////////////////////////////////////////////////////////
892 bool FGATC610x::do_steppers() {
893 float diff = mag_compass->getFloatValue() - compass_position;
894 while ( diff < -180.0 ) { diff += 360.0; }
895 while ( diff > 180.0 ) { diff -= 360.0; }
897 int steps = (int)(diff * 4);
898 // cout << "steps = " << steps << endl;
899 if ( steps > 4 ) { steps = 4; }
900 if ( steps < -4 ) { steps = -4; }
902 if ( abs(steps) > 0 ) {
903 unsigned char cmd = 0x80; // stepper command
905 cmd |= 0x20; // go up
907 cmd |= 0x00; // go down
911 // sync compass_position with hardware position
912 compass_position += (float)steps / 4.0;
914 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
921 /////////////////////////////////////////////////////////////////////
922 // Read the switch positions
923 /////////////////////////////////////////////////////////////////////
925 // decode the packed switch data
926 static void update_switch_matrix(
928 unsigned char switch_data[ATC_SWITCH_BYTES],
929 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
931 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
932 unsigned char switches = switch_data[row];
934 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
935 switch_matrix[board][column][row] = switches & 1;
936 switches = switches >> 1;
941 bool FGATC610x::do_switches() {
942 ATC610xReadSwitches( switches_fd, switch_data );
944 // unpack the switch data
945 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
946 update_switch_matrix( board, switch_data, switch_matrix );
948 // magnetos and starter switch
949 if ( switch_matrix[board][3][1] == 1 ) {
950 fgSetInt( "/controls/magnetos[0]", 3 );
951 fgSetBool( "/controls/starter[0]", true );
952 } else if ( switch_matrix[board][2][1] == 1 ) {
953 fgSetInt( "/controls/magnetos[0]", 3 );
954 fgSetBool( "/controls/starter[0]", false );
955 } else if ( switch_matrix[board][1][1] == 1 ) {
956 fgSetInt( "/controls/magnetos[0]", 2 );
957 fgSetBool( "/controls/starter[0]", false );
958 } else if ( switch_matrix[board][0][1] == 1 ) {
959 fgSetInt( "/controls/magnetos[0]", 1 );
960 fgSetBool( "/controls/starter[0]", false );
962 fgSetInt( "/controls/magnetos[0]", 0 );
963 fgSetBool( "/controls/starter[0]", false );
967 if ( switch_matrix[board][6][3] == 1 ) {
968 fgSetFloat( "/controls/flaps", 1.0 );
969 } else if ( switch_matrix[board][5][3] == 1 ) {
970 fgSetFloat( "/controls/flaps", 0.66 );
971 } else if ( switch_matrix[board][4][3] == 1 ) {
972 fgSetFloat( "/controls/flaps", 0.33 );
973 } else if ( switch_matrix[board][4][3] == 0 ) {
974 fgSetFloat( "/controls/flaps", 0.0 );
981 bool FGATC610x::process() {
983 // Lock the hardware, skip if it's not ready yet
984 if ( ATC610xLock( lock_fd ) > 0 ) {
992 ATC610xRelease( lock_fd );
1001 bool FGATC610x::close() {