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/sg_path.hxx>
47 #include <simgear/props/props.hxx>
49 #include <Main/fg_props.hxx>
50 #include <Main/globals.hxx>
52 #include "atc610x.hxx"
57 // Lock the ATC 610 hardware
58 static int ATC610xLock( int fd ) {
60 lseek( fd, 0, SEEK_SET );
63 int result = read( fd, tmp, 1 );
65 SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
72 // Write a radios command
73 static int ATC610xRelease( int fd ) {
75 lseek( fd, 0, SEEK_SET );
79 int result = write( fd, tmp, 1 );
82 SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
90 static void ATC610xReadAnalogInputs( int fd, unsigned char *analog_in_bytes ) {
92 lseek( fd, 0, SEEK_SET );
94 int result = read( fd, analog_in_bytes, ATC_ANAL_IN_BYTES );
95 if ( result != ATC_ANAL_IN_BYTES ) {
96 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
102 // Write a radios command
103 static int ATC610xSetRadios( int fd,
104 unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
107 lseek( fd, 0, SEEK_SET );
109 int result = write( fd, data, ATC_RADIO_DISPLAY_BYTES );
111 if ( result != ATC_RADIO_DISPLAY_BYTES ) {
112 SG_LOG( SG_IO, SG_DEBUG, "Write failed" );
119 // Read status of last radios written to
120 static void ATC610xReadRadios( int fd, unsigned char *switch_data ) {
122 lseek( fd, 0, SEEK_SET );
124 int result = read( fd, switch_data, ATC_RADIO_SWITCH_BYTES );
125 if ( result != ATC_RADIO_SWITCH_BYTES ) {
126 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
131 // Write a stepper command
132 static int ATC610xSetStepper( int fd, unsigned char channel,
133 unsigned char value )
136 lseek( fd, 0, SEEK_SET );
139 unsigned char buf[3];
143 int result = write( fd, buf, 2 );
145 SG_LOG( SG_IO, SG_INFO, "Write failed" );
147 SG_LOG( SG_IO, SG_DEBUG,
148 "Sent cmd = " << (int)channel << " value = " << (int)value );
153 // Read status of last stepper written to
154 static unsigned char ATC610xReadStepper( int fd ) {
158 lseek( fd, 0, SEEK_SET );
161 unsigned char buf[2];
162 result = read( fd, buf, 1 );
164 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
167 SG_LOG( SG_IO, SG_DEBUG, "Read result = " << (int)buf[0] );
173 // Read switch inputs
174 static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
176 lseek( fd, 0, SEEK_SET );
178 int result = read( fd, switch_bytes, ATC_SWITCH_BYTES );
179 if ( result != ATC_SWITCH_BYTES ) {
180 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
186 // Turn a lamp on or off
187 void ATC610xSetLamp( int fd, int channel, bool value ) {
188 // lamp channels 0-63 are written to LampPort0, channels 64-127
189 // are written to LampPort1
191 // bits 0-6 are the lamp address
192 // bit 7 is the value (on/off)
197 unsigned char buf[3];
201 result = write( fd, buf, 2 );
203 SG_LOG( SG_IO, SG_ALERT, "Write failed" );
209 void FGATC610x::init_config() {
210 #if defined( unix ) || defined( __CYGWIN__ )
211 // Next check home directory for .fgfsrc.hostname file
212 char *envp = ::getenv( "HOME" );
213 if ( envp != NULL ) {
214 SGPath atc610x_config( envp );
215 atc610x_config.append( ".fgfs-atc610x.xml" );
216 readProperties( atc610x_config.str(), globals->get_props() );
222 // Open and initialize ATC 610x hardware
223 bool FGATC610x::open() {
224 if ( is_enabled() ) {
225 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
226 << "is already in use, ignoring" );
230 // This loads the config parameters generated by "simcal"
233 SG_LOG( SG_IO, SG_ALERT,
234 "Initializing ATC 610x hardware, please wait ..." );
236 set_hz( 30 ); // default to processing requests @ 30Hz
239 board = 0; // 610x uses a single board number = 0
241 snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
242 snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
243 snprintf( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
244 snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
245 snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
246 snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
248 /////////////////////////////////////////////////////////////////////
249 // Open the /proc files
250 /////////////////////////////////////////////////////////////////////
252 lock_fd = ::open( lock_file, O_RDWR );
253 if ( lock_fd == -1 ) {
254 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
256 snprintf( msg, 256, "Error opening %s", lock_file );
261 analog_in_fd = ::open( analog_in_file, O_RDONLY );
262 if ( analog_in_fd == -1 ) {
263 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
265 snprintf( msg, 256, "Error opening %s", analog_in_file );
270 lamps_fd = ::open( lamps_file, O_WRONLY );
271 if ( lamps_fd == -1 ) {
272 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
274 snprintf( msg, 256, "Error opening %s", lamps_file );
279 radios_fd = ::open( radios_file, O_RDWR );
280 if ( radios_fd == -1 ) {
281 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
283 snprintf( msg, 256, "Error opening %s", radios_file );
288 stepper_fd = ::open( stepper_file, O_RDWR );
289 if ( stepper_fd == -1 ) {
290 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
292 snprintf( msg, 256, "Error opening %s", stepper_file );
297 switches_fd = ::open( switches_file, O_RDONLY );
298 if ( switches_fd == -1 ) {
299 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
301 snprintf( msg, 256, "Error opening %s", switches_file );
306 /////////////////////////////////////////////////////////////////////
307 // Home the compass stepper motor
308 /////////////////////////////////////////////////////////////////////
310 SG_LOG( SG_IO, SG_ALERT,
311 " - Homing the compass stepper motor" );
313 // Lock the hardware, keep trying until we succeed
314 while ( ATC610xLock( lock_fd ) <= 0 );
316 // Send the stepper home command
317 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
319 // Release the hardware
320 ATC610xRelease( lock_fd );
322 SG_LOG( SG_IO, SG_ALERT,
323 " - Waiting for compass to come home." );
326 int timeout = 900; // about 30 seconds
328 while ( ! home && timeout > 0 ) {
329 if ( timeout % 150 == 0 ) {
330 SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
332 SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
335 while ( ATC610xLock( lock_fd ) <= 0 );
337 unsigned char result = ATC610xReadStepper( stepper_fd );
342 ATC610xRelease( lock_fd );
344 #if defined( _MSC_VER )
345 ulMilliSecondSleep(33);
346 #elif defined (WIN32) && !defined(__CYGWIN__)
355 compass_position = 0.0;
357 /////////////////////////////////////////////////////////////////////
358 // Blank the radio display
359 /////////////////////////////////////////////////////////////////////
361 SG_LOG( SG_IO, SG_ALERT,
362 " - Clearing the radios displays." );
365 unsigned char value = 0xff;
366 for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
367 radio_display_data[channel] = value;
370 // Lock the hardware, keep trying until we succeed
371 while ( ATC610xLock( lock_fd ) <= 0 );
374 ATC610xSetRadios( radios_fd, radio_display_data );
376 ATC610xRelease( lock_fd );
378 /////////////////////////////////////////////////////////////////////
380 /////////////////////////////////////////////////////////////////////
382 for ( int i = 0; i < 128; ++i ) {
383 ATC610xSetLamp( lamps_fd, i, false );
386 /////////////////////////////////////////////////////////////////////
387 // Finished initing hardware
388 /////////////////////////////////////////////////////////////////////
390 SG_LOG( SG_IO, SG_ALERT,
391 "Done initializing ATC 610x hardware." );
393 /////////////////////////////////////////////////////////////////////
394 // Connect up to property values
395 /////////////////////////////////////////////////////////////////////
397 mag_compass = fgGetNode( "/instrumentation/magnetic-compass/indicated-heading-deg", true );
399 dme_min = fgGetNode( "/instrumentation/dme/indicated-time-min", true );
400 dme_kt = fgGetNode( "/instrumentation/dme/indicated-ground-speed-kt",
402 dme_nm = fgGetNode( "/instrumentation/dme/indicated-distance-nm", true );
403 dme_in_range = fgGetNode( "/instrumentation/dme/in-range", true );
405 adf_bus_power = fgGetNode( "/systems/electrical/outputs/adf", true );
406 dme_bus_power = fgGetNode( "/systems/electrical/outputs/dme", true );
407 navcom1_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[0]",
409 navcom2_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[1]",
411 xpdr_bus_power = fgGetNode( "/systems/electrical/outputs/transponder",
414 navcom1_power_btn = fgGetNode( "/radios/comm[0]/inputs/power-btn", true );
415 navcom2_power_btn = fgGetNode( "/radios/comm[1]/inputs/power-btn", true );
417 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
419 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
421 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
423 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
425 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
427 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
428 nav1_obs = fgGetNode( "/radios/nav[0]/radials/selected-deg", true );
430 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
432 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
433 nav2_obs = fgGetNode( "/radios/nav[1]/radials/selected-deg", true );
435 adf_power_btn = fgGetNode( "/radios/kr-87/inputs/power-btn", true );
436 adf_vol = fgGetNode( "/radios/kr-87/inputs/volume", true );
437 adf_adf_btn = fgGetNode( "/radios/kr-87/inputs/adf-btn", true );
438 adf_bfo_btn = fgGetNode( "/radios/kr-87/inputs/bfo-btn", true );
439 adf_freq = fgGetNode( "/radios/kr-87/outputs/selected-khz", true );
440 adf_stby_freq = fgGetNode( "/radios/kr-87/outputs/standby-khz", true );
441 adf_stby_mode = fgGetNode( "/radios/kr-87/modes/stby", true );
442 adf_timer_mode = fgGetNode( "/radios/kr-87/modes/timer", true );
443 adf_count_mode = fgGetNode( "/radios/kr-87/modes/count", true );
444 adf_flight_timer = fgGetNode( "/radios/kr-87/outputs/flight-timer", true );
445 adf_elapsed_timer = fgGetNode( "/radios/kr-87/outputs/elapsed-timer",
447 adf_ant_ann = fgGetNode( "/radios/kr-87/annunciators/ant", true );
448 adf_adf_ann = fgGetNode( "/radios/kr-87/annunciators/adf", true );
449 adf_bfo_ann = fgGetNode( "/radios/kr-87/annunciators/bfo", true );
450 adf_frq_ann = fgGetNode( "/radios/kr-87/annunciators/frq", true );
451 adf_flt_ann = fgGetNode( "/radios/kr-87/annunciators/flt", true );
452 adf_et_ann = fgGetNode( "/radios/kr-87/annunciators/et", true );
454 inner = fgGetNode( "/radios/marker-beacon/inner", true );
455 middle = fgGetNode( "/radios/marker-beacon/middle", true );
456 outer = fgGetNode( "/radios/marker-beacon/outer", true );
458 xpdr_ident_btn = fgGetNode( "/radios/kt-70/inputs/ident-btn", true );
459 xpdr_digit1 = fgGetNode( "/radios/kt-70/inputs/digit1", true );
460 xpdr_digit2 = fgGetNode( "/radios/kt-70/inputs/digit2", true );
461 xpdr_digit3 = fgGetNode( "/radios/kt-70/inputs/digit3", true );
462 xpdr_digit4 = fgGetNode( "/radios/kt-70/inputs/digit4", true );
463 xpdr_func_knob = fgGetNode( "/radios/kt-70/inputs/func-knob", true );
464 xpdr_id_code = fgGetNode( "/radios/kt-70/outputs/id-code", true );
465 xpdr_flight_level = fgGetNode( "/radios/kt-70/outputs/flight-level", true );
466 xpdr_fl_ann = fgGetNode( "/radios/kt-70/annunciators/fl", true );
467 xpdr_alt_ann = fgGetNode( "/radios/kt-70/annunciators/alt", true );
468 xpdr_gnd_ann = fgGetNode( "/radios/kt-70/annunciators/gnd", true );
469 xpdr_on_ann = fgGetNode( "/radios/kt-70/annunciators/on", true );
470 xpdr_sby_ann = fgGetNode( "/radios/kt-70/annunciators/sby", true );
471 xpdr_reply_ann = fgGetNode( "/radios/kt-70/annunciators/reply", true );
474 = fgGetNode( "/instrumentation/attitude-indicator/horizon-offset-deg",
476 alt_press = fgGetNode( "/instrumentation/altimeter/setting-inhg", true );
477 adf_hdg = fgGetNode( "/radios/kr-87/inputs/rotation-deg", true );
478 hdg_bug = fgGetNode( "/autopilot/settings/heading-bug-deg", true );
480 elevator_center = fgGetNode( "/input/atc610x/elevator/center", true );
481 elevator_min = fgGetNode( "/input/atc610x/elevator/min", true );
482 elevator_max = fgGetNode( "/input/atc610x/elevator/max", true );
484 ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", true );
485 ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", true );
486 ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", true );
488 rudder_center = fgGetNode( "/input/atc610x/rudder/center", true );
489 rudder_min = fgGetNode( "/input/atc610x/rudder/min", true );
490 rudder_max = fgGetNode( "/input/atc610x/rudder/max", true );
492 brake_left_min = fgGetNode( "/input/atc610x/brake-left/min", true );
493 brake_left_max = fgGetNode( "/input/atc610x/brake-left/max", true );
495 brake_right_min = fgGetNode( "/input/atc610x/brake-right/min", true );
496 brake_right_max = fgGetNode( "/input/atc610x/brake-right/max", true );
498 throttle_min = fgGetNode( "/input/atc610x/throttle/min", true );
499 throttle_max = fgGetNode( "/input/atc610x/throttle/max", true );
501 mixture_min = fgGetNode( "/input/atc610x/mixture/min", true );
502 mixture_max = fgGetNode( "/input/atc610x/mixture/max", true );
504 trim_center = fgGetNode( "/input/atc610x/trim/center", true );
505 trim_min = fgGetNode( "/input/atc610x/trim/min", true );
506 trim_max = fgGetNode( "/input/atc610x/trim/max", true );
508 nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", true );
509 nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", true );
511 nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", true );
512 nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", true );
514 ignore_flight_controls
515 = fgGetNode( "/input/atc610x/ignore-flight-controls", true );
517 comm1_serviceable = fgGetNode( "/instrumentation/comm[0]/serviceable", true );
518 comm2_serviceable = fgGetNode( "/instrumentation/comm[1]/serviceable", true );
519 nav1_serviceable = fgGetNode( "/instrumentation/nav[0]/serviceable", true );
520 nav2_serviceable = fgGetNode( "/instrumentation/nav[1]/serviceable", true );
521 adf_serviceable = fgGetNode( "/instrumentation/adf/serviceable", true );
522 xpdr_serviceable = fgGetNode( "/radios/kt-70/inputs/serviceable",
524 dme_serviceable = fgGetNode( "/instrumentation/dme/serviceable", true );
526 // default to having everything serviceable
527 comm1_serviceable->setBoolValue( true );
528 comm2_serviceable->setBoolValue( true );
529 nav1_serviceable->setBoolValue( true );
530 nav2_serviceable->setBoolValue( true );
531 adf_serviceable->setBoolValue( true );
532 xpdr_serviceable->setBoolValue( true );
533 dme_serviceable->setBoolValue( true );
539 /////////////////////////////////////////////////////////////////////
540 // Read analog inputs
541 /////////////////////////////////////////////////////////////////////
543 // scale a number between min and max (with center defined) to a scale
545 static double scale( int center, int min, int max, int value ) {
546 // cout << center << " " << min << " " << max << " " << value << " ";
550 if ( value <= center ) {
551 range = center - min;
552 result = (value - center) / range;
554 range = max - center;
555 result = (value - center) / range;
558 if ( result < -1.0 ) result = -1.0;
559 if ( result > 1.0 ) result = 1.0;
561 // cout << result << endl;
567 // scale a number between min and max to a scale from 0.0 to 1.0
568 static double scale( int min, int max, int value ) {
569 // cout << center << " " << min << " " << max << " " << value << " ";
574 result = (value - min) / range;
576 if ( result < 0.0 ) result = 0.0;
577 if ( result > 1.0 ) result = 1.0;
579 // cout << result << endl;
585 static int tony_magic( int raw, int obs[3] ) {
591 if ( obs[2] >= 68 && obs[2] < 480 ) {
593 } else if ( obs[2] >= 480 ) {
598 } else if ( obs[1] < 68 ) {
601 } else if ( obs[2] < 30 ) {
602 if ( obs[1] >= 68 && obs[1] < 480 ) {
606 } else if ( obs[1] >= 480 ) {
608 if ( obs[0] < obs[1] ) {
616 } else if ( obs[1] > 980 ) {
617 if ( obs[2] <= 956 && obs[2] > 480 ) {
619 } else if ( obs[2] <= 480 ) {
624 } else if ( obs[1] > 956 ) {
627 } else if ( obs[2] > 980 ) {
628 if ( obs[1] <= 956 && obs[1] > 480 ) {
632 } else if ( obs[1] <= 480 ) {
634 if ( obs[0] > obs[1] ) {
643 if ( obs[1] < 480 && obs[2] > 480 ) {
644 // crossed gap going up
645 if ( obs[0] < obs[1] ) {
646 // caught a bogus intermediate value coming out of the gap
649 } else if ( obs[1] > 480 && obs[2] < 480 ) {
650 // crossed gap going down
651 if ( obs[0] > obs[1] ) {
652 // caught a bogus intermediate value coming out of the gap
655 } else if ( obs[0] > 480 && obs[1] < 480 && obs[2] < 480 ) {
656 // crossed the gap going down
657 if ( obs[1] > obs[2] ) {
658 // caught a bogus intermediate value coming out of the gap
661 } else if ( obs[0] < 480 && obs[1] > 480 && obs[2] > 480 ) {
662 // crossed the gap going up
663 if ( obs[1] < obs[2] ) {
664 // caught a bogus intermediate value coming out of the gap
668 result = obs[1] - obs[2];
669 if ( abs(result) > 400 ) {
677 // cout << " result = " << result << endl;
678 if ( result < -500 ) { result += 1024; }
679 if ( result > 500 ) { result -= 1024; }
685 static double instr_pot_filter( double ave, double val ) {
686 if ( fabs(ave - val) < 400 || fabs(val) < fabs(ave) ) {
687 return 0.5 * ave + 0.5 * val;
694 bool FGATC610x::do_analog_in() {
695 // Read raw data in byte form
696 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
698 // Convert to integer values
699 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
700 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
701 unsigned char lo = analog_in_bytes[2 * channel + 1];
702 analog_in_data[channel] = hi * 256 + lo;
704 // printf("%02x %02x ", hi, lo );
705 // printf("%04d ", value );
710 if ( !ignore_flight_controls->getBoolValue() ) {
712 tmp = scale( ailerons_center->getIntValue(),
713 ailerons_min->getIntValue(),
714 ailerons_max->getIntValue(), analog_in_data[0] );
715 fgSetFloat( "/controls/flight/aileron", tmp );
716 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
719 tmp = -scale( elevator_center->getIntValue(),
720 elevator_min->getIntValue(),
721 elevator_max->getIntValue(), analog_in_data[5] );
722 fgSetFloat( "/controls/flight/elevator", tmp );
723 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
726 tmp = scale( trim_center->getIntValue(), trim_min->getIntValue(),
727 trim_max->getIntValue(), analog_in_data[4] );
728 fgSetFloat( "/controls/flight/elevator-trim", tmp );
729 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
732 tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
734 fgSetFloat( "/controls/engines/engine[0]/mixture", tmp );
735 fgSetFloat( "/controls/engines/engine[1]/mixture", tmp );
738 tmp = scale( throttle_min->getIntValue(), throttle_max->getIntValue(),
740 fgSetFloat( "/controls/engines/engine[0]/throttle", tmp );
741 fgSetFloat( "/controls/engines/engine[1]/throttle", tmp );
742 // cout << "throttle = " << tmp << endl;
746 tmp = scale( rudder_center->getIntValue(),
747 rudder_min->getIntValue(),
748 rudder_max->getIntValue(), analog_in_data[10] );
749 fgSetFloat( "/controls/flight/rudder", -tmp );
752 tmp = scale( brake_left_min->getIntValue(),
753 brake_left_max->getIntValue(),
754 analog_in_data[20] );
755 fgSetFloat( "/controls/gear/brake-left", tmp );
756 tmp = scale( brake_right_min->getIntValue(),
757 brake_right_max->getIntValue(),
758 analog_in_data[21] );
759 fgSetFloat( "/controls/gear/brake-right", tmp );
764 tmp = (float)analog_in_data[25] / 1024.0f;
765 fgSetFloat( "/radios/nav[0]/volume", tmp );
768 tmp = (float)analog_in_data[24] / 1024.0f;
769 fgSetFloat( "/radios/nav[1]/volume", tmp );
772 tmp = (float)analog_in_data[26] / 1024.0f;
773 fgSetFloat( "/radios/kr-87/inputs/volume", tmp );
775 // instrument panel pots
776 static bool first = true;
777 static int obs1[3], obs2[3], obs3[3], obs4[3], obs5[3], obs6[3];
778 static double diff1_ave = 0.0;
779 static double diff2_ave = 0.0;
780 static double diff3_ave = 0.0;
781 static double diff4_ave = 0.0;
782 static double diff5_ave = 0.0;
783 static double diff6_ave = 0.0;
787 obs1[0] = obs1[1] = obs1[2] = analog_in_data[11];
788 obs2[0] = obs2[1] = obs2[2] = analog_in_data[28];
789 obs3[0] = obs3[1] = obs3[2] = analog_in_data[29];
790 obs4[0] = obs4[1] = obs4[2] = analog_in_data[30];
791 obs5[0] = obs5[1] = obs5[2] = analog_in_data[31];
792 obs6[0] = obs6[1] = obs6[2] = analog_in_data[14];
795 int diff1 = tony_magic( analog_in_data[11], obs1 );
796 int diff2 = tony_magic( analog_in_data[28], obs2 );
797 int diff3 = tony_magic( analog_in_data[29], obs3 );
798 int diff4 = tony_magic( analog_in_data[30], obs4 );
799 int diff5 = tony_magic( analog_in_data[31], obs5 );
800 int diff6 = tony_magic( analog_in_data[14], obs6 );
802 diff1_ave = instr_pot_filter( diff1_ave, diff1 );
803 diff2_ave = instr_pot_filter( diff2_ave, diff2 );
804 diff3_ave = instr_pot_filter( diff3_ave, diff3 );
805 diff4_ave = instr_pot_filter( diff4_ave, diff4 );
806 diff5_ave = instr_pot_filter( diff5_ave, diff5 );
807 diff6_ave = instr_pot_filter( diff6_ave, diff6 );
809 tmp = alt_press->getDoubleValue() + (diff1_ave * (0.25/888.0) );
810 if ( tmp < 27.9 ) { tmp = 27.9; }
811 if ( tmp > 31.4 ) { tmp = 31.4; }
812 fgSetFloat( "/instrumentation/altimeter/setting-inhg", tmp );
814 tmp = ati_bird->getDoubleValue() + (diff2_ave * (20.0/888.0) );
815 if ( tmp < -10.0 ) { tmp = -10.0; }
816 if ( tmp > 10.0 ) { tmp = 10.0; }
817 fgSetFloat( "/instrumentation/attitude-indicator/horizon-offset-deg", tmp );
819 tmp = nav1_obs->getDoubleValue() + (diff3_ave * (72.0/888.0) );
820 while ( tmp >= 360.0 ) { tmp -= 360.0; }
821 while ( tmp < 0.0 ) { tmp += 360.0; }
822 // cout << " obs = " << tmp << endl;
823 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp );
825 tmp = nav2_obs->getDoubleValue() + (diff4_ave * (72.0/888.0) );
826 while ( tmp >= 360.0 ) { tmp -= 360.0; }
827 while ( tmp < 0.0 ) { tmp += 360.0; }
828 // cout << " obs = " << tmp << endl;
829 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
831 tmp = adf_hdg->getDoubleValue() + (diff5_ave * (72.0/888.0) );
832 while ( tmp >= 360.0 ) { tmp -= 360.0; }
833 while ( tmp < 0.0 ) { tmp += 360.0; }
834 // cout << " obs = " << tmp << endl;
835 fgSetFloat( "/radios/kr-87/inputs/rotation-deg", tmp );
837 tmp = hdg_bug->getDoubleValue() + (diff6_ave * (72.0/888.0) );
838 while ( tmp >= 360.0 ) { tmp -= 360.0; }
839 while ( tmp < 0.0 ) { tmp += 360.0; }
840 // cout << " obs = " << tmp << endl;
841 fgSetFloat( "/autopilot/settings/heading-bug-deg", tmp );
847 /////////////////////////////////////////////////////////////////////
849 /////////////////////////////////////////////////////////////////////
851 bool FGATC610x::do_lights() {
854 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
855 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
856 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
859 ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
860 ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
861 ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
862 ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
863 ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
864 ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
866 // Transponder annunciators
867 ATC610xSetLamp( lamps_fd, 17, xpdr_fl_ann->getBoolValue() ); // FL
868 ATC610xSetLamp( lamps_fd, 18, xpdr_alt_ann->getBoolValue() ); // ALT
869 ATC610xSetLamp( lamps_fd, 19, xpdr_gnd_ann->getBoolValue() ); // GND
870 ATC610xSetLamp( lamps_fd, 20, xpdr_on_ann->getBoolValue() ); // ON
871 ATC610xSetLamp( lamps_fd, 21, xpdr_sby_ann->getBoolValue() ); // SBY
872 ATC610xSetLamp( lamps_fd, 22, xpdr_reply_ann->getBoolValue() ); // R
878 /////////////////////////////////////////////////////////////////////
879 // Read radio switches
880 /////////////////////////////////////////////////////////////////////
882 bool FGATC610x::do_radio_switches() {
883 double freq, coarse_freq, fine_freq, value;
886 ATC610xReadRadios( radios_fd, radio_switch_data );
889 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
890 if ( dme_switch == 0 ) {
892 fgSetInt( "/instrumentation/dme/switch-position", 0 );
893 } else if ( dme_switch == 2 ) {
895 fgSetInt( "/instrumentation/dme/switch-position", 1 );
896 fgSetString( "/instrumentation/dme/frequencies/source",
897 "/radios/nav[0]/frequencies/selected-mhz" );
898 freq = fgGetFloat( "/radios/nav[0]/frequencies/selected-mhz", true );
899 fgSetFloat( "/instrumentation/dme/frequencies/selected-mhz", freq );
900 } else if ( dme_switch == 1 ) {
902 fgSetInt( "/instrumentation/dme/switch-position", 3 );
903 fgSetString( "/instrumentation/dme/frequencies/source",
904 "/radios/nav[1]/frequencies/selected-mhz" );
905 freq = fgGetFloat( "/radios/nav[1]/frequencies/selected-mhz", true );
906 fgSetFloat( "/instrumentation/dme/frequencies/selected-mhz", freq );
910 fgSetBool( "/radios/comm[0]/inputs/power-btn",
911 radio_switch_data[7] & 0x01 );
913 if ( navcom1_has_power() && comm1_serviceable->getBoolValue() ) {
915 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
916 static int last_com1_swap;
917 if ( com1_swap && (last_com1_swap != com1_swap) ) {
918 float tmp = com1_freq->getFloatValue();
919 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
920 com1_stby_freq->getFloatValue() );
921 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
923 last_com1_swap = com1_swap;
927 fgSetBool( "/radios/comm[1]/inputs/power-btn",
928 radio_switch_data[15] & 0x01 );
930 if ( navcom2_has_power() && comm2_serviceable->getBoolValue() ) {
932 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
933 static int last_com2_swap;
934 if ( com2_swap && (last_com2_swap != com2_swap) ) {
935 float tmp = com2_freq->getFloatValue();
936 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
937 com2_stby_freq->getFloatValue() );
938 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
940 last_com2_swap = com2_swap;
943 if ( navcom1_has_power() && nav1_serviceable->getBoolValue() ) {
945 int nav1_swap = radio_switch_data[11] & 0x01;
946 static int last_nav1_swap;
947 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
948 float tmp = nav1_freq->getFloatValue();
949 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
950 nav1_stby_freq->getFloatValue() );
951 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
953 last_nav1_swap = nav1_swap;
956 if ( navcom2_has_power() && nav2_serviceable->getBoolValue() ) {
958 int nav2_swap = !(radio_switch_data[19] & 0x01);
959 static int last_nav2_swap;
960 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
961 float tmp = nav2_freq->getFloatValue();
962 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
963 nav2_stby_freq->getFloatValue() );
964 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
966 last_nav2_swap = nav2_swap;
969 if ( navcom1_has_power() && comm1_serviceable->getBoolValue() ) {
971 int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
972 int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
973 static int last_com1_tuner_fine = com1_tuner_fine;
974 static int last_com1_tuner_coarse = com1_tuner_coarse;
976 freq = com1_stby_freq->getFloatValue();
977 coarse_freq = (int)freq;
978 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
980 if ( com1_tuner_fine != last_com1_tuner_fine ) {
981 diff = com1_tuner_fine - last_com1_tuner_fine;
982 if ( abs(diff) > 4 ) {
984 if ( com1_tuner_fine < last_com1_tuner_fine ) {
986 diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
989 diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
994 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
995 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
997 if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
998 diff = com1_tuner_coarse - last_com1_tuner_coarse;
999 if ( abs(diff) > 4 ) {
1001 if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
1003 diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
1006 diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
1009 coarse_freq += diff;
1011 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
1012 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
1014 last_com1_tuner_fine = com1_tuner_fine;
1015 last_com1_tuner_coarse = com1_tuner_coarse;
1017 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
1018 coarse_freq + fine_freq / 40.0 );
1021 if ( navcom2_has_power() && comm2_serviceable->getBoolValue() ) {
1023 int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
1024 int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
1025 static int last_com2_tuner_fine = com2_tuner_fine;
1026 static int last_com2_tuner_coarse = com2_tuner_coarse;
1028 freq = com2_stby_freq->getFloatValue();
1029 coarse_freq = (int)freq;
1030 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
1032 if ( com2_tuner_fine != last_com2_tuner_fine ) {
1033 diff = com2_tuner_fine - last_com2_tuner_fine;
1034 if ( abs(diff) > 4 ) {
1036 if ( com2_tuner_fine < last_com2_tuner_fine ) {
1038 diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
1041 diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
1046 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
1047 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
1049 if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
1050 diff = com2_tuner_coarse - last_com2_tuner_coarse;
1051 if ( abs(diff) > 4 ) {
1053 if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
1055 diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
1058 diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
1061 coarse_freq += diff;
1063 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
1064 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
1066 last_com2_tuner_fine = com2_tuner_fine;
1067 last_com2_tuner_coarse = com2_tuner_coarse;
1069 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
1070 coarse_freq + fine_freq / 40.0 );
1073 if ( navcom1_has_power() && nav1_serviceable->getBoolValue() ) {
1075 int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
1076 int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
1077 static int last_nav1_tuner_fine = nav1_tuner_fine;
1078 static int last_nav1_tuner_coarse = nav1_tuner_coarse;
1080 freq = nav1_stby_freq->getFloatValue();
1081 coarse_freq = (int)freq;
1082 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
1084 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
1085 diff = nav1_tuner_fine - last_nav1_tuner_fine;
1086 if ( abs(diff) > 4 ) {
1088 if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
1090 diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
1093 diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
1098 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
1099 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
1101 if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
1102 diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
1103 if ( abs(diff) > 4 ) {
1105 if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
1107 diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
1110 diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
1113 coarse_freq += diff;
1115 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
1116 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
1118 last_nav1_tuner_fine = nav1_tuner_fine;
1119 last_nav1_tuner_coarse = nav1_tuner_coarse;
1121 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
1122 coarse_freq + fine_freq / 20.0 );
1125 if ( navcom2_has_power() && nav2_serviceable->getBoolValue() ) {
1127 int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
1128 int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
1129 static int last_nav2_tuner_fine = nav2_tuner_fine;
1130 static int last_nav2_tuner_coarse = nav2_tuner_coarse;
1132 freq = nav2_stby_freq->getFloatValue();
1133 coarse_freq = (int)freq;
1134 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
1136 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
1137 diff = nav2_tuner_fine - last_nav2_tuner_fine;
1138 if ( abs(diff) > 4 ) {
1140 if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
1142 diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
1145 diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
1150 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
1151 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
1153 if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
1154 diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
1155 if ( abs(diff) > 4 ) {
1157 if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
1159 diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
1162 diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
1165 coarse_freq += diff;
1167 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
1168 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
1170 last_nav2_tuner_fine = nav2_tuner_fine;
1171 last_nav2_tuner_coarse = nav2_tuner_coarse;
1173 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
1174 coarse_freq + fine_freq / 20.0);
1179 int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
1180 int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
1181 static int last_adf_tuner_fine = adf_tuner_fine;
1182 static int last_adf_tuner_coarse = adf_tuner_coarse;
1184 if ( adf_has_power() && adf_serviceable->getBoolValue() ) {
1185 // cout << "adf_stby_mode = " << adf_stby_mode->getIntValue() << endl;
1186 if ( adf_count_mode->getIntValue() == 2 ) {
1187 // tune count down timer
1188 value = adf_elapsed_timer->getDoubleValue();
1191 if ( adf_stby_mode->getIntValue() == 1 ) {
1192 value = adf_freq->getFloatValue();
1194 value = adf_stby_freq->getFloatValue();
1198 if ( adf_tuner_fine != last_adf_tuner_fine ) {
1199 diff = adf_tuner_fine - last_adf_tuner_fine;
1200 if ( abs(diff) > 4 ) {
1202 if ( adf_tuner_fine < last_adf_tuner_fine ) {
1204 diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
1207 diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
1213 if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
1214 diff = adf_tuner_coarse - last_adf_tuner_coarse;
1215 if ( abs(diff) > 4 ) {
1217 if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
1219 diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
1222 diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
1225 if ( adf_count_mode->getIntValue() == 2 ) {
1231 if ( adf_count_mode->getIntValue() == 2 ) {
1232 if ( value < 0 ) { value += 3600; }
1233 if ( value > 3599 ) { value -= 3600; }
1235 if ( value < 200 ) { value += 1600; }
1236 if ( value > 1799 ) { value -= 1600; }
1239 if ( adf_count_mode->getIntValue() == 2 ) {
1240 fgSetFloat( "/radios/kr-87/outputs/elapsed-timer", value );
1242 if ( adf_stby_mode->getIntValue() == 1 ) {
1243 fgSetFloat( "/radios/kr-87/outputs/selected-khz", value );
1245 fgSetFloat( "/radios/kr-87/outputs/standby-khz", value );
1249 last_adf_tuner_fine = adf_tuner_fine;
1250 last_adf_tuner_coarse = adf_tuner_coarse;
1254 fgSetInt( "/radios/kr-87/inputs/adf-btn",
1255 !(radio_switch_data[23] & 0x01) );
1256 fgSetInt( "/radios/kr-87/inputs/bfo-btn",
1257 !(radio_switch_data[23] >> 1 & 0x01) );
1258 #ifdef CURT_HARDWARE
1259 fgSetInt( "/radios/kr-87/inputs/frq-btn",
1260 !(radio_switch_data[23] >> 2 & 0x01) );
1262 fgSetInt( "/radios/kr-87/inputs/frq-btn",
1263 (radio_switch_data[23] >> 2 & 0x01) );
1265 fgSetInt( "/radios/kr-87/inputs/flt-et-btn",
1266 !(radio_switch_data[23] >> 3 & 0x01) );
1267 fgSetInt( "/radios/kr-87/inputs/set-rst-btn",
1268 !(radio_switch_data[23] >> 4 & 0x01) );
1269 fgSetInt( "/radios/kr-87/inputs/power-btn",
1270 radio_switch_data[23] >> 5 & 0x01 );
1271 /* cout << "adf = " << !(radio_switch_data[23] & 0x01)
1272 << " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
1273 << " frq = " << !(radio_switch_data[23] >> 2 & 0x01)
1274 << " flt/et = " << !(radio_switch_data[23] >> 3 & 0x01)
1275 << " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
1278 // Transponder Tuner
1281 digit_tuner[0] = radio_switch_data[25] & 0x0f;
1282 digit_tuner[1] = ( radio_switch_data[25] >> 4 ) & 0x0f;
1283 digit_tuner[2] = radio_switch_data[29] & 0x0f;
1284 digit_tuner[3] = ( radio_switch_data[29] >> 4 ) & 0x0f;
1286 static int last_digit_tuner[4];
1287 static bool first_time = true;
1290 for ( i = 0; i < 4; ++i ) {
1291 last_digit_tuner[i] = digit_tuner[i];
1295 if ( xpdr_has_power() && xpdr_serviceable->getBoolValue() ) {
1296 int id_code = xpdr_id_code->getIntValue();
1299 for ( i = 0; i < 4; ++i ) {
1300 digit[i] = id_code / place;
1301 id_code -= digit[i] * place;
1305 for ( i = 0; i < 4; ++i ) {
1306 if ( digit_tuner[i] != last_digit_tuner[i] ) {
1307 diff = digit_tuner[i] - last_digit_tuner[i];
1308 if ( abs(diff) > 4 ) {
1310 if ( digit_tuner[i] < last_digit_tuner[i] ) {
1312 diff = 15 - last_digit_tuner[i] + digit_tuner[i];
1315 diff = digit_tuner[i] - 15 - last_digit_tuner[i];
1320 while ( digit[i] >= 8 ) { digit[i] -= 8; }
1321 while ( digit[i] < 0 ) { digit[i] += 8; }
1324 fgSetInt( "/radios/kt-70/inputs/digit1", digit[0] );
1325 fgSetInt( "/radios/kt-70/inputs/digit2", digit[1] );
1326 fgSetInt( "/radios/kt-70/inputs/digit3", digit[2] );
1327 fgSetInt( "/radios/kt-70/inputs/digit4", digit[3] );
1329 for ( i = 0; i < 4; ++i ) {
1330 last_digit_tuner[i] = digit_tuner[i];
1334 for ( i = 0; i < 5; ++i ) {
1335 if ( radio_switch_data[27] >> i & 0x01 ) {
1339 fgSetInt( "/radios/kt-70/inputs/func-knob", tmp );
1340 fgSetInt( "/radios/kt-70/inputs/ident-btn",
1341 !(radio_switch_data[27] >> 5 & 0x01) );
1343 // Audio panel switches
1344 fgSetInt( "/radios/nav[0]/audio-btn",
1345 (radio_switch_data[3] & 0x01) );
1346 fgSetInt( "/radios/nav[1]/audio-btn",
1347 (radio_switch_data[3] >> 2 & 0x01) );
1348 fgSetInt( "/radios/kr-87/inputs/audio-btn",
1349 (radio_switch_data[3] >> 4 & 0x01) );
1350 fgSetInt( "/radios/marker-beacon/audio-btn",
1351 (radio_switch_data[3] >> 6 & 0x01) );
1357 /////////////////////////////////////////////////////////////////////
1358 // Update the radio display
1359 /////////////////////////////////////////////////////////////////////
1361 bool FGATC610x::do_radio_display() {
1366 if ( dme_has_power() && dme_serviceable->getBoolValue() ) {
1367 if ( dme_in_range->getBoolValue() ) {
1369 float minutes = dme_min->getFloatValue();
1370 if ( minutes > 999 ) {
1373 snprintf(digits, 7, "%03.0f", minutes);
1374 for ( i = 0; i < 6; ++i ) {
1377 radio_display_data[0] = digits[1] << 4 | digits[2];
1378 radio_display_data[1] = 0xf0 | digits[0];
1381 float knots = dme_kt->getFloatValue();
1382 if ( knots > 999 ) {
1385 snprintf(digits, 7, "%03.0f", knots);
1386 for ( i = 0; i < 6; ++i ) {
1389 radio_display_data[2] = digits[1] << 4 | digits[2];
1390 radio_display_data[3] = 0xf0 | digits[0];
1392 // DME distance (nm)
1393 float nm = dme_nm->getFloatValue();
1397 snprintf(digits, 7, "%04.1f", nm);
1398 for ( i = 0; i < 6; ++i ) {
1401 radio_display_data[4] = digits[1] << 4 | digits[3];
1402 radio_display_data[5] = 0x00 | digits[0];
1403 // the 0x00 in the upper nibble of the 6th byte of each
1404 // display turns on the decimal point
1407 radio_display_data[0] = 0xbb;
1408 radio_display_data[1] = 0xfb;
1409 radio_display_data[2] = 0xbb;
1410 radio_display_data[3] = 0xfb;
1411 radio_display_data[4] = 0xbb;
1412 radio_display_data[5] = 0x0b;
1415 // blank dem display
1416 for ( i = 0; i < 6; ++i ) {
1417 radio_display_data[i] = 0xff;
1421 if ( navcom1_has_power() && comm1_serviceable->getBoolValue() ) {
1422 // Com1 standby frequency
1423 float com1_stby = com1_stby_freq->getFloatValue();
1424 if ( fabs(com1_stby) > 999.99 ) {
1427 snprintf(digits, 7, "%06.3f", com1_stby);
1428 for ( i = 0; i < 6; ++i ) {
1431 radio_display_data[6] = digits[4] << 4 | digits[5];
1432 radio_display_data[7] = digits[1] << 4 | digits[2];
1433 radio_display_data[8] = 0xf0 | digits[0];
1435 // Com1 in use frequency
1436 float com1 = com1_freq->getFloatValue();
1437 if ( fabs(com1) > 999.99 ) {
1440 snprintf(digits, 7, "%06.3f", com1);
1441 for ( i = 0; i < 6; ++i ) {
1444 radio_display_data[9] = digits[4] << 4 | digits[5];
1445 radio_display_data[10] = digits[1] << 4 | digits[2];
1446 radio_display_data[11] = 0x00 | digits[0];
1447 // the 0x00 in the upper nibble of the 6th byte of each display
1448 // turns on the decimal point
1450 radio_display_data[6] = 0xff;
1451 radio_display_data[7] = 0xff;
1452 radio_display_data[8] = 0xff;
1453 radio_display_data[9] = 0xff;
1454 radio_display_data[10] = 0xff;
1455 radio_display_data[11] = 0xff;
1458 if ( navcom2_has_power() && comm2_serviceable->getBoolValue() ) {
1459 // Com2 standby frequency
1460 float com2_stby = com2_stby_freq->getFloatValue();
1461 if ( fabs(com2_stby) > 999.99 ) {
1464 snprintf(digits, 7, "%06.3f", com2_stby);
1465 for ( i = 0; i < 6; ++i ) {
1468 radio_display_data[18] = digits[4] << 4 | digits[5];
1469 radio_display_data[19] = digits[1] << 4 | digits[2];
1470 radio_display_data[20] = 0xf0 | digits[0];
1472 // Com2 in use frequency
1473 float com2 = com2_freq->getFloatValue();
1474 if ( fabs(com2) > 999.99 ) {
1477 snprintf(digits, 7, "%06.3f", com2);
1478 for ( i = 0; i < 6; ++i ) {
1481 radio_display_data[21] = digits[4] << 4 | digits[5];
1482 radio_display_data[22] = digits[1] << 4 | digits[2];
1483 radio_display_data[23] = 0x00 | digits[0];
1484 // the 0x00 in the upper nibble of the 6th byte of each display
1485 // turns on the decimal point
1487 radio_display_data[18] = 0xff;
1488 radio_display_data[19] = 0xff;
1489 radio_display_data[20] = 0xff;
1490 radio_display_data[21] = 0xff;
1491 radio_display_data[22] = 0xff;
1492 radio_display_data[23] = 0xff;
1495 if ( navcom1_has_power() && nav1_serviceable->getBoolValue() ) {
1496 // Nav1 standby frequency
1497 float nav1_stby = nav1_stby_freq->getFloatValue();
1498 if ( fabs(nav1_stby) > 999.99 ) {
1501 snprintf(digits, 7, "%06.2f", nav1_stby);
1502 for ( i = 0; i < 6; ++i ) {
1505 radio_display_data[12] = digits[4] << 4 | digits[5];
1506 radio_display_data[13] = digits[1] << 4 | digits[2];
1507 radio_display_data[14] = 0xf0 | digits[0];
1509 // Nav1 in use frequency
1510 float nav1 = nav1_freq->getFloatValue();
1511 if ( fabs(nav1) > 999.99 ) {
1514 snprintf(digits, 7, "%06.2f", nav1);
1515 for ( i = 0; i < 6; ++i ) {
1518 radio_display_data[15] = digits[4] << 4 | digits[5];
1519 radio_display_data[16] = digits[1] << 4 | digits[2];
1520 radio_display_data[17] = 0x00 | digits[0];
1521 // the 0x00 in the upper nibble of the 6th byte of each display
1522 // turns on the decimal point
1524 radio_display_data[12] = 0xff;
1525 radio_display_data[13] = 0xff;
1526 radio_display_data[14] = 0xff;
1527 radio_display_data[15] = 0xff;
1528 radio_display_data[16] = 0xff;
1529 radio_display_data[17] = 0xff;
1532 if ( navcom2_has_power() && nav2_serviceable->getBoolValue() ) {
1533 // Nav2 standby frequency
1534 float nav2_stby = nav2_stby_freq->getFloatValue();
1535 if ( fabs(nav2_stby) > 999.99 ) {
1538 snprintf(digits, 7, "%06.2f", nav2_stby);
1539 for ( i = 0; i < 6; ++i ) {
1542 radio_display_data[24] = digits[4] << 4 | digits[5];
1543 radio_display_data[25] = digits[1] << 4 | digits[2];
1544 radio_display_data[26] = 0xf0 | digits[0];
1546 // Nav2 in use frequency
1547 float nav2 = nav2_freq->getFloatValue();
1548 if ( fabs(nav2) > 999.99 ) {
1551 snprintf(digits, 7, "%06.2f", nav2);
1552 for ( i = 0; i < 6; ++i ) {
1555 radio_display_data[27] = digits[4] << 4 | digits[5];
1556 radio_display_data[28] = digits[1] << 4 | digits[2];
1557 radio_display_data[29] = 0x00 | digits[0];
1558 // the 0x00 in the upper nibble of the 6th byte of each display
1559 // turns on the decimal point
1561 radio_display_data[24] = 0xff;
1562 radio_display_data[25] = 0xff;
1563 radio_display_data[26] = 0xff;
1564 radio_display_data[27] = 0xff;
1565 radio_display_data[28] = 0xff;
1566 radio_display_data[29] = 0xff;
1569 // ADF standby frequency / timer
1570 if ( adf_has_power() && adf_serviceable->getBoolValue() ) {
1571 if ( adf_stby_mode->getIntValue() == 0 ) {
1573 float adf_stby = adf_stby_freq->getFloatValue();
1574 if ( fabs(adf_stby) > 1799 ) {
1577 snprintf(digits, 7, "%04.0f", adf_stby);
1578 for ( i = 0; i < 6; ++i ) {
1581 radio_display_data[30] = digits[3] << 4 | 0x0f;
1582 radio_display_data[31] = digits[1] << 4 | digits[2];
1583 if ( digits[0] == 0 ) {
1584 radio_display_data[32] = 0xff;
1586 radio_display_data[32] = 0xf0 | digits[0];
1591 int hours, min, sec;
1592 if ( adf_timer_mode->getIntValue() == 0 ) {
1593 time = adf_flight_timer->getDoubleValue();
1595 time = adf_elapsed_timer->getDoubleValue();
1597 // cout << time << endl;
1598 hours = (int)(time / 3600.0);
1599 time -= hours * 3600.00;
1600 min = (int)(time / 60.0);
1617 // cout << big << ":" << little << endl;
1618 snprintf(digits, 7, "%02d%02d", big, little);
1619 for ( i = 0; i < 6; ++i ) {
1622 radio_display_data[30] = digits[2] << 4 | digits[3];
1623 radio_display_data[31] = digits[0] << 4 | digits[1];
1624 radio_display_data[32] = 0xff;
1627 // ADF in use frequency
1628 float adf = adf_freq->getFloatValue();
1629 if ( fabs(adf) > 1799 ) {
1632 snprintf(digits, 7, "%04.0f", adf);
1633 for ( i = 0; i < 6; ++i ) {
1636 radio_display_data[33] = digits[2] << 4 | digits[3];
1637 if ( digits[0] == 0 ) {
1638 radio_display_data[34] = 0xf0 | digits[1];
1640 radio_display_data[34] = digits[0] << 4 | digits[1];
1642 if ( adf_stby_mode->getIntValue() == 0 ) {
1643 radio_display_data[35] = 0xff;
1645 radio_display_data[35] = 0x0f;
1648 radio_display_data[30] = 0xff;
1649 radio_display_data[31] = 0xff;
1650 radio_display_data[32] = 0xff;
1651 radio_display_data[33] = 0xff;
1652 radio_display_data[34] = 0xff;
1653 radio_display_data[35] = 0xff;
1656 // Transponder code and flight level
1657 if ( xpdr_has_power() && xpdr_serviceable->getBoolValue() ) {
1658 if ( xpdr_func_knob->getIntValue() == 2 ) {
1660 radio_display_data[36] = 8 << 4 | 8;
1661 radio_display_data[37] = 8 << 4 | 8;
1662 radio_display_data[38] = 0xff;
1663 radio_display_data[39] = 8 << 4 | 0x0f;
1664 radio_display_data[40] = 8 << 4 | 8;
1667 int id_code = xpdr_id_code->getIntValue();
1669 for ( i = 0; i < 4; ++i ) {
1670 digits[i] = id_code / place;
1671 id_code -= digits[i] * place;
1674 radio_display_data[36] = digits[2] << 4 | digits[3];
1675 radio_display_data[37] = digits[0] << 4 | digits[1];
1676 radio_display_data[38] = 0xff;
1678 if ( xpdr_func_knob->getIntValue() == 3 ||
1679 xpdr_func_knob->getIntValue() == 5 )
1681 // do flight level display
1682 snprintf(digits, 7, "%03d", xpdr_flight_level->getIntValue() );
1683 for ( i = 0; i < 6; ++i ) {
1686 radio_display_data[39] = digits[2] << 4 | 0x0f;
1687 radio_display_data[40] = digits[0] << 4 | digits[1];
1689 // blank flight level display
1690 radio_display_data[39] = 0xff;
1691 radio_display_data[40] = 0xff;
1696 radio_display_data[36] = 0xff;
1697 radio_display_data[37] = 0xff;
1698 radio_display_data[38] = 0xff;
1699 radio_display_data[39] = 0xff;
1700 radio_display_data[40] = 0xff;
1703 ATC610xSetRadios( radios_fd, radio_display_data );
1709 /////////////////////////////////////////////////////////////////////
1710 // Drive the stepper motors
1711 /////////////////////////////////////////////////////////////////////
1713 bool FGATC610x::do_steppers() {
1714 float diff = mag_compass->getFloatValue() - compass_position;
1715 while ( diff < -180.0 ) { diff += 360.0; }
1716 while ( diff > 180.0 ) { diff -= 360.0; }
1718 int steps = (int)(diff * 4);
1719 // cout << "steps = " << steps << endl;
1720 if ( steps > 4 ) { steps = 4; }
1721 if ( steps < -4 ) { steps = -4; }
1723 if ( abs(steps) > 0 ) {
1724 unsigned char cmd = 0x80; // stepper command
1726 cmd |= 0x20; // go up
1728 cmd |= 0x00; // go down
1732 // sync compass_position with hardware position
1733 compass_position += (float)steps / 4.0;
1735 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1742 /////////////////////////////////////////////////////////////////////
1743 // Read the switch positions
1744 /////////////////////////////////////////////////////////////////////
1746 // decode the packed switch data
1747 static void update_switch_matrix(
1749 unsigned char switch_data[ATC_SWITCH_BYTES],
1750 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1752 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1753 unsigned char switches = switch_data[row];
1755 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1756 switch_matrix[board][column][row] = switches & 1;
1757 switches = switches >> 1;
1762 bool FGATC610x::do_switches() {
1763 ATC610xReadSwitches( switches_fd, switch_data );
1765 // unpack the switch data
1766 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1767 update_switch_matrix( board, switch_data, switch_matrix );
1770 fgSetBool( "/controls/switches/master-bat", switch_matrix[board][5][1] );
1771 fgSetBool( "/controls/switches/master-alt", switch_matrix[board][4][1] );
1772 fgSetBool( "/controls/switches/master-avionics",
1773 switch_matrix[board][0][3] );
1775 if ( !ignore_flight_controls->getBoolValue() ) {
1776 // magnetos and starter switch
1778 bool starter = false;
1779 if ( switch_matrix[board][3][1] == 1 ) {
1782 } else if ( switch_matrix[board][2][1] == 1 ) {
1785 } else if ( switch_matrix[board][1][1] == 1 ) {
1788 } else if ( switch_matrix[board][0][1] == 1 ) {
1796 // do a bit of filtering on the magneto/starter switch and the
1797 // flap lever because these are not well debounced in hardware
1798 static int mag1, mag2, mag3;
1802 if ( mag1 == mag2 && mag2 == mag3 ) {
1803 fgSetInt( "/controls/engines/engine[0]/magnetos", magnetos );
1805 static bool start1, start2, start3;
1809 if ( start1 == start2 && start2 == start3 ) {
1810 fgSetBool( "/controls/engines/engine[0]/starter", starter );
1814 // other toggle switches
1815 fgSetBool( "/controls/engines/engine[0]/fuel-pump",
1816 switch_matrix[board][0][2] );
1817 fgSetBool( "/controls/switches/flashing-beacon",
1818 switch_matrix[board][1][2] );
1819 fgSetBool( "/controls/switches/landing-light", switch_matrix[board][2][2] );
1820 fgSetBool( "/controls/switches/taxi-lights", switch_matrix[board][3][2] );
1821 fgSetBool( "/controls/switches/nav-lights",
1822 switch_matrix[board][4][2] );
1823 fgSetBool( "/controls/switches/strobe-lights", switch_matrix[board][5][2] );
1824 fgSetBool( "/controls/switches/pitot-heat", switch_matrix[board][6][2] );
1827 if ( !ignore_flight_controls->getBoolValue() ) {
1829 if ( switch_matrix[board][6][3] ) {
1831 } else if ( switch_matrix[board][5][3] ) {
1833 } else if ( switch_matrix[board][4][3] ) {
1835 } else if ( !switch_matrix[board][4][3] ) {
1839 // do a bit of filtering on the magneto/starter switch and the
1840 // flap lever because these are not well debounced in hardware
1841 static float flap1, flap2, flap3;
1845 if ( flap1 == flap2 && flap2 == flap3 ) {
1846 fgSetFloat( "/controls/flight/flaps", flaps );
1850 // fuel selector (also filtered)
1852 if ( switch_matrix[board][2][3] ) {
1855 } else if ( switch_matrix[board][1][3] ) {
1858 } else if ( switch_matrix[board][3][3] ) {
1866 static int fuel1, fuel2, fuel3;
1870 if ( fuel1 == fuel2 && fuel2 == fuel3 ) {
1871 fgSetBool( "/controls/fuel/tank[0]/fuel_selector", (fuel & 0x01) > 0 );
1872 fgSetBool( "/controls/fuel/tank[1]/fuel_selector", (fuel & 0x02) > 0 );
1876 #ifdef ATC_SUPPORT_CIRCUIT_BREAKERS_NOT_THE_DEFAULT
1877 fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr",
1878 switch_matrix[board][0][0] );
1879 fgSetBool( "/controls/circuit-breakers/instr-ignition-switch",
1880 switch_matrix[board][1][0] );
1881 fgSetBool( "/controls/circuit-breakers/flaps",
1882 switch_matrix[board][2][0] );
1883 fgSetBool( "/controls/circuit-breakers/avn-bus-1",
1884 switch_matrix[board][3][0] );
1885 fgSetBool( "/controls/circuit-breakers/avn-bus-2",
1886 switch_matrix[board][4][0] );
1887 fgSetBool( "/controls/circuit-breakers/turn-coordinator",
1888 switch_matrix[board][5][0] );
1889 fgSetBool( "/controls/circuit-breakers/instrument-lights",
1890 switch_matrix[board][6][0] );
1891 fgSetBool( "/controls/circuit-breakers/annunciators",
1892 switch_matrix[board][7][0] );
1894 fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr", true );
1895 fgSetBool( "/controls/circuit-breakers/instr-ignition-switch", true );
1896 fgSetBool( "/controls/circuit-breakers/flaps", true );
1897 fgSetBool( "/controls/circuit-breakers/avn-bus-1", true );
1898 fgSetBool( "/controls/circuit-breakers/avn-bus-2", true );
1899 fgSetBool( "/controls/circuit-breakers/turn-coordinator", true );
1900 fgSetBool( "/controls/circuit-breakers/instrument-lights", true );
1901 fgSetBool( "/controls/circuit-breakers/annunciators", true );
1904 if ( !ignore_flight_controls->getBoolValue() ) {
1905 fgSetDouble( "/controls/gear/brake-parking",
1906 switch_matrix[board][7][3] );
1909 fgSetDouble( "/radios/marker-beacon/power-btn",
1910 switch_matrix[board][6][1] );
1916 bool FGATC610x::process() {
1917 // Lock the hardware, skip if it's not ready yet
1918 if ( ATC610xLock( lock_fd ) > 0 ) {
1922 do_radio_switches();
1927 ATC610xRelease( lock_fd );
1936 bool FGATC610x::close() {