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>
47 #include <simgear/misc/sg_path.hxx>
49 #include <Main/fg_props.hxx>
50 #include <Main/globals.hxx>
52 #include "atc610x.hxx"
56 // Lock the ATC 610 hardware
57 static int ATC610xLock( int fd ) {
59 lseek( fd, 0, SEEK_SET );
62 int result = read( fd, tmp, 1 );
64 SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
71 // Write a radios command
72 static int ATC610xRelease( int fd ) {
74 lseek( fd, 0, SEEK_SET );
78 int result = write( fd, tmp, 1 );
81 SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
89 static void ATC610xReadAnalogInputs( int fd, unsigned char *analog_in_bytes ) {
91 lseek( fd, 0, SEEK_SET );
93 int result = read( fd, analog_in_bytes, ATC_ANAL_IN_BYTES );
94 if ( result != ATC_ANAL_IN_BYTES ) {
95 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
101 // Write a radios command
102 static int ATC610xSetRadios( int fd,
103 unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
106 lseek( fd, 0, SEEK_SET );
108 int result = write( fd, data, ATC_RADIO_DISPLAY_BYTES );
110 if ( result != ATC_RADIO_DISPLAY_BYTES ) {
111 SG_LOG( SG_IO, SG_DEBUG, "Write failed" );
118 // Read status of last radios written to
119 static void ATC610xReadRadios( int fd, unsigned char *switch_data ) {
121 lseek( fd, 0, SEEK_SET );
123 int result = read( fd, switch_data, ATC_RADIO_SWITCH_BYTES );
124 if ( result != ATC_RADIO_SWITCH_BYTES ) {
125 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
130 // Write a stepper command
131 static int ATC610xSetStepper( int fd, unsigned char channel,
132 unsigned char value )
135 lseek( fd, 0, SEEK_SET );
138 unsigned char buf[3];
142 int result = write( fd, buf, 2 );
144 SG_LOG( SG_IO, SG_INFO, "Write failed" );
146 SG_LOG( SG_IO, SG_DEBUG,
147 "Sent cmd = " << (int)channel << " value = " << (int)value );
152 // Read status of last stepper written to
153 static unsigned char ATC610xReadStepper( int fd ) {
157 lseek( fd, 0, SEEK_SET );
160 unsigned char buf[2];
161 result = read( fd, buf, 1 );
163 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
166 SG_LOG( SG_IO, SG_DEBUG, "Read result = " << (int)buf[0] );
172 // Read switch inputs
173 static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
175 lseek( fd, 0, SEEK_SET );
177 int result = read( fd, switch_bytes, ATC_SWITCH_BYTES );
178 if ( result != ATC_SWITCH_BYTES ) {
179 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
185 // Turn a lamp on or off
186 void ATC610xSetLamp( int fd, int channel, bool value ) {
187 // lamp channels 0-63 are written to LampPort0, channels 64-127
188 // are written to LampPort1
190 // bits 0-6 are the lamp address
191 // bit 7 is the value (on/off)
196 unsigned char buf[3];
200 result = write( fd, buf, 2 );
202 SG_LOG( SG_IO, SG_ALERT, "Write failed" );
208 void FGATC610x::init_config() {
209 #if defined( unix ) || defined( __CYGWIN__ )
210 // Next check home directory for .fgfsrc.hostname file
211 char *envp = ::getenv( "HOME" );
212 if ( envp != NULL ) {
213 SGPath atc610x_config( envp );
214 atc610x_config.append( ".fgfs-atc610x.xml" );
215 readProperties( atc610x_config.str(), globals->get_props() );
221 // Open and initialize ATC 610x hardware
222 bool FGATC610x::open() {
223 if ( is_enabled() ) {
224 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
225 << "is already in use, ignoring" );
229 // This loads the config parameters generated by "simcal"
232 SG_LOG( SG_IO, SG_ALERT,
233 "Initializing ATC 610x hardware, please wait ..." );
235 set_hz( 30 ); // default to processing requests @ 30Hz
238 board = 0; // 610x uses a single board number = 0
240 snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
241 snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
242 snprintf( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
243 snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
244 snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
245 snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
247 /////////////////////////////////////////////////////////////////////
248 // Open the /proc files
249 /////////////////////////////////////////////////////////////////////
251 lock_fd = ::open( lock_file, O_RDWR );
252 if ( lock_fd == -1 ) {
253 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
255 snprintf( msg, 256, "Error opening %s", lock_file );
260 analog_in_fd = ::open( analog_in_file, O_RDONLY );
261 if ( analog_in_fd == -1 ) {
262 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
264 snprintf( msg, 256, "Error opening %s", analog_in_file );
269 lamps_fd = ::open( lamps_file, O_WRONLY );
270 if ( lamps_fd == -1 ) {
271 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
273 snprintf( msg, 256, "Error opening %s", lamps_file );
278 radios_fd = ::open( radios_file, O_RDWR );
279 if ( radios_fd == -1 ) {
280 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
282 snprintf( msg, 256, "Error opening %s", radios_file );
287 stepper_fd = ::open( stepper_file, O_RDWR );
288 if ( stepper_fd == -1 ) {
289 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
291 snprintf( msg, 256, "Error opening %s", stepper_file );
296 switches_fd = ::open( switches_file, O_RDONLY );
297 if ( switches_fd == -1 ) {
298 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
300 snprintf( msg, 256, "Error opening %s", switches_file );
305 /////////////////////////////////////////////////////////////////////
306 // Home the compass stepper motor
307 /////////////////////////////////////////////////////////////////////
309 SG_LOG( SG_IO, SG_ALERT,
310 " - Homing the compass stepper motor" );
312 // Lock the hardware, keep trying until we succeed
313 while ( ATC610xLock( lock_fd ) <= 0 );
315 // Send the stepper home command
316 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
318 // Release the hardware
319 ATC610xRelease( lock_fd );
321 SG_LOG( SG_IO, SG_ALERT,
322 " - Waiting for compass to come home." );
325 int timeout = 900; // about 30 seconds
326 while ( ! home && timeout > 0 ) {
327 if ( timeout % 150 == 0 ) {
328 SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
330 SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
333 while ( ATC610xLock( lock_fd ) <= 0 );
335 unsigned char result = ATC610xReadStepper( stepper_fd );
340 ATC610xRelease( lock_fd );
342 #if defined( _MSC_VER )
343 ulMilliSecondSleep(33);
344 #elif defined (WIN32) && !defined(__CYGWIN__)
353 compass_position = 0.0;
355 /////////////////////////////////////////////////////////////////////
356 // Blank the radio display
357 /////////////////////////////////////////////////////////////////////
359 SG_LOG( SG_IO, SG_ALERT,
360 " - Clearing the radios displays." );
363 unsigned char value = 0xff;
364 for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
365 radio_display_data[channel] = value;
368 // Lock the hardware, keep trying until we succeed
369 while ( ATC610xLock( lock_fd ) <= 0 );
372 ATC610xSetRadios( radios_fd, radio_display_data );
374 ATC610xRelease( lock_fd );
376 /////////////////////////////////////////////////////////////////////
378 /////////////////////////////////////////////////////////////////////
380 for ( int i = 0; i < 128; ++i ) {
381 ATC610xSetLamp( lamps_fd, i, false );
384 /////////////////////////////////////////////////////////////////////
385 // Finished initing hardware
386 /////////////////////////////////////////////////////////////////////
388 SG_LOG( SG_IO, SG_ALERT,
389 "Done initializing ATC 610x hardware." );
391 /////////////////////////////////////////////////////////////////////
392 // Connect up to property values
393 /////////////////////////////////////////////////////////////////////
395 mag_compass = fgGetNode( "/steam/mag-compass-deg", true );
397 dme_min = fgGetNode( "/radios/dme/ete-min", true );
398 dme_kt = fgGetNode( "/radios/dme/speed-kt", true );
399 dme_nm = fgGetNode( "/radios/dme/distance-nm", true );
401 adf_bus_power = fgGetNode( "/systems/electrical/outputs/adf", true );
402 dme_bus_power = fgGetNode( "/systems/electrical/outputs/dme", true );
403 navcom1_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[0]",
405 navcom2_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[1]",
407 xpdr_bus_power = fgGetNode( "/systems/electrical/outputs/transponder",
410 navcom1_power_btn = fgGetNode( "/radios/comm[0]/inputs/power-btn", true );
411 navcom2_power_btn = fgGetNode( "/radios/comm[1]/inputs/power-btn", true );
413 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
415 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
417 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
419 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
421 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
423 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
425 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
427 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
429 adf_power_btn = fgGetNode( "/radios/kr-87/inputs/power-btn", true );
430 adf_vol = fgGetNode( "/radios/kr-87/inputs/volume", true );
431 adf_adf_btn = fgGetNode( "/radios/kr-87/inputs/adf-btn", true );
432 adf_bfo_btn = fgGetNode( "/radios/kr-87/inputs/bfo-btn", true );
433 adf_freq = fgGetNode( "/radios/kr-87/outputs/selected-khz", true );
434 adf_stby_freq = fgGetNode( "/radios/kr-87/outputs/standby-khz", true );
435 adf_stby_mode = fgGetNode( "/radios/kr-87/modes/stby", true );
436 adf_timer_mode = fgGetNode( "/radios/kr-87/modes/timer", true );
437 adf_count_mode = fgGetNode( "/radios/kr-87/modes/count", true );
438 adf_flight_timer = fgGetNode( "/radios/kr-87/outputs/flight-timer", true );
439 adf_elapsed_timer = fgGetNode( "/radios/kr-87/outputs/elapsed-timer",
441 adf_ant_ann = fgGetNode( "/radios/kr-87/annunciators/ant", true );
442 adf_adf_ann = fgGetNode( "/radios/kr-87/annunciators/adf", true );
443 adf_bfo_ann = fgGetNode( "/radios/kr-87/annunciators/bfo", true );
444 adf_frq_ann = fgGetNode( "/radios/kr-87/annunciators/frq", true );
445 adf_flt_ann = fgGetNode( "/radios/kr-87/annunciators/flt", true );
446 adf_et_ann = fgGetNode( "/radios/kr-87/annunciators/et", true );
448 inner = fgGetNode( "/radios/marker-beacon/inner", true );
449 middle = fgGetNode( "/radios/marker-beacon/middle", true );
450 outer = fgGetNode( "/radios/marker-beacon/outer", true );
452 xpdr_ident_btn = fgGetNode( "/radios/kt-70/inputs/ident-btn", true );
453 xpdr_digit1 = fgGetNode( "/radios/kt-70/inputs/digit1", true );
454 xpdr_digit2 = fgGetNode( "/radios/kt-70/inputs/digit2", true );
455 xpdr_digit3 = fgGetNode( "/radios/kt-70/inputs/digit3", true );
456 xpdr_digit4 = fgGetNode( "/radios/kt-70/inputs/digit4", true );
457 xpdr_func_knob = fgGetNode( "/radios/kt-70/inputs/func-knob", true );
458 xpdr_id_code = fgGetNode( "/radios/kt-70/outputs/id-code", true );
459 xpdr_flight_level = fgGetNode( "/radios/kt-70/outputs/flight-level", true );
460 xpdr_fl_ann = fgGetNode( "/radios/kt-70/annunciators/fl", true );
461 xpdr_alt_ann = fgGetNode( "/radios/kt-70/annunciators/alt", true );
462 xpdr_gnd_ann = fgGetNode( "/radios/kt-70/annunciators/gnd", true );
463 xpdr_on_ann = fgGetNode( "/radios/kt-70/annunciators/on", true );
464 xpdr_sby_ann = fgGetNode( "/radios/kt-70/annunciators/sby", true );
465 xpdr_reply_ann = fgGetNode( "/radios/kt-70/annunciators/reply", true );
467 elevator_center = fgGetNode( "/input/atc610x/elevator/center", 0 );
468 elevator_min = fgGetNode( "/input/atc610x/elevator/min", 0 );
469 elevator_max = fgGetNode( "/input/atc610x/elevator/max", 0 );
471 ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", 0 );
472 ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", 0 );
473 ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", 0 );
475 rudder_center = fgGetNode( "/input/atc610x/rudder/center", 0 );
476 rudder_min = fgGetNode( "/input/atc610x/rudder/min", 0 );
477 rudder_max = fgGetNode( "/input/atc610x/rudder/max", 0 );
479 throttle_min = fgGetNode( "/input/atc610x/throttle/min", 0 );
480 throttle_max = fgGetNode( "/input/atc610x/throttle/max", 0 );
482 mixture_min = fgGetNode( "/input/atc610x/mixture/min", 0 );
483 mixture_max = fgGetNode( "/input/atc610x/mixture/max", 0 );
485 trim_center = fgGetNode( "/input/atc610x/trim/center", 0 );
486 trim_min = fgGetNode( "/input/atc610x/trim/min", 0 );
487 trim_max = fgGetNode( "/input/atc610x/trim/max", 0 );
489 nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", 0 );
490 nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", 0 );
492 nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", 0 );
493 nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", 0 );
499 /////////////////////////////////////////////////////////////////////
500 // Read analog inputs
501 /////////////////////////////////////////////////////////////////////
503 #define ATC_AILERON_CENTER 535
504 #define ATC_ELEVATOR_TRIM_CENTER 512
505 #define ATC_ELEVATOR_CENTER 543
506 #define ATC_RUDDER_CENTER 519
508 // scale a number between min and max (with center defined) to a scale
510 static double scale( int center, int min, int max, int value ) {
511 // cout << center << " " << min << " " << max << " " << value << " ";
515 if ( value <= center ) {
516 range = center - min;
517 result = (value - center) / range;
519 range = max - center;
520 result = (value - center) / range;
523 if ( result < -1.0 ) result = -1.0;
524 if ( result > 1.0 ) result = 1.0;
526 // cout << result << endl;
532 // scale a number between min and max to a scale from 0.0 to 1.0
533 static double scale( int min, int max, int value ) {
534 // cout << center << " " << min << " " << max << " " << value << " ";
539 result = (value - min) / range;
541 if ( result < 0.0 ) result = 0.0;
542 if ( result > 1.0 ) result = 1.0;
544 // cout << result << endl;
550 bool FGATC610x::do_analog_in() {
551 // Read raw data in byte form
552 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
554 // Convert to integer values
555 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
556 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
557 unsigned char lo = analog_in_bytes[2 * channel + 1];
558 analog_in_data[channel] = hi * 256 + lo;
560 // printf("%02x %02x ", hi, lo );
561 // printf("%04d ", value );
564 float tmp, tmp1, tmp2;
567 tmp = scale( ailerons_center->getIntValue(), ailerons_min->getIntValue(),
568 ailerons_max->getIntValue(), analog_in_data[0] );
569 fgSetFloat( "/controls/aileron", tmp );
570 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
573 tmp = -scale( elevator_center->getIntValue(), elevator_min->getIntValue(),
574 elevator_max->getIntValue(), analog_in_data[5] );
575 fgSetFloat( "/controls/elevator", tmp );
576 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
579 tmp = scale( trim_center->getIntValue(), trim_min->getIntValue(),
580 trim_max->getIntValue(), analog_in_data[4] );
581 fgSetFloat( "/controls/elevator-trim", tmp );
582 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
585 tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
587 fgSetFloat( "/controls/mixture[0]", tmp );
588 fgSetFloat( "/controls/mixture[1]", tmp );
591 tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
593 fgSetFloat( "/controls/throttle[0]", tmp );
594 fgSetFloat( "/controls/throttle[1]", tmp );
598 tmp = scale( rudder_center->getIntValue(), rudder_min->getIntValue(),
599 rudder_max->getIntValue(), analog_in_data[10] );
600 fgSetFloat( "/controls/rudder", tmp );
604 tmp = (float)analog_in_data[25] / 1024.0f;
605 fgSetFloat( "/radios/nav[0]/volume", tmp );
608 tmp = (float)analog_in_data[24] / 1024.0f;
609 fgSetFloat( "/radios/nav[1]/volume", tmp );
612 tmp = (float)analog_in_data[26] / 1024.0f;
613 fgSetFloat( "/radios/kr-87/inputs/volume", tmp );
616 tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
617 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
620 tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
621 tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
622 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
628 /////////////////////////////////////////////////////////////////////
630 /////////////////////////////////////////////////////////////////////
632 bool FGATC610x::do_lights() {
635 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
636 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
637 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
640 ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
641 ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
642 ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
643 ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
644 ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
645 ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
647 // Transponder annunciators
648 ATC610xSetLamp( lamps_fd, 17, xpdr_fl_ann->getBoolValue() ); // FL
649 ATC610xSetLamp( lamps_fd, 18, xpdr_alt_ann->getBoolValue() ); // ALT
650 ATC610xSetLamp( lamps_fd, 19, xpdr_gnd_ann->getBoolValue() ); // GND
651 ATC610xSetLamp( lamps_fd, 20, xpdr_on_ann->getBoolValue() ); // ON
652 ATC610xSetLamp( lamps_fd, 21, xpdr_sby_ann->getBoolValue() ); // SBY
653 ATC610xSetLamp( lamps_fd, 22, xpdr_reply_ann->getBoolValue() ); // R
659 /////////////////////////////////////////////////////////////////////
660 // Read radio switches
661 /////////////////////////////////////////////////////////////////////
663 bool FGATC610x::do_radio_switches() {
664 double freq, coarse_freq, fine_freq, value;
667 ATC610xReadRadios( radios_fd, radio_switch_data );
670 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
671 if ( dme_switch == 0 ) {
673 fgSetInt( "/radios/dme/switch-position", 0 );
674 } else if ( dme_switch == 2 ) {
676 fgSetInt( "/radios/dme/switch-position", 1 );
677 } else if ( dme_switch == 1 ) {
679 fgSetInt( "/radios/dme/switch-position", 3 );
683 fgSetBool( "/radios/comm[0]/inputs/power-btn",
684 radio_switch_data[7] & 0x01 );
686 if ( navcom1_has_power() ) {
688 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
689 static int last_com1_swap;
690 if ( com1_swap && (last_com1_swap != com1_swap) ) {
691 float tmp = com1_freq->getFloatValue();
692 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
693 com1_stby_freq->getFloatValue() );
694 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
696 last_com1_swap = com1_swap;
700 fgSetBool( "/radios/comm[1]/inputs/power-btn",
701 radio_switch_data[15] & 0x01 );
703 if ( navcom2_has_power() ) {
705 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
706 static int last_com2_swap;
707 if ( com2_swap && (last_com2_swap != com2_swap) ) {
708 float tmp = com2_freq->getFloatValue();
709 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
710 com2_stby_freq->getFloatValue() );
711 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
713 last_com2_swap = com2_swap;
716 if ( navcom1_has_power() ) {
718 int nav1_swap = radio_switch_data[11] & 0x01;
719 static int last_nav1_swap;
720 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
721 float tmp = nav1_freq->getFloatValue();
722 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
723 nav1_stby_freq->getFloatValue() );
724 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
726 last_nav1_swap = nav1_swap;
729 if ( navcom2_has_power() ) {
731 int nav2_swap = !(radio_switch_data[19] & 0x01);
732 static int last_nav2_swap;
733 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
734 float tmp = nav2_freq->getFloatValue();
735 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
736 nav2_stby_freq->getFloatValue() );
737 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
739 last_nav2_swap = nav2_swap;
742 if ( navcom1_has_power() ) {
744 int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
745 int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
746 static int last_com1_tuner_fine = com1_tuner_fine;
747 static int last_com1_tuner_coarse = com1_tuner_coarse;
749 freq = com1_stby_freq->getFloatValue();
750 coarse_freq = (int)freq;
751 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
753 if ( com1_tuner_fine != last_com1_tuner_fine ) {
754 diff = com1_tuner_fine - last_com1_tuner_fine;
755 if ( abs(diff) > 4 ) {
757 if ( com1_tuner_fine < last_com1_tuner_fine ) {
759 diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
762 diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
767 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
768 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
770 if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
771 diff = com1_tuner_coarse - last_com1_tuner_coarse;
772 if ( abs(diff) > 4 ) {
774 if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
776 diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
779 diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
784 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
785 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
787 last_com1_tuner_fine = com1_tuner_fine;
788 last_com1_tuner_coarse = com1_tuner_coarse;
790 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
791 coarse_freq + fine_freq / 40.0 );
794 if ( navcom2_has_power() ) {
796 int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
797 int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
798 static int last_com2_tuner_fine = com2_tuner_fine;
799 static int last_com2_tuner_coarse = com2_tuner_coarse;
801 freq = com2_stby_freq->getFloatValue();
802 coarse_freq = (int)freq;
803 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
805 if ( com2_tuner_fine != last_com2_tuner_fine ) {
806 diff = com2_tuner_fine - last_com2_tuner_fine;
807 if ( abs(diff) > 4 ) {
809 if ( com2_tuner_fine < last_com2_tuner_fine ) {
811 diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
814 diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
819 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
820 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
822 if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
823 diff = com2_tuner_coarse - last_com2_tuner_coarse;
824 if ( abs(diff) > 4 ) {
826 if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
828 diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
831 diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
836 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
837 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
839 last_com2_tuner_fine = com2_tuner_fine;
840 last_com2_tuner_coarse = com2_tuner_coarse;
842 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
843 coarse_freq + fine_freq / 40.0 );
846 if ( navcom1_has_power() ) {
848 int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
849 int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
850 static int last_nav1_tuner_fine = nav1_tuner_fine;
851 static int last_nav1_tuner_coarse = nav1_tuner_coarse;
853 freq = nav1_stby_freq->getFloatValue();
854 coarse_freq = (int)freq;
855 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
857 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
858 diff = nav1_tuner_fine - last_nav1_tuner_fine;
859 if ( abs(diff) > 4 ) {
861 if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
863 diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
866 diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
871 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
872 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
874 if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
875 diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
876 if ( abs(diff) > 4 ) {
878 if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
880 diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
883 diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
888 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
889 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
891 last_nav1_tuner_fine = nav1_tuner_fine;
892 last_nav1_tuner_coarse = nav1_tuner_coarse;
894 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
895 coarse_freq + fine_freq / 20.0 );
898 if ( navcom2_has_power() ) {
900 int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
901 int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
902 static int last_nav2_tuner_fine = nav2_tuner_fine;
903 static int last_nav2_tuner_coarse = nav2_tuner_coarse;
905 freq = nav2_stby_freq->getFloatValue();
906 coarse_freq = (int)freq;
907 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
909 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
910 diff = nav2_tuner_fine - last_nav2_tuner_fine;
911 if ( abs(diff) > 4 ) {
913 if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
915 diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
918 diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
923 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
924 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
926 if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
927 diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
928 if ( abs(diff) > 4 ) {
930 if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
932 diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
935 diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
940 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
941 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
943 last_nav2_tuner_fine = nav2_tuner_fine;
944 last_nav2_tuner_coarse = nav2_tuner_coarse;
946 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
947 coarse_freq + fine_freq / 20.0);
952 int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
953 int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
954 static int last_adf_tuner_fine = adf_tuner_fine;
955 static int last_adf_tuner_coarse = adf_tuner_coarse;
957 if ( adf_has_power() ) {
958 // cout << "adf_stby_mode = " << adf_stby_mode->getIntValue() << endl;
959 if ( adf_count_mode->getIntValue() == 2 ) {
960 // tune count down timer
961 value = adf_elapsed_timer->getDoubleValue();
964 if ( adf_stby_mode->getIntValue() == 1 ) {
965 value = adf_freq->getFloatValue();
967 value = adf_stby_freq->getFloatValue();
971 if ( adf_tuner_fine != last_adf_tuner_fine ) {
972 diff = adf_tuner_fine - last_adf_tuner_fine;
973 if ( abs(diff) > 4 ) {
975 if ( adf_tuner_fine < last_adf_tuner_fine ) {
977 diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
980 diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
986 if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
987 diff = adf_tuner_coarse - last_adf_tuner_coarse;
988 if ( abs(diff) > 4 ) {
990 if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
992 diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
995 diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
998 if ( adf_count_mode->getIntValue() == 2 ) {
1004 if ( adf_count_mode->getIntValue() == 2 ) {
1005 if ( value < 0 ) { value += 3600; }
1006 if ( value > 3599 ) { value -= 3600; }
1008 if ( value < 200 ) { value += 1600; }
1009 if ( value > 1799 ) { value -= 1600; }
1012 if ( adf_count_mode->getIntValue() == 2 ) {
1013 fgSetFloat( "/radios/kr-87/outputs/elapsed-timer", value );
1015 if ( adf_stby_mode->getIntValue() == 1 ) {
1016 fgSetFloat( "/radios/kr-87/outputs/selected-khz", value );
1018 fgSetFloat( "/radios/kr-87/outputs/standby-khz", value );
1022 last_adf_tuner_fine = adf_tuner_fine;
1023 last_adf_tuner_coarse = adf_tuner_coarse;
1027 fgSetInt( "/radios/kr-87/inputs/adf-btn",
1028 !(radio_switch_data[23] & 0x01) );
1029 fgSetInt( "/radios/kr-87/inputs/bfo-btn",
1030 !(radio_switch_data[23] >> 1 & 0x01) );
1031 fgSetInt( "/radios/kr-87/inputs/frq-btn",
1032 (radio_switch_data[23] >> 2 & 0x01) );
1033 fgSetInt( "/radios/kr-87/inputs/flt-et-btn",
1034 !(radio_switch_data[23] >> 3 & 0x01) );
1035 fgSetInt( "/radios/kr-87/inputs/set-rst-btn",
1036 !(radio_switch_data[23] >> 4 & 0x01) );
1037 fgSetInt( "/radios/kr-87/inputs/power-btn",
1038 radio_switch_data[23] >> 5 & 0x01 );
1039 /* cout << "adf = " << !(radio_switch_data[23] & 0x01)
1040 << " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
1041 << " stby = " << !(radio_switch_data[23] >> 2 & 0x01)
1042 << " timer = " << !(radio_switch_data[23] >> 3 & 0x01)
1043 << " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
1046 // Transponder Tuner
1049 digit_tuner[0] = radio_switch_data[25] & 0x0f;
1050 digit_tuner[1] = ( radio_switch_data[25] >> 4 ) & 0x0f;
1051 digit_tuner[2] = radio_switch_data[29] & 0x0f;
1052 digit_tuner[3] = ( radio_switch_data[29] >> 4 ) & 0x0f;
1054 static int last_digit_tuner[4];
1055 static bool first_time = true;
1058 for ( i = 0; i < 4; ++i ) {
1059 last_digit_tuner[i] = digit_tuner[i];
1063 if ( xpdr_has_power() ) {
1064 int id_code = xpdr_id_code->getIntValue();
1067 for ( i = 0; i < 4; ++i ) {
1068 digit[i] = id_code / place;
1069 id_code -= digit[i] * place;
1073 for ( i = 0; i < 4; ++i ) {
1074 if ( digit_tuner[i] != last_digit_tuner[i] ) {
1075 diff = digit_tuner[i] - last_digit_tuner[i];
1076 if ( abs(diff) > 4 ) {
1078 if ( digit_tuner[i] < last_digit_tuner[i] ) {
1080 diff = 15 - last_digit_tuner[i] + digit_tuner[i];
1083 diff = digit_tuner[i] - 15 - last_digit_tuner[i];
1088 while ( digit[i] >= 8 ) { digit[i] -= 8; }
1089 while ( digit[i] < 0 ) { digit[i] += 8; }
1092 fgSetInt( "/radios/kt-70/inputs/digit1", digit[0] );
1093 fgSetInt( "/radios/kt-70/inputs/digit2", digit[1] );
1094 fgSetInt( "/radios/kt-70/inputs/digit3", digit[2] );
1095 fgSetInt( "/radios/kt-70/inputs/digit4", digit[3] );
1097 for ( i = 0; i < 4; ++i ) {
1098 last_digit_tuner[i] = digit_tuner[i];
1102 for ( i = 0; i < 5; ++i ) {
1103 if ( radio_switch_data[27] >> i & 0x01 ) {
1107 fgSetInt( "/radios/kt-70/inputs/func-knob", tmp );
1108 fgSetInt( "/radios/kt-70/inputs/ident-btn",
1109 !(radio_switch_data[27] >> 5 & 0x01) );
1115 /////////////////////////////////////////////////////////////////////
1116 // Update the radio display
1117 /////////////////////////////////////////////////////////////////////
1119 bool FGATC610x::do_radio_display() {
1124 if ( dme_has_power() ) {
1126 float minutes = dme_min->getFloatValue();
1127 if ( minutes > 999 ) {
1130 snprintf(digits, 7, "%03.0f", minutes);
1131 for ( i = 0; i < 6; ++i ) {
1134 radio_display_data[0] = digits[1] << 4 | digits[2];
1135 radio_display_data[1] = 0xf0 | digits[0];
1138 float knots = dme_kt->getFloatValue();
1139 if ( knots > 999 ) {
1142 snprintf(digits, 7, "%03.0f", knots);
1143 for ( i = 0; i < 6; ++i ) {
1146 radio_display_data[2] = digits[1] << 4 | digits[2];
1147 radio_display_data[3] = 0xf0 | digits[0];
1149 // DME distance (nm)
1150 float nm = dme_nm->getFloatValue();
1154 snprintf(digits, 7, "%04.1f", nm);
1155 for ( i = 0; i < 6; ++i ) {
1158 radio_display_data[4] = digits[1] << 4 | digits[3];
1159 radio_display_data[5] = 0x00 | digits[0];
1160 // the 0x00 in the upper nibble of the 6th byte of each
1161 // display turns on the decimal point
1163 // blank dem display
1164 for ( i = 0; i < 6; ++i ) {
1165 radio_display_data[i] = 0xff;
1169 if ( navcom1_has_power() ) {
1170 // Com1 standby frequency
1171 float com1_stby = com1_stby_freq->getFloatValue();
1172 if ( fabs(com1_stby) > 999.99 ) {
1175 snprintf(digits, 7, "%06.3f", com1_stby);
1176 for ( i = 0; i < 6; ++i ) {
1179 radio_display_data[6] = digits[4] << 4 | digits[5];
1180 radio_display_data[7] = digits[1] << 4 | digits[2];
1181 radio_display_data[8] = 0xf0 | digits[0];
1183 // Com1 in use frequency
1184 float com1 = com1_freq->getFloatValue();
1185 if ( fabs(com1) > 999.99 ) {
1188 snprintf(digits, 7, "%06.3f", com1);
1189 for ( i = 0; i < 6; ++i ) {
1192 radio_display_data[9] = digits[4] << 4 | digits[5];
1193 radio_display_data[10] = digits[1] << 4 | digits[2];
1194 radio_display_data[11] = 0x00 | digits[0];
1195 // the 0x00 in the upper nibble of the 6th byte of each display
1196 // turns on the decimal point
1198 radio_display_data[6] = 0xff;
1199 radio_display_data[7] = 0xff;
1200 radio_display_data[8] = 0xff;
1201 radio_display_data[9] = 0xff;
1202 radio_display_data[10] = 0xff;
1203 radio_display_data[11] = 0xff;
1206 if ( navcom2_has_power() ) {
1207 // Com2 standby frequency
1208 float com2_stby = com2_stby_freq->getFloatValue();
1209 if ( fabs(com2_stby) > 999.99 ) {
1212 snprintf(digits, 7, "%06.3f", com2_stby);
1213 for ( i = 0; i < 6; ++i ) {
1216 radio_display_data[18] = digits[4] << 4 | digits[5];
1217 radio_display_data[19] = digits[1] << 4 | digits[2];
1218 radio_display_data[20] = 0xf0 | digits[0];
1220 // Com2 in use frequency
1221 float com2 = com2_freq->getFloatValue();
1222 if ( fabs(com2) > 999.99 ) {
1225 snprintf(digits, 7, "%06.3f", com2);
1226 for ( i = 0; i < 6; ++i ) {
1229 radio_display_data[21] = digits[4] << 4 | digits[5];
1230 radio_display_data[22] = digits[1] << 4 | digits[2];
1231 radio_display_data[23] = 0x00 | digits[0];
1232 // the 0x00 in the upper nibble of the 6th byte of each display
1233 // turns on the decimal point
1235 radio_display_data[18] = 0xff;
1236 radio_display_data[19] = 0xff;
1237 radio_display_data[20] = 0xff;
1238 radio_display_data[21] = 0xff;
1239 radio_display_data[22] = 0xff;
1240 radio_display_data[23] = 0xff;
1243 if ( navcom1_has_power() ) {
1244 // Nav1 standby frequency
1245 float nav1_stby = nav1_stby_freq->getFloatValue();
1246 if ( fabs(nav1_stby) > 999.99 ) {
1249 snprintf(digits, 7, "%06.2f", nav1_stby);
1250 for ( i = 0; i < 6; ++i ) {
1253 radio_display_data[12] = digits[4] << 4 | digits[5];
1254 radio_display_data[13] = digits[1] << 4 | digits[2];
1255 radio_display_data[14] = 0xf0 | digits[0];
1257 // Nav1 in use frequency
1258 float nav1 = nav1_freq->getFloatValue();
1259 if ( fabs(nav1) > 999.99 ) {
1262 snprintf(digits, 7, "%06.2f", nav1);
1263 for ( i = 0; i < 6; ++i ) {
1266 radio_display_data[15] = digits[4] << 4 | digits[5];
1267 radio_display_data[16] = digits[1] << 4 | digits[2];
1268 radio_display_data[17] = 0x00 | digits[0];
1269 // the 0x00 in the upper nibble of the 6th byte of each display
1270 // turns on the decimal point
1272 radio_display_data[12] = 0xff;
1273 radio_display_data[13] = 0xff;
1274 radio_display_data[14] = 0xff;
1275 radio_display_data[15] = 0xff;
1276 radio_display_data[16] = 0xff;
1277 radio_display_data[17] = 0xff;
1280 if ( navcom2_has_power() ) {
1281 // Nav2 standby frequency
1282 float nav2_stby = nav2_stby_freq->getFloatValue();
1283 if ( fabs(nav2_stby) > 999.99 ) {
1286 snprintf(digits, 7, "%06.2f", nav2_stby);
1287 for ( i = 0; i < 6; ++i ) {
1290 radio_display_data[24] = digits[4] << 4 | digits[5];
1291 radio_display_data[25] = digits[1] << 4 | digits[2];
1292 radio_display_data[26] = 0xf0 | digits[0];
1294 // Nav2 in use frequency
1295 float nav2 = nav2_freq->getFloatValue();
1296 if ( fabs(nav2) > 999.99 ) {
1299 snprintf(digits, 7, "%06.2f", nav2);
1300 for ( i = 0; i < 6; ++i ) {
1303 radio_display_data[27] = digits[4] << 4 | digits[5];
1304 radio_display_data[28] = digits[1] << 4 | digits[2];
1305 radio_display_data[29] = 0x00 | digits[0];
1306 // the 0x00 in the upper nibble of the 6th byte of each display
1307 // turns on the decimal point
1309 radio_display_data[24] = 0xff;
1310 radio_display_data[25] = 0xff;
1311 radio_display_data[26] = 0xff;
1312 radio_display_data[27] = 0xff;
1313 radio_display_data[28] = 0xff;
1314 radio_display_data[29] = 0xff;
1317 // ADF standby frequency / timer
1318 if ( adf_has_power() ) {
1319 if ( adf_stby_mode->getIntValue() == 0 ) {
1321 float adf_stby = adf_stby_freq->getFloatValue();
1322 if ( fabs(adf_stby) > 1799 ) {
1325 snprintf(digits, 7, "%04.0f", adf_stby);
1326 for ( i = 0; i < 6; ++i ) {
1329 radio_display_data[30] = digits[3] << 4 | 0x0f;
1330 radio_display_data[31] = digits[1] << 4 | digits[2];
1331 if ( digits[0] == 0 ) {
1332 radio_display_data[32] = 0xff;
1334 radio_display_data[32] = 0xf0 | digits[0];
1339 int hours, min, sec;
1340 if ( adf_timer_mode->getIntValue() == 0 ) {
1341 time = adf_flight_timer->getDoubleValue();
1343 time = adf_elapsed_timer->getDoubleValue();
1345 // cout << time << endl;
1346 hours = (int)(time / 3600.0);
1347 time -= hours * 3600.00;
1348 min = (int)(time / 60.0);
1365 // cout << big << ":" << little << endl;
1366 snprintf(digits, 7, "%02d%02d", big, little);
1367 for ( i = 0; i < 6; ++i ) {
1370 radio_display_data[30] = digits[3] << 4 | 0x0f;
1371 radio_display_data[31] = digits[1] << 4 | digits[2];
1372 radio_display_data[32] = 0xf0 | digits[0];
1375 // ADF in use frequency
1376 float adf = adf_freq->getFloatValue();
1377 if ( fabs(adf) > 1799 ) {
1380 snprintf(digits, 7, "%04.0f", adf);
1381 for ( i = 0; i < 6; ++i ) {
1384 radio_display_data[33] = digits[2] << 4 | digits[3];
1385 if ( digits[0] == 0 ) {
1386 radio_display_data[34] = 0xf0 | digits[1];
1388 radio_display_data[34] = digits[0] << 4 | digits[1];
1391 radio_display_data[30] = 0xff;
1392 radio_display_data[31] = 0xff;
1393 radio_display_data[32] = 0xff;
1394 radio_display_data[33] = 0xff;
1395 radio_display_data[34] = 0xff;
1398 // Transponder code and flight level
1399 if ( xpdr_has_power() ) {
1400 if ( xpdr_func_knob->getIntValue() == 2 ) {
1402 radio_display_data[36] = 8 << 4 | 8;
1403 radio_display_data[37] = 8 << 4 | 8;
1404 radio_display_data[38] = 0xff;
1405 radio_display_data[39] = 8 << 4 | 0x0f;
1406 radio_display_data[40] = 8 << 4 | 8;
1409 int id_code = xpdr_id_code->getIntValue();
1411 for ( i = 0; i < 4; ++i ) {
1412 digits[i] = id_code / place;
1413 id_code -= digits[i] * place;
1416 radio_display_data[36] = digits[2] << 4 | digits[3];
1417 radio_display_data[37] = digits[0] << 4 | digits[1];
1418 radio_display_data[38] = 0xff;
1420 if ( xpdr_func_knob->getIntValue() == 3 ||
1421 xpdr_func_knob->getIntValue() == 5 )
1423 // do flight level display
1424 snprintf(digits, 7, "%03d", xpdr_flight_level->getIntValue() );
1425 for ( i = 0; i < 6; ++i ) {
1428 radio_display_data[39] = digits[2] << 4 | 0x0f;
1429 radio_display_data[40] = digits[0] << 4 | digits[1];
1431 // blank flight level display
1432 radio_display_data[39] = 0xff;
1433 radio_display_data[40] = 0xff;
1438 radio_display_data[36] = 0xff;
1439 radio_display_data[37] = 0xff;
1440 radio_display_data[38] = 0xff;
1441 radio_display_data[39] = 0xff;
1442 radio_display_data[40] = 0xff;
1445 ATC610xSetRadios( radios_fd, radio_display_data );
1451 /////////////////////////////////////////////////////////////////////
1452 // Drive the stepper motors
1453 /////////////////////////////////////////////////////////////////////
1455 bool FGATC610x::do_steppers() {
1456 float diff = mag_compass->getFloatValue() - compass_position;
1457 while ( diff < -180.0 ) { diff += 360.0; }
1458 while ( diff > 180.0 ) { diff -= 360.0; }
1460 int steps = (int)(diff * 4);
1461 // cout << "steps = " << steps << endl;
1462 if ( steps > 4 ) { steps = 4; }
1463 if ( steps < -4 ) { steps = -4; }
1465 if ( abs(steps) > 0 ) {
1466 unsigned char cmd = 0x80; // stepper command
1468 cmd |= 0x20; // go up
1470 cmd |= 0x00; // go down
1474 // sync compass_position with hardware position
1475 compass_position += (float)steps / 4.0;
1477 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1484 /////////////////////////////////////////////////////////////////////
1485 // Read the switch positions
1486 /////////////////////////////////////////////////////////////////////
1488 // decode the packed switch data
1489 static void update_switch_matrix(
1491 unsigned char switch_data[ATC_SWITCH_BYTES],
1492 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1494 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1495 unsigned char switches = switch_data[row];
1497 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1498 switch_matrix[board][column][row] = switches & 1;
1499 switches = switches >> 1;
1504 bool FGATC610x::do_switches() {
1505 ATC610xReadSwitches( switches_fd, switch_data );
1507 // unpack the switch data
1508 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1509 update_switch_matrix( board, switch_data, switch_matrix );
1512 fgSetBool( "/controls/switches/master-bat", switch_matrix[board][4][1] );
1513 fgSetBool( "/controls/switches/master-alt", switch_matrix[board][5][1] );
1514 fgSetBool( "/controls/switches/master-avionics",
1515 switch_matrix[board][0][3] );
1517 // magnetos and starter switch
1519 bool starter = false;
1520 if ( switch_matrix[board][3][1] == 1 ) {
1523 } else if ( switch_matrix[board][2][1] == 1 ) {
1526 } else if ( switch_matrix[board][1][1] == 1 ) {
1529 } else if ( switch_matrix[board][0][1] == 1 ) {
1537 // do a bit of filtering on the magneto/starter switch and the
1538 // flap lever because these are not well debounced in hardware
1539 static int mag1, mag2, mag3;
1543 if ( mag1 == mag2 && mag2 == mag3 ) {
1544 fgSetInt( "/controls/magnetos[0]", magnetos );
1546 static bool start1, start2, start3;
1550 if ( start1 == start2 && start2 == start3 ) {
1551 fgSetBool( "/controls/starter[0]", starter );
1554 // other toggle switches
1555 fgSetBool( "/controls/fuel-pump[0]", switch_matrix[board][0][2] );
1556 fgSetBool( "/controls/switches/flashing-beacon",
1557 switch_matrix[board][1][2] );
1558 fgSetBool( "/controls/switches/landing-light", switch_matrix[board][2][2] );
1559 fgSetBool( "/controls/switches/taxi-lights", switch_matrix[board][3][2] );
1560 fgSetBool( "/controls/switches/nav-lights",
1561 switch_matrix[board][4][2] );
1562 fgSetBool( "/controls/switches/strobe-lights", switch_matrix[board][5][2] );
1563 fgSetBool( "/controls/switches/pitot-heat", switch_matrix[board][6][2] );
1567 if ( switch_matrix[board][6][3] ) {
1569 } else if ( switch_matrix[board][5][3] ) {
1571 } else if ( switch_matrix[board][4][3] ) {
1573 } else if ( !switch_matrix[board][4][3] ) {
1577 // do a bit of filtering on the magneto/starter switch and the
1578 // flap lever because these are not well debounced in hardware
1579 static float flap1, flap2, flap3;
1583 if ( flap1 == flap2 && flap2 == flap3 ) {
1584 fgSetFloat( "/controls/flaps", flaps );
1587 // fuel selector (also filtered)
1589 if ( switch_matrix[board][2][3] ) {
1592 } else if ( switch_matrix[board][1][3] ) {
1595 } else if ( switch_matrix[board][3][3] ) {
1603 static int fuel1, fuel2, fuel3;
1607 if ( fuel1 == fuel2 && fuel2 == fuel3 ) {
1608 fgSetBool( "/controls/fuel-selector[0]", (fuel & 0x01) > 0 );
1609 fgSetBool( "/controls/fuel-selector[1]", (fuel & 0x02) > 0 );
1613 fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr",
1614 switch_matrix[board][0][0] );
1615 fgSetBool( "/controls/circuit-breakers/instr-ignition-switch",
1616 switch_matrix[board][1][0] );
1617 fgSetBool( "/controls/circuit-breakers/flaps",
1618 switch_matrix[board][2][0] );
1619 fgSetBool( "/controls/circuit-breakers/avn-bus-1",
1620 switch_matrix[board][3][0] );
1621 fgSetBool( "/controls/circuit-breakers/avn-bus-2",
1622 switch_matrix[board][4][0] );
1623 fgSetBool( "/controls/circuit-breakers/turn-coordinator",
1624 switch_matrix[board][5][0] );
1625 fgSetBool( "/controls/circuit-breakers/instrument-lights",
1626 switch_matrix[board][6][0] );
1627 fgSetBool( "/controls/circuit-breakers/annunciators",
1628 switch_matrix[board][7][0] );
1634 bool FGATC610x::process() {
1635 // Lock the hardware, skip if it's not ready yet
1636 if ( ATC610xLock( lock_fd ) > 0 ) {
1640 do_radio_switches();
1645 ATC610xRelease( lock_fd );
1654 bool FGATC610x::close() {