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"
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 );
479 elevator_center = fgGetNode( "/input/atc610x/elevator/center", true );
480 elevator_min = fgGetNode( "/input/atc610x/elevator/min", true );
481 elevator_max = fgGetNode( "/input/atc610x/elevator/max", true );
483 ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", true );
484 ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", true );
485 ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", true );
487 rudder_center = fgGetNode( "/input/atc610x/rudder/center", true );
488 rudder_min = fgGetNode( "/input/atc610x/rudder/min", true );
489 rudder_max = fgGetNode( "/input/atc610x/rudder/max", true );
491 brake_left_min = fgGetNode( "/input/atc610x/brake-left/min", true );
492 brake_left_max = fgGetNode( "/input/atc610x/brake-left/max", true );
494 brake_right_min = fgGetNode( "/input/atc610x/brake-right/min", true );
495 brake_right_max = fgGetNode( "/input/atc610x/brake-right/max", true );
497 throttle_min = fgGetNode( "/input/atc610x/throttle/min", true );
498 throttle_max = fgGetNode( "/input/atc610x/throttle/max", true );
500 mixture_min = fgGetNode( "/input/atc610x/mixture/min", true );
501 mixture_max = fgGetNode( "/input/atc610x/mixture/max", true );
503 trim_center = fgGetNode( "/input/atc610x/trim/center", true );
504 trim_min = fgGetNode( "/input/atc610x/trim/min", true );
505 trim_max = fgGetNode( "/input/atc610x/trim/max", true );
507 nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", true );
508 nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", true );
510 nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", true );
511 nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", true );
513 comm1_servicable = fgGetNode( "/instrumentation/comm[0]/servicable", true );
514 comm2_servicable = fgGetNode( "/instrumentation/comm[1]/servicable", true );
515 nav1_servicable = fgGetNode( "/instrumentation/nav[0]/servicable", true );
516 nav2_servicable = fgGetNode( "/instrumentation/nav[1]/servicable", true );
517 adf_servicable = fgGetNode( "/instrumentation/adf/servicable", true );
518 xpdr_servicable = fgGetNode( "/instrumentation/transponder/servicable",
520 dme_servicable = fgGetNode( "/instrumentation/dme/servicable", true );
522 // default to having everything servicable
523 comm1_servicable->setBoolValue( true );
524 comm2_servicable->setBoolValue( true );
525 nav1_servicable->setBoolValue( true );
526 nav2_servicable->setBoolValue( true );
527 adf_servicable->setBoolValue( true );
528 xpdr_servicable->setBoolValue( true );
529 dme_servicable->setBoolValue( true );
535 /////////////////////////////////////////////////////////////////////
536 // Read analog inputs
537 /////////////////////////////////////////////////////////////////////
539 // scale a number between min and max (with center defined) to a scale
541 static double scale( int center, int min, int max, int value ) {
542 // cout << center << " " << min << " " << max << " " << value << " ";
546 if ( value <= center ) {
547 range = center - min;
548 result = (value - center) / range;
550 range = max - center;
551 result = (value - center) / range;
554 if ( result < -1.0 ) result = -1.0;
555 if ( result > 1.0 ) result = 1.0;
557 // cout << result << endl;
563 // scale a number between min and max to a scale from 0.0 to 1.0
564 static double scale( int min, int max, int value ) {
565 // cout << center << " " << min << " " << max << " " << value << " ";
570 result = (value - min) / range;
572 if ( result < 0.0 ) result = 0.0;
573 if ( result > 1.0 ) result = 1.0;
575 // cout << result << endl;
581 static int tony_magic( int raw, int obs[3] ) {
587 if ( obs[2] >= 68 && obs[2] < 480 ) {
589 } else if ( obs[2] >= 480 ) {
594 } else if ( obs[1] < 68 ) {
597 } else if ( obs[2] < 30 ) {
598 if ( obs[1] >= 68 && obs[1] < 480 ) {
602 } else if ( obs[1] >= 480 ) {
604 if ( obs[0] < obs[1] ) {
612 } else if ( obs[1] > 980 ) {
613 if ( obs[2] <= 956 && obs[2] > 480 ) {
615 } else if ( obs[2] <= 480 ) {
620 } else if ( obs[1] > 956 ) {
623 } else if ( obs[2] > 980 ) {
624 if ( obs[1] <= 956 && obs[1] > 480 ) {
628 } else if ( obs[1] <= 480 ) {
630 if ( obs[0] > obs[1] ) {
639 if ( obs[1] < 480 && obs[2] > 480 ) {
640 // crossed gap going up
641 if ( obs[0] < obs[1] ) {
642 // caught a bogus intermediate value coming out of the gap
645 } else if ( obs[1] > 480 && obs[2] < 480 ) {
646 // crossed gap going down
647 if ( obs[0] > obs[1] ) {
648 // caught a bogus intermediate value coming out of the gap
651 } else if ( obs[0] > 480 && obs[1] < 480 && obs[2] < 480 ) {
652 // crossed the gap going down
653 if ( obs[1] > obs[2] ) {
654 // caught a bogus intermediate value coming out of the gap
657 } else if ( obs[0] < 480 && obs[1] > 480 && obs[2] > 480 ) {
658 // crossed the gap going up
659 if ( obs[1] < obs[2] ) {
660 // caught a bogus intermediate value coming out of the gap
664 result = obs[1] - obs[2];
665 if ( abs(result) > 200 ) {
673 // cout << " result = " << result << endl;
674 if ( result < -500 ) { result += 1024; }
675 if ( result > 500 ) { result -= 1024; }
681 static double instr_pot_filter( double ave, double val ) {
682 if ( fabs(ave - val) < 200 || fabs(val) < fabs(ave) ) {
683 return 0.5 * ave + 0.5 * val;
690 bool FGATC610x::do_analog_in() {
691 // Read raw data in byte form
692 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
694 // Convert to integer values
695 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
696 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
697 unsigned char lo = analog_in_bytes[2 * channel + 1];
698 analog_in_data[channel] = hi * 256 + lo;
700 // printf("%02x %02x ", hi, lo );
701 // printf("%04d ", value );
707 tmp = scale( ailerons_center->getIntValue(), ailerons_min->getIntValue(),
708 ailerons_max->getIntValue(), analog_in_data[0] );
709 fgSetFloat( "/controls/flight/aileron", tmp );
710 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
712 tmp = -scale( elevator_center->getIntValue(), elevator_min->getIntValue(),
713 elevator_max->getIntValue(), analog_in_data[5] );
714 fgSetFloat( "/controls/flight/elevator", tmp );
715 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
718 tmp = scale( trim_center->getIntValue(), trim_min->getIntValue(),
719 trim_max->getIntValue(), analog_in_data[4] );
720 fgSetFloat( "/controls/flight/elevator-trim", tmp );
721 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
724 tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
726 fgSetFloat( "/controls/engines/engine[0]/mixture", tmp );
727 fgSetFloat( "/controls/engines/engine[1]/mixture", tmp );
730 tmp = scale( throttle_min->getIntValue(), throttle_max->getIntValue(),
732 fgSetFloat( "/controls/engines/engine[0]/throttle", tmp );
733 fgSetFloat( "/controls/engines/engine[1]/throttle", tmp );
734 // cout << "throttle = " << tmp << endl;
738 tmp = scale( rudder_center->getIntValue(), rudder_min->getIntValue(),
739 rudder_max->getIntValue(), analog_in_data[10] );
740 fgSetFloat( "/controls/flight/rudder", -tmp );
743 tmp = scale( brake_left_min->getIntValue(),
744 brake_left_max->getIntValue(),
745 analog_in_data[20] );
746 fgSetFloat( "/controls/gear/wheel[0]/brake", tmp );
747 tmp = scale( brake_right_min->getIntValue(),
748 brake_right_max->getIntValue(),
749 analog_in_data[21] );
750 fgSetFloat( "/controls/gear/wheel[1]/brake", tmp );
754 tmp = (float)analog_in_data[25] / 1024.0f;
755 fgSetFloat( "/radios/nav[0]/volume", tmp );
758 tmp = (float)analog_in_data[24] / 1024.0f;
759 fgSetFloat( "/radios/nav[1]/volume", tmp );
762 tmp = (float)analog_in_data[26] / 1024.0f;
763 fgSetFloat( "/radios/kr-87/inputs/volume", tmp );
765 // instrument panel pots
766 static bool first = true;
767 static int obs1[3], obs2[3], obs3[3], obs4[3], obs5[3];
768 static double diff1_ave = 0.0;
769 static double diff2_ave = 0.0;
770 static double diff3_ave = 0.0;
771 static double diff4_ave = 0.0;
772 static double diff5_ave = 0.0;
776 obs1[0] = obs1[1] = obs1[2] = analog_in_data[11];
777 obs2[0] = obs2[1] = obs2[2] = analog_in_data[28];
778 obs3[0] = obs3[1] = obs3[2] = analog_in_data[29];
779 obs4[0] = obs4[1] = obs4[2] = analog_in_data[30];
780 obs5[0] = obs5[1] = obs5[2] = analog_in_data[31];
783 int diff1 = tony_magic( analog_in_data[11], obs1 );
784 int diff2 = tony_magic( analog_in_data[28], obs2 );
785 int diff3 = tony_magic( analog_in_data[29], obs3 );
786 int diff4 = tony_magic( analog_in_data[30], obs4 );
787 int diff5 = tony_magic( analog_in_data[31], obs5 );
789 diff1_ave = instr_pot_filter( diff1_ave, diff1 );
790 diff2_ave = instr_pot_filter( diff2_ave, diff2 );
791 diff3_ave = instr_pot_filter( diff3_ave, diff3 );
792 diff4_ave = instr_pot_filter( diff4_ave, diff4 );
793 diff5_ave = instr_pot_filter( diff5_ave, diff5 );
795 tmp = alt_press->getDoubleValue() + (diff1_ave * (0.25/880.0) );
796 if ( tmp < 27.9 ) { tmp = 27.9; }
797 if ( tmp > 31.4 ) { tmp = 31.4; }
798 fgSetFloat( "/instrumentation/altimeter/setting-inhg", tmp );
800 tmp = ati_bird->getDoubleValue() + (diff2_ave * (20.0/880.0) );
801 if ( tmp < -10.0 ) { tmp = -10.0; }
802 if ( tmp > 10.0 ) { tmp = 10.0; }
803 fgSetFloat( "/instrumentation/attitude-indicator/horizon-offset-deg", tmp );
805 tmp = nav1_obs->getDoubleValue() + (diff3_ave * (72.0/880.0) );
806 while ( tmp >= 360.0 ) { tmp -= 360.0; }
807 while ( tmp < 0.0 ) { tmp += 360.0; }
808 // cout << " obs = " << tmp << endl;
809 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp );
811 tmp = nav2_obs->getDoubleValue() + (diff4_ave * (72.0/880.0) );
812 while ( tmp >= 360.0 ) { tmp -= 360.0; }
813 while ( tmp < 0.0 ) { tmp += 360.0; }
814 // cout << " obs = " << tmp << endl;
815 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
817 tmp = adf_hdg->getDoubleValue() + (diff5_ave * (72.0/880.0) );
818 while ( tmp >= 360.0 ) { tmp -= 360.0; }
819 while ( tmp < 0.0 ) { tmp += 360.0; }
820 // cout << " obs = " << tmp << endl;
821 fgSetFloat( "/radios/kr-87/inputs/rotation-deg", tmp );
827 /////////////////////////////////////////////////////////////////////
829 /////////////////////////////////////////////////////////////////////
831 bool FGATC610x::do_lights() {
834 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
835 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
836 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
839 ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
840 ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
841 ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
842 ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
843 ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
844 ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
846 // Transponder annunciators
847 ATC610xSetLamp( lamps_fd, 17, xpdr_fl_ann->getBoolValue() ); // FL
848 ATC610xSetLamp( lamps_fd, 18, xpdr_alt_ann->getBoolValue() ); // ALT
849 ATC610xSetLamp( lamps_fd, 19, xpdr_gnd_ann->getBoolValue() ); // GND
850 ATC610xSetLamp( lamps_fd, 20, xpdr_on_ann->getBoolValue() ); // ON
851 ATC610xSetLamp( lamps_fd, 21, xpdr_sby_ann->getBoolValue() ); // SBY
852 ATC610xSetLamp( lamps_fd, 22, xpdr_reply_ann->getBoolValue() ); // R
858 /////////////////////////////////////////////////////////////////////
859 // Read radio switches
860 /////////////////////////////////////////////////////////////////////
862 bool FGATC610x::do_radio_switches() {
863 double freq, coarse_freq, fine_freq, value;
866 ATC610xReadRadios( radios_fd, radio_switch_data );
869 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
870 if ( dme_switch == 0 ) {
872 fgSetInt( "/instrumentation/dme/switch-position", 0 );
873 } else if ( dme_switch == 2 ) {
875 fgSetInt( "/instrumentation/dme/switch-position", 1 );
876 fgSetString( "/instrumentation/dme/frequencies/source",
877 "/radios/nav[0]/frequencies/selected-mhz" );
878 freq = fgGetFloat( "/radios/nav[0]/frequencies/selected-mhz", true );
879 fgSetFloat( "/instrumentation/dme/frequencies/selected-mhz", freq );
880 } else if ( dme_switch == 1 ) {
882 fgSetInt( "/instrumentation/dme/switch-position", 3 );
883 fgSetString( "/instrumentation/dme/frequencies/source",
884 "/radios/nav[1]/frequencies/selected-mhz" );
885 freq = fgGetFloat( "/radios/nav[1]/frequencies/selected-mhz", true );
886 fgSetFloat( "/instrumentation/dme/frequencies/selected-mhz", freq );
890 fgSetBool( "/radios/comm[0]/inputs/power-btn",
891 radio_switch_data[7] & 0x01 );
893 if ( navcom1_has_power() && comm1_servicable->getBoolValue() ) {
895 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
896 static int last_com1_swap;
897 if ( com1_swap && (last_com1_swap != com1_swap) ) {
898 float tmp = com1_freq->getFloatValue();
899 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
900 com1_stby_freq->getFloatValue() );
901 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
903 last_com1_swap = com1_swap;
907 fgSetBool( "/radios/comm[1]/inputs/power-btn",
908 radio_switch_data[15] & 0x01 );
910 if ( navcom2_has_power() && comm2_servicable->getBoolValue() ) {
912 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
913 static int last_com2_swap;
914 if ( com2_swap && (last_com2_swap != com2_swap) ) {
915 float tmp = com2_freq->getFloatValue();
916 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
917 com2_stby_freq->getFloatValue() );
918 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
920 last_com2_swap = com2_swap;
923 if ( navcom1_has_power() && nav1_servicable->getBoolValue() ) {
925 int nav1_swap = radio_switch_data[11] & 0x01;
926 static int last_nav1_swap;
927 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
928 float tmp = nav1_freq->getFloatValue();
929 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
930 nav1_stby_freq->getFloatValue() );
931 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
933 last_nav1_swap = nav1_swap;
936 if ( navcom2_has_power() && nav2_servicable->getBoolValue() ) {
938 int nav2_swap = !(radio_switch_data[19] & 0x01);
939 static int last_nav2_swap;
940 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
941 float tmp = nav2_freq->getFloatValue();
942 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
943 nav2_stby_freq->getFloatValue() );
944 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
946 last_nav2_swap = nav2_swap;
949 if ( navcom1_has_power() && comm1_servicable->getBoolValue() ) {
951 int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
952 int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
953 static int last_com1_tuner_fine = com1_tuner_fine;
954 static int last_com1_tuner_coarse = com1_tuner_coarse;
956 freq = com1_stby_freq->getFloatValue();
957 coarse_freq = (int)freq;
958 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
960 if ( com1_tuner_fine != last_com1_tuner_fine ) {
961 diff = com1_tuner_fine - last_com1_tuner_fine;
962 if ( abs(diff) > 4 ) {
964 if ( com1_tuner_fine < last_com1_tuner_fine ) {
966 diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
969 diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
974 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
975 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
977 if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
978 diff = com1_tuner_coarse - last_com1_tuner_coarse;
979 if ( abs(diff) > 4 ) {
981 if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
983 diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
986 diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
991 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
992 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
994 last_com1_tuner_fine = com1_tuner_fine;
995 last_com1_tuner_coarse = com1_tuner_coarse;
997 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
998 coarse_freq + fine_freq / 40.0 );
1001 if ( navcom2_has_power() && comm2_servicable->getBoolValue() ) {
1003 int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
1004 int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
1005 static int last_com2_tuner_fine = com2_tuner_fine;
1006 static int last_com2_tuner_coarse = com2_tuner_coarse;
1008 freq = com2_stby_freq->getFloatValue();
1009 coarse_freq = (int)freq;
1010 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
1012 if ( com2_tuner_fine != last_com2_tuner_fine ) {
1013 diff = com2_tuner_fine - last_com2_tuner_fine;
1014 if ( abs(diff) > 4 ) {
1016 if ( com2_tuner_fine < last_com2_tuner_fine ) {
1018 diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
1021 diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
1026 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
1027 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
1029 if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
1030 diff = com2_tuner_coarse - last_com2_tuner_coarse;
1031 if ( abs(diff) > 4 ) {
1033 if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
1035 diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
1038 diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
1041 coarse_freq += diff;
1043 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
1044 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
1046 last_com2_tuner_fine = com2_tuner_fine;
1047 last_com2_tuner_coarse = com2_tuner_coarse;
1049 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
1050 coarse_freq + fine_freq / 40.0 );
1053 if ( navcom1_has_power() && nav1_servicable->getBoolValue() ) {
1055 int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
1056 int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
1057 static int last_nav1_tuner_fine = nav1_tuner_fine;
1058 static int last_nav1_tuner_coarse = nav1_tuner_coarse;
1060 freq = nav1_stby_freq->getFloatValue();
1061 coarse_freq = (int)freq;
1062 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
1064 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
1065 diff = nav1_tuner_fine - last_nav1_tuner_fine;
1066 if ( abs(diff) > 4 ) {
1068 if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
1070 diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
1073 diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
1078 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
1079 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
1081 if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
1082 diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
1083 if ( abs(diff) > 4 ) {
1085 if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
1087 diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
1090 diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
1093 coarse_freq += diff;
1095 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
1096 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
1098 last_nav1_tuner_fine = nav1_tuner_fine;
1099 last_nav1_tuner_coarse = nav1_tuner_coarse;
1101 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
1102 coarse_freq + fine_freq / 20.0 );
1105 if ( navcom2_has_power() && nav2_servicable->getBoolValue() ) {
1107 int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
1108 int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
1109 static int last_nav2_tuner_fine = nav2_tuner_fine;
1110 static int last_nav2_tuner_coarse = nav2_tuner_coarse;
1112 freq = nav2_stby_freq->getFloatValue();
1113 coarse_freq = (int)freq;
1114 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
1116 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
1117 diff = nav2_tuner_fine - last_nav2_tuner_fine;
1118 if ( abs(diff) > 4 ) {
1120 if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
1122 diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
1125 diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
1130 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
1131 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
1133 if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
1134 diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
1135 if ( abs(diff) > 4 ) {
1137 if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
1139 diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
1142 diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
1145 coarse_freq += diff;
1147 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
1148 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
1150 last_nav2_tuner_fine = nav2_tuner_fine;
1151 last_nav2_tuner_coarse = nav2_tuner_coarse;
1153 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
1154 coarse_freq + fine_freq / 20.0);
1159 int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
1160 int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
1161 static int last_adf_tuner_fine = adf_tuner_fine;
1162 static int last_adf_tuner_coarse = adf_tuner_coarse;
1164 if ( adf_has_power() && adf_servicable->getBoolValue() ) {
1165 // cout << "adf_stby_mode = " << adf_stby_mode->getIntValue() << endl;
1166 if ( adf_count_mode->getIntValue() == 2 ) {
1167 // tune count down timer
1168 value = adf_elapsed_timer->getDoubleValue();
1171 if ( adf_stby_mode->getIntValue() == 1 ) {
1172 value = adf_freq->getFloatValue();
1174 value = adf_stby_freq->getFloatValue();
1178 if ( adf_tuner_fine != last_adf_tuner_fine ) {
1179 diff = adf_tuner_fine - last_adf_tuner_fine;
1180 if ( abs(diff) > 4 ) {
1182 if ( adf_tuner_fine < last_adf_tuner_fine ) {
1184 diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
1187 diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
1193 if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
1194 diff = adf_tuner_coarse - last_adf_tuner_coarse;
1195 if ( abs(diff) > 4 ) {
1197 if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
1199 diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
1202 diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
1205 if ( adf_count_mode->getIntValue() == 2 ) {
1211 if ( adf_count_mode->getIntValue() == 2 ) {
1212 if ( value < 0 ) { value += 3600; }
1213 if ( value > 3599 ) { value -= 3600; }
1215 if ( value < 200 ) { value += 1600; }
1216 if ( value > 1799 ) { value -= 1600; }
1219 if ( adf_count_mode->getIntValue() == 2 ) {
1220 fgSetFloat( "/radios/kr-87/outputs/elapsed-timer", value );
1222 if ( adf_stby_mode->getIntValue() == 1 ) {
1223 fgSetFloat( "/radios/kr-87/outputs/selected-khz", value );
1225 fgSetFloat( "/radios/kr-87/outputs/standby-khz", value );
1229 last_adf_tuner_fine = adf_tuner_fine;
1230 last_adf_tuner_coarse = adf_tuner_coarse;
1234 fgSetInt( "/radios/kr-87/inputs/adf-btn",
1235 !(radio_switch_data[23] & 0x01) );
1236 fgSetInt( "/radios/kr-87/inputs/bfo-btn",
1237 !(radio_switch_data[23] >> 1 & 0x01) );
1238 fgSetInt( "/radios/kr-87/inputs/frq-btn",
1239 !(radio_switch_data[23] >> 2 & 0x01) );
1240 fgSetInt( "/radios/kr-87/inputs/flt-et-btn",
1241 !(radio_switch_data[23] >> 3 & 0x01) );
1242 fgSetInt( "/radios/kr-87/inputs/set-rst-btn",
1243 !(radio_switch_data[23] >> 4 & 0x01) );
1244 fgSetInt( "/radios/kr-87/inputs/power-btn",
1245 radio_switch_data[23] >> 5 & 0x01 );
1246 /* cout << "adf = " << !(radio_switch_data[23] & 0x01)
1247 << " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
1248 << " frq = " << !(radio_switch_data[23] >> 2 & 0x01)
1249 << " flt/et = " << !(radio_switch_data[23] >> 3 & 0x01)
1250 << " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
1253 // Transponder Tuner
1256 digit_tuner[0] = radio_switch_data[25] & 0x0f;
1257 digit_tuner[1] = ( radio_switch_data[25] >> 4 ) & 0x0f;
1258 digit_tuner[2] = radio_switch_data[29] & 0x0f;
1259 digit_tuner[3] = ( radio_switch_data[29] >> 4 ) & 0x0f;
1261 static int last_digit_tuner[4];
1262 static bool first_time = true;
1265 for ( i = 0; i < 4; ++i ) {
1266 last_digit_tuner[i] = digit_tuner[i];
1270 if ( xpdr_has_power() && xpdr_servicable->getBoolValue() ) {
1271 int id_code = xpdr_id_code->getIntValue();
1274 for ( i = 0; i < 4; ++i ) {
1275 digit[i] = id_code / place;
1276 id_code -= digit[i] * place;
1280 for ( i = 0; i < 4; ++i ) {
1281 if ( digit_tuner[i] != last_digit_tuner[i] ) {
1282 diff = digit_tuner[i] - last_digit_tuner[i];
1283 if ( abs(diff) > 4 ) {
1285 if ( digit_tuner[i] < last_digit_tuner[i] ) {
1287 diff = 15 - last_digit_tuner[i] + digit_tuner[i];
1290 diff = digit_tuner[i] - 15 - last_digit_tuner[i];
1295 while ( digit[i] >= 8 ) { digit[i] -= 8; }
1296 while ( digit[i] < 0 ) { digit[i] += 8; }
1299 fgSetInt( "/radios/kt-70/inputs/digit1", digit[0] );
1300 fgSetInt( "/radios/kt-70/inputs/digit2", digit[1] );
1301 fgSetInt( "/radios/kt-70/inputs/digit3", digit[2] );
1302 fgSetInt( "/radios/kt-70/inputs/digit4", digit[3] );
1304 for ( i = 0; i < 4; ++i ) {
1305 last_digit_tuner[i] = digit_tuner[i];
1309 for ( i = 0; i < 5; ++i ) {
1310 if ( radio_switch_data[27] >> i & 0x01 ) {
1314 fgSetInt( "/radios/kt-70/inputs/func-knob", tmp );
1315 fgSetInt( "/radios/kt-70/inputs/ident-btn",
1316 !(radio_switch_data[27] >> 5 & 0x01) );
1318 // Audio panel switches
1319 fgSetInt( "/radios/nav[0]/audio-btn",
1320 (radio_switch_data[3] & 0x01) );
1321 fgSetInt( "/radios/nav[1]/audio-btn",
1322 (radio_switch_data[3] >> 2 & 0x01) );
1323 fgSetInt( "/radios/kr-87/inputs/audio-btn",
1324 (radio_switch_data[3] >> 4 & 0x01) );
1325 fgSetInt( "/radios/marker-beacon/audio-btn",
1326 (radio_switch_data[3] >> 6 & 0x01) );
1332 /////////////////////////////////////////////////////////////////////
1333 // Update the radio display
1334 /////////////////////////////////////////////////////////////////////
1336 bool FGATC610x::do_radio_display() {
1341 if ( dme_has_power() && dme_servicable->getBoolValue() ) {
1342 if ( dme_in_range->getBoolValue() ) {
1344 float minutes = dme_min->getFloatValue();
1345 if ( minutes > 999 ) {
1348 snprintf(digits, 7, "%03.0f", minutes);
1349 for ( i = 0; i < 6; ++i ) {
1352 radio_display_data[0] = digits[1] << 4 | digits[2];
1353 radio_display_data[1] = 0xf0 | digits[0];
1356 float knots = dme_kt->getFloatValue();
1357 if ( knots > 999 ) {
1360 snprintf(digits, 7, "%03.0f", knots);
1361 for ( i = 0; i < 6; ++i ) {
1364 radio_display_data[2] = digits[1] << 4 | digits[2];
1365 radio_display_data[3] = 0xf0 | digits[0];
1367 // DME distance (nm)
1368 float nm = dme_nm->getFloatValue();
1372 snprintf(digits, 7, "%04.1f", nm);
1373 for ( i = 0; i < 6; ++i ) {
1376 radio_display_data[4] = digits[1] << 4 | digits[3];
1377 radio_display_data[5] = 0x00 | digits[0];
1378 // the 0x00 in the upper nibble of the 6th byte of each
1379 // display turns on the decimal point
1382 for ( i = 0; i < 6; ++i ) {
1383 radio_display_data[i] = 0xee;
1387 // blank dem display
1388 for ( i = 0; i < 6; ++i ) {
1389 radio_display_data[i] = 0xff;
1393 if ( navcom1_has_power() && comm1_servicable->getBoolValue() ) {
1394 // Com1 standby frequency
1395 float com1_stby = com1_stby_freq->getFloatValue();
1396 if ( fabs(com1_stby) > 999.99 ) {
1399 snprintf(digits, 7, "%06.3f", com1_stby);
1400 for ( i = 0; i < 6; ++i ) {
1403 radio_display_data[6] = digits[4] << 4 | digits[5];
1404 radio_display_data[7] = digits[1] << 4 | digits[2];
1405 radio_display_data[8] = 0xf0 | digits[0];
1407 // Com1 in use frequency
1408 float com1 = com1_freq->getFloatValue();
1409 if ( fabs(com1) > 999.99 ) {
1412 snprintf(digits, 7, "%06.3f", com1);
1413 for ( i = 0; i < 6; ++i ) {
1416 radio_display_data[9] = digits[4] << 4 | digits[5];
1417 radio_display_data[10] = digits[1] << 4 | digits[2];
1418 radio_display_data[11] = 0x00 | digits[0];
1419 // the 0x00 in the upper nibble of the 6th byte of each display
1420 // turns on the decimal point
1422 radio_display_data[6] = 0xff;
1423 radio_display_data[7] = 0xff;
1424 radio_display_data[8] = 0xff;
1425 radio_display_data[9] = 0xff;
1426 radio_display_data[10] = 0xff;
1427 radio_display_data[11] = 0xff;
1430 if ( navcom2_has_power() && comm2_servicable->getBoolValue() ) {
1431 // Com2 standby frequency
1432 float com2_stby = com2_stby_freq->getFloatValue();
1433 if ( fabs(com2_stby) > 999.99 ) {
1436 snprintf(digits, 7, "%06.3f", com2_stby);
1437 for ( i = 0; i < 6; ++i ) {
1440 radio_display_data[18] = digits[4] << 4 | digits[5];
1441 radio_display_data[19] = digits[1] << 4 | digits[2];
1442 radio_display_data[20] = 0xf0 | digits[0];
1444 // Com2 in use frequency
1445 float com2 = com2_freq->getFloatValue();
1446 if ( fabs(com2) > 999.99 ) {
1449 snprintf(digits, 7, "%06.3f", com2);
1450 for ( i = 0; i < 6; ++i ) {
1453 radio_display_data[21] = digits[4] << 4 | digits[5];
1454 radio_display_data[22] = digits[1] << 4 | digits[2];
1455 radio_display_data[23] = 0x00 | digits[0];
1456 // the 0x00 in the upper nibble of the 6th byte of each display
1457 // turns on the decimal point
1459 radio_display_data[18] = 0xff;
1460 radio_display_data[19] = 0xff;
1461 radio_display_data[20] = 0xff;
1462 radio_display_data[21] = 0xff;
1463 radio_display_data[22] = 0xff;
1464 radio_display_data[23] = 0xff;
1467 if ( navcom1_has_power() && nav1_servicable->getBoolValue() ) {
1468 // Nav1 standby frequency
1469 float nav1_stby = nav1_stby_freq->getFloatValue();
1470 if ( fabs(nav1_stby) > 999.99 ) {
1473 snprintf(digits, 7, "%06.2f", nav1_stby);
1474 for ( i = 0; i < 6; ++i ) {
1477 radio_display_data[12] = digits[4] << 4 | digits[5];
1478 radio_display_data[13] = digits[1] << 4 | digits[2];
1479 radio_display_data[14] = 0xf0 | digits[0];
1481 // Nav1 in use frequency
1482 float nav1 = nav1_freq->getFloatValue();
1483 if ( fabs(nav1) > 999.99 ) {
1486 snprintf(digits, 7, "%06.2f", nav1);
1487 for ( i = 0; i < 6; ++i ) {
1490 radio_display_data[15] = digits[4] << 4 | digits[5];
1491 radio_display_data[16] = digits[1] << 4 | digits[2];
1492 radio_display_data[17] = 0x00 | digits[0];
1493 // the 0x00 in the upper nibble of the 6th byte of each display
1494 // turns on the decimal point
1496 radio_display_data[12] = 0xff;
1497 radio_display_data[13] = 0xff;
1498 radio_display_data[14] = 0xff;
1499 radio_display_data[15] = 0xff;
1500 radio_display_data[16] = 0xff;
1501 radio_display_data[17] = 0xff;
1504 if ( navcom2_has_power() && nav2_servicable->getBoolValue() ) {
1505 // Nav2 standby frequency
1506 float nav2_stby = nav2_stby_freq->getFloatValue();
1507 if ( fabs(nav2_stby) > 999.99 ) {
1510 snprintf(digits, 7, "%06.2f", nav2_stby);
1511 for ( i = 0; i < 6; ++i ) {
1514 radio_display_data[24] = digits[4] << 4 | digits[5];
1515 radio_display_data[25] = digits[1] << 4 | digits[2];
1516 radio_display_data[26] = 0xf0 | digits[0];
1518 // Nav2 in use frequency
1519 float nav2 = nav2_freq->getFloatValue();
1520 if ( fabs(nav2) > 999.99 ) {
1523 snprintf(digits, 7, "%06.2f", nav2);
1524 for ( i = 0; i < 6; ++i ) {
1527 radio_display_data[27] = digits[4] << 4 | digits[5];
1528 radio_display_data[28] = digits[1] << 4 | digits[2];
1529 radio_display_data[29] = 0x00 | digits[0];
1530 // the 0x00 in the upper nibble of the 6th byte of each display
1531 // turns on the decimal point
1533 radio_display_data[24] = 0xff;
1534 radio_display_data[25] = 0xff;
1535 radio_display_data[26] = 0xff;
1536 radio_display_data[27] = 0xff;
1537 radio_display_data[28] = 0xff;
1538 radio_display_data[29] = 0xff;
1541 // ADF standby frequency / timer
1542 if ( adf_has_power() && adf_servicable->getBoolValue() ) {
1543 if ( adf_stby_mode->getIntValue() == 0 ) {
1545 float adf_stby = adf_stby_freq->getFloatValue();
1546 if ( fabs(adf_stby) > 1799 ) {
1549 snprintf(digits, 7, "%04.0f", adf_stby);
1550 for ( i = 0; i < 6; ++i ) {
1553 radio_display_data[30] = digits[3] << 4 | 0x0f;
1554 radio_display_data[31] = digits[1] << 4 | digits[2];
1555 if ( digits[0] == 0 ) {
1556 radio_display_data[32] = 0xff;
1558 radio_display_data[32] = 0xf0 | digits[0];
1563 int hours, min, sec;
1564 if ( adf_timer_mode->getIntValue() == 0 ) {
1565 time = adf_flight_timer->getDoubleValue();
1567 time = adf_elapsed_timer->getDoubleValue();
1569 // cout << time << endl;
1570 hours = (int)(time / 3600.0);
1571 time -= hours * 3600.00;
1572 min = (int)(time / 60.0);
1589 // cout << big << ":" << little << endl;
1590 snprintf(digits, 7, "%02d%02d", big, little);
1591 for ( i = 0; i < 6; ++i ) {
1594 radio_display_data[30] = digits[2] << 4 | digits[3];
1595 radio_display_data[31] = digits[0] << 4 | digits[1];
1596 radio_display_data[32] = 0xff;
1599 // ADF in use frequency
1600 float adf = adf_freq->getFloatValue();
1601 if ( fabs(adf) > 1799 ) {
1604 snprintf(digits, 7, "%04.0f", adf);
1605 for ( i = 0; i < 6; ++i ) {
1608 radio_display_data[33] = digits[2] << 4 | digits[3];
1609 if ( digits[0] == 0 ) {
1610 radio_display_data[34] = 0xf0 | digits[1];
1612 radio_display_data[34] = digits[0] << 4 | digits[1];
1614 if ( adf_stby_mode->getIntValue() == 0 ) {
1615 radio_display_data[35] = 0xff;
1617 radio_display_data[35] = 0x0f;
1620 radio_display_data[30] = 0xff;
1621 radio_display_data[31] = 0xff;
1622 radio_display_data[32] = 0xff;
1623 radio_display_data[33] = 0xff;
1624 radio_display_data[34] = 0xff;
1625 radio_display_data[35] = 0xff;
1628 // Transponder code and flight level
1629 if ( xpdr_has_power() && xpdr_servicable->getBoolValue() ) {
1630 if ( xpdr_func_knob->getIntValue() == 2 ) {
1632 radio_display_data[36] = 8 << 4 | 8;
1633 radio_display_data[37] = 8 << 4 | 8;
1634 radio_display_data[38] = 0xff;
1635 radio_display_data[39] = 8 << 4 | 0x0f;
1636 radio_display_data[40] = 8 << 4 | 8;
1639 int id_code = xpdr_id_code->getIntValue();
1641 for ( i = 0; i < 4; ++i ) {
1642 digits[i] = id_code / place;
1643 id_code -= digits[i] * place;
1646 radio_display_data[36] = digits[2] << 4 | digits[3];
1647 radio_display_data[37] = digits[0] << 4 | digits[1];
1648 radio_display_data[38] = 0xff;
1650 if ( xpdr_func_knob->getIntValue() == 3 ||
1651 xpdr_func_knob->getIntValue() == 5 )
1653 // do flight level display
1654 snprintf(digits, 7, "%03d", xpdr_flight_level->getIntValue() );
1655 for ( i = 0; i < 6; ++i ) {
1658 radio_display_data[39] = digits[2] << 4 | 0x0f;
1659 radio_display_data[40] = digits[0] << 4 | digits[1];
1661 // blank flight level display
1662 radio_display_data[39] = 0xff;
1663 radio_display_data[40] = 0xff;
1668 radio_display_data[36] = 0xff;
1669 radio_display_data[37] = 0xff;
1670 radio_display_data[38] = 0xff;
1671 radio_display_data[39] = 0xff;
1672 radio_display_data[40] = 0xff;
1675 ATC610xSetRadios( radios_fd, radio_display_data );
1681 /////////////////////////////////////////////////////////////////////
1682 // Drive the stepper motors
1683 /////////////////////////////////////////////////////////////////////
1685 bool FGATC610x::do_steppers() {
1686 float diff = mag_compass->getFloatValue() - compass_position;
1687 while ( diff < -180.0 ) { diff += 360.0; }
1688 while ( diff > 180.0 ) { diff -= 360.0; }
1690 int steps = (int)(diff * 4);
1691 // cout << "steps = " << steps << endl;
1692 if ( steps > 4 ) { steps = 4; }
1693 if ( steps < -4 ) { steps = -4; }
1695 if ( abs(steps) > 0 ) {
1696 unsigned char cmd = 0x80; // stepper command
1698 cmd |= 0x20; // go up
1700 cmd |= 0x00; // go down
1704 // sync compass_position with hardware position
1705 compass_position += (float)steps / 4.0;
1707 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1714 /////////////////////////////////////////////////////////////////////
1715 // Read the switch positions
1716 /////////////////////////////////////////////////////////////////////
1718 // decode the packed switch data
1719 static void update_switch_matrix(
1721 unsigned char switch_data[ATC_SWITCH_BYTES],
1722 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1724 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1725 unsigned char switches = switch_data[row];
1727 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1728 switch_matrix[board][column][row] = switches & 1;
1729 switches = switches >> 1;
1734 bool FGATC610x::do_switches() {
1735 ATC610xReadSwitches( switches_fd, switch_data );
1737 // unpack the switch data
1738 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1739 update_switch_matrix( board, switch_data, switch_matrix );
1742 fgSetBool( "/controls/switches/master-bat", switch_matrix[board][4][1] );
1743 fgSetBool( "/controls/switches/master-alt", switch_matrix[board][5][1] );
1744 fgSetBool( "/controls/switches/master-avionics",
1745 switch_matrix[board][0][3] );
1747 // magnetos and starter switch
1749 bool starter = false;
1750 if ( switch_matrix[board][3][1] == 1 ) {
1753 } else if ( switch_matrix[board][2][1] == 1 ) {
1756 } else if ( switch_matrix[board][1][1] == 1 ) {
1759 } else if ( switch_matrix[board][0][1] == 1 ) {
1767 // do a bit of filtering on the magneto/starter switch and the
1768 // flap lever because these are not well debounced in hardware
1769 static int mag1, mag2, mag3;
1773 if ( mag1 == mag2 && mag2 == mag3 ) {
1774 fgSetInt( "/controls/engines/engine[0]/magnetos", magnetos );
1776 static bool start1, start2, start3;
1780 if ( start1 == start2 && start2 == start3 ) {
1781 fgSetBool( "/controls/engines/engine[0]/starter", starter );
1784 // other toggle switches
1785 fgSetBool( "/controls/engines/engine[0]/fuel-pump",
1786 switch_matrix[board][0][2] );
1787 fgSetBool( "/controls/switches/flashing-beacon",
1788 switch_matrix[board][1][2] );
1789 fgSetBool( "/controls/switches/landing-light", switch_matrix[board][2][2] );
1790 fgSetBool( "/controls/switches/taxi-lights", switch_matrix[board][3][2] );
1791 fgSetBool( "/controls/switches/nav-lights",
1792 switch_matrix[board][4][2] );
1793 fgSetBool( "/controls/switches/strobe-lights", switch_matrix[board][5][2] );
1794 fgSetBool( "/controls/switches/pitot-heat", switch_matrix[board][6][2] );
1798 if ( switch_matrix[board][6][3] ) {
1800 } else if ( switch_matrix[board][5][3] ) {
1802 } else if ( switch_matrix[board][4][3] ) {
1804 } else if ( !switch_matrix[board][4][3] ) {
1808 // do a bit of filtering on the magneto/starter switch and the
1809 // flap lever because these are not well debounced in hardware
1810 static float flap1, flap2, flap3;
1814 if ( flap1 == flap2 && flap2 == flap3 ) {
1815 fgSetFloat( "/controls/flight/flaps", flaps );
1818 // fuel selector (also filtered)
1820 if ( switch_matrix[board][2][3] ) {
1823 } else if ( switch_matrix[board][1][3] ) {
1826 } else if ( switch_matrix[board][3][3] ) {
1834 static int fuel1, fuel2, fuel3;
1838 if ( fuel1 == fuel2 && fuel2 == fuel3 ) {
1839 fgSetBool( "/controls/fuel/tank[0]/fuel-selector", (fuel & 0x01) > 0 );
1840 fgSetBool( "/controls/fuel/tabk[1]/fuel-selector", (fuel & 0x02) > 0 );
1844 #ifdef ATC_SUPPORT_CIRCUIT_BREAKERS_NOT_THE_DEFAULT
1845 fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr",
1846 switch_matrix[board][0][0] );
1847 fgSetBool( "/controls/circuit-breakers/instr-ignition-switch",
1848 switch_matrix[board][1][0] );
1849 fgSetBool( "/controls/circuit-breakers/flaps",
1850 switch_matrix[board][2][0] );
1851 fgSetBool( "/controls/circuit-breakers/avn-bus-1",
1852 switch_matrix[board][3][0] );
1853 fgSetBool( "/controls/circuit-breakers/avn-bus-2",
1854 switch_matrix[board][4][0] );
1855 fgSetBool( "/controls/circuit-breakers/turn-coordinator",
1856 switch_matrix[board][5][0] );
1857 fgSetBool( "/controls/circuit-breakers/instrument-lights",
1858 switch_matrix[board][6][0] );
1859 fgSetBool( "/controls/circuit-breakers/annunciators",
1860 switch_matrix[board][7][0] );
1862 fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr", true );
1863 fgSetBool( "/controls/circuit-breakers/instr-ignition-switch", true );
1864 fgSetBool( "/controls/circuit-breakers/flaps", true );
1865 fgSetBool( "/controls/circuit-breakers/avn-bus-1", true );
1866 fgSetBool( "/controls/circuit-breakers/avn-bus-2", true );
1867 fgSetBool( "/controls/circuit-breakers/turn-coordinator", true );
1868 fgSetBool( "/controls/circuit-breakers/instrument-lights", true );
1869 fgSetBool( "/controls/circuit-breakers/annunciators", true );
1872 fgSetDouble( "/controls/gear/parking-brake",
1873 switch_matrix[board][7][3] );
1874 fgSetDouble( "/radios/marker-beacon/power-btn",
1875 switch_matrix[board][6][1] );
1881 bool FGATC610x::process() {
1882 // Lock the hardware, skip if it's not ready yet
1883 if ( ATC610xLock( lock_fd ) > 0 ) {
1887 do_radio_switches();
1892 ATC610xRelease( lock_fd );
1901 bool FGATC610x::close() {