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 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
403 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
404 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
406 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
408 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
410 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
412 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
414 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
416 adf_power = fgGetNode( "/radios/kr-87/inputs/power-btn", true );
417 adf_vol = fgGetNode( "/radios/kr-87/inputs/volume", true );
418 adf_adf_btn = fgGetNode( "/radios/kr-87/inputs/adf-btn", true );
419 adf_bfo_btn = fgGetNode( "/radios/kr-87/inputs/bfo-btn", true );
420 adf_freq = fgGetNode( "/radios/kr-87/outputs/selected-khz", true );
421 adf_stby_freq = fgGetNode( "/radios/kr-87/outputs/standby-khz", true );
422 adf_stby_mode = fgGetNode( "/radios/kr-87/modes/stby", true );
423 adf_timer_mode = fgGetNode( "/radios/kr-87/modes/timer", true );
424 adf_count_mode = fgGetNode( "/radios/kr-87/modes/count", true );
425 adf_flight_timer = fgGetNode( "/radios/kr-87/outputs/flight-timer", true );
426 adf_elapsed_timer = fgGetNode( "/radios/kr-87/outputs/elapsed-timer",
428 adf_ant_ann = fgGetNode( "/radios/kr-87/annunciators/ant", true );
429 adf_adf_ann = fgGetNode( "/radios/kr-87/annunciators/adf", true );
430 adf_bfo_ann = fgGetNode( "/radios/kr-87/annunciators/bfo", true );
431 adf_frq_ann = fgGetNode( "/radios/kr-87/annunciators/frq", true );
432 adf_flt_ann = fgGetNode( "/radios/kr-87/annunciators/flt", true );
433 adf_et_ann = fgGetNode( "/radios/kr-87/annunciators/et", true );
435 inner = fgGetNode( "/radios/marker-beacon/inner", true );
436 middle = fgGetNode( "/radios/marker-beacon/middle", true );
437 outer = fgGetNode( "/radios/marker-beacon/outer", true );
439 xpdr_ident_btn = fgGetNode( "/radios/kt-70/inputs/ident-btn", true );
440 xpdr_digit1 = fgGetNode( "/radios/kt-70/inputs/digit1", true );
441 xpdr_digit2 = fgGetNode( "/radios/kt-70/inputs/digit2", true );
442 xpdr_digit3 = fgGetNode( "/radios/kt-70/inputs/digit3", true );
443 xpdr_digit4 = fgGetNode( "/radios/kt-70/inputs/digit4", true );
444 xpdr_func_knob = fgGetNode( "/radios/kt-70/inputs/func-knob", true );
445 xpdr_id_code = fgGetNode( "/radios/kt-70/outputs/id-code", true );
446 xpdr_flight_level = fgGetNode( "/radios/kt-70/outputs/flight-level", true );
447 xpdr_fl_ann = fgGetNode( "/radios/kt-70/annunciators/fl", true );
448 xpdr_alt_ann = fgGetNode( "/radios/kt-70/annunciators/alt", true );
449 xpdr_gnd_ann = fgGetNode( "/radios/kt-70/annunciators/gnd", true );
450 xpdr_on_ann = fgGetNode( "/radios/kt-70/annunciators/on", true );
451 xpdr_sby_ann = fgGetNode( "/radios/kt-70/annunciators/sby", true );
452 xpdr_reply_ann = fgGetNode( "/radios/kt-70/annunciators/reply", true );
454 elevator_center = fgGetNode( "/input/atc610x/elevator/center", 0 );
455 elevator_min = fgGetNode( "/input/atc610x/elevator/min", 0 );
456 elevator_max = fgGetNode( "/input/atc610x/elevator/max", 0 );
458 ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", 0 );
459 ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", 0 );
460 ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", 0 );
462 rudder_center = fgGetNode( "/input/atc610x/rudder/center", 0 );
463 rudder_min = fgGetNode( "/input/atc610x/rudder/min", 0 );
464 rudder_max = fgGetNode( "/input/atc610x/rudder/max", 0 );
466 throttle_min = fgGetNode( "/input/atc610x/throttle/min", 0 );
467 throttle_max = fgGetNode( "/input/atc610x/throttle/max", 0 );
469 mixture_min = fgGetNode( "/input/atc610x/mixture/min", 0 );
470 mixture_max = fgGetNode( "/input/atc610x/mixture/max", 0 );
472 trim_center = fgGetNode( "/input/atc610x/trim/center", 0 );
473 trim_min = fgGetNode( "/input/atc610x/trim/min", 0 );
474 trim_max = fgGetNode( "/input/atc610x/trim/max", 0 );
476 nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", 0 );
477 nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", 0 );
479 nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", 0 );
480 nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", 0 );
486 /////////////////////////////////////////////////////////////////////
487 // Read analog inputs
488 /////////////////////////////////////////////////////////////////////
490 #define ATC_AILERON_CENTER 535
491 #define ATC_ELEVATOR_TRIM_CENTER 512
492 #define ATC_ELEVATOR_CENTER 543
493 #define ATC_RUDDER_CENTER 519
495 // scale a number between min and max (with center defined) to a scale
497 static double scale( int center, int min, int max, int value ) {
498 // cout << center << " " << min << " " << max << " " << value << " ";
502 if ( value <= center ) {
503 range = center - min;
504 result = (value - center) / range;
506 range = max - center;
507 result = (value - center) / range;
510 if ( result < -1.0 ) result = -1.0;
511 if ( result > 1.0 ) result = 1.0;
513 // cout << result << endl;
519 // scale a number between min and max to a scale from 0.0 to 1.0
520 static double scale( int min, int max, int value ) {
521 // cout << center << " " << min << " " << max << " " << value << " ";
526 result = (value - min) / range;
528 if ( result < 0.0 ) result = 0.0;
529 if ( result > 1.0 ) result = 1.0;
531 // cout << result << endl;
537 bool FGATC610x::do_analog_in() {
538 // Read raw data in byte form
539 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
541 // Convert to integer values
542 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
543 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
544 unsigned char lo = analog_in_bytes[2 * channel + 1];
545 analog_in_data[channel] = hi * 256 + lo;
547 // printf("%02x %02x ", hi, lo );
548 // printf("%04d ", value );
551 float tmp, tmp1, tmp2;
554 tmp = scale( ailerons_center->getIntValue(), ailerons_min->getIntValue(),
555 ailerons_max->getIntValue(), analog_in_data[0] );
556 fgSetFloat( "/controls/aileron", tmp );
557 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
560 tmp = -scale( elevator_center->getIntValue(), elevator_min->getIntValue(),
561 elevator_max->getIntValue(), analog_in_data[5] );
562 fgSetFloat( "/controls/elevator", tmp );
563 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
566 tmp = scale( trim_center->getIntValue(), trim_min->getIntValue(),
567 trim_max->getIntValue(), analog_in_data[4] );
568 fgSetFloat( "/controls/elevator-trim", tmp );
569 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
572 tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
574 fgSetFloat( "/controls/mixture[0]", tmp );
575 fgSetFloat( "/controls/mixture[1]", tmp );
578 tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
580 fgSetFloat( "/controls/throttle[0]", tmp );
581 fgSetFloat( "/controls/throttle[1]", tmp );
585 tmp = scale( rudder_center->getIntValue(), rudder_min->getIntValue(),
586 rudder_max->getIntValue(), analog_in_data[10] );
587 fgSetFloat( "/controls/rudder", tmp );
591 tmp = (float)analog_in_data[25] / 1024.0f;
592 fgSetFloat( "/radios/nav[0]/volume", tmp );
595 tmp = (float)analog_in_data[24] / 1024.0f;
596 fgSetFloat( "/radios/nav[1]/volume", tmp );
599 tmp = (float)analog_in_data[26] / 1024.0f;
600 fgSetFloat( "/radios/kr-87/inputs/volume", tmp );
603 tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
604 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
607 tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
608 tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
609 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
615 /////////////////////////////////////////////////////////////////////
617 /////////////////////////////////////////////////////////////////////
619 bool FGATC610x::do_lights() {
622 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
623 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
624 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
627 ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
628 ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
629 ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
630 ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
631 ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
632 ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
634 // Transponder annunciators
635 ATC610xSetLamp( lamps_fd, 17, xpdr_fl_ann->getBoolValue() ); // FL
636 ATC610xSetLamp( lamps_fd, 18, xpdr_alt_ann->getBoolValue() ); // ALT
637 ATC610xSetLamp( lamps_fd, 19, xpdr_gnd_ann->getBoolValue() ); // GND
638 ATC610xSetLamp( lamps_fd, 20, xpdr_on_ann->getBoolValue() ); // ON
639 ATC610xSetLamp( lamps_fd, 21, xpdr_sby_ann->getBoolValue() ); // SBY
640 ATC610xSetLamp( lamps_fd, 22, xpdr_reply_ann->getBoolValue() ); // R
646 /////////////////////////////////////////////////////////////////////
647 // Read radio switches
648 /////////////////////////////////////////////////////////////////////
650 bool FGATC610x::do_radio_switches() {
651 double freq, coarse_freq, fine_freq, value;
654 ATC610xReadRadios( radios_fd, radio_switch_data );
657 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
658 if ( dme_switch == 0 ) {
660 fgSetInt( "/radios/dme/switch-position", 0 );
661 } else if ( dme_switch == 2 ) {
663 fgSetInt( "/radios/dme/switch-position", 1 );
664 } else if ( dme_switch == 1 ) {
666 fgSetInt( "/radios/dme/switch-position", 3 );
670 fgSetBool( "/radios/comm[0]/inputs/power-btn",
671 radio_switch_data[7] & 0x01 );
674 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
675 static int last_com1_swap;
676 if ( com1_swap && (last_com1_swap != com1_swap) ) {
677 float tmp = com1_freq->getFloatValue();
678 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
679 com1_stby_freq->getFloatValue() );
680 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
682 last_com1_swap = com1_swap;
685 fgSetBool( "/radios/comm[1]/inputs/power-btn",
686 radio_switch_data[15] & 0x01 );
689 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
690 static int last_com2_swap;
691 if ( com2_swap && (last_com2_swap != com2_swap) ) {
692 float tmp = com2_freq->getFloatValue();
693 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
694 com2_stby_freq->getFloatValue() );
695 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
697 last_com2_swap = com2_swap;
700 int nav1_swap = radio_switch_data[11] & 0x01;
701 static int last_nav1_swap;
702 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
703 float tmp = nav1_freq->getFloatValue();
704 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
705 nav1_stby_freq->getFloatValue() );
706 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
708 last_nav1_swap = nav1_swap;
711 int nav2_swap = !(radio_switch_data[19] & 0x01);
712 static int last_nav2_swap;
713 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
714 float tmp = nav2_freq->getFloatValue();
715 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
716 nav2_stby_freq->getFloatValue() );
717 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
719 last_nav2_swap = nav2_swap;
722 int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
723 int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
724 static int last_com1_tuner_fine = com1_tuner_fine;
725 static int last_com1_tuner_coarse = com1_tuner_coarse;
727 freq = com1_stby_freq->getFloatValue();
728 coarse_freq = (int)freq;
729 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
731 if ( com1_tuner_fine != last_com1_tuner_fine ) {
732 diff = com1_tuner_fine - last_com1_tuner_fine;
733 if ( abs(diff) > 4 ) {
735 if ( com1_tuner_fine < last_com1_tuner_fine ) {
737 diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
740 diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
745 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
746 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
748 if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
749 diff = com1_tuner_coarse - last_com1_tuner_coarse;
750 if ( abs(diff) > 4 ) {
752 if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
754 diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
757 diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
762 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
763 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
765 last_com1_tuner_fine = com1_tuner_fine;
766 last_com1_tuner_coarse = com1_tuner_coarse;
768 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
769 coarse_freq + fine_freq / 40.0 );
772 int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
773 int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
774 static int last_com2_tuner_fine = com2_tuner_fine;
775 static int last_com2_tuner_coarse = com2_tuner_coarse;
777 freq = com2_stby_freq->getFloatValue();
778 coarse_freq = (int)freq;
779 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
781 if ( com2_tuner_fine != last_com2_tuner_fine ) {
782 diff = com2_tuner_fine - last_com2_tuner_fine;
783 if ( abs(diff) > 4 ) {
785 if ( com2_tuner_fine < last_com2_tuner_fine ) {
787 diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
790 diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
795 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
796 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
798 if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
799 diff = com2_tuner_coarse - last_com2_tuner_coarse;
800 if ( abs(diff) > 4 ) {
802 if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
804 diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
807 diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
812 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
813 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
815 last_com2_tuner_fine = com2_tuner_fine;
816 last_com2_tuner_coarse = com2_tuner_coarse;
818 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
819 coarse_freq + fine_freq / 40.0 );
822 int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
823 int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
824 static int last_nav1_tuner_fine = nav1_tuner_fine;
825 static int last_nav1_tuner_coarse = nav1_tuner_coarse;
827 freq = nav1_stby_freq->getFloatValue();
828 coarse_freq = (int)freq;
829 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
831 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
832 diff = nav1_tuner_fine - last_nav1_tuner_fine;
833 if ( abs(diff) > 4 ) {
835 if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
837 diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
840 diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
845 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
846 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
848 if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
849 diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
850 if ( abs(diff) > 4 ) {
852 if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
854 diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
857 diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
862 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
863 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
865 last_nav1_tuner_fine = nav1_tuner_fine;
866 last_nav1_tuner_coarse = nav1_tuner_coarse;
868 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
869 coarse_freq + fine_freq / 20.0 );
872 int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
873 int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
874 static int last_nav2_tuner_fine = nav2_tuner_fine;
875 static int last_nav2_tuner_coarse = nav2_tuner_coarse;
877 freq = nav2_stby_freq->getFloatValue();
878 coarse_freq = (int)freq;
879 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
881 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
882 diff = nav2_tuner_fine - last_nav2_tuner_fine;
883 if ( abs(diff) > 4 ) {
885 if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
887 diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
890 diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
895 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
896 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
898 if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
899 diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
900 if ( abs(diff) > 4 ) {
902 if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
904 diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
907 diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
912 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
913 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
915 last_nav2_tuner_fine = nav2_tuner_fine;
916 last_nav2_tuner_coarse = nav2_tuner_coarse;
918 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
919 coarse_freq + fine_freq / 20.0);
922 int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
923 int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
924 static int last_adf_tuner_fine = adf_tuner_fine;
925 static int last_adf_tuner_coarse = adf_tuner_coarse;
927 // cout << "adf_stby_mode = " << adf_stby_mode->getIntValue() << endl;
928 if ( adf_count_mode->getIntValue() == 2 ) {
929 // tune count down timer
930 value = adf_elapsed_timer->getDoubleValue();
933 if ( adf_stby_mode->getIntValue() == 1 ) {
934 value = adf_freq->getFloatValue();
936 value = adf_stby_freq->getFloatValue();
940 if ( adf_tuner_fine != last_adf_tuner_fine ) {
941 diff = adf_tuner_fine - last_adf_tuner_fine;
942 if ( abs(diff) > 4 ) {
944 if ( adf_tuner_fine < last_adf_tuner_fine ) {
946 diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
949 diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
955 if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
956 diff = adf_tuner_coarse - last_adf_tuner_coarse;
957 if ( abs(diff) > 4 ) {
959 if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
961 diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
964 diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
967 if ( adf_count_mode->getIntValue() == 2 ) {
973 if ( adf_count_mode->getIntValue() == 2 ) {
974 if ( value < 0 ) { value += 3600; }
975 if ( value > 3599 ) { value -= 3600; }
977 if ( value < 200 ) { value += 1600; }
978 if ( value > 1799 ) { value -= 1600; }
981 last_adf_tuner_fine = adf_tuner_fine;
982 last_adf_tuner_coarse = adf_tuner_coarse;
984 if ( adf_count_mode->getIntValue() == 2 ) {
985 fgSetFloat( "/radios/kr-87/outputs/elapsed-timer", value );
987 if ( adf_stby_mode->getIntValue() == 1 ) {
988 fgSetFloat( "/radios/kr-87/outputs/selected-khz", value );
990 fgSetFloat( "/radios/kr-87/outputs/standby-khz", value );
995 fgSetInt( "/radios/kr-87/inputs/adf-btn",
996 !(radio_switch_data[23] & 0x01) );
997 fgSetInt( "/radios/kr-87/inputs/bfo-btn",
998 !(radio_switch_data[23] >> 1 & 0x01) );
999 fgSetInt( "/radios/kr-87/inputs/frq-btn",
1000 (radio_switch_data[23] >> 2 & 0x01) );
1001 fgSetInt( "/radios/kr-87/inputs/flt-et-btn",
1002 !(radio_switch_data[23] >> 3 & 0x01) );
1003 fgSetInt( "/radios/kr-87/inputs/set-rst-btn",
1004 !(radio_switch_data[23] >> 4 & 0x01) );
1005 fgSetInt( "/radios/kr-87/inputs/power-btn",
1006 radio_switch_data[23] >> 4 & 0x01 );
1007 /* cout << "adf = " << !(radio_switch_data[23] & 0x01)
1008 << " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
1009 << " stby = " << !(radio_switch_data[23] >> 2 & 0x01)
1010 << " timer = " << !(radio_switch_data[23] >> 3 & 0x01)
1011 << " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
1014 // Transponder Tuner
1018 digit_tuner[0] = radio_switch_data[25] & 0x0f;
1019 digit_tuner[1] = ( radio_switch_data[25] >> 4 ) & 0x0f;
1020 digit_tuner[2] = radio_switch_data[29] & 0x0f;
1021 digit_tuner[3] = ( radio_switch_data[29] >> 4 ) & 0x0f;
1022 static bool first_time = true;
1023 static int last_digit_tuner[4];
1026 for ( i = 0; i < 4; ++i ) {
1027 last_digit_tuner[i] = digit_tuner[i];
1031 int id_code = xpdr_id_code->getIntValue();
1034 for ( i = 0; i < 4; ++i ) {
1035 digit[i] = id_code / place;
1036 id_code -= digit[i] * place;
1040 for ( i = 0; i < 4; ++i ) {
1041 if ( digit_tuner[i] != last_digit_tuner[i] ) {
1042 diff = digit_tuner[i] - last_digit_tuner[i];
1043 if ( abs(diff) > 4 ) {
1045 if ( digit_tuner[i] < last_digit_tuner[i] ) {
1047 diff = 15 - last_digit_tuner[i] + digit_tuner[i];
1050 diff = digit_tuner[i] - 15 - last_digit_tuner[i];
1055 while ( digit[i] >= 8 ) { digit[i] -= 8; }
1056 while ( digit[i] < 0 ) { digit[i] += 8; }
1057 last_digit_tuner[i] = digit_tuner[i];
1060 fgSetInt( "/radios/kt-70/inputs/digit1", digit[0] );
1061 fgSetInt( "/radios/kt-70/inputs/digit2", digit[1] );
1062 fgSetInt( "/radios/kt-70/inputs/digit3", digit[2] );
1063 fgSetInt( "/radios/kt-70/inputs/digit4", digit[3] );
1066 for ( i = 0; i < 5; ++i ) {
1067 if ( radio_switch_data[27] >> i & 0x01 ) {
1071 fgSetInt( "/radios/kt-70/inputs/func-knob", tmp );
1072 fgSetInt( "/radios/kt-70/inputs/ident-btn",
1073 !(radio_switch_data[27] >> 5 & 0x01) );
1079 /////////////////////////////////////////////////////////////////////
1080 // Update the radio display
1081 /////////////////////////////////////////////////////////////////////
1083 bool FGATC610x::do_radio_display() {
1088 if ( dme_switch != 0 ) {
1090 float minutes = dme_min->getFloatValue();
1091 if ( minutes > 999 ) {
1094 snprintf(digits, 7, "%03.0f", minutes);
1095 for ( i = 0; i < 6; ++i ) {
1098 radio_display_data[0] = digits[1] << 4 | digits[2];
1099 radio_display_data[1] = 0xf0 | digits[0];
1102 float knots = dme_kt->getFloatValue();
1103 if ( knots > 999 ) {
1106 snprintf(digits, 7, "%03.0f", knots);
1107 for ( i = 0; i < 6; ++i ) {
1110 radio_display_data[2] = digits[1] << 4 | digits[2];
1111 radio_display_data[3] = 0xf0 | digits[0];
1113 // DME distance (nm)
1114 float nm = dme_nm->getFloatValue();
1118 snprintf(digits, 7, "%04.1f", nm);
1119 for ( i = 0; i < 6; ++i ) {
1122 radio_display_data[4] = digits[1] << 4 | digits[3];
1123 radio_display_data[5] = 0x00 | digits[0];
1124 // the 0x00 in the upper nibble of the 6th byte of each
1125 // display turns on the decimal point
1127 // blank dem display
1128 for ( i = 0; i < 6; ++i ) {
1129 radio_display_data[i] = 0xff;
1133 // Com1 standby frequency
1134 float com1_stby = com1_stby_freq->getFloatValue();
1135 if ( fabs(com1_stby) > 999.99 ) {
1138 snprintf(digits, 7, "%06.3f", com1_stby);
1139 for ( i = 0; i < 6; ++i ) {
1142 radio_display_data[6] = digits[4] << 4 | digits[5];
1143 radio_display_data[7] = digits[1] << 4 | digits[2];
1144 radio_display_data[8] = 0xf0 | digits[0];
1146 // Com1 in use frequency
1147 float com1 = com1_freq->getFloatValue();
1148 if ( fabs(com1) > 999.99 ) {
1151 snprintf(digits, 7, "%06.3f", com1);
1152 for ( i = 0; i < 6; ++i ) {
1155 radio_display_data[9] = digits[4] << 4 | digits[5];
1156 radio_display_data[10] = digits[1] << 4 | digits[2];
1157 radio_display_data[11] = 0x00 | digits[0];
1158 // the 0x00 in the upper nibble of the 6th byte of each display
1159 // turns on the decimal point
1161 // Com2 standby frequency
1162 float com2_stby = com2_stby_freq->getFloatValue();
1163 if ( fabs(com2_stby) > 999.99 ) {
1166 snprintf(digits, 7, "%06.3f", com2_stby);
1167 for ( i = 0; i < 6; ++i ) {
1170 radio_display_data[18] = digits[4] << 4 | digits[5];
1171 radio_display_data[19] = digits[1] << 4 | digits[2];
1172 radio_display_data[20] = 0xf0 | digits[0];
1174 // Com2 in use frequency
1175 float com2 = com2_freq->getFloatValue();
1176 if ( fabs(com2) > 999.99 ) {
1179 snprintf(digits, 7, "%06.3f", com2);
1180 for ( i = 0; i < 6; ++i ) {
1183 radio_display_data[21] = digits[4] << 4 | digits[5];
1184 radio_display_data[22] = digits[1] << 4 | digits[2];
1185 radio_display_data[23] = 0x00 | digits[0];
1186 // the 0x00 in the upper nibble of the 6th byte of each display
1187 // turns on the decimal point
1189 // Nav1 standby frequency
1190 float nav1_stby = nav1_stby_freq->getFloatValue();
1191 if ( fabs(nav1_stby) > 999.99 ) {
1194 snprintf(digits, 7, "%06.2f", nav1_stby);
1195 for ( i = 0; i < 6; ++i ) {
1198 radio_display_data[12] = digits[4] << 4 | digits[5];
1199 radio_display_data[13] = digits[1] << 4 | digits[2];
1200 radio_display_data[14] = 0xf0 | digits[0];
1202 // Nav1 in use frequency
1203 float nav1 = nav1_freq->getFloatValue();
1204 if ( fabs(nav1) > 999.99 ) {
1207 snprintf(digits, 7, "%06.2f", nav1);
1208 for ( i = 0; i < 6; ++i ) {
1211 radio_display_data[15] = digits[4] << 4 | digits[5];
1212 radio_display_data[16] = digits[1] << 4 | digits[2];
1213 radio_display_data[17] = 0x00 | digits[0];
1214 // the 0x00 in the upper nibble of the 6th byte of each display
1215 // turns on the decimal point
1217 // Nav2 standby frequency
1218 float nav2_stby = nav2_stby_freq->getFloatValue();
1219 if ( fabs(nav2_stby) > 999.99 ) {
1222 snprintf(digits, 7, "%06.2f", nav2_stby);
1223 for ( i = 0; i < 6; ++i ) {
1226 radio_display_data[24] = digits[4] << 4 | digits[5];
1227 radio_display_data[25] = digits[1] << 4 | digits[2];
1228 radio_display_data[26] = 0xf0 | digits[0];
1230 // Nav2 in use frequency
1231 float nav2 = nav2_freq->getFloatValue();
1232 if ( fabs(nav2) > 999.99 ) {
1235 snprintf(digits, 7, "%06.2f", nav2);
1236 for ( i = 0; i < 6; ++i ) {
1239 radio_display_data[27] = digits[4] << 4 | digits[5];
1240 radio_display_data[28] = digits[1] << 4 | digits[2];
1241 radio_display_data[29] = 0x00 | digits[0];
1242 // the 0x00 in the upper nibble of the 6th byte of each display
1243 // turns on the decimal point
1245 // ADF standby frequency / timer
1246 if ( adf_vol->getDoubleValue() >= 0.01 ) {
1247 if ( adf_stby_mode->getIntValue() == 0 ) {
1249 float adf_stby = adf_stby_freq->getFloatValue();
1250 if ( fabs(adf_stby) > 1799 ) {
1253 snprintf(digits, 7, "%04.0f", adf_stby);
1254 for ( i = 0; i < 6; ++i ) {
1257 radio_display_data[30] = digits[3] << 4 | 0x0f;
1258 radio_display_data[31] = digits[1] << 4 | digits[2];
1259 if ( digits[0] == 0 ) {
1260 radio_display_data[32] = 0xff;
1262 radio_display_data[32] = 0xf0 | digits[0];
1267 int hours, min, sec;
1268 if ( adf_timer_mode->getIntValue() == 0 ) {
1269 time = adf_flight_timer->getDoubleValue();
1271 time = adf_elapsed_timer->getDoubleValue();
1273 // cout << time << endl;
1274 hours = (int)(time / 3600.0);
1275 time -= hours * 3600.00;
1276 min = (int)(time / 60.0);
1293 // cout << big << ":" << little << endl;
1294 snprintf(digits, 7, "%02d%02d", big, little);
1295 for ( i = 0; i < 6; ++i ) {
1298 radio_display_data[30] = digits[3] << 4 | 0x0f;
1299 radio_display_data[31] = digits[1] << 4 | digits[2];
1300 radio_display_data[32] = 0xf0 | digits[0];
1303 // ADF in use frequency
1304 float adf = adf_freq->getFloatValue();
1305 if ( fabs(adf) > 1799 ) {
1308 snprintf(digits, 7, "%04.0f", adf);
1309 for ( i = 0; i < 6; ++i ) {
1312 radio_display_data[33] = digits[2] << 4 | digits[3];
1313 if ( digits[0] == 0 ) {
1314 radio_display_data[34] = 0xf0 | digits[1];
1316 radio_display_data[34] = digits[0] << 4 | digits[1];
1319 radio_display_data[30] = 0xff;
1320 radio_display_data[31] = 0xff;
1321 radio_display_data[32] = 0xff;
1322 radio_display_data[33] = 0xff;
1323 radio_display_data[34] = 0xff;
1326 // Transponder code and flight level
1327 if ( xpdr_func_knob->getIntValue() == 2 ) {
1329 radio_display_data[36] = 8 << 4 | 8;
1330 radio_display_data[37] = 8 << 4 | 8;
1331 radio_display_data[38] = 0xff;
1332 radio_display_data[39] = 8 << 4 | 0x0f;
1333 radio_display_data[40] = 8 << 4 | 8;
1334 } else if ( xpdr_func_knob->getIntValue() > 0 ) {
1336 int id_code = xpdr_id_code->getIntValue();
1338 for ( i = 0; i < 4; ++i ) {
1339 digits[i] = id_code / place;
1340 id_code -= digits[i] * place;
1343 radio_display_data[36] = digits[2] << 4 | digits[3];
1344 radio_display_data[37] = digits[0] << 4 | digits[1];
1345 radio_display_data[38] = 0xff;
1347 if ( xpdr_func_knob->getIntValue() == 3 ||
1348 xpdr_func_knob->getIntValue() == 5 )
1350 // do flight level display
1351 snprintf(digits, 7, "%03d", xpdr_flight_level->getIntValue() );
1352 for ( i = 0; i < 6; ++i ) {
1355 radio_display_data[39] = digits[2] << 4 | 0x0f;
1356 radio_display_data[40] = digits[0] << 4 | digits[1];
1358 // blank flight level display
1359 radio_display_data[39] = 0xff;
1360 radio_display_data[40] = 0xff;
1364 radio_display_data[36] = 0xff;
1365 radio_display_data[37] = 0xff;
1366 radio_display_data[38] = 0xff;
1367 radio_display_data[39] = 0xff;
1368 radio_display_data[40] = 0xff;
1371 ATC610xSetRadios( radios_fd, radio_display_data );
1377 /////////////////////////////////////////////////////////////////////
1378 // Drive the stepper motors
1379 /////////////////////////////////////////////////////////////////////
1381 bool FGATC610x::do_steppers() {
1382 float diff = mag_compass->getFloatValue() - compass_position;
1383 while ( diff < -180.0 ) { diff += 360.0; }
1384 while ( diff > 180.0 ) { diff -= 360.0; }
1386 int steps = (int)(diff * 4);
1387 // cout << "steps = " << steps << endl;
1388 if ( steps > 4 ) { steps = 4; }
1389 if ( steps < -4 ) { steps = -4; }
1391 if ( abs(steps) > 0 ) {
1392 unsigned char cmd = 0x80; // stepper command
1394 cmd |= 0x20; // go up
1396 cmd |= 0x00; // go down
1400 // sync compass_position with hardware position
1401 compass_position += (float)steps / 4.0;
1403 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1410 /////////////////////////////////////////////////////////////////////
1411 // Read the switch positions
1412 /////////////////////////////////////////////////////////////////////
1414 // decode the packed switch data
1415 static void update_switch_matrix(
1417 unsigned char switch_data[ATC_SWITCH_BYTES],
1418 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1420 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1421 unsigned char switches = switch_data[row];
1423 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1424 switch_matrix[board][column][row] = switches & 1;
1425 switches = switches >> 1;
1430 bool FGATC610x::do_switches() {
1431 ATC610xReadSwitches( switches_fd, switch_data );
1433 // unpack the switch data
1434 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1435 update_switch_matrix( board, switch_data, switch_matrix );
1437 // magnetos and starter switch
1439 bool starter = false;
1440 if ( switch_matrix[board][3][1] == 1 ) {
1443 } else if ( switch_matrix[board][2][1] == 1 ) {
1446 } else if ( switch_matrix[board][1][1] == 1 ) {
1449 } else if ( switch_matrix[board][0][1] == 1 ) {
1457 // do a bit of filtering on the magneto/starter switch and the
1458 // flap lever because these are not well debounced in hardware
1459 static int mag1, mag2, mag3;
1463 if ( mag1 == mag2 && mag2 == mag3 ) {
1464 fgSetInt( "/controls/magnetos[0]", magnetos );
1466 static bool start1, start2, start3;
1470 if ( start1 == start2 && start2 == start3 ) {
1471 fgSetBool( "/controls/starter[0]", starter );
1476 if ( switch_matrix[board][6][3] ) {
1478 } else if ( switch_matrix[board][5][3] ) {
1480 } else if ( switch_matrix[board][4][3] ) {
1482 } else if ( !switch_matrix[board][4][3] ) {
1486 // do a bit of filtering on the magneto/starter switch and the
1487 // flap lever because these are not well debounced in hardware
1488 static float flap1, flap2, flap3;
1492 if ( flap1 == flap2 && flap2 == flap3 ) {
1493 fgSetFloat( "/controls/flaps", flaps );
1496 // fuel selector (also filtered)
1498 if ( switch_matrix[board][2][3] ) {
1501 } else if ( switch_matrix[board][1][3] ) {
1504 } else if ( switch_matrix[board][3][3] ) {
1512 static int fuel1, fuel2, fuel3;
1516 if ( fuel1 == fuel2 && fuel2 == fuel3 ) {
1517 fgSetBool( "/controls/fuel-selector[0]", (fuel & 0x01) > 0 );
1518 fgSetBool( "/controls/fuel-selector[1]", (fuel & 0x02) > 0 );
1525 bool FGATC610x::process() {
1526 // Lock the hardware, skip if it's not ready yet
1527 if ( ATC610xLock( lock_fd ) > 0 ) {
1531 do_radio_switches();
1536 ATC610xRelease( lock_fd );
1545 bool FGATC610x::close() {