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 navcom1_power = fgGetNode( "/radios/comm[0]/inputs/power-btn", true );
402 navcom2_power = fgGetNode( "/radios/comm[1]/inputs/power-btn", true );
404 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
406 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
408 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
410 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
412 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
414 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
416 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
418 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
420 adf_power = fgGetNode( "/radios/kr-87/inputs/power-btn", true );
421 adf_vol = fgGetNode( "/radios/kr-87/inputs/volume", true );
422 adf_adf_btn = fgGetNode( "/radios/kr-87/inputs/adf-btn", true );
423 adf_bfo_btn = fgGetNode( "/radios/kr-87/inputs/bfo-btn", true );
424 adf_freq = fgGetNode( "/radios/kr-87/outputs/selected-khz", true );
425 adf_stby_freq = fgGetNode( "/radios/kr-87/outputs/standby-khz", true );
426 adf_stby_mode = fgGetNode( "/radios/kr-87/modes/stby", true );
427 adf_timer_mode = fgGetNode( "/radios/kr-87/modes/timer", true );
428 adf_count_mode = fgGetNode( "/radios/kr-87/modes/count", true );
429 adf_flight_timer = fgGetNode( "/radios/kr-87/outputs/flight-timer", true );
430 adf_elapsed_timer = fgGetNode( "/radios/kr-87/outputs/elapsed-timer",
432 adf_ant_ann = fgGetNode( "/radios/kr-87/annunciators/ant", true );
433 adf_adf_ann = fgGetNode( "/radios/kr-87/annunciators/adf", true );
434 adf_bfo_ann = fgGetNode( "/radios/kr-87/annunciators/bfo", true );
435 adf_frq_ann = fgGetNode( "/radios/kr-87/annunciators/frq", true );
436 adf_flt_ann = fgGetNode( "/radios/kr-87/annunciators/flt", true );
437 adf_et_ann = fgGetNode( "/radios/kr-87/annunciators/et", true );
439 inner = fgGetNode( "/radios/marker-beacon/inner", true );
440 middle = fgGetNode( "/radios/marker-beacon/middle", true );
441 outer = fgGetNode( "/radios/marker-beacon/outer", true );
443 xpdr_ident_btn = fgGetNode( "/radios/kt-70/inputs/ident-btn", true );
444 xpdr_digit1 = fgGetNode( "/radios/kt-70/inputs/digit1", true );
445 xpdr_digit2 = fgGetNode( "/radios/kt-70/inputs/digit2", true );
446 xpdr_digit3 = fgGetNode( "/radios/kt-70/inputs/digit3", true );
447 xpdr_digit4 = fgGetNode( "/radios/kt-70/inputs/digit4", true );
448 xpdr_func_knob = fgGetNode( "/radios/kt-70/inputs/func-knob", true );
449 xpdr_id_code = fgGetNode( "/radios/kt-70/outputs/id-code", true );
450 xpdr_flight_level = fgGetNode( "/radios/kt-70/outputs/flight-level", true );
451 xpdr_fl_ann = fgGetNode( "/radios/kt-70/annunciators/fl", true );
452 xpdr_alt_ann = fgGetNode( "/radios/kt-70/annunciators/alt", true );
453 xpdr_gnd_ann = fgGetNode( "/radios/kt-70/annunciators/gnd", true );
454 xpdr_on_ann = fgGetNode( "/radios/kt-70/annunciators/on", true );
455 xpdr_sby_ann = fgGetNode( "/radios/kt-70/annunciators/sby", true );
456 xpdr_reply_ann = fgGetNode( "/radios/kt-70/annunciators/reply", true );
458 elevator_center = fgGetNode( "/input/atc610x/elevator/center", 0 );
459 elevator_min = fgGetNode( "/input/atc610x/elevator/min", 0 );
460 elevator_max = fgGetNode( "/input/atc610x/elevator/max", 0 );
462 ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", 0 );
463 ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", 0 );
464 ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", 0 );
466 rudder_center = fgGetNode( "/input/atc610x/rudder/center", 0 );
467 rudder_min = fgGetNode( "/input/atc610x/rudder/min", 0 );
468 rudder_max = fgGetNode( "/input/atc610x/rudder/max", 0 );
470 throttle_min = fgGetNode( "/input/atc610x/throttle/min", 0 );
471 throttle_max = fgGetNode( "/input/atc610x/throttle/max", 0 );
473 mixture_min = fgGetNode( "/input/atc610x/mixture/min", 0 );
474 mixture_max = fgGetNode( "/input/atc610x/mixture/max", 0 );
476 trim_center = fgGetNode( "/input/atc610x/trim/center", 0 );
477 trim_min = fgGetNode( "/input/atc610x/trim/min", 0 );
478 trim_max = fgGetNode( "/input/atc610x/trim/max", 0 );
480 nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", 0 );
481 nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", 0 );
483 nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", 0 );
484 nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", 0 );
490 /////////////////////////////////////////////////////////////////////
491 // Read analog inputs
492 /////////////////////////////////////////////////////////////////////
494 #define ATC_AILERON_CENTER 535
495 #define ATC_ELEVATOR_TRIM_CENTER 512
496 #define ATC_ELEVATOR_CENTER 543
497 #define ATC_RUDDER_CENTER 519
499 // scale a number between min and max (with center defined) to a scale
501 static double scale( int center, int min, int max, int value ) {
502 // cout << center << " " << min << " " << max << " " << value << " ";
506 if ( value <= center ) {
507 range = center - min;
508 result = (value - center) / range;
510 range = max - center;
511 result = (value - center) / range;
514 if ( result < -1.0 ) result = -1.0;
515 if ( result > 1.0 ) result = 1.0;
517 // cout << result << endl;
523 // scale a number between min and max to a scale from 0.0 to 1.0
524 static double scale( int min, int max, int value ) {
525 // cout << center << " " << min << " " << max << " " << value << " ";
530 result = (value - min) / range;
532 if ( result < 0.0 ) result = 0.0;
533 if ( result > 1.0 ) result = 1.0;
535 // cout << result << endl;
541 bool FGATC610x::do_analog_in() {
542 // Read raw data in byte form
543 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
545 // Convert to integer values
546 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
547 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
548 unsigned char lo = analog_in_bytes[2 * channel + 1];
549 analog_in_data[channel] = hi * 256 + lo;
551 // printf("%02x %02x ", hi, lo );
552 // printf("%04d ", value );
555 float tmp, tmp1, tmp2;
558 tmp = scale( ailerons_center->getIntValue(), ailerons_min->getIntValue(),
559 ailerons_max->getIntValue(), analog_in_data[0] );
560 fgSetFloat( "/controls/aileron", tmp );
561 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
564 tmp = -scale( elevator_center->getIntValue(), elevator_min->getIntValue(),
565 elevator_max->getIntValue(), analog_in_data[5] );
566 fgSetFloat( "/controls/elevator", tmp );
567 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
570 tmp = scale( trim_center->getIntValue(), trim_min->getIntValue(),
571 trim_max->getIntValue(), analog_in_data[4] );
572 fgSetFloat( "/controls/elevator-trim", tmp );
573 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
576 tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
578 fgSetFloat( "/controls/mixture[0]", tmp );
579 fgSetFloat( "/controls/mixture[1]", tmp );
582 tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
584 fgSetFloat( "/controls/throttle[0]", tmp );
585 fgSetFloat( "/controls/throttle[1]", tmp );
589 tmp = scale( rudder_center->getIntValue(), rudder_min->getIntValue(),
590 rudder_max->getIntValue(), analog_in_data[10] );
591 fgSetFloat( "/controls/rudder", tmp );
595 tmp = (float)analog_in_data[25] / 1024.0f;
596 fgSetFloat( "/radios/nav[0]/volume", tmp );
599 tmp = (float)analog_in_data[24] / 1024.0f;
600 fgSetFloat( "/radios/nav[1]/volume", tmp );
603 tmp = (float)analog_in_data[26] / 1024.0f;
604 fgSetFloat( "/radios/kr-87/inputs/volume", tmp );
607 tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
608 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
611 tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
612 tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
613 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
619 /////////////////////////////////////////////////////////////////////
621 /////////////////////////////////////////////////////////////////////
623 bool FGATC610x::do_lights() {
626 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
627 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
628 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
631 ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
632 ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
633 ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
634 ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
635 ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
636 ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
638 // Transponder annunciators
639 ATC610xSetLamp( lamps_fd, 17, xpdr_fl_ann->getBoolValue() ); // FL
640 ATC610xSetLamp( lamps_fd, 18, xpdr_alt_ann->getBoolValue() ); // ALT
641 ATC610xSetLamp( lamps_fd, 19, xpdr_gnd_ann->getBoolValue() ); // GND
642 ATC610xSetLamp( lamps_fd, 20, xpdr_on_ann->getBoolValue() ); // ON
643 ATC610xSetLamp( lamps_fd, 21, xpdr_sby_ann->getBoolValue() ); // SBY
644 ATC610xSetLamp( lamps_fd, 22, xpdr_reply_ann->getBoolValue() ); // R
650 /////////////////////////////////////////////////////////////////////
651 // Read radio switches
652 /////////////////////////////////////////////////////////////////////
654 bool FGATC610x::do_radio_switches() {
655 double freq, coarse_freq, fine_freq, value;
658 ATC610xReadRadios( radios_fd, radio_switch_data );
661 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
662 if ( dme_switch == 0 ) {
664 fgSetInt( "/radios/dme/switch-position", 0 );
665 } else if ( dme_switch == 2 ) {
667 fgSetInt( "/radios/dme/switch-position", 1 );
668 } else if ( dme_switch == 1 ) {
670 fgSetInt( "/radios/dme/switch-position", 3 );
674 fgSetBool( "/radios/comm[0]/inputs/power-btn",
675 radio_switch_data[7] & 0x01 );
677 if ( navcom1_power->getBoolValue() ) {
679 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
680 static int last_com1_swap;
681 if ( com1_swap && (last_com1_swap != com1_swap) ) {
682 float tmp = com1_freq->getFloatValue();
683 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
684 com1_stby_freq->getFloatValue() );
685 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
687 last_com1_swap = com1_swap;
691 fgSetBool( "/radios/comm[1]/inputs/power-btn",
692 radio_switch_data[15] & 0x01 );
694 if ( navcom2_power->getBoolValue() ) {
696 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
697 static int last_com2_swap;
698 if ( com2_swap && (last_com2_swap != com2_swap) ) {
699 float tmp = com2_freq->getFloatValue();
700 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
701 com2_stby_freq->getFloatValue() );
702 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
704 last_com2_swap = com2_swap;
707 if ( navcom1_power->getBoolValue() ) {
709 int nav1_swap = radio_switch_data[11] & 0x01;
710 static int last_nav1_swap;
711 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
712 float tmp = nav1_freq->getFloatValue();
713 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
714 nav1_stby_freq->getFloatValue() );
715 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
717 last_nav1_swap = nav1_swap;
720 if ( navcom2_power->getBoolValue() ) {
722 int nav2_swap = !(radio_switch_data[19] & 0x01);
723 static int last_nav2_swap;
724 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
725 float tmp = nav2_freq->getFloatValue();
726 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
727 nav2_stby_freq->getFloatValue() );
728 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
730 last_nav2_swap = nav2_swap;
733 if ( navcom1_power->getBoolValue() ) {
735 int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
736 int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
737 static int last_com1_tuner_fine = com1_tuner_fine;
738 static int last_com1_tuner_coarse = com1_tuner_coarse;
740 freq = com1_stby_freq->getFloatValue();
741 coarse_freq = (int)freq;
742 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
744 if ( com1_tuner_fine != last_com1_tuner_fine ) {
745 diff = com1_tuner_fine - last_com1_tuner_fine;
746 if ( abs(diff) > 4 ) {
748 if ( com1_tuner_fine < last_com1_tuner_fine ) {
750 diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
753 diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
758 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
759 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
761 if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
762 diff = com1_tuner_coarse - last_com1_tuner_coarse;
763 if ( abs(diff) > 4 ) {
765 if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
767 diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
770 diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
775 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
776 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
778 last_com1_tuner_fine = com1_tuner_fine;
779 last_com1_tuner_coarse = com1_tuner_coarse;
781 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
782 coarse_freq + fine_freq / 40.0 );
785 if ( navcom2_power->getBoolValue() ) {
787 int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
788 int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
789 static int last_com2_tuner_fine = com2_tuner_fine;
790 static int last_com2_tuner_coarse = com2_tuner_coarse;
792 freq = com2_stby_freq->getFloatValue();
793 coarse_freq = (int)freq;
794 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
796 if ( com2_tuner_fine != last_com2_tuner_fine ) {
797 diff = com2_tuner_fine - last_com2_tuner_fine;
798 if ( abs(diff) > 4 ) {
800 if ( com2_tuner_fine < last_com2_tuner_fine ) {
802 diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
805 diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
810 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
811 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
813 if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
814 diff = com2_tuner_coarse - last_com2_tuner_coarse;
815 if ( abs(diff) > 4 ) {
817 if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
819 diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
822 diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
827 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
828 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
830 last_com2_tuner_fine = com2_tuner_fine;
831 last_com2_tuner_coarse = com2_tuner_coarse;
833 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
834 coarse_freq + fine_freq / 40.0 );
837 if ( navcom1_power->getBoolValue() ) {
839 int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
840 int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
841 static int last_nav1_tuner_fine = nav1_tuner_fine;
842 static int last_nav1_tuner_coarse = nav1_tuner_coarse;
844 freq = nav1_stby_freq->getFloatValue();
845 coarse_freq = (int)freq;
846 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
848 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
849 diff = nav1_tuner_fine - last_nav1_tuner_fine;
850 if ( abs(diff) > 4 ) {
852 if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
854 diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
857 diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
862 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
863 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
865 if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
866 diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
867 if ( abs(diff) > 4 ) {
869 if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
871 diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
874 diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
879 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
880 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
882 last_nav1_tuner_fine = nav1_tuner_fine;
883 last_nav1_tuner_coarse = nav1_tuner_coarse;
885 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
886 coarse_freq + fine_freq / 20.0 );
889 if ( navcom2_power->getBoolValue() ) {
891 int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
892 int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
893 static int last_nav2_tuner_fine = nav2_tuner_fine;
894 static int last_nav2_tuner_coarse = nav2_tuner_coarse;
896 freq = nav2_stby_freq->getFloatValue();
897 coarse_freq = (int)freq;
898 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
900 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
901 diff = nav2_tuner_fine - last_nav2_tuner_fine;
902 if ( abs(diff) > 4 ) {
904 if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
906 diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
909 diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
914 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
915 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
917 if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
918 diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
919 if ( abs(diff) > 4 ) {
921 if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
923 diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
926 diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
931 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
932 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
934 last_nav2_tuner_fine = nav2_tuner_fine;
935 last_nav2_tuner_coarse = nav2_tuner_coarse;
937 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
938 coarse_freq + fine_freq / 20.0);
941 if ( adf_power->getBoolValue() ) {
943 int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
944 int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
945 static int last_adf_tuner_fine = adf_tuner_fine;
946 static int last_adf_tuner_coarse = adf_tuner_coarse;
948 // cout << "adf_stby_mode = " << adf_stby_mode->getIntValue() << endl;
949 if ( adf_count_mode->getIntValue() == 2 ) {
950 // tune count down timer
951 value = adf_elapsed_timer->getDoubleValue();
954 if ( adf_stby_mode->getIntValue() == 1 ) {
955 value = adf_freq->getFloatValue();
957 value = adf_stby_freq->getFloatValue();
961 if ( adf_tuner_fine != last_adf_tuner_fine ) {
962 diff = adf_tuner_fine - last_adf_tuner_fine;
963 if ( abs(diff) > 4 ) {
965 if ( adf_tuner_fine < last_adf_tuner_fine ) {
967 diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
970 diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
976 if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
977 diff = adf_tuner_coarse - last_adf_tuner_coarse;
978 if ( abs(diff) > 4 ) {
980 if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
982 diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
985 diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
988 if ( adf_count_mode->getIntValue() == 2 ) {
994 if ( adf_count_mode->getIntValue() == 2 ) {
995 if ( value < 0 ) { value += 3600; }
996 if ( value > 3599 ) { value -= 3600; }
998 if ( value < 200 ) { value += 1600; }
999 if ( value > 1799 ) { value -= 1600; }
1002 last_adf_tuner_fine = adf_tuner_fine;
1003 last_adf_tuner_coarse = adf_tuner_coarse;
1005 if ( adf_count_mode->getIntValue() == 2 ) {
1006 fgSetFloat( "/radios/kr-87/outputs/elapsed-timer", value );
1008 if ( adf_stby_mode->getIntValue() == 1 ) {
1009 fgSetFloat( "/radios/kr-87/outputs/selected-khz", value );
1011 fgSetFloat( "/radios/kr-87/outputs/standby-khz", value );
1017 fgSetInt( "/radios/kr-87/inputs/adf-btn",
1018 !(radio_switch_data[23] & 0x01) );
1019 fgSetInt( "/radios/kr-87/inputs/bfo-btn",
1020 !(radio_switch_data[23] >> 1 & 0x01) );
1021 fgSetInt( "/radios/kr-87/inputs/frq-btn",
1022 (radio_switch_data[23] >> 2 & 0x01) );
1023 fgSetInt( "/radios/kr-87/inputs/flt-et-btn",
1024 !(radio_switch_data[23] >> 3 & 0x01) );
1025 fgSetInt( "/radios/kr-87/inputs/set-rst-btn",
1026 !(radio_switch_data[23] >> 4 & 0x01) );
1027 fgSetInt( "/radios/kr-87/inputs/power-btn",
1028 radio_switch_data[23] >> 5 & 0x01 );
1029 /* cout << "adf = " << !(radio_switch_data[23] & 0x01)
1030 << " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
1031 << " stby = " << !(radio_switch_data[23] >> 2 & 0x01)
1032 << " timer = " << !(radio_switch_data[23] >> 3 & 0x01)
1033 << " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
1036 // Transponder Tuner
1040 digit_tuner[0] = radio_switch_data[25] & 0x0f;
1041 digit_tuner[1] = ( radio_switch_data[25] >> 4 ) & 0x0f;
1042 digit_tuner[2] = radio_switch_data[29] & 0x0f;
1043 digit_tuner[3] = ( radio_switch_data[29] >> 4 ) & 0x0f;
1044 static bool first_time = true;
1045 static int last_digit_tuner[4];
1048 for ( i = 0; i < 4; ++i ) {
1049 last_digit_tuner[i] = digit_tuner[i];
1053 int id_code = xpdr_id_code->getIntValue();
1056 for ( i = 0; i < 4; ++i ) {
1057 digit[i] = id_code / place;
1058 id_code -= digit[i] * place;
1062 for ( i = 0; i < 4; ++i ) {
1063 if ( digit_tuner[i] != last_digit_tuner[i] ) {
1064 diff = digit_tuner[i] - last_digit_tuner[i];
1065 if ( abs(diff) > 4 ) {
1067 if ( digit_tuner[i] < last_digit_tuner[i] ) {
1069 diff = 15 - last_digit_tuner[i] + digit_tuner[i];
1072 diff = digit_tuner[i] - 15 - last_digit_tuner[i];
1077 while ( digit[i] >= 8 ) { digit[i] -= 8; }
1078 while ( digit[i] < 0 ) { digit[i] += 8; }
1079 last_digit_tuner[i] = digit_tuner[i];
1082 fgSetInt( "/radios/kt-70/inputs/digit1", digit[0] );
1083 fgSetInt( "/radios/kt-70/inputs/digit2", digit[1] );
1084 fgSetInt( "/radios/kt-70/inputs/digit3", digit[2] );
1085 fgSetInt( "/radios/kt-70/inputs/digit4", digit[3] );
1088 for ( i = 0; i < 5; ++i ) {
1089 if ( radio_switch_data[27] >> i & 0x01 ) {
1093 fgSetInt( "/radios/kt-70/inputs/func-knob", tmp );
1094 fgSetInt( "/radios/kt-70/inputs/ident-btn",
1095 !(radio_switch_data[27] >> 5 & 0x01) );
1101 /////////////////////////////////////////////////////////////////////
1102 // Update the radio display
1103 /////////////////////////////////////////////////////////////////////
1105 bool FGATC610x::do_radio_display() {
1110 if ( dme_switch != 0 ) {
1112 float minutes = dme_min->getFloatValue();
1113 if ( minutes > 999 ) {
1116 snprintf(digits, 7, "%03.0f", minutes);
1117 for ( i = 0; i < 6; ++i ) {
1120 radio_display_data[0] = digits[1] << 4 | digits[2];
1121 radio_display_data[1] = 0xf0 | digits[0];
1124 float knots = dme_kt->getFloatValue();
1125 if ( knots > 999 ) {
1128 snprintf(digits, 7, "%03.0f", knots);
1129 for ( i = 0; i < 6; ++i ) {
1132 radio_display_data[2] = digits[1] << 4 | digits[2];
1133 radio_display_data[3] = 0xf0 | digits[0];
1135 // DME distance (nm)
1136 float nm = dme_nm->getFloatValue();
1140 snprintf(digits, 7, "%04.1f", nm);
1141 for ( i = 0; i < 6; ++i ) {
1144 radio_display_data[4] = digits[1] << 4 | digits[3];
1145 radio_display_data[5] = 0x00 | digits[0];
1146 // the 0x00 in the upper nibble of the 6th byte of each
1147 // display turns on the decimal point
1149 // blank dem display
1150 for ( i = 0; i < 6; ++i ) {
1151 radio_display_data[i] = 0xff;
1155 if ( navcom1_power->getBoolValue() ) {
1156 // Com1 standby frequency
1157 float com1_stby = com1_stby_freq->getFloatValue();
1158 if ( fabs(com1_stby) > 999.99 ) {
1161 snprintf(digits, 7, "%06.3f", com1_stby);
1162 for ( i = 0; i < 6; ++i ) {
1165 radio_display_data[6] = digits[4] << 4 | digits[5];
1166 radio_display_data[7] = digits[1] << 4 | digits[2];
1167 radio_display_data[8] = 0xf0 | digits[0];
1169 // Com1 in use frequency
1170 float com1 = com1_freq->getFloatValue();
1171 if ( fabs(com1) > 999.99 ) {
1174 snprintf(digits, 7, "%06.3f", com1);
1175 for ( i = 0; i < 6; ++i ) {
1178 radio_display_data[9] = digits[4] << 4 | digits[5];
1179 radio_display_data[10] = digits[1] << 4 | digits[2];
1180 radio_display_data[11] = 0x00 | digits[0];
1181 // the 0x00 in the upper nibble of the 6th byte of each display
1182 // turns on the decimal point
1184 radio_display_data[6] = 0xff;
1185 radio_display_data[7] = 0xff;
1186 radio_display_data[8] = 0xff;
1187 radio_display_data[9] = 0xff;
1188 radio_display_data[10] = 0xff;
1189 radio_display_data[11] = 0xff;
1192 if ( navcom2_power->getBoolValue() ) {
1193 // Com2 standby frequency
1194 float com2_stby = com2_stby_freq->getFloatValue();
1195 if ( fabs(com2_stby) > 999.99 ) {
1198 snprintf(digits, 7, "%06.3f", com2_stby);
1199 for ( i = 0; i < 6; ++i ) {
1202 radio_display_data[18] = digits[4] << 4 | digits[5];
1203 radio_display_data[19] = digits[1] << 4 | digits[2];
1204 radio_display_data[20] = 0xf0 | digits[0];
1206 // Com2 in use frequency
1207 float com2 = com2_freq->getFloatValue();
1208 if ( fabs(com2) > 999.99 ) {
1211 snprintf(digits, 7, "%06.3f", com2);
1212 for ( i = 0; i < 6; ++i ) {
1215 radio_display_data[21] = digits[4] << 4 | digits[5];
1216 radio_display_data[22] = digits[1] << 4 | digits[2];
1217 radio_display_data[23] = 0x00 | digits[0];
1218 // the 0x00 in the upper nibble of the 6th byte of each display
1219 // turns on the decimal point
1221 radio_display_data[18] = 0xff;
1222 radio_display_data[19] = 0xff;
1223 radio_display_data[20] = 0xff;
1224 radio_display_data[21] = 0xff;
1225 radio_display_data[22] = 0xff;
1226 radio_display_data[23] = 0xff;
1229 if ( navcom1_power->getBoolValue() ) {
1230 // Nav1 standby frequency
1231 float nav1_stby = nav1_stby_freq->getFloatValue();
1232 if ( fabs(nav1_stby) > 999.99 ) {
1235 snprintf(digits, 7, "%06.2f", nav1_stby);
1236 for ( i = 0; i < 6; ++i ) {
1239 radio_display_data[12] = digits[4] << 4 | digits[5];
1240 radio_display_data[13] = digits[1] << 4 | digits[2];
1241 radio_display_data[14] = 0xf0 | digits[0];
1243 // Nav1 in use frequency
1244 float nav1 = nav1_freq->getFloatValue();
1245 if ( fabs(nav1) > 999.99 ) {
1248 snprintf(digits, 7, "%06.2f", nav1);
1249 for ( i = 0; i < 6; ++i ) {
1252 radio_display_data[15] = digits[4] << 4 | digits[5];
1253 radio_display_data[16] = digits[1] << 4 | digits[2];
1254 radio_display_data[17] = 0x00 | digits[0];
1255 // the 0x00 in the upper nibble of the 6th byte of each display
1256 // turns on the decimal point
1258 radio_display_data[12] = 0xff;
1259 radio_display_data[13] = 0xff;
1260 radio_display_data[14] = 0xff;
1261 radio_display_data[15] = 0xff;
1262 radio_display_data[16] = 0xff;
1263 radio_display_data[17] = 0xff;
1266 if ( navcom2_power->getBoolValue() ) {
1267 // Nav2 standby frequency
1268 float nav2_stby = nav2_stby_freq->getFloatValue();
1269 if ( fabs(nav2_stby) > 999.99 ) {
1272 snprintf(digits, 7, "%06.2f", nav2_stby);
1273 for ( i = 0; i < 6; ++i ) {
1276 radio_display_data[24] = digits[4] << 4 | digits[5];
1277 radio_display_data[25] = digits[1] << 4 | digits[2];
1278 radio_display_data[26] = 0xf0 | digits[0];
1280 // Nav2 in use frequency
1281 float nav2 = nav2_freq->getFloatValue();
1282 if ( fabs(nav2) > 999.99 ) {
1285 snprintf(digits, 7, "%06.2f", nav2);
1286 for ( i = 0; i < 6; ++i ) {
1289 radio_display_data[27] = digits[4] << 4 | digits[5];
1290 radio_display_data[28] = digits[1] << 4 | digits[2];
1291 radio_display_data[29] = 0x00 | digits[0];
1292 // the 0x00 in the upper nibble of the 6th byte of each display
1293 // turns on the decimal point
1295 radio_display_data[24] = 0xff;
1296 radio_display_data[25] = 0xff;
1297 radio_display_data[26] = 0xff;
1298 radio_display_data[27] = 0xff;
1299 radio_display_data[28] = 0xff;
1300 radio_display_data[29] = 0xff;
1303 // ADF standby frequency / timer
1304 if ( adf_power->getBoolValue() ) {
1305 if ( adf_stby_mode->getIntValue() == 0 ) {
1307 float adf_stby = adf_stby_freq->getFloatValue();
1308 if ( fabs(adf_stby) > 1799 ) {
1311 snprintf(digits, 7, "%04.0f", adf_stby);
1312 for ( i = 0; i < 6; ++i ) {
1315 radio_display_data[30] = digits[3] << 4 | 0x0f;
1316 radio_display_data[31] = digits[1] << 4 | digits[2];
1317 if ( digits[0] == 0 ) {
1318 radio_display_data[32] = 0xff;
1320 radio_display_data[32] = 0xf0 | digits[0];
1325 int hours, min, sec;
1326 if ( adf_timer_mode->getIntValue() == 0 ) {
1327 time = adf_flight_timer->getDoubleValue();
1329 time = adf_elapsed_timer->getDoubleValue();
1331 // cout << time << endl;
1332 hours = (int)(time / 3600.0);
1333 time -= hours * 3600.00;
1334 min = (int)(time / 60.0);
1351 // cout << big << ":" << little << endl;
1352 snprintf(digits, 7, "%02d%02d", big, little);
1353 for ( i = 0; i < 6; ++i ) {
1356 radio_display_data[30] = digits[3] << 4 | 0x0f;
1357 radio_display_data[31] = digits[1] << 4 | digits[2];
1358 radio_display_data[32] = 0xf0 | digits[0];
1361 // ADF in use frequency
1362 float adf = adf_freq->getFloatValue();
1363 if ( fabs(adf) > 1799 ) {
1366 snprintf(digits, 7, "%04.0f", adf);
1367 for ( i = 0; i < 6; ++i ) {
1370 radio_display_data[33] = digits[2] << 4 | digits[3];
1371 if ( digits[0] == 0 ) {
1372 radio_display_data[34] = 0xf0 | digits[1];
1374 radio_display_data[34] = digits[0] << 4 | digits[1];
1377 radio_display_data[30] = 0xff;
1378 radio_display_data[31] = 0xff;
1379 radio_display_data[32] = 0xff;
1380 radio_display_data[33] = 0xff;
1381 radio_display_data[34] = 0xff;
1384 // Transponder code and flight level
1385 if ( xpdr_func_knob->getIntValue() == 2 ) {
1387 radio_display_data[36] = 8 << 4 | 8;
1388 radio_display_data[37] = 8 << 4 | 8;
1389 radio_display_data[38] = 0xff;
1390 radio_display_data[39] = 8 << 4 | 0x0f;
1391 radio_display_data[40] = 8 << 4 | 8;
1392 } else if ( xpdr_func_knob->getIntValue() > 0 ) {
1394 int id_code = xpdr_id_code->getIntValue();
1396 for ( i = 0; i < 4; ++i ) {
1397 digits[i] = id_code / place;
1398 id_code -= digits[i] * place;
1401 radio_display_data[36] = digits[2] << 4 | digits[3];
1402 radio_display_data[37] = digits[0] << 4 | digits[1];
1403 radio_display_data[38] = 0xff;
1405 if ( xpdr_func_knob->getIntValue() == 3 ||
1406 xpdr_func_knob->getIntValue() == 5 )
1408 // do flight level display
1409 snprintf(digits, 7, "%03d", xpdr_flight_level->getIntValue() );
1410 for ( i = 0; i < 6; ++i ) {
1413 radio_display_data[39] = digits[2] << 4 | 0x0f;
1414 radio_display_data[40] = digits[0] << 4 | digits[1];
1416 // blank flight level display
1417 radio_display_data[39] = 0xff;
1418 radio_display_data[40] = 0xff;
1422 radio_display_data[36] = 0xff;
1423 radio_display_data[37] = 0xff;
1424 radio_display_data[38] = 0xff;
1425 radio_display_data[39] = 0xff;
1426 radio_display_data[40] = 0xff;
1429 ATC610xSetRadios( radios_fd, radio_display_data );
1435 /////////////////////////////////////////////////////////////////////
1436 // Drive the stepper motors
1437 /////////////////////////////////////////////////////////////////////
1439 bool FGATC610x::do_steppers() {
1440 float diff = mag_compass->getFloatValue() - compass_position;
1441 while ( diff < -180.0 ) { diff += 360.0; }
1442 while ( diff > 180.0 ) { diff -= 360.0; }
1444 int steps = (int)(diff * 4);
1445 // cout << "steps = " << steps << endl;
1446 if ( steps > 4 ) { steps = 4; }
1447 if ( steps < -4 ) { steps = -4; }
1449 if ( abs(steps) > 0 ) {
1450 unsigned char cmd = 0x80; // stepper command
1452 cmd |= 0x20; // go up
1454 cmd |= 0x00; // go down
1458 // sync compass_position with hardware position
1459 compass_position += (float)steps / 4.0;
1461 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1468 /////////////////////////////////////////////////////////////////////
1469 // Read the switch positions
1470 /////////////////////////////////////////////////////////////////////
1472 // decode the packed switch data
1473 static void update_switch_matrix(
1475 unsigned char switch_data[ATC_SWITCH_BYTES],
1476 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1478 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1479 unsigned char switches = switch_data[row];
1481 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1482 switch_matrix[board][column][row] = switches & 1;
1483 switches = switches >> 1;
1488 bool FGATC610x::do_switches() {
1489 ATC610xReadSwitches( switches_fd, switch_data );
1491 // unpack the switch data
1492 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1493 update_switch_matrix( board, switch_data, switch_matrix );
1496 fgSetBool( "/controls/switches/master-bat", switch_matrix[board][4][1] );
1497 fgSetBool( "/controls/switches/master-alt", switch_matrix[board][5][1] );
1498 fgSetBool( "/controls/switches/master-avionics",
1499 switch_matrix[board][0][3] );
1501 // magnetos and starter switch
1503 bool starter = false;
1504 if ( switch_matrix[board][3][1] == 1 ) {
1507 } else if ( switch_matrix[board][2][1] == 1 ) {
1510 } else if ( switch_matrix[board][1][1] == 1 ) {
1513 } else if ( switch_matrix[board][0][1] == 1 ) {
1521 // do a bit of filtering on the magneto/starter switch and the
1522 // flap lever because these are not well debounced in hardware
1523 static int mag1, mag2, mag3;
1527 if ( mag1 == mag2 && mag2 == mag3 ) {
1528 fgSetInt( "/controls/magnetos[0]", magnetos );
1530 static bool start1, start2, start3;
1534 if ( start1 == start2 && start2 == start3 ) {
1535 fgSetBool( "/controls/starter[0]", starter );
1538 // other toggle switches
1539 fgSetBool( "/controls/fuel-pump[0]", switch_matrix[board][0][2] );
1540 fgSetBool( "/controls/switches/landing-light", switch_matrix[board][1][2] );
1541 fgSetBool( "/controls/switches/flashing-beacon",
1542 switch_matrix[board][2][2] );
1543 fgSetBool( "/controls/switches/map-lights", switch_matrix[board][3][2] );
1544 fgSetBool( "/controls/switches/instrument-lights",
1545 switch_matrix[board][4][2] );
1546 fgSetBool( "/controls/switches/strobe-lights", switch_matrix[board][5][2] );
1547 fgSetBool( "/controls/switches/pitot-heat", switch_matrix[board][6][2] );
1551 if ( switch_matrix[board][6][3] ) {
1553 } else if ( switch_matrix[board][5][3] ) {
1555 } else if ( switch_matrix[board][4][3] ) {
1557 } else if ( !switch_matrix[board][4][3] ) {
1561 // do a bit of filtering on the magneto/starter switch and the
1562 // flap lever because these are not well debounced in hardware
1563 static float flap1, flap2, flap3;
1567 if ( flap1 == flap2 && flap2 == flap3 ) {
1568 fgSetFloat( "/controls/flaps", flaps );
1571 // fuel selector (also filtered)
1573 if ( switch_matrix[board][2][3] ) {
1576 } else if ( switch_matrix[board][1][3] ) {
1579 } else if ( switch_matrix[board][3][3] ) {
1587 static int fuel1, fuel2, fuel3;
1591 if ( fuel1 == fuel2 && fuel2 == fuel3 ) {
1592 fgSetBool( "/controls/fuel-selector[0]", (fuel & 0x01) > 0 );
1593 fgSetBool( "/controls/fuel-selector[1]", (fuel & 0x02) > 0 );
1597 fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr",
1598 switch_matrix[board][0][0] );
1599 fgSetBool( "/controls/circuit-breakers/instr-ignition-switch",
1600 switch_matrix[board][1][0] );
1601 fgSetBool( "/controls/circuit-breakers/flaps",
1602 switch_matrix[board][2][0] );
1603 fgSetBool( "/controls/circuit-breakers/avn-bus-1",
1604 switch_matrix[board][3][0] );
1605 fgSetBool( "/controls/circuit-breakers/avn-bus-2",
1606 switch_matrix[board][4][0] );
1607 fgSetBool( "/controls/circuit-breakers/turn-coordinator",
1608 switch_matrix[board][5][0] );
1609 fgSetBool( "/controls/circuit-breakers/instrument-lights",
1610 switch_matrix[board][6][0] );
1611 fgSetBool( "/controls/circuit-breakers/annunciators",
1612 switch_matrix[board][7][0] );
1618 bool FGATC610x::process() {
1619 // Lock the hardware, skip if it's not ready yet
1620 if ( ATC610xLock( lock_fd ) > 0 ) {
1624 do_radio_switches();
1629 ATC610xRelease( lock_fd );
1638 bool FGATC610x::close() {