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>
48 #include <Main/fg_props.hxx>
49 #include <Main/globals.hxx>
51 #include "atc610x.hxx"
55 // Lock the ATC 610 hardware
56 static int ATC610xLock( int fd ) {
58 lseek( fd, 0, SEEK_SET );
61 int result = read( fd, tmp, 1 );
63 SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
70 // Write a radios command
71 static int ATC610xRelease( int fd ) {
73 lseek( fd, 0, SEEK_SET );
77 int result = write( fd, tmp, 1 );
80 SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
88 static void ATC610xReadAnalogInputs( int fd, unsigned char *analog_in_bytes ) {
90 lseek( fd, 0, SEEK_SET );
92 int result = read( fd, analog_in_bytes, ATC_ANAL_IN_BYTES );
93 if ( result != ATC_ANAL_IN_BYTES ) {
94 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
100 // Write a radios command
101 static int ATC610xSetRadios( int fd,
102 unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
105 lseek( fd, 0, SEEK_SET );
107 int result = write( fd, data, ATC_RADIO_DISPLAY_BYTES );
109 if ( result != ATC_RADIO_DISPLAY_BYTES ) {
110 SG_LOG( SG_IO, SG_DEBUG, "Write failed" );
117 // Read status of last radios written to
118 static void ATC610xReadRadios( int fd, unsigned char *switch_data ) {
120 lseek( fd, 0, SEEK_SET );
122 int result = read( fd, switch_data, ATC_RADIO_SWITCH_BYTES );
123 if ( result != ATC_RADIO_SWITCH_BYTES ) {
124 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
129 // Write a stepper command
130 static int ATC610xSetStepper( int fd, unsigned char channel,
131 unsigned char value )
134 lseek( fd, 0, SEEK_SET );
137 unsigned char buf[3];
141 int result = write( fd, buf, 2 );
143 SG_LOG( SG_IO, SG_INFO, "Write failed" );
145 SG_LOG( SG_IO, SG_DEBUG,
146 "Sent cmd = " << (int)channel << " value = " << (int)value );
151 // Read status of last stepper written to
152 static unsigned char ATC610xReadStepper( int fd ) {
156 lseek( fd, 0, SEEK_SET );
159 unsigned char buf[2];
160 result = read( fd, buf, 1 );
162 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
165 SG_LOG( SG_IO, SG_DEBUG, "Read result = " << (int)buf[0] );
171 // Read switch inputs
172 static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
174 lseek( fd, 0, SEEK_SET );
176 int result = read( fd, switch_bytes, ATC_SWITCH_BYTES );
177 if ( result != ATC_SWITCH_BYTES ) {
178 SG_LOG( SG_IO, SG_ALERT, "Read failed" );
184 // Turn a lamp on or off
185 void ATC610xSetLamp( int fd, int channel, bool value ) {
186 // lamp channels 0-63 are written to LampPort0, channels 64-127
187 // are written to LampPort1
189 // bits 0-6 are the lamp address
190 // bit 7 is the value (on/off)
195 unsigned char buf[3];
199 result = write( fd, buf, 2 );
201 SG_LOG( SG_IO, SG_ALERT, "Write failed" );
207 // Open and initialize ATC 610x hardware
208 bool FGATC610x::open() {
209 if ( is_enabled() ) {
210 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
211 << "is already in use, ignoring" );
215 SG_LOG( SG_IO, SG_ALERT,
216 "Initializing ATC 610x hardware, please wait ..." );
218 set_hz( 30 ); // default to processing requests @ 30Hz
221 board = 0; // 610x uses a single board number = 0
223 snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
224 snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
225 snprintf( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
226 snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
227 snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
228 snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
230 /////////////////////////////////////////////////////////////////////
231 // Open the /proc files
232 /////////////////////////////////////////////////////////////////////
234 lock_fd = ::open( lock_file, O_RDWR );
235 if ( lock_fd == -1 ) {
236 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
238 snprintf( msg, 256, "Error opening %s", lock_file );
243 analog_in_fd = ::open( analog_in_file, O_RDONLY );
244 if ( analog_in_fd == -1 ) {
245 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
247 snprintf( msg, 256, "Error opening %s", analog_in_file );
252 lamps_fd = ::open( lamps_file, O_WRONLY );
253 if ( lamps_fd == -1 ) {
254 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
256 snprintf( msg, 256, "Error opening %s", lamps_file );
261 radios_fd = ::open( radios_file, O_RDWR );
262 if ( radios_fd == -1 ) {
263 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
265 snprintf( msg, 256, "Error opening %s", radios_file );
270 stepper_fd = ::open( stepper_file, O_RDWR );
271 if ( stepper_fd == -1 ) {
272 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
274 snprintf( msg, 256, "Error opening %s", stepper_file );
279 switches_fd = ::open( switches_file, O_RDONLY );
280 if ( switches_fd == -1 ) {
281 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
283 snprintf( msg, 256, "Error opening %s", switches_file );
288 /////////////////////////////////////////////////////////////////////
289 // Home the compass stepper motor
290 /////////////////////////////////////////////////////////////////////
292 SG_LOG( SG_IO, SG_ALERT,
293 " - Homing the compass stepper motor" );
295 // Lock the hardware, keep trying until we succeed
296 while ( ATC610xLock( lock_fd ) <= 0 );
298 // Send the stepper home command
299 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
301 // Release the hardware
302 ATC610xRelease( lock_fd );
304 SG_LOG( SG_IO, SG_ALERT,
305 " - Waiting for compass to come home." );
308 int timeout = 900; // about 30 seconds
309 while ( ! home && timeout > 0 ) {
310 if ( timeout % 150 == 0 ) {
311 SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
313 SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
316 while ( ATC610xLock( lock_fd ) <= 0 );
318 unsigned char result = ATC610xReadStepper( stepper_fd );
323 ATC610xRelease( lock_fd );
325 #if defined( _MSC_VER )
326 ulMilliSecondSleep(33);
327 #elif defined (WIN32) && !defined(__CYGWIN__)
336 compass_position = 0.0;
338 /////////////////////////////////////////////////////////////////////
339 // Blank the radio display
340 /////////////////////////////////////////////////////////////////////
342 SG_LOG( SG_IO, SG_ALERT,
343 " - Clearing the radios displays." );
346 unsigned char value = 0xff;
347 for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
348 radio_display_data[channel] = value;
351 // Lock the hardware, keep trying until we succeed
352 while ( ATC610xLock( lock_fd ) <= 0 );
355 ATC610xSetRadios( radios_fd, radio_display_data );
357 ATC610xRelease( lock_fd );
359 /////////////////////////////////////////////////////////////////////
361 /////////////////////////////////////////////////////////////////////
363 for ( int i = 0; i < 128; ++i ) {
364 ATC610xSetLamp( lamps_fd, i, false );
367 /////////////////////////////////////////////////////////////////////
368 // Finished initing hardware
369 /////////////////////////////////////////////////////////////////////
371 SG_LOG( SG_IO, SG_ALERT,
372 "Done initializing ATC 610x hardware." );
374 /////////////////////////////////////////////////////////////////////
375 // Connect up to property values
376 /////////////////////////////////////////////////////////////////////
378 mag_compass = fgGetNode( "/steam/mag-compass-deg", true );
380 dme_min = fgGetNode( "/radios/dme/ete-min", true );
381 dme_kt = fgGetNode( "/radios/dme/speed-kt", true );
382 dme_nm = fgGetNode( "/radios/dme/distance-nm", true );
384 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
386 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
387 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
389 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
391 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
393 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
395 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
397 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
399 adf_on_off_vol = fgGetNode( "/radios/adf/on-off-volume", true );
400 adf_freq = fgGetNode( "/radios/adf/frequencies/selected-khz", true );
401 adf_stby_freq = fgGetNode( "/radios/adf/frequencies/standby-khz", true );
402 adf_stby_mode = fgGetNode( "/radios/adf/stby-mode", true );
403 adf_timer_mode = fgGetNode( "/radios/adf/timer-mode", true );
404 adf_count_mode = fgGetNode( "/radios/adf/count-mode", true );
405 adf_flight_timer = fgGetNode( "/radios/adf/flight-timer", true );
406 adf_elapsed_timer = fgGetNode( "/radios/adf/elapsed-timer", true );
408 inner = fgGetNode( "/radios/marker-beacon/inner", true );
409 middle = fgGetNode( "/radios/marker-beacon/middle", true );
410 outer = fgGetNode( "/radios/marker-beacon/outer", true );
416 /////////////////////////////////////////////////////////////////////
417 // Read analog inputs
418 /////////////////////////////////////////////////////////////////////
420 #define ATC_AILERON_CENTER 535
421 #define ATC_ELEVATOR_TRIM_CENTER 512
422 #define ATC_ELEVATOR_CENTER 543
424 bool FGATC610x::do_analog_in() {
425 // Read raw data in byte form
426 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
428 // Convert to integer values
429 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
430 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
431 unsigned char lo = analog_in_bytes[2 * channel + 1];
432 analog_in_data[channel] = hi * 256 + lo;
434 // printf("%02x %02x ", hi, lo );
435 // printf("%04d ", value );
438 float tmp, tmp1, tmp2;
441 tmp = (float)(analog_in_data[0] - ATC_AILERON_CENTER) / 256.0f;
442 fgSetFloat( "/controls/aileron", tmp );
443 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
446 tmp = (float)(analog_in_data[4] - ATC_ELEVATOR_TRIM_CENTER) / 512.0f;
447 fgSetFloat( "/controls/elevator-trim", tmp );
448 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
451 tmp = (float)(ATC_ELEVATOR_CENTER - analog_in_data[5]) / 100.0f;
452 fgSetFloat( "/controls/elevator", tmp );
453 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
456 tmp = (float)analog_in_data[7] / 680.0f;
457 fgSetFloat( "/controls/mixture[0]", tmp );
460 tmp = (float)analog_in_data[8] / 690.0f;
461 fgSetFloat( "/controls/throttle[0]", tmp );
464 tmp = (float)analog_in_data[25] / 1024.0f;
465 fgSetFloat( "/radios/nav[0]/volume", tmp );
468 tmp = (float)analog_in_data[24] / 1024.0f;
469 fgSetFloat( "/radios/nav[1]/volume", tmp );
472 tmp = (float)analog_in_data[26] / 1024.0f;
473 fgSetFloat( "/radios/adf/on-off-volume", tmp );
476 tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
477 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
480 tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
481 tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
482 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
488 /////////////////////////////////////////////////////////////////////
490 /////////////////////////////////////////////////////////////////////
492 bool FGATC610x::do_lights() {
494 ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
495 ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
496 ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
502 /////////////////////////////////////////////////////////////////////
503 // Read radio switches
504 /////////////////////////////////////////////////////////////////////
506 bool FGATC610x::do_radio_switches() {
507 double freq, coarse_freq, fine_freq, value;
510 ATC610xReadRadios( radios_fd, radio_switch_data );
513 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
514 if ( dme_switch == 0 ) {
516 fgSetInt( "/radios/dme/switch-position", 0 );
517 } else if ( dme_switch == 2 ) {
519 fgSetInt( "/radios/dme/switch-position", 1 );
520 } else if ( dme_switch == 1 ) {
522 fgSetInt( "/radios/dme/switch-position", 3 );
526 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
527 static int last_com1_swap;
528 if ( com1_swap && (last_com1_swap != com1_swap) ) {
529 float tmp = com1_freq->getFloatValue();
530 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
531 com1_stby_freq->getFloatValue() );
532 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
534 last_com1_swap = com1_swap;
537 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
538 static int last_com2_swap;
539 if ( com2_swap && (last_com2_swap != com2_swap) ) {
540 float tmp = com2_freq->getFloatValue();
541 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
542 com2_stby_freq->getFloatValue() );
543 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
545 last_com2_swap = com2_swap;
548 int nav1_swap = radio_switch_data[11] & 0x01;
549 static int last_nav1_swap;
550 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
551 float tmp = nav1_freq->getFloatValue();
552 fgSetFloat( "/radios/nav[0]/freqencies/selected-mhz",
553 nav1_stby_freq->getFloatValue() );
554 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
556 last_nav1_swap = nav1_swap;
559 int nav2_swap = !(radio_switch_data[19] & 0x01);
560 static int last_nav2_swap;
561 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
562 float tmp = nav2_freq->getFloatValue();
563 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
564 nav2_stby_freq->getFloatValue() );
565 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
567 last_nav2_swap = nav2_swap;
570 int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
571 int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
572 static int last_com1_tuner_fine = com1_tuner_fine;
573 static int last_com1_tuner_coarse = com1_tuner_coarse;
575 freq = com1_stby_freq->getFloatValue();
576 coarse_freq = (int)freq;
577 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
579 if ( com1_tuner_fine != last_com1_tuner_fine ) {
580 diff = com1_tuner_fine - last_com1_tuner_fine;
581 if ( abs(diff) > 4 ) {
583 if ( com1_tuner_fine < last_com1_tuner_fine ) {
585 diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
588 diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
593 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
594 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
596 if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
597 diff = com1_tuner_coarse - last_com1_tuner_coarse;
598 if ( abs(diff) > 4 ) {
600 if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
602 diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
605 diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
610 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
611 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
613 last_com1_tuner_fine = com1_tuner_fine;
614 last_com1_tuner_coarse = com1_tuner_coarse;
616 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
617 coarse_freq + fine_freq / 40.0 );
620 int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
621 int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
622 static int last_com2_tuner_fine = com2_tuner_fine;
623 static int last_com2_tuner_coarse = com2_tuner_coarse;
625 freq = com2_stby_freq->getFloatValue();
626 coarse_freq = (int)freq;
627 fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
629 if ( com2_tuner_fine != last_com2_tuner_fine ) {
630 diff = com2_tuner_fine - last_com2_tuner_fine;
631 if ( abs(diff) > 4 ) {
633 if ( com2_tuner_fine < last_com2_tuner_fine ) {
635 diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
638 diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
643 while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
644 while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
646 if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
647 diff = com2_tuner_coarse - last_com2_tuner_coarse;
648 if ( abs(diff) > 4 ) {
650 if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
652 diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
655 diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
660 if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
661 if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
663 last_com2_tuner_fine = com2_tuner_fine;
664 last_com2_tuner_coarse = com2_tuner_coarse;
666 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
667 coarse_freq + fine_freq / 40.0 );
670 int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
671 int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
672 static int last_nav1_tuner_fine = nav1_tuner_fine;
673 static int last_nav1_tuner_coarse = nav1_tuner_coarse;
675 freq = nav1_stby_freq->getFloatValue();
676 coarse_freq = (int)freq;
677 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
679 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
680 diff = nav1_tuner_fine - last_nav1_tuner_fine;
681 if ( abs(diff) > 4 ) {
683 if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
685 diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
688 diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
693 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
694 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
696 if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
697 diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
698 if ( abs(diff) > 4 ) {
700 if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
702 diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
705 diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
710 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
711 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
713 last_nav1_tuner_fine = nav1_tuner_fine;
714 last_nav1_tuner_coarse = nav1_tuner_coarse;
716 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
717 coarse_freq + fine_freq / 20.0 );
720 int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
721 int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
722 static int last_nav2_tuner_fine = nav2_tuner_fine;
723 static int last_nav2_tuner_coarse = nav2_tuner_coarse;
725 freq = nav2_stby_freq->getFloatValue();
726 coarse_freq = (int)freq;
727 fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
729 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
730 diff = nav2_tuner_fine - last_nav2_tuner_fine;
731 if ( abs(diff) > 4 ) {
733 if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
735 diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
738 diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
743 while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
744 while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
746 if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
747 diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
748 if ( abs(diff) > 4 ) {
750 if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
752 diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
755 diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
760 if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
761 if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
763 last_nav2_tuner_fine = nav2_tuner_fine;
764 last_nav2_tuner_coarse = nav2_tuner_coarse;
766 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
767 coarse_freq + fine_freq / 20.0);
770 int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
771 int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
772 static int last_adf_tuner_fine = adf_tuner_fine;
773 static int last_adf_tuner_coarse = adf_tuner_coarse;
775 if ( adf_count_mode->getIntValue() == 2 ) {
776 // tune count down timer
777 value = adf_elapsed_timer->getDoubleValue();
780 if ( adf_stby_mode->getIntValue() == 1 ) {
781 value = adf_freq->getFloatValue();
783 value = adf_stby_freq->getFloatValue();
787 if ( adf_tuner_fine != last_adf_tuner_fine ) {
788 diff = adf_tuner_fine - last_adf_tuner_fine;
789 if ( abs(diff) > 4 ) {
791 if ( adf_tuner_fine < last_adf_tuner_fine ) {
793 diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
796 diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
802 if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
803 diff = adf_tuner_coarse - last_adf_tuner_coarse;
804 if ( abs(diff) > 4 ) {
806 if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
808 diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
811 diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
814 if ( adf_count_mode->getIntValue() == 2 ) {
820 if ( adf_count_mode->getIntValue() == 2 ) {
821 if ( value < 0 ) { value += 3600; }
822 if ( value > 3599 ) { value -= 3600; }
824 if ( value < 200 ) { value += 1600; }
825 if ( value > 1799 ) { value -= 1600; }
828 last_adf_tuner_fine = adf_tuner_fine;
829 last_adf_tuner_coarse = adf_tuner_coarse;
831 if ( adf_count_mode->getIntValue() == 2 ) {
832 fgSetFloat( "/radios/adf/elapsed-timer", value );
834 if ( adf_stby_mode->getIntValue() == 1 ) {
835 fgSetFloat( "/radios/adf/frequencies/selected-khz", value );
837 fgSetFloat( "/radios/adf/frequencies/standby-khz", value );
842 fgSetInt( "/radios/adf/adf-btn", !(radio_switch_data[23] & 0x01) );
843 fgSetInt( "/radios/adf/bfo-btn", !(radio_switch_data[23] >> 1 & 0x01) );
844 fgSetInt( "/radios/adf/frq-btn", !(radio_switch_data[23] >> 2 & 0x01) );
845 fgSetInt( "/radios/adf/flt-et-btn", !(radio_switch_data[23] >> 3 & 0x01) );
846 fgSetInt( "/radios/adf/set-rst-btn", !(radio_switch_data[23] >> 4 & 0x01) );
847 /* cout << "adf = " << !(radio_switch_data[23] & 0x01)
848 << " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
849 << " stby = " << !(radio_switch_data[23] >> 2 & 0x01)
850 << " timer = " << !(radio_switch_data[23] >> 3 & 0x01)
851 << " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
858 /////////////////////////////////////////////////////////////////////
859 // Update the radio display
860 /////////////////////////////////////////////////////////////////////
862 bool FGATC610x::do_radio_display() {
867 if ( dme_switch != 0 ) {
869 float minutes = dme_min->getFloatValue();
870 if ( minutes > 999 ) {
873 sprintf(digits, "%03.0f", minutes);
874 for ( i = 0; i < 6; ++i ) {
877 radio_display_data[0] = digits[1] << 4 | digits[2];
878 radio_display_data[1] = 0xf0 | digits[0];
881 float knots = dme_kt->getFloatValue();
885 sprintf(digits, "%03.0f", knots);
886 for ( i = 0; i < 6; ++i ) {
889 radio_display_data[2] = digits[1] << 4 | digits[2];
890 radio_display_data[3] = 0xf0 | digits[0];
893 float nm = dme_nm->getFloatValue();
897 sprintf(digits, "%04.1f", nm);
898 for ( i = 0; i < 6; ++i ) {
901 radio_display_data[4] = digits[1] << 4 | digits[3];
902 radio_display_data[5] = 0x00 | digits[0];
903 // the 0x00 in the upper nibble of the 6th byte of each
904 // display turns on the decimal point
907 for ( i = 0; i < 6; ++i ) {
908 radio_display_data[i] = 0xff;
912 // Com1 standby frequency
913 float com1_stby = com1_stby_freq->getFloatValue();
914 if ( fabs(com1_stby) > 999.99 ) {
917 sprintf(digits, "%06.3f", com1_stby);
918 for ( i = 0; i < 6; ++i ) {
921 radio_display_data[6] = digits[4] << 4 | digits[5];
922 radio_display_data[7] = digits[1] << 4 | digits[2];
923 radio_display_data[8] = 0xf0 | digits[0];
925 // Com1 in use frequency
926 float com1 = com1_freq->getFloatValue();
927 if ( fabs(com1) > 999.99 ) {
930 sprintf(digits, "%06.3f", com1);
931 for ( i = 0; i < 6; ++i ) {
934 radio_display_data[9] = digits[4] << 4 | digits[5];
935 radio_display_data[10] = digits[1] << 4 | digits[2];
936 radio_display_data[11] = 0x00 | digits[0];
937 // the 0x00 in the upper nibble of the 6th byte of each display
938 // turns on the decimal point
940 // Com2 standby frequency
941 float com2_stby = com2_stby_freq->getFloatValue();
942 if ( fabs(com2_stby) > 999.99 ) {
945 sprintf(digits, "%06.3f", com2_stby);
946 for ( i = 0; i < 6; ++i ) {
949 radio_display_data[18] = digits[4] << 4 | digits[5];
950 radio_display_data[19] = digits[1] << 4 | digits[2];
951 radio_display_data[20] = 0xf0 | digits[0];
953 // Com2 in use frequency
954 float com2 = com2_freq->getFloatValue();
955 if ( fabs(com2) > 999.99 ) {
958 sprintf(digits, "%06.3f", com2);
959 for ( i = 0; i < 6; ++i ) {
962 radio_display_data[21] = digits[4] << 4 | digits[5];
963 radio_display_data[22] = digits[1] << 4 | digits[2];
964 radio_display_data[23] = 0x00 | digits[0];
965 // the 0x00 in the upper nibble of the 6th byte of each display
966 // turns on the decimal point
968 // Nav1 standby frequency
969 float nav1_stby = nav1_stby_freq->getFloatValue();
970 if ( fabs(nav1_stby) > 999.99 ) {
973 sprintf(digits, "%06.2f", nav1_stby);
974 for ( i = 0; i < 6; ++i ) {
977 radio_display_data[12] = digits[4] << 4 | digits[5];
978 radio_display_data[13] = digits[1] << 4 | digits[2];
979 radio_display_data[14] = 0xf0 | digits[0];
981 // Nav1 in use frequency
982 float nav1 = nav1_freq->getFloatValue();
983 if ( fabs(nav1) > 999.99 ) {
986 sprintf(digits, "%06.2f", nav1);
987 for ( i = 0; i < 6; ++i ) {
990 radio_display_data[15] = digits[4] << 4 | digits[5];
991 radio_display_data[16] = digits[1] << 4 | digits[2];
992 radio_display_data[17] = 0x00 | digits[0];
993 // the 0x00 in the upper nibble of the 6th byte of each display
994 // turns on the decimal point
996 // Nav2 standby frequency
997 float nav2_stby = nav2_stby_freq->getFloatValue();
998 if ( fabs(nav2_stby) > 999.99 ) {
1001 sprintf(digits, "%06.2f", nav2_stby);
1002 for ( i = 0; i < 6; ++i ) {
1005 radio_display_data[24] = digits[4] << 4 | digits[5];
1006 radio_display_data[25] = digits[1] << 4 | digits[2];
1007 radio_display_data[26] = 0xf0 | digits[0];
1009 // Nav2 in use frequency
1010 float nav2 = nav2_freq->getFloatValue();
1011 if ( fabs(nav2) > 999.99 ) {
1014 sprintf(digits, "%06.2f", nav2);
1015 for ( i = 0; i < 6; ++i ) {
1018 radio_display_data[27] = digits[4] << 4 | digits[5];
1019 radio_display_data[28] = digits[1] << 4 | digits[2];
1020 radio_display_data[29] = 0x00 | digits[0];
1021 // the 0x00 in the upper nibble of the 6th byte of each display
1022 // turns on the decimal point
1024 // ADF standby frequency / timer
1025 if ( adf_on_off_vol->getDoubleValue() >= 0.01 ) {
1026 if ( adf_stby_mode->getIntValue() == 0 ) {
1028 float adf_stby = adf_stby_freq->getFloatValue();
1029 if ( fabs(adf_stby) > 1799 ) {
1032 sprintf(digits, "%04.0f", adf_stby);
1033 for ( i = 0; i < 6; ++i ) {
1036 radio_display_data[30] = digits[3] << 4 | 0x0f;
1037 radio_display_data[31] = digits[1] << 4 | digits[2];
1038 if ( digits[0] == 0 ) {
1039 radio_display_data[32] = 0xff;
1041 radio_display_data[32] = 0xf0 | digits[0];
1046 int hours, min, sec;
1047 if ( adf_timer_mode->getIntValue() == 0 ) {
1048 time = adf_flight_timer->getDoubleValue();
1050 time = adf_elapsed_timer->getDoubleValue();
1052 // cout << time << endl;
1053 hours = (int)(time / 3600.0);
1054 time -= hours * 3600.00;
1055 min = (int)(time / 60.0);
1072 // cout << big << ":" << small << endl;
1073 sprintf(digits, "%02d%02d", big, small);
1074 for ( i = 0; i < 6; ++i ) {
1077 radio_display_data[30] = digits[3] << 4 | 0x0f;
1078 radio_display_data[31] = digits[1] << 4 | digits[2];
1079 radio_display_data[32] = 0xf0 | digits[0];
1082 // ADF in use frequency
1083 float adf = adf_freq->getFloatValue();
1084 if ( fabs(adf) > 1799 ) {
1087 sprintf(digits, "%04.0f", adf);
1088 for ( i = 0; i < 6; ++i ) {
1091 radio_display_data[33] = digits[2] << 4 | digits[3];
1092 if ( digits[0] == 0 ) {
1093 radio_display_data[34] = 0xf0 | digits[1];
1095 radio_display_data[34] = digits[0] << 4 | digits[1];
1098 radio_display_data[30] = 0xff;
1099 radio_display_data[31] = 0xff;
1100 radio_display_data[32] = 0xff;
1101 radio_display_data[33] = 0xff;
1102 radio_display_data[34] = 0xff;
1106 ATC610xSetRadios( radios_fd, radio_display_data );
1112 /////////////////////////////////////////////////////////////////////
1113 // Drive the stepper motors
1114 /////////////////////////////////////////////////////////////////////
1116 bool FGATC610x::do_steppers() {
1117 float diff = mag_compass->getFloatValue() - compass_position;
1118 while ( diff < -180.0 ) { diff += 360.0; }
1119 while ( diff > 180.0 ) { diff -= 360.0; }
1121 int steps = (int)(diff * 4);
1122 // cout << "steps = " << steps << endl;
1123 if ( steps > 4 ) { steps = 4; }
1124 if ( steps < -4 ) { steps = -4; }
1126 if ( abs(steps) > 0 ) {
1127 unsigned char cmd = 0x80; // stepper command
1129 cmd |= 0x20; // go up
1131 cmd |= 0x00; // go down
1135 // sync compass_position with hardware position
1136 compass_position += (float)steps / 4.0;
1138 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
1145 /////////////////////////////////////////////////////////////////////
1146 // Read the switch positions
1147 /////////////////////////////////////////////////////////////////////
1149 // decode the packed switch data
1150 static void update_switch_matrix(
1152 unsigned char switch_data[ATC_SWITCH_BYTES],
1153 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
1155 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
1156 unsigned char switches = switch_data[row];
1158 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
1159 switch_matrix[board][column][row] = switches & 1;
1160 switches = switches >> 1;
1165 bool FGATC610x::do_switches() {
1166 ATC610xReadSwitches( switches_fd, switch_data );
1168 // unpack the switch data
1169 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
1170 update_switch_matrix( board, switch_data, switch_matrix );
1172 // magnetos and starter switch
1174 bool starter = false;
1175 if ( switch_matrix[board][3][1] == 1 ) {
1178 } else if ( switch_matrix[board][2][1] == 1 ) {
1181 } else if ( switch_matrix[board][1][1] == 1 ) {
1184 } else if ( switch_matrix[board][0][1] == 1 ) {
1194 if ( switch_matrix[board][6][3] == 1 ) {
1196 } else if ( switch_matrix[board][5][3] == 1 ) {
1198 } else if ( switch_matrix[board][4][3] == 1 ) {
1200 } else if ( switch_matrix[board][4][3] == 0 ) {
1204 // do a bit of filtering on the magneto/starter switch and the
1205 // flap lever because these are not well debounced in hardware
1206 static int mag1, mag2, mag3;
1210 if ( mag1 == mag2 && mag2 == mag3 ) {
1211 fgSetInt( "/controls/magnetos[0]", magnetos );
1214 static bool start1, start2, start3;
1218 if ( start1 == start2 && start2 == start3 ) {
1219 fgSetBool( "/controls/starter[0]", starter );
1222 static float flap1, flap2, flap3;
1226 if ( flap1 == flap2 && flap2 == flap3 ) {
1227 fgSetFloat( "/controls/flaps", flaps );
1234 bool FGATC610x::process() {
1236 // Lock the hardware, skip if it's not ready yet
1237 if ( ATC610xLock( lock_fd ) > 0 ) {
1241 do_radio_switches();
1246 ATC610xRelease( lock_fd );
1255 bool FGATC610x::close() {