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 // Open and initialize ATC 610x hardware
185 bool FGATC610x::open() {
186 if ( is_enabled() ) {
187 SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
188 << "is already in use, ignoring" );
192 SG_LOG( SG_IO, SG_ALERT,
193 "Initializing ATC 610x hardware, please wait ..." );
195 set_hz( 30 ); // default to processing requests @ 30Hz
198 board = 0; // 610x uses a single board number = 0
200 snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
201 snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
202 snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
203 snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
204 snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
206 /////////////////////////////////////////////////////////////////////
207 // Open the /proc files
208 /////////////////////////////////////////////////////////////////////
210 lock_fd = ::open( lock_file, O_RDWR );
211 if ( lock_fd == -1 ) {
212 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
214 snprintf( msg, 256, "Error opening %s", lock_file );
219 analog_in_fd = ::open( analog_in_file, O_RDONLY );
220 if ( analog_in_fd == -1 ) {
221 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
223 snprintf( msg, 256, "Error opening %s", analog_in_file );
228 radios_fd = ::open( radios_file, O_RDWR );
229 if ( radios_fd == -1 ) {
230 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
232 snprintf( msg, 256, "Error opening %s", radios_file );
237 stepper_fd = ::open( stepper_file, O_RDWR );
238 if ( stepper_fd == -1 ) {
239 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
241 snprintf( msg, 256, "Error opening %s", stepper_file );
246 switches_fd = ::open( switches_file, O_RDONLY );
247 if ( switches_fd == -1 ) {
248 SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
250 snprintf( msg, 256, "Error opening %s", switches_file );
255 /////////////////////////////////////////////////////////////////////
256 // Home the compass stepper motor
257 /////////////////////////////////////////////////////////////////////
259 SG_LOG( SG_IO, SG_ALERT,
260 " - Homing the compass stepper motor" );
262 // Lock the hardware, keep trying until we succeed
263 while ( ATC610xLock( lock_fd ) <= 0 );
265 // Send the stepper home command
266 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
268 // Release the hardware
269 ATC610xRelease( lock_fd );
271 SG_LOG( SG_IO, SG_ALERT,
272 " - Waiting for compass to come home." );
275 int timeout = 900; // about 30 seconds
277 if ( timeout % 150 == 0 ) {
278 SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
280 SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
283 while ( ATC610xLock( lock_fd ) <= 0 );
285 unsigned char result = ATC610xReadStepper( stepper_fd );
290 ATC610xRelease( lock_fd );
292 #if defined( _MSC_VER )
293 ulMilliSecondSleep(33);
294 #elif defined (WIN32) && !defined(__CYGWIN__)
303 compass_position = 0.0;
305 /////////////////////////////////////////////////////////////////////
306 // Blank the radio display
307 /////////////////////////////////////////////////////////////////////
309 SG_LOG( SG_IO, SG_ALERT,
310 " - Clearing the radios displays." );
313 unsigned char value = 0xff;
314 for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
315 radio_display_data[channel] = value;
318 // Lock the hardware, keep trying until we succeed
319 while ( ATC610xLock( lock_fd ) <= 0 );
322 ATC610xSetRadios( radios_fd, radio_display_data );
324 ATC610xRelease( lock_fd );
326 /////////////////////////////////////////////////////////////////////
327 // Finished initing hardware
328 /////////////////////////////////////////////////////////////////////
330 SG_LOG( SG_IO, SG_ALERT,
331 "Done initializing ATC 610x hardware." );
333 /////////////////////////////////////////////////////////////////////
334 // Connect up to property values
335 /////////////////////////////////////////////////////////////////////
337 mag_compass = fgGetNode( "/steam/mag-compass-deg", true );
339 dme_min = fgGetNode( "/radios/dme/ete-min", true );
340 dme_kt = fgGetNode( "/radios/dme/speed-kt", true );
341 dme_nm = fgGetNode( "/radios/dme/distance-nm", true );
343 com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
345 = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
346 com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
348 = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
350 nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
352 = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
354 nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
356 = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
358 adf_freq = fgGetNode( "/radios/adf/frequencies/selected-khz", true );
359 adf_stby_freq = fgGetNode( "/radios/adf/frequencies/standby-khz", true );
365 /////////////////////////////////////////////////////////////////////
366 // Read analog inputs
367 /////////////////////////////////////////////////////////////////////
369 #define ATC_AILERON_CENTER 535
370 #define ATC_ELEVATOR_TRIM_CENTER 512
371 #define ATC_ELEVATOR_CENTER 543
373 bool FGATC610x::do_analog_in() {
374 // Read raw data in byte form
375 ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
377 // Convert to integer values
378 for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
379 unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
380 unsigned char lo = analog_in_bytes[2 * channel + 1];
381 analog_in_data[channel] = hi * 256 + lo;
383 // printf("%02x %02x ", hi, lo );
384 // printf("%04d ", value );
387 float tmp, tmp1, tmp2;
390 tmp = (float)(analog_in_data[0] - ATC_AILERON_CENTER) / 256.0f;
391 fgSetFloat( "/controls/aileron", tmp );
392 // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
395 tmp = (float)(analog_in_data[4] - ATC_ELEVATOR_TRIM_CENTER) / 512.0f;
396 fgSetFloat( "/controls/elevator-trim", tmp );
397 // cout << "trim = " << analog_in_data[4] << " = " << tmp;
400 tmp = (float)(ATC_ELEVATOR_CENTER - analog_in_data[5]) / 100.0f;
401 fgSetFloat( "/controls/elevator", tmp );
402 // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
405 tmp = (float)analog_in_data[7] / 680.0f;
406 fgSetFloat( "/controls/mixture[0]", tmp );
409 tmp = (float)analog_in_data[8] / 690.0f;
410 fgSetFloat( "/controls/throttle[0]", tmp );
413 tmp = (float)analog_in_data[25] / 1024.0f;
414 fgSetFloat( "/radios/nav[0]/volume", tmp );
417 tmp = (float)analog_in_data[24] / 1024.0f;
418 fgSetFloat( "/radios/nav[1]/volume", tmp );
421 tmp = (float)analog_in_data[26] / 1024.0f;
422 fgSetFloat( "/radios/adf/volume", tmp );
425 tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
426 fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
429 tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
430 tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
431 fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
437 /////////////////////////////////////////////////////////////////////
438 // Read radio switches
439 /////////////////////////////////////////////////////////////////////
441 bool FGATC610x::do_radio_switches() {
444 ATC610xReadRadios( radios_fd, radio_switch_data );
447 dme_switch = (radio_switch_data[7] >> 4) & 0x03;
448 if ( dme_switch == 0 ) {
450 fgSetInt( "/radios/dme/switch-position", 0 );
451 } else if ( dme_switch == 2 ) {
453 fgSetInt( "/radios/dme/switch-position", 1 );
454 } else if ( dme_switch == 1 ) {
456 fgSetInt( "/radios/dme/switch-position", 3 );
460 int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
461 static int last_com1_swap;
462 if ( com1_swap && (last_com1_swap != com1_swap) ) {
463 float tmp = com1_freq->getFloatValue();
464 fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
465 com1_stby_freq->getFloatValue() );
466 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
468 last_com1_swap = com1_swap;
471 int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
472 static int last_com2_swap;
473 if ( com2_swap && (last_com2_swap != com2_swap) ) {
474 float tmp = com2_freq->getFloatValue();
475 fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
476 com2_stby_freq->getFloatValue() );
477 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
479 last_com2_swap = com2_swap;
482 int nav1_swap = radio_switch_data[11] & 0x01;
483 static int last_nav1_swap;
484 if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
485 float tmp = nav1_freq->getFloatValue();
486 fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
487 nav1_stby_freq->getFloatValue() );
488 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
490 last_nav1_swap = nav1_swap;
493 int nav2_swap = !(radio_switch_data[19] & 0x01);
494 static int last_nav2_swap;
495 if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
496 float tmp = nav2_freq->getFloatValue();
497 fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
498 nav2_stby_freq->getFloatValue() );
499 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
501 last_nav2_swap = nav2_swap;
504 int com1_tuner_fine = (radio_switch_data[5] >> 4) & 0x0f;
505 int com1_tuner_course = radio_switch_data[5] & 0x0f;
506 // cout << "com1 = " << com1_tuner_fine << " " << com1_tuner_course << endl;
507 static int last_com1_tuner_fine = com1_tuner_fine;
508 static int last_com1_tuner_course = com1_tuner_course;
510 if ( com1_tuner_fine != last_com1_tuner_fine ) {
511 if ( com1_tuner_fine == 0x0c && last_com1_tuner_fine == 0x01 ) {
513 } else if ( com1_tuner_fine == 0x01 && last_com1_tuner_fine == 0x0c ) {
515 } else if ( com1_tuner_fine > last_com1_tuner_fine ) {
521 if ( com1_tuner_course != last_com1_tuner_course ) {
522 if ( com1_tuner_course == 0x0c && last_com1_tuner_course == 0x01 ) {
524 } else if ( com1_tuner_course == 0x01
525 && last_com1_tuner_course == 0x0c ) {
527 } else if ( com1_tuner_course > last_com1_tuner_course ) {
533 last_com1_tuner_fine = com1_tuner_fine;
534 last_com1_tuner_course = com1_tuner_course;
536 freq = com1_stby_freq->getFloatValue() + inc;
540 if ( freq > 140.0 ) {
543 fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", freq );
546 int com2_tuner_fine = (radio_switch_data[13] >> 4) & 0x0f;
547 int com2_tuner_course = radio_switch_data[13] & 0x0f;
548 static int last_com2_tuner_fine = com2_tuner_fine;
549 static int last_com2_tuner_course = com2_tuner_course;
551 if ( com2_tuner_fine != last_com2_tuner_fine ) {
552 if ( com2_tuner_fine == 0x0c && last_com2_tuner_fine == 0x01 ) {
554 } else if ( com2_tuner_fine == 0x01 && last_com2_tuner_fine == 0x0c ) {
556 } else if ( com2_tuner_fine > last_com2_tuner_fine ) {
562 if ( com2_tuner_course != last_com2_tuner_course ) {
563 if ( com2_tuner_course == 0x0c && last_com2_tuner_course == 0x01 ) {
565 } else if ( com2_tuner_course == 0x01
566 && last_com2_tuner_course == 0x0c ) {
568 } else if ( com2_tuner_course > last_com2_tuner_course ) {
574 last_com2_tuner_fine = com2_tuner_fine;
575 last_com2_tuner_course = com2_tuner_course;
577 freq = com2_stby_freq->getFloatValue() + inc;
581 if ( freq > 140.0 ) {
584 fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", freq );
587 int nav1_tuner_fine = (radio_switch_data[9] >> 4) & 0x0f;
588 int nav1_tuner_course = radio_switch_data[9] & 0x0f;
589 static int last_nav1_tuner_fine = nav1_tuner_fine;
590 static int last_nav1_tuner_course = nav1_tuner_course;
592 if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
593 if ( nav1_tuner_fine == 0x0c && last_nav1_tuner_fine == 0x01 ) {
595 } else if ( nav1_tuner_fine == 0x01 && last_nav1_tuner_fine == 0x0c ) {
597 } else if ( nav1_tuner_fine > last_nav1_tuner_fine ) {
603 if ( nav1_tuner_course != last_nav1_tuner_course ) {
604 if ( nav1_tuner_course == 0x0c && last_nav1_tuner_course == 0x01 ) {
606 } else if ( nav1_tuner_course == 0x01
607 && last_nav1_tuner_course == 0x0c ) {
609 } else if ( nav1_tuner_course > last_nav1_tuner_course ) {
615 last_nav1_tuner_fine = nav1_tuner_fine;
616 last_nav1_tuner_course = nav1_tuner_course;
618 freq = nav1_stby_freq->getFloatValue() + inc;
619 if ( freq < 108.0 ) {
622 if ( freq > 117.95 ) {
625 fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", freq );
628 int nav2_tuner_fine = (radio_switch_data[17] >> 4) & 0x0f;
629 int nav2_tuner_course = radio_switch_data[17] & 0x0f;
630 static int last_nav2_tuner_fine = nav2_tuner_fine;
631 static int last_nav2_tuner_course = nav2_tuner_course;
633 if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
634 if ( nav2_tuner_fine == 0x0c && last_nav2_tuner_fine == 0x01 ) {
636 } else if ( nav2_tuner_fine == 0x01 && last_nav2_tuner_fine == 0x0c ) {
638 } else if ( nav2_tuner_fine > last_nav2_tuner_fine ) {
644 if ( nav2_tuner_course != last_nav2_tuner_course ) {
645 if ( nav2_tuner_course == 0x0c && last_nav2_tuner_course == 0x01 ) {
647 } else if ( nav2_tuner_course == 0x01
648 && last_nav2_tuner_course == 0x0c ) {
650 } else if ( nav2_tuner_course > last_nav2_tuner_course ) {
656 last_nav2_tuner_fine = nav2_tuner_fine;
657 last_nav2_tuner_course = nav2_tuner_course;
659 freq = nav2_stby_freq->getFloatValue() + inc;
660 if ( freq < 108.0 ) {
663 if ( freq > 117.95 ) {
666 fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", freq );
669 int adf_tuner_fine = (radio_switch_data[21] >> 4) & 0x0f;
670 int adf_tuner_course = radio_switch_data[21] & 0x0f;
671 // cout << "adf = " << adf_tuner_fine << " " << adf_tuner_course << endl;
672 static int last_adf_tuner_fine = adf_tuner_fine;
673 static int last_adf_tuner_course = adf_tuner_course;
675 if ( adf_tuner_fine != last_adf_tuner_fine ) {
676 if ( adf_tuner_fine == 0x0c && last_adf_tuner_fine == 0x01 ) {
678 } else if ( adf_tuner_fine == 0x01 && last_adf_tuner_fine == 0x0c ) {
680 } else if ( adf_tuner_fine > last_adf_tuner_fine ) {
686 if ( adf_tuner_course != last_adf_tuner_course ) {
687 if ( adf_tuner_course == 0x0c && last_adf_tuner_course == 0x01 ) {
689 } else if ( adf_tuner_course == 0x01
690 && last_adf_tuner_course == 0x0c ) {
692 } else if ( adf_tuner_course > last_adf_tuner_course ) {
698 last_adf_tuner_fine = adf_tuner_fine;
699 last_adf_tuner_course = adf_tuner_course;
701 freq = adf_freq->getFloatValue() + inc;
702 if ( freq < 100.0 ) {
708 fgSetFloat( "/radios/adf/frequencies/selected-khz", freq );
714 /////////////////////////////////////////////////////////////////////
715 // Update the radio display
716 /////////////////////////////////////////////////////////////////////
718 bool FGATC610x::do_radio_display() {
723 if ( dme_switch != 0 ) {
725 float minutes = dme_min->getFloatValue();
726 if ( minutes > 999 ) {
729 sprintf(digits, "%03.0f", minutes);
730 for ( i = 0; i < 6; ++i ) {
733 radio_display_data[0] = digits[1] << 4 | digits[2];
734 radio_display_data[1] = 0xf0 | digits[0];
737 float knots = dme_kt->getFloatValue();
741 sprintf(digits, "%03.0f", knots);
742 for ( i = 0; i < 6; ++i ) {
745 radio_display_data[2] = digits[1] << 4 | digits[2];
746 radio_display_data[3] = 0xf0 | digits[0];
749 float nm = dme_nm->getFloatValue();
753 sprintf(digits, "%04.1f", nm);
754 for ( i = 0; i < 6; ++i ) {
757 radio_display_data[4] = digits[1] << 4 | digits[3];
758 radio_display_data[5] = 0x00 | digits[0];
759 // the 0x00 in the upper nibble of the 6th byte of each
760 // display turns on the decimal point
763 for ( i = 0; i < 6; ++i ) {
764 radio_display_data[i] = 0xff;
768 // Com1 standby frequency
769 float com1_stby = com1_stby_freq->getFloatValue();
770 if ( fabs(com1_stby) > 999.99 ) {
773 sprintf(digits, "%06.3f", com1_stby);
774 for ( i = 0; i < 6; ++i ) {
777 radio_display_data[6] = digits[4] << 4 | digits[5];
778 radio_display_data[7] = digits[1] << 4 | digits[2];
779 radio_display_data[8] = 0xf0 | digits[0];
781 // Com1 in use frequency
782 float com1 = com1_freq->getFloatValue();
783 if ( fabs(com1) > 999.99 ) {
786 sprintf(digits, "%06.3f", com1);
787 for ( i = 0; i < 6; ++i ) {
790 radio_display_data[9] = digits[4] << 4 | digits[5];
791 radio_display_data[10] = digits[1] << 4 | digits[2];
792 radio_display_data[11] = 0x00 | digits[0];
793 // the 0x00 in the upper nibble of the 6th byte of each display
794 // turns on the decimal point
796 // Com2 standby frequency
797 float com2_stby = com2_stby_freq->getFloatValue();
798 if ( fabs(com2_stby) > 999.99 ) {
801 sprintf(digits, "%06.3f", com2_stby);
802 for ( i = 0; i < 6; ++i ) {
805 radio_display_data[18] = digits[4] << 4 | digits[5];
806 radio_display_data[19] = digits[1] << 4 | digits[2];
807 radio_display_data[20] = 0xf0 | digits[0];
809 // Com2 in use frequency
810 float com2 = com2_freq->getFloatValue();
811 if ( fabs(com2) > 999.99 ) {
814 sprintf(digits, "%06.3f", com2);
815 for ( i = 0; i < 6; ++i ) {
818 radio_display_data[21] = digits[4] << 4 | digits[5];
819 radio_display_data[22] = digits[1] << 4 | digits[2];
820 radio_display_data[23] = 0x00 | digits[0];
821 // the 0x00 in the upper nibble of the 6th byte of each display
822 // turns on the decimal point
824 // Nav1 standby frequency
825 float nav1_stby = nav1_stby_freq->getFloatValue();
826 if ( fabs(nav1_stby) > 999.99 ) {
829 sprintf(digits, "%06.2f", nav1_stby);
830 for ( i = 0; i < 6; ++i ) {
833 radio_display_data[12] = digits[4] << 4 | digits[5];
834 radio_display_data[13] = digits[1] << 4 | digits[2];
835 radio_display_data[14] = 0xf0 | digits[0];
837 // Nav1 in use frequency
838 float nav1 = nav1_freq->getFloatValue();
839 if ( fabs(nav1) > 999.99 ) {
842 sprintf(digits, "%06.2f", nav1);
843 for ( i = 0; i < 6; ++i ) {
846 radio_display_data[15] = digits[4] << 4 | digits[5];
847 radio_display_data[16] = digits[1] << 4 | digits[2];
848 radio_display_data[17] = 0x00 | digits[0];
849 // the 0x00 in the upper nibble of the 6th byte of each display
850 // turns on the decimal point
852 // Nav2 standby frequency
853 float nav2_stby = nav2_stby_freq->getFloatValue();
854 if ( fabs(nav2_stby) > 999.99 ) {
857 sprintf(digits, "%06.2f", nav2_stby);
858 for ( i = 0; i < 6; ++i ) {
861 radio_display_data[24] = digits[4] << 4 | digits[5];
862 radio_display_data[25] = digits[1] << 4 | digits[2];
863 radio_display_data[26] = 0xf0 | digits[0];
865 // Nav2 in use frequency
866 float nav2 = nav2_freq->getFloatValue();
867 if ( fabs(nav2) > 999.99 ) {
870 sprintf(digits, "%06.2f", nav2);
871 for ( i = 0; i < 6; ++i ) {
874 radio_display_data[27] = digits[4] << 4 | digits[5];
875 radio_display_data[28] = digits[1] << 4 | digits[2];
876 radio_display_data[29] = 0x00 | digits[0];
877 // the 0x00 in the upper nibble of the 6th byte of each display
878 // turns on the decimal point
880 // ADF standby frequency
881 float adf_stby = adf_stby_freq->getFloatValue();
882 if ( fabs(adf_stby) > 999.99 ) {
885 sprintf(digits, "%03.0f", adf_stby);
886 for ( i = 0; i < 6; ++i ) {
889 radio_display_data[30] = digits[2] << 4 | 0x0f;
890 radio_display_data[31] = digits[0] << 4 | digits[1];
892 // ADF in use frequency
893 float adf = adf_freq->getFloatValue();
894 if ( fabs(adf) > 999.99 ) {
897 sprintf(digits, "%03.0f", adf);
898 for ( i = 0; i < 6; ++i ) {
901 radio_display_data[33] = digits[1] << 4 | digits[2];
902 radio_display_data[34] = 0xf0 | digits[0];
904 ATC610xSetRadios( radios_fd, radio_display_data );
910 /////////////////////////////////////////////////////////////////////
911 // Drive the stepper motors
912 /////////////////////////////////////////////////////////////////////
914 bool FGATC610x::do_steppers() {
915 float diff = mag_compass->getFloatValue() - compass_position;
916 while ( diff < -180.0 ) { diff += 360.0; }
917 while ( diff > 180.0 ) { diff -= 360.0; }
919 int steps = (int)(diff * 4);
920 // cout << "steps = " << steps << endl;
921 if ( steps > 4 ) { steps = 4; }
922 if ( steps < -4 ) { steps = -4; }
924 if ( abs(steps) > 0 ) {
925 unsigned char cmd = 0x80; // stepper command
927 cmd |= 0x20; // go up
929 cmd |= 0x00; // go down
933 // sync compass_position with hardware position
934 compass_position += (float)steps / 4.0;
936 ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
943 /////////////////////////////////////////////////////////////////////
944 // Read the switch positions
945 /////////////////////////////////////////////////////////////////////
947 // decode the packed switch data
948 static void update_switch_matrix(
950 unsigned char switch_data[ATC_SWITCH_BYTES],
951 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
953 for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
954 unsigned char switches = switch_data[row];
956 for( int column = 0; column < ATC_NUM_COLS; ++column ) {
957 switch_matrix[board][column][row] = switches & 1;
958 switches = switches >> 1;
963 bool FGATC610x::do_switches() {
964 ATC610xReadSwitches( switches_fd, switch_data );
966 // unpack the switch data
967 int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
968 update_switch_matrix( board, switch_data, switch_matrix );
970 // magnetos and starter switch
971 if ( switch_matrix[board][3][1] == 1 ) {
972 fgSetInt( "/controls/magnetos[0]", 3 );
973 fgSetBool( "/controls/starter[0]", true );
974 } else if ( switch_matrix[board][2][1] == 1 ) {
975 fgSetInt( "/controls/magnetos[0]", 3 );
976 fgSetBool( "/controls/starter[0]", false );
977 } else if ( switch_matrix[board][1][1] == 1 ) {
978 fgSetInt( "/controls/magnetos[0]", 2 );
979 fgSetBool( "/controls/starter[0]", false );
980 } else if ( switch_matrix[board][0][1] == 1 ) {
981 fgSetInt( "/controls/magnetos[0]", 1 );
982 fgSetBool( "/controls/starter[0]", false );
984 fgSetInt( "/controls/magnetos[0]", 0 );
985 fgSetBool( "/controls/starter[0]", false );
989 if ( switch_matrix[board][6][3] == 1 ) {
990 fgSetFloat( "/controls/flaps", 1.0 );
991 } else if ( switch_matrix[board][5][3] == 1 ) {
992 fgSetFloat( "/controls/flaps", 0.66 );
993 } else if ( switch_matrix[board][4][3] == 1 ) {
994 fgSetFloat( "/controls/flaps", 0.33 );
995 } else if ( switch_matrix[board][4][3] == 0 ) {
996 fgSetFloat( "/controls/flaps", 0.0 );
1003 bool FGATC610x::process() {
1005 // Lock the hardware, skip if it's not ready yet
1006 if ( ATC610xLock( lock_fd ) > 0 ) {
1009 do_radio_switches();
1014 ATC610xRelease( lock_fd );
1023 bool FGATC610x::close() {