Various SGI portability tweaks.

[flightgear.git] / src / Main / fg_serial.cxx

diff --git a/src/Main/fg_serial.cxx b/src/Main/fg_serial.cxx
index b7018ac0859c22fa23a9c8ec1253c9733026e234..211076fe5fc46c1ae1b75a8764ac12a5ac066662 100644 (file)
--- a/src/Main/fg_serial.cxx
+++ b/src/Main/fg_serial.cxx
@@ -181,6 +181,17 @@ static bool config_port( fgIOCHANNEL &p )
            FG_LOG( FG_SERIAL, FG_ALERT, "Unknown direction" );
            return false;
        }
+    } else if ( p.format == "pve" ) {
+       if ( p.direction == "out" ) {
+           p.kind = fgIOCHANNEL::FG_SERIAL_PVE_OUT;
+       } else if ( p.direction == "in" ) {
+           FG_LOG( FG_SERIAL, FG_ALERT, 
+                   "ProVision Entertainment format is outgoing only" );
+           return false;
+       } else {
+           FG_LOG( FG_SERIAL, FG_ALERT, "Unknown direction" );
+           return false;
+       }
     } else {
        FG_LOG( FG_SERIAL, FG_ALERT, "Unknown format" );
        return false;
@@ -450,7 +461,7 @@ static void read_fgfs_in( fgIOCHANNEL *p ) {
 //
 // For position it requires a 3-byte data packet defined as follows:
 //
-// First bite: ascII character"p" ( 80 decimal )
+// First bite: ascII character "P" ( 0x50 or 80 decimal )
 // Second byte X pos. (1-255) 1 being 0* and 255 being 359*
 // Third byte Y pos.( 1-255) 1 being 0* and 255 359*
 //
@@ -510,6 +521,88 @@ static void send_rul_out( fgIOCHANNEL *p ) {
 }
 
 
+// "PVE" (ProVision Entertainment) output format (for some sort of
+// motion platform)
+//
+// Outputs a 5-byte data packet defined as follows:
+//
+// First bite:  ASCII character "P" ( 0x50 or 80 decimal )
+// Second byte:  "roll" value (1-255) 1 being 0* and 255 being 359*
+// Third byte:  "pitch" value (1-255) 1 being 0* and 255 being 359*
+// Fourth byte:  "heave" value (or vertical acceleration?)
+//
+// So sending 80 127 127 to the two axis motors will position on 180*
+// The RS- 232 port is a nine pin connector and the only pins used are
+// 3&5.
+
+static void send_pve_out( fgIOCHANNEL *p ) {
+    char pve[256];
+
+    FGInterface *f;
+    FGTime *t;
+
+
+    f = current_aircraft.fdm_state;
+    t = FGTime::cur_time_params;
+
+    // run as often as possibleonce per second
+
+    // this runs once per second
+    // if ( p->last_time == t->get_cur_time() ) {
+    //    return;
+    // }
+    // p->last_time = t->get_cur_time();
+    // if ( t->get_cur_time() % 2 != 0 ) {
+    //    return;
+    // }
+    
+    // get roll and pitch, convert to degrees
+    double roll_deg = f->get_Phi() * RAD_TO_DEG;
+    while ( roll_deg <= -180.0 ) {
+       roll_deg += 360.0;
+    }
+    while ( roll_deg > 180.0 ) {
+       roll_deg -= 360.0;
+    }
+
+    double pitch_deg = f->get_Theta() * RAD_TO_DEG;
+    while ( pitch_deg <= -180.0 ) {
+       pitch_deg += 360.0;
+    }
+    while ( pitch_deg > 180.0 ) {
+       pitch_deg -= 360.0;
+    }
+
+    short int heave = (int)(f->get_W_body() * 128.0);
+
+    // scale roll and pitch to output format (1 - 255)
+    // straight && level == (128, 128)
+
+    short int roll = (int)(roll_deg * 32768 / 180.0);
+    short int pitch = (int)(pitch_deg * 32768 / 180.0);
+
+    unsigned char roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2;
+    roll_b1 = roll >> 8;
+    roll_b2 = roll & 0x00ff;
+    pitch_b1 = pitch >> 8;
+    pitch_b2 = pitch & 0x00ff;
+    heave_b1 = heave >> 8;
+    heave_b2 = heave & 0x00ff;
+
+    sprintf( pve, "p%c%c%c%c%c%c\n", 
+            roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2 );
+
+    // printf( "p [ %u %u ]  [ %u %u ]  [ %u %u ]\n", 
+    //         roll_b1, roll_b2, pitch_b1, pitch_b2, heave_b1, heave_b2 );
+
+    FG_LOG( FG_SERIAL, FG_INFO, "roll=" << roll << " pitch=" << pitch <<
+           " heave=" << heave );
+
+    string pve_sentence = pve;
+    p->port.write_port(pve_sentence);
+}
+
+
 // one more level of indirection ...
 static void process_port( fgIOCHANNEL *p ) {
     if ( p->kind == fgIOCHANNEL::FG_SERIAL_NMEA_OUT ) {
@@ -526,6 +619,8 @@ static void process_port( fgIOCHANNEL *p ) {
        read_fgfs_in(p);
     } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_RUL_OUT ) {
        send_rul_out(p);
+    } else if ( p->kind == fgIOCHANNEL::FG_SERIAL_PVE_OUT ) {
+       send_pve_out(p);
     }
 }