--- /dev/null
+// atc610x.cxx -- FGFS interface to ATC 610x hardware
+//
+// Written by Curtis Olson, started January 2002
+//
+// Copyright (C) 2002 Curtis L. Olson - curt@flightgear.org
+//
+// This program is free software; you can redistribute it and/or
+// modify it under the terms of the GNU General Public License as
+// published by the Free Software Foundation; either version 2 of the
+// License, or (at your option) any later version.
+//
+// This program is distributed in the hope that it will be useful, but
+// WITHOUT ANY WARRANTY; without even the implied warranty of
+// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
+// General Public License for more details.
+//
+// You should have received a copy of the GNU General Public License
+// along with this program; if not, write to the Free Software
+// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
+//
+// $Id$
+
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <simgear/compiler.h>
+
+#include <stdlib.h> // atoi() atof() abs()
+#include <sys/types.h>
+#include <sys/stat.h>
+#include <fcntl.h>
+
+#include STL_STRING
+
+#include <simgear/debug/logstream.hxx>
+#include <simgear/io/iochannel.hxx>
+#include <simgear/math/sg_types.hxx>
+#include <simgear/misc/props.hxx>
+
+#include <Main/fg_props.hxx>
+#include <Main/globals.hxx>
+
+#include "atc610x.hxx"
+
+SG_USING_STD(string);
+
+
+// Lock the ATC 610 hardware
+static int ATC610xLock( int fd ) {
+ // rewind
+ lseek( fd, 0, SEEK_SET );
+
+ char tmp[2];
+ int result = read( fd, tmp, 1 );
+ if ( result != 1 ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
+ }
+
+ return result;
+}
+
+
+// Write a radios command
+static int ATC610xRelease( int fd ) {
+ // rewind
+ lseek( fd, 0, SEEK_SET );
+
+ char tmp[2];
+ tmp[0] = tmp[1] = 0;
+ int result = write( fd, tmp, 1 );
+
+ if ( result != 1 ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
+ }
+
+ return result;
+}
+
+
+// Read analog inputs
+static void ATC610xReadAnalogInputs( int fd, unsigned char *analog_in_bytes ) {
+ // rewind
+ lseek( fd, 0, SEEK_SET );
+
+ int result = read( fd, analog_in_bytes, ATC_ANAL_IN_BYTES );
+ if ( result != ATC_ANAL_IN_BYTES ) {
+ SG_LOG( SG_IO, SG_ALERT, "Read failed" );
+ exit( -1 );
+ }
+}
+
+
+// Write a radios command
+static int ATC610xSetRadios( int fd,
+ unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
+{
+ // rewind
+ lseek( fd, 0, SEEK_SET );
+
+ int result = write( fd, data, ATC_RADIO_DISPLAY_BYTES );
+
+ if ( result != ATC_RADIO_DISPLAY_BYTES ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Write failed" );
+ }
+
+ return result;
+}
+
+
+// Read status of last radios written to
+static void ATC610xReadRadios( int fd, unsigned char *switch_data ) {
+ // rewind
+ lseek( fd, 0, SEEK_SET );
+
+ int result = read( fd, switch_data, ATC_RADIO_SWITCH_BYTES );
+ if ( result != ATC_RADIO_SWITCH_BYTES ) {
+ SG_LOG( SG_IO, SG_ALERT, "Read failed" );
+ exit( -1 );
+ }
+}
+
+// Write a stepper command
+static int ATC610xSetStepper( int fd, unsigned char channel,
+ unsigned char value )
+{
+ // rewind
+ lseek( fd, 0, SEEK_SET );
+
+ // Write the value
+ unsigned char buf[3];
+ buf[0] = channel;
+ buf[1] = value;
+ buf[2] = 0;
+ int result = write( fd, buf, 2 );
+ if ( result != 2 ) {
+ SG_LOG( SG_IO, SG_INFO, "Write failed" );
+ }
+ SG_LOG( SG_IO, SG_DEBUG,
+ "Sent cmd = " << (int)channel << " value = " << (int)value );
+ return result;
+}
+
+
+// Read status of last stepper written to
+static unsigned char ATC610xReadStepper( int fd ) {
+ int result;
+
+ // rewind
+ lseek( fd, 0, SEEK_SET );
+
+ // Write the value
+ unsigned char buf[2];
+ result = read( fd, buf, 1 );
+ if ( result != 1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Read failed" );
+ exit( -1 );
+ }
+ SG_LOG( SG_IO, SG_DEBUG, "Read result = " << (int)buf[0] );
+
+ return buf[0];
+}
+
+
+// Read switch inputs
+static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
+ // rewind
+ lseek( fd, 0, SEEK_SET );
+
+ int result = read( fd, switch_bytes, ATC_SWITCH_BYTES );
+ if ( result != ATC_SWITCH_BYTES ) {
+ SG_LOG( SG_IO, SG_ALERT, "Read failed" );
+ exit( -1 );
+ }
+}
+
+
+// Open and initialize ATC 610x hardware
+bool FGATC610x::open() {
+ if ( is_enabled() ) {
+ SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
+ << "is already in use, ignoring" );
+ return false;
+ }
+
+ SG_LOG( SG_IO, SG_ALERT,
+ "Initializing ATC 610x hardware, please wait ..." );
+
+ set_hz( 30 ); // default to processing requests @ 30Hz
+ set_enabled( true );
+
+ board = 0; // 610x uses a single board number = 0
+
+ snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
+ snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
+ snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
+ snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
+ snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
+
+ /////////////////////////////////////////////////////////////////////
+ // Open the /proc files
+ /////////////////////////////////////////////////////////////////////
+
+ lock_fd = ::open( lock_file, O_RDWR );
+ if ( lock_fd == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error opening %s", lock_file );
+ perror( msg );
+ exit( -1 );
+ }
+
+ analog_in_fd = ::open( analog_in_file, O_RDONLY );
+ if ( analog_in_fd == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error opening %s", analog_in_file );
+ perror( msg );
+ exit( -1 );
+ }
+
+ radios_fd = ::open( radios_file, O_RDWR );
+ if ( radios_fd == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error opening %s", radios_file );
+ perror( msg );
+ exit( -1 );
+ }
+
+ stepper_fd = ::open( stepper_file, O_RDWR );
+ if ( stepper_fd == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error opening %s", stepper_file );
+ perror( msg );
+ exit( -1 );
+ }
+
+ switches_fd = ::open( switches_file, O_RDONLY );
+ if ( switches_fd == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error opening %s", switches_file );
+ perror( msg );
+ exit( -1 );
+ }
+
+ /////////////////////////////////////////////////////////////////////
+ // Home the compass stepper motor
+ /////////////////////////////////////////////////////////////////////
+
+ SG_LOG( SG_IO, SG_ALERT,
+ " - Homing the compass stepper motor" );
+
+ // Lock the hardware, keep trying until we succeed
+ while ( ATC610xLock( lock_fd ) <= 0 );
+
+ // Send the stepper home command
+ ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
+
+ // Release the hardware
+ ATC610xRelease( lock_fd );
+
+ bool home = false;
+ while ( ! home ) {
+ SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
+
+ while ( ATC610xLock( lock_fd ) <= 0 );
+
+ unsigned char result = ATC610xReadStepper( stepper_fd );
+ if ( result == 0 ) {
+ home = true;
+ }
+
+ ATC610xRelease( lock_fd );
+
+ usleep(33);
+ }
+
+ compass_position = 0.0;
+
+ /////////////////////////////////////////////////////////////////////
+ // Blank the radio display
+ /////////////////////////////////////////////////////////////////////
+
+ SG_LOG( SG_IO, SG_ALERT,
+ " - Clearing the radios displays." );
+
+ // Prepair the data
+ unsigned char value = 0xff;
+ for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
+ radio_display_data[channel] = value;
+ }
+
+ // Lock the hardware, keep trying until we succeed
+ while ( ATC610xLock( lock_fd ) <= 0 );
+
+ // Set radio display
+ ATC610xSetRadios( radios_fd, radio_display_data );
+
+ ATC610xRelease( lock_fd );
+
+ /////////////////////////////////////////////////////////////////////
+ // Finished initing hardware
+ /////////////////////////////////////////////////////////////////////
+
+ SG_LOG( SG_IO, SG_ALERT,
+ "Done initializing ATC 610x hardware." );
+
+ /////////////////////////////////////////////////////////////////////
+ // Connect up to property values
+ /////////////////////////////////////////////////////////////////////
+
+ mag_compass = fgGetNode( "/steam/mag-compass-deg", true );
+
+ dme_min = fgGetNode( "/radios/dme/ete-min", true );
+ dme_kt = fgGetNode( "/radios/dme/speed-kt", true );
+ dme_nm = fgGetNode( "/radios/dme/distance-nm", true );
+
+ com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
+ com1_stby_freq
+ = fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
+ com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
+ com2_stby_freq
+ = fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
+
+ nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
+ nav1_stby_freq
+ = fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
+
+ nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
+ nav2_stby_freq
+ = fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
+
+ adf_freq = fgGetNode( "/radios/adf/frequencies/selected-khz", true );
+ adf_stby_freq = fgGetNode( "/radios/adf/frequencies/standby-khz", true );
+
+ return true;
+}
+
+
+/////////////////////////////////////////////////////////////////////
+// Read analog inputs
+/////////////////////////////////////////////////////////////////////
+
+#define ATC_AILERON_CENTER 535
+#define ATC_ELEVATOR_TRIM_CENTER 512
+#define ATC_ELEVATOR_CENTER 543
+
+bool FGATC610x::do_analog_in() {
+ // Read raw data in byte form
+ ATC610xReadAnalogInputs( analog_in_fd, analog_in_bytes );
+
+ // Convert to integer values
+ for ( int channel = 0; channel < ATC_ANAL_IN_VALUES; ++channel ) {
+ unsigned char hi = analog_in_bytes[2 * channel] & 0x03;
+ unsigned char lo = analog_in_bytes[2 * channel + 1];
+ analog_in_data[channel] = hi * 256 + lo;
+
+ // printf("%02x %02x ", hi, lo );
+ // printf("%04d ", value );
+ }
+
+ float tmp, tmp1, tmp2;
+
+ // aileron
+ tmp = (float)(analog_in_data[0] - ATC_AILERON_CENTER) / 256.0f;
+ fgSetFloat( "/controls/aileron", tmp );
+ // cout << "aileron = " << analog_in_data[0] << " = " << tmp;
+
+ // elevator
+ tmp = (float)(analog_in_data[4] - ATC_ELEVATOR_TRIM_CENTER) / 512.0f;
+ fgSetFloat( "/controls/elevator-trim", tmp );
+ // cout << "trim = " << analog_in_data[4] << " = " << tmp;
+
+ // trim
+ tmp = (float)(ATC_ELEVATOR_CENTER - analog_in_data[5]) / 100.0f;
+ fgSetFloat( "/controls/elevator", tmp );
+ // cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
+
+ // mixture
+ tmp = (float)analog_in_data[7] / 680.0f;
+ fgSetFloat( "/controls/mixture[0]", tmp );
+
+ // throttle
+ tmp = (float)analog_in_data[8] / 690.0f;
+ fgSetFloat( "/controls/throttle[0]", tmp );
+
+ // nav1 volume
+ tmp = (float)analog_in_data[25] / 1024.0f;
+ fgSetFloat( "/radios/nav[0]/volume", tmp );
+
+ // nav2 volume
+ tmp = (float)analog_in_data[24] / 1024.0f;
+ fgSetFloat( "/radios/nav[1]/volume", tmp );
+
+ // adf volume
+ tmp = (float)analog_in_data[26] / 1024.0f;
+ fgSetFloat( "/radios/adf/volume", tmp );
+
+ // nav2 obs tuner
+ tmp = (float)analog_in_data[29] * 360.0f / 1024.0f;
+ fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
+
+ // nav1 obs tuner
+ tmp1 = (float)analog_in_data[30] * 360.0f / 1024.0f;
+ tmp2 = (float)analog_in_data[31] * 360.0f / 1024.0f;
+ fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp1 );
+
+ return true;
+}
+
+
+/////////////////////////////////////////////////////////////////////
+// Read radio switches
+/////////////////////////////////////////////////////////////////////
+
+bool FGATC610x::do_radio_switches() {
+ float freq, inc;
+
+ ATC610xReadRadios( radios_fd, radio_switch_data );
+
+ // DME Switch
+ dme_switch = (radio_switch_data[7] >> 4) & 0x03;
+ if ( dme_switch == 0 ) {
+ // off
+ fgSetInt( "/radios/dme/switch-position", 0 );
+ } else if ( dme_switch == 2 ) {
+ // nav1
+ fgSetInt( "/radios/dme/switch-position", 1 );
+ } else if ( dme_switch == 1 ) {
+ // nav2
+ fgSetInt( "/radios/dme/switch-position", 3 );
+ }
+
+ // Com1 Swap
+ int com1_swap = !((radio_switch_data[7] >> 1) & 0x01);
+ static int last_com1_swap;
+ if ( com1_swap && (last_com1_swap != com1_swap) ) {
+ float tmp = com1_freq->getFloatValue();
+ fgSetFloat( "/radios/comm[0]/frequencies/selected-mhz",
+ com1_stby_freq->getFloatValue() );
+ fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", tmp );
+ }
+ last_com1_swap = com1_swap;
+
+ // Com2 Swap
+ int com2_swap = !((radio_switch_data[15] >> 1) & 0x01);
+ static int last_com2_swap;
+ if ( com2_swap && (last_com2_swap != com2_swap) ) {
+ float tmp = com2_freq->getFloatValue();
+ fgSetFloat( "/radios/comm[1]/frequencies/selected-mhz",
+ com2_stby_freq->getFloatValue() );
+ fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", tmp );
+ }
+ last_com2_swap = com2_swap;
+
+ // Nav1 Swap
+ int nav1_swap = radio_switch_data[11] & 0x01;
+ static int last_nav1_swap;
+ if ( nav1_swap && (last_nav1_swap != nav1_swap) ) {
+ float tmp = nav1_freq->getFloatValue();
+ fgSetFloat( "/radios/nav[0]/frequencies/selected-mhz",
+ nav1_stby_freq->getFloatValue() );
+ fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", tmp );
+ }
+ last_nav1_swap = nav1_swap;
+
+ // Nav2 Swap
+ int nav2_swap = !(radio_switch_data[19] & 0x01);
+ static int last_nav2_swap;
+ if ( nav2_swap && (last_nav2_swap != nav2_swap) ) {
+ float tmp = nav2_freq->getFloatValue();
+ fgSetFloat( "/radios/nav[1]/frequencies/selected-mhz",
+ nav2_stby_freq->getFloatValue() );
+ fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", tmp );
+ }
+ last_nav2_swap = nav2_swap;
+
+ // Com1 Tuner
+ int com1_tuner_fine = (radio_switch_data[5] >> 4) & 0x0f;
+ int com1_tuner_course = radio_switch_data[5] & 0x0f;
+ // cout << "com1 = " << com1_tuner_fine << " " << com1_tuner_course << endl;
+ static int last_com1_tuner_fine = com1_tuner_fine;
+ static int last_com1_tuner_course = com1_tuner_course;
+ inc = 0.0;
+ if ( com1_tuner_fine != last_com1_tuner_fine ) {
+ if ( com1_tuner_fine == 0x0c && last_com1_tuner_fine == 0x01 ) {
+ inc = -0.025;
+ } else if ( com1_tuner_fine == 0x01 && last_com1_tuner_fine == 0x0c ) {
+ inc = -0.025;
+ } else if ( com1_tuner_fine > last_com1_tuner_fine ) {
+ inc = 0.025;
+ } else {
+ inc = -0.025;
+ }
+ }
+ if ( com1_tuner_course != last_com1_tuner_course ) {
+ if ( com1_tuner_course == 0x0c && last_com1_tuner_course == 0x01 ) {
+ inc = -1.0;
+ } else if ( com1_tuner_course == 0x01
+ && last_com1_tuner_course == 0x0c ) {
+ inc = -1.0;
+ } else if ( com1_tuner_course > last_com1_tuner_course ) {
+ inc = 1.0;
+ } else {
+ inc = -1.0;
+ }
+ }
+ last_com1_tuner_fine = com1_tuner_fine;
+ last_com1_tuner_course = com1_tuner_course;
+
+ freq = com1_stby_freq->getFloatValue() + inc;
+ if ( freq < 0.0 ) {
+ freq = 140.0;
+ }
+ if ( freq > 140.0 ) {
+ freq = 0.0;
+ }
+ fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz", freq );
+
+ // Com2 Tuner
+ int com2_tuner_fine = (radio_switch_data[13] >> 4) & 0x0f;
+ int com2_tuner_course = radio_switch_data[13] & 0x0f;
+ static int last_com2_tuner_fine = com2_tuner_fine;
+ static int last_com2_tuner_course = com2_tuner_course;
+ inc = 0.0;
+ if ( com2_tuner_fine != last_com2_tuner_fine ) {
+ if ( com2_tuner_fine == 0x0c && last_com2_tuner_fine == 0x01 ) {
+ inc = -0.025;
+ } else if ( com2_tuner_fine == 0x01 && last_com2_tuner_fine == 0x0c ) {
+ inc = -0.025;
+ } else if ( com2_tuner_fine > last_com2_tuner_fine ) {
+ inc = 0.025;
+ } else {
+ inc = -0.025;
+ }
+ }
+ if ( com2_tuner_course != last_com2_tuner_course ) {
+ if ( com2_tuner_course == 0x0c && last_com2_tuner_course == 0x01 ) {
+ inc = -1.0;
+ } else if ( com2_tuner_course == 0x01
+ && last_com2_tuner_course == 0x0c ) {
+ inc = -1.0;
+ } else if ( com2_tuner_course > last_com2_tuner_course ) {
+ inc = 1.0;
+ } else {
+ inc = -1.0;
+ }
+ }
+ last_com2_tuner_fine = com2_tuner_fine;
+ last_com2_tuner_course = com2_tuner_course;
+
+ freq = com2_stby_freq->getFloatValue() + inc;
+ if ( freq < 0.0 ) {
+ freq = 140.0;
+ }
+ if ( freq > 140.0 ) {
+ freq = 0.0;
+ }
+ fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz", freq );
+
+ // Nav1 Tuner
+ int nav1_tuner_fine = (radio_switch_data[9] >> 4) & 0x0f;
+ int nav1_tuner_course = radio_switch_data[9] & 0x0f;
+ static int last_nav1_tuner_fine = nav1_tuner_fine;
+ static int last_nav1_tuner_course = nav1_tuner_course;
+ inc = 0.0;
+ if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
+ if ( nav1_tuner_fine == 0x0c && last_nav1_tuner_fine == 0x01 ) {
+ inc = -0.05;
+ } else if ( nav1_tuner_fine == 0x01 && last_nav1_tuner_fine == 0x0c ) {
+ inc = -0.05;
+ } else if ( nav1_tuner_fine > last_nav1_tuner_fine ) {
+ inc = 0.05;
+ } else {
+ inc = -0.05;
+ }
+ }
+ if ( nav1_tuner_course != last_nav1_tuner_course ) {
+ if ( nav1_tuner_course == 0x0c && last_nav1_tuner_course == 0x01 ) {
+ inc = -1.0;
+ } else if ( nav1_tuner_course == 0x01
+ && last_nav1_tuner_course == 0x0c ) {
+ inc = -1.0;
+ } else if ( nav1_tuner_course > last_nav1_tuner_course ) {
+ inc = 1.0;
+ } else {
+ inc = -1.0;
+ }
+ }
+ last_nav1_tuner_fine = nav1_tuner_fine;
+ last_nav1_tuner_course = nav1_tuner_course;
+
+ freq = nav1_stby_freq->getFloatValue() + inc;
+ if ( freq < 108.0 ) {
+ freq = 117.95;
+ }
+ if ( freq > 117.95 ) {
+ freq = 108.0;
+ }
+ fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz", freq );
+
+ // Nav2 Tuner
+ int nav2_tuner_fine = (radio_switch_data[17] >> 4) & 0x0f;
+ int nav2_tuner_course = radio_switch_data[17] & 0x0f;
+ static int last_nav2_tuner_fine = nav2_tuner_fine;
+ static int last_nav2_tuner_course = nav2_tuner_course;
+ inc = 0.0;
+ if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
+ if ( nav2_tuner_fine == 0x0c && last_nav2_tuner_fine == 0x01 ) {
+ inc = -0.05;
+ } else if ( nav2_tuner_fine == 0x01 && last_nav2_tuner_fine == 0x0c ) {
+ inc = -0.05;
+ } else if ( nav2_tuner_fine > last_nav2_tuner_fine ) {
+ inc = 0.05;
+ } else {
+ inc = -0.05;
+ }
+ }
+ if ( nav2_tuner_course != last_nav2_tuner_course ) {
+ if ( nav2_tuner_course == 0x0c && last_nav2_tuner_course == 0x01 ) {
+ inc = -1.0;
+ } else if ( nav2_tuner_course == 0x01
+ && last_nav2_tuner_course == 0x0c ) {
+ inc = -1.0;
+ } else if ( nav2_tuner_course > last_nav2_tuner_course ) {
+ inc = 1.0;
+ } else {
+ inc = -1.0;
+ }
+ }
+ last_nav2_tuner_fine = nav2_tuner_fine;
+ last_nav2_tuner_course = nav2_tuner_course;
+
+ freq = nav2_stby_freq->getFloatValue() + inc;
+ if ( freq < 108.0 ) {
+ freq = 117.95;
+ }
+ if ( freq > 117.95 ) {
+ freq = 108.0;
+ }
+ fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz", freq );
+
+ // ADF Tuner
+ int adf_tuner_fine = (radio_switch_data[21] >> 4) & 0x0f;
+ int adf_tuner_course = radio_switch_data[21] & 0x0f;
+ // cout << "adf = " << adf_tuner_fine << " " << adf_tuner_course << endl;
+ static int last_adf_tuner_fine = adf_tuner_fine;
+ static int last_adf_tuner_course = adf_tuner_course;
+ inc = 0.0;
+ if ( adf_tuner_fine != last_adf_tuner_fine ) {
+ if ( adf_tuner_fine == 0x0c && last_adf_tuner_fine == 0x01 ) {
+ inc = -1.0;
+ } else if ( adf_tuner_fine == 0x01 && last_adf_tuner_fine == 0x0c ) {
+ inc = -1.0;
+ } else if ( adf_tuner_fine > last_adf_tuner_fine ) {
+ inc = 1.0;
+ } else {
+ inc = -1.0;
+ }
+ }
+ if ( adf_tuner_course != last_adf_tuner_course ) {
+ if ( adf_tuner_course == 0x0c && last_adf_tuner_course == 0x01 ) {
+ inc = -25.0;
+ } else if ( adf_tuner_course == 0x01
+ && last_adf_tuner_course == 0x0c ) {
+ inc = -25.0;
+ } else if ( adf_tuner_course > last_adf_tuner_course ) {
+ inc = 25.0;
+ } else {
+ inc = -25.0;
+ }
+ }
+ last_adf_tuner_fine = adf_tuner_fine;
+ last_adf_tuner_course = adf_tuner_course;
+
+ freq = adf_freq->getFloatValue() + inc;
+ if ( freq < 100.0 ) {
+ freq = 1299;
+ }
+ if ( freq > 1299 ) {
+ freq = 100.0;
+ }
+ fgSetFloat( "/radios/adf/frequencies/selected-khz", freq );
+
+ return true;
+}
+
+
+/////////////////////////////////////////////////////////////////////
+// Update the radio display
+/////////////////////////////////////////////////////////////////////
+
+bool FGATC610x::do_radio_display() {
+
+ char digits[10];
+
+ if ( dme_switch != 0 ) {
+ // DME minutes
+ float minutes = dme_min->getFloatValue();
+ if ( minutes > 999 ) {
+ minutes = 999.0;
+ }
+ sprintf(digits, "%03.0f", minutes);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[0] = digits[1] << 4 | digits[2];
+ radio_display_data[1] = 0xf0 | digits[0];
+
+ // DME knots
+ float knots = dme_kt->getFloatValue();
+ if ( knots > 999 ) {
+ knots = 999.0;
+ }
+ sprintf(digits, "%03.0f", knots);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[2] = digits[1] << 4 | digits[2];
+ radio_display_data[3] = 0xf0 | digits[0];
+
+ // DME distance (nm)
+ float nm = dme_nm->getFloatValue();
+ if ( nm > 99 ) {
+ nm = 99.0;
+ }
+ sprintf(digits, "%04.1f", nm);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[4] = digits[1] << 4 | digits[3];
+ radio_display_data[5] = 0x00 | digits[0];
+ // the 0x00 in the upper nibble of the 6th byte of each
+ // display turns on the decimal point
+ } else {
+ // blank dem display
+ for ( int i = 0; i < 6; ++i ) {
+ radio_display_data[i] = 0xff;
+ }
+ }
+
+ // Com1 standby frequency
+ float com1_stby = com1_stby_freq->getFloatValue();
+ if ( fabs(com1_stby) > 999.99 ) {
+ com1_stby = 0.0;
+ }
+ sprintf(digits, "%06.3f", com1_stby);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[6] = digits[4] << 4 | digits[5];
+ radio_display_data[7] = digits[1] << 4 | digits[2];
+ radio_display_data[8] = 0xf0 | digits[0];
+
+ // Com1 in use frequency
+ float com1 = com1_freq->getFloatValue();
+ if ( fabs(com1) > 999.99 ) {
+ com1 = 0.0;
+ }
+ sprintf(digits, "%06.3f", com1);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[9] = digits[4] << 4 | digits[5];
+ radio_display_data[10] = digits[1] << 4 | digits[2];
+ radio_display_data[11] = 0x00 | digits[0];
+ // the 0x00 in the upper nibble of the 6th byte of each display
+ // turns on the decimal point
+
+ // Com2 standby frequency
+ float com2_stby = com2_stby_freq->getFloatValue();
+ if ( fabs(com2_stby) > 999.99 ) {
+ com2_stby = 0.0;
+ }
+ sprintf(digits, "%06.3f", com2_stby);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[18] = digits[4] << 4 | digits[5];
+ radio_display_data[19] = digits[1] << 4 | digits[2];
+ radio_display_data[20] = 0xf0 | digits[0];
+
+ // Com2 in use frequency
+ float com2 = com2_freq->getFloatValue();
+ if ( fabs(com2) > 999.99 ) {
+ com2 = 0.0;
+ }
+ sprintf(digits, "%06.3f", com2);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[21] = digits[4] << 4 | digits[5];
+ radio_display_data[22] = digits[1] << 4 | digits[2];
+ radio_display_data[23] = 0x00 | digits[0];
+ // the 0x00 in the upper nibble of the 6th byte of each display
+ // turns on the decimal point
+
+ // Nav1 standby frequency
+ float nav1_stby = nav1_stby_freq->getFloatValue();
+ if ( fabs(nav1_stby) > 999.99 ) {
+ nav1_stby = 0.0;
+ }
+ sprintf(digits, "%06.2f", nav1_stby);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[12] = digits[4] << 4 | digits[5];
+ radio_display_data[13] = digits[1] << 4 | digits[2];
+ radio_display_data[14] = 0xf0 | digits[0];
+
+ // Nav1 in use frequency
+ float nav1 = nav1_freq->getFloatValue();
+ if ( fabs(nav1) > 999.99 ) {
+ nav1 = 0.0;
+ }
+ sprintf(digits, "%06.2f", nav1);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[15] = digits[4] << 4 | digits[5];
+ radio_display_data[16] = digits[1] << 4 | digits[2];
+ radio_display_data[17] = 0x00 | digits[0];
+ // the 0x00 in the upper nibble of the 6th byte of each display
+ // turns on the decimal point
+
+ // Nav2 standby frequency
+ float nav2_stby = nav2_stby_freq->getFloatValue();
+ if ( fabs(nav2_stby) > 999.99 ) {
+ nav2_stby = 0.0;
+ }
+ sprintf(digits, "%06.2f", nav2_stby);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[24] = digits[4] << 4 | digits[5];
+ radio_display_data[25] = digits[1] << 4 | digits[2];
+ radio_display_data[26] = 0xf0 | digits[0];
+
+ // Nav2 in use frequency
+ float nav2 = nav2_freq->getFloatValue();
+ if ( fabs(nav2) > 999.99 ) {
+ nav2 = 0.0;
+ }
+ sprintf(digits, "%06.2f", nav2);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[27] = digits[4] << 4 | digits[5];
+ radio_display_data[28] = digits[1] << 4 | digits[2];
+ radio_display_data[29] = 0x00 | digits[0];
+ // the 0x00 in the upper nibble of the 6th byte of each display
+ // turns on the decimal point
+
+ // ADF standby frequency
+ float adf_stby = adf_stby_freq->getFloatValue();
+ if ( fabs(adf_stby) > 999.99 ) {
+ adf_stby = 0.0;
+ }
+ sprintf(digits, "%03.0f", adf_stby);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[30] = digits[2] << 4 | 0x0f;
+ radio_display_data[31] = digits[0] << 4 | digits[1];
+
+ // ADF in use frequency
+ float adf = adf_freq->getFloatValue();
+ if ( fabs(adf) > 999.99 ) {
+ adf = 0.0;
+ }
+ sprintf(digits, "%03.0f", adf);
+ for ( int i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[33] = digits[1] << 4 | digits[2];
+ radio_display_data[34] = 0xf0 | digits[0];
+
+ ATC610xSetRadios( radios_fd, radio_display_data );
+
+ return true;
+}
+
+
+/////////////////////////////////////////////////////////////////////
+// Drive the stepper motors
+/////////////////////////////////////////////////////////////////////
+
+bool FGATC610x::do_steppers() {
+ float diff = mag_compass->getFloatValue() - compass_position;
+ while ( diff < -180.0 ) { diff += 360.0; }
+ while ( diff > 180.0 ) { diff -= 360.0; }
+
+ int steps = (int)(diff * 4);
+ // cout << "steps = " << steps << endl;
+ if ( steps > 4 ) { steps = 4; }
+ if ( steps < -4 ) { steps = -4; }
+
+ if ( abs(steps) > 0 ) {
+ unsigned char cmd = 0x80; // stepper command
+ if ( steps > 0 ) {
+ cmd |= 0x20; // go up
+ } else {
+ cmd |= 0x00; // go down
+ }
+ cmd |= abs(steps);
+
+ // sync compass_position with hardware position
+ compass_position += (float)steps / 4.0;
+
+ ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
+ }
+
+ return true;
+}
+
+
+/////////////////////////////////////////////////////////////////////
+// Read the switch positions
+/////////////////////////////////////////////////////////////////////
+
+// decode the packed switch data
+static void update_switch_matrix(
+ int board,
+ unsigned char switch_data[ATC_SWITCH_BYTES],
+ int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES] )
+{
+ for ( int row = 0; row < ATC_SWITCH_BYTES; ++row ) {
+ unsigned char switches = switch_data[row];
+
+ for( int column = 0; column < ATC_NUM_COLS; ++column ) {
+ switch_matrix[board][column][row] = switches & 1;
+ switches = switches >> 1;
+ }
+ }
+}
+
+bool FGATC610x::do_switches() {
+ ATC610xReadSwitches( switches_fd, switch_data );
+
+ // unpack the switch data
+ int switch_matrix[2][ATC_NUM_COLS][ATC_SWITCH_BYTES];
+ update_switch_matrix( board, switch_data, switch_matrix );
+
+ // magnetos and starter switch
+ if ( switch_matrix[board][3][1] == 1 ) {
+ fgSetInt( "/controls/magnetos[0]", 3 );
+ fgSetBool( "/controls/starter[0]", true );
+ } else if ( switch_matrix[board][2][1] == 1 ) {
+ fgSetInt( "/controls/magnetos[0]", 3 );
+ fgSetBool( "/controls/starter[0]", false );
+ } else if ( switch_matrix[board][1][1] == 1 ) {
+ fgSetInt( "/controls/magnetos[0]", 2 );
+ fgSetBool( "/controls/starter[0]", false );
+ } else if ( switch_matrix[board][0][1] == 1 ) {
+ fgSetInt( "/controls/magnetos[0]", 1 );
+ fgSetBool( "/controls/starter[0]", false );
+ } else {
+ fgSetInt( "/controls/magnetos[0]", 0 );
+ fgSetBool( "/controls/starter[0]", false );
+ }
+
+ // flaps
+ if ( switch_matrix[board][6][3] == 1 ) {
+ fgSetFloat( "/controls/flaps", 1.0 );
+ } else if ( switch_matrix[board][5][3] == 1 ) {
+ fgSetFloat( "/controls/flaps", 0.66 );
+ } else if ( switch_matrix[board][4][3] == 1 ) {
+ fgSetFloat( "/controls/flaps", 0.33 );
+ } else if ( switch_matrix[board][4][3] == 0 ) {
+ fgSetFloat( "/controls/flaps", 0.0 );
+ }
+
+ return true;
+}
+
+
+bool FGATC610x::process() {
+
+ // Lock the hardware, skip if it's not ready yet
+ if ( ATC610xLock( lock_fd ) > 0 ) {
+
+ do_analog_in();
+ do_radio_switches();
+ do_radio_display();
+ do_steppers();
+ do_switches();
+
+ ATC610xRelease( lock_fd );
+
+ return true;
+ } else {
+ return false;
+ }
+}
+
+
+bool FGATC610x::close() {
+
+ return true;
+}
projects / flightgear.git / commitdiff