--- /dev/null
+// ATC-Main.cxx -- FGFS interface to ATC hardware
+//
+// Written by Curtis Olson, started January 2002
+//
+// Copyright (C) 2002 Curtis L. Olson - http://www.flightgear.org/~curt
+//
+// 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 <stdio.h> //snprintf
+#if defined( _MSC_VER ) || defined(__MINGW32__)
+# include <io.h> //lseek, read, write
+#endif
+
+#include STL_STRING
+
+#include <plib/ul.h>
+
+#include <simgear/debug/logstream.hxx>
+#include <simgear/io/iochannel.hxx>
+#include <simgear/math/sg_types.hxx>
+#include <simgear/misc/sg_path.hxx>
+#include <simgear/props/props.hxx>
+
+#include <Scripting/NasalSys.hxx>
+#include <Main/fg_props.hxx>
+#include <Main/globals.hxx>
+
+#include "ATC-Main.hxx"
+
+SG_USING_STD(string);
+
+
+// Lock the ATC hardware
+static int fgATCMainLock( 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 fgATCMainRelease( 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;
+}
+
+
+void FGATCMain::init_config() {
+#if defined( unix ) || defined( __CYGWIN__ )
+ // Next check home directory for .fgfsrc.hostname file
+ char *envp = ::getenv( "HOME" );
+ if ( envp != NULL ) {
+ SGPath atcsim_config( envp );
+ atcsim_config.append( ".fgfs-atc610x.xml" );
+ readProperties( atcsim_config.str(), globals->get_props() );
+ }
+#endif
+}
+
+
+// Open and initialize ATC hardware
+bool FGATCMain::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 hardware, please wait ..." );
+
+ // This loads the config parameters generated by "simcal"
+ init_config();
+
+ /////////////////////////////////////////////////////////////////////
+ // Open the /proc files
+ /////////////////////////////////////////////////////////////////////
+
+ string lock0_file = "/proc/atc610x/board0/lock";
+ string lock1_file = "/proc/atc610x/board1/lock";
+
+ lock0_fd = ::open( lock0_file.c_str(), O_RDWR );
+ if ( lock0_fd == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error opening %s", lock0_file.c_str() );
+ perror( msg );
+ exit( -1 );
+ }
+
+ lock1_fd = ::open( lock1_file.c_str(), O_RDWR );
+ if ( lock1_fd == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error opening %s", lock1_file.c_str() );
+ perror( msg );
+ exit( -1 );
+ }
+
+ if ( input0_path.str().length() ) {
+ input0 = new FGATCInput( 0, input0_path );
+ input0->open();
+ }
+ if ( input1_path.str().length() ) {
+ input1 = new FGATCInput( 1, input1_path );
+ input1->open();
+ }
+ if ( output0_path.str().length() ) {
+ output0 = new FGATCOutput( 0, output0_path );
+ output0->open( lock0_fd );
+ }
+ if ( output1_path.str().length() ) {
+ output1 = new FGATCOutput( 1, output1_path );
+ output1->open( lock1_fd );
+ }
+
+ set_hz( 30 ); // default to processing requests @ 30Hz
+ set_enabled( true );
+
+ /////////////////////////////////////////////////////////////////////
+ // Finished initing hardware
+ /////////////////////////////////////////////////////////////////////
+
+ SG_LOG( SG_IO, SG_ALERT,
+ "Done initializing ATC hardware." );
+
+ return true;
+}
+
+
+bool FGATCMain::process() {
+ // Lock the hardware, skip if it's not ready yet
+ if ( fgATCMainLock( lock0_fd ) <= 0 ) {
+ return false;
+ }
+ if ( fgATCMainLock( lock1_fd ) <= 0 ) {
+ // lock0 will be locked here, so release before we return
+ fgATCMainRelease( lock0_fd );
+ return false;
+ }
+
+ // process the ATC inputs
+ if ( input0 != NULL ) {
+ input0->process();
+ }
+ if ( input1 != NULL ) {
+ input1->process();
+ }
+
+ // run our custom nasal script. This is a layer above the raw
+ // hardware inputs. It handles situations where there isn't a
+ // direct 1-1 linear mapping between ATC functionality and FG
+ // functionality, and handles situations where FG expects more
+ // functionality from the interface than the ATC hardware can
+ // directly provide.
+
+ FGNasalSys *n = (FGNasalSys*)globals->get_subsystem("nasal");
+ bool result = n->parseAndRun( "atcsim.do_hardware()" );
+ if ( !result ) {
+ SG_LOG( SG_GENERAL, SG_ALERT,
+ "Nasal: atcsim.do_hardware() failed!" );
+ }
+
+ // process the ATC outputs
+ if ( output0 != NULL ) {
+ output0->process();
+ }
+ if ( output1 != NULL ) {
+ output1->process();
+ }
+
+ fgATCMainRelease( lock0_fd );
+ fgATCMainRelease( lock1_fd );
+
+ return true;
+}
+
+
+bool FGATCMain::close() {
+ int result;
+
+ result = ::close( lock0_fd );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error closing lock0_fd" );
+ perror( msg );
+ exit( -1 );
+ }
+
+ result = ::close( lock1_fd );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error closing lock1_fd" );
+ perror( msg );
+ exit( -1 );
+ }
+
+ return true;
+}
--- /dev/null
+// ATC-Main.hxx -- FGFS interface to ATC 610x hardware
+//
+// Written by Curtis Olson, started January 2002.
+//
+// Copyright (C) 2002 Curtis L. Olson - http://www.flightgear.org/~curt
+//
+// 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.
+//
+// $Id$
+
+
+#ifndef _FG_ATC_MAIN_HXX
+#define _FG_ATC_MAIN_HXX
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <plib/netChat.h>
+
+#include <Main/fg_props.hxx>
+
+#include "protocol.hxx"
+
+#include "ATC-Inputs.hxx"
+#include "ATC-Outputs.hxx"
+
+
+class FGATCMain : public FGProtocol {
+
+ FGATCInput *input0; // board0 input interface class
+ FGATCInput *input1; // board1 input interface class
+ FGATCOutput *output0; // board0 output interface class
+ FGATCOutput *output1; // board1 output interface class
+
+ SGPath input0_path;
+ SGPath input1_path;
+ SGPath output0_path;
+ SGPath output1_path;
+
+ int board;
+
+ int lock0_fd;
+ int lock1_fd;
+
+public:
+
+ FGATCMain() :
+ input0(NULL),
+ input1(NULL),
+ output0(NULL),
+ output1(NULL),
+ input0_path(""),
+ input1_path(""),
+ output0_path(""),
+ output1_path("")
+ { }
+
+ ~FGATCMain() {
+ delete input0;
+ delete input1;
+ delete output0;
+ delete output1;
+ }
+
+ // Open and initialize ATC 610x hardware
+ bool open();
+
+ void init_config();
+
+ bool process();
+
+ bool close();
+
+ inline void set_path_names( const SGPath &in0, const SGPath &in1,
+ const SGPath &out0, const SGPath &out1 )
+ {
+ input0_path = in0;
+ input1_path = in1;
+ output0_path = out0;
+ output1_path = out1;
+ }
+};
+
+
+#endif // _FG_ATC_MAIN_HXX
--- /dev/null
+// ATC-Outputs.hxx -- Translate FGFS properties to ATC hardware outputs.
+//
+// Written by Curtis Olson, started November 2004.
+//
+// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
+//
+// 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>
+
+#if defined( unix ) || defined( __CYGWIN__ )
+# include <sys/types.h>
+# include <sys/stat.h>
+# include <fcntl.h>
+#endif
+
+#include STL_STRING
+
+#include <simgear/debug/logstream.hxx>
+
+#include <Main/fg_props.hxx>
+
+#include "ATC-Outputs.hxx"
+
+SG_USING_STD(string);
+
+
+
+// Lock the ATC hardware
+static int ATCLock( 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;
+}
+
+
+// Release the ATC hardware
+static int ATCRelease( 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;
+}
+
+
+// Constructor: The _board parameter specifies which board to
+// reference. Possible values are 0 or 1. The _config_file parameter
+// specifies the location of the output config file (xml)
+FGATCOutput::FGATCOutput( const int _board, const SGPath &_config_file ) :
+ is_open(false),
+ lamps_out_node(NULL),
+ radio_display_node(NULL),
+ steppers_node(NULL)
+{
+ board = _board;
+ config = _config_file;
+}
+
+
+// Write a radios command
+static int ATCSetRadios( 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;
+}
+
+
+// Write a stepper command
+static int ATCSetStepper( 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 ATCReadStepper( 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];
+}
+
+
+// Turn a lamp on or off
+void ATCSetLamp( int fd, int channel, bool value ) {
+ // lamp channels 0-63 are written to LampPort0, channels 64-127
+ // are written to LampPort1
+
+ // bits 0-6 are the lamp address
+ // bit 7 is the value (on/off)
+
+ int result;
+
+ // Write the value
+ unsigned char buf[3];
+ buf[0] = channel;
+ buf[1] = value;
+ buf[2] = 0;
+ result = write( fd, buf, 2 );
+ if ( result != 2 ) {
+ SG_LOG( SG_IO, SG_ALERT, "Write failed" );
+ exit( -1 );
+ }
+}
+
+
+void FGATCOutput::init_config() {
+#if defined( unix ) || defined( __CYGWIN__ )
+ if ( config.str()[0] != '/' ) {
+ // not an absolute path, prepend the standard location
+ SGPath tmp;
+ char *envp = ::getenv( "HOME" );
+ if ( envp != NULL ) {
+ tmp = envp;
+ tmp.append( ".atcflightsim" );
+ tmp.append( config.str() );
+ config = tmp;
+ }
+ }
+ readProperties( config.str(), globals->get_props() );
+#endif
+}
+
+
+// Open and initialize the ATC hardware
+bool FGATCOutput::open( int lock_fd ) {
+ if ( is_open ) {
+ SG_LOG( SG_IO, SG_ALERT, "This board is already open for output! "
+ << board );
+ return false;
+ }
+
+ // This loads the config parameters generated by "simcal"
+ init_config();
+
+ SG_LOG( SG_IO, SG_ALERT,
+ "Initializing ATC hardware, please wait ..." );
+
+ snprintf( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
+ snprintf( radio_display_file, 256, "/proc/atc610x/board%d/radios", board );
+ snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
+
+#if defined( unix ) || defined( __CYGWIN__ )
+
+ /////////////////////////////////////////////////////////////////////
+ // Open the /proc files
+ /////////////////////////////////////////////////////////////////////
+
+ lamps_fd = ::open( lamps_file, O_WRONLY );
+ if ( lamps_fd == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error opening %s", lamps_file );
+ perror( msg );
+ exit( -1 );
+ }
+
+ radio_display_fd = ::open( radio_display_file, O_RDWR );
+ if ( radio_display_fd == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error opening %s", radio_display_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 );
+ }
+
+#endif
+
+ /////////////////////////////////////////////////////////////////////
+ // 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 ( ATCLock( lock_fd ) <= 0 );
+
+ // Send the stepper home command
+ ATCSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
+
+ // Release the hardware
+ ATCRelease( lock_fd );
+
+ SG_LOG( SG_IO, SG_ALERT,
+ " - Waiting for compass to come home." );
+
+ bool home = false;
+ int timeout = 900; // about 30 seconds
+ timeout = 0;
+ while ( ! home && timeout > 0 ) {
+ if ( timeout % 150 == 0 ) {
+ SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
+ } else {
+ SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
+ }
+
+ while ( ATCLock( lock_fd ) <= 0 );
+
+ unsigned char result = ATCReadStepper( stepper_fd );
+ if ( result == 0 ) {
+ home = true;
+ }
+
+ ATCRelease( lock_fd );
+
+#if defined( _MSC_VER )
+ ulMilliSecondSleep(33);
+#elif defined (WIN32) && !defined(__CYGWIN__)
+ Sleep (33);
+#else
+ usleep(33);
+#endif
+
+ --timeout;
+ }
+
+ 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 ( ATCLock( lock_fd ) <= 0 );
+
+ // Set radio display
+ ATCSetRadios( radio_display_fd, radio_display_data );
+
+ ATCRelease( lock_fd );
+
+ /////////////////////////////////////////////////////////////////////
+ // Blank the lamps
+ /////////////////////////////////////////////////////////////////////
+
+ for ( int i = 0; i < 128; ++i ) {
+ ATCSetLamp( lamps_fd, i, false );
+ }
+
+ /////////////////////////////////////////////////////////////////////
+ // Finished initing hardware
+ /////////////////////////////////////////////////////////////////////
+
+ SG_LOG( SG_IO, SG_ALERT,
+ "Done initializing ATC hardware." );
+
+ is_open = true;
+
+ /////////////////////////////////////////////////////////////////////
+ // Connect up to property values
+ /////////////////////////////////////////////////////////////////////
+
+ char base_name[256];
+
+ snprintf( base_name, 256, "/output/atc-board[%d]/lamps", board );
+ lamps_out_node = fgGetNode( base_name );
+
+ snprintf( base_name, 256, "/output/atc-board[%d]/radio-display", board );
+ radio_display_node = fgGetNode( base_name );
+
+ snprintf( base_name, 256, "/output/atc-board[%d]/steppers", board );
+ steppers_node = fgGetNode( base_name );
+
+ return true;
+}
+
+
+/////////////////////////////////////////////////////////////////////
+// Write the lights
+/////////////////////////////////////////////////////////////////////
+
+bool FGATCOutput::do_lamps() {
+
+ if ( lamps_out_node != NULL ) {
+ for ( int i = 0; i < lamps_out_node->nChildren(); ++i ) {
+ // read the next config entry from the property tree
+
+ SGPropertyNode *child = lamps_out_node->getChild(i);
+ string cname = child->getName();
+ int index = child->getIndex();
+ string name = "";
+ string type = "";
+ SGPropertyNode *src_prop = NULL;
+ if ( cname == "lamp" ) {
+ SGPropertyNode *prop;
+ prop = child->getChild( "name" );
+ if ( prop != NULL ) {
+ name = prop->getStringValue();
+ }
+ prop = child->getChild( "type" );
+ if ( prop != NULL ) {
+ type = prop->getStringValue();
+ }
+ prop = child->getChild( "prop" );
+ if ( prop != NULL ) {
+ src_prop = fgGetNode( prop->getStringValue(), true );
+ }
+ ATCSetLamp( lamps_fd, index, src_prop->getBoolValue() );
+ } else {
+ SG_LOG( SG_IO, SG_DEBUG,
+ "Input config error, expecting 'lamp' but found "
+ << cname );
+ }
+ }
+ }
+
+ return true;
+}
+
+
+/////////////////////////////////////////////////////////////////////
+// Update the radio display
+/////////////////////////////////////////////////////////////////////
+
+
+static bool navcom1_has_power() {
+ static SGPropertyNode *navcom1_bus_power
+ = fgGetNode( "/systems/electrical/outputs/nav[0]", true );
+ static SGPropertyNode *navcom1_power_btn
+ = fgGetNode( "/instrumentation/comm[0]/inputs/power-btn", true );
+
+ return (navcom1_bus_power->getDoubleValue() > 1.0)
+ && navcom1_power_btn->getBoolValue();
+}
+
+static bool navcom2_has_power() {
+ static SGPropertyNode *navcom2_bus_power
+ = fgGetNode( "/systems/electrical/outputs/nav[1]", true );
+ static SGPropertyNode *navcom2_power_btn
+ = fgGetNode( "/instrumentation/comm[1]/inputs/power-btn", true );
+
+ return (navcom2_bus_power->getDoubleValue() > 1.0)
+ && navcom2_power_btn->getBoolValue();
+}
+
+static bool dme_has_power() {
+ static SGPropertyNode *dme_bus_power
+ = fgGetNode( "/systems/electrical/outputs/dme", true );
+
+ return (dme_bus_power->getDoubleValue() > 1.0);
+}
+
+static bool adf_has_power() {
+ static SGPropertyNode *adf_bus_power
+ = fgGetNode( "/systems/electrical/outputs/adf", true );
+ static SGPropertyNode *adf_power_btn
+ = fgGetNode( "/instrumentation/kr-87/inputs/power-btn", true );
+
+ return (adf_bus_power->getDoubleValue() > 1.0)
+ && adf_power_btn->getBoolValue();
+}
+
+static bool xpdr_has_power() {
+ static SGPropertyNode *xpdr_bus_power
+ = fgGetNode( "/systems/electrical/outputs/transponder", true );
+ static SGPropertyNode *xpdr_func_knob
+ = fgGetNode( "/instrumentation/kt-70/inputs/func-knob", true );
+
+ return (xpdr_bus_power->getDoubleValue() > 1.0)
+ && (xpdr_func_knob->getIntValue() > 0);
+}
+
+bool FGATCOutput::do_radio_display() {
+ static SGPropertyNode *dme_serviceable
+ = fgGetNode( "/instrumentation/dme/serviceable", true );
+ static SGPropertyNode *dme_in_range
+ = fgGetNode( "/instrumentation/dme/in-range", true );
+ static SGPropertyNode *dme_min
+ = fgGetNode( "/instrumentation/dme/indicated-time-min", true );
+ static SGPropertyNode *dme_kt
+ = fgGetNode( "/instrumentation/dme/indicated-ground-speed-kt", true );
+ static SGPropertyNode *dme_nm
+ = fgGetNode( "/instrumentation/dme/indicated-distance-nm", true );
+
+ static SGPropertyNode *comm1_serviceable
+ = fgGetNode( "/instrumentation/comm[0]/serviceable", true );
+ static SGPropertyNode *com1_freq
+ = fgGetNode( "/instrumentation/comm[0]/frequencies/selected-mhz", true);
+ static SGPropertyNode *com1_stby_freq
+ = fgGetNode( "/instrumentation/comm[0]/frequencies/standby-mhz", true );
+
+ static SGPropertyNode *comm2_serviceable
+ = fgGetNode( "/instrumentation/comm[1]/serviceable", true );
+ static SGPropertyNode *com2_freq
+ = fgGetNode( "/instrumentation/comm[1]/frequencies/selected-mhz", true);
+ static SGPropertyNode *com2_stby_freq
+ = fgGetNode( "/instrumentation/comm[1]/frequencies/standby-mhz", true );
+
+ static SGPropertyNode *nav1_serviceable
+ = fgGetNode( "/instrumentation/nav[0]/serviceable", true );
+ static SGPropertyNode *nav1_freq
+ = fgGetNode( "/instrumentation/nav[0]/frequencies/selected-mhz", true );
+ static SGPropertyNode *nav1_stby_freq
+ = fgGetNode( "/instrumentation/nav[0]/frequencies/standby-mhz", true );
+
+ static SGPropertyNode *nav2_serviceable
+ = fgGetNode( "/instrumentation/nav[1]/serviceable", true );
+ static SGPropertyNode *nav2_freq
+ = fgGetNode( "/instrumentation/nav[1]/frequencies/selected-mhz", true );
+ static SGPropertyNode *nav2_stby_freq
+ = fgGetNode( "/instrumentation/nav[1]/frequencies/standby-mhz", true );
+
+ static SGPropertyNode *adf_serviceable
+ = fgGetNode( "/instrumentation/adf/serviceable", true );
+ static SGPropertyNode *adf_freq
+ = fgGetNode( "/instrumentation/kr-87/outputs/selected-khz", true );
+ static SGPropertyNode *adf_stby_freq
+ = fgGetNode( "/instrumentation/kr-87/outputs/standby-khz", true );
+ static SGPropertyNode *adf_stby_mode
+ = fgGetNode( "/instrumentation/kr-87/modes/stby", true );
+ static SGPropertyNode *adf_timer_mode
+ = fgGetNode( "/instrumentation/kr-87/modes/timer", true );
+ // static SGPropertyNode *adf_count_mode
+ // = fgGetNode( "/instrumentation/kr-87/modes/count", true );
+ static SGPropertyNode *adf_flight_timer
+ = fgGetNode( "/instrumentation/kr-87/outputs/flight-timer", true );
+ static SGPropertyNode *adf_elapsed_timer
+ = fgGetNode( "/instrumentation/kr-87/outputs/elapsed-timer", true );
+
+ static SGPropertyNode *xpdr_serviceable
+ = fgGetNode( "/instrumentation/kt-70/inputs/serviceable", true );
+ static SGPropertyNode *xpdr_func_knob
+ = fgGetNode( "/instrumentation/kt-70/inputs/func-knob", true );
+ static SGPropertyNode *xpdr_flight_level
+ = fgGetNode( "/instrumentation/kt-70/outputs/flight-level", true );
+ static SGPropertyNode *xpdr_id_code
+ = fgGetNode( "/instrumentation/kt-70/outputs/id-code", true );
+
+ char digits[10];
+ int i;
+
+ if ( dme_has_power() && dme_serviceable->getBoolValue() ) {
+ if ( dme_in_range->getBoolValue() ) {
+ // DME minutes
+ float minutes = dme_min->getFloatValue();
+ if ( minutes > 999 ) {
+ minutes = 999.0;
+ }
+ snprintf(digits, 7, "%03.0f", minutes);
+ for ( 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;
+ }
+ snprintf(digits, 7, "%03.0f", knots);
+ for ( 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;
+ }
+ snprintf(digits, 7, "%04.1f", nm);
+ for ( 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 {
+ // out of range
+ radio_display_data[0] = 0xbb;
+ radio_display_data[1] = 0xfb;
+ radio_display_data[2] = 0xbb;
+ radio_display_data[3] = 0xfb;
+ radio_display_data[4] = 0xbb;
+ radio_display_data[5] = 0x0b;
+ }
+ } else {
+ // blank dem display
+ for ( i = 0; i < 6; ++i ) {
+ radio_display_data[i] = 0xff;
+ }
+ }
+
+ if ( navcom1_has_power() && comm1_serviceable->getBoolValue() ) {
+ // Com1 standby frequency
+ float com1_stby = com1_stby_freq->getFloatValue();
+ if ( fabs(com1_stby) > 999.99 ) {
+ com1_stby = 0.0;
+ }
+ snprintf(digits, 7, "%06.3f", com1_stby);
+ for ( 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;
+ }
+ snprintf(digits, 7, "%06.3f", com1);
+ for ( 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
+ } else {
+ radio_display_data[6] = 0xff;
+ radio_display_data[7] = 0xff;
+ radio_display_data[8] = 0xff;
+ radio_display_data[9] = 0xff;
+ radio_display_data[10] = 0xff;
+ radio_display_data[11] = 0xff;
+ }
+
+ if ( navcom2_has_power() && comm2_serviceable->getBoolValue() ) {
+ // Com2 standby frequency
+ float com2_stby = com2_stby_freq->getFloatValue();
+ if ( fabs(com2_stby) > 999.99 ) {
+ com2_stby = 0.0;
+ }
+ snprintf(digits, 7, "%06.3f", com2_stby);
+ for ( 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;
+ }
+ snprintf(digits, 7, "%06.3f", com2);
+ for ( 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
+ } else {
+ radio_display_data[18] = 0xff;
+ radio_display_data[19] = 0xff;
+ radio_display_data[20] = 0xff;
+ radio_display_data[21] = 0xff;
+ radio_display_data[22] = 0xff;
+ radio_display_data[23] = 0xff;
+ }
+
+ if ( navcom1_has_power() && nav1_serviceable->getBoolValue() ) {
+ // Nav1 standby frequency
+ float nav1_stby = nav1_stby_freq->getFloatValue();
+ if ( fabs(nav1_stby) > 999.99 ) {
+ nav1_stby = 0.0;
+ }
+ snprintf(digits, 7, "%06.2f", nav1_stby);
+ for ( 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;
+ }
+ snprintf(digits, 7, "%06.2f", nav1);
+ for ( 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
+ } else {
+ radio_display_data[12] = 0xff;
+ radio_display_data[13] = 0xff;
+ radio_display_data[14] = 0xff;
+ radio_display_data[15] = 0xff;
+ radio_display_data[16] = 0xff;
+ radio_display_data[17] = 0xff;
+ }
+
+ if ( navcom2_has_power() && nav2_serviceable->getBoolValue() ) {
+ // Nav2 standby frequency
+ float nav2_stby = nav2_stby_freq->getFloatValue();
+ if ( fabs(nav2_stby) > 999.99 ) {
+ nav2_stby = 0.0;
+ }
+ snprintf(digits, 7, "%06.2f", nav2_stby);
+ for ( 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;
+ }
+ snprintf(digits, 7, "%06.2f", nav2);
+ for ( 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
+ } else {
+ radio_display_data[24] = 0xff;
+ radio_display_data[25] = 0xff;
+ radio_display_data[26] = 0xff;
+ radio_display_data[27] = 0xff;
+ radio_display_data[28] = 0xff;
+ radio_display_data[29] = 0xff;
+ }
+
+ // ADF standby frequency / timer
+ if ( adf_has_power() && adf_serviceable->getBoolValue() ) {
+ if ( adf_stby_mode->getIntValue() == 0 ) {
+ // frequency
+ float adf_stby = adf_stby_freq->getFloatValue();
+ if ( fabs(adf_stby) > 1799 ) {
+ adf_stby = 1799;
+ }
+ snprintf(digits, 7, "%04.0f", adf_stby);
+ for ( i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[30] = digits[3] << 4 | 0x0f;
+ radio_display_data[31] = digits[1] << 4 | digits[2];
+ if ( digits[0] == 0 ) {
+ radio_display_data[32] = 0xff;
+ } else {
+ radio_display_data[32] = 0xf0 | digits[0];
+ }
+ } else {
+ // timer
+ double time;
+ int hours, min, sec;
+ if ( adf_timer_mode->getIntValue() == 0 ) {
+ time = adf_flight_timer->getDoubleValue();
+ } else {
+ time = adf_elapsed_timer->getDoubleValue();
+ }
+ // cout << time << endl;
+ hours = (int)(time / 3600.0);
+ time -= hours * 3600.00;
+ min = (int)(time / 60.0);
+ time -= min * 60.0;
+ sec = (int)time;
+ int big, little;
+ if ( hours > 0 ) {
+ big = hours;
+ if ( big > 99 ) {
+ big = 99;
+ }
+ little = min;
+ } else {
+ big = min;
+ little = sec;
+ }
+ if ( big > 99 ) {
+ big = 99;
+ }
+ // cout << big << ":" << little << endl;
+ snprintf(digits, 7, "%02d%02d", big, little);
+ for ( i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[30] = digits[2] << 4 | digits[3];
+ radio_display_data[31] = digits[0] << 4 | digits[1];
+ radio_display_data[32] = 0xff;
+ }
+
+ // ADF in use frequency
+ float adf = adf_freq->getFloatValue();
+ if ( fabs(adf) > 1799 ) {
+ adf = 1799;
+ }
+ snprintf(digits, 7, "%04.0f", adf);
+ for ( i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[33] = digits[2] << 4 | digits[3];
+ if ( digits[0] == 0 ) {
+ radio_display_data[34] = 0xf0 | digits[1];
+ } else {
+ radio_display_data[34] = digits[0] << 4 | digits[1];
+ }
+ if ( adf_stby_mode->getIntValue() == 0 ) {
+ radio_display_data[35] = 0xff;
+ } else {
+ radio_display_data[35] = 0x0f;
+ }
+ } else {
+ radio_display_data[30] = 0xff;
+ radio_display_data[31] = 0xff;
+ radio_display_data[32] = 0xff;
+ radio_display_data[33] = 0xff;
+ radio_display_data[34] = 0xff;
+ radio_display_data[35] = 0xff;
+ }
+
+ // Transponder code and flight level
+ if ( xpdr_has_power() && xpdr_serviceable->getBoolValue() ) {
+ if ( xpdr_func_knob->getIntValue() == 2 ) {
+ // test mode
+ radio_display_data[36] = 8 << 4 | 8;
+ radio_display_data[37] = 8 << 4 | 8;
+ radio_display_data[38] = 0xff;
+ radio_display_data[39] = 8 << 4 | 0x0f;
+ radio_display_data[40] = 8 << 4 | 8;
+ } else {
+ // other on modes
+ int id_code = xpdr_id_code->getIntValue();
+ int place = 1000;
+ for ( i = 0; i < 4; ++i ) {
+ digits[i] = id_code / place;
+ id_code -= digits[i] * place;
+ place /= 10;
+ }
+ radio_display_data[36] = digits[2] << 4 | digits[3];
+ radio_display_data[37] = digits[0] << 4 | digits[1];
+ radio_display_data[38] = 0xff;
+
+ if ( xpdr_func_knob->getIntValue() == 3 ||
+ xpdr_func_knob->getIntValue() == 5 )
+ {
+ // do flight level display
+ snprintf(digits, 7, "%03d", xpdr_flight_level->getIntValue() );
+ for ( i = 0; i < 6; ++i ) {
+ digits[i] -= '0';
+ }
+ radio_display_data[39] = digits[2] << 4 | 0x0f;
+ radio_display_data[40] = digits[0] << 4 | digits[1];
+ } else {
+ // blank flight level display
+ radio_display_data[39] = 0xff;
+ radio_display_data[40] = 0xff;
+ }
+ }
+ } else {
+ // off
+ radio_display_data[36] = 0xff;
+ radio_display_data[37] = 0xff;
+ radio_display_data[38] = 0xff;
+ radio_display_data[39] = 0xff;
+ radio_display_data[40] = 0xff;
+ }
+
+ ATCSetRadios( radio_display_fd, radio_display_data );
+
+ return true;
+}
+
+
+/////////////////////////////////////////////////////////////////////
+// Drive the stepper motors
+/////////////////////////////////////////////////////////////////////
+
+bool FGATCOutput::do_steppers() {
+ SGPropertyNode *mag_compass
+ = fgGetNode( "/instrumentation/magnetic-compass/indicated-heading-deg",
+ true );
+
+ 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;
+
+ ATCSetStepper( stepper_fd, ATC_COMPASS_CH, cmd );
+ }
+
+ return true;
+}
+
+
+// process the hardware outputs. This code assumes the calling layer
+// will lock the hardware.
+bool FGATCOutput::process() {
+ if ( !is_open ) {
+ SG_LOG( SG_IO, SG_ALERT, "This board has not been opened for output! "
+ << board );
+ return false;
+ }
+
+ do_lamps();
+ do_radio_display();
+ do_steppers();
+
+ return true;
+}
+
+
+bool FGATCOutput::close() {
+
+#if defined( unix ) || defined( __CYGWIN__ )
+
+ int result;
+
+ result = ::close( lamps_fd );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error closing %s", lamps_file );
+ perror( msg );
+ exit( -1 );
+ }
+
+ result = ::close( radio_display_fd );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error closing %s", radio_display_file );
+ perror( msg );
+ exit( -1 );
+ }
+
+ result = ::close( stepper_fd );
+ if ( result == -1 ) {
+ SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
+ char msg[256];
+ snprintf( msg, 256, "Error closing %s", stepper_file );
+ perror( msg );
+ exit( -1 );
+ }
+
+#endif
+
+ return true;
+}
--- /dev/null
+// ATC-Outputs.hxx -- Translate FGFS properties into ATC hardware outputs
+//
+// Written by Curtis Olson, started November 2004.
+//
+// Copyright (C) 2004 Curtis L. Olson - http://www.flightgear.org/~curt
+//
+// 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.
+//
+// $Id$
+
+
+#ifndef _FG_ATC_OUTPUTS_HXX
+#define _FG_ATC_OUTPUTS_HXX
+
+#ifdef HAVE_CONFIG_H
+# include <config.h>
+#endif
+
+#include <Main/fg_props.hxx>
+
+#define ATC_RADIO_DISPLAY_BYTES 48
+#define ATC_COMPASS_CH 5
+#define ATC_STEPPER_HOME 0xC0
+
+
+class FGATCOutput {
+
+ int is_open;
+
+ int board;
+ SGPath config;
+
+ int lock_fd;
+ int lamps_fd;
+ int radio_display_fd;
+ int stepper_fd;
+
+ char lamps_file[256];
+ char radio_display_file[256];
+ char stepper_file[256];
+
+ unsigned char radio_display_data[ATC_RADIO_DISPLAY_BYTES];
+
+ SGPropertyNode *lamps_out_node;
+ SGPropertyNode *radio_display_node;
+ SGPropertyNode *steppers_node;
+
+ void init_config();
+ bool do_lamps();
+ bool do_radio_display();
+ bool do_steppers();
+
+ // hardwired stepper motor code
+ float compass_position;
+
+public:
+
+ // Constructor: The _board parameter specifies which board to
+ // reference. Possible values are 0 or 1. The _config_file
+ // parameter specifies the location of the output config file (xml)
+ FGATCOutput( const int _board, const SGPath &_config_file );
+
+ // Destructor
+ ~FGATCOutput() { }
+
+ // need to pass in atc hardware lock_fd so that the radios and
+ // lamps can be blanked and so that the compass can be homed.
+ bool open( int lock_fd );
+
+ // process the hardware outputs. This code assumes the calling
+ // layer will lock the hardware.
+ bool process();
+
+ bool close();
+};
+
+
+#endif // _FG_ATC_OUTPUTS_HXX
libNetwork_a_SOURCES = \
protocol.cxx protocol.hxx \
+ ATC-Main.cxx ATC-Main.hxx \
ATC-Inputs.cxx ATC-Inputs.hxx \
- atc610x.cxx atc610x.hxx \
+ ATC-Outputs.cxx ATC-Outputs.hxx \
atlas.cxx atlas.hxx \
garmin.cxx garmin.hxx \
httpd.cxx httpd.hxx \
+++ /dev/null
-// atc610x.cxx -- FGFS interface to ATC 610x hardware
-//
-// Written by Curtis Olson, started January 2002
-//
-// Copyright (C) 2002 Curtis L. Olson - http://www.flightgear.org/~curt
-//
-// 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 <stdio.h> //snprintf
-#if defined( _MSC_VER ) || defined(__MINGW32__)
-# include <io.h> //lseek, read, write
-#endif
-
-#include STL_STRING
-
-#include <plib/ul.h>
-
-#include <simgear/debug/logstream.hxx>
-#include <simgear/io/iochannel.hxx>
-#include <simgear/math/sg_types.hxx>
-#include <simgear/misc/sg_path.hxx>
-#include <simgear/props/props.hxx>
-
-#include <Scripting/NasalSys.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;
-}
-
-
-// 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;
-}
-
-
-// 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];
-}
-
-
-// Turn a lamp on or off
-void ATC610xSetLamp( int fd, int channel, bool value ) {
- // lamp channels 0-63 are written to LampPort0, channels 64-127
- // are written to LampPort1
-
- // bits 0-6 are the lamp address
- // bit 7 is the value (on/off)
-
- int result;
-
- // Write the value
- unsigned char buf[3];
- buf[0] = channel;
- buf[1] = value;
- buf[2] = 0;
- result = write( fd, buf, 2 );
- if ( result != 2 ) {
- SG_LOG( SG_IO, SG_ALERT, "Write failed" );
- exit( -1 );
- }
-}
-
-
-void FGATC610x::init_config() {
-#if defined( unix ) || defined( __CYGWIN__ )
- // Next check home directory for .fgfsrc.hostname file
- char *envp = ::getenv( "HOME" );
- if ( envp != NULL ) {
- SGPath atc610x_config( envp );
- atc610x_config.append( ".fgfs-atc610x.xml" );
- readProperties( atc610x_config.str(), globals->get_props() );
- }
-#endif
-}
-
-
-// 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 ..." );
-
- // This loads the config parameters generated by "simcal"
- init_config();
-
- if ( input0_path.str().length() ) {
- input0 = new FGATCInput( 0, input0_path );
- input0->open();
- }
- if ( input1_path.str().length() ) {
- input1 = new FGATCInput( 1, input1_path );
- input1->open();
- }
-
- 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( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
- snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
- snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", 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 );
- }
-
- lamps_fd = ::open( lamps_file, O_WRONLY );
- if ( lamps_fd == -1 ) {
- SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
- char msg[256];
- snprintf( msg, 256, "Error opening %s", lamps_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 );
- }
-
-
- /////////////////////////////////////////////////////////////////////
- // 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 );
-
- SG_LOG( SG_IO, SG_ALERT,
- " - Waiting for compass to come home." );
-
- bool home = false;
- int timeout = 900; // about 30 seconds
- timeout = 0;
- while ( ! home && timeout > 0 ) {
- if ( timeout % 150 == 0 ) {
- SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
- } else {
- 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 );
-
-#if defined( _MSC_VER )
- ulMilliSecondSleep(33);
-#elif defined (WIN32) && !defined(__CYGWIN__)
- Sleep (33);
-#else
- usleep(33);
-#endif
-
- --timeout;
- }
-
- 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 );
-
- /////////////////////////////////////////////////////////////////////
- // Blank the lamps
- /////////////////////////////////////////////////////////////////////
-
- for ( int i = 0; i < 128; ++i ) {
- ATC610xSetLamp( lamps_fd, i, false );
- }
-
- /////////////////////////////////////////////////////////////////////
- // Finished initing hardware
- /////////////////////////////////////////////////////////////////////
-
- SG_LOG( SG_IO, SG_ALERT,
- "Done initializing ATC 610x hardware." );
-
- /////////////////////////////////////////////////////////////////////
- // Connect up to property values
- /////////////////////////////////////////////////////////////////////
-
- mag_compass
- = fgGetNode( "/instrumentation/magnetic-compass/indicated-heading-deg",
- true );
-
- dme_min = fgGetNode( "/instrumentation/dme/indicated-time-min", true );
- dme_kt = fgGetNode( "/instrumentation/dme/indicated-ground-speed-kt",
- true );
- dme_nm = fgGetNode( "/instrumentation/dme/indicated-distance-nm", true );
- dme_in_range = fgGetNode( "/instrumentation/dme/in-range", true );
-
- adf_bus_power = fgGetNode( "/systems/electrical/outputs/adf", true );
- dme_bus_power = fgGetNode( "/systems/electrical/outputs/dme", true );
- navcom1_bus_power = fgGetNode( "/systems/electrical/outputs/nav[0]",
- true );
- navcom2_bus_power = fgGetNode( "/systems/electrical/outputs/nav[1]",
- true );
- xpdr_bus_power = fgGetNode( "/systems/electrical/outputs/transponder",
- true );
-
- navcom1_power_btn = fgGetNode( "/instrumentation/comm[0]/inputs/power-btn", true );
- navcom2_power_btn = fgGetNode( "/instrumentation/comm[1]/inputs/power-btn", true );
-
- com1_freq = fgGetNode( "/instrumentation/comm[0]/frequencies/selected-mhz", true );
- com1_stby_freq
- = fgGetNode( "/instrumentation/comm[0]/frequencies/standby-mhz", true );
-
- com2_freq = fgGetNode( "/instrumentation/comm[1]/frequencies/selected-mhz", true );
- com2_stby_freq
- = fgGetNode( "/instrumentation/comm[1]/frequencies/standby-mhz", true );
-
- nav1_freq = fgGetNode( "/instrumentation/nav[0]/frequencies/selected-mhz", true );
- nav1_stby_freq
- = fgGetNode( "/instrumentation/nav[0]/frequencies/standby-mhz", true );
- nav1_obs = fgGetNode( "/instrumentation/nav[0]/radials/selected-deg", true );
-
- nav2_freq = fgGetNode( "/instrumentation/nav[1]/frequencies/selected-mhz", true );
- nav2_stby_freq
- = fgGetNode( "/instrumentation/nav[1]/frequencies/standby-mhz", true );
- nav2_obs = fgGetNode( "/instrumentation/nav[1]/radials/selected-deg", true );
-
- adf_power_btn
- = fgGetNode( "/instrumentation/kr-87/inputs/power-btn", true );
- adf_vol = fgGetNode( "/instrumentation/kr-87/inputs/volume", true );
- adf_adf_btn = fgGetNode( "/instrumentation/kr-87/inputs/adf-btn", true );
- adf_bfo_btn = fgGetNode( "/instrumentation/kr-87/inputs/bfo-btn", true );
- adf_freq = fgGetNode( "/instrumentation/kr-87/outputs/selected-khz", true );
- adf_stby_freq
- = fgGetNode( "/instrumentation/kr-87/outputs/standby-khz", true );
- adf_stby_mode = fgGetNode( "/instrumentation/kr-87/modes/stby", true );
- adf_timer_mode = fgGetNode( "/instrumentation/kr-87/modes/timer", true );
- adf_count_mode = fgGetNode( "/instrumentation/kr-87/modes/count", true );
- adf_flight_timer
- = fgGetNode( "/instrumentation/kr-87/outputs/flight-timer", true );
- adf_elapsed_timer
- = fgGetNode( "/instrumentation/kr-87/outputs/elapsed-timer",
- true );
- adf_ant_ann = fgGetNode( "/instrumentation/kr-87/annunciators/ant", true );
- adf_adf_ann = fgGetNode( "/instrumentation/kr-87/annunciators/adf", true );
- adf_bfo_ann = fgGetNode( "/instrumentation/kr-87/annunciators/bfo", true );
- adf_frq_ann = fgGetNode( "/instrumentation/kr-87/annunciators/frq", true );
- adf_flt_ann = fgGetNode( "/instrumentation/kr-87/annunciators/flt", true );
- adf_et_ann = fgGetNode( "/instrumentation/kr-87/annunciators/et", true );
-
- inner = fgGetNode( "/instrumentation/marker-beacon/inner", true );
- middle = fgGetNode( "/instrumentation/marker-beacon/middle", true );
- outer = fgGetNode( "/instrumentation/marker-beacon/outer", true );
-
- xpdr_ident_btn
- = fgGetNode( "/instrumentation/kt-70/inputs/ident-btn", true );
- xpdr_digit1 = fgGetNode( "/instrumentation/kt-70/inputs/digit1", true );
- xpdr_digit2 = fgGetNode( "/instrumentation/kt-70/inputs/digit2", true );
- xpdr_digit3 = fgGetNode( "/instrumentation/kt-70/inputs/digit3", true );
- xpdr_digit4 = fgGetNode( "/instrumentation/kt-70/inputs/digit4", true );
- xpdr_func_knob
- = fgGetNode( "/instrumentation/kt-70/inputs/func-knob", true );
- xpdr_id_code = fgGetNode( "/instrumentation/kt-70/outputs/id-code", true );
- xpdr_flight_level
- = fgGetNode( "/instrumentation/kt-70/outputs/flight-level", true );
- xpdr_fl_ann = fgGetNode( "/instrumentation/kt-70/annunciators/fl", true );
- xpdr_alt_ann = fgGetNode( "/instrumentation/kt-70/annunciators/alt", true );
- xpdr_gnd_ann = fgGetNode( "/instrumentation/kt-70/annunciators/gnd", true );
- xpdr_on_ann = fgGetNode( "/instrumentation/kt-70/annunciators/on", true );
- xpdr_sby_ann = fgGetNode( "/instrumentation/kt-70/annunciators/sby", true );
- xpdr_reply_ann
- = fgGetNode( "/instrumentation/kt-70/annunciators/reply", true );
-
- ati_bird
- = fgGetNode( "/instrumentation/attitude-indicator/horizon-offset-deg",
- true );
- alt_press = fgGetNode( "/instrumentation/altimeter/setting-inhg", true );
- adf_hdg = fgGetNode( "/instrumentation/kr-87/inputs/rotation-deg", true );
- hdg_bug = fgGetNode( "/autopilot/settings/heading-bug-deg", true );
-
- elevator_center = fgGetNode( "/input/atc610x/elevator/center", true );
- elevator_min = fgGetNode( "/input/atc610x/elevator/min", true );
- elevator_max = fgGetNode( "/input/atc610x/elevator/max", true );
-
- ailerons_center = fgGetNode( "/input/atc610x/ailerons/center", true );
- ailerons_min = fgGetNode( "/input/atc610x/ailerons/min", true );
- ailerons_max = fgGetNode( "/input/atc610x/ailerons/max", true );
-
- rudder_center = fgGetNode( "/input/atc610x/rudder/center", true );
- rudder_min = fgGetNode( "/input/atc610x/rudder/min", true );
- rudder_max = fgGetNode( "/input/atc610x/rudder/max", true );
-
- brake_left_min = fgGetNode( "/input/atc610x/brake-left/min", true );
- brake_left_max = fgGetNode( "/input/atc610x/brake-left/max", true );
-
- brake_right_min = fgGetNode( "/input/atc610x/brake-right/min", true );
- brake_right_max = fgGetNode( "/input/atc610x/brake-right/max", true );
-
- throttle_min = fgGetNode( "/input/atc610x/throttle/min", true );
- throttle_max = fgGetNode( "/input/atc610x/throttle/max", true );
-
- mixture_min = fgGetNode( "/input/atc610x/mixture/min", true );
- mixture_max = fgGetNode( "/input/atc610x/mixture/max", true );
-
- trim_center = fgGetNode( "/input/atc610x/trim/center", true );
- trim_min = fgGetNode( "/input/atc610x/trim/min", true );
- trim_max = fgGetNode( "/input/atc610x/trim/max", true );
-
- nav1vol_min = fgGetNode( "/input/atc610x/nav1vol/min", true );
- nav1vol_max = fgGetNode( "/input/atc610x/nav1vol/max", true );
-
- nav2vol_min = fgGetNode( "/input/atc610x/nav2vol/min", true );
- nav2vol_max = fgGetNode( "/input/atc610x/nav2vol/max", true );
-
- ignore_flight_controls
- = fgGetNode( "/input/atc610x/ignore-flight-controls", true );
-
- comm1_serviceable
- = fgGetNode( "/instrumentation/comm[0]/serviceable", true );
- comm2_serviceable
- = fgGetNode( "/instrumentation/comm[1]/serviceable", true );
- nav1_serviceable = fgGetNode( "/instrumentation/nav[0]/serviceable", true );
- nav2_serviceable = fgGetNode( "/instrumentation/nav[1]/serviceable", true );
- adf_serviceable = fgGetNode( "/instrumentation/adf/serviceable", true );
- xpdr_serviceable
- = fgGetNode( "/instrumentation/kt-70/inputs/serviceable", true );
- dme_serviceable = fgGetNode( "/instrumentation/dme/serviceable", true );
-
- dme_selector
- = fgGetNode( "/input/atc-board/radio-switches/raw/dme-switch-position");
-
- // default to having everything serviceable
- comm1_serviceable->setBoolValue( true );
- comm2_serviceable->setBoolValue( true );
- nav1_serviceable->setBoolValue( true );
- nav2_serviceable->setBoolValue( true );
- adf_serviceable->setBoolValue( true );
- xpdr_serviceable->setBoolValue( true );
- dme_serviceable->setBoolValue( true );
-
- return true;
-}
-
-
-/////////////////////////////////////////////////////////////////////
-// Write the lights
-/////////////////////////////////////////////////////////////////////
-
-bool FGATC610x::do_lights() {
-
- // Marker beacons
- ATC610xSetLamp( lamps_fd, 4, inner->getBoolValue() );
- ATC610xSetLamp( lamps_fd, 5, middle->getBoolValue() );
- ATC610xSetLamp( lamps_fd, 3, outer->getBoolValue() );
-
- // ADF annunciators
- ATC610xSetLamp( lamps_fd, 11, adf_ant_ann->getBoolValue() ); // ANT
- ATC610xSetLamp( lamps_fd, 12, adf_adf_ann->getBoolValue() ); // ADF
- ATC610xSetLamp( lamps_fd, 13, adf_bfo_ann->getBoolValue() ); // BFO
- ATC610xSetLamp( lamps_fd, 14, adf_frq_ann->getBoolValue() ); // FRQ
- ATC610xSetLamp( lamps_fd, 15, adf_flt_ann->getBoolValue() ); // FLT
- ATC610xSetLamp( lamps_fd, 16, adf_et_ann->getBoolValue() ); // ET
-
- // Transponder annunciators
- ATC610xSetLamp( lamps_fd, 17, xpdr_fl_ann->getBoolValue() ); // FL
- ATC610xSetLamp( lamps_fd, 18, xpdr_alt_ann->getBoolValue() ); // ALT
- ATC610xSetLamp( lamps_fd, 19, xpdr_gnd_ann->getBoolValue() ); // GND
- ATC610xSetLamp( lamps_fd, 20, xpdr_on_ann->getBoolValue() ); // ON
- ATC610xSetLamp( lamps_fd, 21, xpdr_sby_ann->getBoolValue() ); // SBY
- ATC610xSetLamp( lamps_fd, 22, xpdr_reply_ann->getBoolValue() ); // R
-
- return true;
-}
-
-
-/////////////////////////////////////////////////////////////////////
-// Update the radio display
-/////////////////////////////////////////////////////////////////////
-
-bool FGATC610x::do_radio_display() {
-
- char digits[10];
- int i;
-
- if ( dme_has_power() && dme_serviceable->getBoolValue() ) {
- if ( dme_in_range->getBoolValue() ) {
- // DME minutes
- float minutes = dme_min->getFloatValue();
- if ( minutes > 999 ) {
- minutes = 999.0;
- }
- snprintf(digits, 7, "%03.0f", minutes);
- for ( 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;
- }
- snprintf(digits, 7, "%03.0f", knots);
- for ( 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;
- }
- snprintf(digits, 7, "%04.1f", nm);
- for ( 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 {
- // out of range
- radio_display_data[0] = 0xbb;
- radio_display_data[1] = 0xfb;
- radio_display_data[2] = 0xbb;
- radio_display_data[3] = 0xfb;
- radio_display_data[4] = 0xbb;
- radio_display_data[5] = 0x0b;
- }
- } else {
- // blank dem display
- for ( i = 0; i < 6; ++i ) {
- radio_display_data[i] = 0xff;
- }
- }
-
- if ( navcom1_has_power() && comm1_serviceable->getBoolValue() ) {
- // Com1 standby frequency
- float com1_stby = com1_stby_freq->getFloatValue();
- if ( fabs(com1_stby) > 999.99 ) {
- com1_stby = 0.0;
- }
- snprintf(digits, 7, "%06.3f", com1_stby);
- for ( 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;
- }
- snprintf(digits, 7, "%06.3f", com1);
- for ( 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
- } else {
- radio_display_data[6] = 0xff;
- radio_display_data[7] = 0xff;
- radio_display_data[8] = 0xff;
- radio_display_data[9] = 0xff;
- radio_display_data[10] = 0xff;
- radio_display_data[11] = 0xff;
- }
-
- if ( navcom2_has_power() && comm2_serviceable->getBoolValue() ) {
- // Com2 standby frequency
- float com2_stby = com2_stby_freq->getFloatValue();
- if ( fabs(com2_stby) > 999.99 ) {
- com2_stby = 0.0;
- }
- snprintf(digits, 7, "%06.3f", com2_stby);
- for ( 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;
- }
- snprintf(digits, 7, "%06.3f", com2);
- for ( 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
- } else {
- radio_display_data[18] = 0xff;
- radio_display_data[19] = 0xff;
- radio_display_data[20] = 0xff;
- radio_display_data[21] = 0xff;
- radio_display_data[22] = 0xff;
- radio_display_data[23] = 0xff;
- }
-
- if ( navcom1_has_power() && nav1_serviceable->getBoolValue() ) {
- // Nav1 standby frequency
- float nav1_stby = nav1_stby_freq->getFloatValue();
- if ( fabs(nav1_stby) > 999.99 ) {
- nav1_stby = 0.0;
- }
- snprintf(digits, 7, "%06.2f", nav1_stby);
- for ( 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;
- }
- snprintf(digits, 7, "%06.2f", nav1);
- for ( 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
- } else {
- radio_display_data[12] = 0xff;
- radio_display_data[13] = 0xff;
- radio_display_data[14] = 0xff;
- radio_display_data[15] = 0xff;
- radio_display_data[16] = 0xff;
- radio_display_data[17] = 0xff;
- }
-
- if ( navcom2_has_power() && nav2_serviceable->getBoolValue() ) {
- // Nav2 standby frequency
- float nav2_stby = nav2_stby_freq->getFloatValue();
- if ( fabs(nav2_stby) > 999.99 ) {
- nav2_stby = 0.0;
- }
- snprintf(digits, 7, "%06.2f", nav2_stby);
- for ( 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;
- }
- snprintf(digits, 7, "%06.2f", nav2);
- for ( 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
- } else {
- radio_display_data[24] = 0xff;
- radio_display_data[25] = 0xff;
- radio_display_data[26] = 0xff;
- radio_display_data[27] = 0xff;
- radio_display_data[28] = 0xff;
- radio_display_data[29] = 0xff;
- }
-
- // ADF standby frequency / timer
- if ( adf_has_power() && adf_serviceable->getBoolValue() ) {
- if ( adf_stby_mode->getIntValue() == 0 ) {
- // frequency
- float adf_stby = adf_stby_freq->getFloatValue();
- if ( fabs(adf_stby) > 1799 ) {
- adf_stby = 1799;
- }
- snprintf(digits, 7, "%04.0f", adf_stby);
- for ( i = 0; i < 6; ++i ) {
- digits[i] -= '0';
- }
- radio_display_data[30] = digits[3] << 4 | 0x0f;
- radio_display_data[31] = digits[1] << 4 | digits[2];
- if ( digits[0] == 0 ) {
- radio_display_data[32] = 0xff;
- } else {
- radio_display_data[32] = 0xf0 | digits[0];
- }
- } else {
- // timer
- double time;
- int hours, min, sec;
- if ( adf_timer_mode->getIntValue() == 0 ) {
- time = adf_flight_timer->getDoubleValue();
- } else {
- time = adf_elapsed_timer->getDoubleValue();
- }
- // cout << time << endl;
- hours = (int)(time / 3600.0);
- time -= hours * 3600.00;
- min = (int)(time / 60.0);
- time -= min * 60.0;
- sec = (int)time;
- int big, little;
- if ( hours > 0 ) {
- big = hours;
- if ( big > 99 ) {
- big = 99;
- }
- little = min;
- } else {
- big = min;
- little = sec;
- }
- if ( big > 99 ) {
- big = 99;
- }
- // cout << big << ":" << little << endl;
- snprintf(digits, 7, "%02d%02d", big, little);
- for ( i = 0; i < 6; ++i ) {
- digits[i] -= '0';
- }
- radio_display_data[30] = digits[2] << 4 | digits[3];
- radio_display_data[31] = digits[0] << 4 | digits[1];
- radio_display_data[32] = 0xff;
- }
-
- // ADF in use frequency
- float adf = adf_freq->getFloatValue();
- if ( fabs(adf) > 1799 ) {
- adf = 1799;
- }
- snprintf(digits, 7, "%04.0f", adf);
- for ( i = 0; i < 6; ++i ) {
- digits[i] -= '0';
- }
- radio_display_data[33] = digits[2] << 4 | digits[3];
- if ( digits[0] == 0 ) {
- radio_display_data[34] = 0xf0 | digits[1];
- } else {
- radio_display_data[34] = digits[0] << 4 | digits[1];
- }
- if ( adf_stby_mode->getIntValue() == 0 ) {
- radio_display_data[35] = 0xff;
- } else {
- radio_display_data[35] = 0x0f;
- }
- } else {
- radio_display_data[30] = 0xff;
- radio_display_data[31] = 0xff;
- radio_display_data[32] = 0xff;
- radio_display_data[33] = 0xff;
- radio_display_data[34] = 0xff;
- radio_display_data[35] = 0xff;
- }
-
- // Transponder code and flight level
- if ( xpdr_has_power() && xpdr_serviceable->getBoolValue() ) {
- if ( xpdr_func_knob->getIntValue() == 2 ) {
- // test mode
- radio_display_data[36] = 8 << 4 | 8;
- radio_display_data[37] = 8 << 4 | 8;
- radio_display_data[38] = 0xff;
- radio_display_data[39] = 8 << 4 | 0x0f;
- radio_display_data[40] = 8 << 4 | 8;
- } else {
- // other on modes
- int id_code = xpdr_id_code->getIntValue();
- int place = 1000;
- for ( i = 0; i < 4; ++i ) {
- digits[i] = id_code / place;
- id_code -= digits[i] * place;
- place /= 10;
- }
- radio_display_data[36] = digits[2] << 4 | digits[3];
- radio_display_data[37] = digits[0] << 4 | digits[1];
- radio_display_data[38] = 0xff;
-
- if ( xpdr_func_knob->getIntValue() == 3 ||
- xpdr_func_knob->getIntValue() == 5 )
- {
- // do flight level display
- snprintf(digits, 7, "%03d", xpdr_flight_level->getIntValue() );
- for ( i = 0; i < 6; ++i ) {
- digits[i] -= '0';
- }
- radio_display_data[39] = digits[2] << 4 | 0x0f;
- radio_display_data[40] = digits[0] << 4 | digits[1];
- } else {
- // blank flight level display
- radio_display_data[39] = 0xff;
- radio_display_data[40] = 0xff;
- }
- }
- } else {
- // off
- radio_display_data[36] = 0xff;
- radio_display_data[37] = 0xff;
- radio_display_data[38] = 0xff;
- radio_display_data[39] = 0xff;
- radio_display_data[40] = 0xff;
- }
-
- 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;
-}
-
-
-bool FGATC610x::process() {
-
- // Lock the hardware, skip if it's not ready yet
- if ( ATC610xLock( lock_fd ) > 0 ) {
-
- // process the ATC inputs
- if ( input0 != NULL ) {
- input0->process();
- }
- if ( input1 != NULL ) {
- input1->process();
- }
-
- // run our custom nasal script. This is a layer above the raw
- // hardware inputs. It handles situations where there isn't a
- // direct 1-1 linear mapping between ATC functionality and FG
- // functionality, and handles situations where FG expects more
- // functionality from the interface than the ATC hardware can
- // directly provide.
-
- FGNasalSys *n = (FGNasalSys*)globals->get_subsystem("nasal");
- bool result = n->parseAndRun( "atcsim.do_hardware()" );
- if ( !result ) {
- SG_LOG( SG_GENERAL, SG_ALERT,
- "do_atcflightsim_hardware() failed!" );
- }
-
- do_lights();
- do_radio_display();
- do_steppers();
-
- ATC610xRelease( lock_fd );
-
- return true;
- } else {
- return false;
- }
-}
-
-
-bool FGATC610x::close() {
-
- return true;
-}
+++ /dev/null
-// atc610x.hxx -- FGFS interface to ATC 610x hardware
-//
-// Written by Curtis Olson, started January 2002.
-//
-// Copyright (C) 2002 Curtis L. Olson - http://www.flightgear.org/~curt
-//
-// 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.
-//
-// $Id$
-
-
-#ifndef _FG_ATC610X_HXX
-#define _FG_ATC610X_HXX
-
-#ifdef HAVE_CONFIG_H
-# include <config.h>
-#endif
-
-#include <plib/netChat.h>
-
-#include <Main/fg_props.hxx>
-
-#include "protocol.hxx"
-
-#include "ATC-Inputs.hxx"
-
-
-#define ATC_COMPASS_CH 5
-#define ATC_STEPPER_HOME 0xC0
-#define ATC_RADIO_DISPLAY_BYTES 48
-
-
-class FGATC610x : public FGProtocol {
-
- FGATCInput *input0; // board0 input interface class
- FGATCInput *input1; // board1 input interface class
-
- SGPath input0_path;
- SGPath input1_path;
- SGPath output0_path;
- SGPath output1_path;
-
- int board;
-
- int lock_fd;
- int lamps_fd;
- int radios_fd;
- int stepper_fd;
-
- char lock_file[256];
- char lamps_file[256];
- char radios_file[256];
- char stepper_file[256];
-
- unsigned char radio_display_data[ATC_RADIO_DISPLAY_BYTES];
- unsigned char radio_switch_data[ATC_RADIO_SWITCH_BYTES];
-
- float compass_position;
-
- // Electrical system state
- SGPropertyNode *adf_bus_power, *dme_bus_power, *xpdr_bus_power;
- SGPropertyNode *navcom1_bus_power, *navcom2_bus_power;
-
- // Property tree variables
- SGPropertyNode *mag_compass;
- SGPropertyNode *dme_min, *dme_kt, *dme_nm;
- SGPropertyNode *dme_in_range;
- SGPropertyNode *navcom1_power_btn, *navcom2_power_btn;
- SGPropertyNode *com1_freq, *com1_stby_freq;
- SGPropertyNode *com2_freq, *com2_stby_freq;
- SGPropertyNode *nav1_freq, *nav1_stby_freq, *nav1_obs;
- SGPropertyNode *nav2_freq, *nav2_stby_freq, *nav2_obs;
- SGPropertyNode *adf_adf_btn, *adf_bfo_btn;
- SGPropertyNode *adf_power_btn, *adf_vol;
- SGPropertyNode *adf_freq, *adf_stby_freq;
- SGPropertyNode *adf_stby_mode, *adf_timer_mode;
- SGPropertyNode *adf_count_mode, *adf_flight_timer, *adf_elapsed_timer;
- SGPropertyNode *adf_ant_ann, *adf_adf_ann, *adf_bfo_ann, *adf_frq_ann;
- SGPropertyNode *adf_flt_ann, *adf_et_ann, *adf_hdg, *hdg_bug;
- SGPropertyNode *inner, *middle, *outer;
- SGPropertyNode *xpdr_ident_btn;
- SGPropertyNode *xpdr_digit1, *xpdr_digit2, *xpdr_digit3, *xpdr_digit4;
- SGPropertyNode *xpdr_func_knob, *xpdr_id_code, *xpdr_flight_level;
- SGPropertyNode *xpdr_fl_ann, *xpdr_alt_ann, *xpdr_gnd_ann, *xpdr_on_ann;
- SGPropertyNode *xpdr_sby_ann, *xpdr_reply_ann;
- SGPropertyNode *ati_bird, *alt_press;
-
- // Faults
- SGPropertyNode *comm1_serviceable, *comm2_serviceable;
- SGPropertyNode *nav1_serviceable, *nav2_serviceable;
- SGPropertyNode *adf_serviceable, *xpdr_serviceable, *dme_serviceable;
-
- // Configuration values
- SGPropertyNode *elevator_center, *elevator_min, *elevator_max;
- SGPropertyNode *ailerons_center, *ailerons_min, *ailerons_max;
- SGPropertyNode *rudder_center, *rudder_min, *rudder_max;
- SGPropertyNode *brake_left_min, *brake_left_max;
- SGPropertyNode *brake_right_min, *brake_right_max;
- SGPropertyNode *throttle_min, *throttle_max;
- SGPropertyNode *mixture_min, *mixture_max;
- SGPropertyNode *trim_center, *trim_min, *trim_max;
- SGPropertyNode *nav1vol_min, *nav1vol_max;
- SGPropertyNode *nav2vol_min, *nav2vol_max;
-
- // raw switch positions
- SGPropertyNode *dme_selector;
- SGPropertyNode *ignore_flight_controls;
-
- int dme_switch;
-
- bool do_lights();
- bool do_radio_display();
- bool do_steppers();
-
- // convenience
- inline bool adf_has_power() const {
- return (adf_bus_power->getDoubleValue() > 1.0)
- && adf_power_btn->getBoolValue();
- }
- inline bool dme_has_power() const {
- return (dme_bus_power->getDoubleValue() > 1.0)
- && dme_switch;
- }
- inline bool navcom1_has_power() const {
- return (navcom1_bus_power->getDoubleValue() > 1.0)
- && navcom1_power_btn->getBoolValue();
- }
- inline bool navcom2_has_power() const {
- return (navcom2_bus_power->getDoubleValue() > 1.0)
- && navcom2_power_btn->getBoolValue();
- }
- inline bool xpdr_has_power() const {
- return (xpdr_bus_power->getDoubleValue() > 1.0)
- && (xpdr_func_knob->getIntValue() > 0);
- }
-
-public:
-
- FGATC610x() :
- input0(NULL),
- input1(NULL),
- input0_path(""),
- input1_path(""),
- output0_path(""),
- output1_path("")
- { }
-
- ~FGATC610x() {
- delete input0;
- delete input1;
- }
-
- // Open and initialize ATC 610x hardware
- bool open();
-
- void init_config();
-
- bool process();
-
- bool close();
-
- inline void set_path_names( const SGPath &in0, const SGPath &in1,
- const SGPath &out0, const SGPath &out1 )
- {
- input0_path = in0;
- input1_path = in1;
- output0_path = out0;
- output1_path = out1;
- }
-};
-
-
-#endif // _FG_ATC610X_HXX
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