fly/flightgear
1
0
Fork 0
Code Activity

Added initial support for some unknown motion platform device. Hopefully

Browse source 
additional details will follow.
This commit is contained in:
curt 1999-04-15 23:59:45 +00:00
parent 71613dd4ee
commit df512b65e1
2 changed files with 80 additions and 1 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

77
Simulator/Main/fg_serial.cxx
View file

@ -169,6 +169,16 @@ static bool config_port( fgIOCHANNEL &p )
FG_LOG( FG_SERIAL, FG_ALERT, "Unknown direction" );
return false;
}
} else if ( p.format == "rul" ) {
if ( p.direction == "out" ) {
p.kind = fgIOCHANNEL::FG_SERIAL_RUL_OUT;
} else if ( p.direction == "in" ) {
FG_LOG( FG_SERIAL, FG_ALERT, "RUL format is outgoing only" );
return false;
} else {
FG_LOG( FG_SERIAL, FG_ALERT, "Unknown direction" );
return false;
}
} else {
FG_LOG( FG_SERIAL, FG_ALERT, "Unknown format" );
return false;
@ -431,6 +441,71 @@ static void read_fgfs_in( fgIOCHANNEL *p ) {
}
// "RUL" output format (for some sort of motion platform)
//
// The Baud rate is 2400 , one start bit, eight data bits, 1 stop bit,
// no parity.
//
// For position it requires a 3-byte data packet defined as follows:
//
// First bite: ascII character"p" ( 80 decimal )
// Second byte X pos. (1-255) 1 being 0* and 255 being 359*
// Third byte Y pos.( 1-255) 1 being 0* and 255 359*
//
// So sending 80 127 127 to the two axis motors will position on 180*
// The RS- 232 port is a nine pin connector and the only pins used are
// 3&5.
static void send_rul_out( fgIOCHANNEL *p ) {
char rul[256];
FGInterface *f;
FGTime *t;
f = current_aircraft.fdm_state;
t = FGTime::cur_time_params;
// run as often as possibleonce per second
// this runs once per second
// if ( p->last_time == t->get_cur_time() ) {
// return;
// }
// p->last_time = t->get_cur_time();
// if ( t->get_cur_time() % 2 != 0 ) {
// return;
// }
// get roll and pitch, convert to degrees
double roll_deg = f->get_Phi() * RAD_TO_DEG;
while ( roll_deg < 0.0 ) {
roll_deg += 360.0;
}
while ( roll_deg > 360.0 ) {
roll_deg -= 360.0;
}
double pitch_deg = f->get_Theta() * RAD_TO_DEG;
while ( pitch_deg < 0.0 ) {
pitch_deg += 360.0;
}
while ( pitch_deg > 360.0 ) {
pitch_deg -= 360.0;
}
// scale roll and pitch to output format (1 - 255)
int roll = (int)(roll_deg * 254.0 / 359.0) + 1;
int pitch = (int)(pitch_deg * 254.0 / 359.0) + 1;
sprintf( rul, "p%c%c\n", roll, pitch);
FG_LOG( FG_SERIAL, FG_DEBUG, "p " << roll << " " << pitch );
string rul_sentence = rul;
p->port.write_port(rul_sentence);
}
// one more level of indirection ...
static void process_port( fgIOCHANNEL *p ) {
if ( p->kind == fgIOCHANNEL::FG_SERIAL_NMEA_OUT ) {
@ -445,6 +520,8 @@ static void process_port( fgIOCHANNEL *p ) {
send_fgfs_out(p);
} else if ( p->kind == fgIOCHANNEL::FG_SERIAL_FGFS_IN ) {
read_fgfs_in(p);
} else if ( p->kind == fgIOCHANNEL::FG_SERIAL_RUL_OUT ) {
send_rul_out(p);
}
}

4
Simulator/Main/fg_serial.hxx
View file

@ -54,7 +54,9 @@ public:
FG_SERIAL_GARMIN_OUT = 3,
FG_SERIAL_GARMIN_IN = 4,
FG_SERIAL_FGFS_OUT = 5,
FG_SERIAL_FGFS_IN = 6
FG_SERIAL_FGFS_IN = 6,
FG_SERIAL_RUL_OUT = 7 // Raul E Horcasitas <rul@compuserve.com>
};
string device;