1918 lines
65 KiB
C++
1918 lines
65 KiB
C++
// atc610x.cxx -- FGFS interface to ATC 610x hardware
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//
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// Written by Curtis Olson, started January 2002
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//
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// Copyright (C) 2002 Curtis L. Olson - curt@flightgear.org
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//
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// This program is free software; you can redistribute it and/or
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// modify it under the terms of the GNU General Public License as
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// published by the Free Software Foundation; either version 2 of the
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// License, or (at your option) any later version.
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//
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// This program is distributed in the hope that it will be useful, but
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// WITHOUT ANY WARRANTY; without even the implied warranty of
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// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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// General Public License for more details.
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//
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// You should have received a copy of the GNU General Public License
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// along with this program; if not, write to the Free Software
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// Foundation, Inc., 675 Mass Ave, Cambridge, MA 02139, USA.
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//
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// $Id$
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#ifdef HAVE_CONFIG_H
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# include <config.h>
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#endif
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#include <simgear/compiler.h>
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#include <stdlib.h> // atoi() atof() abs()
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#include <sys/types.h>
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#include <sys/stat.h>
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#include <fcntl.h>
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#include <stdio.h> //snprintf
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#if defined( _MSC_VER ) || defined(__MINGW32__)
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# include <io.h> //lseek, read, write
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#endif
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#include STL_STRING
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#include <plib/ul.h>
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#include <simgear/debug/logstream.hxx>
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#include <simgear/io/iochannel.hxx>
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#include <simgear/math/sg_types.hxx>
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#include <simgear/misc/sg_path.hxx>
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#include <simgear/props/props.hxx>
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#include <Main/fg_props.hxx>
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#include <Main/globals.hxx>
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#include "atc610x.hxx"
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SG_USING_STD(string);
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// Lock the ATC 610 hardware
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static int ATC610xLock( int fd ) {
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// rewind
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lseek( fd, 0, SEEK_SET );
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char tmp[2];
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int result = read( fd, tmp, 1 );
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if ( result != 1 ) {
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SG_LOG( SG_IO, SG_DEBUG, "Lock failed" );
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}
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return result;
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}
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// Write a radios command
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static int ATC610xRelease( int fd ) {
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// rewind
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lseek( fd, 0, SEEK_SET );
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char tmp[2];
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tmp[0] = tmp[1] = 0;
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int result = write( fd, tmp, 1 );
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if ( result != 1 ) {
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SG_LOG( SG_IO, SG_DEBUG, "Release failed" );
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}
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return result;
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}
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// Read analog inputs
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static void ATC610xReadAnalogInputs( int fd, unsigned char *analog_in_bytes ) {
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// rewind
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lseek( fd, 0, SEEK_SET );
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int result = read( fd, analog_in_bytes, ATC_ANAL_IN_BYTES );
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if ( result != ATC_ANAL_IN_BYTES ) {
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SG_LOG( SG_IO, SG_ALERT, "Read failed" );
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exit( -1 );
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}
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}
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// Write a radios command
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static int ATC610xSetRadios( int fd,
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unsigned char data[ATC_RADIO_DISPLAY_BYTES] )
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{
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// rewind
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lseek( fd, 0, SEEK_SET );
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int result = write( fd, data, ATC_RADIO_DISPLAY_BYTES );
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if ( result != ATC_RADIO_DISPLAY_BYTES ) {
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SG_LOG( SG_IO, SG_DEBUG, "Write failed" );
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}
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return result;
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}
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// Read status of last radios written to
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static void ATC610xReadRadios( int fd, unsigned char *switch_data ) {
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// rewind
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lseek( fd, 0, SEEK_SET );
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int result = read( fd, switch_data, ATC_RADIO_SWITCH_BYTES );
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if ( result != ATC_RADIO_SWITCH_BYTES ) {
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SG_LOG( SG_IO, SG_ALERT, "Read failed" );
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exit( -1 );
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}
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}
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// Write a stepper command
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static int ATC610xSetStepper( int fd, unsigned char channel,
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unsigned char value )
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{
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// rewind
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lseek( fd, 0, SEEK_SET );
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// Write the value
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unsigned char buf[3];
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buf[0] = channel;
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buf[1] = value;
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buf[2] = 0;
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int result = write( fd, buf, 2 );
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if ( result != 2 ) {
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SG_LOG( SG_IO, SG_INFO, "Write failed" );
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}
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SG_LOG( SG_IO, SG_DEBUG,
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"Sent cmd = " << (int)channel << " value = " << (int)value );
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return result;
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}
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// Read status of last stepper written to
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static unsigned char ATC610xReadStepper( int fd ) {
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int result;
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// rewind
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lseek( fd, 0, SEEK_SET );
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// Write the value
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unsigned char buf[2];
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result = read( fd, buf, 1 );
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if ( result != 1 ) {
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SG_LOG( SG_IO, SG_ALERT, "Read failed" );
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exit( -1 );
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}
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SG_LOG( SG_IO, SG_DEBUG, "Read result = " << (int)buf[0] );
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return buf[0];
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}
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// Read switch inputs
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static void ATC610xReadSwitches( int fd, unsigned char *switch_bytes ) {
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// rewind
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lseek( fd, 0, SEEK_SET );
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int result = read( fd, switch_bytes, ATC_SWITCH_BYTES );
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if ( result != ATC_SWITCH_BYTES ) {
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SG_LOG( SG_IO, SG_ALERT, "Read failed" );
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exit( -1 );
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}
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}
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// Turn a lamp on or off
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void ATC610xSetLamp( int fd, int channel, bool value ) {
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// lamp channels 0-63 are written to LampPort0, channels 64-127
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// are written to LampPort1
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// bits 0-6 are the lamp address
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// bit 7 is the value (on/off)
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int result;
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// Write the value
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unsigned char buf[3];
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buf[0] = channel;
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buf[1] = value;
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buf[2] = 0;
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result = write( fd, buf, 2 );
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if ( result != 2 ) {
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SG_LOG( SG_IO, SG_ALERT, "Write failed" );
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exit( -1 );
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}
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}
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void FGATC610x::init_config() {
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#if defined( unix ) || defined( __CYGWIN__ )
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// Next check home directory for .fgfsrc.hostname file
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char *envp = ::getenv( "HOME" );
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if ( envp != NULL ) {
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SGPath atc610x_config( envp );
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atc610x_config.append( ".fgfs-atc610x.xml" );
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readProperties( atc610x_config.str(), globals->get_props() );
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}
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#endif
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}
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// Open and initialize ATC 610x hardware
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bool FGATC610x::open() {
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if ( is_enabled() ) {
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SG_LOG( SG_IO, SG_ALERT, "This shouldn't happen, but the channel "
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<< "is already in use, ignoring" );
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return false;
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}
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// This loads the config parameters generated by "simcal"
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init_config();
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SG_LOG( SG_IO, SG_ALERT,
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"Initializing ATC 610x hardware, please wait ..." );
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set_hz( 30 ); // default to processing requests @ 30Hz
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set_enabled( true );
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board = 0; // 610x uses a single board number = 0
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snprintf( lock_file, 256, "/proc/atc610x/board%d/lock", board );
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snprintf( analog_in_file, 256, "/proc/atc610x/board%d/analog_in", board );
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snprintf( lamps_file, 256, "/proc/atc610x/board%d/lamps", board );
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snprintf( radios_file, 256, "/proc/atc610x/board%d/radios", board );
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snprintf( stepper_file, 256, "/proc/atc610x/board%d/steppers", board );
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snprintf( switches_file, 256, "/proc/atc610x/board%d/switches", board );
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/////////////////////////////////////////////////////////////////////
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// Open the /proc files
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/////////////////////////////////////////////////////////////////////
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lock_fd = ::open( lock_file, O_RDWR );
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if ( lock_fd == -1 ) {
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SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
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char msg[256];
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snprintf( msg, 256, "Error opening %s", lock_file );
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perror( msg );
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exit( -1 );
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}
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analog_in_fd = ::open( analog_in_file, O_RDONLY );
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if ( analog_in_fd == -1 ) {
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SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
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char msg[256];
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snprintf( msg, 256, "Error opening %s", analog_in_file );
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perror( msg );
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exit( -1 );
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}
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lamps_fd = ::open( lamps_file, O_WRONLY );
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if ( lamps_fd == -1 ) {
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SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
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char msg[256];
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snprintf( msg, 256, "Error opening %s", lamps_file );
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perror( msg );
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exit( -1 );
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}
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radios_fd = ::open( radios_file, O_RDWR );
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if ( radios_fd == -1 ) {
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SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
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char msg[256];
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snprintf( msg, 256, "Error opening %s", radios_file );
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perror( msg );
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exit( -1 );
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}
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stepper_fd = ::open( stepper_file, O_RDWR );
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if ( stepper_fd == -1 ) {
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SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
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char msg[256];
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snprintf( msg, 256, "Error opening %s", stepper_file );
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perror( msg );
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exit( -1 );
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}
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switches_fd = ::open( switches_file, O_RDONLY );
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if ( switches_fd == -1 ) {
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SG_LOG( SG_IO, SG_ALERT, "errno = " << errno );
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char msg[256];
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snprintf( msg, 256, "Error opening %s", switches_file );
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perror( msg );
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exit( -1 );
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}
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/////////////////////////////////////////////////////////////////////
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// Home the compass stepper motor
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/////////////////////////////////////////////////////////////////////
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SG_LOG( SG_IO, SG_ALERT,
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" - Homing the compass stepper motor" );
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// Lock the hardware, keep trying until we succeed
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while ( ATC610xLock( lock_fd ) <= 0 );
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// Send the stepper home command
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ATC610xSetStepper( stepper_fd, ATC_COMPASS_CH, ATC_STEPPER_HOME );
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// Release the hardware
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ATC610xRelease( lock_fd );
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SG_LOG( SG_IO, SG_ALERT,
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" - Waiting for compass to come home." );
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bool home = false;
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int timeout = 900; // about 30 seconds
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timeout = 0;
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while ( ! home && timeout > 0 ) {
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if ( timeout % 150 == 0 ) {
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SG_LOG( SG_IO, SG_INFO, "waiting for compass = " << timeout );
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} else {
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SG_LOG( SG_IO, SG_DEBUG, "Checking if compass home ..." );
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}
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while ( ATC610xLock( lock_fd ) <= 0 );
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unsigned char result = ATC610xReadStepper( stepper_fd );
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if ( result == 0 ) {
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home = true;
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}
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ATC610xRelease( lock_fd );
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#if defined( _MSC_VER )
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ulMilliSecondSleep(33);
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#elif defined (WIN32) && !defined(__CYGWIN__)
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Sleep (33);
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#else
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usleep(33);
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#endif
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--timeout;
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}
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compass_position = 0.0;
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/////////////////////////////////////////////////////////////////////
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// Blank the radio display
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/////////////////////////////////////////////////////////////////////
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SG_LOG( SG_IO, SG_ALERT,
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" - Clearing the radios displays." );
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// Prepair the data
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unsigned char value = 0xff;
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for ( int channel = 0; channel < ATC_RADIO_DISPLAY_BYTES; ++channel ) {
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radio_display_data[channel] = value;
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}
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// Lock the hardware, keep trying until we succeed
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while ( ATC610xLock( lock_fd ) <= 0 );
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// Set radio display
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ATC610xSetRadios( radios_fd, radio_display_data );
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ATC610xRelease( lock_fd );
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/////////////////////////////////////////////////////////////////////
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// Blank the lamps
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/////////////////////////////////////////////////////////////////////
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for ( int i = 0; i < 128; ++i ) {
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ATC610xSetLamp( lamps_fd, i, false );
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}
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/////////////////////////////////////////////////////////////////////
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// Finished initing hardware
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/////////////////////////////////////////////////////////////////////
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SG_LOG( SG_IO, SG_ALERT,
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"Done initializing ATC 610x hardware." );
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/////////////////////////////////////////////////////////////////////
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// Connect up to property values
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/////////////////////////////////////////////////////////////////////
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mag_compass = fgGetNode( "/instrumentation/magnetic-compass/indicated-heading-deg", true );
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dme_min = fgGetNode( "/instrumentation/dme/indicated-time-min", true );
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dme_kt = fgGetNode( "/instrumentation/dme/indicated-ground-speed-kt",
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true );
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dme_nm = fgGetNode( "/instrumentation/dme/indicated-distance-nm", true );
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dme_in_range = fgGetNode( "/instrumentation/dme/in-range", true );
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adf_bus_power = fgGetNode( "/systems/electrical/outputs/adf", true );
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dme_bus_power = fgGetNode( "/systems/electrical/outputs/dme", true );
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navcom1_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[0]",
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true );
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navcom2_bus_power = fgGetNode( "/systems/electrical/outputs/navcom[1]",
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true );
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xpdr_bus_power = fgGetNode( "/systems/electrical/outputs/transponder",
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true );
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navcom1_power_btn = fgGetNode( "/radios/comm[0]/inputs/power-btn", true );
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navcom2_power_btn = fgGetNode( "/radios/comm[1]/inputs/power-btn", true );
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com1_freq = fgGetNode( "/radios/comm[0]/frequencies/selected-mhz", true );
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com1_stby_freq
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= fgGetNode( "/radios/comm[0]/frequencies/standby-mhz", true );
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com2_freq = fgGetNode( "/radios/comm[1]/frequencies/selected-mhz", true );
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com2_stby_freq
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= fgGetNode( "/radios/comm[1]/frequencies/standby-mhz", true );
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nav1_freq = fgGetNode( "/radios/nav[0]/frequencies/selected-mhz", true );
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nav1_stby_freq
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= fgGetNode( "/radios/nav[0]/frequencies/standby-mhz", true );
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nav1_obs = fgGetNode( "/radios/nav[0]/radials/selected-deg", true );
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nav2_freq = fgGetNode( "/radios/nav[1]/frequencies/selected-mhz", true );
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nav2_stby_freq
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= fgGetNode( "/radios/nav[1]/frequencies/standby-mhz", true );
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nav2_obs = fgGetNode( "/radios/nav[1]/radials/selected-deg", true );
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adf_power_btn = fgGetNode( "/radios/kr-87/inputs/power-btn", true );
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adf_vol = fgGetNode( "/radios/kr-87/inputs/volume", true );
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adf_adf_btn = fgGetNode( "/radios/kr-87/inputs/adf-btn", true );
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adf_bfo_btn = fgGetNode( "/radios/kr-87/inputs/bfo-btn", true );
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adf_freq = fgGetNode( "/radios/kr-87/outputs/selected-khz", true );
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adf_stby_freq = fgGetNode( "/radios/kr-87/outputs/standby-khz", true );
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adf_stby_mode = fgGetNode( "/radios/kr-87/modes/stby", true );
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adf_timer_mode = fgGetNode( "/radios/kr-87/modes/timer", true );
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adf_count_mode = fgGetNode( "/radios/kr-87/modes/count", true );
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adf_flight_timer = fgGetNode( "/radios/kr-87/outputs/flight-timer", true );
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adf_elapsed_timer = fgGetNode( "/radios/kr-87/outputs/elapsed-timer",
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true );
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adf_ant_ann = fgGetNode( "/radios/kr-87/annunciators/ant", true );
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adf_adf_ann = fgGetNode( "/radios/kr-87/annunciators/adf", true );
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adf_bfo_ann = fgGetNode( "/radios/kr-87/annunciators/bfo", true );
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adf_frq_ann = fgGetNode( "/radios/kr-87/annunciators/frq", true );
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adf_flt_ann = fgGetNode( "/radios/kr-87/annunciators/flt", true );
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adf_et_ann = fgGetNode( "/radios/kr-87/annunciators/et", true );
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inner = fgGetNode( "/radios/marker-beacon/inner", true );
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middle = fgGetNode( "/radios/marker-beacon/middle", true );
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outer = fgGetNode( "/radios/marker-beacon/outer", true );
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xpdr_ident_btn = fgGetNode( "/radios/kt-70/inputs/ident-btn", true );
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xpdr_digit1 = fgGetNode( "/radios/kt-70/inputs/digit1", true );
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xpdr_digit2 = fgGetNode( "/radios/kt-70/inputs/digit2", true );
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xpdr_digit3 = fgGetNode( "/radios/kt-70/inputs/digit3", true );
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xpdr_digit4 = fgGetNode( "/radios/kt-70/inputs/digit4", true );
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xpdr_func_knob = fgGetNode( "/radios/kt-70/inputs/func-knob", true );
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xpdr_id_code = fgGetNode( "/radios/kt-70/outputs/id-code", true );
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xpdr_flight_level = fgGetNode( "/radios/kt-70/outputs/flight-level", true );
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xpdr_fl_ann = fgGetNode( "/radios/kt-70/annunciators/fl", true );
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xpdr_alt_ann = fgGetNode( "/radios/kt-70/annunciators/alt", true );
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xpdr_gnd_ann = fgGetNode( "/radios/kt-70/annunciators/gnd", true );
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xpdr_on_ann = fgGetNode( "/radios/kt-70/annunciators/on", true );
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xpdr_sby_ann = fgGetNode( "/radios/kt-70/annunciators/sby", true );
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xpdr_reply_ann = fgGetNode( "/radios/kt-70/annunciators/reply", true );
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ati_bird
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= fgGetNode( "/instrumentation/attitude-indicator/horizon-offset-deg",
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true );
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alt_press = fgGetNode( "/instrumentation/altimeter/setting-inhg", true );
|
|
adf_hdg = fgGetNode( "/radios/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 );
|
|
|
|
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( "/radios/kt-70/inputs/serviceable",
|
|
true );
|
|
dme_serviceable = fgGetNode( "/instrumentation/dme/serviceable", true );
|
|
|
|
// 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;
|
|
}
|
|
|
|
|
|
/////////////////////////////////////////////////////////////////////
|
|
// Read analog inputs
|
|
/////////////////////////////////////////////////////////////////////
|
|
|
|
// scale a number between min and max (with center defined) to a scale
|
|
// from -1.0 to 1.0
|
|
static double scale( int center, int min, int max, int value ) {
|
|
// cout << center << " " << min << " " << max << " " << value << " ";
|
|
double result;
|
|
double range;
|
|
|
|
if ( value <= center ) {
|
|
range = center - min;
|
|
result = (value - center) / range;
|
|
} else {
|
|
range = max - center;
|
|
result = (value - center) / range;
|
|
}
|
|
|
|
if ( result < -1.0 ) result = -1.0;
|
|
if ( result > 1.0 ) result = 1.0;
|
|
|
|
// cout << result << endl;
|
|
|
|
return result;
|
|
}
|
|
|
|
|
|
// scale a number between min and max to a scale from 0.0 to 1.0
|
|
static double scale( int min, int max, int value ) {
|
|
// cout << center << " " << min << " " << max << " " << value << " ";
|
|
double result;
|
|
double range;
|
|
|
|
range = max - min;
|
|
result = (value - min) / range;
|
|
|
|
if ( result < 0.0 ) result = 0.0;
|
|
if ( result > 1.0 ) result = 1.0;
|
|
|
|
// cout << result << endl;
|
|
|
|
return result;
|
|
}
|
|
|
|
|
|
static int tony_magic( int raw, int obs[3] ) {
|
|
int result = 0;
|
|
|
|
obs[0] = raw;
|
|
|
|
if ( obs[1] < 30 ) {
|
|
if ( obs[2] >= 68 && obs[2] < 480 ) {
|
|
result = -6;
|
|
} else if ( obs[2] >= 480 ) {
|
|
result = 6;
|
|
}
|
|
obs[2] = obs[1];
|
|
obs[1] = obs[0];
|
|
} else if ( obs[1] < 68 ) {
|
|
// do nothing
|
|
obs[1] = obs[0];
|
|
} else if ( obs[2] < 30 ) {
|
|
if ( obs[1] >= 68 && obs[1] < 480 ) {
|
|
result = 6;
|
|
obs[2] = obs[1];
|
|
obs[1] = obs[0];
|
|
} else if ( obs[1] >= 480 ) {
|
|
result = -6;
|
|
if ( obs[0] < obs[1] ) {
|
|
obs[2] = obs[1];
|
|
obs[1] = obs[0];
|
|
} else {
|
|
obs[2] = obs[0];
|
|
obs[1] = obs[0];
|
|
}
|
|
}
|
|
} else if ( obs[1] > 980 ) {
|
|
if ( obs[2] <= 956 && obs[2] > 480 ) {
|
|
result = 6;
|
|
} else if ( obs[2] <= 480 ) {
|
|
result = -6;
|
|
}
|
|
obs[2] = obs[1];
|
|
obs[1] = obs[0];
|
|
} else if ( obs[1] > 956 ) {
|
|
// do nothing
|
|
obs[1] = obs[0];
|
|
} else if ( obs[2] > 980 ) {
|
|
if ( obs[1] <= 956 && obs[1] > 480 ) {
|
|
result = -6;
|
|
obs[2] = obs[1];
|
|
obs[1] = obs[0];
|
|
} else if ( obs[1] <= 480 ) {
|
|
result = 6;
|
|
if ( obs[0] > obs[1] ) {
|
|
obs[2] = obs[1];
|
|
obs[1] = obs[0];
|
|
} else {
|
|
obs[2] = obs[0];
|
|
obs[1] = obs[0];
|
|
}
|
|
}
|
|
} else {
|
|
if ( obs[1] < 480 && obs[2] > 480 ) {
|
|
// crossed gap going up
|
|
if ( obs[0] < obs[1] ) {
|
|
// caught a bogus intermediate value coming out of the gap
|
|
obs[1] = obs[0];
|
|
}
|
|
} else if ( obs[1] > 480 && obs[2] < 480 ) {
|
|
// crossed gap going down
|
|
if ( obs[0] > obs[1] ) {
|
|
// caught a bogus intermediate value coming out of the gap
|
|
obs[1] = obs[0];
|
|
}
|
|
} else if ( obs[0] > 480 && obs[1] < 480 && obs[2] < 480 ) {
|
|
// crossed the gap going down
|
|
if ( obs[1] > obs[2] ) {
|
|
// caught a bogus intermediate value coming out of the gap
|
|
obs[1] = obs[2];
|
|
}
|
|
} else if ( obs[0] < 480 && obs[1] > 480 && obs[2] > 480 ) {
|
|
// crossed the gap going up
|
|
if ( obs[1] < obs[2] ) {
|
|
// caught a bogus intermediate value coming out of the gap
|
|
obs[1] = obs[2];
|
|
}
|
|
}
|
|
result = obs[1] - obs[2];
|
|
if ( abs(result) > 400 ) {
|
|
// ignore
|
|
result = 0;
|
|
}
|
|
obs[2] = obs[1];
|
|
obs[1] = obs[0];
|
|
}
|
|
|
|
// cout << " result = " << result << endl;
|
|
if ( result < -500 ) { result += 1024; }
|
|
if ( result > 500 ) { result -= 1024; }
|
|
|
|
return result;
|
|
}
|
|
|
|
|
|
static double instr_pot_filter( double ave, double val ) {
|
|
if ( fabs(ave - val) < 400 || fabs(val) < fabs(ave) ) {
|
|
return 0.5 * ave + 0.5 * val;
|
|
} else {
|
|
return ave;
|
|
}
|
|
}
|
|
|
|
|
|
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;
|
|
|
|
// aileron
|
|
tmp = scale( ailerons_center->getIntValue(), ailerons_min->getIntValue(),
|
|
ailerons_max->getIntValue(), analog_in_data[0] );
|
|
fgSetFloat( "/controls/flight/aileron", tmp );
|
|
// cout << "aileron = " << analog_in_data[0] << " = " << tmp;
|
|
// elevator
|
|
tmp = -scale( elevator_center->getIntValue(), elevator_min->getIntValue(),
|
|
elevator_max->getIntValue(), analog_in_data[5] );
|
|
fgSetFloat( "/controls/flight/elevator", tmp * 0.5 );
|
|
// cout << "trim = " << analog_in_data[4] << " = " << tmp;
|
|
|
|
// elevator trim
|
|
tmp = scale( trim_center->getIntValue(), trim_min->getIntValue(),
|
|
trim_max->getIntValue(), analog_in_data[4] );
|
|
fgSetFloat( "/controls/flight/elevator-trim", tmp );
|
|
// cout << " elev = " << analog_in_data[5] << " = " << tmp << endl;
|
|
|
|
// mixture
|
|
tmp = scale( mixture_min->getIntValue(), mixture_max->getIntValue(),
|
|
analog_in_data[6] );
|
|
fgSetFloat( "/controls/engines/engine[0]/mixture", tmp );
|
|
fgSetFloat( "/controls/engines/engine[1]/mixture", tmp );
|
|
|
|
// throttle
|
|
tmp = scale( throttle_min->getIntValue(), throttle_max->getIntValue(),
|
|
analog_in_data[8] );
|
|
fgSetFloat( "/controls/engines/engine[0]/throttle", tmp );
|
|
fgSetFloat( "/controls/engines/engine[1]/throttle", tmp );
|
|
// cout << "throttle = " << tmp << endl;
|
|
|
|
if ( use_rudder ) {
|
|
// rudder
|
|
tmp = scale( rudder_center->getIntValue(), rudder_min->getIntValue(),
|
|
rudder_max->getIntValue(), analog_in_data[10] );
|
|
fgSetFloat( "/controls/flight/rudder", -tmp );
|
|
|
|
// toe brakes
|
|
tmp = scale( brake_left_min->getIntValue(),
|
|
brake_left_max->getIntValue(),
|
|
analog_in_data[20] );
|
|
fgSetFloat( "/controls/gear/wheel[0]/brake", tmp );
|
|
tmp = scale( brake_right_min->getIntValue(),
|
|
brake_right_max->getIntValue(),
|
|
analog_in_data[21] );
|
|
fgSetFloat( "/controls/gear/wheel[1]/brake", 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/kr-87/inputs/volume", tmp );
|
|
|
|
// instrument panel pots
|
|
static bool first = true;
|
|
static int obs1[3], obs2[3], obs3[3], obs4[3], obs5[3], obs6[3];
|
|
static double diff1_ave = 0.0;
|
|
static double diff2_ave = 0.0;
|
|
static double diff3_ave = 0.0;
|
|
static double diff4_ave = 0.0;
|
|
static double diff5_ave = 0.0;
|
|
static double diff6_ave = 0.0;
|
|
|
|
if ( first ) {
|
|
first = false;
|
|
obs1[0] = obs1[1] = obs1[2] = analog_in_data[11];
|
|
obs2[0] = obs2[1] = obs2[2] = analog_in_data[28];
|
|
obs3[0] = obs3[1] = obs3[2] = analog_in_data[29];
|
|
obs4[0] = obs4[1] = obs4[2] = analog_in_data[30];
|
|
obs5[0] = obs5[1] = obs5[2] = analog_in_data[31];
|
|
obs6[0] = obs6[1] = obs6[2] = analog_in_data[14];
|
|
}
|
|
|
|
int diff1 = tony_magic( analog_in_data[11], obs1 );
|
|
int diff2 = tony_magic( analog_in_data[28], obs2 );
|
|
int diff3 = tony_magic( analog_in_data[29], obs3 );
|
|
int diff4 = tony_magic( analog_in_data[30], obs4 );
|
|
int diff5 = tony_magic( analog_in_data[31], obs5 );
|
|
int diff6 = tony_magic( analog_in_data[14], obs6 );
|
|
|
|
diff1_ave = instr_pot_filter( diff1_ave, diff1 );
|
|
diff2_ave = instr_pot_filter( diff2_ave, diff2 );
|
|
diff3_ave = instr_pot_filter( diff3_ave, diff3 );
|
|
diff4_ave = instr_pot_filter( diff4_ave, diff4 );
|
|
diff5_ave = instr_pot_filter( diff5_ave, diff5 );
|
|
diff6_ave = instr_pot_filter( diff6_ave, diff6 );
|
|
|
|
tmp = alt_press->getDoubleValue() + (diff1_ave * (0.25/888.0) );
|
|
if ( tmp < 27.9 ) { tmp = 27.9; }
|
|
if ( tmp > 31.4 ) { tmp = 31.4; }
|
|
fgSetFloat( "/instrumentation/altimeter/setting-inhg", tmp );
|
|
|
|
tmp = ati_bird->getDoubleValue() + (diff2_ave * (20.0/888.0) );
|
|
if ( tmp < -10.0 ) { tmp = -10.0; }
|
|
if ( tmp > 10.0 ) { tmp = 10.0; }
|
|
fgSetFloat( "/instrumentation/attitude-indicator/horizon-offset-deg", tmp );
|
|
|
|
tmp = nav1_obs->getDoubleValue() + (diff3_ave * (72.0/888.0) );
|
|
while ( tmp >= 360.0 ) { tmp -= 360.0; }
|
|
while ( tmp < 0.0 ) { tmp += 360.0; }
|
|
// cout << " obs = " << tmp << endl;
|
|
fgSetFloat( "/radios/nav[0]/radials/selected-deg", tmp );
|
|
|
|
tmp = nav2_obs->getDoubleValue() + (diff4_ave * (72.0/888.0) );
|
|
while ( tmp >= 360.0 ) { tmp -= 360.0; }
|
|
while ( tmp < 0.0 ) { tmp += 360.0; }
|
|
// cout << " obs = " << tmp << endl;
|
|
fgSetFloat( "/radios/nav[1]/radials/selected-deg", tmp );
|
|
|
|
tmp = adf_hdg->getDoubleValue() + (diff5_ave * (72.0/888.0) );
|
|
while ( tmp >= 360.0 ) { tmp -= 360.0; }
|
|
while ( tmp < 0.0 ) { tmp += 360.0; }
|
|
// cout << " obs = " << tmp << endl;
|
|
fgSetFloat( "/radios/kr-87/inputs/rotation-deg", tmp );
|
|
|
|
tmp = hdg_bug->getDoubleValue() + (diff6_ave * (72.0/888.0) );
|
|
while ( tmp >= 360.0 ) { tmp -= 360.0; }
|
|
while ( tmp < 0.0 ) { tmp += 360.0; }
|
|
// cout << " obs = " << tmp << endl;
|
|
fgSetFloat( "/autopilot/settings/heading-bug-deg", tmp );
|
|
|
|
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;
|
|
}
|
|
|
|
|
|
/////////////////////////////////////////////////////////////////////
|
|
// Read radio switches
|
|
/////////////////////////////////////////////////////////////////////
|
|
|
|
bool FGATC610x::do_radio_switches() {
|
|
double freq, coarse_freq, fine_freq, value;
|
|
int diff;
|
|
|
|
ATC610xReadRadios( radios_fd, radio_switch_data );
|
|
|
|
// DME Switch
|
|
dme_switch = (radio_switch_data[7] >> 4) & 0x03;
|
|
if ( dme_switch == 0 ) {
|
|
// off
|
|
fgSetInt( "/instrumentation/dme/switch-position", 0 );
|
|
} else if ( dme_switch == 2 ) {
|
|
// nav1
|
|
fgSetInt( "/instrumentation/dme/switch-position", 1 );
|
|
fgSetString( "/instrumentation/dme/frequencies/source",
|
|
"/radios/nav[0]/frequencies/selected-mhz" );
|
|
freq = fgGetFloat( "/radios/nav[0]/frequencies/selected-mhz", true );
|
|
fgSetFloat( "/instrumentation/dme/frequencies/selected-mhz", freq );
|
|
} else if ( dme_switch == 1 ) {
|
|
// nav2
|
|
fgSetInt( "/instrumentation/dme/switch-position", 3 );
|
|
fgSetString( "/instrumentation/dme/frequencies/source",
|
|
"/radios/nav[1]/frequencies/selected-mhz" );
|
|
freq = fgGetFloat( "/radios/nav[1]/frequencies/selected-mhz", true );
|
|
fgSetFloat( "/instrumentation/dme/frequencies/selected-mhz", freq );
|
|
}
|
|
|
|
// NavCom1 Power
|
|
fgSetBool( "/radios/comm[0]/inputs/power-btn",
|
|
radio_switch_data[7] & 0x01 );
|
|
|
|
if ( navcom1_has_power() && comm1_serviceable->getBoolValue() ) {
|
|
// 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;
|
|
}
|
|
|
|
// NavCom2 Power
|
|
fgSetBool( "/radios/comm[1]/inputs/power-btn",
|
|
radio_switch_data[15] & 0x01 );
|
|
|
|
if ( navcom2_has_power() && comm2_serviceable->getBoolValue() ) {
|
|
// 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;
|
|
}
|
|
|
|
if ( navcom1_has_power() && nav1_serviceable->getBoolValue() ) {
|
|
// 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;
|
|
}
|
|
|
|
if ( navcom2_has_power() && nav2_serviceable->getBoolValue() ) {
|
|
// 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;
|
|
}
|
|
|
|
if ( navcom1_has_power() && comm1_serviceable->getBoolValue() ) {
|
|
// Com1 Tuner
|
|
int com1_tuner_fine = ((radio_switch_data[5] >> 4) & 0x0f) - 1;
|
|
int com1_tuner_coarse = (radio_switch_data[5] & 0x0f) - 1;
|
|
static int last_com1_tuner_fine = com1_tuner_fine;
|
|
static int last_com1_tuner_coarse = com1_tuner_coarse;
|
|
|
|
freq = com1_stby_freq->getFloatValue();
|
|
coarse_freq = (int)freq;
|
|
fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
|
|
|
|
if ( com1_tuner_fine != last_com1_tuner_fine ) {
|
|
diff = com1_tuner_fine - last_com1_tuner_fine;
|
|
if ( abs(diff) > 4 ) {
|
|
// roll over
|
|
if ( com1_tuner_fine < last_com1_tuner_fine ) {
|
|
// going up
|
|
diff = 12 - last_com1_tuner_fine + com1_tuner_fine;
|
|
} else {
|
|
// going down
|
|
diff = com1_tuner_fine - 12 - last_com1_tuner_fine;
|
|
}
|
|
}
|
|
fine_freq += diff;
|
|
}
|
|
while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
|
|
while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
|
|
|
|
if ( com1_tuner_coarse != last_com1_tuner_coarse ) {
|
|
diff = com1_tuner_coarse - last_com1_tuner_coarse;
|
|
if ( abs(diff) > 4 ) {
|
|
// roll over
|
|
if ( com1_tuner_coarse < last_com1_tuner_coarse ) {
|
|
// going up
|
|
diff = 12 - last_com1_tuner_coarse + com1_tuner_coarse;
|
|
} else {
|
|
// going down
|
|
diff = com1_tuner_coarse - 12 - last_com1_tuner_coarse;
|
|
}
|
|
}
|
|
coarse_freq += diff;
|
|
}
|
|
if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
|
|
if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
|
|
|
|
last_com1_tuner_fine = com1_tuner_fine;
|
|
last_com1_tuner_coarse = com1_tuner_coarse;
|
|
|
|
fgSetFloat( "/radios/comm[0]/frequencies/standby-mhz",
|
|
coarse_freq + fine_freq / 40.0 );
|
|
}
|
|
|
|
if ( navcom2_has_power() && comm2_serviceable->getBoolValue() ) {
|
|
// Com2 Tuner
|
|
int com2_tuner_fine = ((radio_switch_data[13] >> 4) & 0x0f) - 1;
|
|
int com2_tuner_coarse = (radio_switch_data[13] & 0x0f) - 1;
|
|
static int last_com2_tuner_fine = com2_tuner_fine;
|
|
static int last_com2_tuner_coarse = com2_tuner_coarse;
|
|
|
|
freq = com2_stby_freq->getFloatValue();
|
|
coarse_freq = (int)freq;
|
|
fine_freq = (int)((freq - coarse_freq) * 40 + 0.5);
|
|
|
|
if ( com2_tuner_fine != last_com2_tuner_fine ) {
|
|
diff = com2_tuner_fine - last_com2_tuner_fine;
|
|
if ( abs(diff) > 4 ) {
|
|
// roll over
|
|
if ( com2_tuner_fine < last_com2_tuner_fine ) {
|
|
// going up
|
|
diff = 12 - last_com2_tuner_fine + com2_tuner_fine;
|
|
} else {
|
|
// going down
|
|
diff = com2_tuner_fine - 12 - last_com2_tuner_fine;
|
|
}
|
|
}
|
|
fine_freq += diff;
|
|
}
|
|
while ( fine_freq >= 40.0 ) { fine_freq -= 40.0; }
|
|
while ( fine_freq < 0.0 ) { fine_freq += 40.0; }
|
|
|
|
if ( com2_tuner_coarse != last_com2_tuner_coarse ) {
|
|
diff = com2_tuner_coarse - last_com2_tuner_coarse;
|
|
if ( abs(diff) > 4 ) {
|
|
// roll over
|
|
if ( com2_tuner_coarse < last_com2_tuner_coarse ) {
|
|
// going up
|
|
diff = 12 - last_com2_tuner_coarse + com2_tuner_coarse;
|
|
} else {
|
|
// going down
|
|
diff = com2_tuner_coarse - 12 - last_com2_tuner_coarse;
|
|
}
|
|
}
|
|
coarse_freq += diff;
|
|
}
|
|
if ( coarse_freq < 118.0 ) { coarse_freq += 19.0; }
|
|
if ( coarse_freq > 136.0 ) { coarse_freq -= 19.0; }
|
|
|
|
last_com2_tuner_fine = com2_tuner_fine;
|
|
last_com2_tuner_coarse = com2_tuner_coarse;
|
|
|
|
fgSetFloat( "/radios/comm[1]/frequencies/standby-mhz",
|
|
coarse_freq + fine_freq / 40.0 );
|
|
}
|
|
|
|
if ( navcom1_has_power() && nav1_serviceable->getBoolValue() ) {
|
|
// Nav1 Tuner
|
|
int nav1_tuner_fine = ((radio_switch_data[9] >> 4) & 0x0f) - 1;
|
|
int nav1_tuner_coarse = (radio_switch_data[9] & 0x0f) - 1;
|
|
static int last_nav1_tuner_fine = nav1_tuner_fine;
|
|
static int last_nav1_tuner_coarse = nav1_tuner_coarse;
|
|
|
|
freq = nav1_stby_freq->getFloatValue();
|
|
coarse_freq = (int)freq;
|
|
fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
|
|
|
|
if ( nav1_tuner_fine != last_nav1_tuner_fine ) {
|
|
diff = nav1_tuner_fine - last_nav1_tuner_fine;
|
|
if ( abs(diff) > 4 ) {
|
|
// roll over
|
|
if ( nav1_tuner_fine < last_nav1_tuner_fine ) {
|
|
// going up
|
|
diff = 12 - last_nav1_tuner_fine + nav1_tuner_fine;
|
|
} else {
|
|
// going down
|
|
diff = nav1_tuner_fine - 12 - last_nav1_tuner_fine;
|
|
}
|
|
}
|
|
fine_freq += diff;
|
|
}
|
|
while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
|
|
while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
|
|
|
|
if ( nav1_tuner_coarse != last_nav1_tuner_coarse ) {
|
|
diff = nav1_tuner_coarse - last_nav1_tuner_coarse;
|
|
if ( abs(diff) > 4 ) {
|
|
// roll over
|
|
if ( nav1_tuner_coarse < last_nav1_tuner_coarse ) {
|
|
// going up
|
|
diff = 12 - last_nav1_tuner_coarse + nav1_tuner_coarse;
|
|
} else {
|
|
// going down
|
|
diff = nav1_tuner_coarse - 12 - last_nav1_tuner_coarse;
|
|
}
|
|
}
|
|
coarse_freq += diff;
|
|
}
|
|
if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
|
|
if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
|
|
|
|
last_nav1_tuner_fine = nav1_tuner_fine;
|
|
last_nav1_tuner_coarse = nav1_tuner_coarse;
|
|
|
|
fgSetFloat( "/radios/nav[0]/frequencies/standby-mhz",
|
|
coarse_freq + fine_freq / 20.0 );
|
|
}
|
|
|
|
if ( navcom2_has_power() && nav2_serviceable->getBoolValue() ) {
|
|
// Nav2 Tuner
|
|
int nav2_tuner_fine = ((radio_switch_data[17] >> 4) & 0x0f) - 1;
|
|
int nav2_tuner_coarse = (radio_switch_data[17] & 0x0f) - 1;
|
|
static int last_nav2_tuner_fine = nav2_tuner_fine;
|
|
static int last_nav2_tuner_coarse = nav2_tuner_coarse;
|
|
|
|
freq = nav2_stby_freq->getFloatValue();
|
|
coarse_freq = (int)freq;
|
|
fine_freq = (int)((freq - coarse_freq) * 20 + 0.5);
|
|
|
|
if ( nav2_tuner_fine != last_nav2_tuner_fine ) {
|
|
diff = nav2_tuner_fine - last_nav2_tuner_fine;
|
|
if ( abs(diff) > 4 ) {
|
|
// roll over
|
|
if ( nav2_tuner_fine < last_nav2_tuner_fine ) {
|
|
// going up
|
|
diff = 12 - last_nav2_tuner_fine + nav2_tuner_fine;
|
|
} else {
|
|
// going down
|
|
diff = nav2_tuner_fine - 12 - last_nav2_tuner_fine;
|
|
}
|
|
}
|
|
fine_freq += diff;
|
|
}
|
|
while ( fine_freq >= 20.0 ) { fine_freq -= 20.0; }
|
|
while ( fine_freq < 0.0 ) { fine_freq += 20.0; }
|
|
|
|
if ( nav2_tuner_coarse != last_nav2_tuner_coarse ) {
|
|
diff = nav2_tuner_coarse - last_nav2_tuner_coarse;
|
|
if ( abs(diff) > 4 ) {
|
|
// roll over
|
|
if ( nav2_tuner_coarse < last_nav2_tuner_coarse ) {
|
|
// going up
|
|
diff = 12 - last_nav2_tuner_coarse + nav2_tuner_coarse;
|
|
} else {
|
|
// going down
|
|
diff = nav2_tuner_coarse - 12 - last_nav2_tuner_coarse;
|
|
}
|
|
}
|
|
coarse_freq += diff;
|
|
}
|
|
if ( coarse_freq < 108.0 ) { coarse_freq += 10.0; }
|
|
if ( coarse_freq > 117.0 ) { coarse_freq -= 10.0; }
|
|
|
|
last_nav2_tuner_fine = nav2_tuner_fine;
|
|
last_nav2_tuner_coarse = nav2_tuner_coarse;
|
|
|
|
fgSetFloat( "/radios/nav[1]/frequencies/standby-mhz",
|
|
coarse_freq + fine_freq / 20.0);
|
|
}
|
|
|
|
// ADF Tuner
|
|
|
|
int adf_tuner_fine = ((radio_switch_data[21] >> 4) & 0x0f) - 1;
|
|
int adf_tuner_coarse = (radio_switch_data[21] & 0x0f) - 1;
|
|
static int last_adf_tuner_fine = adf_tuner_fine;
|
|
static int last_adf_tuner_coarse = adf_tuner_coarse;
|
|
|
|
if ( adf_has_power() && adf_serviceable->getBoolValue() ) {
|
|
// cout << "adf_stby_mode = " << adf_stby_mode->getIntValue() << endl;
|
|
if ( adf_count_mode->getIntValue() == 2 ) {
|
|
// tune count down timer
|
|
value = adf_elapsed_timer->getDoubleValue();
|
|
} else {
|
|
// tune frequency
|
|
if ( adf_stby_mode->getIntValue() == 1 ) {
|
|
value = adf_freq->getFloatValue();
|
|
} else {
|
|
value = adf_stby_freq->getFloatValue();
|
|
}
|
|
}
|
|
|
|
if ( adf_tuner_fine != last_adf_tuner_fine ) {
|
|
diff = adf_tuner_fine - last_adf_tuner_fine;
|
|
if ( abs(diff) > 4 ) {
|
|
// roll over
|
|
if ( adf_tuner_fine < last_adf_tuner_fine ) {
|
|
// going up
|
|
diff = 12 - last_adf_tuner_fine + adf_tuner_fine;
|
|
} else {
|
|
// going down
|
|
diff = adf_tuner_fine - 12 - last_adf_tuner_fine;
|
|
}
|
|
}
|
|
value += diff;
|
|
}
|
|
|
|
if ( adf_tuner_coarse != last_adf_tuner_coarse ) {
|
|
diff = adf_tuner_coarse - last_adf_tuner_coarse;
|
|
if ( abs(diff) > 4 ) {
|
|
// roll over
|
|
if ( adf_tuner_coarse < last_adf_tuner_coarse ) {
|
|
// going up
|
|
diff = 12 - last_adf_tuner_coarse + adf_tuner_coarse;
|
|
} else {
|
|
// going down
|
|
diff = adf_tuner_coarse - 12 - last_adf_tuner_coarse;
|
|
}
|
|
}
|
|
if ( adf_count_mode->getIntValue() == 2 ) {
|
|
value += 60 * diff;
|
|
} else {
|
|
value += 25 * diff;
|
|
}
|
|
}
|
|
if ( adf_count_mode->getIntValue() == 2 ) {
|
|
if ( value < 0 ) { value += 3600; }
|
|
if ( value > 3599 ) { value -= 3600; }
|
|
} else {
|
|
if ( value < 200 ) { value += 1600; }
|
|
if ( value > 1799 ) { value -= 1600; }
|
|
}
|
|
|
|
if ( adf_count_mode->getIntValue() == 2 ) {
|
|
fgSetFloat( "/radios/kr-87/outputs/elapsed-timer", value );
|
|
} else {
|
|
if ( adf_stby_mode->getIntValue() == 1 ) {
|
|
fgSetFloat( "/radios/kr-87/outputs/selected-khz", value );
|
|
} else {
|
|
fgSetFloat( "/radios/kr-87/outputs/standby-khz", value );
|
|
}
|
|
}
|
|
}
|
|
last_adf_tuner_fine = adf_tuner_fine;
|
|
last_adf_tuner_coarse = adf_tuner_coarse;
|
|
|
|
|
|
// ADF buttons
|
|
fgSetInt( "/radios/kr-87/inputs/adf-btn",
|
|
!(radio_switch_data[23] & 0x01) );
|
|
fgSetInt( "/radios/kr-87/inputs/bfo-btn",
|
|
!(radio_switch_data[23] >> 1 & 0x01) );
|
|
fgSetInt( "/radios/kr-87/inputs/frq-btn",
|
|
!(radio_switch_data[23] >> 2 & 0x01) );
|
|
fgSetInt( "/radios/kr-87/inputs/flt-et-btn",
|
|
!(radio_switch_data[23] >> 3 & 0x01) );
|
|
fgSetInt( "/radios/kr-87/inputs/set-rst-btn",
|
|
!(radio_switch_data[23] >> 4 & 0x01) );
|
|
fgSetInt( "/radios/kr-87/inputs/power-btn",
|
|
radio_switch_data[23] >> 5 & 0x01 );
|
|
/* cout << "adf = " << !(radio_switch_data[23] & 0x01)
|
|
<< " bfo = " << !(radio_switch_data[23] >> 1 & 0x01)
|
|
<< " frq = " << !(radio_switch_data[23] >> 2 & 0x01)
|
|
<< " flt/et = " << !(radio_switch_data[23] >> 3 & 0x01)
|
|
<< " set/rst = " << !(radio_switch_data[23] >> 4 & 0x01)
|
|
<< endl; */
|
|
|
|
// Transponder Tuner
|
|
int i;
|
|
int digit_tuner[4];
|
|
digit_tuner[0] = radio_switch_data[25] & 0x0f;
|
|
digit_tuner[1] = ( radio_switch_data[25] >> 4 ) & 0x0f;
|
|
digit_tuner[2] = radio_switch_data[29] & 0x0f;
|
|
digit_tuner[3] = ( radio_switch_data[29] >> 4 ) & 0x0f;
|
|
|
|
static int last_digit_tuner[4];
|
|
static bool first_time = true;
|
|
if ( first_time ) {
|
|
first_time = false;
|
|
for ( i = 0; i < 4; ++i ) {
|
|
last_digit_tuner[i] = digit_tuner[i];
|
|
}
|
|
}
|
|
|
|
if ( xpdr_has_power() && xpdr_serviceable->getBoolValue() ) {
|
|
int id_code = xpdr_id_code->getIntValue();
|
|
int digit[4];
|
|
int place = 1000;
|
|
for ( i = 0; i < 4; ++i ) {
|
|
digit[i] = id_code / place;
|
|
id_code -= digit[i] * place;
|
|
place /= 10;
|
|
}
|
|
|
|
for ( i = 0; i < 4; ++i ) {
|
|
if ( digit_tuner[i] != last_digit_tuner[i] ) {
|
|
diff = digit_tuner[i] - last_digit_tuner[i];
|
|
if ( abs(diff) > 4 ) {
|
|
// roll over
|
|
if ( digit_tuner[i] < last_digit_tuner[i] ) {
|
|
// going up
|
|
diff = 15 - last_digit_tuner[i] + digit_tuner[i];
|
|
} else {
|
|
// going down
|
|
diff = digit_tuner[i] - 15 - last_digit_tuner[i];
|
|
}
|
|
}
|
|
digit[i] += diff;
|
|
}
|
|
while ( digit[i] >= 8 ) { digit[i] -= 8; }
|
|
while ( digit[i] < 0 ) { digit[i] += 8; }
|
|
}
|
|
|
|
fgSetInt( "/radios/kt-70/inputs/digit1", digit[0] );
|
|
fgSetInt( "/radios/kt-70/inputs/digit2", digit[1] );
|
|
fgSetInt( "/radios/kt-70/inputs/digit3", digit[2] );
|
|
fgSetInt( "/radios/kt-70/inputs/digit4", digit[3] );
|
|
}
|
|
for ( i = 0; i < 4; ++i ) {
|
|
last_digit_tuner[i] = digit_tuner[i];
|
|
}
|
|
|
|
int tmp = 0;
|
|
for ( i = 0; i < 5; ++i ) {
|
|
if ( radio_switch_data[27] >> i & 0x01 ) {
|
|
tmp = i + 1;
|
|
}
|
|
}
|
|
fgSetInt( "/radios/kt-70/inputs/func-knob", tmp );
|
|
fgSetInt( "/radios/kt-70/inputs/ident-btn",
|
|
!(radio_switch_data[27] >> 5 & 0x01) );
|
|
|
|
// Audio panel switches
|
|
fgSetInt( "/radios/nav[0]/audio-btn",
|
|
(radio_switch_data[3] & 0x01) );
|
|
fgSetInt( "/radios/nav[1]/audio-btn",
|
|
(radio_switch_data[3] >> 2 & 0x01) );
|
|
fgSetInt( "/radios/kr-87/inputs/audio-btn",
|
|
(radio_switch_data[3] >> 4 & 0x01) );
|
|
fgSetInt( "/radios/marker-beacon/audio-btn",
|
|
(radio_switch_data[3] >> 6 & 0x01) );
|
|
|
|
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;
|
|
}
|
|
|
|
|
|
/////////////////////////////////////////////////////////////////////
|
|
// 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 );
|
|
|
|
// master switches
|
|
fgSetBool( "/controls/switches/master-bat", switch_matrix[board][5][1] );
|
|
fgSetBool( "/controls/switches/master-alt", switch_matrix[board][4][1] );
|
|
fgSetBool( "/controls/switches/master-avionics",
|
|
switch_matrix[board][0][3] );
|
|
|
|
// magnetos and starter switch
|
|
int magnetos = 0;
|
|
bool starter = false;
|
|
if ( switch_matrix[board][3][1] == 1 ) {
|
|
magnetos = 3;
|
|
starter = true;
|
|
} else if ( switch_matrix[board][2][1] == 1 ) {
|
|
magnetos = 3;
|
|
starter = false;
|
|
} else if ( switch_matrix[board][1][1] == 1 ) {
|
|
magnetos = 2;
|
|
starter = false;
|
|
} else if ( switch_matrix[board][0][1] == 1 ) {
|
|
magnetos = 1;
|
|
starter = false;
|
|
} else {
|
|
magnetos = 0;
|
|
starter = false;
|
|
}
|
|
|
|
// do a bit of filtering on the magneto/starter switch and the
|
|
// flap lever because these are not well debounced in hardware
|
|
static int mag1, mag2, mag3;
|
|
mag3 = mag2;
|
|
mag2 = mag1;
|
|
mag1 = magnetos;
|
|
if ( mag1 == mag2 && mag2 == mag3 ) {
|
|
fgSetInt( "/controls/engines/engine[0]/magnetos", magnetos );
|
|
}
|
|
static bool start1, start2, start3;
|
|
start3 = start2;
|
|
start2 = start1;
|
|
start1 = starter;
|
|
if ( start1 == start2 && start2 == start3 ) {
|
|
fgSetBool( "/controls/engines/engine[0]/starter", starter );
|
|
}
|
|
|
|
// other toggle switches
|
|
fgSetBool( "/controls/engines/engine[0]/fuel-pump",
|
|
switch_matrix[board][0][2] );
|
|
fgSetBool( "/controls/switches/flashing-beacon",
|
|
switch_matrix[board][1][2] );
|
|
fgSetBool( "/controls/switches/landing-light", switch_matrix[board][2][2] );
|
|
fgSetBool( "/controls/switches/taxi-lights", switch_matrix[board][3][2] );
|
|
fgSetBool( "/controls/switches/nav-lights",
|
|
switch_matrix[board][4][2] );
|
|
fgSetBool( "/controls/switches/strobe-lights", switch_matrix[board][5][2] );
|
|
fgSetBool( "/controls/switches/pitot-heat", switch_matrix[board][6][2] );
|
|
|
|
// flaps
|
|
float flaps = 0.0;
|
|
if ( switch_matrix[board][6][3] ) {
|
|
flaps = 1.0;
|
|
} else if ( switch_matrix[board][5][3] ) {
|
|
flaps = 2.0 / 3.0;
|
|
} else if ( switch_matrix[board][4][3] ) {
|
|
flaps = 1.0 / 3.0;
|
|
} else if ( !switch_matrix[board][4][3] ) {
|
|
flaps = 0.0;
|
|
}
|
|
|
|
// do a bit of filtering on the magneto/starter switch and the
|
|
// flap lever because these are not well debounced in hardware
|
|
static float flap1, flap2, flap3;
|
|
flap3 = flap2;
|
|
flap2 = flap1;
|
|
flap1 = flaps;
|
|
if ( flap1 == flap2 && flap2 == flap3 ) {
|
|
fgSetFloat( "/controls/flight/flaps", flaps );
|
|
}
|
|
|
|
// fuel selector (also filtered)
|
|
int fuel = 0;
|
|
if ( switch_matrix[board][2][3] ) {
|
|
// both
|
|
fuel = 3;
|
|
} else if ( switch_matrix[board][1][3] ) {
|
|
// left
|
|
fuel = 1;
|
|
} else if ( switch_matrix[board][3][3] ) {
|
|
// right
|
|
fuel = 2;
|
|
} else {
|
|
// fuel cutoff
|
|
fuel = 0;
|
|
}
|
|
|
|
static int fuel1, fuel2, fuel3;
|
|
fuel3 = fuel2;
|
|
fuel2 = fuel1;
|
|
fuel1 = fuel;
|
|
if ( fuel1 == fuel2 && fuel2 == fuel3 ) {
|
|
fgSetBool( "/controls/fuel/tank[0]/fuel_selector", (fuel & 0x01) > 0 );
|
|
fgSetBool( "/controls/fuel/tank[1]/fuel_selector", (fuel & 0x02) > 0 );
|
|
}
|
|
|
|
// circuit breakers
|
|
#ifdef ATC_SUPPORT_CIRCUIT_BREAKERS_NOT_THE_DEFAULT
|
|
fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr",
|
|
switch_matrix[board][0][0] );
|
|
fgSetBool( "/controls/circuit-breakers/instr-ignition-switch",
|
|
switch_matrix[board][1][0] );
|
|
fgSetBool( "/controls/circuit-breakers/flaps",
|
|
switch_matrix[board][2][0] );
|
|
fgSetBool( "/controls/circuit-breakers/avn-bus-1",
|
|
switch_matrix[board][3][0] );
|
|
fgSetBool( "/controls/circuit-breakers/avn-bus-2",
|
|
switch_matrix[board][4][0] );
|
|
fgSetBool( "/controls/circuit-breakers/turn-coordinator",
|
|
switch_matrix[board][5][0] );
|
|
fgSetBool( "/controls/circuit-breakers/instrument-lights",
|
|
switch_matrix[board][6][0] );
|
|
fgSetBool( "/controls/circuit-breakers/annunciators",
|
|
switch_matrix[board][7][0] );
|
|
#else
|
|
fgSetBool( "/controls/circuit-breakers/cabin-lights-pwr", true );
|
|
fgSetBool( "/controls/circuit-breakers/instr-ignition-switch", true );
|
|
fgSetBool( "/controls/circuit-breakers/flaps", true );
|
|
fgSetBool( "/controls/circuit-breakers/avn-bus-1", true );
|
|
fgSetBool( "/controls/circuit-breakers/avn-bus-2", true );
|
|
fgSetBool( "/controls/circuit-breakers/turn-coordinator", true );
|
|
fgSetBool( "/controls/circuit-breakers/instrument-lights", true );
|
|
fgSetBool( "/controls/circuit-breakers/annunciators", true );
|
|
#endif
|
|
|
|
fgSetDouble( "/controls/gear/parking-brake",
|
|
switch_matrix[board][7][3] );
|
|
fgSetDouble( "/radios/marker-beacon/power-btn",
|
|
switch_matrix[board][6][1] );
|
|
|
|
return true;
|
|
}
|
|
|
|
|
|
bool FGATC610x::process() {
|
|
// Lock the hardware, skip if it's not ready yet
|
|
if ( ATC610xLock( lock_fd ) > 0 ) {
|
|
|
|
do_analog_in();
|
|
do_lights();
|
|
do_radio_switches();
|
|
do_radio_display();
|
|
do_steppers();
|
|
do_switches();
|
|
|
|
ATC610xRelease( lock_fd );
|
|
|
|
return true;
|
|
} else {
|
|
return false;
|
|
}
|
|
}
|
|
|
|
|
|
bool FGATC610x::close() {
|
|
|
|
return true;
|
|
}
|