832 lines
21 KiB
C++
832 lines
21 KiB
C++
/*
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* Authors (alphabetical order)
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* - Bertrand Songis <bsongis@gmail.com>
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* - Bryan J. Rentoul (Gruvin) <gruvin@gmail.com>
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* - Cameron Weeks <th9xer@gmail.com>
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* - Erez Raviv
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* - Jean-Pierre Parisy
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* - Karl Szmutny <shadow@privy.de>
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* - Michael Blandford
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* - Michal Hlavinka
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* - Pat Mackenzie
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* - Philip Moss
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* - Rob Thomson
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* - Romolo Manfredini <romolo.manfredini@gmail.com>
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* - Thomas Husterer
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*
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* open9x is based on code named
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* gruvin9x by Bryan J. Rentoul: http://code.google.com/p/gruvin9x/,
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* er9x by Erez Raviv: http://code.google.com/p/er9x/,
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* and the original (and ongoing) project by
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* Thomas Husterer, th9x: http://code.google.com/p/th9x/
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*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License version 2 as
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* published by the Free Software Foundation.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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*/
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#ifndef open9x_h
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#define open9x_h
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#define MAJ_VERS 2
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#define MIN_VERS 00
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#include <inttypes.h>
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#include <string.h>
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#include <stddef.h>
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#if defined(PCBV4)
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#include "gruvin9x/ff.h"
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#include "gruvin9x/gtime.h"
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#endif
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#if defined(PCBARM)
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#include "board_ersky9x.h"
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#endif
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#if defined(SIMU)
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#include "simpgmspace.h"
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#elif defined(PCBARM)
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#include "ersky9x/core_cm3.h"
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typedef const unsigned char pm_uchar;
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typedef const char pm_char;
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typedef const uint16_t pm_uint16_t;
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typedef const uint8_t pm_uint8_t;
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typedef const int16_t pm_int16_t;
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typedef const int8_t pm_int8_t;
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#define pgm_read_byte(address_short) (*(uint8_t*)(address_short))
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#define PSTR(adr) adr
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#define PROGMEM
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#define pgm_read_adr(x) *(x)
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#define cli()
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#define sei()
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#define wdt_enable(x) WDT->WDT_MR = 0x3FFF2FFF
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#define wdt_reset() WDT->WDT_CR = 0xA5000001
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extern void board_init();
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#else
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#include <avr/io.h>
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#include <avr/pgmspace.h>
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#include "pgmtypes.h"
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#include <avr/eeprom.h>
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#include <avr/sleep.h>
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#include <avr/interrupt.h>
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#define F_CPU 16000000UL // 16 MHz
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#include <util/delay.h>
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#define pgm_read_adr(address_short) pgm_read_word(address_short)
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#include <avr/wdt.h>
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#endif
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#include "myeeprom.h"
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#if defined(PCBARM)
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#include "eeprom_arm.h"
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#include "pulses_arm.h"
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#else
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#include "eeprom_avr.h"
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#include "pulses_avr.h"
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#endif
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#include "lcd.h"
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#include "menus.h"
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#ifdef TEMPLATES
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#include "templates.h"
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#endif
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#if !defined(SIMU)
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#define assert(x)
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#define printf printf_not_allowed
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#endif
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// G: The following comments relate to the original stock PCB only
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//
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// elev thr
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// LV RV
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// 2 ^ 4 ^
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// 1 2
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// | rudd | aile
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// <----X--3-> LH <----X--0-> RH
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// 6 | 7 1 | 0
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// | |
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// 3 v 5 v
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//
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//PORTA 7 6 5 4 3 2 1 0
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// O O O O O O O O
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// ------------------------ LCD_DAT -----------------------
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//
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//PORTB 7 6 5 4 3 2 1 0
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// O i i i i i i O
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// light KEY_LFT KEY_RGT KEY_UP KEY_DWN KEY_EXT KEY_MEN PPM
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//
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//PORTC 7 6 5 4 3 2 1 0
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// - - O O O O O -
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// NC NC LCD_E LCD_RNW LCD_A0 LCD_RES LCD_CS1 NC
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//
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//PORTD 7 6 5 4 3 2 1 0
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// i i i i i i i i
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// TRM_D_DWN _UP TRM_C_DWN _UP TRM_B_DWN _UP TRM_A_DWN _UP
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//
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//PORTE 7 6 5 4 3 2 1 0
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// i i i i O i i i
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// PPM_IN ID2 Trainer Gear Buzzer ElevDR AileDR THRCT
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//
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//PORTF 7 6 5 4 3 2 1 0
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// ai ai ai ai ai ai ai ai
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// ANA_ BAT PITT_TRM HOV_THR HOV_PIT STCK_LH STCK_RV STCK_LV STCK_RH
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// rud thro elev aile
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//PORTG 7 6 5 4 3 2 1 0
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// - - - O i i i
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// SIM_CTL ID1 Haptic RF_POW RuddDR
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#define PORTA_LCD_DAT PORTA
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#define PORTC_LCD_CTRL PORTC
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#define OUT_C_LCD_E 5
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#define OUT_C_LCD_RnW 4
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#define OUT_C_LCD_A0 3
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#define OUT_C_LCD_RES 2
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#define OUT_C_LCD_CS1 1
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#if defined (PCBV4)
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# define INP_P_SPARE6 7
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# define INP_P_SPARE5 6
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# define INP_P_KEY_EXT 5
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# define INP_P_KEY_MEN 4
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# define INP_P_KEY_LFT 3
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# define INP_P_KEY_RGT 2
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# define INP_P_KEY_UP 1
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# define INP_P_KEY_DWN 0
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# define INP_J_TRM_RH_UP 7
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# define INP_J_TRM_RH_DWN 6
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# define INP_J_TRM_RV_UP 5
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# define INP_J_TRM_RV_DWN 4
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# define INP_J_TRM_LV_UP 3
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# define INP_J_TRM_LV_DWN 2
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# define INP_J_TRM_LH_UP 1
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# define INP_J_TRM_LH_DWN 0
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# define INP_E_PPM_IN 7
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# define INP_E_ROT_ENC_1_B 6
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# define INP_E_ROT_ENC_1_A 5
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# define INP_E_USB_D_PLS 4
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# define OUT_E_BUZZER 3
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# define INP_E_USB_D_NEG 2
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# define INP_E_TELEM_RX 1
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# define OUT_E_TELEM_TX 0
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# define INP_D_HAPTIC 7
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# define INP_D_SPARE4 6
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# define INP_D_ROT_ENC_2_PUSH 5
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# define INP_D_ROT_ENC_1_PUSH 4
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# define OUT_D_ROT_ENC_2_B 3
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# define INP_D_ROT_ENC_2_A 2
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# define INP_D_I2C_SCL 1
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# define INP_D_I2C_SDA 0
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# define INP_G_Gear 5
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# define INP_G_ThrCt 2
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# define OUT_G_SIM_CTL 4 //1 : phone-jack=ppm_in
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# define INP_G_ID1 3
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# define INP_G_RF_POW 1
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# define INP_G_RuddDR 0
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# define INP_C_AileDR 7
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# define INP_C_ElevDR 6
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# define OUT_C_LIGHT 0
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# define OUT_B_Speaker 7
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# define OUT_B_PPM 6 // will be switched by TCNT1==OCR1B in hardware
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# define INP_B_Trainer 5
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# define INP_B_ID2 4
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#ifdef SOMO
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# define OUT_H_14DCLK 4
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# define OUT_H_14DDATA 5
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# define OUT_H_14DBUSY 6
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#endif
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#else // boards prior to v4 ...
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#define OUT_B_LIGHT 7
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#define INP_B_KEY_LFT 6
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#define INP_B_KEY_RGT 5
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#define INP_B_KEY_UP 4
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#define INP_B_KEY_DWN 3
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#define INP_B_KEY_EXT 2
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#define INP_B_KEY_MEN 1
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#define OUT_B_PPM 0
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#define INP_D_TRM_LH_UP 7
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#define INP_D_TRM_LH_DWN 6
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#define INP_D_TRM_RV_DWN 5
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#define INP_D_TRM_RV_UP 4
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#define INP_D_TRM_LV_DWN 3
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#define INP_D_TRM_LV_UP 2
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#define INP_D_TRM_RH_DWN 1
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#define INP_D_TRM_RH_UP 0
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#define INP_E_PPM_IN 7
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#define INP_E_ID2 6
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#define INP_E_Trainer 5
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#define INP_E_Gear 4
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#define OUT_E_BUZZER 3
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#define INP_E_ElevDR 2
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#define INP_E_AileDR 1
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#define INP_E_ThrCt 0
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#if defined(JETI) || defined(FRSKY) || defined(ARDUPILOT) || defined(NMEA) || defined(MAVLINK)
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#undef INP_E_ThrCt
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#undef INP_E_AileDR
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#define INP_C_ThrCt 6
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#define INP_C_AileDR 7
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#endif
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#define OUT_G_SIM_CTL 4 //1 : phone-jack=ppm_in
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#define INP_G_ID1 3
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#define INP_G_HAPTIC 2
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#define INP_G_RF_POW 1
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#define INP_G_RuddDR 0
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#endif // defined (PCBV4)
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#if defined(PCBARM)
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#define SLAVE_MODE 1
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#else
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#define SLAVE_MODE (PING & (1<<INP_G_RF_POW))
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#endif
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extern const pm_uint8_t bchout_ar[];
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extern const pm_uint8_t modn12x3[];
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extern uint8_t stickMode;
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//convert from mode 1 to mode stickMode
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//NOTICE! => 1..4 -> 1..4
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#define CONVERT_MODE(x) (((x)<=4) ? pgm_read_byte(modn12x3 + 4*stickMode + (x)-1) : (x) )
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#define RUD_STICK 0
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#define ELE_STICK 1
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#define THR_STICK 2
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#define AIL_STICK 3
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extern uint8_t channel_order(uint8_t x);
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enum EnumKeys {
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KEY_MENU ,
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KEY_EXIT ,
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KEY_DOWN ,
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KEY_UP ,
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KEY_RIGHT ,
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KEY_LEFT ,
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TRM_LH_DWN ,
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TRM_LH_UP ,
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TRM_LV_DWN ,
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TRM_LV_UP ,
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TRM_RV_DWN ,
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TRM_RV_UP ,
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TRM_RH_DWN ,
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TRM_RH_UP ,
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#ifdef PCBV4
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BTN_RE1,
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BTN_RE2,
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#endif
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//SW_NC ,
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//SW_ON ,
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SW_ThrCt ,
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SW_RuddDR ,
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SW_ElevDR ,
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SW_ID0 ,
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SW_ID1 ,
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SW_ID2 ,
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SW_AileDR ,
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SW_Gear ,
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SW_Trainer,
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NUM_KEYS = SW_ThrCt
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};
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class Key
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{
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#define FILTERBITS 4
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#ifdef SIMU
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#define FFVAL 1
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#else
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#define FFVAL ((1<<FILTERBITS)-1)
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#endif
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#define KSTATE_OFF 0
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#define KSTATE_RPTDELAY 95 // gruvin: delay state before key repeating starts
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//#define KSTATE_SHORT 96
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#define KSTATE_START 97
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#define KSTATE_PAUSE 98
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#define KSTATE_KILLED 99
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uint8_t m_vals:FILTERBITS; // key debounce? 4 = 40ms
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uint8_t m_dblcnt:2;
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uint8_t m_cnt;
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uint8_t m_state;
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public:
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void input(bool val, EnumKeys enuk);
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bool state() { return m_vals==FFVAL; }
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void pauseEvents() { m_state = KSTATE_PAUSE; m_cnt = 0;}
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void killEvents() { m_state = KSTATE_KILLED; m_dblcnt=0; }
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uint8_t getDbl() { return m_dblcnt; }
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};
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extern Key keys[NUM_KEYS];
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#define CURVE_BASE 7
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#define SWASH_TYPE_120 1
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#define SWASH_TYPE_120X 2
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#define SWASH_TYPE_140 3
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#define SWASH_TYPE_90 4
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#define SWASH_TYPE_NUM 4
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#define CS_OFF 0
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#define CS_VPOS 1 //v>offset
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#define CS_VNEG 2 //v<offset
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#define CS_APOS 3 //|v|>offset
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#define CS_ANEG 4 //|v|<offset
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#define CS_AND 5
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#define CS_OR 6
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#define CS_XOR 7
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#define CS_EQUAL 8
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#define CS_NEQUAL 9
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#define CS_GREATER 10
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#define CS_LESS 11
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#define CS_EGREATER 12
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#define CS_ELESS 13
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#define CS_MAXF 13 //max function
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#define CS_VOFS 0
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#define CS_VBOOL 1
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#define CS_VCOMP 2
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#define CS_STATE(x) ((x)<CS_AND ? CS_VOFS : ((x)<CS_EQUAL ? CS_VBOOL : CS_VCOMP))
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#define SW_BASE SW_ThrCt
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#define SW_BASE_DIAG SW_ThrCt
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#define MAX_PSWITCH (SW_Trainer-SW_ThrCt+1) // 9 physical switches
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#define MAX_SWITCH (MAX_PSWITCH+NUM_CSW)
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#define SWITCH_ON (1+MAX_SWITCH)
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#define SWITCH_OFF (-SWITCH_ON)
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#define MAX_DRSWITCH (MAX_PSWITCH+NUM_CSW/2) // 15(9+6) !switches + 0 + 15 switches: 5 bits needed
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#define NUM_STICKS 4
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#define NUM_POTS 3
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#define CSW_PPM_BASE (MIXSRC_3POS+3/*CYC1-CYC3*/) // because srcRaw is shifted +1!
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#define NUM_CAL_PPM 4
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#define NUM_PPM 8
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#define CSW_CHOUT_BASE (CSW_PPM_BASE+NUM_PPM)
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#if defined(FRSKY_HUB)
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#define NUM_TELEMETRY TELEM_CSW_MAX
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#elif defined(WS_HOW_HIGH)
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#define NUM_TELEMETRY TELEM_ALT
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#elif defined(FRSKY)
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#define NUM_TELEMETRY TELEM_RSSI_RX
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#elif defined(MAVLINK)
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// Number sw position
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#define NUM_TELEMETRY 4
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#define ROTARY_SW_CHANNEL "UP DOWN"
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// Channel number for rotary switch
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//#define MIX_SW_ROLL_CHAN (CSW_CHOUT_BASE+NUM_CHNOUT+NUM_VIRTUAL) // GVA:Rotary switch
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#define MIX_INC_ROTARY_SW (CSW_CHOUT_BASE+NUM_CHNOUT+MAX_TIMERS+1)
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#define MIX_DEC_ROTARY_SW (CSW_CHOUT_BASE+NUM_CHNOUT+MAX_TIMERS+1)
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#else
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#define NUM_TELEMETRY TELEM_TM2
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#endif
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#define NUM_XCHNRAW (NUM_STICKS+NUM_POTS+NUM_ROTARY_ENCODERS+1/*MAX*/+1/*ID3*/+3/*CYC1-CYC3*/+NUM_PPM+NUM_CHNOUT)
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#define NUM_XCHNCSW (NUM_XCHNRAW+NUM_TELEMETRY)
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#define NUM_XCHNMIX (NUM_XCHNRAW+MAX_SWITCH)
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#define DSW_THR 1
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#define DSW_RUD 2
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#define DSW_ELE 3
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#define DSW_ID0 4
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#define DSW_ID1 5
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#define DSW_ID2 6
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#define DSW_AIL 7
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#define DSW_GEA 8
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#define DSW_TRN 9
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#define DSW_SW1 10
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#define DSW_SW2 11
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#define DSW_SW3 12
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#define DSW_SW4 13
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#define DSW_SW5 14
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#define DSW_SW6 15
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#define THRCHK_DEADBAND 16
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#define SPLASH_TIMEOUT (4*100) //400 msec - 4 seconds
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#define TRM_BASE TRM_LH_DWN
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#define _MSK_KEY_DBL 0x10
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#define _MSK_KEY_BREAK 0x20
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#define _MSK_KEY_REPT 0x40
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#define _MSK_KEY_LONG 0x80
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#define IS_KEY_BREAK(key) (((key)&0xf0) == 0x20)
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#define EVT_KEY_BREAK(key) ((key)|_MSK_KEY_BREAK)
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#define EVT_KEY_FIRST(key) ((key)|_MSK_KEY_REPT|0x20)
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#define EVT_KEY_REPT(key) ((key)|_MSK_KEY_REPT)
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#define EVT_KEY_LONG(key) ((key)|_MSK_KEY_LONG)
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#define EVT_KEY_DBL(key) ((key)|_MSK_KEY_DBL)
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#define EVT_ENTRY (0xff - _MSK_KEY_REPT)
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#define EVT_ENTRY_UP (0xfe - _MSK_KEY_REPT)
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#define EVT_KEY_MASK (0x0f)
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#define HEART_TIMER_PULSES 1
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#define HEART_TIMER10ms 2
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extern uint8_t heartbeat;
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#define MAX_ALERT_TIME 60
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extern uint32_t inacCounter;
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#if defined(PXX)
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extern uint8_t pxxFlag;
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#endif
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#define PXX_SEND_RXNUM 0x01
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#define PXX_SEND_FAILSAFE 0x02 // TODO where is it used?
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#define ZCHAR_MAX (40 + LEN_SPECIAL_CHARS)
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extern char idx2char(int8_t idx);
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void pauseEvents(uint8_t enuk);
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void killEvents(uint8_t enuk);
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uint8_t getEvent();
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void putEvent(uint8_t evt);
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uint8_t keyDown();
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enum PowerState {
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e_power_on,
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e_power_trainer,
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e_power_usb,
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e_power_off
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};
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#if defined(PCBARM)
|
|
uint32_t keyState(EnumKeys enuk);
|
|
uint32_t check_soft_power();
|
|
#else
|
|
#if defined(PCBV4)
|
|
uint8_t check_soft_power();
|
|
#else
|
|
#define check_soft_power() (e_power_on)
|
|
#endif
|
|
|
|
bool keyState(EnumKeys enuk);
|
|
#endif
|
|
void readKeysAndTrims();
|
|
|
|
uint16_t evalChkSum();
|
|
|
|
extern void alert(const pm_char * s);
|
|
extern void message(const pm_char *title, const pm_char *s, const pm_char *t, const char *last);
|
|
|
|
void perMain();
|
|
void per10ms();
|
|
|
|
int16_t getValue(uint8_t i);
|
|
bool getSwitch(int8_t swtch, bool nc);
|
|
|
|
extern uint8_t getFlightPhase();
|
|
extern uint8_t getTrimFlightPhase(uint8_t phase, uint8_t idx);
|
|
extern int16_t getRawTrimValue(uint8_t phase, uint8_t idx);
|
|
extern int16_t getTrimValue(uint8_t phase, uint8_t idx);
|
|
extern void setTrimValue(uint8_t phase, uint8_t idx, int16_t trim);
|
|
|
|
#if defined(PCBV4)
|
|
extern uint8_t s_perOut_flight_phase;
|
|
int16_t getRotaryEncoder(uint8_t idx);
|
|
void incRotaryEncoder(uint8_t idx, int8_t inc);
|
|
#endif
|
|
|
|
extern uint16_t s_timeCumTot;
|
|
extern uint16_t s_timeCumThr; //gewichtete laufzeit in 1/16 sec
|
|
extern uint16_t s_timeCum16ThrP; //gewichtete laufzeit in 1/16 sec
|
|
extern uint8_t s_timerState[2];
|
|
extern int16_t s_timerVal[2];
|
|
extern uint8_t s_timerVal_10ms[2];
|
|
extern int8_t safetyCh[NUM_CHNOUT];
|
|
|
|
extern uint8_t trimsCheckTimer;
|
|
|
|
#define TMR_OFF 0
|
|
#define TMR_RUNNING 1
|
|
#define TMR_BEEPING 2
|
|
#define TMR_STOPPED 3
|
|
void resetTimer(uint8_t idx);
|
|
void resetAll();
|
|
|
|
extern uint8_t g_tmr1Latency_max;
|
|
extern uint8_t g_tmr1Latency_min;
|
|
extern uint16_t g_timeMain;
|
|
#ifdef DEBUG
|
|
extern uint16_t g_time_per10;
|
|
#endif
|
|
|
|
#define MAXTRACE 120
|
|
extern uint8_t s_traceBuf[MAXTRACE];
|
|
extern uint8_t s_traceWr;
|
|
extern int8_t s_traceCnt;
|
|
|
|
extern int8_t *s_trimPtr[NUM_STICKS];
|
|
|
|
#if defined(PCBARM)
|
|
static inline uint16_t getTmr2MHz() { return TC1->TC_CHANNEL[0].TC_CV; }
|
|
#else
|
|
uint16_t getTmr16KHz();
|
|
#endif
|
|
|
|
uint16_t stack_free();
|
|
|
|
#ifdef SPLASH
|
|
void doSplash();
|
|
#endif
|
|
|
|
void checkLowEEPROM();
|
|
void checkTHR();
|
|
void checkSwitches();
|
|
void checkAlarm();
|
|
|
|
#define ADC_VREF_TYPE 0x40 // AVCC with external capacitor at AREF pin
|
|
|
|
#define GETADC_SING = 0
|
|
#define GETADC_OSMP = 1
|
|
#define GETADC_FILT = 2
|
|
|
|
void getADC_single();
|
|
void getADC_osmp();
|
|
void getADC_filt();
|
|
|
|
// checkIncDec flags
|
|
#define EE_GENERAL 0x01
|
|
#define EE_MODEL 0x02
|
|
|
|
extern uint8_t s_eeDirtyMsk;
|
|
|
|
#define STORE_MODELVARS eeDirty(EE_MODEL)
|
|
#define STORE_GENERALVARS eeDirty(EE_GENERAL)
|
|
|
|
#if defined (PCBARM)
|
|
#ifndef SIMU
|
|
#define BACKLIGHT_ON (PWM->PWM_CH_NUM[0].PWM_CDTY = 0/*TODO g_eeGeneral.bright*/)
|
|
#define BACKLIGHT_OFF (PWM->PWM_CH_NUM[0].PWM_CDTY = 100)
|
|
#else
|
|
#define BACKLIGHT_ON
|
|
#define BACKLIGHT_OFF
|
|
#endif
|
|
#ifdef REVB
|
|
#define NUMBER_ANALOG 9
|
|
#else
|
|
#define NUMBER_ANALOG 8
|
|
extern uint16_t Analog_values[NUMBER_ANALOG] ;
|
|
void read_9_adc(void ) ;
|
|
#endif
|
|
#elif defined (PCBV4)
|
|
#define SPEAKER_ON TCCR0A |= (1 << COM0A0)
|
|
#define SPEAKER_OFF TCCR0A &= ~(1 << COM0A0)
|
|
#define BACKLIGHT_ON PORTC |= (1 << OUT_C_LIGHT)
|
|
#define BACKLIGHT_OFF PORTC &= ~(1 << OUT_C_LIGHT)
|
|
#else
|
|
#define BACKLIGHT_ON PORTB |= (1 << OUT_B_LIGHT)
|
|
#define BACKLIGHT_OFF PORTB &= ~(1 << OUT_B_LIGHT)
|
|
#endif
|
|
|
|
#define BUZZER_ON PORTE |= (1 << OUT_E_BUZZER)
|
|
#define BUZZER_OFF PORTE &= ~(1 << OUT_E_BUZZER)
|
|
|
|
#if defined(HAPTIC)
|
|
#if defined(PCBV4)
|
|
#define HAPTIC_ON PORTD &= ~(1 << INP_D_HAPTIC)
|
|
#define HAPTIC_OFF PORTD |= (1 << INP_D_HAPTIC)
|
|
#else
|
|
#define HAPTIC_ON PORTG |= (1 << INP_G_HAPTIC)
|
|
#define HAPTIC_OFF PORTG &= ~(1 << INP_G_HAPTIC)
|
|
#endif
|
|
#else
|
|
#define HAPTIC_ON
|
|
#define HAPTIC_OFF
|
|
#endif
|
|
|
|
#define BITMASK(bit) (1<<(bit))
|
|
|
|
/// liefert Dimension eines Arrays
|
|
#define DIM(arr) (sizeof((arr))/sizeof((arr)[0]))
|
|
|
|
#ifndef FORCEINLINE
|
|
#define FORCEINLINE inline __attribute__ ((always_inline))
|
|
#endif
|
|
|
|
#ifndef NOINLINE
|
|
#define NOINLINE __attribute__ ((noinline))
|
|
#endif
|
|
|
|
/// liefert Betrag des Arguments
|
|
template<class t> FORCEINLINE t abs(t a) { return a>0?a:-a; }
|
|
/// liefert das Minimum der Argumente
|
|
template<class t> FORCEINLINE t min(t a, t b) { return a<b?a:b; }
|
|
/// liefert das Maximum der Argumente
|
|
template<class t> FORCEINLINE t max(t a, t b) { return a>b?a:b; }
|
|
template<class t> FORCEINLINE t sgn(t a) { return a>0 ? 1 : (a < 0 ? -1 : 0); }
|
|
template<class t> FORCEINLINE t limit(t mi, t x, t ma) { return min(max(mi,x),ma); }
|
|
|
|
#if defined(HELI) || defined(FRSKY_HUB)
|
|
uint16_t isqrt32(uint32_t n);
|
|
#endif
|
|
|
|
/// Markiert einen EEPROM-Bereich als dirty. der Bereich wird dann in
|
|
/// eeCheck ins EEPROM zurueckgeschrieben.
|
|
void eeWriteBlockCmp(const void *i_pointer_ram, uint16_t i_pointer_eeprom, size_t size);
|
|
void eeDirty(uint8_t msk);
|
|
void eeCheck(bool immediately=false);
|
|
void eeReadAll();
|
|
bool eeModelExists(uint8_t id);
|
|
uint16_t eeLoadModelName(uint8_t id, char *name);
|
|
void eeLoadModel(uint8_t id);
|
|
int8_t eeFindEmptyModel(uint8_t id, bool down);
|
|
void generalDefault();
|
|
void modelDefault(uint8_t id);
|
|
void resetProto();
|
|
|
|
extern inline int16_t calc100toRESX(int8_t x)
|
|
{
|
|
// return (int16_t)x*10 + x/4 - x/64;
|
|
return ((x*41)>>2) - x/64;
|
|
}
|
|
|
|
extern inline int16_t calc1000toRESX(int16_t x)
|
|
{
|
|
// return x + x/32 - x/128 + x/512;
|
|
int16_t y = x>>5;
|
|
x+=y;
|
|
y=y>>2;
|
|
x-=y;
|
|
return x+(y>>2);
|
|
}
|
|
|
|
extern volatile uint16_t g_tmr10ms;
|
|
|
|
#if defined(PCBARM)
|
|
// This doesn't need protection on this processor
|
|
#define get_tmr10ms() g_tmr10ms
|
|
#else
|
|
extern inline uint16_t get_tmr10ms()
|
|
{
|
|
uint16_t time ;
|
|
cli();
|
|
time = g_tmr10ms ;
|
|
sei();
|
|
return time ;
|
|
}
|
|
#endif
|
|
|
|
#define TMR_VAROFS 5
|
|
|
|
extern const char stamp1[];
|
|
extern const char stamp2[];
|
|
extern const char stamp3[];
|
|
extern const char stamp4[];
|
|
|
|
extern uint16_t g_vbat100mV;
|
|
extern volatile uint16_t g_tmr10ms;
|
|
extern volatile uint8_t g_blinkTmr10ms;
|
|
extern uint8_t g_beepCnt;
|
|
extern uint8_t g_beepVal[5];
|
|
|
|
#include "o9xstrings.h"
|
|
|
|
extern uint8_t ppmInState; //0=unsync 1..8= wait for value i-1
|
|
extern int16_t g_ppmIns[8];
|
|
extern int16_t g_chans512[NUM_CHNOUT];
|
|
extern volatile uint8_t tick10ms;
|
|
extern uint16_t BandGap;
|
|
|
|
extern uint16_t expou(uint16_t x, uint16_t k);
|
|
extern int16_t expo(int16_t x, int16_t k);
|
|
extern int16_t intpol(int16_t, uint8_t);
|
|
extern int16_t applyCurve(int16_t, int8_t);
|
|
extern void applyExpos(int16_t *anas, uint8_t phase=255);
|
|
|
|
extern uint16_t anaIn(uint8_t chan);
|
|
extern int16_t calibratedStick[7];
|
|
|
|
#define FLASH_DURATION 50
|
|
|
|
extern uint8_t beepAgain;
|
|
extern uint16_t g_LightOffCounter;
|
|
extern uint8_t mixWarning;
|
|
|
|
// MM/SD card Disk IO Support
|
|
#if defined (PCBV4)
|
|
#include "gruvin9x/rtc.h"
|
|
extern void disk_timerproc(void);
|
|
extern gtime_t g_unixTime; // global unix timestamp -- hold current time in seconds since 1970-01-01 00:00:00
|
|
extern uint8_t g_ms100; // defined in drivers.cpp
|
|
#endif
|
|
|
|
extern PhaseData *phaseaddress(uint8_t idx);
|
|
extern ExpoData *expoaddress(uint8_t idx);
|
|
extern MixData *mixaddress(uint8_t idx);
|
|
extern LimitData *limitaddress(uint8_t idx);
|
|
|
|
extern void deleteExpoMix(uint8_t expo, uint8_t idx);
|
|
|
|
extern void incSubtrim(uint8_t idx, int16_t inc);
|
|
extern void instantTrim();
|
|
extern void moveTrimsToOffsets();
|
|
|
|
extern uint16_t active_functions;
|
|
inline bool isFunctionActive(uint8_t func)
|
|
{
|
|
return active_functions & (1 << (func-FUNC_TRAINER));
|
|
}
|
|
|
|
#ifdef DISPLAY_USER_DATA
|
|
#define TELEM_SCREEN_BUFFER_SIZE 21
|
|
extern char userDataDisplayBuf[TELEM_SCREEN_BUFFER_SIZE]; // text buffer for frsky telem. user data experiments
|
|
#endif
|
|
|
|
#if defined (PCBV4)
|
|
// Global rotary encoder registers -- 8-bit, 0-255
|
|
extern volatile uint8_t g_rotenc[2];
|
|
#endif
|
|
|
|
#ifdef JETI
|
|
// Jeti-DUPLEX Telemetry
|
|
extern uint16_t jeti_keys;
|
|
#include "jeti.h"
|
|
#endif
|
|
|
|
#if defined (FRSKY)
|
|
// FrSky Telemetry
|
|
#include "frsky.h"
|
|
#endif
|
|
|
|
#ifdef ARDUPILOT
|
|
// ArduPilot Telemetry
|
|
#include "ardupilot.h"
|
|
#endif
|
|
|
|
#ifdef NMEA
|
|
// NMEA Telemetry
|
|
#include "nmea.h"
|
|
#endif
|
|
|
|
#ifdef MAVLINK
|
|
// Mavlink Telemetry
|
|
#include "rotarysw.h"
|
|
#include "mavlink.h"
|
|
#endif
|
|
|
|
#if defined(AUDIO)
|
|
//audio settungs are external to keep out clutter!
|
|
// TODO english learning for me... what does mean "keep out clutter"?
|
|
#include "audio.h"
|
|
#else
|
|
#include "beeper.h"
|
|
#endif
|
|
|
|
#ifdef LOGS
|
|
#include "logs.h"
|
|
#endif
|
|
|
|
#if defined(SOMO)
|
|
#include "somo14d.h"
|
|
#endif
|
|
|
|
// Re-useable byte array to save having multiple buffers
|
|
union ReusableBuffer
|
|
{
|
|
#if !defined(PCBARM)
|
|
uint8_t eefs_buffer[BLOCKS]; // used by EeFsck
|
|
|
|
char model_name[sizeof(g_model.name)]; // used by menuProcModelSelect
|
|
#endif
|
|
|
|
struct
|
|
{
|
|
int16_t midVals[7];
|
|
int16_t loVals[7];
|
|
int16_t hiVals[7];
|
|
} calib; // used by menuProcDiagCalib
|
|
};
|
|
|
|
extern union ReusableBuffer reusableBuffer;
|
|
|
|
void checkFlashOnBeep();
|
|
|
|
#endif // gruvin9x_h
|
|
/*eof*/
|