870 lines
24 KiB
C++
870 lines
24 KiB
C++
/*
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* Authors (alphabetical order)
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* - Andre Bernet <bernet.andre@gmail.com>
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* - Andreas Weitl
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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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* - Gabriel Birkus
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* - Jean-Pierre Parisy
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* - Karl Szmutny
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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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* opentx 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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#include "opentx.h"
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#define CS_LAST_VALUE_INIT -32768
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#if defined(CPUARM)
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enum LogicalSwitchContextState {
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SWITCH_START,
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SWITCH_DELAY,
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SWITCH_ENABLE
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};
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PACK(typedef struct {
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uint8_t state:1;
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uint8_t timerState:2;
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uint8_t spare:5;
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uint8_t timer;
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int16_t lastValue;
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}) LogicalSwitchContext;
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PACK(typedef struct {
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LogicalSwitchContext lsw[NUM_LOGICAL_SWITCH];
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}) LogicalSwitchesFlightModeContext;
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LogicalSwitchesFlightModeContext lswFm[MAX_FLIGHT_MODES];
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#define LS_LAST_VALUE(fm, idx) lswFm[fm].lsw[idx].lastValue
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#else
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int16_t lsLastValue[NUM_LOGICAL_SWITCH];
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#define LS_LAST_VALUE(fm, idx) lsLastValue[idx]
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volatile GETSWITCH_RECURSIVE_TYPE s_last_switch_used = 0;
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volatile GETSWITCH_RECURSIVE_TYPE s_last_switch_value = 0;
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#endif
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#if defined(PCBTARANIS)
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tmr10ms_t switchesMidposStart[6] = { 0 };
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uint32_t switchesPos = 0;
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tmr10ms_t potsLastposStart[NUM_XPOTS];
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uint8_t potsPos[NUM_XPOTS];
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uint32_t check2PosSwitchPosition(EnumKeys sw)
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{
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uint32_t result;
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uint32_t index;
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if (switchState(sw))
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index = sw - SW_SA0;
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else
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index = sw - SW_SA0 + 1;
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result = (1 << index);
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if (!(switchesPos & result)) {
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PLAY_SWITCH_MOVED(index);
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}
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return result;
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}
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uint32_t check3PosSwitchPosition(uint8_t idx, EnumKeys sw, bool startup)
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{
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uint32_t result;
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uint32_t index;
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if (switchState(sw)) {
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index = sw - SW_SA0;
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result = (1 << index);
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switchesMidposStart[idx] = 0;
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}
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else if (switchState(EnumKeys(sw+2))) {
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index = sw - SW_SA0 + 2;
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result = (1 << index);
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switchesMidposStart[idx] = 0;
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}
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else if (startup || (switchesPos & (1 << (sw - SW_SA0 + 1))) || g_eeGeneral.switchesDelay==SWITCHES_DELAY_NONE || (switchesMidposStart[idx] && (tmr10ms_t)(get_tmr10ms() - switchesMidposStart[idx]) > SWITCHES_DELAY())) {
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index = sw - SW_SA0 + 1;
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result = (1 << index);
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switchesMidposStart[idx] = 0;
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}
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else {
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index = sw - SW_SA0 + 1;
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if (!switchesMidposStart[idx]) {
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switchesMidposStart[idx] = get_tmr10ms();
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}
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result = (switchesPos & (0x7 << (sw - SW_SA0)));
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}
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if (!(switchesPos & result)) {
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PLAY_SWITCH_MOVED(index);
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}
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return result;
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}
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#define CHECK_2POS(sw) newPos |= check2PosSwitchPosition(sw ## 0)
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#define CHECK_3POS(idx, sw) newPos |= check3PosSwitchPosition(idx, sw ## 0, startup)
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void getSwitchesPosition(bool startup)
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{
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uint32_t newPos = 0;
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CHECK_3POS(0, SW_SA);
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CHECK_3POS(1, SW_SB);
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CHECK_3POS(2, SW_SC);
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CHECK_3POS(3, SW_SD);
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CHECK_3POS(4, SW_SE);
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CHECK_2POS(SW_SF);
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CHECK_3POS(5, SW_SG);
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CHECK_2POS(SW_SH);
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switchesPos = newPos;
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for (int i=0; i<NUM_XPOTS; i++) {
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if (IS_POT_MULTIPOS(POT1+i)) {
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StepsCalibData * calib = (StepsCalibData *) &g_eeGeneral.calib[POT1+i];
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if (calib->count>0 && calib->count<XPOTS_MULTIPOS_COUNT) {
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uint8_t pos = anaIn(POT1+i) / (2*RESX/calib->count);
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uint8_t previousPos = potsPos[i] >> 4;
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uint8_t previousStoredPos = potsPos[i] & 0x0F;
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if (pos != previousPos) {
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potsLastposStart[i] = get_tmr10ms();
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potsPos[i] = (pos << 4) | previousStoredPos;
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}
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else if (startup || g_eeGeneral.switchesDelay==SWITCHES_DELAY_NONE || (tmr10ms_t)(get_tmr10ms() - potsLastposStart[i]) > SWITCHES_DELAY()) {
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potsLastposStart[i] = 0;
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potsPos[i] = (pos << 4) | pos;
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if (previousStoredPos != pos) {
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PLAY_SWITCH_MOVED(SWSRC_LAST_SWITCH+i*XPOTS_MULTIPOS_COUNT+pos);
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}
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}
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}
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}
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}
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}
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#define SWITCH_POSITION(sw) (switchesPos & (1<<(sw)))
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#define POT_POSITION(sw) ((potsPos[(sw)/XPOTS_MULTIPOS_COUNT] & 0x0f) == ((sw) % XPOTS_MULTIPOS_COUNT))
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getvalue_t getValueForLogicalSwitch(uint8_t i)
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{
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getvalue_t result = getValue(i);
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if (i>=MIXSRC_FIRST_INPUT && i<=MIXSRC_LAST_INPUT) {
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int8_t trimIdx = virtualInputsTrims[i-MIXSRC_FIRST_INPUT];
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if (trimIdx >= 0) {
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int16_t trim = trims[trimIdx];
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if (trimIdx == THR_STICK && g_model.throttleReversed)
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result -= trim;
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else
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result += trim;
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}
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}
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return result;
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}
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#else
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#define getValueForLogicalSwitch(i) getValue(i)
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#endif
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PACK(typedef struct {
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uint8_t state;
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uint8_t last;
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}) ls_sticky_struct;
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PACK(typedef struct {
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uint16_t state:1;
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uint16_t duration:15;
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}) ls_stay_struct;
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bool getLogicalSwitch(uint8_t idx)
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{
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LogicalSwitchData * ls = lswAddress(idx);
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bool result;
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#if defined(CPUARM)
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int8_t s = ls->andsw;
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#else
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uint8_t s = ls->andsw;
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if (s > SWSRC_LAST_SWITCH) {
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s += SWSRC_SW1-SWSRC_LAST_SWITCH-1;
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}
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#endif
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if (ls->func == LS_FUNC_NONE || (s && !getSwitch(s))) {
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if (ls->func != LS_FUNC_STICKY) {
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LS_LAST_VALUE(mixerCurrentFlightMode, idx) = CS_LAST_VALUE_INIT;
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}
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result = false;
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}
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else if ((s=lswFamily(ls->func)) == LS_FAMILY_BOOL) {
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bool res1 = getSwitch(ls->v1);
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bool res2 = getSwitch(ls->v2);
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switch (ls->func) {
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case LS_FUNC_AND:
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result = (res1 && res2);
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break;
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case LS_FUNC_OR:
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result = (res1 || res2);
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break;
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// case LS_FUNC_XOR:
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default:
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result = (res1 ^ res2);
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break;
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}
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}
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else if (s == LS_FAMILY_TIMER) {
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result = (LS_LAST_VALUE(mixerCurrentFlightMode, idx) <= 0);
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}
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else if (s == LS_FAMILY_STICKY) {
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result = (LS_LAST_VALUE(mixerCurrentFlightMode, idx) & (1<<0));
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}
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#if defined(CPUARM)
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else if (s == LS_FAMILY_EDGE) {
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result = (LS_LAST_VALUE(mixerCurrentFlightMode, idx) & (1<<0));
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}
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#endif
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else {
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getvalue_t x = getValueForLogicalSwitch(ls->v1);
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getvalue_t y;
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if (s == LS_FAMILY_COMP) {
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y = getValueForLogicalSwitch(ls->v2);
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switch (ls->func) {
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case LS_FUNC_EQUAL:
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result = (x==y);
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break;
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case LS_FUNC_GREATER:
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result = (x>y);
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break;
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default:
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result = (x<y);
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break;
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}
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}
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else {
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uint8_t v1 = ls->v1;
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#if defined(FRSKY)
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// Telemetry
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if (v1 >= MIXSRC_FIRST_TELEM) {
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if ((!TELEMETRY_STREAMING() && v1 >= MIXSRC_FIRST_TELEM+TELEM_FIRST_STREAMED_VALUE-1) || IS_FAI_FORBIDDEN(v1-1)) {
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result = false;
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goto DurationAndDelayProcessing;
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}
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y = convertLswTelemValue(ls);
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#if defined(GAUGES)
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// Fill the telemetry bars threshold array
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if (s == LS_FAMILY_OFS) {
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uint8_t idx = v1-MIXSRC_FIRST_TELEM+1-TELEM_ALT;
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if (idx < THLD_MAX) {
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FILL_THRESHOLD(idx, ls->v2);
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}
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}
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#endif
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}
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else if (v1 >= MIXSRC_GVAR1) {
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y = ls->v2;
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}
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else {
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y = calc100toRESX(ls->v2);
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}
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#else
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if (v1 >= MIXSRC_FIRST_TELEM) {
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y = (int16_t)3 * (128+ls->v2); // it's a Timer
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}
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else if (v1 >= MIXSRC_GVAR1) {
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y = ls->v2; // it's a GVAR
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}
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else {
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y = calc100toRESX(ls->v2);
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}
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#endif
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switch (ls->func) {
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#if defined(CPUARM)
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case LS_FUNC_VEQUAL:
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result = (x==y);
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break;
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#endif
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case LS_FUNC_VALMOSTEQUAL:
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#if defined(GVARS)
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if (v1 >= MIXSRC_GVAR1 && v1 <= MIXSRC_LAST_GVAR)
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result = (x==y);
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else
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#endif
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result = (abs(x-y) < (1024 / STICK_TOLERANCE));
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break;
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case LS_FUNC_VPOS:
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result = (x>y);
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break;
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case LS_FUNC_VNEG:
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result = (x<y);
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break;
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case LS_FUNC_APOS:
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result = (abs(x)>y);
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break;
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case LS_FUNC_ANEG:
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result = (abs(x)<y);
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break;
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default:
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{
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if (LS_LAST_VALUE(mixerCurrentFlightMode, idx) == CS_LAST_VALUE_INIT) {
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LS_LAST_VALUE(mixerCurrentFlightMode, idx) = x;
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}
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int16_t diff = x - LS_LAST_VALUE(mixerCurrentFlightMode, idx);
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bool update = false;
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if (ls->func == LS_FUNC_DIFFEGREATER) {
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if (y >= 0) {
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result = (diff >= y);
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if (diff < 0)
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update = true;
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}
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else {
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result = (diff <= y);
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if (diff > 0)
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update = true;
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}
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}
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else {
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result = (abs(diff) >= y);
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}
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if (result || update) {
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LS_LAST_VALUE(mixerCurrentFlightMode, idx) = x;
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}
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break;
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}
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}
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}
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}
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#if defined(FRSKY)
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DurationAndDelayProcessing:
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#endif
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#if defined(CPUARM)
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if (ls->delay || ls->duration) {
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LogicalSwitchContext &context = lswFm[mixerCurrentFlightMode].lsw[idx];
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if (result) {
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if (context.timerState == SWITCH_START) {
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// set delay timer
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context.timerState = SWITCH_DELAY;
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context.timer = ls->delay;
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}
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if (context.timerState == SWITCH_DELAY) {
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if (context.timer) {
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result = false; // return false while delay timer running
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}
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else {
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// set duration timer
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context.timerState = SWITCH_ENABLE;
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context.timer = ls->duration;
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}
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}
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if (context.timerState == SWITCH_ENABLE) {
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result = (ls->duration==0 || context.timer>0); // return false after duration timer runs out
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if (!result && ls->func == LS_FUNC_STICKY) {
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ls_sticky_struct & lastValue = (ls_sticky_struct &)context.lastValue;
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lastValue.state = 0;
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}
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}
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}
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else if (context.timerState == SWITCH_ENABLE && ls->duration > 0 && context.timer > 0) {
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result = true;
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}
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else {
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context.timerState = SWITCH_START;
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context.timer = 0;
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}
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}
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#endif
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return result;
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}
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#if defined(CPUARM)
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bool getSwitch(int8_t swtch, uint8_t flags)
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#else
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bool getSwitch(int8_t swtch)
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#endif
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{
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bool result;
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if (swtch == SWSRC_NONE)
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return true;
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uint8_t cs_idx = abs(swtch);
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if (cs_idx == SWSRC_One) {
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result = !s_mixer_first_run_done;
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}
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else if (cs_idx == SWSRC_ON) {
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result = true;
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}
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else if (cs_idx <= SWSRC_LAST_SWITCH) {
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#if defined(PCBTARANIS)
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if (flags & GETSWITCH_MIDPOS_DELAY)
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result = SWITCH_POSITION(cs_idx-SWSRC_FIRST_SWITCH);
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else
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#endif
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result = switchState((EnumKeys)(SW_BASE+cs_idx-SWSRC_FIRST_SWITCH));
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#if defined(MODULE_ALWAYS_SEND_PULSES)
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if (startupWarningState < STARTUP_WARNING_DONE) {
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// if throttle or switch warning is currently active, ignore actual stick position and use wanted values
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if (cs_idx <= 3) {
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if (!(g_model.nSwToWarn&1)) { // ID1 to ID3 is just one bit in nSwToWarn
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result = (cs_idx)==((g_model.switchWarningStates&3)+1); // overwrite result with desired value
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}
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}
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else if (!(g_model.nSwToWarn & (1<<(cs_idx-3)))) {
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// current switch should not be ignored for warning
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result = g_model.switchWarningStates & (1<<(cs_idx-2)); // overwrite result with desired value
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}
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}
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#endif
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}
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#if defined(PCBTARANIS)
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else if (cs_idx <= SWSRC_LAST_MULTIPOS_SWITCH) {
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result = POT_POSITION(cs_idx-SWSRC_FIRST_MULTIPOS_SWITCH);
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}
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#endif
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else if (cs_idx <= SWSRC_LAST_TRIM) {
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uint8_t idx = cs_idx - SWSRC_FIRST_TRIM;
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idx = (CONVERT_MODE(idx/2) << 1) + (idx & 1);
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result = trimDown(idx);
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}
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#if ROTARY_ENCODERS > 0
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else if (cs_idx == SWSRC_REa) {
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result = REA_DOWN();
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}
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#endif
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#if ROTARY_ENCODERS > 1
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else if (cs_idx == SWSRC_REb) {
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result = REB_DOWN();
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}
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#endif
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#if defined(CPUARM) && defined(FLIGHT_MODES)
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else if (cs_idx >= SWSRC_FIRST_FLIGHT_MODE) {
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uint8_t idx = cs_idx - SWSRC_FIRST_FLIGHT_MODE;
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if (flags & GETSWITCH_MIDPOS_DELAY)
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result = (idx == flightModeTransitionLast);
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else
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result = (idx == mixerCurrentFlightMode);
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}
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#endif
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else {
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cs_idx -= SWSRC_FIRST_LOGICAL_SWITCH;
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#if defined(CPUARM)
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result = lswFm[mixerCurrentFlightMode].lsw[cs_idx].state;
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#else
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GETSWITCH_RECURSIVE_TYPE mask = ((GETSWITCH_RECURSIVE_TYPE)1 << cs_idx);
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if (s_last_switch_used & mask) {
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result = (s_last_switch_value & mask);
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}
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else {
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s_last_switch_used |= mask;
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result = getLogicalSwitch(cs_idx);
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if (result) {
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s_last_switch_value |= mask;
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}
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else {
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s_last_switch_value &= ~mask;
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}
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}
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#endif
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}
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return swtch > 0 ? result : !result;
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}
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#if defined(CPUARM)
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/**
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@brief Calculates new state of logical switches for mixerCurrentFlightMode
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*/
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void evalLogicalSwitches(bool isCurrentPhase)
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{
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for (unsigned int idx=0; idx<NUM_LOGICAL_SWITCH; idx++) {
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LogicalSwitchContext &context = lswFm[mixerCurrentFlightMode].lsw[idx];
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bool result = getLogicalSwitch(idx);
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if (isCurrentPhase) {
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if (result) {
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if (!context.state) PLAY_LOGICAL_SWITCH_ON(idx);
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}
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else {
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if (context.state) PLAY_LOGICAL_SWITCH_OFF(idx);
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}
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}
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context.state = result;
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}
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}
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#endif
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swstate_t switches_states = 0;
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int8_t getMovedSwitch()
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{
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static tmr10ms_t s_move_last_time = 0;
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int8_t result = 0;
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#if defined(PCBTARANIS)
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for (uint8_t i=0; i<NUM_SWITCHES; i++) {
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swstate_t mask = (0x03 << (i*2));
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uint8_t prev = (switches_states & mask) >> (i*2);
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uint8_t next = (1024+getValue(MIXSRC_SA+i)) / 1024;
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if (prev != next) {
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switches_states = (switches_states & (~mask)) | (next << (i*2));
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if (i<5)
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result = 1+(3*i)+next;
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else if (i==5)
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result = 1+(3*5)+(next!=0);
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else if (i==6)
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result = 1+(3*5)+2+next;
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else
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result = 1+(3*5)+2+3+(next!=0);
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}
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}
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#else
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// return delivers 1 to 3 for ID1 to ID3
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// 4..8 for all other switches if changed to true
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// -4..-8 for all other switches if changed to false
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// 9 for Trainer switch if changed to true; Change to false is ignored
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swstate_t mask = 0x80;
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for (uint8_t i=NUM_PSWITCH; i>1; i--) {
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bool prev;
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prev = (switches_states & mask);
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// don't use getSwitch here to always get the proper value, even getSwitch manipulates
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bool next = switchState((EnumKeys)(SW_BASE+i-1));
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if (prev != next) {
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if (((i<NUM_PSWITCH) && (i>3)) || next==true)
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result = next ? i : -i;
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if (i<=3 && result==0) result = 1;
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switches_states ^= mask;
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}
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mask >>= 1;
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}
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#endif
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if ((tmr10ms_t)(get_tmr10ms() - s_move_last_time) > 10)
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result = 0;
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s_move_last_time = get_tmr10ms();
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return result;
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}
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void checkSwitches()
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{
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#if defined(MODULE_ALWAYS_SEND_PULSES)
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static swstate_t last_bad_switches = 0xff;
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#else
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swstate_t last_bad_switches = 0xff;
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#endif
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swstate_t states = g_model.switchWarningStates;
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#if defined(PCBTARANIS)
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uint8_t bad_pots = 0, last_bad_pots = 0xff;
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#endif
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#if !defined(MODULE_ALWAYS_SEND_PULSES)
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while (1) {
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#if defined(TELEMETRY_MOD_14051) || defined(PCBTARANIS)
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getADC();
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#endif
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#endif // !defined(MODULE_ALWAYS_SEND_PULSES)
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getMovedSwitch();
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bool warn = false;
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#if defined(PCBTARANIS)
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for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
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if (!(g_model.nSwToWarn & (1<<i))) {
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swstate_t mask = (0x03 << (i*2));
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if (!((states & mask) == (switches_states & mask))) {
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warn = true;
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}
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}
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}
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uint8_t potMode = g_model.nPotsToWarn >> 6;
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if (potMode) {
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evalFlightModeMixes(e_perout_mode_normal, 0);
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bad_pots = 0;
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for (uint8_t i=0; i<NUM_POTS; i++) {
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#if !defined(REVPLUS)
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if (i == POT3-POT1) {
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continue;
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}
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#endif
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if (!(g_model.nPotsToWarn & (1 << i)) && (abs(g_model.potPosition[i] - GET_LOWRES_POT_POSITION(i)) > 1)) {
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warn = true;
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bad_pots |= (1<<i);
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}
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}
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}
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#else
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for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
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if (!(g_model.nSwToWarn & (1<<i))) {
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if (i == 0) {
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if ((states & 0x03) != (switches_states & 0x03)) {
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warn = true;
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}
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}
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else if ((states & (1<<(i+1))) != (switches_states & (1<<(i+1)))) {
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warn = true;
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}
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}
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}
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#endif
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if (!warn) {
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#if defined(MODULE_ALWAYS_SEND_PULSES)
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startupWarningState = STARTUP_WARNING_SWITCHES+1;
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last_bad_switches = 0xff;
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#endif
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return;
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}
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// first - display warning
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#if defined(PCBTARANIS)
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if ((last_bad_switches != switches_states) || (last_bad_pots != bad_pots)) {
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MESSAGE(STR_SWITCHWARN, NULL, STR_PRESSANYKEYTOSKIP, ((last_bad_switches == 0xff) || (last_bad_pots == 0xff)) ? AU_SWITCH_ALERT : AU_NONE);
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for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
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if (!(g_model.nSwToWarn & (1<<i))) {
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swstate_t mask = (0x03 << (i*2));
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uint8_t attr = ((states & mask) == (switches_states & mask)) ? 0 : INVERS;
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char c = "\300-\301"[(states & mask) >> (i*2)];
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lcd_putcAtt(60+i*(2*FW+FW/2), 4*FH+3, 'A'+i, attr);
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lcd_putcAtt(60+i*(2*FW+FW/2)+FW, 4*FH+3, c, attr);
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}
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}
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if (potMode) {
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for (uint8_t i=0; i<NUM_POTS; i++) {
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#if !defined(REVPLUS)
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if (i == POT3-POT1) {
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continue;
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}
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#endif
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if (!(g_model.nPotsToWarn & (1 << i))) {
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uint8_t flags = 0;
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if (abs(g_model.potPosition[i] - GET_LOWRES_POT_POSITION(i)) > 1) {
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switch (i) {
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case 0:
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case 1:
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case 2:
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lcd_putc(60+i*(5*FW)+2*FW+2, 6*FH-2, g_model.potPosition[i] > GET_LOWRES_POT_POSITION(i) ? 126 : 127);
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break;
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case 3:
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case 4:
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lcd_putc(60+i*(5*FW)+2*FW+2, 6*FH-2, g_model.potPosition[i] > GET_LOWRES_POT_POSITION(i) ? '\300' : '\301');
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break;
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}
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flags = INVERS;
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}
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lcd_putsiAtt(60+i*(5*FW), 6*FH-2, STR_VSRCRAW, NUM_STICKS+1+i, flags);
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}
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}
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}
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last_bad_pots = bad_pots;
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#else
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if (last_bad_switches != switches_states) {
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MESSAGE(STR_SWITCHWARN, NULL, STR_PRESSANYKEYTOSKIP, last_bad_switches == 0xff ? AU_SWITCH_ALERT : AU_NONE);
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uint8_t x = 2;
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for (uint8_t i=0; i<NUM_SWITCHES-1; i++) {
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uint8_t attr;
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if (i == 0)
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attr = ((states & 0x03) != (switches_states & 0x03)) ? INVERS : 0;
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else
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attr = (states & (1 << (i+1))) == (switches_states & (1 << (i+1))) ? 0 : INVERS;
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if (!(g_model.nSwToWarn & (1<<i)))
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putsSwitches(x, 5*FH, (i>0?(i+3):(states&0x3)+1), attr);
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x += 3*FW+FW/2;
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}
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#endif
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lcdRefresh();
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last_bad_switches = switches_states;
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}
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#if defined(MODULE_ALWAYS_SEND_PULSES)
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if (pwrCheck()==e_power_off || keyDown()) {
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startupWarningState = STARTUP_WARNING_SWITCHES+1;
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last_bad_switches = 0xff;
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}
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#else
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if (pwrCheck()==e_power_off || keyDown()) return;
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checkBacklight();
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wdt_reset();
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SIMU_SLEEP(1);
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}
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#endif
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}
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void logicalSwitchesTimerTick()
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{
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#if defined(CPUARM)
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for (uint8_t fm=0; fm<MAX_FLIGHT_MODES; fm++) {
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#endif
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for (uint8_t i=0; i<NUM_LOGICAL_SWITCH; i++) {
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LogicalSwitchData * ls = lswAddress(i);
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if (ls->func == LS_FUNC_TIMER) {
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int16_t *lastValue = &LS_LAST_VALUE(fm, i);
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if (*lastValue == 0 || *lastValue == CS_LAST_VALUE_INIT) {
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*lastValue = -lswTimerValue(ls->v1);
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}
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else if (*lastValue < 0) {
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if (++(*lastValue) == 0)
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*lastValue = lswTimerValue(ls->v2);
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}
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else { // if (*lastValue > 0)
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*lastValue -= 1;
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}
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}
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else if (ls->func == LS_FUNC_STICKY) {
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ls_sticky_struct & lastValue = (ls_sticky_struct &)LS_LAST_VALUE(fm, i);
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bool before = lastValue.last & 0x01;
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if (lastValue.state) {
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bool now = getSwitch(ls->v2);
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if (now != before) {
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lastValue.last ^= 1;
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if (!before) {
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lastValue.state = 0;
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}
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}
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}
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else {
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bool now = getSwitch(ls->v1);
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if (before != now) {
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lastValue.last ^= 1;
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if (!before) {
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lastValue.state = 1;
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}
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}
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}
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}
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#if defined(CPUARM)
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else if (ls->func == LS_FUNC_EDGE) {
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ls_stay_struct & lastValue = (ls_stay_struct &)LS_LAST_VALUE(fm, i);
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lastValue.state = false;
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bool state = getSwitch(ls->v1);
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if (state) {
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if (ls->v3 == -1 && lastValue.duration == lswTimerValue(ls->v2))
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lastValue.state = true;
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if (lastValue.duration < 1000)
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lastValue.duration++;
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}
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else {
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if (lastValue.duration > lswTimerValue(ls->v2) && (ls->v3 == 0 || lastValue.duration <= lswTimerValue(ls->v2+ls->v3)))
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lastValue.state = true;
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lastValue.duration = 0;
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}
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}
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// decrement delay/duration timer
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LogicalSwitchContext &context = lswFm[fm].lsw[i];
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if (context.timer) {
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context.timer--;
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}
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#endif
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}
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#if defined(CPUARM)
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}
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#endif
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}
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LogicalSwitchData *lswAddress(uint8_t idx)
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{
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return &g_model.logicalSw[idx];
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}
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uint8_t lswFamily(uint8_t func)
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{
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if (func <= LS_FUNC_ANEG)
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return LS_FAMILY_OFS;
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else if (func <= LS_FUNC_XOR)
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return LS_FAMILY_BOOL;
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#if defined(CPUARM)
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else if (func == LS_FUNC_EDGE)
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return LS_FAMILY_EDGE;
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#endif
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else if (func <= LS_FUNC_LESS)
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return LS_FAMILY_COMP;
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else if (func <= LS_FUNC_ADIFFEGREATER)
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return LS_FAMILY_DIFF;
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else
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return LS_FAMILY_TIMER+func-LS_FUNC_TIMER;
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}
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int16_t lswTimerValue(delayval_t val)
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{
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return (val < -109 ? 129+val : (val < 7 ? (113+val)*5 : (53+val)*10));
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}
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void logicalSwitchesReset()
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{
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#if defined(CPUARM)
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memset(lswFm, 0, sizeof(lswFm));
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#else
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s_last_switch_value = 0;
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#endif
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#if defined(CPUARM)
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for (uint8_t fm=0; fm<MAX_FLIGHT_MODES; fm++) {
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#endif
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for (uint8_t i=0; i<NUM_LOGICAL_SWITCH; i++) {
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LS_LAST_VALUE(fm, i) = CS_LAST_VALUE_INIT;
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}
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#if defined(CPUARM)
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}
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#endif
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}
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getvalue_t convertLswTelemValue(LogicalSwitchData * ls)
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{
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getvalue_t val;
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#if defined(CPUARM)
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val = convert16bitsTelemValue(ls->v1 - MIXSRC_FIRST_TELEM + 1, ls->v2);
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#else
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if (lswFamily(ls->func)==LS_FAMILY_OFS)
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val = convert8bitsTelemValue(ls->v1 - MIXSRC_FIRST_TELEM + 1, 128+ls->v2);
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else
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val = convert8bitsTelemValue(ls->v1 - MIXSRC_FIRST_TELEM + 1, 128+ls->v2) - convert8bitsTelemValue(ls->v1 - MIXSRC_FIRST_TELEM + 1, 128);
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#endif
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return val;
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}
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#if defined(CPUARM)
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void logicalSwitchesCopyState(uint8_t src, uint8_t dst)
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{
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lswFm[dst] = lswFm[src];
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}
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#endif
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