319 lines
7.6 KiB
C++
319 lines
7.6 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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#if defined(ROTARY_ENCODER_NAVIGATION)
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#if defined(TELEMETREZ)
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uint8_t TrotCount ; // TeZ version
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uint8_t LastTrotCount ; // TeZ version
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uint8_t RotEncoder ;
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#define ROTENC_DOWN() (RotEncoder != 0)
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#else
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uint8_t RotPosition ;
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int8_t LastRotaryValue ;
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int8_t Rotary_diff ;
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int8_t RotaryControl ;
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uint8_t RotEncoder ;
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#define ROTENC_DOWN() (RotEncoder & 0x20)
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#endif
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void rotencPoll()
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{
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#if defined(TELEMETREZ)
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if (TrotCount != LastTrotCount) {
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g_rotenc[0] = LastTrotCount = TrotCount ;
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}
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#else
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// Rotary Encoder polling
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PORTA = 0 ; // No pullups
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DDRA = 0x1F ; // Top 3 bits input
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asm(" rjmp 1f") ;
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asm("1:") ;
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uint8_t rotary ;
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rotary = PINA ;
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DDRA = 0xFF ; // Back to all outputs
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rotary &= 0xE0 ;
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RotEncoder = rotary ; // just read the lcd pin
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rotary &= 0xDF ;
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if ( rotary != RotPosition ) {
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uint8_t x ;
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x = RotPosition & 0x40 ;
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x <<= 1 ;
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x ^= rotary & 0x80 ;
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if ( x ) {
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g_rotenc[0] -= 1 ;
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}
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else {
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g_rotenc[0] += 1 ;
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}
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RotPosition = rotary ;
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}
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#endif // TELEMETREZ
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}
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#else
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#define ROTENC_DOWN() (0)
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#endif // ROTARY_ENCODER_NAVIGATION
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#ifndef SIMU
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inline void boardInit()
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{
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// Set up I/O port data directions and initial states
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DDRA = 0xff; PORTA = 0x00; // LCD data
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DDRB = 0x81; PORTB = 0x7e; //pullups keys+nc
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DDRC = 0x3e; PORTC = 0xc1; //pullups nc
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DDRD = 0x00; PORTD = 0xff; //pullups keys
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DDRE = (1<<OUT_E_BUZZER); PORTE = 0xff-(1<<OUT_E_BUZZER); //pullups + buzzer 0
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DDRF = 0x00; PORTF = 0x00; //anain
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DDRG = 0x14; PORTG = 0xfb; //pullups + SIM_CTL=1 = phonejack = ppm_in, Haptic output and off (0)
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ADMUX=ADC_VREF_TYPE;
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ADCSRA=0x85; // ADC enabled, pre-scaler division=32 (no interrupt, no auto-triggering)
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// TCNT0 10ms = 16MHz/1024/156 periodic timer (9.984ms)
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// (with 1:4 duty at 157 to average 10.0ms)
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// Timer overflows at about 61Hz or once every 16ms.
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TCCR0 = (0b111 << CS00); // Norm mode, clk/1024
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OCR0 = 156;
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#if defined(AUDIO) || defined(VOICE)
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TCCR2 = (0b010 << CS00); // Norm mode, clk/8
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#elif defined(PWM_BACKLIGHT)
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/** Smartieparts LED Backlight is connected to PORTB/pin7, which can be used as pwm output of timer2 **/
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#if defined(SP22)
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TCCR2 = (0b011 << CS20)|(1<<WGM20)|(1<<COM21)|(1<<COM20); // inv. pwm mode, clk/64
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#else
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TCCR2 = (0b011 << CS20)|(1<<WGM20)|(1<<COM21); // pwm mode, clk/64
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#endif
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#endif
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TIMSK |= (1<<OCIE0) | (1<<TOIE0) | (1<<TOIE2); // Enable Output-Compare and Overflow interrrupts
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}
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#endif
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#ifndef SIMU
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FORCEINLINE
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#endif
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uint8_t keyDown()
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{
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return ((~PINB) & 0x7E) | ROTENC_DOWN();
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}
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bool switchState(EnumKeys enuk)
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{
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uint8_t result = 0 ;
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if (enuk < (int)DIM(keys))
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return keys[enuk].state();
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switch(enuk){
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case SW_ELE:
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result = PINE & (1<<INP_E_ElevDR);
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break;
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#if defined(JETI) || defined(FRSKY) || defined(ARDUPILOT) || defined(NMEA) || defined(MAVLINK)
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case SW_AIL:
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result = PINC & (1<<INP_C_AileDR); //shad974: rerouted inputs to free up UART0
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break;
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#else
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case SW_AIL:
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result = PINE & (1<<INP_E_AileDR);
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break;
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#endif
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case SW_RUD:
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result = PING & (1<<INP_G_RuddDR);
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break;
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// INP_G_ID1 INP_E_ID2
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// id0 0 1
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// id1 1 1
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// id2 1 0
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case SW_ID0:
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result = !(PING & (1<<INP_G_ID1));
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break;
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case SW_ID1:
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result = (PING & (1<<INP_G_ID1)) && (PINE & (1<<INP_E_ID2));
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break;
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case SW_ID2:
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result = !(PINE & (1<<INP_E_ID2));
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break;
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#if defined(EXTRA_3POS)
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case SW_ID3:
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result = (calibratedStick[POT1+EXTRA_3POS-1] < 0);
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break;
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case SW_ID4:
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result = (calibratedStick[POT1+EXTRA_3POS-1] == 0);
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break;
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case SW_ID5:
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result = (calibratedStick[POT1+EXTRA_3POS-1] > 0);
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break;
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#endif
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case SW_GEA:
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result = PINE & (1<<INP_E_Gear);
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break;
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//case SW_THR : return PINE & (1<<INP_E_ThrCt);
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#if defined(JETI) || defined(FRSKY) || defined(ARDUPILOT) || defined(NMEA) || defined(MAVLINK)
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case SW_THR:
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result = PINC & (1<<INP_C_ThrCt); //shad974: rerouted inputs to free up UART0
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break;
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#else
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case SW_THR:
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result = PINE & (1<<INP_E_ThrCt);
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break;
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#endif
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case SW_TRN:
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result = PINE & (1<<INP_E_Trainer);
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break;
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default:
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break;
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}
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return result;
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}
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#ifndef SIMU
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FORCEINLINE
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#endif
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void readKeysAndTrims()
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{
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uint8_t enuk = KEY_MENU;
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// User buttons ...
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uint8_t in = ~PINB;
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for(int i=1; i<7; i++)
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{
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//INP_B_KEY_MEN 1 .. INP_B_KEY_LFT 6
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keys[enuk].input(in & (1<<i),(EnumKeys)enuk);
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++enuk;
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}
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// Trim switches ...
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static const pm_uchar crossTrim[] PROGMEM ={
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1<<INP_D_TRM_LH_DWN, // bit 7
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1<<INP_D_TRM_LH_UP,
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1<<INP_D_TRM_LV_DWN,
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1<<INP_D_TRM_LV_UP,
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1<<INP_D_TRM_RV_DWN,
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1<<INP_D_TRM_RV_UP,
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1<<INP_D_TRM_RH_DWN,
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1<<INP_D_TRM_RH_UP // bit 0
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};
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in = ~PIND;
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for (int i=0; i<8; i++) {
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// INP_D_TRM_RH_UP 0 .. INP_D_TRM_LH_UP 7
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keys[enuk].input(in & pgm_read_byte(crossTrim+i), (EnumKeys)enuk);
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++enuk;
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}
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#if defined(ROTARY_ENCODER_NAVIGATION)
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keys[enuk].input(ROTENC_DOWN(), (EnumKeys)enuk); // Rotary Enc. Switch
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#endif
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}
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bool checkSlaveMode()
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{
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// no power -> only phone jack = slave mode
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static bool lastSlaveMode = false;
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static uint8_t checkDelay = 0;
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if (IS_AUDIO_BUSY()) {
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checkDelay = 20;
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}
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else if (checkDelay) {
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--checkDelay;
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}
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else {
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lastSlaveMode = (PING & (1<<INP_G_RF_POW));
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}
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return lastSlaveMode;
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}
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#if defined(PWM_BACKLIGHT)
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// exponential PWM table for linear brightness
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static const uint8_t pwmtable[16] PROGMEM =
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{
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0, 2, 3, 4, 6, 8, 11, 16, 23, 32, 45, 64, 90, 128, 181, 255
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};
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static uint8_t bl_target;
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static uint8_t bl_current;
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void backlightFadeOn()
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{
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bl_target = 15 - g_eeGeneral.blOnBright;
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}
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void backlightFadeOff()
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{
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bl_target = g_eeGeneral.blOffBright;
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}
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bool getBackLightState()
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{
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return (bl_target==g_eeGeneral.blOnBright);
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}
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void backlightFade() //called from per10ms()
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{
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if (bl_target != bl_current) {
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if (bl_target > bl_current)
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OCR2 = pgm_read_byte(&pwmtable[++bl_current]);
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else
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OCR2 = pgm_read_byte(&pwmtable[--bl_current]);
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}
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}
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#endif
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