448 lines
10 KiB
C++
448 lines
10 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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#ifndef simpgmspace_h
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#define simpgmspace_h
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#ifndef __GNUC__
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#include <windows.h>
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#define sleep(x) Sleep(x)
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#else
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#include <unistd.h>
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#define sleep(x) usleep(1000*x)
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#endif
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#ifdef SIMU_EXCEPTIONS
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extern char * main_thread_error;
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#include <stdlib.h>
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#include <stdio.h>
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#include <signal.h>
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#if defined(WIN32) || !defined(__GNUC__)
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#define write_backtrace(output)
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#else
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#include <execinfo.h>
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inline void write_backtrace(char *output)
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{
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void *buf[16];
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char **s;
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int n = backtrace(buf, 16);
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s = backtrace_symbols(buf, n);
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if (s) {
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for (int i=0; i<n; ++i) {
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sprintf(output+strlen(output), "%02i: %s\n", i, s[i]);
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}
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}
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}
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#endif
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void sig(int sgn)
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{
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main_thread_error = (char *)malloc(2048);
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sprintf(main_thread_error,"Signal %d caught\n", sgn);
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write_backtrace(main_thread_error);
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throw std::exception();
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}
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#define assert(x) do { if (!(x)) { main_thread_error = (char *)malloc(2048); sprintf(main_thread_error, "Assert failed, %s:%d: %s\n", __FILE__, __LINE__, #x); write_backtrace(main_thread_error); throw std::exception(); } } while(0)
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#else
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#include <assert.h>
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#endif
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#include <inttypes.h>
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#include <stdio.h>
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#include <pthread.h>
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#include <semaphore.h>
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#include <stddef.h>
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#undef min
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#undef max
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#define APM
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#define __REV
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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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#if defined(CPUSTM32)
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extern GPIO_TypeDef gpioa, gpiob, gpioc, gpiod, gpioe, gpiof, gpiog;
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extern TIM_TypeDef tim1, tim2, tim3, tim4, tim5, tim6, tim7, tim8, tim9, tim10;
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extern USART_TypeDef Usart0, Usart1, Usart2, Usart3, Usart4;
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extern RCC_TypeDef rcc;
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extern DMA_Stream_TypeDef dma2_stream2, dma2_stream6;
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extern DMA_TypeDef dma2;
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#undef GPIOA
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#undef GPIOB
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#undef GPIOC
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#undef GPIOD
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#undef GPIOE
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#undef GPIOF
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#undef GPIOG
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#define GPIOA (&gpioa)
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#define GPIOB (&gpiob)
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#define GPIOC (&gpioc)
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#define GPIOD (&gpiod)
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#define GPIOE (&gpioe)
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#define GPIOF (&gpiof)
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#define GPIOG (&gpiog)
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#undef TIM1
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#undef TIM2
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#undef TIM3
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#undef TIM4
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#undef TIM5
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#undef TIM6
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#undef TIM7
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#undef TIM8
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#undef TIM9
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#undef TIM10
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#define TIM1 (&tim1)
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#define TIM2 (&tim2)
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#define TIM3 (&tim3)
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#define TIM4 (&tim4)
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#define TIM5 (&tim4)
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#define TIM6 (&tim4)
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#define TIM7 (&tim4)
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#define TIM8 (&tim8)
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#define TIM9 (&tim9)
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#define TIM10 (&tim10)
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#undef USART0
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#undef USART1
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#undef USART2
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#undef USART3
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#define USART0 (&Usart0)
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#define USART1 (&Usart1)
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#define USART2 (&Usart2)
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#define USART3 (&Usart3)
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#undef RCC
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#define RCC (&rcc)
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#undef DMA2_Stream2
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#undef DMA2_Stream6
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#define DMA2_Stream2 (&dma2_stream2)
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#define DMA2_Stream6 (&dma2_stream6)
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#undef DMA2
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#define DMA2 (&dma2)
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#elif defined(PCBSKY9X)
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extern Pio Pioa, Piob, Pioc;
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extern Twi Twio;
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extern Dacc dacc;
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extern Usart Usart0;
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extern Adc Adc0;
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#undef ADC
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#define ADC (&Adc0)
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#undef USART0
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#define USART0 (&Usart0)
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#undef USART1
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#define USART1 (&Usart0)
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#undef USART2
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#define USART2 (&Usart0)
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#undef USART3
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#define USART3 (&Usart0)
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#undef PIOA
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#define PIOA (&Pioa)
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#undef PIOB
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#define PIOB (&Piob)
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#undef PIOC
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#define PIOC (&Pioc)
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#undef TWI0
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#define TWI0 (&Twio)
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#undef DACC
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#define DACC (&dacc)
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extern Pwm pwm;
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#undef PWM
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#define PWM (&pwm)
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#endif
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extern sem_t *eeprom_write_sem;
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#if defined(PCBSKY9X)
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extern uint32_t eeprom_pointer;
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extern uint8_t * eeprom_buffer_data;
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extern volatile int32_t eeprom_buffer_size;
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extern bool eeprom_read_operation;
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extern volatile uint32_t Spi_complete;
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#endif
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#if defined(CPUARM)
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extern void startPdcUsartReceive() ;
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extern uint32_t txPdcUsart( uint8_t *buffer, uint32_t size );
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extern uint32_t txPdcPending();
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extern void rxPdcUsart( void (*pChProcess)(uint8_t x) );
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#else
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#define PIOA 0
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#define PIOB 0
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#define PIOC 0
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#endif
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#define loop_until_bit_is_set( port, bitnum) \
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while ( 0/*! ( (port) & (1 << (bitnum)) )*/ ) ;
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#define PROGMEM
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#define pgm_read_byte(address_short) (*(uint8_t*)(address_short))
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#define pgm_read_word(address_short) (*(uint16_t*)(address_short))
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#define pgm_read_adr(address_short) *address_short
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#define pgm_read_stringP(adr) ((adr))
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#define PSTR(adr) adr
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#define _delay_us(a)
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#define _delay_ms(a)
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#define cli()
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#define sei()
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#define strcpy_P strcpy
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#define strcat_P strcat
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#define memcpy_P memcpy
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#define PORTA dummyport
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#define PORTB portb
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#define PORTC portc
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#define PORTD dummyport
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#define PORTE dummyport
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#define PORTF dummyport
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#define PORTG dummyport
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#define PORTH porth
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#define PORTL dummyport
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#define DDRA dummyport
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#define DDRB dummyport
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#define DDRC dummyport
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#define DDRD dummyport
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#define DDRE dummyport
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#define DDRF dummyport
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#define DDRG dummyport
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#define PINA ~pina
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#define PINB ~pinb
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#define PINC ~pinc
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#define PIND ~pind
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#define PINE ~pine
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#define PINF ~pinf
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#define PING ~ping
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#define PINH ~pinh
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#define PINJ ~pinj
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#define PINL ~pinl
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#define EEMEM
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#define UCSR0B dummyport
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#define UDRIE0 dummyport
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#define TXB80 dummyport
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#define TXCIE0 dummyport
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#define TXEN0 dummyport
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#define RXEN0 dummyport
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#define DDE0 dummyport
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#define PORTE0 dummyport
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#define RXCIE0 dummyport
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#define OCR0A dummyport
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#define OCR1A dummyport16
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#define OCR1B dummyport16
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#define OCR1C dummyport16
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#define OCR2 dummyport
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#define OCR3A dummyport16
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#define OCR3B dummyport16
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#define OCR4A dummyport
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#define OCR5A dummyport
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#define TCCR0A dummyport
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#define TCCR1A dummyport
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#define TCCR1B dummyport
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#define TCCR1C dummyport
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#define COM1B0 dummyport
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#define COM0A0 dummyport
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#define TCNT1 dummyport16
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#define TCNT1L dummyport
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#define TCNT5 dummyport16
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#define ICR1 dummyport16
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#define TIFR dummyport
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#define TIFR1 dummyport
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#define ETIFR dummyport
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#define SPDR dummyport
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#define SPSR dummyport
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#define SPIF dummyport
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#define SPCR dummyport
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#define TIMSK dummyport
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#define TIMSK1 dummyport
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#define TIMSK3 dummyport
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#define TIMSK4 dummyport
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#define TIMSK5 dummyport
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#define ETIMSK dummyport
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#define ETIMSK1 dummyport
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#define UCSZ02 dummyport
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#define UCSR0C dummyport
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#define UCSZ01 dummyport
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#define UCSZ00 dummyport
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#define UCSR0A dummyport
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#define RXC0 dummyport
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#define UDR0 dummyport
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#define OCIE1A dummyport
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#define OCIE1B dummyport
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#define OCIE1C dummyport
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#define OCIE4A dummyport
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#define OCIE5A dummyport
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#define OUT_B_LIGHT 7
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#define INP_E_ElevDR 2
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#define INP_E_Trainer 5
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#define INP_E_Gear 4
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#define INP_C_ThrCt 6
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#define INP_C_AileDR 7
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#define INP_E_ID2 6
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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 INP_L_SPARE6 7
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#define INP_L_SPARE5 6
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#define INP_L_KEY_EXT 5
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#define INP_L_KEY_MEN 4
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#define INP_L_KEY_LFT 3
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#define INP_L_KEY_RGT 2
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#define INP_L_KEY_UP 1
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#define INP_L_KEY_DWN 0
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#define WGM10 0
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#define WGM12 0
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#define COM1B1 0
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#define FOC1B 0
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#define CS10 0
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#define DOR0 0
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#define UPE0 0
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#define FE0 0
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#define ISR(x, ...) void x()
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#define asm(x)
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#if defined(CPUARM)
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extern uint32_t Master_frequency;
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#define NVIC_EnableIRQ(x)
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#define NVIC_DisableIRQ(x)
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#define NVIC_SetPriority(...)
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#define __disable_irq()
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#define __enable_irq()
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#endif
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extern volatile unsigned char pina, pinb, pinc, pind, pine, pinf, ping, pinh, pinj, pinl;
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extern uint8_t portb, portc, porth, dummyport;
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extern uint16_t dummyport16;
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extern uint8_t main_thread_running;
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#define getADC()
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#define getADC_bandgap()
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#define SIMU_SLEEP(x) do { if (!main_thread_running) return; sleep(x/*ms*/); } while (0)
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#define SIMU_SLEEP_NORET(x) do { sleep(x/*ms*/); } while (0)
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void simuInit();
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void simuSetKey(uint8_t key, bool state);
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void simuSetTrim(uint8_t trim, bool state);
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void simuSetSwitch(uint8_t swtch, int8_t state);
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void StartMainThread(bool tests=true);
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void StopMainThread();
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void StartEepromThread(const char *filename="eeprom.bin");
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void StopEepromThread();
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#if defined(SIMU_AUDIO) && defined(CPUARM)
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void StartAudioThread(void);
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void StopAudioThread(void);
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#else
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#define StartAudioThread()
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#define StopAudioThread()
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#endif
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extern const char * eepromFile;
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void eepromReadBlock (uint8_t * pointer_ram, uint16_t address, uint16_t size);
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#define wdt_enable(...) sleep(1/*ms*/)
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#define wdt_reset() sleep(1/*ms*/)
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#define boardInit()
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#define OS_MutexID pthread_mutex_t
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extern OS_MutexID audioMutex;
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#define OS_FlagID uint32_t
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#define OS_TID uint32_t
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#define OS_TCID uint32_t
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#define OS_STK uint32_t
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#define E_OK 0
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#define WDRF 0
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#define CoInitOS(...)
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#define CoStartOS(...)
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#define CoCreateTask(...) (0)
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#define CoCreateMutex(...) PTHREAD_MUTEX_INITIALIZER
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#define CoSetFlag(...)
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#define CoClearFlag(...)
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#define CoSetTmrCnt(...)
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#define CoEnterISR(...)
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#define CoExitISR(...)
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#define CoStartTmr(...)
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#define CoWaitForSingleFlag(...) 0
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#define CoEnterMutexSection(m) pthread_mutex_lock(&(m))
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#define CoLeaveMutexSection(m) pthread_mutex_unlock(&(m))
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#define CoTickDelay(...)
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#define CoCreateFlag(...) 0
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#define CoGetOSTime(...) 0
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inline void UART3_Configure(uint32_t baudrate, uint32_t masterClock) { }
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#define UART_Stop(...)
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#define UART3_Stop(...)
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#define USART_GetITStatus(...) 0
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#if defined(PCBTARANIS)
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inline void GPIO_Init(GPIO_TypeDef* GPIOx, GPIO_InitTypeDef* GPIO_InitStruct) { }
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#define GPIO_SetBits(GPIOx, pin) GPIOx->BSRRL |= pin
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#define GPIO_ResetBits(GPIOx, pin) GPIOx->BSRRL &= ~pin
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#define GPIO_ReadInputDataBit(GPIOx, pin) (GPIOx->BSRRL & pin)
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#define RCC_AHB1PeriphClockCmd(...)
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#define RCC_APB2PeriphClockCmd(...)
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#endif
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#define configure_pins(...)
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#if defined(SDCARD)
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extern char simuSdDirectory[1024];
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#endif
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#define sdMountPoll()
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#define sdPoll10ms()
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#define sd_card_ready() (true)
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#define sdMounted() (true)
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#endif
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