252 lines
6.9 KiB
C++
252 lines
6.9 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(__cplusplus) && !defined(SIMU)
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extern "C" {
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#endif
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#include "STM32_USB-Host-Device_Lib_V2.1.0/Libraries/STM32_USB_OTG_Driver/inc/usb_dcd_int.h"
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#include "STM32_USB-Host-Device_Lib_V2.1.0/Libraries/STM32_USB_OTG_Driver/inc/usb_bsp.h"
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#if defined(__cplusplus) && !defined(SIMU)
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}
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#endif
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void watchdogInit(unsigned int duration)
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{
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IWDG->KR = 0x5555 ; // Unlock registers
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IWDG->PR = 3 ; // Divide by 32 => 1kHz clock
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IWDG->KR = 0x5555 ; // Unlock registers
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IWDG->RLR = duration ; // 1.5 seconds nominal
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IWDG->KR = 0xAAAA ; // reload
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IWDG->KR = 0xCCCC ; // start
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}
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// Start TIMER7 at 2000000Hz
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void init2MhzTimer()
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{
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TIMER_2MHz_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 2000000 - 1 ; // 0.5 uS, 2 MHz
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TIMER_2MHz_TIMER->ARR = 65535;
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TIMER_2MHz_TIMER->CR2 = 0;
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TIMER_2MHz_TIMER->CR1 = TIM_CR1_CEN;
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}
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// Starts TIMER at 200Hz, 5mS period
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void init5msTimer()
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{
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INTERRUPT_5MS_TIMER->ARR = 999 ; // 5mS
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INTERRUPT_5MS_TIMER->PSC = (PERI1_FREQUENCY * TIMER_MULT_APB1) / 1000000 - 1 ; // 1uS from 30MHz
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INTERRUPT_5MS_TIMER->CCER = 0 ;
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INTERRUPT_5MS_TIMER->CCMR1 = 0 ;
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INTERRUPT_5MS_TIMER->EGR = 0 ;
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INTERRUPT_5MS_TIMER->CR1 = 5 ;
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INTERRUPT_5MS_TIMER->DIER |= 1 ;
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NVIC_EnableIRQ(TIM8_TRG_COM_TIM14_IRQn) ;
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NVIC_SetPriority(TIM8_TRG_COM_TIM14_IRQn, 7);
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}
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void stop5msTimer( void )
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{
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TIM14->CR1 = 0 ; // stop timer
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NVIC_DisableIRQ(TIM8_TRG_COM_TIM14_IRQn) ;
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RCC->APB1ENR &= ~RCC_APB1ENR_TIM14EN ; // Disable clock
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}
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// TODO use the same than board_sky9x.cpp
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void interrupt5ms()
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{
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static uint32_t pre_scale ; // Used to get 10 Hz counter
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++pre_scale;
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if (pre_scale == 5 || pre_scale == 10) {
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AUDIO_HEARTBEAT();
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#if defined(HAPTIC)
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HAPTIC_HEARTBEAT();
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#endif
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}
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if ( pre_scale >= 10 ) {
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pre_scale = 0 ;
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per10ms();
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}
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checkRotaryEncoder();
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}
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#if !defined(SIMU)
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extern "C" void TIM8_TRG_COM_TIM14_IRQHandler()
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{
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TIM14->SR &= ~TIM_SR_UIF ;
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interrupt5ms() ;
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}
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#if 0
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void pinCheck(GPIO_TypeDef * gpio, uint32_t pin, uint32_t RCC_AHB1Periph)
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{
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GPIO_InitTypeDef GPIO_InitStruct;
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RCC_AHB1PeriphClockCmd(RCC_AHB1Periph, ENABLE);
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GPIO_InitStruct.GPIO_Pin = pin;
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GPIO_InitStruct.GPIO_Mode = GPIO_Mode_OUT;
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GPIO_InitStruct.GPIO_OType = GPIO_OType_PP;
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GPIO_InitStruct.GPIO_Speed = GPIO_Speed_50MHz;
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GPIO_InitStruct.GPIO_PuPd = GPIO_PuPd_NOPULL;
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GPIO_Init(gpio, &GPIO_InitStruct);
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for (int i=0; i<10; i++) {
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GPIO_SetBits(gpio, pin);
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delay_01us(10);
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GPIO_ResetBits(gpio, pin);
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delay_01us(10);
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}
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}
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#endif
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void boardInit()
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{
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RCC_AHB1PeriphClockCmd(PWR_RCC_AHB1Periph | LCD_RCC_AHB1Periph | KEYS_RCC_AHB1Periph_GPIO | ADC_RCC_AHB1Periph | I2C_RCC_AHB1Periph | SERIAL_RCC_AHB1Periph | TELEMETRY_RCC_AHB1Periph | HAPTIC_RCC_AHB1Periph, ENABLE);
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RCC_APB1PeriphClockCmd(INTERRUPT_5MS_APB1Periph | TIMER_2MHz_APB1Periph | I2C_RCC_APB1Periph | SERIAL_RCC_APB1Periph | TELEMETRY_RCC_APB1Periph, ENABLE);
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RCC_APB2PeriphClockCmd(LCD_RCC_APB2Periph | ADC_RCC_APB2Periph | HAPTIC_RCC_APB2Periph, ENABLE);
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pwrInit();
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ledInit();
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delaysInit();
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ledRed();
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if (0) {
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// pinCheck(SERIAL_GPIO, SERIAL_GPIO_PIN_TX, SERIAL_RCC_AHB1Periph_GPIO);
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// pinCheck(EEPROM_GPIO, EEPROM_GPIO_PIN_SCK, RCC_AHB1Periph_GPIOB);
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// pinCheck(EEPROM_GPIO, EEPROM_GPIO_PIN_MISO, RCC_AHB1Periph_GPIOB);
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// pinCheck(EEPROM_GPIO, EEPROM_GPIO_PIN_MOSI, RCC_AHB1Periph_GPIOB);
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}
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serial2Init(0, 0); // default serial mode (None if DEBUG not defined)
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ledBlue();
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__enable_irq();
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TRACE("Horus started :)");
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keysInit();
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adcInit();
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lcdInit();
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audioInit();
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i2cInit();
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init2MhzTimer();
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init5msTimer();
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usbInit();
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hapticInit();
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// rotencInit();
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// bt_open();
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#if defined(DEBUG)
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DBGMCU_APB1PeriphConfig(DBGMCU_IWDG_STOP|DBGMCU_TIM1_STOP|DBGMCU_TIM2_STOP|DBGMCU_TIM3_STOP|DBGMCU_TIM4_STOP|DBGMCU_TIM5_STOP|DBGMCU_TIM6_STOP|DBGMCU_TIM7_STOP|DBGMCU_TIM8_STOP|DBGMCU_TIM9_STOP|DBGMCU_TIM10_STOP|DBGMCU_TIM11_STOP|DBGMCU_TIM12_STOP|DBGMCU_TIM13_STOP|DBGMCU_TIM14_STOP, ENABLE);
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#endif
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}
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#endif
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#if defined(USB_JOYSTICK) && !defined(SIMU)
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extern USB_OTG_CORE_HANDLE USB_OTG_dev;
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/*
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Prepare and send new USB data packet
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The format of HID_Buffer is defined by
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USB endpoint description can be found in
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file usb_hid_joystick.c, variable HID_JOYSTICK_ReportDesc
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*/
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void usbJoystickUpdate(void)
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{
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static uint8_t HID_Buffer[HID_IN_PACKET];
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//buttons
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HID_Buffer[0] = 0; //buttons
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for (int i = 0; i < 8; ++i) {
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if ( channelOutputs[i+8] > 0 ) {
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HID_Buffer[0] |= (1 << i);
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}
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}
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//analog values
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//uint8_t * p = HID_Buffer + 1;
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for (int i = 0; i < 8; ++i) {
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int16_t value = channelOutputs[i] / 8;
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if ( value > 127 ) value = 127;
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else if ( value < -127 ) value = -127;
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HID_Buffer[i+1] = static_cast<int8_t>(value);
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}
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USBD_HID_SendReport (&USB_OTG_dev, HID_Buffer, HID_IN_PACKET );
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}
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#endif //#if defined(USB_JOYSTICK) && defined(PCBTARANIS) && !defined(SIMU)
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uint8_t currentTrainerMode = 0xff;
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void checkTrainerSettings()
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{
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uint8_t requiredTrainerMode = g_model.trainerMode;
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if (requiredTrainerMode != currentTrainerMode) {
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switch (currentTrainerMode) {
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case TRAINER_MODE_MASTER:
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stop_trainer_capture();
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break;
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case TRAINER_MODE_SLAVE:
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stop_trainer_ppm();
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break;
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}
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currentTrainerMode = requiredTrainerMode;
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switch (requiredTrainerMode) {
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case TRAINER_MODE_SLAVE:
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init_trainer_ppm();
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break;
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default:
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// master is default
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init_trainer_capture();
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break;
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}
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}
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}
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