543 lines
15 KiB
C++
543 lines
15 KiB
C++
/*
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* Author - Bertrand Songis <bsongis@gmail.com>
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*
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* Based on 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 "opentxsimulator.h"
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#include <QDebug>
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#include <stdio.h>
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#include <exception>
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#include <map>
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#include <string>
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#define COMPANION
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#define SIMU
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#define SIMU_EXCEPTIONS
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#define GUI
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#define SPLASH
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#define FRSKY
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#define FRSKY_HUB
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#define GPS
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#define VARIO
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#define GAUGES
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#define PPM_UNIT_PERCENT_PREC1
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#define AUDIO
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#define PXX
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#define DSM2
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#define DSM2_PPM
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#define DBLKEYS
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#define AUTOSWITCH
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#define GRAPHICS
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#define CURVES
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#if defined(PCBTARANIS)
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#define RTCLOCK
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#define XCURVES
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#define VIRTUALINPUTS
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#define LUA
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#define LUA_MODEL_SCRIPTS
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#define LUAINPUTS
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#else
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#define BUZZER
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#define TEMPLATES
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#endif
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#define BOLD_FONT
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#define HAPTIC
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#define THRTRACE
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#if defined(CPUARM)
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#define TIMERS 3
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#else
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#define TIMERS 2
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#endif
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#if defined(PCBSKY9X) && !defined(REVX)
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#define ROTARY_ENCODERS 1
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#elif defined(PCBGRUVIN9X)
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#define ROTARY_ENCODERS 2
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#endif
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#if defined(CPUARM)
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#define FRSKY_SPORT
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#endif
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#if defined (PCBTARANIS)
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#define MIXERS_MONITOR
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#endif
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#undef min
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#undef max
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namespace NAMESPACE {
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#if defined(CPUARM)
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#include "radio/src/pulses/ppm_arm.cpp"
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#include "radio/src/pulses/pxx_arm.cpp"
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#include "radio/src/pulses/dsm2_arm.cpp"
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#include "radio/src/main_arm.cpp"
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#include "radio/src/pulses/pulses_arm.cpp"
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#include "radio/src/tasks_arm.cpp"
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#include "radio/src/audio_arm.cpp"
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#include "radio/src/telemetry/telemetry.cpp"
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#include "radio/src/telemetry/frsky_sport.cpp"
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#include "radio/src/sbus.cpp"
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#else
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#include "radio/src/main_avr.cpp"
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#include "radio/src/audio_avr.cpp"
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#include "radio/src/pulses/pulses_avr.cpp"
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#endif
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#include "radio/src/eeprom_common.cpp"
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#if defined(EEPROM_RLC)
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#include "radio/src/eeprom_rlc.cpp"
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#else
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#include "radio/src/eeprom_raw.cpp"
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#endif
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#if defined(PCBTARANIS) || defined(PCBSKY9X)
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#include "radio/src/eeprom_conversions.cpp"
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#endif
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#include "radio/src/opentx.cpp"
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#include "radio/src/debug.cpp"
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#include "radio/src/strhelpers.cpp"
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#include "radio/src/switches.cpp"
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#include "radio/src/functions.cpp"
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#include "radio/src/curves.cpp"
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#include "radio/src/mixer.cpp"
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#if defined(SDCARD)
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#include "radio/src/sdcard.cpp"
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#endif
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#include "radio/src/timers.cpp"
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#include "radio/src/stamp.cpp"
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#include "radio/src/maths.cpp"
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#include "radio/src/vario.cpp"
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#include "radio/src/trainer_input.cpp"
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#if defined(PCBTARANIS)
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#include "radio/src/bmp.cpp"
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#include "radio/src/gui/Taranis/fonts.cpp"
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#include "radio/src/gui/Taranis/widgets.cpp"
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#include "radio/src/gui/Taranis/navigation.cpp"
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#include "radio/src/gui/Taranis/popups.cpp"
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#include "radio/src/gui/Taranis/helpers.cpp"
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#include "radio/src/gui/Taranis/menus.cpp"
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#include "radio/src/gui/Taranis/menu_model.cpp"
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#include "radio/src/gui/Taranis/menu_model_select.cpp"
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#include "radio/src/gui/Taranis/menu_model_setup.cpp"
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#include "radio/src/gui/Taranis/menu_model_heli.cpp"
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#include "radio/src/gui/Taranis/menu_model_flightmodes.cpp"
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#include "radio/src/gui/Taranis/menu_model_inputs_mixes.cpp"
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#include "radio/src/gui/Taranis/menu_model_curves.cpp"
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#include "radio/src/gui/Taranis/menu_model_logical_switches.cpp"
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#include "radio/src/gui/Taranis/menu_model_custom_functions.cpp"
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#include "radio/src/gui/Taranis/menu_model_custom_scripts.cpp"
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#include "radio/src/gui/Taranis/menu_model_gvars.cpp"
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#include "radio/src/gui/Taranis/menu_model_limits.cpp"
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#include "radio/src/gui/Taranis/menu_model_telemetry.cpp"
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#include "radio/src/gui/Taranis/menu_general.cpp"
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#include "radio/src/gui/Taranis/menu_general_setup.cpp"
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#include "radio/src/gui/Taranis/menu_general_sdmanager.cpp"
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#include "radio/src/gui/Taranis/menu_general_trainer.cpp"
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#include "radio/src/gui/Taranis/menu_general_version.cpp"
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#include "radio/src/gui/Taranis/menu_general_diagkeys.cpp"
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#include "radio/src/gui/Taranis/menu_general_diaganas.cpp"
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#include "radio/src/gui/Taranis/menu_general_hardware.cpp"
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#include "radio/src/gui/Taranis/menu_general_calib.cpp"
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#include "radio/src/gui/Taranis/view_main.cpp"
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#include "radio/src/gui/Taranis/view_statistics.cpp"
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#include "radio/src/gui/Taranis/view_channels.cpp"
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#include "radio/src/gui/Taranis/view_telemetry.cpp"
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#include "radio/src/gui/Taranis/view_text.cpp"
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#include "radio/src/gui/Taranis/view_about.cpp"
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#include "radio/src/gui/Taranis/lcd.cpp"
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#include "radio/src/gui/Taranis/splash.cpp"
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#else
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#include "radio/src/gui/9X/fonts.cpp"
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#include "radio/src/gui/9X/widgets.cpp"
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#include "radio/src/gui/9X/navigation.cpp"
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#include "radio/src/gui/9X/popups.cpp"
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#include "radio/src/gui/9X/helpers.cpp"
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#include "radio/src/gui/9X/menus.cpp"
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#include "radio/src/gui/9X/menu_model.cpp"
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#include "radio/src/gui/9X/menu_model_select.cpp"
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#include "radio/src/gui/9X/menu_model_setup.cpp"
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#include "radio/src/gui/9X/menu_model_heli.cpp"
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#include "radio/src/gui/9X/menu_model_flightmodes.cpp"
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#include "radio/src/gui/9X/menu_model_inputs_mixes.cpp"
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#include "radio/src/gui/9X/menu_model_curves.cpp"
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#include "radio/src/gui/9X/menu_model_logical_switches.cpp"
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#include "radio/src/gui/9X/menu_model_custom_functions.cpp"
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#include "radio/src/gui/9X/menu_model_limits.cpp"
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#include "radio/src/gui/9X/menu_model_telemetry.cpp"
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#include "radio/src/gui/9X/menu_model_templates.cpp"
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#include "radio/src/gui/9X/menu_general.cpp"
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#include "radio/src/gui/9X/menu_general_setup.cpp"
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#if defined(SDCARD)
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#include "radio/src/gui/9X/menu_general_sdmanager.cpp"
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#include "radio/src/gui/9X/view_text.cpp"
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#endif
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#include "radio/src/gui/9X/menu_general_trainer.cpp"
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#include "radio/src/gui/9X/menu_general_version.cpp"
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#include "radio/src/gui/9X/menu_general_diagkeys.cpp"
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#include "radio/src/gui/9X/menu_general_diaganas.cpp"
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#if defined(CPUARM)
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#include "radio/src/gui/9X/menu_general_hardware.cpp"
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#endif
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#include "radio/src/gui/9X/menu_general_calib.cpp"
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#include "radio/src/gui/9X/view_main.cpp"
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#include "radio/src/gui/9X/view_statistics.cpp"
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#include "radio/src/gui/9X/view_telemetry.cpp"
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#if !defined(CPUM64)
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#include "radio/src/gui/9X/view_about.cpp"
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#endif
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#include "radio/src/gui/9X/lcd.cpp"
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#include "radio/src/gui/9X/splash.cpp"
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#endif
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#if !defined(VIRTUALINPUTS)
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#include "radio/src/templates.cpp"
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#endif
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#if defined(SDCARD)
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#include "radio/src/logs.cpp"
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#endif
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#if defined(RTCLOCK)
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#include "radio/src/rtc.cpp"
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#endif
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#if defined(BUZZER)
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#include "radio/src/buzzer.cpp"
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#endif
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#if defined(PCBTARANIS)
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#include "radio/src/targets/taranis/board_taranis.cpp"
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#include "radio/src/targets/taranis/keys_driver.cpp"
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#include "radio/src/targets/taranis/audio_driver.cpp"
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#include "radio/src/targets/taranis/telemetry_driver.cpp"
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#include "radio/src/targets/taranis/haptic_driver.cpp"
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#if defined(REV9E)
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#include "radio/src/targets/taranis/top_lcd_driver.cpp"
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#endif
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#include "radio/src/targets/taranis/pulses_driver.cpp"
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#include "radio/src/targets/taranis/rtc_driver.cpp"
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#include "radio/src/targets/taranis/trainer_driver.cpp"
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#include "radio/src/targets/taranis/serial2_driver.cpp"
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#elif defined(PCBSKY9X)
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#include "radio/src/targets/sky9x/board_sky9x.cpp"
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#include "radio/src/targets/sky9x/telemetry_driver.cpp"
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#include "radio/src/targets/sky9x/pwr_driver.cpp"
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#include "radio/src/targets/sky9x/eeprom_driver.cpp"
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#include "radio/src/targets/sky9x/keys_driver.cpp"
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#include "radio/src/targets/sky9x/audio_driver.cpp"
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#include "radio/src/targets/sky9x/sdcard_driver.cpp"
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#include "radio/src/targets/sky9x/coproc_driver.cpp"
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#include "radio/src/targets/sky9x/haptic_driver.cpp"
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#include "radio/src/targets/sky9x/serial2_driver.cpp"
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#include "radio/src/targets/sky9x/pulses_driver.cpp"
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#elif defined(PCBGRUVIN9X)
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#include "radio/src/targets/gruvin9x/board_gruvin9x.cpp"
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#include "radio/src/targets/gruvin9x/somo14d.cpp"
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#elif defined(PCBMEGA2560)
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#include "radio/src/targets/mega2560/board_mega2560.cpp"
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#else
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#include "radio/src/targets/stock/board_stock.cpp"
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#endif
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#include "radio/src/keys.cpp"
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#include "radio/src/haptic.cpp"
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#include "radio/src/targets/simu/simpgmspace.cpp"
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#include "radio/src/translations.cpp"
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#include "radio/src/telemetry/frsky.cpp"
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#if defined(CPUARM)
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#include "radio/src/telemetry/frsky_d_arm.cpp"
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#else
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#include "radio/src/telemetry/frsky_d.cpp"
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#endif
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#include "radio/src/translations/tts_en.cpp"
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#if defined(CPUARM)
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#include "radio/src/translations/tts_cz.cpp"
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#include "radio/src/translations/tts_de.cpp"
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#include "radio/src/translations/tts_es.cpp"
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#include "radio/src/translations/tts_fr.cpp"
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#include "radio/src/translations/tts_hu.cpp"
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#include "radio/src/translations/tts_it.cpp"
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#include "radio/src/translations/tts_nl.cpp"
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#include "radio/src/translations/tts_pl.cpp"
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#include "radio/src/translations/tts_pt.cpp"
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#include "radio/src/translations/tts_se.cpp"
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#include "radio/src/translations/tts_sk.cpp"
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#endif
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#if defined(LUA)
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#include "radio/src/lua/interface.cpp"
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#include "radio/src/lua/api_general.cpp"
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#include "radio/src/lua/api_lcd.cpp"
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#include "radio/src/lua/api_model.cpp"
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#include "radio/src/thirdparty/Lua/src/lapi.c"
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#include "radio/src/thirdparty/Lua/src/lcode.c"
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#include "radio/src/thirdparty/Lua/src/lctype.c"
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#include "radio/src/thirdparty/Lua/src/ldebug.c"
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#include "radio/src/thirdparty/Lua/src/ldo.c"
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#include "radio/src/thirdparty/Lua/src/ldump.c"
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#include "radio/src/thirdparty/Lua/src/lfunc.c"
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#include "radio/src/thirdparty/Lua/src/lgc.c"
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#include "radio/src/thirdparty/Lua/src/llex.c"
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#include "radio/src/thirdparty/Lua/src/lmem.c"
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#include "radio/src/thirdparty/Lua/src/lobject.c"
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#include "radio/src/thirdparty/Lua/src/lopcodes.c"
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#include "radio/src/thirdparty/Lua/src/lparser.c"
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#include "radio/src/thirdparty/Lua/src/lstate.c"
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#include "radio/src/thirdparty/Lua/src/lstring.c"
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#include "radio/src/thirdparty/Lua/src/ltable.c"
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#include "radio/src/thirdparty/Lua/src/lrotable.c"
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#include "radio/src/thirdparty/Lua/src/ltm.c"
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#include "radio/src/thirdparty/Lua/src/lundump.c"
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#include "radio/src/thirdparty/Lua/src/lvm.c"
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#include "radio/src/thirdparty/Lua/src/lzio.c"
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#include "radio/src/thirdparty/Lua/src/lbaselib.c"
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#include "radio/src/thirdparty/Lua/src/linit.c"
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#include "radio/src/thirdparty/Lua/src/lmathlib.c"
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#include "radio/src/thirdparty/Lua/src/lbitlib.c"
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#include "radio/src/thirdparty/Lua/src/loadlib.c"
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#include "radio/src/thirdparty/Lua/src/lauxlib.c"
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#include "radio/src/thirdparty/Lua/src/ltablib.c"
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#include "radio/src/thirdparty/Lua/src/lcorolib.c"
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#include "radio/src/thirdparty/Lua/src/liolib.c"
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#endif
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int16_t g_anas[NUM_STICKS+NUM_POTS];
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uint16_t anaIn(uint8_t chan)
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{
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return g_anas[chan];
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}
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bool hasExtendedTrims()
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{
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return g_model.extendedTrims;
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}
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uint8_t getStickMode()
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{
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return limit<uint8_t>(0, g_eeGeneral.stickMode, 3);
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}
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#if defined(PCBTARANIS)
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void resetTrims()
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{
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TRIMS_GPIO_REG_RVD |= TRIMS_GPIO_PIN_RVD;
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TRIMS_GPIO_REG_RVU |= TRIMS_GPIO_PIN_RVU;
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TRIMS_GPIO_REG_RHL |= TRIMS_GPIO_PIN_RHL;
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TRIMS_GPIO_REG_RHR |= TRIMS_GPIO_PIN_RHR;
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TRIMS_GPIO_REG_LVD |= TRIMS_GPIO_PIN_LVD;
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TRIMS_GPIO_REG_LVU |= TRIMS_GPIO_PIN_LVU;
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TRIMS_GPIO_REG_LHL |= TRIMS_GPIO_PIN_LHL;
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TRIMS_GPIO_REG_LHR |= TRIMS_GPIO_PIN_LHR;
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}
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#endif
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void delay_01us(::uint16_t nb)
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{
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}
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OpenTxSimulator::OpenTxSimulator()
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{
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}
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void OpenTxSimulator::setSdPath(const QString &sdPath)
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{
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#if defined(SDCARD)
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strncpy(simuSdDirectory, sdPath.toAscii().constData(), sizeof(simuSdDirectory)-1);
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simuSdDirectory[sizeof(simuSdDirectory)-1] = '\0';
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#endif
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}
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void OpenTxSimulator::setVolumeGain(int value)
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{
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volumeGain = value;
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}
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bool OpenTxSimulator::timer10ms()
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{
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#define TIMER10MS_IMPORT
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#include "simulatorimport.h"
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}
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::uint8_t * OpenTxSimulator::getLcd()
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{
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#define GETLCD_IMPORT
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#include "simulatorimport.h"
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}
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bool OpenTxSimulator::lcdChanged(bool & lightEnable)
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{
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#define LCDCHANGED_IMPORT
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#include "simulatorimport.h"
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}
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void OpenTxSimulator::start(QByteArray & eeprom, bool tests)
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{
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memcpy(NAMESPACE::eeprom, eeprom.data(), std::min<int>(sizeof(NAMESPACE::eeprom), eeprom.size()));
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start((const char *)0, tests);
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}
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void OpenTxSimulator::start(const char * filename, bool tests)
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{
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#if defined(PCBSKY9X) && !defined(REVX)
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g_rotenc[0] = 0;
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#elif defined(PCBGRUVIN9X)
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g_rotenc[0] = 0;
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g_rotenc[1] = 0;
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#endif
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StartEepromThread(filename);
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StartAudioThread(volumeGain);
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StartMainThread(tests);
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}
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void OpenTxSimulator::stop()
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{
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StopMainThread();
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#if defined(CPUARM)
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StopAudioThread();
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#endif
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StopEepromThread();
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}
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void OpenTxSimulator::getValues(TxOutputs &outputs)
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{
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#define GETVALUES_IMPORT
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#define g_chans512 channelOutputs
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#include "simulatorimport.h"
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#if defined(PCBSKY9X)
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outputs.beep = g_beepCnt;
|
|
g_beepCnt = 0;
|
|
#endif
|
|
}
|
|
|
|
void OpenTxSimulator::setValues(TxInputs &inputs)
|
|
{
|
|
#define SETVALUES_IMPORT
|
|
#include "simulatorimport.h"
|
|
}
|
|
|
|
void OpenTxSimulator::setTrim(unsigned int idx, int value)
|
|
{
|
|
idx = NAMESPACE::modn12x3[4*getStickMode() + idx];
|
|
::uint8_t phase = getTrimFlightPhase(getFlightMode(), idx);
|
|
setTrimValue(phase, idx, value);
|
|
}
|
|
|
|
void OpenTxSimulator::getTrims(Trims & trims)
|
|
{
|
|
::uint8_t phase = getFlightMode();
|
|
trims.extended = hasExtendedTrims();
|
|
for (::uint8_t idx=0; idx<4; idx++) {
|
|
trims.values[idx] = getTrimValue(getTrimFlightPhase(phase, idx), idx);
|
|
}
|
|
|
|
for (int i=0; i<2; i++) {
|
|
::uint8_t idx = NAMESPACE::modn12x3[4*getStickMode() + i];
|
|
::int16_t tmp = trims.values[i];
|
|
trims.values[i] = trims.values[idx];
|
|
trims.values[idx] = tmp;
|
|
}
|
|
}
|
|
|
|
void OpenTxSimulator::wheelEvent(int steps)
|
|
{
|
|
#if defined(REV9E)
|
|
if (steps == 255)
|
|
x9de_rotenc -= 2;
|
|
else
|
|
x9de_rotenc += 2;
|
|
#elif defined(PCBSKY9X) && !defined(REVX)
|
|
g_rotenc[0] += steps*4;
|
|
#elif defined(PCBGRUVIN9X)
|
|
g_rotenc[0] += steps;
|
|
#endif
|
|
}
|
|
|
|
unsigned int OpenTxSimulator::getPhase()
|
|
{
|
|
return getFlightMode();
|
|
}
|
|
|
|
const char * OpenTxSimulator::getPhaseName(unsigned int phase)
|
|
{
|
|
static char buff[sizeof(g_model.flightModeData[0].name)+1];
|
|
zchar2str(buff, g_model.flightModeData[phase].name, sizeof(g_model.flightModeData[0].name));
|
|
return buff;
|
|
}
|
|
|
|
const char * OpenTxSimulator::getError()
|
|
{
|
|
#define GETERROR_IMPORT
|
|
#include "simulatorimport.h"
|
|
}
|
|
|
|
void OpenTxSimulator::sendTelemetry(::uint8_t * data, unsigned int len)
|
|
{
|
|
#if defined(FRSKY_SPORT)
|
|
processSportPacket(data);
|
|
#endif
|
|
}
|
|
|
|
void OpenTxSimulator::setTrainerInput(unsigned int inputNumber, ::int16_t value)
|
|
{
|
|
#define SETTRAINER_IMPORT
|
|
#include "simulatorimport.h"
|
|
}
|
|
|
|
void OpenTxSimulator::installTraceHook(void (*callback)(const char *))
|
|
{
|
|
traceCallback = callback;
|
|
}
|
|
|
|
class OpenTxSimulatorFactory: public SimulatorFactory
|
|
{
|
|
public:
|
|
OpenTxSimulatorFactory()
|
|
{
|
|
}
|
|
|
|
virtual SimulatorInterface *create()
|
|
{
|
|
return new OpenTxSimulator();
|
|
}
|
|
|
|
virtual QString name()
|
|
{
|
|
return QString("opentx-" FLAVOUR SUFFIX);
|
|
}
|
|
|
|
virtual BoardEnum type()
|
|
{
|
|
#if defined(PCBTARANIS)
|
|
return BOARD_TARANIS;
|
|
#else
|
|
return BOARD_STOCK;
|
|
#endif
|
|
}
|
|
};
|
|
|
|
}
|
|
|
|
extern "C" DLLEXPORT SimulatorFactory *registerSimu()
|
|
{
|
|
return new NAMESPACE::OpenTxSimulatorFactory();
|
|
}
|