Ported from master to next:

#1489: TRACE() output intercepted and shown in Companion (shortcut F6)
#1270: simple Trainer Simulator (shortcut F5)
#1466: telemetry simulator (shorcut F5)

companion/src/firmwares/er9x/er9xsimulator.h

@@ -54,6 +54,10 @@ class Er9xSimulator : public SimulatorInterface {
 
     virtual const char * getError();
 
+    virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
+
+    virtual void setTrainerInput(unsigned int inputNumber, int16_t value) {};
+
   protected:
 
     Er9xInterface * er9xInterface;

companion/src/firmwares/ersky9x/ersky9xsimulator.h

@@ -54,6 +54,10 @@ class Ersky9xSimulator : public SimulatorInterface {
 
     virtual const char * getError();
 
+    virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
+
+    virtual void setTrainerInput(unsigned int inputNumber, int16_t value) {};
+
   protected:
 
     Ersky9xInterface * ersky9xInterface;

companion/src/firmwares/opentx/opentxGruvin9xsimulator.h

@@ -56,6 +56,11 @@ class Open9xGruvin9xSimulator : public SimulatorInterface {
 
     virtual const char * getError();
 
+    virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
+
+    virtual void setTrainerInput(unsigned int inputNumber, int16_t value) {};
+
+    virtual void installTraceHook(void (*callback)(const char *)) {};
 };
 
 #endif

companion/src/firmwares/opentx/opentxM128simulator.h

@@ -56,6 +56,11 @@ class OpenTxM128Simulator : public SimulatorInterface {
 
     virtual const char * getError();
 
+    virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
+
+    virtual void setTrainerInput(unsigned int inputNumber, int16_t value) {};
+
+    virtual void installTraceHook(void (*callback)(const char *)) {};
 };
 
 #endif

companion/src/firmwares/opentx/opentxM64simulator.h

@@ -55,6 +55,11 @@ class OpenTxM64Simulator : public SimulatorInterface {
 
     virtual const char * getError();
 
+    virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
+
+    virtual void setTrainerInput(unsigned int inputNumber, int16_t value) {};
+
+    virtual void installTraceHook(void (*callback)(const char *)) {};
 };
 
 #endif

companion/src/firmwares/opentx/opentxSky9xsimulator.cpp

@@ -76,6 +76,7 @@ namespace Open9xSky9x {
 #include "radio/src/eeprom_raw.cpp"
 #include "radio/src/eeprom_conversions.cpp"
 #include "radio/src/opentx.cpp"
+// #include "radio/src/debug.cpp"     // only included once in Taranis simulator because functions are exported as C and don't support namespaces
 #include "radio/src/main_arm.cpp"
 #include "radio/src/strhelpers.cpp"
 #include "radio/src/switches.cpp"
@@ -281,3 +282,13 @@ const char * Open9xSky9xSimulator::getError()
 #define GETERROR_IMPORT
 #include "simulatorimport.h"
 }
+
+void Open9xSky9xSimulator::setTrainerInput(unsigned int inputNumber, int16_t value)
+{
+#define SETTRAINER_IMPORT
+#include "simulatorimport.h"
+}
+
+void Open9xSky9xSimulator::installTraceHook(void (*callback)(const char *)) {
+  ::traceCallback = callback;
+}

companion/src/firmwares/opentx/opentxSky9xsimulator.h

@@ -56,6 +56,11 @@ class Open9xSky9xSimulator : public SimulatorInterface {
 
     virtual const char * getError();
 
+    virtual void sendTelemetry(uint8_t * data, unsigned int len) {};
+
+    virtual void setTrainerInput(unsigned int inputNumber, int16_t value);
+
+    virtual void installTraceHook(void (*callback)(const char *));
 };
 
 #endif

companion/src/firmwares/opentx/opentxTaranisSimulator.cpp

@@ -78,6 +78,7 @@ inline int geteepromsize() {
 #include "radio/src/eeprom_conversions.cpp"
 #include "radio/src/eeprom_rlc.cpp"
 #include "radio/src/opentx.cpp"
+#include "radio/src/debug.cpp"
 #include "radio/src/main_arm.cpp"
 #include "radio/src/strhelpers.cpp"
 #include "radio/src/switches.cpp"
@@ -321,3 +322,18 @@ const char * OpentxTaranisSimulator::getError()
 #define GETERROR_IMPORT
 #include "simulatorimport.h"
 }
+
+void OpentxTaranisSimulator::sendTelemetry(uint8_t * data, unsigned int len) 
+{
+  processSportPacket(data);
+}
+
+void OpentxTaranisSimulator::setTrainerInput(unsigned int inputNumber, int16_t value)
+{
+#define SETTRAINER_IMPORT
+#include "simulatorimport.h"
+}
+
+void OpentxTaranisSimulator::installTraceHook(void (*callback)(const char *)) {
+  ::traceCallback = callback;
+}

companion/src/firmwares/opentx/opentxTaranisSimulator.h

@@ -56,6 +56,11 @@ class OpentxTaranisSimulator : public SimulatorInterface {
 
     virtual const char * getError();
 
+    virtual void sendTelemetry(uint8_t * data, unsigned int len);
+
+    virtual void setTrainerInput(unsigned int inputNumber, int16_t value);
+
+    virtual void installTraceHook(void (*callback)(const char *));
 };
 
 #endif

companion/src/firmwares/opentx/opentxTaranisX9ESimulator.cpp

@@ -79,6 +79,7 @@ inline int geteepromsize() {
 #include "radio/src/eeprom_conversions.cpp"
 #include "radio/src/eeprom_rlc.cpp"
 #include "radio/src/opentx.cpp"
+// #include "radio/src/debug.cpp"     // only included once in Taranis simulator because functions are exported as C and don't support namespaces
 #include "radio/src/main_arm.cpp"
 #include "radio/src/strhelpers.cpp"
 #include "radio/src/switches.cpp"
@@ -325,3 +326,18 @@ const char * OpentxTaranisX9ESimulator::getError()
 #define GETERROR_IMPORT
 #include "simulatorimport.h"
 }
+
+void OpentxTaranisX9ESimulator::sendTelemetry(uint8_t * data, unsigned int len) 
+{
+  processSportPacket(data);
+}
+
+void OpentxTaranisX9ESimulator::setTrainerInput(unsigned int inputNumber, int16_t value)
+{
+#define SETTRAINER_IMPORT
+#include "simulatorimport.h"
+}
+
+void OpentxTaranisX9ESimulator::installTraceHook(void (*callback)(const char *)) {
+  ::traceCallback = callback;
+}

companion/src/firmwares/opentx/opentxTaranisX9ESimulator.h

@@ -56,6 +56,11 @@ class OpentxTaranisX9ESimulator : public SimulatorInterface {
 
     virtual const char * getError();
 
+    virtual void sendTelemetry(uint8_t * data, unsigned int len);
+
+    virtual void setTrainerInput(unsigned int inputNumber, int16_t value);
+
+    virtual void installTraceHook(void (*callback)(const char *));
 };
 
 #endif

companion/src/simulation/CMakeLists.txt

@@ -1,10 +1,16 @@
 set(simulation_SRCS
   simulatordialog.cpp
+  telemetrysimu.cpp
+  trainersimu.cpp
+  debugoutput.cpp
 )
 
 set(simulation_UIS
   simulatordialog-9x.ui
   simulatordialog-taranis.ui
+  telemetrysimu.ui
+  trainersimu.ui
+  debugoutput.ui
 )
 
 set(simulation_HDRS
@@ -14,6 +20,9 @@ set(simulation_HDRS
   xcursorwidget.h
   xmenuwidget.h
   myslider.h
+  telemetrysimu.h
+  trainersimu.h
+  debugoutput.h
 )
 
 if(SDL_FOUND)

companion/src/simulation/debugoutput.cpp

@@ -0,0 +1,45 @@
+#include <QtGui>
+#include <stdint.h>
+#include "debugoutput.h"
+#include "ui_debugoutput.h"
+
+DebugOutput::DebugOutput(QWidget * parent):
+  QDialog(parent),
+  ui(new Ui::DebugOutput)
+{
+  ui->setupUi(this);
+
+#ifdef __APPLE__
+  QFont newFont("Courier", 13);
+  ui->Output->setFont(newFont);
+  ui->Output->setAttribute(Qt::WA_MacNormalSize);
+#endif
+#if defined WIN32 || !defined __GNUC__
+  QFont newFont("Courier", 9);
+  ui->Output->setFont(newFont);
+#endif
+
+}
+
+DebugOutput::~DebugOutput()
+{
+  delete ui;
+}
+
+void DebugOutput::traceCallback(const QString & text)
+{
+  // ui->Output->appendPlainText(text);
+  QTextCursor cursor(ui->Output->textCursor());
+
+  // is the scrollbar at the end?
+  bool atEnd = (ui->Output->verticalScrollBar()->value() == ui->Output->verticalScrollBar()->maximum());
+
+  cursor.movePosition(QTextCursor::End, QTextCursor::MoveAnchor, 1);
+  cursor.insertText(text);
+
+  if (atEnd) {
+    ui->Output->verticalScrollBar()->triggerAction(QAbstractSlider::SliderToMaximum);
+  }
+}
+
+

companion/src/simulation/debugoutput.h

@@ -0,0 +1,32 @@
+#ifndef debugoutput_h
+#define debugoutput_h
+
+
+#include <QDialog>
+#include "simulatorinterface.h"
+
+namespace Ui {
+  class DebugOutput;
+}
+
+
+class DebugOutput : public QDialog
+{
+  Q_OBJECT
+
+  public:
+    explicit DebugOutput(QWidget * parent);
+    virtual ~DebugOutput();
+    void traceCallback(const QString & text);
+
+  protected:
+
+  private:
+    Ui::DebugOutput * ui;
+
+  private slots:
+
+};
+
+#endif
+

companion/src/simulation/debugoutput.ui

@@ -0,0 +1,50 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>DebugOutput</class>
+ <widget class="QDialog" name="DebugOutput">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>711</width>
+    <height>470</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Debug Output</string>
+  </property>
+  <property name="windowIcon">
+   <iconset resource="../companion.qrc">
+    <normaloff>:/icon.png</normaloff>:/icon.png</iconset>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="0" column="0">
+    <layout class="QHBoxLayout" name="horizontalLayout">
+     <item>
+      <widget class="QPlainTextEdit" name="Output">
+       <property name="font">
+        <font>
+         <family>Courier New</family>
+         <pointsize>10</pointsize>
+        </font>
+       </property>
+       <property name="verticalScrollBarPolicy">
+        <enum>Qt::ScrollBarAlwaysOn</enum>
+       </property>
+       <property name="lineWrapMode">
+        <enum>QPlainTextEdit::NoWrap</enum>
+       </property>
+       <property name="readOnly">
+        <bool>true</bool>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources>
+  <include location="../companion.qrc"/>
+ </resources>
+ <connections/>
+</ui>

companion/src/simulation/simulatordialog.cpp

@@ -9,6 +9,42 @@
 #define RESX        1024
 
 int SimulatorDialog::screenshotIdx = 0;
+SimulatorDialog * traceCallbackInstance = 0;
+
+void traceCb(const char * text) {
+  // divert C callback into simulator instance
+  if (traceCallbackInstance) {
+      traceCallbackInstance->traceCallback(text);
+  }
+}
+
+void SimulatorDialog::traceCallback(const char * text)
+{
+  // this function is called from other threads
+  traceMutex.lock();
+  // limit the size of list
+  if (traceList.size() < 1000) {
+    traceList.append(QString(text));
+  }
+  traceMutex.unlock();
+}
+
+void SimulatorDialog::updateDebugOutput()
+{
+  traceMutex.lock();
+  while (!traceList.isEmpty()) {
+    QString text = traceList.takeFirst();
+    traceBuffer.append(text);
+    // limit the size of traceBuffer
+    if (traceBuffer.size() > 10*1024) {
+      traceBuffer.remove(0, 1*1024);
+    }
+    if (DebugOut) {
+      DebugOut->traceCallback(QString(text));
+    }
+  }
+  traceMutex.unlock();
+}
 
 SimulatorDialog::SimulatorDialog(QWidget * parent, unsigned int flags):
   QDialog(parent),
@@ -19,10 +55,19 @@ SimulatorDialog::SimulatorDialog(QWidget * parent, unsigned int flags):
   simulator(NULL),
   lastPhase(-1),
   beepVal(0),
+  TelemetrySimu(0),
+  TrainerSimu(0),
+  DebugOut(0),
   buttonPressed(0),
   trimPressed (TRIM_NONE),
   middleButtonPressed(false)
 {
+  //shorcut for telemetry simulator
+  // new QShortcut(QKeySequence(Qt::CTRL + Qt::Key_T), this, SLOT(openTelemetrySimulator()));
+  new QShortcut(QKeySequence(Qt::Key_F4), this, SLOT(openTelemetrySimulator()));
+  new QShortcut(QKeySequence(Qt::Key_F5), this, SLOT(openTrainerSimulator()));
+  new QShortcut(QKeySequence(Qt::Key_F6), this, SLOT(openDebugOutput()));
+  traceCallbackInstance = this;
 }
 
 uint32_t SimulatorDialog9X::switchstatus = 0;
@@ -37,6 +82,9 @@ SimulatorDialog9X::SimulatorDialog9X(QWidget * parent, unsigned int flags):
 
   initUi<Ui::SimulatorDialog9X>(ui);
 
+  // install simulator TRACE hook
+  simulator->installTraceHook(traceCb);
+
   backLight = g.backLight();
   if (backLight > 4) backLight = 0;
   switch (backLight) {
@@ -109,6 +157,10 @@ SimulatorDialogTaranis::SimulatorDialogTaranis(QWidget * parent, unsigned int fl
   lcdDepth = 4;
 
   initUi<Ui::SimulatorDialogTaranis>(ui);
+
+  // install simulator TRACE hook
+  simulator->installTraceHook(traceCb);
+
   dialP_4 = ui->dialP_4;
 
   ui->lcd->setBackgroundColor(47, 123, 227);
@@ -154,6 +206,7 @@ SimulatorDialogTaranis::~SimulatorDialogTaranis()
 
 SimulatorDialog::~SimulatorDialog()
 {
+  traceCallbackInstance = 0;
   delete timer;
   delete simulator;
 }
@@ -215,6 +268,28 @@ void SimulatorDialog::onTrimReleased()
   trimPressed = TRIM_NONE;
 }
 
+void SimulatorDialog::openTelemetrySimulator()
+{
+  TelemetrySimu = new TelemetrySimulator(this, simulator);
+  TelemetrySimu->setAttribute(Qt::WA_DeleteOnClose, true);
+  TelemetrySimu->show();
+}
+
+void SimulatorDialog::openTrainerSimulator()
+{
+  TrainerSimu = new TrainerSimulator(this, simulator);
+  TrainerSimu->setAttribute(Qt::WA_DeleteOnClose, true);
+  TrainerSimu->show();
+}
+
+void SimulatorDialog::openDebugOutput()
+{
+  DebugOut = new DebugOutput(this);
+  DebugOut->setAttribute(Qt::WA_DeleteOnClose, true);
+  DebugOut->traceCallback(traceBuffer);
+  DebugOut->show();
+}
+
 void SimulatorDialog::keyPressEvent (QKeyEvent *event)
 {
   switch (event->key()) {
@@ -559,6 +634,8 @@ void SimulatorDialog::onTimerEvent()
       QApplication::beep();
     }
   }
+
+  updateDebugOutput();
 }
 
 void SimulatorDialog::centerSticks()

companion/src/simulation/simulatordialog.h

@@ -4,6 +4,9 @@
 #include <QDialog>
 #include "modeledit/node.h"
 #include "eeprominterface.h"
+#include "telemetrysimu.h"
+#include "trainersimu.h"
+#include "debugoutput.h"
 
 #ifdef JOYSTICKS
 #include "joystick.h"
@@ -38,6 +41,7 @@ class SimulatorDialog : public QDialog
 
     void start(const char * filename);
     void start(QByteArray & eeprom);
+    virtual void traceCallback(const char * text);
 
   protected:
     template <class T> void initUi(T * ui);
@@ -95,6 +99,14 @@ class SimulatorDialog : public QDialog
 
     int lcdWidth;
     int lcdDepth;
+    TelemetrySimulator * TelemetrySimu;
+    TrainerSimulator * TrainerSimu;
+    DebugOutput * DebugOut;
+
+    QString traceBuffer;
+    QMutex traceMutex;
+    QList<QString> traceList;
+    void updateDebugOutput();
 
   protected:
     virtual void closeEvent(QCloseEvent *);
@@ -125,6 +137,9 @@ class SimulatorDialog : public QDialog
     void onTimerEvent();
     void onTrimPressed();
     void onTrimReleased();
+    void openTelemetrySimulator();
+    void openTrainerSimulator();
+    void openDebugOutput();
 
 #ifdef JOYSTICKS
     void onjoystickAxisValueChanged(int axis, int value);

companion/src/simulation/simulatorimport.h

@@ -101,4 +101,9 @@ return lcd_buf;
 return main_thread_error;
 #endif
 
+#ifdef SETTRAINER_IMPORT
+#undef SETTRAINER_IMPORT
+  ppmInValid = 100;
+  g_ppmIns[inputNumber] = LIMIT<int16_t>(-512, value, 512);
+#endif
 

companion/src/simulation/simulatorinterface.h

@@ -80,6 +80,11 @@ class SimulatorInterface {
 
     virtual const char * getError() = 0;
 
+    virtual void sendTelemetry(uint8_t * data, unsigned int len) = 0;
+
+    virtual void setTrainerInput(unsigned int inputNumber, int16_t value) = 0;
+
+    virtual void installTraceHook(void (*callback)(const char *)) = 0;
 };
 
 #endif

companion/src/simulation/telemetrysimu.cpp

@@ -0,0 +1,85 @@
+#include <stdint.h>
+#include "telemetrysimu.h"
+#include "ui_telemetrysimu.h"
+#include "radio/src/telemetry/frsky.h"
+
+TelemetrySimulator::TelemetrySimulator(QWidget * parent, SimulatorInterface * simulator):
+  QDialog(parent),
+  ui(new Ui::TelemetrySimulator),
+  simulator(simulator)
+{
+  ui->setupUi(this);
+
+  timer = new QTimer(this);
+  connect(timer, SIGNAL(timeout()), this, SLOT(onTimerEvent()));
+  timer->start(100);
+}
+
+TelemetrySimulator::~TelemetrySimulator()
+{
+  timer->stop();
+  delete ui;
+}
+
+void TelemetrySimulator::onTimerEvent()
+{
+  if (ui->Simulate->isChecked()) {
+    generateTelemetryFrame();
+  }
+}
+
+void setSportPacketCrc(uint8_t * packet)
+{
+  short crc = 0;
+  for (int i=1; i<FRSKY_SPORT_PACKET_SIZE-1; i++) {
+    crc += packet[i]; //0-1FF
+    crc += crc >> 8; //0-100
+    crc &= 0x00ff;
+    crc += crc >> 8; //0-0FF
+    crc &= 0x00ff;
+  }
+  packet[FRSKY_SPORT_PACKET_SIZE-1] = 0xFF - (crc & 0x00ff);
+  //TRACE("crc set: %x", packet[FRSKY_SPORT_PACKET_SIZE-1]);
+}
+
+void generateSportPacket(uint8_t * packet, uint8_t dataId, uint8_t prim, uint16_t appId, uint32_t data)
+{
+  packet[0] = dataId;
+  packet[1] = prim;
+  *((uint16_t *)(packet+2)) = appId;
+  *((int32_t *)(packet+4)) = data;
+  setSportPacketCrc(packet);
+}
+
+void TelemetrySimulator::generateTelemetryFrame()
+{
+  static int item = 0;
+  uint8_t buffer[FRSKY_SPORT_PACKET_SIZE];
+
+  switch(item++) {
+    case 0:
+      generateSportPacket(buffer, 1, DATA_FRAME, RSSI_ID, LIMIT<uint32_t>(0, ui->Rssi->text().toInt(), 0xFF));
+      break;
+
+    case 1:
+      generateSportPacket(buffer, 1, DATA_FRAME, XJT_VERSION_ID, 11);
+      break;
+
+    case 2:
+      generateSportPacket(buffer, 1, DATA_FRAME, SWR_ID, LIMIT<uint32_t>(0, ui->Swr->text().toInt(), 0xFF));
+      break;
+
+    case 3:
+      generateSportPacket(buffer, 1, DATA_FRAME, ADC1_ID, LIMIT<uint32_t>(0, ui->A1->text().toInt(), 0xFF));
+      break;
+
+    case 4:
+      generateSportPacket(buffer, 1, DATA_FRAME, ADC2_ID, LIMIT<uint32_t>(0, ui->A2->text().toInt(), 0xFF));
+      break;
+
+    default:
+      item = 0;
+      return;
+  }
+  simulator->sendTelemetry(buffer, 9);
+}

companion/src/simulation/telemetrysimu.h

@@ -0,0 +1,38 @@
+#ifndef telemetrysimu_h
+#define telemetrysimu_h
+
+
+#include <QDialog>
+#include <QTimer>
+#include "simulatorinterface.h"
+
+namespace Ui {
+  class TelemetrySimulator;
+}
+
+
+class TelemetrySimulator : public QDialog
+{
+  Q_OBJECT
+
+  public:
+    explicit TelemetrySimulator(QWidget * parent, SimulatorInterface * simulator);
+    virtual ~TelemetrySimulator();
+
+
+  protected:
+
+  private:
+    Ui::TelemetrySimulator * ui;
+    QTimer * timer;
+    SimulatorInterface *simulator;
+
+    void generateTelemetryFrame();
+
+  private slots:
+    void onTimerEvent();
+
+};
+
+#endif
+

companion/src/simulation/telemetrysimu.ui

@@ -0,0 +1,72 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TelemetrySimulator</class>
+ <widget class="QDialog" name="TelemetrySimulator">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>184</width>
+    <height>165</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Telemetry Simulator</string>
+  </property>
+  <layout class="QGridLayout" name="gridLayout">
+   <item row="1" column="0">
+    <layout class="QGridLayout" name="gridLayout_2">
+     <item row="3" column="3">
+      <widget class="QLineEdit" name="Swr"/>
+     </item>
+     <item row="4" column="3">
+      <widget class="QLineEdit" name="A1"/>
+     </item>
+     <item row="1" column="1">
+      <widget class="QLabel" name="label">
+       <property name="text">
+        <string>RSSI</string>
+       </property>
+      </widget>
+     </item>
+     <item row="1" column="3">
+      <widget class="QLineEdit" name="Rssi"/>
+     </item>
+     <item row="4" column="1">
+      <widget class="QLabel" name="label_3">
+       <property name="text">
+        <string>A1</string>
+       </property>
+      </widget>
+     </item>
+     <item row="3" column="1">
+      <widget class="QLabel" name="label_2">
+       <property name="text">
+        <string>SWR</string>
+       </property>
+      </widget>
+     </item>
+     <item row="0" column="3">
+      <widget class="QCheckBox" name="Simulate">
+       <property name="text">
+        <string>simulate</string>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="1">
+      <widget class="QLabel" name="label_4">
+       <property name="text">
+        <string>A2</string>
+       </property>
+      </widget>
+     </item>
+     <item row="5" column="3">
+      <widget class="QLineEdit" name="A2"/>
+     </item>
+    </layout>
+   </item>
+  </layout>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

companion/src/simulation/trainersimu.cpp

@@ -0,0 +1,113 @@
+#include <stdint.h>
+#include "trainersimu.h"
+#include "ui_trainersimu.h"
+#include "helpers.h"
+
+#define GBALL_SIZE  20
+#define RESX        512
+
+TrainerSimulator::TrainerSimulator(QWidget * parent, SimulatorInterface * simulator):
+  QDialog(parent),
+  ui(new Ui::TrainerSimulator),
+  simulator(simulator)
+{
+  ui->setupUi(this);
+  leftStick = ui->leftStick;
+  rightStick = ui->rightStick;
+
+  setupSticks();
+
+  // resize(0, 0); // to force min height, min width
+  setFixedSize(width(), height());
+
+  timer = new QTimer(this);
+  connect(timer, SIGNAL(timeout()), this, SLOT(onTimerEvent()));
+  timer->start(10);
+}
+
+TrainerSimulator::~TrainerSimulator()
+{
+  timer->stop();
+  delete ui;
+}
+
+void TrainerSimulator::centerSticks()
+{
+  if (leftStick->scene())
+    nodeLeft->stepToCenter();
+
+  if (rightStick->scene())
+    nodeRight->stepToCenter();
+}
+
+void TrainerSimulator::setupSticks()
+{
+  QGraphicsScene *leftScene = new QGraphicsScene(leftStick);
+  leftScene->setItemIndexMethod(QGraphicsScene::NoIndex);
+  leftStick->setScene(leftScene);
+
+  // leftStick->scene()->addLine(0,10,20,30);
+
+  QGraphicsScene *rightScene = new QGraphicsScene(rightStick);
+  rightScene->setItemIndexMethod(QGraphicsScene::NoIndex);
+  rightStick->setScene(rightScene);
+
+  // rightStick->scene()->addLine(0,10,20,30);
+
+  nodeLeft = new Node();
+  nodeLeft->setPos(-GBALL_SIZE/2,-GBALL_SIZE/2);
+  nodeLeft->setBallSize(GBALL_SIZE);
+  leftScene->addItem(nodeLeft);
+
+  nodeRight = new Node();
+  nodeRight->setPos(-GBALL_SIZE/2,-GBALL_SIZE/2);
+  nodeRight->setBallSize(GBALL_SIZE);
+  rightScene->addItem(nodeRight);
+}
+
+void TrainerSimulator::resizeEvent(QResizeEvent *event)
+{
+  if (leftStick->scene()) {
+    QRect qr = leftStick->contentsRect();
+    qreal w  = (qreal)qr.width()  - GBALL_SIZE;
+    qreal h  = (qreal)qr.height() - GBALL_SIZE;
+    qreal cx = (qreal)qr.width()/2;
+    qreal cy = (qreal)qr.height()/2;
+    leftStick->scene()->setSceneRect(-cx,-cy,w,h);
+
+    QPointF p = nodeLeft->pos();
+    p.setX(qMin(cx, qMax(p.x(), -cx)));
+    p.setY(qMin(cy, qMax(p.y(), -cy)));
+    nodeLeft->setPos(p);
+  }
+
+  if (rightStick->scene()) {
+    QRect qr = rightStick->contentsRect();
+    qreal w  = (qreal)qr.width()  - GBALL_SIZE;
+    qreal h  = (qreal)qr.height() - GBALL_SIZE;
+    qreal cx = (qreal)qr.width()/2;
+    qreal cy = (qreal)qr.height()/2;
+    rightStick->scene()->setSceneRect(-cx,-cy,w,h);
+
+    QPointF p = nodeRight->pos();
+    p.setX(qMin(cx, qMax(p.x(), -cx)));
+    p.setY(qMin(cy, qMax(p.y(), -cy)));
+    nodeRight->setPos(p);
+  }
+  QDialog::resizeEvent(event);
+}
+
+
+void TrainerSimulator::onTimerEvent()
+{
+  centerSticks();
+  setTrainerInputs();
+}
+
+void TrainerSimulator::setTrainerInputs()
+{
+  simulator->setTrainerInput(0, int( 512* nodeLeft->getX()));  // LEFT HORZ
+  simulator->setTrainerInput(1, int(-512* nodeLeft->getY()));  // LEFT VERT
+  simulator->setTrainerInput(2, int(-512*nodeRight->getY()));  // RGHT VERT
+  simulator->setTrainerInput(3, int( 512*nodeRight->getX()));  // RGHT HORZ
+}

companion/src/simulation/trainersimu.h

@@ -0,0 +1,46 @@
+#ifndef trainersimu_h
+#define trainersimu_h
+
+
+#include <QDialog>
+#include <QTimer>
+#include "modeledit/node.h"
+#include "simulatorinterface.h"
+
+namespace Ui {
+  class TrainerSimulator;
+}
+
+
+class TrainerSimulator : public QDialog
+{
+  Q_OBJECT
+
+  public:
+    explicit TrainerSimulator(QWidget * parent, SimulatorInterface * simulator);
+    virtual ~TrainerSimulator();
+
+
+  protected:
+
+  private:
+    Ui::TrainerSimulator * ui;
+    QTimer * timer;
+    SimulatorInterface *simulator;
+
+    QGraphicsView * leftStick, * rightStick;
+    Node *nodeLeft;
+    Node *nodeRight;
+
+    void centerSticks();
+    void setupSticks();
+    void resizeEvent(QResizeEvent *event  = 0);
+    void setTrainerInputs();
+
+  private slots:
+    void onTimerEvent();
+
+};
+
+#endif
+

companion/src/simulation/trainersimu.ui

@@ -0,0 +1,95 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<ui version="4.0">
+ <class>TrainerSimulator</class>
+ <widget class="QDialog" name="TrainerSimulator">
+  <property name="geometry">
+   <rect>
+    <x>0</x>
+    <y>0</y>
+    <width>566</width>
+    <height>268</height>
+   </rect>
+  </property>
+  <property name="windowTitle">
+   <string>Trainer simulator</string>
+  </property>
+  <widget class="QFrame" name="frame">
+   <property name="geometry">
+    <rect>
+     <x>0</x>
+     <y>0</y>
+     <width>563</width>
+     <height>267</height>
+    </rect>
+   </property>
+   <property name="frameShape">
+    <enum>QFrame::Panel</enum>
+   </property>
+   <property name="frameShadow">
+    <enum>QFrame::Raised</enum>
+   </property>
+   <property name="lineWidth">
+    <number>2</number>
+   </property>
+   <layout class="QHBoxLayout" name="horizontalLayout">
+    <property name="margin">
+     <number>5</number>
+    </property>
+    <item>
+     <layout class="QGridLayout" name="gridLayout_3">
+      <item row="0" column="1">
+       <spacer name="horizontalSpacer">
+        <property name="orientation">
+         <enum>Qt::Horizontal</enum>
+        </property>
+        <property name="sizeType">
+         <enum>QSizePolicy::Minimum</enum>
+        </property>
+        <property name="sizeHint" stdset="0">
+         <size>
+          <width>17</width>
+          <height>20</height>
+         </size>
+        </property>
+       </spacer>
+      </item>
+      <item row="0" column="2">
+       <widget class="QGraphicsView" name="rightStick">
+        <property name="minimumSize">
+         <size>
+          <width>245</width>
+          <height>245</height>
+         </size>
+        </property>
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+       </widget>
+      </item>
+      <item row="0" column="0">
+       <widget class="QGraphicsView" name="leftStick">
+        <property name="minimumSize">
+         <size>
+          <width>245</width>
+          <height>245</height>
+         </size>
+        </property>
+        <property name="verticalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+        <property name="horizontalScrollBarPolicy">
+         <enum>Qt::ScrollBarAlwaysOff</enum>
+        </property>
+       </widget>
+      </item>
+     </layout>
+    </item>
+   </layout>
+  </widget>
+ </widget>
+ <resources/>
+ <connections/>
+</ui>

radio/src/Makefile

@@ -389,6 +389,7 @@ ifeq ($(PCB), $(filter $(PCB), STD 9X 9XR))
   EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp
   LCDSRC = lcd_common.cpp lcd_default.cpp
   PULSESSRC = pulses/pulses_avr.cpp
+  CPPSRC += debug.cpp
 
   ifeq ($(PCB), 9XR)
     FLAVOUR = 9xr
@@ -456,6 +457,7 @@ ifeq ($(PCB), $(filter $(PCB), STD128 9X128 9XR128))
   EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp
   LCDSRC = lcd_common.cpp lcd_default.cpp
   PULSESSRC = pulses/pulses_avr.cpp
+  CPPSRC += debug.cpp
   
   ifeq ($(PCB), 9XR128)
     FLAVOUR = 9xr128
@@ -519,6 +521,7 @@ ifeq ($(PCB), $(filter $(PCB), 9X2561))
   EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp
   LCDSRC = lcd_common.cpp lcd_default.cpp
   PULSESSRC = pulses/pulses_avr.cpp
+  CPPSRC += debug.cpp
 
   ifeq ($(PCB), 9XR2561)
     FLAVOUR = 9xr2561
@@ -584,7 +587,7 @@ ifeq ($(PCB), GRUVIN9X)
   EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp
   LCDSRC = lcd_common.cpp lcd_default.cpp
   PULSESSRC = pulses/pulses_avr.cpp  
-  CPPSRC += audio_avr.cpp haptic.cpp
+  CPPSRC += audio_avr.cpp haptic.cpp debug.cpp
   
   ifeq ($(SDCARD), YES)
     CPPDEFS += -DRTCLOCK
@@ -626,7 +629,7 @@ ifeq ($(PCB), MEGA2560)
   EEPROMSRC = eeprom_common.cpp eeprom_rlc.cpp
   LCDSRC = lcd_common.cpp lcd_default.cpp
   PULSESSRC = pulses/pulses_avr.cpp  
-  CPPSRC += audio_avr.cpp
+  CPPSRC += audio_avr.cpp debug.cpp
 
   ifeq ($(PCBREV), ST7565P)
     EXTRABOARDSRC = targets/stock/lcd_driver.cpp targets/common_avr/telemetry_driver.cpp
@@ -711,7 +714,7 @@ ifeq ($(PCB), $(filter $(PCB), SKY9X 9XRPRO))
   PULSESSRC = pulses/pulses_arm.cpp pulses/ppm_arm.cpp pulses/pxx_arm.cpp pulses/dsm2_arm.cpp
   CPPSRC += tasks_arm.cpp audio_arm.cpp haptic.cpp gui/view_about.cpp gui/view_text.cpp telemetry/telemetry.cpp
   CPPSRC += targets/sky9x/telemetry_driver.cpp targets/sky9x/second_serial_driver.cpp targets/sky9x/pwr_driver.cpp targets/sky9x/adc_driver.cpp targets/sky9x/eeprom_driver.cpp targets/sky9x/pulses_driver.cpp targets/sky9x/keys_driver.cpp targets/sky9x/audio_driver.cpp targets/sky9x/buzzer_driver.cpp targets/sky9x/haptic_driver.cpp targets/sky9x/sdcard_driver.cpp targets/sky9x/massstorage.cpp
-  CPPSRC += loadboot.cpp
+  CPPSRC += loadboot.cpp debug.cpp
   ifeq ($(SDCARD), YES)
     CPPDEFS += -DVOICE
     INCDIRS += FatFs FatFs/option
@@ -731,7 +734,6 @@ ifeq ($(PCB), $(filter $(PCB), SKY9X 9XRPRO))
     CPPSRC += targets/sky9x/bluetooth.cpp 
   endif
   ifeq ($(DEBUG), YES)
-    CPPSRC += debug.cpp
     SRC += targets/sky9x/syscalls.c
   endif
 endif
@@ -814,7 +816,7 @@ ifeq ($(PCB), TARANIS)
   PULSESSRC = pulses/pulses_arm.cpp pulses/ppm_arm.cpp pulses/pxx_arm.cpp
   CPPSRC += tasks_arm.cpp audio_arm.cpp sbus.cpp telemetry/telemetry.cpp
   CPPSRC += targets/taranis/pulses_driver.cpp targets/taranis/keys_driver.cpp targets/taranis/adc_driver.cpp targets/taranis/trainer_driver.cpp targets/taranis/audio_driver.cpp targets/taranis/uart3_driver.cpp targets/taranis/telemetry_driver.cpp
-  CPPSRC += bmp.cpp gui/view_channels.cpp gui/view_about.cpp gui/view_text.cpp loadboot.cpp
+  CPPSRC += bmp.cpp gui/view_channels.cpp gui/view_about.cpp gui/view_text.cpp loadboot.cpp debug.cpp
   SRC += targets/taranis/STM32F2xx_StdPeriph_Lib_V1.1.0/Libraries/CMSIS/Device/ST/STM32F2xx/Source/Templates/system_stm32f2xx.c
   SRC += targets/taranis/STM32F2xx_StdPeriph_Lib_V1.1.0/Libraries/STM32F2xx_StdPeriph_Driver/src/misc.c
   SRC += targets/taranis/STM32F2xx_StdPeriph_Lib_V1.1.0/Libraries/STM32F2xx_StdPeriph_Driver/src/stm32f2xx_gpio.c
@@ -879,9 +881,6 @@ ifeq ($(PCB), TARANIS)
     CPPDEFS += -DRTCLOCK
     CPPSRC += rtc.cpp targets/taranis/rtc_driver.cpp
   endif
-  ifeq ($(DEBUG), YES)
-    CPPSRC += debug.cpp
-  endif
   ifeq ($(DSM2), PPM)
     CPPSRC += pulses/dsm2_arm.cpp
   endif

radio/src/audio_arm.cpp

@@ -407,7 +407,7 @@ bool isAudioFileReferenced(uint32_t i, char * filename)
   uint8_t event = i & 0xFF;
 
 #if 0
-  printf("isAudioFileReferenced(%08x)\n", i); fflush(stdout);
+  TRACE("isAudioFileReferenced(%08x)", i);
 #endif
 
   if (category == SYSTEM_AUDIO_CATEGORY) {
@@ -846,7 +846,7 @@ void AudioQueue::playTone(uint16_t freq, uint16_t len, uint16_t pause, uint8_t f
 void AudioQueue::playFile(const char *filename, uint8_t flags, uint8_t id)
 {
 #if defined(SIMU)
-  printf("playFile(\"%s\", flags=%x, id=%d)\n", filename, flags, id);
+  TRACE("playFile(\"%s\", flags=%x, id=%d)", filename, flags, id);
   if (strlen(filename) > AUDIO_FILENAME_MAXLEN) {
     TRACE("file name too long! maximum length is %d characters", AUDIO_FILENAME_MAXLEN);
   }
@@ -893,7 +893,7 @@ void AudioQueue::playFile(const char *filename, uint8_t flags, uint8_t id)
 void AudioQueue::stopPlay(uint8_t id)
 {
 #if defined(SIMU)
-  printf("stopPlay(id=%d)\n", id); fflush(stdout);
+  TRACE("stopPlay(id=%d)", id);
 #endif
 
   // For the moment it's only needed to stop the background music

radio/src/debug.cpp

@@ -34,28 +34,44 @@
  *
  */
 
-#include "../opentx.h"
+#include "opentx.h"
 #include <stdio.h>
 #include <stdarg.h>
 
-#if !defined(SIMU) && defined(DEBUG)
+#if (defined(DEBUG) && defined(CPUARM)) || defined(SIMU)
 
-Fifo<512> debugRxFifo;
+#if defined(SIMU)
+traceCallbackFunc traceCallback = 0;
+#endif
+
+#if defined(SIMU)
+  #define PRINTF_BUFFER_SIZE    1024
+#else
+  #define PRINTF_BUFFER_SIZE    256
+#endif
 
 // Outputs a string to the UART
 void debugPuts(const char *format, ...)
 {
   va_list arglist;
-  char tmp[256];
+  char tmp[PRINTF_BUFFER_SIZE];
 
   va_start(arglist, format);
-  vsnprintf(tmp, 256, format, arglist);
+  vsnprintf(tmp, PRINTF_BUFFER_SIZE, format, arglist);
   va_end(arglist);
 
+#if defined(SIMU)
+  fputs(tmp, stdout);
+  fflush(stdout);
+  if (traceCallback) {
+    traceCallback(tmp);
+  }
+#else
   const char *t = tmp;
   while (*t) {
     debugPutc(*t++);
   }
+#endif
 }
 
 void dump(unsigned char *data, unsigned int size)
@@ -73,9 +89,13 @@ void dump(unsigned char *data, unsigned int size)
   debugPuts("\n\r");
 }
 
+
+#if !defined(SIMU)
+
 uint32_t Mem_address ;
 uint32_t Next_mem_address ;
 uint32_t Memaddmode ;
+Fifo<512> debugRxFifo;
 
 void crlf()
 {
@@ -86,55 +106,55 @@ void crlf()
 // Send a single 4 bit value to the RS232 port as a hex digit
 void hex_digit_send( unsigned char c )
 {
-	c &= 0x0F ;
+  c &= 0x0F ;
-	if ( c > 9 )
+  if ( c > 9 )
-	{
+  {
-		c += 7 ;
+    c += 7 ;
-	}
+  }
-	c += '0' ;
+  c += '0' ;
-	debugPutc( c ) ;
+  debugPutc( c ) ;
 }
 
 // Send the 8 bit value to the RS232 port as 2 hex digits
 void p2hex( unsigned char c )
 {
-//	asm("swap %c") ;
+//  asm("swap %c") ;
-	hex_digit_send( c >> 4 ) ;
+  hex_digit_send( c >> 4 ) ;
-//	asm("swap %c") ;
+//  asm("swap %c") ;
-	hex_digit_send( c ) ;
+  hex_digit_send( c ) ;
 }
 
 // Send the 16 bit value to the RS232 port as 4 hex digits
 void p4hex( uint16_t value )
 {
-	p2hex( value >> 8 ) ;
+  p2hex( value >> 8 ) ;
-	p2hex( value ) ;
+  p2hex( value ) ;
 }
 
 // Send the 32 bit value to the RS232 port as 8 hex digits
 void p8hex( uint32_t value )
 {
-	p4hex( value >> 16 ) ;
+  p4hex( value >> 16 ) ;
-	p4hex( value ) ;
+  p4hex( value ) ;
 }
 
 
 static void dispw_256( register uint32_t address, register uint32_t lines )
 {
-	register uint32_t i ;
+  register uint32_t i ;
-	register uint32_t j ;
+  register uint32_t j ;
-	address &= 0xFFFFFFFC ;
+  address &= 0xFFFFFFFC ;
-	for ( i = 0 ; i < lines ; i += 1 )
+  for ( i = 0 ; i < lines ; i += 1 )
-	{
+  {
-		p8hex( address ) ;
+    p8hex( address ) ;
-		for ( j = 0 ; j < 4 ; j += 1 )
+    for ( j = 0 ; j < 4 ; j += 1 )
-		{
+    {
-			debugPutc(' ') ;
+      debugPutc(' ') ;
-			p8hex( *( (uint32_t *)address ) ) ;
+      p8hex( *( (uint32_t *)address ) ) ;
-			address += 4 ;
+      address += 4 ;
-		}
+    }
-		crlf() ;
+    crlf() ;
-	}
+  }
 }
 
 extern Fifo<512> uart3TxFifo;
@@ -221,7 +241,8 @@ void debugTask(void* pdata)
 
   }
 }
-#endif
+#endif  // #if !defined(SIMU)
+#endif  // #if (defined(DEBUG) && defined(CPUARM)) || defined(SIMU)
 
 
 #if defined(DEBUG_TRACE_BUFFER)

radio/src/debug.h

@@ -40,44 +40,17 @@
 #include <inttypes.h>
 #include "rtc.h"
 
-#if defined(SIMU)
+#if (defined(DEBUG) && defined(CPUARM)) || defined(SIMU)
-
-#include <stdio.h>
-
-#define TRACE(...)            do { printf(__VA_ARGS__); printf("\n"); fflush(stdout); } while(0)
-#define TRACE_DEBUG(...)      do { printf("-D- " __VA_ARGS__); fflush(stdout); } while(0)
-#define TRACE_DEBUG_WP(...)   do { printf(__VA_ARGS__); fflush(stdout); } while(0)
-#define TRACE_INFO(...)       do { printf("-I- " __VA_ARGS__); fflush(stdout); } while(0)
-#define TRACE_INFO_WP(...)    do { printf(__VA_ARGS__); fflush(stdout); } while(0)
-#define TRACE_WARNING(...)    do { printf("-W- " __VA_ARGS__); fflush(stdout); } while(0)
-#define TRACE_WARNING_WP(...) do { printf(__VA_ARGS__); fflush(stdout); } while(0)
-#define TRACE_ERROR(...)      do { printf("-E- " __VA_ARGS__); fflush(stdout); } while(0)
-#define FLUSH()
-
-inline void dump(void * data, unsigned int size)
-{
-  unsigned char *uchar_data = (unsigned char *)data;
-
-  printf("DUMP %d bytes ...\n\r", size);
-  unsigned int i = 0, j=0;
-  while (i*32+j < size) {
-    printf("%.2X ", uchar_data[i*32+j]);
-    j++;
-    if (j==32) {
-      i++; j=0;
-      printf("\n\r");
-    }
-  }
-  printf("\n\r");
-}
-#define DUMP(data, size) dump(data, size)
-
-#elif defined(DEBUG) && defined(CPUARM)
 
 #ifdef __cplusplus
 extern "C" {
 #endif
 
+#if defined(SIMU)
+typedef void (*traceCallbackFunc)(const char * text);
+extern traceCallbackFunc traceCallback;
+#endif
+
 void debugPuts(const char *string, ...);
 void dump(unsigned char *data, unsigned int size);
 void debugFlush();
@@ -95,8 +68,13 @@ void debugFlush();
 #define TRACE_WARNING(...)    debugPuts("-W- " __VA_ARGS__)
 #define TRACE_WARNING_WP(...) debugPuts(__VA_ARGS__)
 #define TRACE_ERROR(...)      debugPuts("-E- " __VA_ARGS__)
+
+#if !defined(SIMU)
 #define FLUSH()               debugFlush();
 void debugTask(void* pdata);
+#else
+#define FLUSH()
+#endif
 
 #else
 

radio/src/eeprom_rlc.cpp

@@ -293,12 +293,10 @@ inline bool EeFsOpen()
 
 #ifdef SIMU
   if (eeFs.version != EEFS_VERS) {
-    printf("bad eeFs.version (%d instead of %d)\n", eeFs.version, EEFS_VERS);
+    TRACE("bad eeFs.version (%d instead of %d)", eeFs.version, EEFS_VERS);
-    fflush(stdout);
   }
   if (eeFs.mySize != sizeof(eeFs)) {
-    printf("bad eeFs.mySize (%d instead of %d)\n", (int)eeFs.mySize, (int)sizeof(eeFs));
+    TRACE("bad eeFs.mySize (%d instead of %d)", (int)eeFs.mySize, (int)sizeof(eeFs));
-    fflush(stdout);
   }
 #endif  
 
@@ -605,7 +603,7 @@ const pm_char * eeBackupModel(uint8_t i_fileSrc)
   strcpy_P(&buf[len], STR_MODELS_EXT);
 
 #ifdef SIMU
-  printf("SD-card backup filename=%s\n", buf); fflush(stdout);
+  TRACE("SD-card backup filename=%s", buf);
 #endif
 
   result = f_open(&g_oLogFile, buf, FA_CREATE_ALWAYS | FA_WRITE);

radio/src/main_avr.cpp

@@ -116,7 +116,7 @@ void perMain()
   if (evt && (g_eeGeneral.backlightMode & e_backlight_mode_keys)) backlightOn(); // on keypress turn the light on
   checkBacklight();
 
-#if (defined(FRSKY) || defined(MAVLINK))
+#if defined(FRSKY) || defined(MAVLINK) || defined(SIMU)
   telemetryWakeup();
 #endif
 

radio/src/maths.cpp

@@ -194,7 +194,7 @@ void getGpsPilotPosition()
   uint32_t angle2 = (lat*lat) / 10000;
   uint32_t angle4 = angle2 * angle2;
   frskyData.hub.distFromEarthAxis = 139*(((uint32_t)10000000-((angle2*(uint32_t)123370)/81)+(angle4/25))/12500);
-  // printf("frskyData.hub.distFromEarthAxis=%d\n", frskyData.hub.distFromEarthAxis); fflush(stdout);
+  // TRACE("frskyData.hub.distFromEarthAxis=%d", frskyData.hub.distFromEarthAxis);
 }
 
 void getGpsDistance()

radio/src/targets/simu/simpgmspace.cpp

@@ -159,7 +159,7 @@ void simuSetKey(uint8_t key, bool state)
 
 void simuSetTrim(uint8_t trim, bool state)
 {
-  // printf("trim=%d state=%d\n", trim, state); fflush(stdout);
+  // TRACE("trim=%d state=%d", trim, state);
 
   switch (trim) {
     TRIM_CASE(0, GPIO_TRIM_LH_L, PIN_TRIM_LH_L)
@@ -176,7 +176,7 @@ void simuSetTrim(uint8_t trim, bool state)
 // TODO use a better numbering to allow google tests to work on Taranis
 void simuSetSwitch(uint8_t swtch, int8_t state)
 {
-  // printf("swtch=%d state=%d\n", swtch, state); fflush(stdout);
+  // TRACE("swtch=%d state=%d", swtch, state);
   switch (swtch) {
 #if defined(PCBTARANIS) && defined(REV9E)
     SWITCH_3_CASE(0, GPIO_PIN_SW_A_L, GPIO_PIN_SW_A_H, PIN_SW_A_L, PIN_SW_A_H)
@@ -443,7 +443,7 @@ void eeprom_read_block (void *pointer_ram, const void *pointer_eeprom, size_t si
   assert(size);
 
   if (fp) {
-    // printf("EEPROM read (pos=%d, size=%d)\n", pointer_eeprom, size); fflush(stdout);
+    // TRACE("EEPROM read (pos=%d, size=%d)", pointer_eeprom, size);
     if (fseek(fp, (long)pointer_eeprom, SEEK_SET)==-1) perror("error in fseek");
     if (fread(pointer_ram, size, 1, fp) <= 0) perror("error in fread");
   }
@@ -458,7 +458,7 @@ void eeWriteBlockCmp(const void *pointer_ram, uint16_t pointer_eeprom, size_t si
   assert(size);
 
   if (fp) {
-    // printf("EEPROM write (pos=%d, size=%d)\n", pointer_eeprom, size); fflush(stdout);
+    // TRACE("EEPROM write (pos=%d, size=%d)", pointer_eeprom, size);
     if (fseek(fp, (long)pointer_eeprom, SEEK_SET)==-1) perror("error in fseek");
     if (fwrite(pointer_ram, size, 1, fp) <= 0) perror("error in fwrite");
   }
@@ -623,7 +623,7 @@ FRESULT f_readdir (DIR * rep, FILINFO * fil)
 
 FRESULT f_mkfs (const TCHAR *path, BYTE, UINT)
 {
-  printf("Format SD...\n"); fflush(stdout);
+  TRACE("Format SD...");
   return FR_OK;
 }
 

radio/src/targets/sky9x/keys_driver.cpp

@@ -81,7 +81,7 @@ uint32_t readKeys()
     result |= 0x02 << KEY_MENU;
 #endif
 
-  // printf("readKeys(): %x => %x\n", x, result); fflush(stdout);
+  // TRACE("readKeys(): %x => %x", x, result);
 
   return result;
 }

radio/src/targets/sky9x/telemetry_driver.cpp

@@ -181,8 +181,10 @@ uint32_t telemetryTransmitPending()
 
 void telemetryPortInit(uint32_t baudrate)
 {
+#if !defined(SIMU)
   UART2_Configure(baudrate, Master_frequency);
   startPdcUsartReceive();
+#endif
 }
 
 void telemetryTransmitBuffer(uint8_t * buffer, uint32_t size)

radio/src/targets/stock/voice.cpp

@@ -41,7 +41,7 @@ struct t_voice Voice ;
 void pushPrompt(uint16_t value)
 {
 #ifdef SIMU
-  printf("playFile(\"%04d.ad4\")\n", value); fflush(stdout);
+  TRACE("playFile(\"%04d.ad4\")", value);
 #endif
 
   struct t_voice *vptr;

radio/src/targets/taranis/keys_driver.cpp

@@ -72,7 +72,7 @@ uint32_t readKeys()
   if (d & PIN_BUTTON_EXIT)
     result |= 0x02 << KEY_EXIT;
 
-  // printf("readKeys(): %x %x => %x\n", d, e, result); fflush(stdout);
+  // TRACE("readKeys(): %x %x => %x", d, e, result);
 
   return result;
 }
@@ -112,7 +112,7 @@ uint32_t readTrims()
   if (~c & PIN_TRIM_RH_R)
     result |= 0x80;         // RH_R
 
-  // printf("readTrims(): %x %x => %x\n", c, e, result); fflush(stdout);
+  // TRACE("readTrims(): %x %x => %x", c, e, result);
 
   return result;
 }

radio/src/tasks_arm.cpp

@@ -132,7 +132,7 @@ void mixerTask(void * pdata)
       doMixerCalculations();
       CoLeaveMutexSection(mixerMutex);
 
-#if defined(FRSKY) || defined(MAVLINK)
+#if defined(FRSKY) || defined(MAVLINK) || defined(SIMU)
       telemetryWakeup();
 #endif
 

radio/src/telemetry/frsky_sport.cpp

@@ -88,6 +88,7 @@ bool checkSportPacket(uint8_t *packet)
     crc += crc >> 8;  // 0-1FF
     crc &= 0x00ff;    // 0-FF
   }
+  // TRACE("crc: 0x%02x", crc);
   return (crc == 0x00ff);
 }
 
@@ -103,6 +104,8 @@ void processSportPacket(uint8_t *packet)
   uint16_t appId  = *((uint16_t *)(packet+2));
 
   if (!checkSportPacket(packet)) {
+    TRACE("processSportPacket(): checksumm error ");
+    DUMP(packet, FRSKY_SPORT_PACKET_SIZE);
     return;
   }