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The open source Asterisk VoIP server supports several protocols, including SIP and IAX2. The IAX2 protocol is Asterisk's native protocol, and can be simpler to deploy than SIP-based systems.
Qtopia Phone Edition contains an example integration of IAX2 using the LGPL'ed iaxclient library, which handles registration, call setup, audio codecs, etc. The integration serves as an example of how to integrate a non-SIP VoIP implementation. The VoIP Integration Guide describes the IAX2 integration in further detail.
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