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Rev | Author | Line No. | Line |
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1917 | holgerb | 1 | #include "libfc.h" |
2 | #include "printf_P.h" |
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3 | #include "main.h" |
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4 | #include "spi.h" |
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5 | #include "capacity.h" |
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6 | |||
1925 | holgerb | 7 | #if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__)) |
8 | |||
1920 | holgerb | 9 | #define HoTT_printf(format, args...) { _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
10 | #define HoTT_printfxy(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);} |
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11 | #define HoTT_printfxy_INV(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);} |
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12 | #define HoTT_printfxy_BLINK(x,y,format, args...) { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);} |
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1921 | holgerb | 13 | #define HoTT_printf_BLINK(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);} |
14 | #define HoTT_printf_INV(format, args...) { _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);} |
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1917 | holgerb | 15 | |
1919 | holgerb | 16 | #define VOICE_MINIMALE_EINGANSSPANNUNG 16 |
17 | #define VOICE_BEEP 5 |
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1920 | holgerb | 18 | #define HoTT_GRAD 96 |
19 | #define HoTT_LINKS 123 |
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20 | #define HoTT_RECHTS 124 |
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21 | #define HoTT_OBEN 125 |
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22 | #define HoTT_UNTEN 126 |
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1917 | holgerb | 23 | |
1930 | holgerb | 24 | const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17] = |
25 | { |
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26 | //0123456789123456 |
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27 | "No Error \0", // 0 |
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28 | "Not compatible \0", // 1 |
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29 | "MK3Mag not compa\0", // 2 |
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30 | "No FC communicat\0", // 3 |
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31 | "MK3Mag communica\0", // 4 |
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32 | "GPS communicatio\0", // 5 |
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33 | "compass value \0", // 6 |
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34 | "RC Signal lost \0", // 7 |
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35 | "FC spi rx error \0", // 8 |
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36 | "No NC communicat\0", // 9 |
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37 | "FC Nick Gyro \0", // 10 |
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38 | "FC Roll Gyro \0", // 11 |
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39 | "FC Yaw Gyro \0", // 12 |
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40 | "FC Nick ACC \0", // 13 |
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41 | "FC Roll ACC \0", // 14 |
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42 | "FC Z-ACC \0", // 15 |
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43 | "Pressure sensor \0", // 16 |
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1936 | holgerb | 44 | "I2C FC->BL-Ctrl \0", // 17 |
1930 | holgerb | 45 | "Bl Missing \0", // 18 |
46 | "Mixer Error \0", // 19 |
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1937 | holgerb | 47 | "Carefree Error \0", // 20 |
48 | "GPS Fix lost \0" // 21 |
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1930 | holgerb | 49 | }; |
1919 | holgerb | 50 | |
51 | //--------------------------------------------------------------- |
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1917 | holgerb | 52 | void Hott_ClearLine(unsigned char line) |
53 | { |
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54 | HoTT_printfxy(0,line," "); |
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55 | } |
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1919 | holgerb | 56 | //--------------------------------------------------------------- |
1917 | holgerb | 57 | |
1919 | holgerb | 58 | unsigned char HoTT_Waring(void) |
59 | { |
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60 | if(FC_StatusFlags & FC_STATUS_LOWBAT) return(VOICE_MINIMALE_EINGANSSPANNUNG); |
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1933 | holgerb | 61 | if(MotorenEin && NC_ErrorCode) return(VOICE_BEEP); |
1919 | holgerb | 62 | return(0); |
63 | } |
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64 | |||
65 | //--------------------------------------------------------------- |
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66 | unsigned char HoTT_Telemety(unsigned char packet_request) |
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67 | { |
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68 | switch(packet_request) |
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69 | { |
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70 | case HOTT_VARIO_PACKET_ID: |
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1921 | holgerb | 71 | VarioPacket.Altitude = HoehenWert/100 + 500; |
1919 | holgerb | 72 | if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude; |
73 | if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude; |
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74 | VarioPacket.WarnBeep = HoTT_Waring(); |
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75 | HoTT_DataPointer = (unsigned char *) &VarioPacket; |
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76 | return(sizeof(VarioPacket)); |
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77 | break; |
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1921 | holgerb | 78 | |
1919 | holgerb | 79 | case HOTT_GPS_PACKET_ID: |
1921 | holgerb | 80 | GPSPacket.Altitude = HoehenWert/100 + 500; |
1919 | holgerb | 81 | GPSPacket.Distance = GPSInfo.HomeDistance/10; |
1921 | holgerb | 82 | GPSPacket.Heading = KompassValue/2; |
83 | GPSPacket.Speed = (GPSInfo.Speed * 36) / 10; |
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84 | GPSPacket.m_sec = GPSInfo.Speed+120; |
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85 | GPSPacket.m_3sec = 120; |
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86 | GPSPacket.m_10sec = 0; |
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1919 | holgerb | 87 | GPSPacket.WarnBeep = HoTT_Waring(); |
88 | HoTT_DataPointer = (unsigned char *) &GPSPacket; |
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89 | return(sizeof(GPSPacket)); |
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90 | break; |
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91 | case HOTT_ELECTRIC_AIR_PACKET_ID: |
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1921 | holgerb | 92 | ElectricAirPacket.Altitude = HoehenWert/1000 + 500; ; |
93 | ElectricAirPacket.Battery1 = UBat; |
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94 | ElectricAirPacket.Capacity = Capacity.UsedCapacity; |
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1919 | holgerb | 95 | ElectricAirPacket.WarnBeep = HoTT_Waring(); |
96 | HoTT_DataPointer = (unsigned char *) &ElectricAirPacket; |
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97 | return(sizeof(ElectricAirPacket)); |
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98 | break; |
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99 | default: return(0); |
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100 | } |
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101 | } |
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102 | |||
103 | //--------------------------------------------------------------- |
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1917 | holgerb | 104 | void HoTT_Menu(void) |
105 | { |
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1933 | holgerb | 106 | static unsigned char line, page = 0; |
1921 | holgerb | 107 | unsigned char tmp; |
108 | if(page == 0) |
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1933 | holgerb | 109 | switch(line++) |
1917 | holgerb | 110 | { |
1919 | holgerb | 111 | case 0: |
1923 | holgerb | 112 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
1939 | holgerb | 113 | HoTT_printfxy_BLINK(0,0," %2i.%1iV ",UBat/10, UBat%10) |
114 | else |
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115 | HoTT_printfxy(0,0," %2i.%1iV ",UBat/10, UBat%10) |
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116 | |||
117 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
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118 | { |
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119 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(HoehenWert/100),VarioCharacter) |
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120 | else HoTT_printfxy(10,0,"ALT:%4im ", (int16_t)(HoehenWert/100)) |
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121 | } |
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122 | else HoTT_printfxy(10,0,"ALT:---- "); |
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123 | break; |
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124 | case 1: |
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125 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
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126 | HoTT_printfxy_BLINK(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60) |
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127 | else HoTT_printfxy(0,1," %2i:%02i ",FlugSekunden/60,FlugSekunden%60); |
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128 | HoTT_printfxy(10,1,"DIR: %3d%c",KompassValue, HoTT_GRAD); |
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129 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy(20,1,"C") else HoTT_printfxy(20,1," "); |
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130 | break; |
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131 | case 2: |
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132 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
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133 | HoTT_printfxy_BLINK(0,2," %5i ",Capacity.UsedCapacity) |
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134 | else HoTT_printfxy(0,2," %5i ",Capacity.UsedCapacity); |
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135 | HoTT_printfxy(12,2,"I:%2i.%1iA",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10); |
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136 | break; |
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137 | case 3: |
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138 | HoTT_printfxy(9,0,"I"); |
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139 | HoTT_printfxy(9,1,"I"); |
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140 | HoTT_printfxy(9,2,"I"); |
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141 | HoTT_printfxy(0,3,"---------+-----------"); |
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142 | HoTT_printfxy(9,4,"I"); |
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143 | HoTT_printfxy(9,5,"I"); |
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144 | HoTT_printfxy(0,6,"---------------------"); |
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145 | break; |
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146 | case 4: |
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147 | if(NaviDataOkay) |
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148 | { |
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149 | HoTT_printfxy(0,4,"SAT:%2d ",GPSInfo.NumOfSats); |
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150 | HoTT_printfxy(10,4,"DIST:%3dm",GPSInfo.HomeDistance/10); |
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151 | switch (GPSInfo.SatFix) |
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152 | { |
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153 | case SATFIX_3D: |
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154 | if(GPSInfo.Flags & FLAG_DIFFSOLN) HoTT_printfxy(7,4,"D ") |
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155 | else HoTT_printfxy(7,4,"3D"); |
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156 | break; |
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157 | default: |
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158 | HoTT_printfxy(7,4,"! "); |
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159 | break; |
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160 | } |
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161 | } |
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162 | else |
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163 | { //012345678901234567890 |
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164 | HoTT_printfxy(0,4,"No Navi "); |
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165 | } |
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166 | break; |
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167 | case 5: |
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168 | if(NaviDataOkay) |
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169 | { |
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170 | HoTT_printfxy(4,5,"%2um/s",GPSInfo.Speed,GPSInfo.NumOfSats); |
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171 | HoTT_printfxy(12,5,"HM:%3d%c %c", GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter); |
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172 | } |
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173 | else HoTT_printfxy(0,5," | "); |
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174 | break; |
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175 | case 6: |
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176 | /* |
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177 | if(RequiredMotors == 4) Hott_ClearLine(6); |
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178 | else |
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179 | if(RequiredMotors == 6) HoTT_printfxy(0,6,"%3i %3i%cC ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD) |
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180 | else |
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181 | if(RequiredMotors > 6) HoTT_printfxy(0,6,"%3i %3i %3i %3i%cC", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature,HoTT_GRAD); |
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182 | //HoTT_printfxy(15,6,"%KEY:%02x",HottKeyboard); |
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183 | */ |
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184 | break; |
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185 | case 7: if(NC_ErrorCode) |
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186 | { |
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187 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
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188 | { |
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189 | Hott_ClearLine(7); |
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190 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
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191 | } |
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192 | else |
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193 | { |
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194 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
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195 | } |
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196 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
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197 | break; |
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198 | case 8: ASCIIPacket.WarnBeep = HoTT_Waring(); |
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199 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
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200 | case 9: |
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201 | case 10: |
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202 | case 11: |
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203 | case 12: |
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204 | case 13: |
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205 | case 14: |
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206 | case 15: |
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207 | case 16: |
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208 | if(HottKeyboard == 8) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
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209 | HottKeyboard = 0; |
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210 | break; |
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211 | default: line = 0; |
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212 | break; |
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213 | } |
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214 | else |
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215 | if(page == 1) |
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216 | switch(line++) |
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217 | { |
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218 | case 0: |
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219 | if(FC_StatusFlags & FC_STATUS_LOWBAT) |
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1923 | holgerb | 220 | HoTT_printfxy_BLINK(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity) |
221 | else HoTT_printfxy(0,0," %2i:%02i %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity); |
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1917 | holgerb | 222 | break; |
223 | case 1: |
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1921 | holgerb | 224 | HoTT_printfxy(0,1,"DIR:%3d%c",KompassValue, HoTT_GRAD); |
1917 | holgerb | 225 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
1920 | holgerb | 226 | { |
227 | if(HoehenReglerAktiv) HoTT_printfxy_INV(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
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228 | else HoTT_printfxy(10,1,"ALT:%4im", (int16_t)(HoehenWert/100)) |
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229 | } |
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230 | else HoTT_printfxy(10,1,"ALT:---- "); |
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231 | HoTT_printfxy(20,1,"%c",VarioCharacter); |
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1917 | holgerb | 232 | break; |
233 | case 2: |
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234 | if(NaviDataOkay) |
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235 | { |
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1923 | holgerb | 236 | HoTT_printfxy(1,2,"HM:%3d%c DIST:%3dm %c", GPSInfo.HomeBearing, HoTT_GRAD, GPSInfo.HomeDistance/10, NC_GPS_ModeCharacter); |
1917 | holgerb | 237 | } |
238 | else |
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239 | { |
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1923 | holgerb | 240 | Hott_ClearLine(2); |
1917 | holgerb | 241 | } |
242 | break; |
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1923 | holgerb | 243 | case 3: |
244 | HoTT_printfxy(0,3,"PWR:%2i.%1iA (%iW) ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10,Capacity.ActualPower); |
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245 | break; |
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1917 | holgerb | 246 | case 4: |
247 | if(NaviDataOkay) |
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248 | { |
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1919 | holgerb | 249 | HoTT_printfxy(0,4,"GPS:%2um/s SAT:%d ",GPSInfo.Speed,GPSInfo.NumOfSats); |
1917 | holgerb | 250 | switch (GPSInfo.SatFix) |
251 | { |
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252 | case SATFIX_3D: |
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253 | HoTT_printfxy(16,4," 3D "); |
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254 | break; |
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1925 | holgerb | 255 | //case SATFIX_2D: |
256 | //case SATFIX_NONE: |
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1917 | holgerb | 257 | default: |
1925 | holgerb | 258 | HoTT_printfxy_BLINK(16,4,"NOFIX"); |
1917 | holgerb | 259 | break; |
260 | } |
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261 | if(GPSInfo.Flags & FLAG_DIFFSOLN) |
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262 | { |
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263 | HoTT_printfxy(16,4,"DGPS "); |
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264 | } |
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265 | } |
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266 | else |
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267 | { //012345678901234567890 |
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1930 | holgerb | 268 | HoTT_printfxy(0,4," No NaviCtrl "); |
1917 | holgerb | 269 | } |
270 | break; |
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271 | case 5: |
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1923 | holgerb | 272 | HoTT_printfxy(0,5,"%3i %3i %3i %3i%cC", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature,HoTT_GRAD); |
273 | if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(18,5,"CF") else HoTT_printfxy(18,5," "); |
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1917 | holgerb | 274 | break; |
275 | case 6: |
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276 | if(RequiredMotors == 4) Hott_ClearLine(6); |
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277 | else |
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1923 | holgerb | 278 | if(RequiredMotors == 6) HoTT_printfxy(0,6,"%3i %3i%cC ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD) |
1917 | holgerb | 279 | else |
1923 | holgerb | 280 | if(RequiredMotors > 6) HoTT_printfxy(0,6,"%3i %3i %3i %3i%cC", Motor[4].Temperature, Motor[5].Temperature, Motor[6].Temperature, Motor[7].Temperature,HoTT_GRAD); |
1920 | holgerb | 281 | //HoTT_printfxy(15,6,"%KEY:%02x",HottKeyboard); |
1917 | holgerb | 282 | break; |
1930 | holgerb | 283 | case 7: if(NC_ErrorCode) |
284 | { |
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285 | if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER) |
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286 | { |
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287 | Hott_ClearLine(7); |
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288 | HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode); |
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289 | } |
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290 | else |
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291 | { |
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292 | HoTT_printfxy(0,7,"ERR: "); _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);}; |
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293 | } |
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1937 | holgerb | 294 | else HoTT_printfxy(0,7," www.MikroKopter.de "); |
1917 | holgerb | 295 | break; |
1919 | holgerb | 296 | case 8: ASCIIPacket.WarnBeep = HoTT_Waring(); |
297 | // ASCIIPacket.WarnBeep = Parameter_UserParam1; |
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1921 | holgerb | 298 | case 9: |
1917 | holgerb | 299 | case 10: |
300 | case 11: |
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301 | case 12: |
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302 | case 13: |
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1919 | holgerb | 303 | case 14: |
304 | case 15: |
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305 | case 16: |
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1939 | holgerb | 306 | if(HottKeyboard == 8) { LIBFC_HoTT_Clear(); page = 2; line = 0;}; |
307 | if(HottKeyboard == 1) { LIBFC_HoTT_Clear(); page = 0; line = 0;}; |
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1921 | holgerb | 308 | HottKeyboard = 0; |
309 | break; |
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1933 | holgerb | 310 | default: line = 0; |
1921 | holgerb | 311 | break; |
312 | } |
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313 | else |
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1939 | holgerb | 314 | if(page == 2) |
1933 | holgerb | 315 | switch(line++) |
1921 | holgerb | 316 | { |
317 | case 0: |
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318 | HoTT_printfxy_INV(0,0,"Setting:%u %s ",GetActiveParamSet(),EE_Parameter.Name); |
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319 | break; |
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320 | case 1: HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name); |
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321 | break; |
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1923 | holgerb | 322 | case 2: HoTT_printfxy(0,2,"ALT:"); |
1921 | holgerb | 323 | if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG) |
324 | { |
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325 | if(!(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) HoTT_printf("POTI:%3u ", Parameter_HoehenSchalter) |
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326 | else |
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327 | { |
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328 | if(Parameter_HoehenSchalter > 50) HoTT_printf("(ON) ") else HoTT_printf("(OFF) "); |
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329 | if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) HoTT_printf("LIMIT", Parameter_HoehenSchalter) |
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330 | else HoTT_printf("VARIO", Parameter_HoehenSchalter); |
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331 | } |
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332 | } |
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333 | else |
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334 | HoTT_printf("DISABLED"); |
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335 | break; |
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1923 | holgerb | 336 | case 3: HoTT_printfxy(0,3,"CF:"); |
1921 | holgerb | 337 | if(!EE_Parameter.CareFreeModeControl) HoTT_printf("DISABLED") |
338 | else |
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339 | { |
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340 | if(CareFree) HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)"); |
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341 | if(EE_Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) HoTT_printf(" TEACH"); |
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342 | } |
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343 | break; |
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1923 | holgerb | 344 | case 4: HoTT_printfxy(0,4,"GPS:"); |
345 | if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED") |
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346 | else |
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347 | { |
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348 | CHK_POTI(tmp,EE_Parameter.NaviGpsModeControl); |
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349 | if(tmp < 50) HoTT_printf("(FREE)") |
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350 | else |
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351 | if(tmp >= 180) HoTT_printf("(HOME)") |
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352 | else |
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353 | if(EE_Parameter.ExtraConfig & CFG_GPS_AID) HoTT_printf("(AID) ") |
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354 | else HoTT_printf("(HOLD)") |
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355 | } |
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356 | if(EE_Parameter.FailSafeTime) HoTT_printfxy(10,4," FS:%usek ",EE_Parameter.FailSafeTime) |
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357 | |||
358 | break; |
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359 | case 5: HoTT_printfxy(0,5,"HOME ALT:"); |
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360 | if(EE_Parameter.ComingHomeAltitude) HoTT_printf("%um",EE_Parameter.ComingHomeAltitude) else HoTT_printf("HOLD "); |
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361 | break; |
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1921 | holgerb | 362 | case 6: |
1923 | holgerb | 363 | HoTT_printfxy(0,6,"Ni:%4i Ro:%4i C:%3i",PPM_in[EE_Parameter.Kanalbelegung[K_NICK]],PPM_in[EE_Parameter.Kanalbelegung[K_ROLL]], Parameter_ServoNickControl); |
1933 | holgerb | 364 | HoTT_printfxy(0,7,"Gs:%4i Ya:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]); |
1921 | holgerb | 365 | break; |
366 | case 7: //HoTT_printfxy(0,6,"WARNINGS:"); |
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367 | if(HoTTBlink) |
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368 | { |
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369 | LIBFC_HoTT_SetPos(6 * 21); |
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370 | if(!(Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) HoTT_printf_BLINK("COUPLING OFF! "); |
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371 | if(EE_Parameter.BitConfig & (CFG_LOOP_LINKS | CFG_LOOP_RECHTS | CFG_LOOP_UNTEN | CFG_LOOP_OBEN)) HoTT_printf_BLINK("LOOPING! "); |
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372 | if(Parameter_GlobalConfig & CFG_HEADING_HOLD) HoTT_printf_BLINK("HH! "); |
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373 | if(!(Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) HoTT_printf_BLINK("COMPASS OFF! "); |
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374 | } |
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375 | break; |
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376 | case 8: ASCIIPacket.WarnBeep = HoTT_Waring(); |
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377 | break; |
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378 | case 9: |
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379 | case 10: |
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380 | case 11: |
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381 | case 12: |
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382 | case 13: |
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383 | case 14: |
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384 | case 15: |
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385 | case 16: |
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1939 | holgerb | 386 | if(HottKeyboard == 1) { LIBFC_HoTT_Clear(); page = 1; line = 0;}; |
1921 | holgerb | 387 | HottKeyboard = 0; |
388 | break; |
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1933 | holgerb | 389 | default: line = 0; |
1917 | holgerb | 390 | break; |
391 | } |
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1921 | holgerb | 392 | else page = 0; |
1917 | holgerb | 393 | } |
394 | |||
1925 | holgerb | 395 | #endif |
1917 | holgerb | 396 | |
397 | |||
398 |