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2050 holgerb 1
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
2
// + www.MikroKopter.com
3
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
4
// + Software Nutzungsbedingungen (english version: see below)
5
// + der Fa. HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland - nachfolgend Lizenzgeber genannt -
6
// + Der Lizenzgeber räumt dem Kunden ein nicht-ausschließliches, zeitlich und räumlich* unbeschränktes Recht ein, die im den
7
// + Mikrocontroller verwendete Firmware für die Hardware Flight-Ctrl, Navi-Ctrl, BL-Ctrl, MK3Mag & PC-Programm MikroKopter-Tool 
8
// + - nachfolgend Software genannt - nur für private Zwecke zu nutzen.
9
// + Der Einsatz dieser Software ist nur auf oder mit Produkten des Lizenzgebers zulässig.
10
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
11
// + Die vom Lizenzgeber gelieferte Software ist urheberrechtlich geschützt. Alle Rechte an der Software sowie an sonstigen im
12
// + Rahmen der Vertragsanbahnung und Vertragsdurchführung überlassenen Unterlagen stehen im Verhältnis der Vertragspartner ausschließlich dem Lizenzgeber zu.
13
// + Die in der Software enthaltenen Copyright-Vermerke, Markenzeichen, andere Rechtsvorbehalte, Seriennummern sowie
14
// + sonstige der Programmidentifikation dienenden Merkmale dürfen vom Kunden nicht verändert oder unkenntlich gemacht werden.
15
// + Der Kunde trifft angemessene Vorkehrungen für den sicheren Einsatz der Software. Er wird die Software gründlich auf deren
16
// + Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
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// + Die Haftung des Lizenzgebers wird - soweit gesetzlich zulässig - begrenzt in Höhe des typischen und vorhersehbaren
18
// + Schadens. Die gesetzliche Haftung bei Personenschäden und nach dem Produkthaftungsgesetz bleibt unberührt. Dem Lizenzgeber steht jedoch der Einwand 
19
// + des Mitverschuldens offen.
20
// + Der Kunde trifft angemessene Vorkehrungen für den Fall, dass die Software ganz oder teilweise nicht ordnungsgemäß arbeitet.
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// + Er wird die Software gründlich auf deren Verwendbarkeit zu dem von ihm beabsichtigten Zweck testen, bevor er diese operativ einsetzt.
22
// + Der Kunde wird er seine Daten vor Einsatz der Software nach dem Stand der Technik sichern.
23
// + Der Kunde ist darüber unterrichtet, dass der Lizenzgeber seine Daten im zur Vertragsdurchführung erforderlichen Umfang
24
// + und auf Grundlage der Datenschutzvorschriften erhebt, speichert, verarbeitet und, sofern notwendig, an Dritte übermittelt.
25
// + *) Die räumliche Nutzung bezieht sich nur auf den Einsatzort, nicht auf die Reichweite der programmierten Software.
26
// + #### ENDE DER NUTZUNGSBEDINGUNGEN ####'
27
// +  Hinweis: Informationen über erweiterte Nutzungsrechte (wie z.B. Nutzung für nicht-private Zwecke) sind auf Anfrage per Email an info(@)hisystems.de verfügbar.
28
// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
29
// + Software LICENSING TERMS
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
31
// + of HiSystems GmbH, Flachsmeerstrasse 2, 26802 Moormerland, Germany - the Licensor -
32
// + The Licensor grants the customer a non-exclusive license to use the microcontroller firmware of the Flight-Ctrl, Navi-Ctrl, BL-Ctrl, and MK3Mag hardware 
33
// + (the Software) exclusively for private purposes. The License is unrestricted with respect to time and territory*.
34
// + The Software may only be used with the Licensor's products.
35
// + The Software provided by the Licensor is protected by copyright. With respect to the relationship between the parties to this
36
// + agreement, all rights pertaining to the Software and other documents provided during the preparation and execution of this
37
// + agreement shall be the property of the Licensor.
38
// + The information contained in the Software copyright notices, trademarks, other legal reservations, serial numbers and other
39
// + features that can be used to identify the program may not be altered or defaced by the customer.
40
// + The customer shall be responsible for taking reasonable precautions
41
// + for the safe use of the Software. The customer shall test the Software thoroughly regarding its suitability for the
42
// + intended purpose before implementing it for actual operation. The Licensor's liability shall be limited to the extent of typical and
43
// + foreseeable damage to the extent permitted by law, notwithstanding statutory liability for bodily injury and product
44
// + liability. However, the Licensor shall be entitled to the defense of contributory negligence.
45
// + The customer will take adequate precautions in the case, that the software is not working properly. The customer will test
46
// + the software for his purpose before any operational usage. The customer will backup his data before using the software.
47
// + The customer understands that the Licensor collects, stores and processes, and, where required, forwards, customer data
48
// + to third parties to the extent necessary for executing the agreement, subject to applicable data protection and privacy regulations.
49
// + *) The territory aspect only refers to the place where the Software is used, not its programmed range.
50
// + #### END OF LICENSING TERMS ####
51
// + Note: For information on license extensions (e.g. commercial use), please contact us at info(@)hisystems.de.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
1917 holgerb 53
#include "libfc.h"
54
#include "printf_P.h"
55
#include "main.h"
56
#include "spi.h"
57
#include "capacity.h"
58
 
1925 holgerb 59
#if (defined(__AVR_ATmega1284__) || defined(__AVR_ATmega1284P__))
60
 
1920 holgerb 61
#define HoTT_printf(format, args...)                    {  _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);}
62
#define HoTT_printfxy(x,y,format, args...)              { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar, PSTR(format) , ## args);}
63
#define HoTT_printfxy_INV(x,y,format, args...)          { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);}
64
#define HoTT_printfxy_BLINK(x,y,format, args...)        { LIBFC_HoTT_SetPos(y * 21 + x); _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);}
1921 holgerb 65
#define HoTT_printf_BLINK(format, args...)              { _printf_P(&LIBFC_HoTT_Putchar_BLINK, PSTR(format) , ## args);}
66
#define HoTT_printf_INV(format, args...)                        { _printf_P(&LIBFC_HoTT_Putchar_INV, PSTR(format) , ## args);}
1917 holgerb 67
 
1919 holgerb 68
#define VOICE_MINIMALE_EINGANSSPANNUNG    16
69
#define VOICE_BEEP                         5
1920 holgerb 70
#define HoTT_GRAD       96
71
#define HoTT_LINKS      123
72
#define HoTT_RECHTS 124
73
#define HoTT_OBEN       125
74
#define HoTT_UNTEN      126
1917 holgerb 75
 
1949 holgerb 76
#define HOTT_KEY_RIGHT  1
77
#define HOTT_KEY_DOWN   2
78
#define HOTT_KEY_UP     4
79
#define HOTT_KEY_SET    6
80
#define HOTT_KEY_LEFT   8
81
 
1943 holgerb 82
GPSPacket_t GPSPacket;
83
VarioPacket_t VarioPacket;
84
ASCIIPacket_t ASCIIPacket;
85
ElectricAirPacket_t ElectricAirPacket;
86
HoTTGeneral_t HoTTGeneral;
2090 holgerb 87
unsigned char SpeakHoTT = SPEAK_MIKROKOPTER;
1944 holgerb 88
int HoTTVarioMeter = 0;
2090 holgerb 89
const char PROGMEM MIKROKOPTER[] =      {"     MikroKopter     "};
2120 holgerb 90
const char PROGMEM UNDERVOLTAGE[] =     {" !! LiPo voltage !!  "};
1930 holgerb 91
const char PROGMEM NC_ERROR_TEXT[MAX_ERR_NUMBER][17] =
92
{
93
//0123456789123456
94
 "No Error        \0",  // 0
95
 "Not compatible  \0",  // 1
96
 "MK3Mag not compa\0",  // 2
97
 "No FC communicat\0",  // 3
98
 "MK3Mag communica\0",  // 4
99
 "GPS communicatio\0",  // 5
100
 "compass value   \0",  // 6
101
 "RC Signal lost  \0",  // 7
102
 "FC spi rx error \0",  // 8
103
 "No NC communicat\0",  // 9
104
 "FC Nick Gyro    \0",  // 10
105
 "FC Roll Gyro    \0",  // 11
106
 "FC Yaw Gyro     \0",  // 12
107
 "FC Nick ACC     \0",  // 13
108
 "FC Roll ACC     \0",  // 14
109
 "FC Z-ACC        \0",  // 15
110
 "Pressure sensor \0",  // 16
1936 holgerb 111
 "I2C FC->BL-Ctrl \0",  // 17
1930 holgerb 112
 "Bl Missing      \0",  // 18
113
 "Mixer Error     \0",  // 19
1937 holgerb 114
 "Carefree Error  \0",  // 20
1944 holgerb 115
 "GPS Fix lost    \0",  // 21
1948 holgerb 116
 "Magnet Error    \0",  // 22
117
 "Motor restart   \0",  // 23
2008 holgerb 118
 "BL Limitation   \0",  // 24
119
 "GPS Range       \0",  // 25
2009 holgerb 120
 "No SD-Card      \0",  // 26
121
 "SD-Logging error\0",  // 27
2034 holgerb 122
 "Flying range!   \0",  // 28
2146 holgerb 123
 "Max Altitude!   \0",  // 29
124
 "No GPS fix      \0"   // 30
1930 holgerb 125
};
1919 holgerb 126
 
2090 holgerb 127
 
128
const char PROGMEM HOTT_ERROR[MAX_ERR_NUMBER][2] =
129
{       // 1 -> only in flight   0 -> also on ground
130
//0123456789123456
131
         {0,0},// "No Error        \0",  // 0
132
         {SPEAK_ERROR,0},// "Not compatible  \0",  // 1
133
         {SPEAK_ERROR,0},// "MK3Mag not compa\0",  // 2
134
         {SPEAK_ERR_NAVI,1},// "No FC communicat\0",  // 3
135
         {SPEAK_ERR_COMPASS,1},// "MK3Mag communica\0",  // 4
136
         {SPEAK_ERR_GPS,0},// "GPS communicatio\0",  // 5
137
         {SPEAK_ERR_COMPASS,1},// "compass value   \0",  // 6
138
         {SPEAK_ERR_RECEICER,0},// "RC Signal lost  \0",  // 7
139
         {SPEAK_ERR_NAVI,0},// "FC spi rx error \0",  // 8
140
         {SPEAK_ERR_NAVI,0},// "No NC communicat\0",  // 9
141
         {SPEAK_ERR_SENSOR,0},// "FC Nick Gyro    \0",  // 10
142
         {SPEAK_ERR_SENSOR,0},// "FC Roll Gyro    \0",  // 11
143
         {SPEAK_ERR_SENSOR,0},// "FC Yaw Gyro     \0",  // 12
144
         {SPEAK_ERR_SENSOR,0},// "FC Nick ACC     \0",  // 13
145
         {SPEAK_ERR_SENSOR,0},// "FC Roll ACC     \0",  // 14
146
         {SPEAK_ERR_SENSOR,0},// "FC Z-ACC        \0",  // 15
147
         {SPEAK_ERR_SENSOR,0},// "Pressure sensor \0",  // 16
148
         {SPEAK_ERR_DATABUS,1},// "I2C FC->BL-Ctrl \0",  // 17
149
         {SPEAK_ERR_DATABUS,1},// "Bl Missing      \0",  // 18
150
         {SPEAK_ERROR,0},// "Mixer Error     \0",  // 19
151
         {SPEAK_CF_OFF,1},// "Carefree Error  \0",  // 20
152
         {SPEAK_GPS_FIX,1},// "GPS Fix lost    \0",  // 21
153
         {SPEAK_ERR_COMPASS,0},// "Magnet Error    \0",  // 22
154
         {SPEAK_ERR_MOTOR,1},// "Motor restart   \0",  // 23
155
         {SPEAK_MAX_TEMPERAT,1},// "BL Limitation   \0",  // 24
156
         {SPEAK_MAX_RANGE,1},// "GPS Range       \0",  // 25
157
         {SPEAK_ERROR,1},// "No SD-Card      \0",  // 26
158
         {SPEAK_ERROR,1},// "SD-Logging error\0",  // 27
159
         {SPEAK_MAX_RANGE,1},// "Flying range!   \0",   // 28
2146 holgerb 160
         {SPEAK_MAX_ALTITUD,1},// "Max Altitude!   \0"   // 29
161
         {SPEAK_GPS_FIX,1}// "no GPS Fix,  // 30
2090 holgerb 162
};
163
 
164
 
1943 holgerb 165
unsigned char MaxBlTempertaure = 0;
166
unsigned char MinBlTempertaure = 0;
167
unsigned char HottestBl = 0;
168
 
169
void GetHottestBl(void)
170
{
171
 static unsigned char search = 0,tmp_max,tmp_min,who;
172
                if(Motor[search].Temperature > tmp_max) { tmp_max = Motor[search].Temperature; who = search;}
173
                else
174
                if(Motor[search].Temperature) if(Motor[search].Temperature < tmp_min) tmp_min = Motor[search].Temperature;
175
                if(++search > MAX_MOTORS)
176
                {
177
                 search = 0;
178
                 if(tmp_min != 255) MinBlTempertaure = tmp_min; else MinBlTempertaure = 0;
179
                 MaxBlTempertaure = tmp_max;
180
                 HottestBl = who;
181
                 tmp_min = 255;
182
                 tmp_max = 0;
183
                 who = 0;
184
                 }
185
}
186
 
1919 holgerb 187
//---------------------------------------------------------------
1917 holgerb 188
void Hott_ClearLine(unsigned char line)
189
{
190
 HoTT_printfxy(0,line,"                     ");
191
}
1919 holgerb 192
//---------------------------------------------------------------
1917 holgerb 193
 
1919 holgerb 194
unsigned char HoTT_Waring(void)
195
{
2090 holgerb 196
  unsigned char status = 0;
197
  static char old_status = 0;
198
  static int repeat;
2120 holgerb 199
//if(Parameter_UserParam1) return(Parameter_UserParam1); 
200
//DebugOut.Analog[16] = 0;
2090 holgerb 201
  if(FC_StatusFlags & FC_STATUS_LOWBAT) status = VOICE_MINIMALE_EINGANSSPANNUNG;
202
  else
203
  if(NC_ErrorCode)      
204
   {
205
    if(MotorenEin || !pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][1])) status = pgm_read_byte(&HOTT_ERROR[NC_ErrorCode][0]);
206
   }
207
 
2091 holgerb 208
  if(!status)
209
   {
210
        if(!(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01)) SpeakHoTT = 0;  // is the voice wanted?
211
    else status = SpeakHoTT;
212
   };
2090 holgerb 213
 
214
  if(old_status == status)
215
   {
216
    if(!CheckDelay(repeat)) return(0);
217
        repeat = SetDelay(5000);
218
   }
219
   else repeat = SetDelay(2000);
220
 
221
  if(status)
222
   {
223
    if(status == SpeakHoTT) SpeakHoTT = 0;
224
   }   
225
  old_status = status;
2120 holgerb 226
//  DebugOut.Analog[16] = status;
2090 holgerb 227
  return(status);
1919 holgerb 228
}
229
 
230
//---------------------------------------------------------------
1942 holgerb 231
void NC_Fills_HoTT_Telemety(void)
1940 holgerb 232
{
2034 holgerb 233
 unsigned char *ptr = NULL;
1940 holgerb 234
 unsigned char max = 0,i,z;
235
 switch(FromNaviCtrl.Param.Byte[11])
236
  {
237
   case HOTT_VARIO_PACKET_ID:
238
                ptr = (unsigned char *) &VarioPacket;
239
                max = sizeof(VarioPacket);
240
                break;
241
   case HOTT_GPS_PACKET_ID:
242
                ptr = (unsigned char *) &GPSPacket;
243
                max = sizeof(GPSPacket);
244
                break;
245
   case HOTT_ELECTRIC_AIR_PACKET_ID:
246
                ptr = (unsigned char *) &ElectricAirPacket;
247
                max = sizeof(ElectricAirPacket);
248
                break;
1943 holgerb 249
   case HOTT_GENERAL_PACKET_ID:
250
                ptr = (unsigned char *) &HoTTGeneral;
251
                max = sizeof(HoTTGeneral);
252
                break;
1940 holgerb 253
  }
254
 z = FromNaviCtrl.Param.Byte[0]; // Data allocation
255
 
256
 for(i=0; i < FromNaviCtrl.Param.Byte[1]; i++)
257
  {
258
   if(z >= max) break;
259
   ptr[z] = FromNaviCtrl.Param.Byte[2+i];
260
   z++;
261
  }
262
}
263
 
1942 holgerb 264
unsigned int BuildHoTT_Vario(void)
265
{
1944 holgerb 266
 unsigned int tmp = 30000;
267
 if(VarioCharacter == '+' || VarioCharacter == '-')
268
  {
269
   tmp = 30000 + (AltitudeSetpointTrimming * EE_Parameter.Hoehe_Verstaerkung) / 3;
270
   if(tmp < 30000 && tmp > 30000 - 50) tmp = 30000 - 50; // weil es sonst erst bei < 0,5m/sek piept
271
  }
1942 holgerb 272
 else
1944 holgerb 273
 if((VarioCharacter == ' ') && (FC_StatusFlags & FC_STATUS_FLY))
274
  {
275
   tmp = 30000 + HoTTVarioMeter;
276
   if(tmp > 30000)
277
    {
278
     if(tmp < 30000 + 100) tmp = 30000;
279
         else tmp -= 100;
280
        }
281
   if(tmp < 30000)
282
    {
283
     if(tmp > 30000 - 100) tmp = 30000;
284
         else tmp += 100;
285
        }
286
  }
287
 else
288
 if(VarioCharacter == '^') tmp = 30000 + FromNC_AltitudeSpeed * 10;
289
 else
290
 if(VarioCharacter == 'v') tmp = 30000 - FromNC_AltitudeSpeed * 10;
291
 
1942 holgerb 292
 return(tmp);
293
}
294
 
1943 holgerb 295
 
1940 holgerb 296
//---------------------------------------------------------------
1919 holgerb 297
unsigned char HoTT_Telemety(unsigned char packet_request)
298
{
2090 holgerb 299
unsigned char i;
300
  //Debug("rqst: %02X",packet_request);
301
 
1919 holgerb 302
 switch(packet_request)
303
 {
304
  case HOTT_VARIO_PACKET_ID:
1921 holgerb 305
                VarioPacket.Altitude = HoehenWert/100 + 500;  
1942 holgerb 306
                VarioPacket.m_sec = BuildHoTT_Vario();
1943 holgerb 307
                VarioPacket.m_3sec = VarioPacket.m_sec;
308
                VarioPacket.m_10sec = VarioPacket.m_sec;
1919 holgerb 309
                if (VarioPacket.Altitude < VarioPacket.MinAltitude) VarioPacket.MinAltitude = VarioPacket.Altitude;
310
                if (VarioPacket.Altitude > VarioPacket.MaxAltitude) VarioPacket.MaxAltitude = VarioPacket.Altitude;            
2090 holgerb 311
                VarioPacket.WarnBeep = 0;//HoTT_Waring();
1919 holgerb 312
                HoTT_DataPointer = (unsigned char *) &VarioPacket;
2090 holgerb 313
        VarioPacket.FreeCharacters[0] = VarioCharacter;
314
    if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) VarioPacket.FreeCharacters[1] = 'C'; else VarioPacket.FreeCharacters[1] = ' ';
315
//      VarioPacket.FreeCharacters[2] = ' ';
316
    if(NC_ErrorCode)
317
         {
318
                for(i=0; i<16;i++) VarioPacket.Text[i+4] = pgm_read_byte(&NC_ERROR_TEXT[NC_ErrorCode][i]);
319
                VarioPacket.Text[0] = NC_ErrorCode/10 + '0';
320
                VarioPacket.Text[1] = NC_ErrorCode%10 + '0';
321
                VarioPacket.Text[2] = ':';
322
         }
2120 holgerb 323
         else
324
         if(FC_StatusFlags & FC_STATUS_LOWBAT) for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&UNDERVOLTAGE[i]); // no Error
325
         else    
326
         for(i=0; i<21;i++) VarioPacket.Text[i] = pgm_read_byte(&MIKROKOPTER[i]); // no Error
2090 holgerb 327
 
1919 holgerb 328
                return(sizeof(VarioPacket));
329
                break;
1921 holgerb 330
 
1919 holgerb 331
  case HOTT_GPS_PACKET_ID:
1921 holgerb 332
                GPSPacket.Altitude = HoehenWert/100 + 500;  
1943 holgerb 333
//              GPSPacket.Distance = GPSInfo.HomeDistance/10;  // macht die NC
334
//              GPSPacket.Heading = GPSInfo.HomeBearing/2;     // macht die NC
335
//              GPSPacket.Speed = (GPSInfo.Speed * 36) / 10;   // macht die NC
1942 holgerb 336
                GPSPacket.m_sec = BuildHoTT_Vario();
1921 holgerb 337
                GPSPacket.m_3sec = 120;
2090 holgerb 338
                GPSPacket.NumOfSats = GPSInfo.NumOfSats;
1919 holgerb 339
                GPSPacket.WarnBeep = HoTT_Waring();
2090 holgerb 340
                if(GPSInfo.Flags & FLAG_DIFFSOLN) GPSPacket.SatFix = 'D';
341
                else
342
        if(GPSInfo.SatFix == SATFIX_3D) GPSPacket.SatFix = ' ';
343
                else GPSPacket.SatFix = '!';
1919 holgerb 344
                HoTT_DataPointer = (unsigned char *) &GPSPacket;
2090 holgerb 345
                GPSPacket.FreeCharacters[0] = NC_GPS_ModeCharacter;
346
                GPSPacket.FreeCharacters[2] = GPSPacket.SatFix;
347
                GPSPacket.HomeDirection = GPSInfo.HomeBearing / 2;//230;
1919 holgerb 348
                return(sizeof(GPSPacket));  
349
                break;
350
  case HOTT_ELECTRIC_AIR_PACKET_ID:
1943 holgerb 351
                GetHottestBl();
1940 holgerb 352
                ElectricAirPacket.Altitude = HoehenWert/100 + 500;
1921 holgerb 353
                ElectricAirPacket.Battery1 = UBat;
1940 holgerb 354
                ElectricAirPacket.Battery2 = UBat;
1943 holgerb 355
                ElectricAirPacket.VoltageCell1 = ErsatzKompassInGrad / 2;
356
                ElectricAirPacket.VoltageCell8 = ElectricAirPacket.VoltageCell1;
1944 holgerb 357
                ElectricAirPacket.VoltageCell6 = GPSInfo.HomeBearing / 2;
1943 holgerb 358
                ElectricAirPacket.VoltageCell7 = GPSInfo.HomeDistance/20;
1944 holgerb 359
                ElectricAirPacket.VoltageCell13 = ElectricAirPacket.VoltageCell6;
1943 holgerb 360
                ElectricAirPacket.VoltageCell14 = ElectricAirPacket.VoltageCell7;
1942 holgerb 361
                ElectricAirPacket.m_sec = BuildHoTT_Vario();
1940 holgerb 362
                ElectricAirPacket.m_3sec = 120;
363
                ElectricAirPacket.InputVoltage = UBat;
1943 holgerb 364
                ElectricAirPacket.Temperature1 = MinBlTempertaure + 20;
365
                ElectricAirPacket.Temperature2 = MaxBlTempertaure + 20;
1940 holgerb 366
                ElectricAirPacket.Capacity = Capacity.UsedCapacity/10;
2090 holgerb 367
                ElectricAirPacket.WarnBeep = 0;//HoTT_Waring();
1940 holgerb 368
                ElectricAirPacket.Current = Capacity.ActualCurrent;
1919 holgerb 369
                HoTT_DataPointer = (unsigned char *) &ElectricAirPacket;
2090 holgerb 370
                ElectricAirPacket.FlightTimeMinutes = FlugSekunden / 60;
371
                ElectricAirPacket.FlightTimeSeconds = FlugSekunden % 60;
1919 holgerb 372
                return(sizeof(ElectricAirPacket));
373
                break;
1943 holgerb 374
  case HOTT_GENERAL_PACKET_ID:
375
                GetHottestBl();
376
                HoTTGeneral.Rpm = GPSInfo.HomeDistance/100;
377
                HoTTGeneral.VoltageCell1 = ErsatzKompassInGrad / 2;
1944 holgerb 378
                HoTTGeneral.VoltageCell6 = GPSInfo.HomeBearing / 2;
1943 holgerb 379
                if(UBat > BattLowVoltageWarning + 5) HoTTGeneral.FuelPercent = (UBat - (BattLowVoltageWarning + 6)) * 3;
380
                else HoTTGeneral.FuelPercent = 0;
1944 holgerb 381
                HoTTGeneral.FuelCapacity = HoehenWert/100;
382
                if(HoTTGeneral.FuelCapacity < 0) HoTTGeneral.FuelCapacity = 0;
1943 holgerb 383
                HoTTGeneral.Altitude = HoehenWert/100 + 500;
384
                HoTTGeneral.Battery1 = UBat;
385
                HoTTGeneral.Battery2 = UBat;
386
                HoTTGeneral.m_sec =  BuildHoTT_Vario();
387
                HoTTGeneral.m_3sec = 120;
388
                HoTTGeneral.InputVoltage = UBat;
389
                HoTTGeneral.Temperature1 = MinBlTempertaure + 20;
390
                HoTTGeneral.Temperature2 = MaxBlTempertaure + 20;
391
                HoTTGeneral.Capacity = Capacity.UsedCapacity/10;
2090 holgerb 392
                HoTTGeneral.WarnBeep = 0;//HoTT_Waring();
1943 holgerb 393
                HoTTGeneral.Current = Capacity.ActualCurrent;
394
                HoTT_DataPointer = (unsigned char *) &HoTTGeneral;
395
                return(sizeof(HoTTGeneral));
396
                break;
1919 holgerb 397
  default: return(0);
398
  }            
399
}
400
 
401
//---------------------------------------------------------------
1917 holgerb 402
void HoTT_Menu(void)
403
{
1982 holgerb 404
 static unsigned char line, page = 0,show_current = 0,show_mag = 0, show_poti = 0;
1921 holgerb 405
 unsigned char tmp;
1944 holgerb 406
 HoTTVarioMeter = (HoTTVarioMeter * 7 + VarioMeter) / 8;
407
 
1921 holgerb 408
 if(page == 0)
1933 holgerb 409
  switch(line++)
1917 holgerb 410
  {
1919 holgerb 411
        case 0:  
1923 holgerb 412
                if(FC_StatusFlags & FC_STATUS_LOWBAT)
1939 holgerb 413
                         HoTT_printfxy_BLINK(0,0,"  %2i.%1iV  ",UBat/10, UBat%10)
414
                        else
415
                         HoTT_printfxy(0,0,"  %2i.%1iV  ",UBat/10, UBat%10)
416
 
417
                        if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)
418
                          {
419
                           if(HoehenReglerAktiv)        HoTT_printfxy_INV(10,0,"ALT:%4im %c", (int16_t)(HoehenWert/100),VarioCharacter)
420
                           else                                         HoTT_printfxy(10,0,"ALT:%4im  ", (int16_t)(HoehenWert/100))
421
                           }
422
            else    HoTT_printfxy(10,0,"ALT:---- ");
423
                        break;
424
        case 1:  
425
                if(FC_StatusFlags & FC_STATUS_LOWBAT)
426
                         HoTT_printfxy_BLINK(0,1,"  %2i:%02i  ",FlugSekunden/60,FlugSekunden%60)
427
            else   HoTT_printfxy(0,1,"  %2i:%02i  ",FlugSekunden/60,FlugSekunden%60);                      
1941 holgerb 428
                        HoTT_printfxy(10,1,"DIR: %3d%c",ErsatzKompassInGrad, HoTT_GRAD);
1949 holgerb 429
                        if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(20,1,"C") else HoTT_printfxy(20,1," ");
1939 holgerb 430
            break;
431
        case 2:
432
                if(FC_StatusFlags & FC_STATUS_LOWBAT)
433
                         HoTT_printfxy_BLINK(0,2,"  %5i  ",Capacity.UsedCapacity)
434
            else   HoTT_printfxy(0,2,"  %5i  ",Capacity.UsedCapacity);                     
1940 holgerb 435
                        HoTT_printfxy(12,2,"I:%2i.%1iA ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10);
1939 holgerb 436
                        break;
437
        case 3:
2072 holgerb 438
                        HoTT_printfxy(9,0,":");
439
                        HoTT_printfxy(9,1,":");
440
                        HoTT_printfxy(9,2,":");
1939 holgerb 441
                        HoTT_printfxy(0,3,"---------+-----------");
2072 holgerb 442
 
443
//                      HoTT_printfxy(0,3,"---------------------");
1939 holgerb 444
                        HoTT_printfxy(0,6,"---------------------");
445
                        break;
446
        case 4:  
447
                        if(NaviDataOkay)
448
                        {
2072 holgerb 449
                                HoTT_printfxy(9,4,":");
1939 holgerb 450
                                HoTT_printfxy(0,4,"SAT:%2d ",GPSInfo.NumOfSats);
451
                            HoTT_printfxy(10,4,"DIST:%3dm",GPSInfo.HomeDistance/10);
452
                                switch (GPSInfo.SatFix)
453
                                {
454
                                        case SATFIX_3D:
455
                                                        if(GPSInfo.Flags & FLAG_DIFFSOLN) HoTT_printfxy(7,4,"D ")
456
                                                        else HoTT_printfxy(7,4,"3D");
457
                                                break;
458
                                        default:
1943 holgerb 459
                                                HoTT_printfxy_BLINK(7,4,"!!");
1939 holgerb 460
                                                break;
461
                                }      
462
                        }
463
                        else
1944 holgerb 464
                        {                    
1940 holgerb 465
                                Hott_ClearLine(4);
1939 holgerb 466
                        }
467
                        break;
468
        case 5:
469
                        if(NaviDataOkay)
470
                        {
1972 holgerb 471
                        if(show_mag)
472
                          {
473
                                HoTT_printfxy(0,5,"MAG:%3u%% ",EarthMagneticField);
1939 holgerb 474
                            HoTT_printfxy(12,5,"HM:%3d%c %c", GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter);
1972 holgerb 475
                                HoTT_printfxy(9,5,"incl:%2d%c(%2i)",EarthMagneticInclination, HoTT_GRAD,EarthMagneticInclinationTheoretic);
476
              }
477
                         else
478
                          {
2072 holgerb 479
                                HoTT_printfxy(0,5,"    %2um/s:  HM:%3d%c %c",GPSInfo.Speed, GPSInfo.HomeBearing, HoTT_GRAD, NC_GPS_ModeCharacter);
1972 holgerb 480
                          }    
1939 holgerb 481
            }
1940 holgerb 482
                        else Hott_ClearLine(5);
1939 holgerb 483
                        break;
484
        case 6:
485
                        break;
486
        case 7: if(NC_ErrorCode)
487
                  {
488
                           if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER)
489
                            {
490
                             Hott_ClearLine(7);
491
                             HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode);
492
                            }
493
                                else
494
                                {
495
                                 HoTT_printfxy(0,7,"ERR: ");     _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);};
496
                                }
2120 holgerb 497
                        else
498
                        if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!")
1939 holgerb 499
                        else HoTT_printfxy(0,7," www.MikroKopter.de  ");
500
                        break;
2090 holgerb 501
        case 8: //ASCIIPacket.WarnBeep = HoTT_Waring();
1939 holgerb 502
                        // ASCIIPacket.WarnBeep = Parameter_UserParam1;
503
        case 9:
504
        case 10:
505
        case 11:
506
        case 12:
507
        case 13:
508
        case 14:  
509
        case 15:  
510
        case 16:  
1972 holgerb 511
                        if(HottKeyboard == HOTT_KEY_SET) { if(show_mag) show_mag = 0; else show_mag = 1;}
512
                        else
1949 holgerb 513
                        if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 1; line = 0;};
1939 holgerb 514
                        HottKeyboard = 0;
515
                        break;
516
   default:  line = 0;
517
                        break;
518
  }
519
  else
520
  if(page == 1)
521
  switch(line++)
522
  {
523
        case 0:  
524
                if(FC_StatusFlags & FC_STATUS_LOWBAT)
1923 holgerb 525
                         HoTT_printfxy_BLINK(0,0," %2i:%02i  %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity)
526
            else   HoTT_printfxy(0,0," %2i:%02i  %2i.%1iV %4imAh",FlugSekunden/60,FlugSekunden%60,UBat/10, UBat%10,Capacity.UsedCapacity);                         
1917 holgerb 527
                        break;
528
        case 1:  
1921 holgerb 529
                        HoTT_printfxy(0,1,"DIR:%3d%c",KompassValue, HoTT_GRAD);
1917 holgerb 530
                        if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)
1920 holgerb 531
                          {
532
                           if(HoehenReglerAktiv)        HoTT_printfxy_INV(10,1,"ALT:%4im", (int16_t)(HoehenWert/100))
533
                           else                                         HoTT_printfxy(10,1,"ALT:%4im", (int16_t)(HoehenWert/100))
534
                           }
535
            else    HoTT_printfxy(10,1,"ALT:---- ");
536
                        HoTT_printfxy(20,1,"%c",VarioCharacter);
1917 holgerb 537
            break;
538
        case 2:
539
                        if(NaviDataOkay)
540
                        {
1923 holgerb 541
                          HoTT_printfxy(1,2,"HM:%3d%c  DIST:%3dm %c", GPSInfo.HomeBearing, HoTT_GRAD, GPSInfo.HomeDistance/10, NC_GPS_ModeCharacter);
1917 holgerb 542
            }
543
                        else
544
                        {
1923 holgerb 545
                         Hott_ClearLine(2);
1917 holgerb 546
                        }
547
                        break;
1923 holgerb 548
        case 3:
549
                        HoTT_printfxy(0,3,"PWR:%2i.%1iA (%iW) ",Capacity.ActualCurrent/10, Capacity.ActualCurrent%10,Capacity.ActualPower);
1949 holgerb 550
                        if(FC_StatusFlags2 & FC_STATUS2_CAREFREE) HoTT_printfxy_INV(19,3,"CF") else HoTT_printfxy(19,3,"  ");
1923 holgerb 551
                        break;
1917 holgerb 552
        case 4:  
553
                        if(NaviDataOkay)
554
                        {
1919 holgerb 555
                                HoTT_printfxy(0,4,"GPS:%2um/s SAT:%d ",GPSInfo.Speed,GPSInfo.NumOfSats);
1917 holgerb 556
                                switch (GPSInfo.SatFix)
557
                                {
558
                                        case SATFIX_3D:
559
                                                HoTT_printfxy(16,4,"  3D ");
560
                                                break;
1925 holgerb 561
                                        //case SATFIX_2D:
562
                                        //case SATFIX_NONE:
1917 holgerb 563
                                        default:
1925 holgerb 564
                                                HoTT_printfxy_BLINK(16,4,"NOFIX");
1917 holgerb 565
                                                break;
566
                                }      
567
                                if(GPSInfo.Flags & FLAG_DIFFSOLN)
568
                                {
569
                                        HoTT_printfxy(16,4,"DGPS ");
570
                                }
571
                        }
572
                        else
573
                        {                    //012345678901234567890
1930 holgerb 574
                                HoTT_printfxy(0,4,"   No NaviCtrl       ");
1917 holgerb 575
                        }
576
                        break;
577
        case 5:
1949 holgerb 578
                        if(show_current)
579
                         {
580
                                HoTT_printfxy(0,5,"%2i.%i %2i.%i %2i.%i %2i.%iA", Motor[0].Current/10,Motor[0].Current%10,Motor[1].Current/10,Motor[1].Current%10,Motor[2].Current/10,Motor[2].Current%10,Motor[3].Current/10,Motor[3].Current%10);
581
                         }
582
                         else
583
                         {
584
                                HoTT_printfxy(0,5,"%3i %3i %3i %3i%cC", Motor[0].Temperature, Motor[1].Temperature, Motor[2].Temperature, Motor[3].Temperature,HoTT_GRAD);
585
                         }
1917 holgerb 586
                        break;
587
        case 6:
1949 holgerb 588
                        if(show_current)
589
                         {
1917 holgerb 590
                    if(RequiredMotors == 4) Hott_ClearLine(6);
591
                                else
1949 holgerb 592
                                if(RequiredMotors == 6)  HoTT_printfxy(0,6,"%2i.%i %2i.%iA", Motor[4].Current/10,Motor[4].Current%10,Motor[5].Current/10,Motor[5].Current%10)
593
                                else
594
                                if(RequiredMotors > 6)   HoTT_printfxy(0,6,"%2i.%i %2i.%i %2i.%i %2i.%iA", Motor[4].Current/10,Motor[4].Current%10,Motor[5].Current/10,Motor[5].Current%10,Motor[6].Current/10,Motor[6].Current%10,Motor[7].Current/10,Motor[7].Current%10);
595
             }
596
                         else
597
                         {
598
                    if(RequiredMotors == 4) Hott_ClearLine(6);
599
                                else
1923 holgerb 600
                                if(RequiredMotors == 6)  HoTT_printfxy(0,6,"%3i %3i%cC        ", Motor[4].Temperature, Motor[5].Temperature,HoTT_GRAD)
1917 holgerb 601
                                else
1923 holgerb 602
                                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);
1949 holgerb 603
             }
1917 holgerb 604
                        break;
1930 holgerb 605
        case 7: if(NC_ErrorCode)
606
                  {
607
                           if(HoTTBlink && NC_ErrorCode < MAX_ERR_NUMBER)
608
                            {
609
                             Hott_ClearLine(7);
610
                             HoTT_printfxy_INV(0,7,"ERR: %2d !",NC_ErrorCode);
611
                            }
612
                                else
613
                                {
614
                                 HoTT_printfxy(0,7,"ERR: ");     _printf_P(&LIBFC_HoTT_Putchar, NC_ERROR_TEXT[NC_ErrorCode] , 0);};
615
                                }
2120 holgerb 616
                        else
617
                        if(FC_StatusFlags & FC_STATUS_LOWBAT) HoTT_printfxy(1,7,"!! LiPo voltage !!")
1937 holgerb 618
                        else HoTT_printfxy(0,7," www.MikroKopter.de  ");
1917 holgerb 619
                        break;
2090 holgerb 620
        case 8: // ASCIIPacket.WarnBeep = HoTT_Waring();
1919 holgerb 621
                        // ASCIIPacket.WarnBeep = Parameter_UserParam1;
1921 holgerb 622
        case 9:
1917 holgerb 623
        case 10:
624
        case 11:
625
        case 12:
626
        case 13:
1919 holgerb 627
        case 14:  
628
        case 15:  
629
        case 16:  
1949 holgerb 630
                        if(HottKeyboard == HOTT_KEY_SET) { if(show_current) show_current = 0; else show_current = 1;   Hott_ClearLine(5);  Hott_ClearLine(6);}
631
                        else
632
                        if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 2; line = 0;}
633
                        else
634
                        if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 0; line = 0;}
635
//if(HottKeyboard) HoTT_printfxy(15,6,"%KEY:%02x ",HottKeyboard);
1921 holgerb 636
                        HottKeyboard = 0;
637
                        break;
1933 holgerb 638
   default:  line = 0;
1921 holgerb 639
                        break;
640
  }
641
  else
1939 holgerb 642
  if(page == 2)
1933 holgerb 643
  switch(line++)
1921 holgerb 644
  {
645
        case 0:  
646
                        HoTT_printfxy_INV(0,0,"Setting:%u %s ",GetActiveParamSet(),EE_Parameter.Name);
647
                        break;
648
    case 1: HoTT_printfxy(0,1,"Min:%2i.%1iV %s ",BattLowVoltageWarning/10, BattLowVoltageWarning%10, Mixer.Name);
649
                        break;
1923 holgerb 650
    case 2:  HoTT_printfxy(0,2,"ALT:");
1921 holgerb 651
                 if(Parameter_GlobalConfig & CFG_HOEHENREGELUNG)
652
                 {
653
                          if(!(EE_Parameter.GlobalConfig & CFG_HOEHEN_SCHALTER)) HoTT_printf("POTI:%3u ", Parameter_HoehenSchalter)
654
                          else
655
                          {
656
                           if(Parameter_HoehenSchalter > 50) HoTT_printf("(ON)  ") else HoTT_printf("(OFF) ");
657
                           if((Parameter_ExtraConfig & CFG2_HEIGHT_LIMIT)) HoTT_printf("LIMIT", Parameter_HoehenSchalter)
658
                           else HoTT_printf("VARIO", Parameter_HoehenSchalter);
659
                          }
660
                         }
661
                        else
662
                                HoTT_printf("DISABLED");
663
                        break;
1923 holgerb 664
    case 3: HoTT_printfxy(0,3,"CF:");
1921 holgerb 665
                        if(!EE_Parameter.CareFreeModeControl) HoTT_printf("DISABLED")
666
                        else
667
                         {
668
                          if(CareFree)  HoTT_printf(" (ON) ") else HoTT_printf(" (OFF)");
669
                          if(EE_Parameter.ExtraConfig & CFG_LEARNABLE_CAREFREE) HoTT_printf(" TEACH");
670
                         }
671
                        break;
1923 holgerb 672
    case 4: HoTT_printfxy(0,4,"GPS:");
673
                    if(!(Parameter_GlobalConfig & CFG_GPS_AKTIV)) HoTT_printf("DISABLED")
674
                        else
675
                         {
676
                          CHK_POTI(tmp,EE_Parameter.NaviGpsModeControl);
677
                          if(tmp < 50) HoTT_printf("(FREE)")
678
                          else
679
                          if(tmp >= 180) HoTT_printf("(HOME)")
680
                          else
681
                          if(EE_Parameter.ExtraConfig & CFG_GPS_AID) HoTT_printf("(AID) ")
682
                          else HoTT_printf("(HOLD)")
683
                         }
684
                        if(EE_Parameter.FailSafeTime) HoTT_printfxy(10,4," FS:%usek ",EE_Parameter.FailSafeTime)
685
 
686
                        break;
687
    case 5: HoTT_printfxy(0,5,"HOME ALT:");
688
                        if(EE_Parameter.ComingHomeAltitude) HoTT_printf("%um",EE_Parameter.ComingHomeAltitude) else HoTT_printf("HOLD ");
689
                        break;
1921 holgerb 690
        case 6:
1982 holgerb 691
                        if(!show_poti)
692
                         {
693
              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);
694
                      HoTT_printfxy(0,7,"Gs:%4i Ya:%4i ",PPM_in[EE_Parameter.Kanalbelegung[K_GAS]]+127,PPM_in[EE_Parameter.Kanalbelegung[K_GIER]]);
695
                         }
696
                        else
697
                         {
698
              HoTT_printfxy(0,6,"P1:%4i P2:%4i 3:%3i",Poti1,Poti2, Poti3);
699
                      HoTT_printfxy(0,7,"P4:%4i P5:%4i 6:%3i",Poti4,Poti5, Poti6);
700
                         }
701
 
1921 holgerb 702
                        break;
703
    case 7: //HoTT_printfxy(0,6,"WARNINGS:");
704
                        if(HoTTBlink)
705
                        {
706
                         LIBFC_HoTT_SetPos(6 * 21);
707
                         if(!(Parameter_GlobalConfig & CFG_ACHSENKOPPLUNG_AKTIV)) HoTT_printf_BLINK("COUPLING OFF! ");
708
                         if(EE_Parameter.BitConfig & (CFG_LOOP_LINKS | CFG_LOOP_RECHTS | CFG_LOOP_UNTEN | CFG_LOOP_OBEN)) HoTT_printf_BLINK("LOOPING! ");
709
                         if(Parameter_GlobalConfig & CFG_HEADING_HOLD) HoTT_printf_BLINK("HH! ");
710
                         if(!(Parameter_GlobalConfig & CFG_KOMPASS_AKTIV)) HoTT_printf_BLINK("COMPASS OFF! ");
711
                        }
712
                        break;
2090 holgerb 713
    case 8: //ASCIIPacket.WarnBeep = HoTT_Waring();
1921 holgerb 714
                        break;
715
    case 9:
716
    case 10:
717
    case 11:
718
    case 12:
719
    case 13:
720
    case 14:
721
    case 15:
722
    case 16:
1982 holgerb 723
                        if(HottKeyboard == HOTT_KEY_SET) { if(show_poti) show_poti = 0; else show_poti = 1;   Hott_ClearLine(6);  Hott_ClearLine(7);}
724
                        else
2091 holgerb 725
                        if(HottKeyboard == HOTT_KEY_LEFT) { LIBFC_HoTT_Clear(); page = 3; line = 0;}
726
                        else
1949 holgerb 727
                        if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 1; line = 0;};
1921 holgerb 728
                        HottKeyboard = 0;
729
                        break;
1933 holgerb 730
   default:  line = 0;
1917 holgerb 731
                        break;
732
  }
2091 holgerb 733
  else
734
  if(page == 3)
735
  switch(line++)
736
  {
737
        case 0:  
738
                        HoTT_printfxy(0,2,"Speak:");
739
                        break;
740
        case 1:  
741
                        if(GetParamByte(PID_SPEAK_HOTT_CFG) & 0x01) HoTT_printfxy_INV(7,2,"All Messages ")
742
                        else                    HoTT_printfxy_INV(7,2,"Warnings only");
743
                        break;
744
        case 2:  
745
                        HoTT_printfxy(1,4,"Use (set) to select");
746
                        break;
747
    default:
748
                        if(HottKeyboard == HOTT_KEY_SET)
749
                         {
750
                          SetParamByte(PID_SPEAK_HOTT_CFG, GetParamByte(PID_SPEAK_HOTT_CFG) ^ 0x01);
751
                         }
752
                        else
753
                        if(HottKeyboard == HOTT_KEY_RIGHT) { LIBFC_HoTT_Clear(); page = 2; line = 0;};
754
                        HottKeyboard = 0;
755
                        line = 0;
756
                        break;
757
  }
1921 holgerb 758
  else page = 0;
1917 holgerb 759
}
760
 
1925 holgerb 761
#endif
1917 holgerb 762
 
763
 
764