LCD.cpp

#include "Arduino.h"
#include "config.h"
#include "def.h"
#include "types.h"
#include "MultiWii.h"
#include "Alarms.h"
#include "EEPROM.h"
#include "Output.h"
#include "RX.h"
#include "Serial.h"
#include "Sensors.h"
#include "LCD.h"

void __u8Inc(void * var, int16_t inc);
void __s8Inc(void * var, int16_t inc);
void __u16Inc(void * var, int16_t inc);
void __s16Inc(void * var, int16_t inc);
void __nullInc(void * var, int16_t inc);
void __u8Fmt(void * var, uint8_t mul, uint8_t dec);
void __u16Fmt(void * var, uint8_t mul, uint8_t dec);
void __s8BitsFmt(void * var, uint8_t mul, uint8_t dec);
void __s16Fmt(void * var, uint8_t mul, uint8_t dec);
void __uAuxFmt(void * var, uint8_t mul, uint8_t dec, uint8_t aux);
void __uAuxFmt1(void * var, uint8_t mul, uint8_t dec);
void __uAuxFmt2(void * var, uint8_t mul, uint8_t dec);
void __uAuxFmt3(void * var, uint8_t mul, uint8_t dec);
void __uAuxFmt4(void * var, uint8_t mul, uint8_t dec);
void __upMFmt(void * var, uint8_t mul, uint8_t dec);

void serviceCheckPLog(void);
void i2c_clear_OLED(void);
void LCDnextline(void);
void i2c_OLED_DIGOLE_send_string(const char *string);

// ************************************************************************************************************
// LCD & display & monitoring
// ************************************************************************************************************
// in any of the following cases an LCD is required and
// the primitives for exactly one of the available types are setup
#if defined(LCD_CONF) || defined(LCD_TELEMETRY) || defined(HAS_LCD)
static char line1[17],line2[17];
static char template7[7] = " .... ";
static char template3[3] = ". ";


#ifdef DISPLAY_FONT_DSIZE
  static uint8_t line_is_valid = 0;
#endif
#if ( defined(LOG_PERMANENT) && defined(DISPLAY_MULTILINE) )
  static uint8_t lnr = 0;
#endif

#define LCD_FLUSH {/*UartSendData();*/ delay(30); }

char digit10000(uint16_t v) {return '0' + v / 10000;}
char digit1000(uint16_t v) {return '0' + v / 1000 - (v/10000) * 10;}
char digit100(uint16_t v) {return '0' + v / 100 - (v/1000) * 10;}
char digit10(uint16_t v) {return '0' + v / 10 - (v/100) * 10;}
char digit1(uint16_t v) {return '0' + v - (v/10) * 10;}

#if defined(OLED_I2C_128x64)
// ########################################
// #  i2c OLED display funtion primitives #
// ########################################
#define OLED_address   0x3C     // OLED at address 0x3C in 7bit
char LINE_FILL_STRING[] = "                      "; // Used by clear_OLED() 128 bits / 6 bytes = 21 chars per row  
unsigned char CHAR_FORMAT = 0;      // use to INVERSE characters
// use INVERSE    CHAR_FORMAT = 0b01111111;
// use NORMAL     CHAR_FORMAT = 0;
static char buffer; // buffer to read bytes from ROM, using pgm_read_byte macro. NB! avr/pgmspace.h must be included prog_uchar LOGO[] PROGMEM = {  // My first attempt to flash a logo....
const uint8_t PROGMEM LOGO[] = { // logo....
    0x00, 0x00, 0x02, 0xFE, 0xFE, 0x0E, 0xFC, 0xF8, 0xC0, 0x00, 0xC0, 0xF8, 0xFC, 0x0E, 0xFE, 0xFE,
    0xFE, 0x02, 0x00, 0x00, 0x30, 0xF0, 0xF0, 0x00, 0x00, 0x00, 0x30, 0xF0, 0xF0, 0x00, 0x00, 0x00,
    0x02, 0xFE, 0xFE, 0x00, 0x00, 0x00, 0x30, 0xF8, 0xFE, 0x30, 0x30, 0x30, 0x00, 0x00, 0x30, 0xF6,
    0xF6, 0x00, 0x00, 0x00, 0x02, 0x06, 0x1E, 0xFE, 0xFE, 0xC2, 0x00, 0xC2, 0xFE, 0x7E, 0xFE, 0xC2,
    0x00, 0xC2, 0xFE, 0xFE, 0x3E, 0x06, 0x02, 0x00, 0x30, 0xF6, 0xF6, 0x00, 0x00, 0x00, 0x00, 0x30,
    0xF6, 0xF6, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00, 0x83, 0x9F, 0x9F, 0x9F, 0x83, 0x80, 0x90, 0x9F, 0x9F,
    0x9F, 0x10, 0x00, 0x00, 0x00, 0x0F, 0x1F, 0x18, 0x18, 0x18, 0x0C, 0x1F, 0x1F, 0x10, 0x00, 0x00,
    0x10, 0x1F, 0x1F, 0x10, 0x00, 0x80, 0x80, 0x8F, 0x9F, 0x98, 0x9E, 0x8F, 0x80, 0x80, 0x90, 0x1F,
    0x1F, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x07, 0x1F, 0x1E, 0x1F, 0x03, 0x00, 0x07, 0x1F,
    0x1E, 0x1F, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x10, 0x1F, 0x1F, 0x10, 0x00, 0x00, 0x00, 0x10,
    0x1F, 0x1F, 0x10, 0x00, 0x00, 0x00, 0x00, 0x00, 0xC0, 0xC0, 0x00, 0x00, 0x00, 0x80, 0x00, 0x00,
    0x00, 0xC0, 0xC0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0xE0, 0xF8, 0x3C, 0x0E, 0x07, 0x03, 0x03, 0x01, 0x81, 0xC1, 0xC1, 0xC1, 0xC1, 0x81, 0x01,
    0x03, 0x03, 0x07, 0x0E, 0x3C, 0xF8, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xE0,
    0xF8, 0x3C, 0x0E, 0x07, 0x03, 0x03, 0x01, 0x81, 0xC1, 0xC1, 0xC1, 0xC1, 0x81, 0x01, 0x03, 0x03,
    0x07, 0x0E, 0x3C, 0xF8, 0xE0, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x06, 0x3E, 0xF8, 0xC0,
    0xFC, 0x0E, 0xFC, 0xC0, 0xF8, 0x3E, 0x06, 0x00, 0xFE, 0xFE, 0x00, 0x06, 0xFF, 0xFF, 0x86, 0x86,
    0x00, 0xFF, 0xFF, 0x0C, 0x06, 0x06, 0xFE, 0xFC, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x1F, 0x7F, 0xF0, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x07, 0x0F, 0x0C, 0x0C, 0x0F, 0x07, 0x00,
    0x00, 0x00, 0x80, 0xC0, 0xF0, 0x7F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x1F,
    0x7F, 0xF0, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x07, 0x0F, 0x0C, 0x0C, 0x0F, 0x07, 0x00, 0x00, 0x00,
    0x80, 0xC0, 0xF0, 0x7F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x80, 0x80, 0xC0, 0xC0, 0xC0, 0xC1, 0xC1,
    0x80, 0x80, 0x00, 0x01, 0x01, 0x00, 0x00, 0xC0, 0xC1, 0xC1, 0xC0, 0xC0, 0xC0, 0xC1, 0xC1, 0xC1,
    0x80, 0x01, 0x01, 0x00, 0x00, 0x00, 0x81, 0x81, 0xC0, 0xC0, 0xC0, 0xC0, 0xC0, 0x80, 0x80, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x01, 0x03, 0x03, 0x07, 0x06, 0x06, 0x06, 0x06, 0x06, 0x06, 0x06, 0x06,
    0x07, 0x03, 0x03, 0x01, 0x03, 0x07, 0x0E, 0x1C, 0x38, 0xF0, 0xE0, 0xE0, 0xF0, 0x38, 0x1C, 0x0E,
    0x07, 0x03, 0x01, 0x03, 0x03, 0x07, 0x06, 0x06, 0x06, 0x06, 0x06, 0x06, 0x06, 0x06, 0x07, 0x03,
    0x03, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFC, 0xFE, 0xFF, 0x07, 0x03, 0x01, 0x01, 0xE1, 0xE1, 0xE1,
    0xE3, 0xE7, 0xE7, 0xE6, 0x00, 0x00, 0x00, 0xFF, 0xFF, 0xFF, 0x71, 0x71, 0x71, 0x71, 0x7B, 0x7F,
    0x3F, 0x1F, 0x00, 0x00, 0x00, 0x0F, 0x1F, 0x3F, 0x39, 0x71, 0x71, 0x71, 0xE3, 0xE7, 0xE7, 0x86,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x80, 0xC0, 0xE0, 0x70, 0x30, 0x38, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18,
    0x38, 0x30, 0x70, 0xE0, 0xF0, 0xB8, 0x1C, 0x0E, 0x07, 0x03, 0x01, 0x01, 0x03, 0x07, 0x0E, 0x1C,
    0xB8, 0xF0, 0xE0, 0x70, 0x30, 0x38, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x18, 0x38, 0x30,
    0x70, 0xE0, 0xC0, 0x80, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x07, 0x0F, 0x0E, 0x1C, 0x1C, 0x1C, 0x1C, 0x1C,
    0x0E, 0x0F, 0x0F, 0x07, 0x00, 0x00, 0x00, 0x1F, 0x1F, 0x1F, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x03, 0x0F, 0x0F, 0x1E, 0x1C, 0x1C, 0x1C, 0x1C, 0x1E, 0x0F, 0x0F, 0x07,
    0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00,
    0x00, 0xFE, 0xFF, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x78, 0xFC, 0xCC, 0xCC, 0xFC, 0x78, 0x00,
    0x00, 0x00, 0x00, 0x00, 0x03, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFE,
    0xFF, 0x03, 0x00, 0x00, 0x00, 0x00, 0x00, 0x78, 0xFC, 0xCC, 0xCC, 0xFC, 0x78, 0x00, 0x00, 0x00,
    0x00, 0x00, 0x03, 0xFF, 0xFE, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0xFC, 0x04,
    0x04, 0x04, 0x04, 0x04, 0x04, 0x08, 0x10, 0xE0, 0x00, 0x00, 0x80, 0x40, 0x20, 0x20, 0x20, 0x40,
    0x80, 0x00, 0x60, 0x80, 0x00, 0x00, 0x00, 0x80, 0x60, 0x00, 0xF0, 0x08, 0x04, 0x04, 0x04, 0x08,
    0xF0, 0x00, 0x00, 0xE0, 0x5C, 0x44, 0x44, 0x44, 0x84, 0x04, 0x00, 0x00, 0x10, 0x08, 0x04, 0x04,
    0x04, 0x8C, 0x70, 0x00, 0x00, 0x30, 0x48, 0x84, 0x84, 0x84, 0x48, 0x30, 0x00, 0x00, 0x00, 0x00,
    0x00, 0x01, 0x07, 0x0F, 0x1C, 0x38, 0x30, 0x70, 0x60, 0x60, 0x60, 0x60, 0x60, 0x60, 0x60, 0x60,
    0x70, 0x30, 0x38, 0x1C, 0x0F, 0x07, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x01,
    0x07, 0x0F, 0x1C, 0x38, 0x30, 0x70, 0x60, 0x60, 0x60, 0x60, 0x60, 0x60, 0x60, 0x60, 0x70, 0x30,
    0x38, 0x1C, 0x0F, 0x07, 0x01, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3F, 0x20,
    0x20, 0x20, 0x20, 0x20, 0x20, 0x10, 0x08, 0x07, 0x00, 0x00, 0x0F, 0x12, 0x22, 0x22, 0x22, 0x12,
    0x0B, 0x00, 0x00, 0x01, 0x0E, 0x30, 0x0E, 0x01, 0x00, 0x00, 0x0F, 0x10, 0x20, 0x20, 0x20, 0x10,
    0x0F, 0x00, 0x00, 0x08, 0x10, 0x20, 0x20, 0x20, 0x10, 0x0F, 0x00, 0x00, 0x20, 0x30, 0x28, 0x24,
    0x22, 0x21, 0x20, 0x00, 0x00, 0x0E, 0x11, 0x20, 0x20, 0x20, 0x11, 0x0E, 0x00, 0x00, 0x00, 0x00

};

const uint8_t PROGMEM myFont[][5] = { // Refer to "Times New Roman" Font Database... 5 x 7 font
  { 0x00,0x00,0x00,0x00,0x00},
  { 0x00,0x00,0x4F,0x00,0x00}, //   (  1)  ! - 0x0021 Exclamation Mark
  { 0x00,0x07,0x00,0x07,0x00}, //   (  2)  " - 0x0022 Quotation Mark
  { 0x14,0x7F,0x14,0x7F,0x14}, //   (  3)  # - 0x0023 Number Sign
  { 0x24,0x2A,0x7F,0x2A,0x12}, //   (  4)  $ - 0x0024 Dollar Sign
  { 0x23,0x13,0x08,0x64,0x62}, //   (  5)  % - 0x0025 Percent Sign
  { 0x36,0x49,0x55,0x22,0x50}, //   (  6)  & - 0x0026 Ampersand
  { 0x00,0x05,0x03,0x00,0x00}, //   (  7)  ' - 0x0027 Apostrophe
  { 0x00,0x1C,0x22,0x41,0x00}, //   (  8)  ( - 0x0028 Left Parenthesis
  { 0x00,0x41,0x22,0x1C,0x00}, //   (  9)  ) - 0x0029 Right Parenthesis
  { 0x14,0x08,0x3E,0x08,0x14}, //   ( 10)  * - 0x002A Asterisk
  { 0x08,0x08,0x3E,0x08,0x08}, //   ( 11)  + - 0x002B Plus Sign
  { 0x00,0x50,0x30,0x00,0x00}, //   ( 12)  , - 0x002C Comma
  { 0x08,0x08,0x08,0x08,0x08}, //   ( 13)  - - 0x002D Hyphen-Minus
  { 0x00,0x60,0x60,0x00,0x00}, //   ( 14)  . - 0x002E Full Stop
  { 0x20,0x10,0x08,0x04,0x02}, //   ( 15)  / - 0x002F Solidus
  { 0x3E,0x51,0x49,0x45,0x3E}, //   ( 16)  0 - 0x0030 Digit Zero
  { 0x00,0x42,0x7F,0x40,0x00}, //   ( 17)  1 - 0x0031 Digit One
  { 0x42,0x61,0x51,0x49,0x46}, //   ( 18)  2 - 0x0032 Digit Two
  { 0x21,0x41,0x45,0x4B,0x31}, //   ( 19)  3 - 0x0033 Digit Three
  { 0x18,0x14,0x12,0x7F,0x10}, //   ( 20)  4 - 0x0034 Digit Four
  { 0x27,0x45,0x45,0x45,0x39}, //   ( 21)  5 - 0x0035 Digit Five
  { 0x3C,0x4A,0x49,0x49,0x30}, //   ( 22)  6 - 0x0036 Digit Six
  { 0x01,0x71,0x09,0x05,0x03}, //   ( 23)  7 - 0x0037 Digit Seven
  { 0x36,0x49,0x49,0x49,0x36}, //   ( 24)  8 - 0x0038 Digit Eight
  { 0x06,0x49,0x49,0x29,0x1E}, //   ( 25)  9 - 0x0039 Dight Nine
  { 0x00,0x36,0x36,0x00,0x00}, //   ( 26)  : - 0x003A Colon
  { 0x00,0x56,0x36,0x00,0x00}, //   ( 27)  ; - 0x003B Semicolon
  { 0x08,0x14,0x22,0x41,0x00}, //   ( 28)  < - 0x003C Less-Than Sign
  { 0x14,0x14,0x14,0x14,0x14}, //   ( 29)  = - 0x003D Equals Sign
  { 0x00,0x41,0x22,0x14,0x08}, //   ( 30)  > - 0x003E Greater-Than Sign
  { 0x02,0x01,0x51,0x09,0x06}, //   ( 31)  ? - 0x003F Question Mark
  { 0x32,0x49,0x79,0x41,0x3E}, //   ( 32)  @ - 0x0040 Commercial At
  { 0x7E,0x11,0x11,0x11,0x7E}, //   ( 33)  A - 0x0041 Latin Capital Letter A
  { 0x7F,0x49,0x49,0x49,0x36}, //   ( 34)  B - 0x0042 Latin Capital Letter B
  { 0x3E,0x41,0x41,0x41,0x22}, //   ( 35)  C - 0x0043 Latin Capital Letter C
  { 0x7F,0x41,0x41,0x22,0x1C}, //   ( 36)  D - 0x0044 Latin Capital Letter D
  { 0x7F,0x49,0x49,0x49,0x41}, //   ( 37)  E - 0x0045 Latin Capital Letter E
  { 0x7F,0x09,0x09,0x09,0x01}, //   ( 38)  F - 0x0046 Latin Capital Letter F
  { 0x3E,0x41,0x49,0x49,0x7A}, //   ( 39)  G - 0x0047 Latin Capital Letter G
  { 0x7F,0x08,0x08,0x08,0x7F}, //   ( 40)  H - 0x0048 Latin Capital Letter H
  { 0x00,0x41,0x7F,0x41,0x00}, //   ( 41)  I - 0x0049 Latin Capital Letter I
  { 0x20,0x40,0x41,0x3F,0x01}, //   ( 42)  J - 0x004A Latin Capital Letter J
  { 0x7F,0x08,0x14,0x22,0x41}, //   ( 43)  K - 0x004B Latin Capital Letter K
  { 0x7F,0x40,0x40,0x40,0x40}, //   ( 44)  L - 0x004C Latin Capital Letter L
  { 0x7F,0x02,0x0C,0x02,0x7F}, //   ( 45)  M - 0x004D Latin Capital Letter M
  { 0x7F,0x04,0x08,0x10,0x7F}, //   ( 46)  N - 0x004E Latin Capital Letter N
  { 0x3E,0x41,0x41,0x41,0x3E}, //   ( 47)  O - 0x004F Latin Capital Letter O
  { 0x7F,0x09,0x09,0x09,0x06}, //   ( 48)  P - 0x0050 Latin Capital Letter P
  { 0x3E,0x41,0x51,0x21,0x5E}, //   ( 49)  Q - 0x0051 Latin Capital Letter Q
  { 0x7F,0x09,0x19,0x29,0x46}, //   ( 50)  R - 0x0052 Latin Capital Letter R
  { 0x46,0x49,0x49,0x49,0x31}, //   ( 51)  S - 0x0053 Latin Capital Letter S
  { 0x01,0x01,0x7F,0x01,0x01}, //   ( 52)  T - 0x0054 Latin Capital Letter T
  { 0x3F,0x40,0x40,0x40,0x3F}, //   ( 53)  U - 0x0055 Latin Capital Letter U
  { 0x1F,0x20,0x40,0x20,0x1F}, //   ( 54)  V - 0x0056 Latin Capital Letter V
  { 0x3F,0x40,0x38,0x40,0x3F}, //   ( 55)  W - 0x0057 Latin Capital Letter W
  { 0x63,0x14,0x08,0x14,0x63}, //   ( 56)  X - 0x0058 Latin Capital Letter X
  { 0x07,0x08,0x70,0x08,0x07}, //   ( 57)  Y - 0x0059 Latin Capital Letter Y
  { 0x61,0x51,0x49,0x45,0x43}, //   ( 58)  Z - 0x005A Latin Capital Letter Z
  { 0x00,0x7F,0x41,0x41,0x00}, //   ( 59)  [ - 0x005B Left Square Bracket
  { 0x02,0x04,0x08,0x10,0x20}, //   ( 60)  \ - 0x005C Reverse Solidus
  { 0x00,0x41,0x41,0x7F,0x00}, //   ( 61)  ] - 0x005D Right Square Bracket
  { 0x04,0x02,0x01,0x02,0x04}, //   ( 62)  ^ - 0x005E Circumflex Accent
  { 0x40,0x40,0x40,0x40,0x40}, //   ( 63)  _ - 0x005F Low Line
  { 0x01,0x02,0x04,0x00,0x00}, //   ( 64)  ` - 0x0060 Grave Accent
  { 0x20,0x54,0x54,0x54,0x78}, //   ( 65)  a - 0x0061 Latin Small Letter A
  { 0x7F,0x48,0x44,0x44,0x38}, //   ( 66)  b - 0x0062 Latin Small Letter B
  { 0x38,0x44,0x44,0x44,0x20}, //   ( 67)  c - 0x0063 Latin Small Letter C
  { 0x38,0x44,0x44,0x48,0x7F}, //   ( 68)  d - 0x0064 Latin Small Letter D
  { 0x38,0x54,0x54,0x54,0x18}, //   ( 69)  e - 0x0065 Latin Small Letter E
  { 0x08,0x7E,0x09,0x01,0x02}, //   ( 70)  f - 0x0066 Latin Small Letter F
  { 0x06,0x49,0x49,0x49,0x3F}, //   ( 71)  g - 0x0067 Latin Small Letter G
  { 0x7F,0x08,0x04,0x04,0x78}, //   ( 72)  h - 0x0068 Latin Small Letter H
  { 0x00,0x44,0x7D,0x40,0x00}, //   ( 73)  i - 0x0069 Latin Small Letter I
  { 0x20,0x40,0x44,0x3D,0x00}, //   ( 74)  j - 0x006A Latin Small Letter J
  { 0x7F,0x10,0x28,0x44,0x00}, //   ( 75)  k - 0x006B Latin Small Letter K
  { 0x00,0x41,0x7F,0x40,0x00}, //   ( 76)  l - 0x006C Latin Small Letter L
  { 0x7C,0x04,0x18,0x04,0x7C}, //   ( 77)  m - 0x006D Latin Small Letter M
  { 0x7C,0x08,0x04,0x04,0x78}, //   ( 78)  n - 0x006E Latin Small Letter N
  { 0x38,0x44,0x44,0x44,0x38}, //   ( 79)  o - 0x006F Latin Small Letter O
  { 0x7C,0x14,0x14,0x14,0x08}, //   ( 80)  p - 0x0070 Latin Small Letter P
  { 0x08,0x14,0x14,0x18,0x7C}, //   ( 81)  q - 0x0071 Latin Small Letter Q
  { 0x7C,0x08,0x04,0x04,0x08}, //   ( 82)  r - 0x0072 Latin Small Letter R
  { 0x48,0x54,0x54,0x54,0x20}, //   ( 83)  s - 0x0073 Latin Small Letter S
  { 0x04,0x3F,0x44,0x40,0x20}, //   ( 84)  t - 0x0074 Latin Small Letter T
  { 0x3C,0x40,0x40,0x20,0x7C}, //   ( 85)  u - 0x0075 Latin Small Letter U
  { 0x1C,0x20,0x40,0x20,0x1C}, //   ( 86)  v - 0x0076 Latin Small Letter V
  { 0x3C,0x40,0x30,0x40,0x3C}, //   ( 87)  w - 0x0077 Latin Small Letter W
  { 0x44,0x28,0x10,0x28,0x44}, //   ( 88)  x - 0x0078 Latin Small Letter X
  { 0x0C,0x50,0x50,0x50,0x3C}, //   ( 89)  y - 0x0079 Latin Small Letter Y
  { 0x44,0x64,0x54,0x4C,0x44}, //   ( 90)  z - 0x007A Latin Small Letter Z
  { 0x00,0x08,0x36,0x41,0x00}, //   ( 91)  { - 0x007B Left Curly Bracket
  { 0x00,0x00,0x7F,0x00,0x00}, //   ( 92)  | - 0x007C Vertical Line
  { 0x00,0x41,0x36,0x08,0x00}, //   ( 93)  } - 0x007D Right Curly Bracket
  { 0x02,0x01,0x02,0x04,0x02}, //   ( 94)  ~ - 0x007E Tilde
  { 0x3E,0x55,0x55,0x41,0x22}, //   ( 95)  C - 0x0080 <Control>
  { 0x00,0x00,0x00,0x00,0x00}, //   ( 96)    - 0x00A0 No-Break Space
  { 0x00,0x00,0x79,0x00,0x00}, //   ( 97)  ! - 0x00A1 Inverted Exclamation Mark
  { 0x18,0x24,0x74,0x2E,0x24}, //   ( 98)  c - 0x00A2 Cent Sign
  { 0x48,0x7E,0x49,0x42,0x40}, //   ( 99)  L - 0x00A3 Pound Sign
  { 0x5D,0x22,0x22,0x22,0x5D}, //   (100)  o - 0x00A4 Currency Sign
  { 0x15,0x16,0x7C,0x16,0x15}, //   (101)  Y - 0x00A5 Yen Sign
  { 0x00,0x00,0x77,0x00,0x00}, //   (102)  | - 0x00A6 Broken Bar
  { 0x0A,0x55,0x55,0x55,0x28}, //   (103)    - 0x00A7 Section Sign
  { 0x00,0x01,0x00,0x01,0x00}, //   (104)  " - 0x00A8 Diaeresis
  { 0x00,0x0A,0x0D,0x0A,0x04}, //   (105)    - 0x00AA Feminine Ordinal Indicator
  { 0x08,0x14,0x2A,0x14,0x22}, //   (106) << - 0x00AB Left-Pointing Double Angle Quotation Mark
  { 0x04,0x04,0x04,0x04,0x1C}, //   (107)    - 0x00AC Not Sign
  { 0x00,0x08,0x08,0x08,0x00}, //   (108)  - - 0x00AD Soft Hyphen
  { 0x01,0x01,0x01,0x01,0x01}, //   (109)    - 0x00AF Macron
  { 0x00,0x02,0x05,0x02,0x00}, //   (110)    - 0x00B0 Degree Sign
  { 0x44,0x44,0x5F,0x44,0x44}, //   (111) +- - 0x00B1 Plus-Minus Sign
  { 0x00,0x00,0x04,0x02,0x01}, //   (112)  ` - 0x00B4 Acute Accent
  { 0x7E,0x20,0x20,0x10,0x3E}, //   (113)  u - 0x00B5 Micro Sign
  { 0x06,0x0F,0x7F,0x00,0x7F}, //   (114)    - 0x00B6 Pilcrow Sign
  { 0x00,0x18,0x18,0x00,0x00}, //   (115)  . - 0x00B7 Middle Dot
  { 0x00,0x40,0x50,0x20,0x00}, //   (116)    - 0x00B8 Cedilla
  { 0x00,0x0A,0x0D,0x0A,0x00}, //   (117)    - 0x00BA Masculine Ordinal Indicator
  { 0x22,0x14,0x2A,0x14,0x08}, //   (118) >> - 0x00BB Right-Pointing Double Angle Quotation Mark
  { 0x17,0x08,0x34,0x2A,0x7D}, //   (119) /4 - 0x00BC Vulgar Fraction One Quarter
  { 0x17,0x08,0x04,0x6A,0x59}, //   (120) /2 - 0x00BD Vulgar Fraction One Half
  { 0x30,0x48,0x45,0x40,0x20}, //   (121)  ? - 0x00BE Inverted Question Mark
  { 0x42,0x00,0x42,0x00,0x42}, //   (122)    - 0x00BF Bargraph - 0
  { 0x7E,0x42,0x00,0x42,0x00}, //   (123)    - 0x00BF Bargraph - 1
  { 0x7E,0x7E,0x00,0x42,0x00}, //   (124)    - 0x00BF Bargraph - 2
  { 0x7E,0x7E,0x7E,0x42,0x00}, //   (125)    - 0x00BF Bargraph - 3
  { 0x7E,0x7E,0x7E,0x7E,0x00}, //   (126)    - 0x00BF Bargraph - 4
  { 0x7E,0x7E,0x7E,0x7E,0x7E}, //   (127)    - 0x00BF Bargraph - 5
};


void i2c_OLED_send_cmd(uint8_t command) {
  TWBR = ((F_CPU / 400000L) - 16) / 2; // change the I2C clock rate
  i2c_writeReg(OLED_address, 0x80, (uint8_t)command);
}

void i2c_OLED_send_byte(uint8_t val) {
  TWBR = ((F_CPU / 400000L) - 16) / 2; // change the I2C clock rate
  i2c_writeReg(OLED_address, 0x40, (uint8_t)val);
}

void  i2c_OLED_init(void){
  i2c_OLED_send_cmd(0xae);    //display off
  i2c_OLED_send_cmd(0xa4);          //SET All pixels OFF
//  i2c_OLED_send_cmd(0xa5);            //SET ALL pixels ON
  delay(50);
  i2c_OLED_send_cmd(0x20);            //Set Memory Addressing Mode
  i2c_OLED_send_cmd(0x02);            //Set Memory Addressing Mode to Page addressing mode(RESET)
//  i2c_OLED_send_cmd(0xa0);      //colum address 0 mapped to SEG0 (POR)*** wires at bottom
  i2c_OLED_send_cmd(0xa1);    //colum address 127 mapped to SEG0 (POR) ** wires at top of board
//  i2c_OLED_send_cmd(0xC0);            // Scan from Right to Left (POR)         *** wires at bottom
  i2c_OLED_send_cmd(0xC8);          // Scan from Left to Right               ** wires at top
  i2c_OLED_send_cmd(0xa6);            // Set WHITE chars on BLACK backround
//  i2c_OLED_send_cmd(0xa7);            // Set BLACK chars on WHITE backround
  i2c_OLED_send_cmd(0x81);            // Setup CONTRAST CONTROL, following byte is the contrast Value
  i2c_OLED_send_cmd(0xaf);            // contrast value between 1 ( == dull) to 256 ( == bright)
//  i2c_OLED_send_cmd(0xd3);            // Display Offset :
//  i2c_OLED_send_cmd(0x0);            // 0
//  delay(20);
//  i2c_OLED_send_cmd(0x40);            // Display start line [0;63] -> [0x40;0x7f]
//  delay(20);
  #ifdef DISPLAY_FONT_DSIZE
    i2c_OLED_send_cmd(0xd6);            // zoom
    i2c_OLED_send_cmd(0x01);            // on
  #else
//    i2c_OLED_send_cmd(0xd6);            // zoom
//    i2c_OLED_send_cmd(0x00);            // off
  #endif
  delay(20);
  i2c_OLED_send_cmd(0xaf);          //display on
  delay(20);
}

void i2c_OLED_send_char(unsigned char ascii){
  unsigned char i;
  for(i=0;i<5;i++){
    buffer = pgm_read_byte(&(myFont[ascii - 32][i])); // call the macro to read ROM byte and put it in buffer
    buffer ^= CHAR_FORMAT;  // apply
    i2c_OLED_send_byte(buffer);
  }
  i2c_OLED_send_byte(CHAR_FORMAT);    // the gap
}

void i2c_OLED_send_string(const char *string){  // Sends a string of chars untill null terminator
  unsigned char i=0;
  while(*string){
    for(i=0;i<5;i++){
      buffer = pgm_read_byte(&(myFont[(*string)- 32][i])); // call the macro to read the ROM ASCII table
      buffer ^= CHAR_FORMAT;
      i2c_OLED_send_byte((unsigned char)buffer);
    }
    i2c_OLED_send_byte(CHAR_FORMAT);    // the gap
    *string++;
  }
}

#ifndef SUPPRESS_OLED_I2C_128x64LOGO       // Do we want the Logo displayed ?
void i2c_OLED_send_logo(void){
  unsigned char i,j;
  i2c_OLED_send_cmd(0xa6);              //Set Normal Display
  i2c_OLED_send_cmd(0xae);      // Display OFF
  i2c_OLED_send_cmd(0x20);              // Set Memory Addressing Mode
  i2c_OLED_send_cmd(0x00);              // Set Memory Addressing Mode to Horizontal addressing mode
  i2c_OLED_send_cmd(0xb0);              // set page address to 0
  i2c_OLED_send_cmd(0X40);              // Display start line register to 0
  i2c_OLED_send_cmd(0);                 // Set low col address to 0
  i2c_OLED_send_cmd(0x10);              // Set high col address to 0
  for(uint16_t k=0; k<1024; k++) {          // fill the display's RAM with graphic... 128*64 pixel picture
    buffer = pgm_read_byte(&(LOGO[k]));
    i2c_OLED_send_byte(buffer);
  }
  i2c_OLED_send_cmd(0x81);             // Setup CONTRAST CONTROL, following byte is the contrast Value... always a 2 byte instruction
  i2c_OLED_send_cmd(0x0);              // Set contrast value to 0
  i2c_OLED_send_cmd(0xaf);           // display on
  for(j=0; j<2; j++){
    for(i=0x01; i<0xff; i++){
      i2c_OLED_send_cmd(0x81);         // Setup CONTRAST CONTROL, following byte is the contrast Value
      i2c_OLED_send_cmd(i);            // Set contrast value
      delay(1);
    }
    for(i=0xff; i>0x01; i--){
      i2c_OLED_send_cmd(0x81);         // Setup CONTRAST CONTROL, following byte is the contrast Value
      i2c_OLED_send_cmd(i);            // Set contrast value
      delay(1);
    }
  }
  i2c_OLED_init();
  i2c_clear_OLED();
}
#if defined (OLED_I2C_128x64LOGO_PERMANENT)
void i2c_OLED_Put_Logo(void){
  unsigned char i,j;
  i2c_OLED_send_cmd(0xa6);              //Set Normal Display
  i2c_OLED_send_cmd(0xae);              // Display OFF
  i2c_OLED_send_cmd(0x20);              // Set Memory Addressing Mode
  i2c_OLED_send_cmd(0x00);              // Set Memory Addressing Mode to Horizontal addressing mode
  i2c_OLED_send_cmd(0xb0);              // set page address to 0
  i2c_OLED_send_cmd(0X40);              // Display start line register to 0
  i2c_OLED_send_cmd(0);                 // Set low col address to 0
  i2c_OLED_send_cmd(0x10);              // Set high col address to 0
  for(int i=0; i<1024; i++) {           // fill the display's RAM with graphic... 128*64 pixel picture
    buffer = pgm_read_byte(&(LOGO[i]));
    i2c_OLED_send_byte(buffer);
  }
  i2c_OLED_send_cmd(0x81);              // Setup CONTRAST CONTROL, following byte is the contrast Value... always a 2 byte instruction
  i2c_OLED_send_cmd(250);               // Here you can set the brightness 1 = dull, 255 is very bright
  i2c_OLED_send_cmd(0xaf);              // display on
}
#endif  // OLED_I2C_128x64LOGO_PERMANENT

#endif  // SUPPRESS_OLED_I2C_128x64LOGO

void i2c_OLED_set_XY(byte col, byte row) {        //  Not used in MW V2.0 but its here anyway!
  i2c_OLED_send_cmd(0xb0+row);                //set page address
  i2c_OLED_send_cmd(0x00+(8*col&0x0f));       //set low col address
  i2c_OLED_send_cmd(0x10+((8*col>>4)&0x0f));  //set high col address
}

void i2c_OLED_set_line(byte row) {   // goto the beginning of a single row, compattible with LCD_CONFIG
  i2c_OLED_send_cmd(0xb0+row);   //set page address
  i2c_OLED_send_cmd(0);          //set low col address
  i2c_OLED_send_cmd(0x10);       //set high col address
}

void i2c_clear_OLED(void){
//  unsigned char i;
//  for(i=0;i<8;i++){
//    i2c_OLED_set_XY(0,i);
//    i2c_OLED_send_string(LINE_FILL_STRING);
//  }
  i2c_OLED_send_cmd(0xa6);              //Set Normal Display
  i2c_OLED_send_cmd(0xae);              // Display OFF
  i2c_OLED_send_cmd(0x20);              // Set Memory Addressing Mode
  i2c_OLED_send_cmd(0x00);              // Set Memory Addressing Mode to Horizontal addressing mode
  i2c_OLED_send_cmd(0xb0);              // set page address to 0
  i2c_OLED_send_cmd(0X40);              // Display start line register to 0
  i2c_OLED_send_cmd(0);                 // Set low col address to 0
  i2c_OLED_send_cmd(0x10);              // Set high col address to 0
  for(uint16_t i=0; i<1024; i++) {           // fill the display's RAM with graphic... 128*64 pixel picture
     i2c_OLED_send_byte(0);  // clear
  }
  i2c_OLED_send_cmd(0x81);              // Setup CONTRAST CONTROL, following byte is the contrast Value... always a 2 byte instruction
  i2c_OLED_send_cmd(200);               // Here you can set the brightness 1 = dull, 255 is very bright
  i2c_OLED_send_cmd(0xaf);              // display on
}

#endif // OLED_I2C_128x64

#if defined(LCD_ETPP)
#define LCD_ETPP_ADDRESS 0x3B

// *********************
// i2c Eagle Tree Power Panel primitives
// *********************
void i2c_ETPP_init () {
  i2c_rep_start(LCD_ETPP_ADDRESS<<1); // LCD_ETPP i2c address: 0x3B in 7 bit form. Shift left one bit and concatenate i2c write command bit of zero
  i2c_write(0x00);// LCD_ETPP command register
  i2c_write(0x24);// Function Set 001D0MSL D : data length for parallel interface only; M: 0 = 1x32 , 1 = 2x16; S: 0 = 1:18 multiplex drive mode, 1x32 or 2x16 character display, 1 = 1:9 multiplex drive mode, 1x16 character display; H: 0 = basic instruction set plus standard instruction set, 1 = basic instruction set plus extended instruction set
  i2c_write(0x0C);// Display on   00001DCB D : 0 = Display Off, 1 = Display On; C : 0 = Underline Cursor Off, 1 = Underline Cursor On; B : 0 = Blinking Cursor Off, 1 = Blinking Cursor On
  i2c_write(0x06);// Cursor Move  000001IS I : 0 = DDRAM or CGRAM address decrements by 1, cursor moves to the left, 1 = DDRAM or CGRAM address increments by 1, cursor moves to the right; S : 0 = display does not shift,  1 = display does shifts
  LCDclear();
}
void i2c_ETPP_send_cmd (byte c) {
  i2c_rep_start(LCD_ETPP_ADDRESS<<1); // I2C write direction
  i2c_write(0x00);// LCD_ETPP command register
  i2c_write(c);
}
void i2c_ETPP_send_char (char c) {
  if (c > 0x0f) c |= 0x80; // LCD_ETPP uses character set "R", which has A->z mapped same as ascii + high bit; don't mess with custom chars.
  i2c_rep_start(LCD_ETPP_ADDRESS<<1);// I2C write direction
  i2c_write(0x40);// LCD_ETPP data register
  i2c_write(c);
}

void i2c_ETPP_set_cursor (byte addr) {
  i2c_ETPP_send_cmd(0x80 | addr); // High bit is "Set DDRAM" command, remaing bits are addr.
}
void i2c_ETPP_set_cursor (byte col, byte row) {
  row = min(row,1);
  col = min(col,15);
  byte addr = col + row * 0x40; // Why 0x40? RAM in this controller has many more bytes than are displayed.  In particular, the start of the second line (line 1 char 0) is 0x40 in DDRAM. The bytes between 0x0F (last char of line 1) and 0x40 are not displayable (unless the display is placed in marquee scroll mode)
  i2c_ETPP_set_cursor(addr);
}
void i2c_ETPP_create_char (byte idx, uint8_t* array) {
  i2c_ETPP_send_cmd(0x80); // CGRAM and DDRAM share an address register, but you can't set certain bits with the CGRAM address command.   Use DDRAM address command to be sure high order address bits are zero.
  i2c_ETPP_send_cmd(0x40 | byte(idx * 8));// Set CGRAM address
  i2c_rep_start(LCD_ETPP_ADDRESS<<1);// I2C write direction
  i2c_write(0x40);// LCD_ETPP data register
  for (byte i = 0; i<8; i++) {i2c_write(*array); array++;}
}

static boolean charsInitialized; // chars for servo signals are initialized
void ETPP_barGraph(byte num, int val) { // num chars in graph; percent as 1 to 100
  if (!charsInitialized) {
    charsInitialized = true;

    static byte bars[8] = {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x15,};
    static byte less[8] = {0x00, 0x04, 0x0C, 0x1C, 0x0C, 0x04, 0x00, 0x15,};
    static byte grt [8] = {0x00, 0x04, 0x06, 0x07, 0x06, 0x04, 0x00, 0x15,};

    byte pattern = 0x10;
    for (int8_t i = 0; i <= 5; i++) {
      for (int8_t j = 0; j < 7; j++) {
        bars[j] = pattern;
      }
      i2c_ETPP_create_char(i, bars);
      pattern >>= 1;
    }
    i2c_ETPP_create_char(6, less);
    i2c_ETPP_create_char(7, grt);
  }

  static char bar[16];
  for (int8_t i = 0; i < num; i++) {bar[i] = 5;}

  if (val < -100 || val > 100) {bar[0] = 6; bar[num] = 7;} // invalid
  else if (val < 0) {bar[0] = 6;} // <...
  else if (val >= 100) {bar[3] = 7;} // ...>
  else {bar[val/(100/num)] = (val%(100/num))/5;} // ..|.

  for (int8_t i = 0; i < num; i++) {
    i2c_ETPP_send_char(bar[i]);
  }
}
#endif //LCD_ETPP

#if defined(LCD_LCD03) // LCD_LCD03
#define LCD_LCD03_ADDRESS 0x63
// *********************
// I2C LCD03 primitives
// *********************
void i2c_LCD03_init () {
  i2c_rep_start(LCD_LCD03_ADDRESS<<1); // The LCD03 is located on the I2C bus at address 0xC6
  i2c_write(0x00);// Command register
  i2c_write(04);// Hide cursor
  i2c_write(12);// Clear screen
  i2c_write(19);// Backlight on
}
void i2c_LCD03_send_cmd (byte c) {
  i2c_rep_start(LCD_LCD03_ADDRESS<<1);
  i2c_write(0x00);
  i2c_write(c);
}
void i2c_LCD03_send_char (char c) {
  i2c_rep_start(LCD_LCD03_ADDRESS<<1);
  i2c_write(0x00);
  i2c_write(c);
}
void i2c_LCD03_set_cursor (byte col, byte row) {
  row = min(row,1);
  col = min(col,15);
  i2c_LCD03_send_cmd(03); // set cursor (row, column)
  i2c_LCD03_send_cmd(row+1);
  i2c_LCD03_send_cmd(col+1);
}
#endif // LCD_LCD03

#if defined(LCD_LCD03S) // LCD_LCD03S
// *********************
// LCD03S serial primitives
// *********************
void serial_LCD03_init () {
  SerialWrite(LCD_SERIAL_PORT, 0x00 );// Command register
  SerialWrite(LCD_SERIAL_PORT, 04 );// Hide cursor
  SerialWrite(LCD_SERIAL_PORT, 12 );// Clear screen
  SerialWrite(LCD_SERIAL_PORT, 19 );// Backlight on
}
void serial_LCD03_send_cmd (byte c) {
  SerialWrite(LCD_SERIAL_PORT, 0x00 );// Command register
  SerialWrite(LCD_SERIAL_PORT, c );
}
void serial_LCD03_send_char (char c) {
  //SerialWrite(LCD_SERIAL_PORT, 0x00 );// Command register
  SerialWrite(LCD_SERIAL_PORT, c );
}
void serial_LCD03_set_cursor (byte col, byte row) {
  row = min(row,1);
  col = min(col,15);
  serial_LCD03_send_cmd(03); // set cursor (row, column)
  serial_LCD03_send_char(row+1);
  serial_LCD03_send_char(col+1);
}
#endif // LCD_LCD03S

#if defined(OLED_DIGOLE) // OLED_DIGOLE
#define OLED_DIGOLE_ADDRESS 0x27 // 7bit address
// *********************
// I2C DIGOLE primitives
// *********************
void i2c_OLED_DIGOLE_init () {
  i2c_OLED_DIGOLE_send_string("CL");    // clear screen
  //  delayMicroseconds(500);
  //  i2c_OLED_DIGOLE_send_string("BL");  // backlight _
  //  i2c_write(0x01);                    // _ on
  i2c_OLED_DIGOLE_send_string("CT");  // contrast _
  i2c_write(100); // contrast [0;100]
  //  i2c_write('C'); i2c_write('T'); i2c_write(100); // contrast [0;100]
  //i2c_OLED_DIGOLE_send_string("DSS");    // display start screen _
  //i2c_write(0);                         // _ off
  //i2c_OLED_DIGOLE_send_string("CS");    // show cursor _
  //i2c_write(0);                         // _ off
  //i2c_OLED_DIGOLE_printString("123456789.123456789.");
//    delayMicroseconds(500);
//    i2c_OLED_DIGOLE_send_string("MCD"); // manual command
//    i2c_write(0x81); //ssd1306: set contrast to _
//    i2c_OLED_DIGOLE_send_string("MCD"); // manual data
//    i2c_write(0xFF);  // _ value [0;255]
//    delayMicroseconds(500);
}
void i2c_OLED_DIGOLE_send_byte (byte c) {
  i2c_rep_start(OLED_DIGOLE_ADDRESS<<1);
  i2c_write(0x00);
  i2c_write(c);
}
void i2c_OLED_DIGOLE_send_string(const char *string){  // Sends a string of chars but not the null terminator
  i2c_rep_start(OLED_DIGOLE_ADDRESS<<1);
  i2c_write(0x00);
  while(*string){
    i2c_write(*string);
    *string++;
  }
  //delayMicroseconds(10);
}
void i2c_OLED_DIGOLE_printString(const char *string){  // prints a string of chars
  //  i2c_rep_start(OLED_DIGOLE_ADDRESS<<1);
  //  i2c_write(0x00);
  //  i2c_write('T');
  //  i2c_write('T');
  i2c_OLED_DIGOLE_send_string("TT");  // type text _
  while(*string){
    i2c_write(*string);
    *string++;
  }
  i2c_write(0x00);
  //delayMicroseconds(10);
}
void i2c_OLED_DIGOLE_printChar(char c){  // prints a single char - should be printable
  i2c_rep_start(OLED_DIGOLE_ADDRESS<<1);
  i2c_write(0x00);
  i2c_write('T');
  i2c_write('T');
  i2c_write(c);
  i2c_write(0x00);
  //delayMicroseconds(10);
}
void i2c_OLED_DIGOLE_clear(void) {
  i2c_OLED_DIGOLE_send_string("CLSF");    // set font _
  #ifdef DISPLAY_FONT_DSIZE
    i2c_write(0);                         // _ one of 6,10,18,51,120,123,0 - font 0 is 5x16 linesxrows; font 10 is 7x21
  #else
    i2c_write(10);
  #endif
}
#endif // OLED_DIGOLE
/* ------------------------------------------------------------------ */
void LCDprint(uint8_t i) {
  #ifdef DISPLAY_FONT_DSIZE
   if (! line_is_valid) return;
  #endif
  #if defined(LCD_SERIAL3W)
    // 1000000 / 9600  = 104 microseconds at 9600 baud.
    // we set it below to take some margin with the running interrupts
    #define BITDELAY 102
    LCDPIN_OFF;
    delayMicroseconds(BITDELAY);
    for (uint8_t mask = 0x01; mask; mask <<= 1) {
      if (i & mask) {LCDPIN_ON;} else {LCDPIN_OFF;} // choose bit
      delayMicroseconds(BITDELAY);
    }
    LCDPIN_ON //switch ON digital PIN 0
    delayMicroseconds(BITDELAY);
  #elif defined(LCD_TEXTSTAR) || defined(LCD_VT100) || defined(LCD_TTY)
    SerialWrite(LCD_SERIAL_PORT, i );
  #elif defined(LCD_ETPP)
    i2c_ETPP_send_char(i);
  #elif defined(LCD_LCD03)
    i2c_LCD03_send_char(i);
  #elif defined(LCD_LCD03S)
    serial_LCD03_send_char(i);
  #elif defined(OLED_I2C_128x64)
    i2c_OLED_send_char(i);
  #elif defined(OLED_DIGOLE)
    i2c_OLED_DIGOLE_printChar(i);
  #endif
}

void LCDprintChar(const char *s) {
  #ifdef OLED_DIGOLE
    #ifdef DISPLAY_FONT_DSIZE
      if (! line_is_valid) return;
    #endif
    i2c_OLED_DIGOLE_printString(s);
  #else
    while (*s) {LCDprint(*s++);}
  #endif
}

void LCDcrlf() {
  #if ( defined(OLED_I2C_128x64)|| defined(LCD_VT100) || defined(OLED_DIGOLE) )
    // do nothing - these displays use line positioning
  #else
    LCDprintChar("\r\n");
  #endif
}
void LCDclear() {
  #if defined(LCD_SERIAL3W)
    LCDprint(0xFE);LCDprint(0x01);delay(10);LCDprint(0xFE);LCDprint(0x02);delay(10); // clear screen, cursor line 1, pos 0 for serial LCD Sparkfun - contrib by flyman777
  #elif defined(LCD_TEXTSTAR)
    LCDprint(0x0c);
  #elif defined(LCD_VT100)
    LCDcrlf();
    LCDprint(0x1B); LCDprint(0x5B); LCDprintChar("2J"); //ED2
    LCDcrlf();
    LCDprint(0x1B); LCDprint(0x5B); LCDprintChar("1;1H");//cursor top left
  #elif defined(LCD_TTY)
    LCDcrlf();
  #elif defined(LCD_ETPP)
    i2c_ETPP_send_cmd(0x01); // Clear display command, which does NOT clear an Eagle Tree because character set "R" has a '>' at 0x20
    for (byte i = 0; i<80; i++) i2c_ETPP_send_char(' ');// Blanks for all 80 bytes of RAM in the controller, not just the 2x16 display
  #elif defined(LCD_LCD03)
    i2c_LCD03_send_cmd(12); // clear screen
  #elif defined(LCD_LCD03S)
    serial_LCD03_send_cmd(12); // clear screen
  #elif defined(OLED_I2C_128x64)
    i2c_clear_OLED();
  #elif defined(OLED_DIGOLE)
    i2c_OLED_DIGOLE_clear();
  #endif
  #if ( defined(LOG_PERMANENT) && defined(DISPLAY_MULTILINE) )
    lnr = 0;
  #endif
}

void LCDsetLine(byte line) { // Line = 1 or 2 - vt100 has lines 1-99
  #ifdef DISPLAY_FONT_DSIZE
    if (line >=1 && line <= (MULTILINE_PRE+MULTILINE_POST)) {
      line_is_valid = 1;
    } else {
      line_is_valid = 0;
      return;
    }
  #endif
  #if defined(LCD_SERIAL3W)
    if (line==1) {LCDprint(0xFE);LCDprint(128);} else {LCDprint(0xFE);LCDprint(192);}
  #elif defined(LCD_TEXTSTAR)
    LCDcrlf(); LCDprint(0xfe);LCDprint('L');LCDprint(line);
  #elif defined(LCD_VT100)
    #ifndef DEBUG // sanity check for production only. Debug runs with all possible side effects
      if (line<1 || line>(MULTILINE_PRE+MULTILINE_POST)) line = 1;
    #endif
    LCDcrlf();
    LCDprint(0x1b); LCDprint(0x5b);
    LCDprint( digit10(line) );
    LCDprint( digit1(line) );
    LCDprintChar(";1H"); //pos line 1
    LCDprint(0x1b); LCDprint(0x5b); LCDprintChar("2K");//EL2
  #elif defined(LCD_TTY)
    LCDcrlf();
  #elif defined(LCD_ETPP)
    i2c_ETPP_set_cursor(0,line-1);
  #elif defined(LCD_LCD03)
    i2c_LCD03_set_cursor(0,line-1);
  #elif defined(LCD_LCD03S)
    serial_LCD03_set_cursor(0,line-1);
  #elif defined(OLED_I2C_128x64)
  //  #ifndef DEBUG // sanity check for production only. Debug runs with all possible side effects
  //    if (line<1 || line>(MULTILINE_PRE+MULTILINE_POST)) line = 1;
  //  #endif
    i2c_OLED_set_line(line-1);
  #elif defined(OLED_DIGOLE)
    i2c_OLED_DIGOLE_send_string("TP");  i2c_write(0);i2c_write(line-1); // first column is 0, line numbers start with 0
  #endif
}
#if defined(LCD_VT100)
  void LCDattributesBold() {LCDprint(0x1b); LCDprint(0x5b); LCDprintChar("1m");}
  void LCDattributesReverse() {LCDprint(0x1b); LCDprint(0x5b); LCDprintChar("7m");}
  void LCDattributesOff() {LCDprint(0x1b); LCDprint(0x5b); LCDprintChar("0m");}
  void LCDalarmAndReverse() {LCDattributesReverse(); if (f.ARMED) { LCDprint(0x07); }; } // audio for errors only while armed
#elif defined(OLED_I2C_128x64)
  void LCDattributesBold() {/*CHAR_FORMAT = 0b01111111; */}
  void LCDattributesReverse() {CHAR_FORMAT = 0b01111111; }
  void LCDattributesOff() {CHAR_FORMAT = 0; }
  void LCDalarmAndReverse() {LCDattributesReverse(); }
#else
  void LCDattributesBold() {}
  void LCDattributesReverse() {}
  void LCDattributesOff() {}
  void LCDalarmAndReverse() {}
#endif

void LCDprintInt16(int16_t v) {
  uint16_t unit;
  char line[7]; // = "      ";
  if (v < 0 ) {
    unit = -v;
    line[0] = '-';
  } else {
    unit = v;
    line[0] = ' ';
  }
  line[1] = digit10000(unit);
  line[2] = digit1000(unit);
  line[3] = digit100(unit);
  line[4] = digit10(unit);
  line[5] = digit1(unit);
  line[6] = 0;
  LCDprintChar(line);
}
void lcdprint_uint32(uint32_t v) {
  static char line[14] = "-.---.---.---";
  //                      0 2 4 6 8   12
  line[0]  = '0' + v  / 1000000000;
  line[2]  = '0' + v  / 100000000 - (v/1000000000) * 10;
  line[3]  = '0' + v  / 10000000  - (v/100000000)  * 10;
  line[4]  = '0' + v  / 1000000   - (v/10000000)   * 10;
  line[6]  = '0' + v  / 100000    - (v/1000000)    * 10;
  line[7]  = '0' + v  / 10000     - (v/100000)     * 10;
  line[8]  = '0' + v  / 1000      - (v/10000)      * 10;
  line[10]  = '0' + v  / 100       - (v/1000)       * 10;
  line[11] = '0' + v  / 10        - (v/100)        * 10;
  line[12] = '0' + v              - (v/10)         * 10;
  LCDprintChar(line);
}

void initLCD() {
  blinkLED(20,30,1);
  SET_ALARM_BUZZER(ALRM_FAC_CONFIRM, ALRM_LVL_CONFIRM_1);
  #if defined(LCD_SERIAL3W)
    SerialEnd(0);
    //init LCD
    PINMODE_LCD;//TX PIN for LCD = Arduino RX PIN (more convenient to connect a servo plug on arduino pro mini)
  #elif defined(LCD_TEXTSTAR)
    // Cat's Whisker Technologies 'TextStar' Module CW-LCD-02
    // http://cats-whisker.com/resources/documents/cw-lcd-02_datasheet.pdf
    //LCDprint(0xFE);LCDprint(0x43);LCDprint(0x02); //cursor blink mode
    LCDprint(0xFE);LCDprint('R');//reset
  #elif defined(LCD_VT100)
    //LCDprint(0x1b); LCDprint('c'); //RIS
  #elif defined(LCD_TTY)
    ; // do nothing special to init the serial tty device
  #elif defined(LCD_ETPP)
    // Eagle Tree Power Panel - I2C & Daylight Readable LCD
    i2c_ETPP_init();
  #elif defined(LCD_LCD03)
    // LCD03 - I2C LCD
    // http://www.robot-electronics.co.uk/htm/Lcd03tech.htm
    i2c_LCD03_init();
  #elif defined(LCD_LCD03S)
    // LCD03 - SERIAL LCD
    // http://www.robot-electronics.co.uk/htm/Lcd03tech.htm
    serial_LCD03_init();
  #elif defined(OLED_I2C_128x64)
    i2c_OLED_init();
    #ifndef SUPPRESS_OLED_I2C_128x64LOGO
      i2c_OLED_send_logo();
      #if defined (OLED_I2C_128x64LOGO_PERMANENT)
        i2c_OLED_Put_Logo();
      #endif
    #endif
  #elif defined(OLED_DIGOLE)
    i2c_OLED_DIGOLE_init();
  #endif
  #ifndef OLED_I2C_128x64LOGO_PERMANENT
    LCDclear();
    strcpy_P(line1,PSTR( BOARD_NAME )); // user defined macro
  //                     0123456789.123456
    line1[12] = digit100(VERSION);
    line1[14] = digit10(VERSION);
    line1[15] = digit1(VERSION);
    LCDattributesBold();
    LCDsetLine(1); LCDprintChar(line1);
    strcpy_P(line2,PSTR("  Unknown Modell"));
    #if defined(TRI)
      strcpy_P(line2,PSTR("  TRICopter"));
    #elif defined(QUADP)
      strcpy_P(line2,PSTR("  QUAD-P"));
    #elif defined(QUADX)
      strcpy_P(line2,PSTR("  QUAD-X"));
    #elif defined(BI)
      strcpy_P(line2,PSTR("  BICopter"));
    #elif defined(Y6)
      strcpy_P(line2,PSTR("  Y6"));
    #elif defined(HEX6)
      strcpy_P(line2,PSTR("  HEX6"));
    #elif defined(FLYING_WING)
      strcpy_P(line2,PSTR("  FLYING_WING"));
    #elif defined(Y4)
      strcpy_P(line2,PSTR("  Y4"));
    #elif defined(HEX6X)
      strcpy_P(line2,PSTR("  HEX6-X"));
    #elif defined(HEX6H)
      strcpy_P(line2,PSTR("  HEX6-H"));
    #elif defined(OCTOX8)
      strcpy_P(line2,PSTR("  OCTOX8"));
    #elif defined(OCTOFLATP)
      strcpy_P(line2,PSTR("  OCTOFLAT-P"));
    #elif defined(OCTOFLATX)
      strcpy_P(line2,PSTR("  OCTOFLAT-X"));
    #elif defined (AIRPLANE)
      strcpy_P(line2,PSTR("  AIRPLANE"));
    #elif defined (HELI_120_CCPM)
      strcpy_P(line2,PSTR("  HELI_120_CCPM"));
    #elif defined (HELI_90_DEG)
      strcpy_P(line2,PSTR("  HELI_90_DEG"));
    #elif defined(VTAIL4)
      strcpy_P(line2,PSTR("  VTAIL Quad"));
    #endif
    //LCDattributesBold();
    LCDsetLine(2); LCDprintChar(line2);
    LCDattributesOff();
    delay(2500);
  #endif // OLED_I2C_128x64LOGO_PERMANENT
  #if defined(LCD_TEXTSTAR) || defined(LCD_VT100)
    //delay(2500);
    LCDclear();
  #endif
  #if defined(OLED_I2C_128x64) && !(defined(OLED_I2C_128x64LOGO_PERMANENT)) && defined(NEW_OLED_FONT) && !(defined(LCD_TELEMETRY))
    // no need to diplay this, if LCD telemetry is enabled
    //   optional instruction on the display......
    LCDsetLine(4); LCDprintChar("To ENTER CONFIG      ");// 21 characters on each line
    LCDsetLine(5); LCDprintChar("YAW RIGHT & PITCH FWD");
    LCDsetLine(7); LCDprintChar("To SAVE CONFIG       ");
    LCDsetLine(8); LCDprintChar("YAW LEFT & PITCH FWD ");
  #endif
  //  if (cycleTime == 0) { //Called from Setup()
  //    strcpy_P(line1,PSTR("Ready to Fly")); LCDsetLine(2); LCDprintChar(line1);
  //  } else {
  //    strcpy_P(line1,PSTR("Config All Parms")); LCDsetLine(2); LCDprintChar(line1);
  //  }
  #ifdef LCD_TELEMETRY_STEP
    // load the first page of the step sequence
    LCDclear();
    telemetry = telemetryStepSequence[telemetryStepIndex]; //[++telemetryStepIndex % strlen(telemetryStepSequence)];
  #endif
}
#endif //Support functions for LCD_CONF and LCD_TELEMETRY

// -------------------- configuration menu to LCD over serial/i2c ----------------------------------

#ifdef LCD_CONF
static uint8_t reset_to_defaults;

typedef void (*formatter_func_ptr)(void *, uint8_t, uint8_t);
typedef void (*inc_func_ptr)(void *, int16_t);

/*typedef*/struct lcd_type_desc_t {
  formatter_func_ptr fmt;
  inc_func_ptr inc;
};

static lcd_type_desc_t LTU8 = {&__u8Fmt, &__u8Inc};
static lcd_type_desc_t LTS8 = {&__s8BitsFmt, &__s8Inc};
static lcd_type_desc_t LTU16 = {&__u16Fmt, &__u16Inc};
static lcd_type_desc_t LTS16 = {&__s16Fmt, &__s16Inc};
static lcd_type_desc_t LPMM = {&__upMFmt, &__nullInc};
//static lcd_type_desc_t LPMS = {&__upSFmt, &__nullInc};
static lcd_type_desc_t LAUX1 = {&__uAuxFmt1, &__u16Inc};
static lcd_type_desc_t LAUX2 = {&__uAuxFmt2, &__u16Inc};
static lcd_type_desc_t LAUX3 = {&__uAuxFmt3, &__u16Inc};
static lcd_type_desc_t LAUX4 = {&__uAuxFmt4, &__u16Inc};

/*typedef*/struct lcd_param_def_t {
  lcd_type_desc_t * type;
  uint8_t decimal;
  uint8_t multiplier;
  uint16_t increment;
};

//typedef struct lcd_param_t{
//  char*  paramText;
//  void * var; 
//  lcd_param_def_t * def;
//};

// ************************************************************************************************************
// LCD Layout definition
// ************************************************************************************************************
// Descriptors
static lcd_param_def_t __P = {&LTU8, 1, 1, 1};
static lcd_param_def_t __I = {&LTU8, 3, 1, 1};
static lcd_param_def_t __D = {&LTU8, 0, 1, 1};
static lcd_param_def_t __RC = {&LTU8, 2, 1, 1};
static lcd_param_def_t __PM = {&LPMM, 1, 1, 0};
//static lcd_param_def_t __PS = {&LPMS, 1, 1, 0};
static lcd_param_def_t __PT = {&LTU8, 0, 1, 1};
static lcd_param_def_t __VB = {&LTU8, 1, 1, 0};
static lcd_param_def_t __L = {&LTU8, 0, 1, 0};
static lcd_param_def_t __FS = {&LTU8, 1, 1, 0};
static lcd_param_def_t __SE = {&LTU16, 0, 1, 10};
static lcd_param_def_t __SE1 = {&LTU16, 0, 1, 1};
static lcd_param_def_t __ST = {&LTS16, 0, 1, 10};
static lcd_param_def_t __AUX1 = {&LAUX1, 0, 1, 1};
static lcd_param_def_t __AUX2 = {&LAUX2, 0, 1, 8};
static lcd_param_def_t __AUX3 = {&LAUX3, 0, 1, 64};
static lcd_param_def_t __AUX4 = {&LAUX4, 0, 1, 512};
static lcd_param_def_t __BITS = {&LTS8, 0, 1, 1};

// Program Space Strings - These sit in program flash, not SRAM.
//                                       0123456789
const char PROGMEM lcd_param_text01 [] = "Pit&Roll P";
const char PROGMEM lcd_param_text02 [] = "Roll     P";
const char PROGMEM lcd_param_text03 [] = "Roll     I";
const char PROGMEM lcd_param_text04 [] = "Roll     D";
const char PROGMEM lcd_param_text05 [] = "Pitch    P";
const char PROGMEM lcd_param_text06 [] = "Pitch    I";
const char PROGMEM lcd_param_text07 [] = "Pitch    D";
const char PROGMEM lcd_param_text08 [] = "Yaw      P";
const char PROGMEM lcd_param_text09 [] = "Yaw      I";
const char PROGMEM lcd_param_text10 [] = "Yaw      D";
#if  BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
const char PROGMEM lcd_param_text11 [] = "Alt      P";
const char PROGMEM lcd_param_text12 [] = "Alt      I";
const char PROGMEM lcd_param_text13 [] = "Alt      D";
const char PROGMEM lcd_param_text14 [] = "Vel      P";
const char PROGMEM lcd_param_text15 [] = "Vel      I";
const char PROGMEM lcd_param_text16 [] = "Vel      D";
#endif
const char PROGMEM lcd_param_text17 [] = "Ang/Hor  P";
const char PROGMEM lcd_param_text18 [] = "Ang/Hor  I";
const char PROGMEM lcd_param_text188[] = "Ang/Hor  D";
const char PROGMEM lcd_param_text19 [] = "Mag      P";
const char PROGMEM lcd_param_text20 [] = "RC Rate   ";
const char PROGMEM lcd_param_text21 [] = "RC Expo   ";
const char PROGMEM lcd_param_text20t [] = "Thrott Mid";
const char PROGMEM lcd_param_text21t [] = "ThrottExpo";
const char PROGMEM lcd_param_text22 [] = "P&R Rate  ";
const char PROGMEM lcd_param_text23 [] = "Yaw Rate  ";
const char PROGMEM lcd_param_text24 [] = "Thrott PID";
#ifdef LOG_VALUES
#if (LOG_VALUES >= 3)
const char PROGMEM lcd_param_text25 [] = "pmeter m0";
const char PROGMEM lcd_param_text26 [] = "pmeter m1";
const char PROGMEM lcd_param_text27 [] = "pmeter m2";
const char PROGMEM lcd_param_text28 [] = "pmeter m3";
const char PROGMEM lcd_param_text29 [] = "pmeter m4";
const char PROGMEM lcd_param_text30 [] = "pmeter m5";
const char PROGMEM lcd_param_text31 [] = "pmeter m6";
const char PROGMEM lcd_param_text32 [] = "pmeter m7";
#endif //                                 0123456789
#endif
#ifdef FLYING_WING
const char PROGMEM lcd_param_text36 [] = "SERvTRIM1";
const char PROGMEM lcd_param_text37 [] = "SERvTRIM2";
#endif
#ifdef TRI //                             0123456789
const char PROGMEM lcd_param_text38 [] = "SERvTRIMy";
const char PROGMEM lcd_param_text39 [] = "SERvINVy";
const char PROGMEM lcd_param_text152 [] = "SERvMINy";
const char PROGMEM lcd_param_text153 [] = "SERvMAXy";
#endif
//#ifdef LOG_VALUES
//const char PROGMEM lcd_param_text39 [] = "failsafes ";
//const char PROGMEM lcd_param_text40 [] = "i2c errors";
//const char PROGMEM lcd_param_text41 [] = "an overrun";
//#endif
#if defined(LCD_CONF_AUX)
const char PROGMEM lcd_param_text41 [] = "AUX angle ";
const char PROGMEM lcd_param_text42 [] = "AUX horizn";
const char PROGMEM lcd_param_text43 [] = "AUX baro  ";
const char PROGMEM lcd_param_text44 [] = "AUX mag   ";
const char PROGMEM lcd_param_text45 [] = "AUX camstb";
const char PROGMEM lcd_param_text46 [] = "AUX camtrg";
const char PROGMEM lcd_param_text47 [] = "AUX arm   ";
const char PROGMEM lcd_param_text48 [] = "AUX gpshom";
const char PROGMEM lcd_param_text49 [] = "AUX gpshld";
const char PROGMEM lcd_param_text50 [] = "AUX passth";
const char PROGMEM lcd_param_text51 [] = "AUX headfr";
const char PROGMEM lcd_param_text52 [] = "AUX buzzer";
const char PROGMEM lcd_param_text53 [] = "AUX vario ";
const char PROGMEM lcd_param_text54 [] = "AUX calib ";
const char PROGMEM lcd_param_text55 [] = "AUX govern";
const char PROGMEM lcd_param_text56 [] = "AUX osd   ";
// 53 to 61 reserved
#endif
#ifdef HELI_120_CCPM //                  0123456789
const char PROGMEM lcd_param_text73 [] = "SERvTRIMn";
const char PROGMEM lcd_param_text74 [] = "SERvTRIMl";
const char PROGMEM lcd_param_text75 [] = "SERvTRIMy";
const char PROGMEM lcd_param_text76 [] = "SERvTRIMr";
const char PROGMEM lcd_param_text140 [] = "SERvINVn";
const char PROGMEM lcd_param_text141 [] = "SERvINVl";
const char PROGMEM lcd_param_text142 [] = "SERvINVy";
const char PROGMEM lcd_param_text143 [] = "SERvINVr";
#endif
#ifdef GYRO_SMOOTHING //                 0123456789
const char PROGMEM lcd_param_text80 [] = "GSMOOTH R ";
const char PROGMEM lcd_param_text81 [] = "GSMOOTH P ";
const char PROGMEM lcd_param_text82 [] = "GSMOOTH Y ";
#endif
#ifdef AIRPLANE //                       0123456789
const char PROGMEM lcd_param_text83 [] = "SERVoMID3";
const char PROGMEM lcd_param_text84 [] = "SERVoMID4";
const char PROGMEM lcd_param_text85 [] = "SERVoMID5";
const char PROGMEM lcd_param_text86 [] = "SERVoMID6";
const char PROGMEM lcd_param_text87 [] = "SERVoMID7";
#endif
#if GPS
const char PROGMEM lcd_param_text91 [] = "GPS Pos. P";
const char PROGMEM lcd_param_text92 [] = "GPS Pos. I";
const char PROGMEM lcd_param_text93 [] = "Pos Rate P";
const char PROGMEM lcd_param_text94 [] = "Pos Rate I";
const char PROGMEM lcd_param_text95 [] = "Pos Rate D";
const char PROGMEM lcd_param_text96 [] = "NAV Rate P";
const char PROGMEM lcd_param_text97 [] = "NAV Rate I";
const char PROGMEM lcd_param_text98 [] = "NAV Rate D";
#endif
#if defined (FAILSAFE)
const char PROGMEM lcd_param_text101 [] = "FailThrot";
#endif
#ifdef VBAT
const char PROGMEM lcd_param_text35 [] =  "batt volt ";
const char PROGMEM lcd_param_text102 [] = "VBAT SCALE";
const char PROGMEM lcd_param_text103 [] = "BattWarn 1";
const char PROGMEM lcd_param_text104 [] = "BattWarn 2";
const char PROGMEM lcd_param_text106 [] = "BattW Crit";
//const char PROGMEM lcd_param_text107 [] = "Batt NoBat";
#endif
#ifdef POWERMETER
const char PROGMEM lcd_param_text33 [] = "pmeterSum";
const char PROGMEM lcd_param_text34 [] = "pAlarm /50"; // change text to represent PLEVELSCALE value
const char PROGMEM lcd_param_text111 [] = "PMsENSOR0";
const char PROGMEM lcd_param_text114 [] = "PM INT2MA ";
//const char PROGMEM lcd_param_text112 [] = "PM DIVSOFT";
//const char PROGMEM lcd_param_text113 [] = "PM DIV    ";
#endif
#ifdef MMGYRO
const char PROGMEM lcd_param_text121 [] = "MMGYRO    ";
#endif
const char PROGMEM lcd_param_text131 [] = "MINTHROTL";
#if defined(ARMEDTIMEWARNING)
const char PROGMEM lcd_param_text132 [] = "ArmdTWarn";
#endif
#ifdef GOVERNOR_P
const char PROGMEM lcd_param_text133 [] = "Govern  P";
const char PROGMEM lcd_param_text134 [] = "Govern  D";
const char PROGMEM lcd_param_text135 [] = "GovernRpm";
#endif
#ifdef MULTIPLE_CONFIGURATION_PROFILES
const char PROGMEM lcd_param_text150 [] = "writeCset";
#endif
const char PROGMEM lcd_param_text151 [] = "Reset (7)";
#ifdef YAW_COLL_PRECOMP
const char PROGMEM lcd_param_text155 [] = "yawPrcomp";
const char PROGMEM lcd_param_text156 [] = "yawPrDead";
#endif
//                                         012345678

PROGMEM const void * const lcd_param_ptr_table [] = {
  &lcd_param_text01, &conf.pid[ROLL].P8, &__P,
  &lcd_param_text02, &conf.pid[ROLL].P8, &__P,
  &lcd_param_text03, &conf.pid[ROLL].I8, &__I,
  &lcd_param_text04, &conf.pid[ROLL].D8, &__D,
  &lcd_param_text05, &conf.pid[PITCH].P8, &__P,
  &lcd_param_text06, &conf.pid[PITCH].I8, &__I,
  &lcd_param_text07, &conf.pid[PITCH].D8, &__D,
  &lcd_param_text08, &conf.pid[YAW].P8, &__P,
  &lcd_param_text09, &conf.pid[YAW].I8, &__I,
#if (!(PID_CONTROLLER == 1)) || (!defined(COPTER_WITH_SERVO))
  &lcd_param_text10, &conf.pid[YAW].D8, &__D,
#endif
#if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
  &lcd_param_text11, &conf.pid[PIDALT].P8, &__P,
  &lcd_param_text12, &conf.pid[PIDALT].I8, &__I,
  &lcd_param_text13, &conf.pid[PIDALT].D8, &__D,
  &lcd_param_text14, &conf.pid[PIDVEL].P8, &__P,
  &lcd_param_text15, &conf.pid[PIDVEL].I8, &__I,
  &lcd_param_text16, &conf.pid[PIDVEL].D8, &__D,
#endif
  &lcd_param_text17, &conf.pid[PIDLEVEL].P8, &__P,
  &lcd_param_text18, &conf.pid[PIDLEVEL].I8, &__I,
  &lcd_param_text188, &conf.pid[PIDLEVEL].D8, &__D,
#if MAG
  &lcd_param_text19, &conf.pid[PIDMAG].P8, &__P,
#endif
  &lcd_param_text20t, &conf.thrMid8, &__RC,
  &lcd_param_text21t, &conf.thrExpo8, &__RC,
  &lcd_param_text20, &conf.rcRate8, &__RC,
  &lcd_param_text21, &conf.rcExpo8, &__RC,
  &lcd_param_text22, &conf.rollPitchRate, &__RC,
  &lcd_param_text23, &conf.yawRate, &__RC,
  &lcd_param_text24, &conf.dynThrPID, &__RC,
#if GPS
 &lcd_param_text91, &conf.pid[PIDPOS].P8 , &__RC,
 &lcd_param_text92, &conf.pid[PIDPOS].I8 , &__I,
 &lcd_param_text93, &conf.pid[PIDPOSR].P8, &__P,
 &lcd_param_text94, &conf.pid[PIDPOSR].I8, &__I,
 &lcd_param_text95, &conf.pid[PIDPOSR].D8, &__I,
 &lcd_param_text96, &conf.pid[PIDNAVR].P8, &__P,
 &lcd_param_text97, &conf.pid[PIDNAVR].I8, &__RC,
 &lcd_param_text98, &conf.pid[PIDNAVR].D8, &__I,
#endif
#ifdef LCD_CONF_AUX
  #if ACC
    &lcd_param_text41, &conf.activate[BOXANGLE], &__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text41, &conf.activate[BOXANGLE], &__AUX2,
    #endif
    &lcd_param_text42, &conf.activate[BOXHORIZON], &__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text42, &conf.activate[BOXHORIZON], &__AUX2,
    #endif
    #ifndef SUPPRESS_LCD_CONF_AUX34
      &lcd_param_text41, &conf.activate[BOXANGLE], &__AUX3,
      &lcd_param_text41, &conf.activate[BOXANGLE], &__AUX4,
      &lcd_param_text42, &conf.activate[BOXHORIZON], &__AUX3,
      &lcd_param_text42, &conf.activate[BOXHORIZON], &__AUX4,
    #endif
  #endif
  #if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
    &lcd_param_text43, &conf.activate[BOXBARO], &__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text43, &conf.activate[BOXBARO], &__AUX2,
    #endif
    #ifndef SUPPRESS_LCD_CONF_AUX34
      &lcd_param_text43, &conf.activate[BOXBARO], &__AUX3,
      &lcd_param_text43, &conf.activate[BOXBARO], &__AUX4,
    #endif
  #endif
  &lcd_param_text44, &conf.activate[BOXMAG], &__AUX1,
  #ifndef SUPPRESS_LCD_CONF_AUX2
    &lcd_param_text44, &conf.activate[BOXMAG], &__AUX2,
  #endif
  #ifndef SUPPRESS_LCD_CONF_AUX34
    &lcd_param_text44, &conf.activate[BOXMAG], &__AUX3,
    &lcd_param_text44, &conf.activate[BOXMAG], &__AUX4,
  #endif
  #ifdef GIMBAL
    &lcd_param_text45, &conf.activate[BOXCAMSTAB], &__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text45, &conf.activate[BOXCAMSTAB], &__AUX2,
    #endif
    #ifndef SUPPRESS_LCD_CONF_AUX34
      &lcd_param_text45, &conf.activate[BOXCAMSTAB], &__AUX3,
      &lcd_param_text45, &conf.activate[BOXCAMSTAB], &__AUX4,
    #endif
    &lcd_param_text46, &conf.activate[BOXCAMTRIG], &__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text46, &conf.activate[BOXCAMTRIG], &__AUX2,
    #endif
    #ifndef SUPPRESS_LCD_CONF_AUX34
      &lcd_param_text46, &conf.activate[BOXCAMTRIG], &__AUX3,
      &lcd_param_text46, &conf.activate[BOXCAMTRIG], &__AUX4,
    #endif
  #endif
  &lcd_param_text47, &conf.activate[BOXARM], &__AUX1,
  #ifndef SUPPRESS_LCD_CONF_AUX2
    &lcd_param_text47, &conf.activate[BOXARM], &__AUX2,
  #endif
  #ifndef SUPPRESS_LCD_CONF_AUX34
    &lcd_param_text47, &conf.activate[BOXARM], &__AUX3,
    &lcd_param_text47, &conf.activate[BOXARM], &__AUX4,
  #endif
  #if GPS
    &lcd_param_text48, &conf.activate[BOXGPSHOME], &__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text48, &conf.activate[BOXGPSHOME], &__AUX2,
    #endif
    #ifndef SUPPRESS_LCD_CONF_AUX34
      &lcd_param_text48, &conf.activate[BOXGPSHOME], &__AUX3,
      &lcd_param_text48, &conf.activate[BOXGPSHOME], &__AUX4,
    #endif
    &lcd_param_text49, &conf.activate[BOXGPSHOLD], &__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text49, &conf.activate[BOXGPSHOLD], &__AUX2,
    #endif
    #ifndef SUPPRESS_LCD_CONF_AUX34
      &lcd_param_text49, &conf.activate[BOXGPSHOLD], &__AUX3,
      &lcd_param_text49, &conf.activate[BOXGPSHOLD], &__AUX4,
    #endif
  #endif
  #if defined(FIXEDWING) || defined(HELICOPTER)
    &lcd_param_text50, &conf.activate[BOXPASSTHRU],&__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text50, &conf.activate[BOXPASSTHRU],&__AUX2,
    #endif
    #ifndef SUPPRESS_LCD_CONF_AUX34
      &lcd_param_text50, &conf.activate[BOXPASSTHRU],&__AUX3,
      &lcd_param_text50, &conf.activate[BOXPASSTHRU],&__AUX4,
    #endif
  #endif
  #if defined(HEADFREE)
    &lcd_param_text51, &conf.activate[BOXHEADFREE],&__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text51, &conf.activate[BOXHEADFREE],&__AUX2,
    #endif
    #ifndef SUPPRESS_LCD_CONF_AUX34
      &lcd_param_text51, &conf.activate[BOXHEADFREE],&__AUX3,
      &lcd_param_text51, &conf.activate[BOXHEADFREE],&__AUX4,
    #endif
  #endif
  #if defined(BUZZER)
    &lcd_param_text52, &conf.activate[BOXBEEPERON],&__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text52, &conf.activate[BOXBEEPERON],&__AUX2,
    #endif
    #ifndef SUPPRESS_LCD_CONF_AUX34
      &lcd_param_text52, &conf.activate[BOXBEEPERON],&__AUX3,
      &lcd_param_text52, &conf.activate[BOXBEEPERON],&__AUX4,
    #endif
  #endif
  #ifdef VARIOMETER
    &lcd_param_text53, &conf.activate[BOXVARIO],&__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text53, &conf.activate[BOXVARIO],&__AUX2,
    #endif
    #ifndef SUPPRESS_LCD_CONF_AUX34
      &lcd_param_text53, &conf.activate[BOXVARIO],&__AUX3,
      &lcd_param_text53, &conf.activate[BOXVARIO],&__AUX4,
    #endif
  #endif
  #ifdef INFLIGHT_ACC_CALIBRATION
    &lcd_param_text54, &conf.activate[BOXCALIB],&__AUX1,
    #ifndef SUPPRESS_LCD_CONF_AUX2
      &lcd_param_text54, &conf.activate[BOXCALIB],&__AUX2,
    #endif
    #ifndef SUPPRESS_LCD_CONF_AUX34
      &lcd_param_text54, &conf.activate[BOXCALIB],&__AUX3,
      &lcd_param_text54, &conf.activate[BOXCALIB],&__AUX4,
    #endif
  #endif
#ifdef GOVERNOR_P
  &lcd_param_text55, &conf.activate[BOXGOV],&__AUX1,
  #ifndef SUPPRESS_LCD_CONF_AUX2
    &lcd_param_text55, &conf.activate[BOXGOV],&__AUX2,
  #endif
  #ifndef SUPPRESS_LCD_CONF_AUX34
    &lcd_param_text55, &conf.activate[BOXGOV],&__AUX3,
    &lcd_param_text55, &conf.activate[BOXGOV],&__AUX4,
  #endif
#endif
#ifdef OSD_SWITCH
  &lcd_param_text56, &conf.activate[BOXOSD],&__AUX1,
  #ifndef SUPPRESS_LCD_CONF_AUX2
    &lcd_param_text56, &conf.activate[BOXOSD],&__AUX2,
  #endif
  #ifndef SUPPRESS_LCD_CONF_AUX34
    &lcd_param_text56, &conf.activate[BOXOSD],&__AUX3,
    &lcd_param_text56, &conf.activate[BOXOSD],&__AUX4,
  #endif
#endif
#endif //lcd.conf.aux

#ifdef LOG_VALUES
#if (LOG_VALUES >= 3)
#if (NUMBER_MOTOR > 0)
  &lcd_param_text25, &pMeter[0], &__PM,
#endif
#if (NUMBER_MOTOR > 1)
  &lcd_param_text26, &pMeter[1], &__PM,
#endif
#if (NUMBER_MOTOR > 2)
  &lcd_param_text27, &pMeter[2], &__PM,
#endif
#if (NUMBER_MOTOR > 3)
  &lcd_param_text28, &pMeter[3], &__PM,
#endif
#if (NUMBER_MOTOR > 4)
  &lcd_param_text29, &pMeter[4], &__PM,
#endif
#if (NUMBER_MOTOR > 5)
  &lcd_param_text30, &pMeter[5], &__PM,
#endif
#if (NUMBER_MOTOR > 6)
  &lcd_param_text31, &pMeter[6], &__PM,
#endif
#if (NUMBER_MOTOR > 7)
  &lcd_param_text32, &pMeter[7], &__PM,
#endif
#endif
#endif
  &lcd_param_text131, &conf.minthrottle, &__ST,
#if defined (FAILSAFE)
  &lcd_param_text101, &conf.failsafe_throttle, &__ST,
#endif
#ifdef FLYING_WING
  &lcd_param_text36, &conf.servoConf[3].middle, &__SE,
  &lcd_param_text37, &conf.servoConf[4].middle, &__SE,
#endif
#ifdef TRI
  &lcd_param_text152, &conf.servoConf[5].min, &__SE,
  &lcd_param_text153, &conf.servoConf[5].max, &__SE,
  &lcd_param_text38, &conf.servoConf[5].middle, &__SE,
  &lcd_param_text39, &conf.servoConf[5].rate, &__BITS,
#endif
#ifdef HELI_120_CCPM
  &lcd_param_text73, &conf.servoConf[3].middle, &__SE,
  &lcd_param_text74, &conf.servoConf[4].middle, &__SE,
  &lcd_param_text76, &conf.servoConf[6].middle, &__SE,
  &lcd_param_text75, &conf.servoConf[5].middle, &__SE,
  &lcd_param_text140, &conf.servoConf[3].rate, &__BITS,
  &lcd_param_text141, &conf.servoConf[4].rate, &__BITS,
  &lcd_param_text143, &conf.servoConf[6].rate, &__BITS,
  &lcd_param_text142, &conf.servoConf[5].rate, &__BITS,
#endif
#ifdef GOVERNOR_P
  &lcd_param_text133, &conf.governorP, &__D,
  &lcd_param_text134, &conf.governorD, &__D,
#endif
#ifdef YAW_COLL_PRECOMP
  &lcd_param_text155, &conf.yawCollPrecomp, &__PT,
  &lcd_param_text156, &conf.yawCollPrecompDeadband, &__SE,
#endif
#ifdef GYRO_SMOOTHING
  &lcd_param_text80, &conf.Smoothing[0], &__D,
  &lcd_param_text81, &conf.Smoothing[1], &__D,
  &lcd_param_text82, &conf.Smoothing[2], &__D,
#endif
#ifdef AIRPLANE
  &lcd_param_text83, &conf.servoConf[3].middle, &__SE,
  &lcd_param_text84, &conf.servoConf[4].middle, &__SE,
  &lcd_param_text85, &conf.servoConf[5].middle, &__SE,
  &lcd_param_text86, &conf.servoConf[6].middle, &__SE,
#endif
#ifdef MMGYRO
  &lcd_param_text121, &conf.mmgyro, &__D,
#endif
#ifdef VBAT
//  &lcd_param_text35, &analog.vbat, &__VB,
  &lcd_param_text102, &conf.vbatscale, &__PT,
  &lcd_param_text103, &conf.vbatlevel_warn1, &__P,
  &lcd_param_text104, &conf.vbatlevel_warn2, &__P,
  &lcd_param_text106, &conf.vbatlevel_crit, &__P,
//  &lcd_param_text107, &conf.no_vbat, &__P,
#endif
#ifdef POWERMETER
//  &lcd_param_text33, &pMeter[PMOTOR_SUM], &__PM,
  &lcd_param_text114, &conf.pint2ma, &__PT,
  #ifdef POWERMETER_HARD
    &lcd_param_text111, &conf.psensornull, &__SE1,
  #endif
  &lcd_param_text34, &conf.powerTrigger1, &__PT,
#endif
#if defined(ARMEDTIMEWARNING)
  &lcd_param_text132, &conf.armedtimewarning, &__SE,
#endif
#ifdef MULTIPLE_CONFIGURATION_PROFILES
  &lcd_param_text150, &global_conf.currentSet, &__D,
#endif
&lcd_param_text151, &reset_to_defaults, &__D,
//#ifdef LOG_VALUES
//  &lcd_param_text39, &failsafeEvents, &__L,
//  &lcd_param_text40, &i2c_errors_count, &__L,
//  &lcd_param_text41, &annex650_overrun_count, &__L
//#endif
};
#define PARAMMAX (sizeof(lcd_param_ptr_table)/6 - 1)
// ************************************************************************************************************

void __u8Inc(void * var, int16_t inc) {*(uint8_t*)var += (uint8_t)inc;};
void __s8Inc(void * var, int16_t inc) {*(int8_t*)var += (int8_t)inc;};
void __u16Inc(void * var, int16_t inc) {*(uint16_t*)var += inc;};
void __s16Inc(void * var, int16_t inc) {*(int16_t*)var += inc;};
void __nullInc(void * var, int16_t inc) {};

void __u8Fmt(void * var, uint8_t mul, uint8_t dec) {
  uint16_t unit = *(uint8_t*)var;
  unit *= mul;
  char c1 = '0'+unit/100; char c2 = '0'+unit/10-(unit/100)*10; char c3 = '0'+unit-(unit/10)*10;
  switch (dec) {
    case 0: line2[3] = c1; line2[4] = c2; line2[5] = c3; break;
    case 1: line2[2] = c1; line2[3] = c2; line2[4] = '.'; line2[5] = c3; break;
    case 2: line2[2] = c1; line2[3] = '.'; line2[4] = c2; line2[5] = c3; break;
    case 3: line2[1] = '0'; line2[2] = '.'; line2[3] = c1; line2[4] = c2; line2[5] = c3; break;
  }
}

void __u16Fmt(void * var, uint8_t mul, uint8_t dec) {
  uint16_t unit = *(uint16_t*)var;
  unit *= mul;
  line2[2] = digit10000(unit);
  line2[3] = digit1000(unit);
  line2[4] = digit100(unit);
  line2[5] = digit10(unit);
  line2[6] = digit1(unit);
}
void __s16Fmt(void * var, uint8_t mul, uint8_t dec) {
  int16_t unit = *(int16_t*)var;
  if (unit >= 0) {
    line2[1] = ' ';
  } else {
    line2[1] = '-';
    unit = -unit;
  }
  __u16Fmt(&unit, mul, dec);
}
void __uAuxFmt1(void * var, uint8_t mul, uint8_t dec) {  __uAuxFmt(var, mul, dec, 1); }
void __uAuxFmt2(void * var, uint8_t mul, uint8_t dec) {  __uAuxFmt(var, mul, dec, 2); }
void __uAuxFmt3(void * var, uint8_t mul, uint8_t dec) {  __uAuxFmt(var, mul, dec, 3); }
void __uAuxFmt4(void * var, uint8_t mul, uint8_t dec) {  __uAuxFmt(var, mul, dec, 4); }


void __uAuxFmt(void * var, uint8_t mul, uint8_t dec, uint8_t aux) {
  uint16_t unit = *(uint16_t*)var;
  line2[1] =  digit1(aux);
  line2[3] =  ( unit & 1<<(3*aux-3) ? 'L' : '.' );
  line2[4] =  ( unit & 1<<(3*aux-2) ? 'M' : '.' );
  line2[5] =  ( unit & 1<<(3*aux-1) ? 'H' : '.' );
}

void __s8BitsFmt(void * var, uint8_t mul, uint8_t dec) {
  int8_t unit = *(int8_t*)var;
  line2[1] =  ( unit & 1<<2 ? 'C' : '.' );
  line2[2] =  ( unit & 1<<1 ? 'N' : '.' );
  line2[3] =  ( unit & 1<<0 ? 'R' : '.' );
}

#ifdef POWERMETER
  void __upMFmt(void * var, uint8_t mul, uint8_t dec) {
    uint32_t unit = *(uint32_t*)var;
      unit /= PLEVELDIV;
   __u16Fmt(&unit, mul, dec);
  }

//void __upSFmt(void * var, uint8_t mul, uint8_t dec) {
//  uint32_t unit = *(uint32_t*)var;
//#if defined(POWERMETER_SOFT)
//  unit = (unit * (uint32_t)conf.pint2ma) / 100000; // was = unit / conf.pleveldivsoft;
//#elif defined(POWERMETER_HARD)
//  unit = unit / PLEVELDIV;
//#endif
//  __u16Fmt(&unit, mul, dec);
//}
#endif

static uint8_t lcdStickState[4];
#define IsLow(x)  (lcdStickState[x] & 0x1)
#define IsHigh(x) (lcdStickState[x] & 0x2)
#define IsMid(x)  (!lcdStickState[x])


/* ------------ DISPLAY_2LINES ------------------------------------*/
#ifdef DISPLAY_2LINES
void ConfigRefresh(uint8_t p) {
  blinkLED(10,20,1);
  SET_ALARM_BUZZER(ALRM_FAC_TOGGLE, ALRM_LVL_TOGGLE_1);
  strcpy_P(line1,PSTR("                "));
  strcpy(line2,line1);
  strcpy_P(line1, (char*)pgm_read_word(&(lcd_param_ptr_table[p * 3])));
  lcd_param_def_t* deft = (lcd_param_def_t*)pgm_read_word(&(lcd_param_ptr_table[(p * 3) + 2]));
  deft->type->fmt((void*)pgm_read_word(&(lcd_param_ptr_table[(p * 3) + 1])), deft->multiplier, deft->decimal);
  LCDclear();
  LCDsetLine(1);LCDprintChar(line1); //refresh line 1 of LCD
  LCDsetLine(2);LCDprintChar(line2);//refresh line 2 of LCD
}
#endif // DISPLAY_2LINES
/* ------------ DISPLAY_MULTILINE ---------------------------------*/
#ifdef DISPLAY_MULTILINE
// display slice of config items prior and after current item (index p)
void ConfigRefresh(uint8_t p) {
  uint8_t j, l = 1;
  int8_t pp = (int8_t)p;
  #ifndef OLED_I2C_128x64
   blinkLED(2,4,1);
   SET_ALARM_BUZZER(ALRM_FAC_TOGGLE, ALRM_LVL_TOGGLE_1);
   LCDclear();
  #else
   delay(60);
  #endif
  for (int8_t i=pp - MULTILINE_PRE; i<pp + MULTILINE_POST; i++) {
    //j = i % (1+PARAMMAX); // why does modulo not work here?
    j = (i<0 ? i + 1 + PARAMMAX : i);
    if (j > PARAMMAX) j -= (1 + PARAMMAX);
    strcpy_P(line1,PSTR("          "));
    strcpy(line2,line1);
    strcpy_P(line1, (char*)pgm_read_word(&(lcd_param_ptr_table[j * 3])));
    lcd_param_def_t* deft = (lcd_param_def_t*)pgm_read_word(&(lcd_param_ptr_table[(j * 3) + 2]));
    deft->type->fmt((void*)pgm_read_word(&(lcd_param_ptr_table[(j * 3) + 1])), deft->multiplier, deft->decimal);

    LCDsetLine(l++);
    if (j == p) {
      #if ( !defined(OLED_I2C_128x64) && !defined(OLED_DIGOLE) )
        LCDprint('>');
      #endif
      #if ( defined(OLED_DIGOLE) )
        line2[0] = '*';
      #endif
     LCDattributesReverse();
    }
    LCDprintChar(line1); // the label
    if (j == p) {LCDattributesOff(); /*LCDattributesBold();*/}
    //LCDprint(' ');
    LCDprintChar(line2); // the value
    #if ( !defined(OLED_I2C_128x64) && !defined(OLED_DIGOLE) )
      if (j == p) {LCDattributesOff(); LCDprint('<');}
    #endif
    LCD_FLUSH;
  }
  LCDcrlf();
}
#endif // DISPLAY_MULTILINE
void configurationLoop() {
  uint8_t i, p;
  uint8_t LCD=1;
  uint8_t refreshLCD = 1;
  uint8_t key = 0;
  uint8_t allow_exit = 0;
  #ifdef MULTIPLE_CONFIGURATION_PROFILES
    uint8_t currentSet = global_conf.currentSet; // keep a copy for abort.case
  #endif
  initLCD();
  #if defined OLED_I2C_128x64LOGO_PERMANENT
    LCDclear();
  #endif
  reset_to_defaults = 0;
  p = 0;
  while (LCD == 1) {
    if (refreshLCD) {
      ConfigRefresh(p);
      refreshLCD = 0;
    }
    #if defined(SERIAL_RX)
      delay(10); // may help with timing for some serial receivers -1/100 second seems non-critical here?
      if (spekFrameFlags == 0x01) readSerial_RX();
      delay(44); // For digital receivers , to ensure that an "old" frame does not cause immediate exit at startup. 
    #endif
    #if defined(LCD_TEXTSTAR) || defined(LCD_VT100) || defined(LCD_TTY) // textstar, vt100 and tty can send keys
      key = ( SerialAvailable(LCD_SERIAL_PORT) ? SerialRead(LCD_SERIAL_PORT) : 0 );
    #endif
    #ifdef LCD_CONF_DEBUG
      delay(1000);
      if (key == LCD_MENU_NEXT) key=LCD_VALUE_UP; else key = LCD_MENU_NEXT;
    #endif
    for (i = ROLL; i <= THROTTLE; i++) {uint16_t Tmp = readRawRC(i); lcdStickState[i] = (Tmp < MINCHECK) | ((Tmp > MAXCHECK) << 1);};
    if (IsMid(YAW) && IsMid(PITCH) && IsMid(ROLL)) allow_exit = 1; 
    if (key == LCD_MENU_SAVE_EXIT || (IsLow(YAW) && IsHigh(PITCH) && allow_exit))   LCD = 0; // save and exit
    else if (key == LCD_MENU_ABORT || (IsHigh(YAW) && IsHigh(PITCH) && allow_exit)) LCD = 2;// exit without save: eeprom has only 100.000 write cycles
    else if (key == LCD_MENU_NEXT || (IsLow(PITCH) && IsMid(YAW))) { //switch config param with pitch
      refreshLCD = 1; p++; if (p>PARAMMAX) p = 0;
    } else if (key == LCD_MENU_PREV || (IsHigh(PITCH) && IsMid(YAW))) {
      refreshLCD = 1; p--; if (p == 0xFF) p = PARAMMAX;
    } else if (key == LCD_VALUE_DOWN || (IsLow(ROLL))) { //+ or - param with low and high roll
      refreshLCD = 1;
      lcd_param_def_t* deft = (lcd_param_def_t*)pgm_read_word(&(lcd_param_ptr_table[(p * 3) + 2]));
      deft->type->inc((void*)pgm_read_word(&(lcd_param_ptr_table[(p * 3) + 1])), -(IsHigh(THROTTLE) ? 10: 1) * deft->increment);
      if (p == 0) conf.pid[PITCH].P8 = conf.pid[ROLL].P8;
    } else if (key == LCD_VALUE_UP || (IsHigh(ROLL))) {
      refreshLCD = 1;
      lcd_param_def_t* deft = (lcd_param_def_t*)pgm_read_word(&(lcd_param_ptr_table[(p * 3) + 2]));
      deft->type->inc((void*)pgm_read_word(&(lcd_param_ptr_table[(p * 3) + 1])), +(IsHigh(THROTTLE) ? 10 : 1) * deft->increment);
      if (p == 0) conf.pid[PITCH].P8 = conf.pid[ROLL].P8;
    }
    #if defined(PRI_SERVO_TO)
      #define MAX_SERV 7
      #if(PRI_SERVO_TO < MAX_SERV)
        #undef  MAX_SERV
        #define MAX_SERV PRI_SERVO_TO
      #endif
      for(i=PRI_SERVO_FROM-1; i<MAX_SERV; i++) servo[i] = conf.servoConf[i].middle;
      #if defined(HELICOPTER) && YAWMOTOR
        servo[5] =  MINCOMMAND;
      #endif  
      #if defined(TRI) && defined(MEGA_HW_PWM_SERVOS) && defined(MEGA)
        servo[3] = servo[5];
      #endif
      writeServos();    
    #endif
  } // while (LCD == 1)
  blinkLED(20,30,1);
  SET_ALARM_BUZZER(ALRM_FAC_CONFIRM, ALRM_LVL_CONFIRM_1);
  LCDclear();
  LCDsetLine(1);
  if (LCD == 0) { //     0123456789
    strcpy_P(line1,PSTR("Saving..."));
    #ifdef MULTIPLE_CONFIGURATION_PROFILES
      line1[7] = digit1(global_conf.currentSet);
    #endif
    LCDprintChar(line1);
    #ifdef MULTIPLE_CONFIGURATION_PROFILES
      writeGlobalSet(0);
    #endif
    if (reset_to_defaults == 7) {
      // magic number lucky 7 hit, then do the reset to defaults
      strcpy_P(line1,PSTR("RESET.."));
      //                   0123456789.12345
      LCDprintChar(line1);
      LoadDefaults(); // this invokes writeParams()
    } else {
      writeParams(1);
    }
  } else {
    strcpy_P(line1,PSTR("Aborting"));
    LCDprintChar(line1);
    #ifdef MULTIPLE_CONFIGURATION_PROFILES
      global_conf.currentSet = currentSet; // restore
    #endif
    readEEPROM(); // roll back all values to last saved state
  }
  LCDsetLine(2);
  strcpy_P(line1,PSTR("Exit"));
  LCDprintChar(line1);
  #if defined(LCD_LCD03) || defined(LCD_LCD03S)
    delay(2000); // wait for two seconds then clear screen and show initial message
    initLCD();
  #endif
  #if defined(LCD_SERIAL3W)
    SerialOpen(0,115200);
  #endif
  #if defined(LCD_TELEMETRY) || defined(OLED_I2C_128x64)
    delay(1500); // keep exit message visible for one and one half seconds even if (auto)telemetry continues writing in main loop
  #endif
  cycleTime = 0;
  #if defined(OLED_I2C_128x64)
    #if defined(OLED_I2C_128x64LOGO_PERMANENT)
      i2c_OLED_Put_Logo();
    #elif !defined(LOG_PERMANENT_SHOW_AFTER_CONFIG)
      LCDclear();
    #endif
  #endif
  #ifdef LOG_PERMANENT_SHOW_AFTER_CONFIG
    if (!f.ARMED) dumpPLog(0);
  #endif
}
#endif // LCD_CONF
// -------------------- telemetry output to LCD over serial/i2c ----------------------------------

#ifdef LCD_TELEMETRY

// LCDbar(n,v) : draw a bar graph - n number of chars for width, v value in % to display
void LCDbar(uint8_t n,uint8_t v) {
  if (v > 200) v = 0;
  else if (v > 100) v = 100;
  #if defined(LCD_SERIAL3W)
    for (uint8_t i=0; i< n; i++) LCDprint((i<n*v/100 ? '=' : '.'));
  #elif defined(LCD_TEXTSTAR)
    LCDprint(0xFE);LCDprint('b');LCDprint(n);LCDprint(v);
  #elif defined(LCD_VT100) || defined(LCD_TTY) // || defined(OLED_DIGOLE)
    uint8_t i, j = (n*v)/100;
    for (i=0; i< j; i++) LCDprint( '=' );
    for (i=j; i< n; i++) LCDprint( '.' );
  #elif defined(LCD_ETPP)
    ETPP_barGraph(n,v);
  #elif defined(LCD_LCD03) || defined(LCD_LCD03S)
    for (uint8_t i=0; i< n; i++) LCDprint((i<n*v/100 ? '=' : '.'));
  #elif defined(OLED_I2C_128x64)
    uint8_t i, j = (n*v)/100;
    for (i=0; i< j; i++) LCDprint( 159 );       // full
    if (j<n) LCDprint(154 + (v*n*5/100 - 5*j)); // partial fill
    for (i=j+1; i< n; i++) LCDprint( 154 );    // empty
  #elif defined(OLED_DIGOLE)
    uint8_t i, j = (n*v)/100;
    char l[n+1];
    for (i=0; i< j; i++) l[i] = '=';
    for (i=j; i< n; i++) l[i] = '.';
    l[n] = 0;
    LCDprintChar(l);
  #endif
}

void fill_line1_deg() {
  uint16_t unit;
  strcpy_P(line1,PSTR("Deg ---.-  ---.-"));
  // 0123456789.12345
  if (att.angle[0] < 0 ) {
    unit = -att.angle[0];
    line1[3] = '-';
  } else
  unit = att.angle[0];
  line1[4] = digit1000(unit);
  line1[5] = digit100(unit);
  line1[6] = digit10(unit);
  line1[8] = digit1(unit);
  if (att.angle[1] < 0 ) {
    unit = -att.angle[1];
    line1[10] = '-';
  } else
  unit = att.angle[1];
  line1[11] = digit1000(unit);
  line1[12] = digit100(unit);
  line1[13] = digit10(unit);
  line1[15] = digit1(unit);
}
void output_AmaxA() {
  #ifdef POWERMETER_HARD
    //uint16_t unit;
    strcpy_P(line2,PSTR("---,-A max---,-A"));
    //unit = analog.amperage; //((uint32_t)powerValue * conf.pint2ma) / 100;
    line2[0] = digit1000(analog.amperage);
    line2[1] = digit100(analog.amperage);
    line2[2] = digit10(analog.amperage);
    line2[4] = digit1(analog.amperage);
    //if (analog.amperage > powerValueMaxMAH) powerValueMaxMAH = analog.amperage;
    line2[10] = digit1000(powerValueMaxMAH);
    line2[11] = digit100(powerValueMaxMAH);
    line2[12] = digit10(powerValueMaxMAH);
    line2[14] = digit1(powerValueMaxMAH);
    LCDprintChar(line2);
  #endif
}
#ifdef WATTS
void output_WmaxW() {
  //                   0123456789.12345
  strcpy_P(line2,PSTR("----W   max----W"));
  line2[0] = digit1000(analog.watts);
  line2[1] = digit100(analog.watts);
  line2[2] = digit10(analog.watts);
  line2[3] = digit1(analog.watts);
  line2[11] = digit1000(wattsMax);
  line2[12] = digit100(wattsMax);
  line2[13] = digit10(wattsMax);
  line2[14] = digit1(wattsMax);
  LCDprintChar(line2);
}
#endif

void output_V() {
  #ifdef VBAT
    strcpy_P(line1,PSTR(" --.-V"));
    //                   0123456789.12345
    line1[1] = digit100(analog.vbat);
    line1[2] = digit10(analog.vbat);
    line1[4] = digit1(analog.vbat);
    #ifndef OLED_I2C_128x64
      if (analog.vbat < conf.vbatlevel_warn1) { LCDattributesReverse(); }
    #endif
    LCDbar(DISPLAY_COLUMNS-9, (((analog.vbat - conf.vbatlevel_warn1)*100)/(VBATNOMINAL-conf.vbatlevel_warn1)) );
    LCDattributesOff(); // turn Reverse off for rest of display
    LCDprintChar(line1);
  #endif
}

void output_Vmin() {
  #ifdef VBAT
    strcpy_P(line1,PSTR(" --.-Vmin"));
    //                   0123456789.12345
    line1[1] = digit100(vbatMin);
    line1[2] = digit10(vbatMin);
    line1[4] = digit1(vbatMin);
    #ifndef OLED_I2C_128x64
      if (vbatMin < conf.vbatlevel_crit) { LCDattributesReverse(); }
    #endif
    LCDbar(DISPLAY_COLUMNS-9, (vbatMin > conf.vbatlevel_crit ? (((vbatMin - conf.vbatlevel_crit)*100)/(VBATNOMINAL-conf.vbatlevel_crit)) : 0 ));
    LCDattributesOff();
    LCDprintChar(line1);
  #endif
}
void output_mAh() {
  #ifdef POWERMETER
    uint16_t mah = analog.intPowerMeterSum; // fallback: display consumed mAh
    if (analog.intPowerMeterSum < (uint16_t)conf.powerTrigger1 * PLEVELSCALE)
      mah = conf.powerTrigger1 * PLEVELSCALE - analog.intPowerMeterSum; // display mah mAh
    strcpy_P(line1,PSTR(" -----mAh"));
    line1[1] = digit10000(mah);
    line1[2] = digit1000(mah);
    line1[3] = digit100(mah);
    line1[4] = digit10(mah);
    line1[5] = digit1(mah);
    if (conf.powerTrigger1) {
      int8_t v = 100 - ( analog.intPowerMeterSum/(uint16_t)conf.powerTrigger1) *2; // bar graph powermeter (scale intPowerMeterSum/powerTrigger1 with *100/PLEVELSCALE)
      #ifndef OLED_I2C_128x64
        if (v <= 0) { LCDattributesReverse(); } // buzzer on? then add some blink for attention
      #endif
      LCDbar(DISPLAY_COLUMNS-9, v);
      LCDattributesOff();
    }
    LCDprintChar(line1);
  #endif
}
void output_errors_or_armedTime() {
  if (failsafeEvents || (i2c_errors_count>>10)) { // errors
    // ignore i2c==1 because of bma020-init
    LCDalarmAndReverse();
    output_fails();
    LCDattributesOff();
  } else { // ... armed time
    uint16_t ats = armedTime / 1000000;
    #ifdef ARMEDTIMEWARNING
      #ifndef OLED_I2C_128x64
        if (ats > conf.armedtimewarning) { LCDattributesReverse(); }
      #endif
      LCDbar(DISPLAY_COLUMNS-9, (ats < conf.armedtimewarning ? (((conf.armedtimewarning-ats+1)*25)/(conf.armedtimewarning+1)*4) : 0 ));
      LCDattributesOff();
    #endif
    LCDprint(' ');
    #ifdef ARMEDTIMEWARNING
      print_uptime( (conf.armedtimewarning > ats ? conf.armedtimewarning - ats : ats) );
    #else
      print_uptime(ats);
    #endif
  }
}
void output_altitude() {
  #if BARO
    {
      int16_t h = alt.EstAlt / 100;
      LCDprint('A'); LCDprintInt16(h); LCDprint('m');
      h = BAROaltMax / 100;
      LCDprintChar(" ("); LCDprintInt16(h);
    }
  #endif
}
void output_uptime_cset() {
  strcpy_P(line1,PSTR("Up ")); LCDprintChar(line1); print_uptime(millis() / 1000 );
  #ifdef MULTIPLE_CONFIGURATION_PROFILES
    strcpy_P(line1,PSTR("  Cset -")); line1[7] = digit1(global_conf.currentSet); LCDprintChar(line1);
  #endif
}
void output_cycle() {
  strcpy_P(line1,PSTR("Cycle    -----us")); //uin16_t cycleTime
  // 0123456789.12345*/
  //strcpy_P(line2,PSTR("(-----, -----)us")); //uin16_t cycleTimeMax
  line1[9] = digit10000(cycleTime);
  line1[10] = digit1000(cycleTime);
  line1[11] = digit100(cycleTime);
  line1[12] = digit10(cycleTime);
  line1[13] = digit1(cycleTime);
  LCDprintChar(line1);
}
void output_cycleMinMax() {
#if (LOG_VALUES >= 2)
  strcpy_P(line2,PSTR("(-----, -----)us")); //uin16_t cycleTimeMax
  line2[1] = digit10000(cycleTimeMin );
  line2[2] = digit1000(cycleTimeMin );
  line2[3] = digit100(cycleTimeMin );
  line2[4] = digit10(cycleTimeMin );
  line2[5] = digit1(cycleTimeMin );
  line2[8] = digit10000(cycleTimeMax);
  line2[9] = digit1000(cycleTimeMax);
  line2[10] = digit100(cycleTimeMax);
  line2[11] = digit10(cycleTimeMax);
  line2[12] = digit1(cycleTimeMax);
  LCDprintChar(line2);
#endif
}
void output_fails() {
  uint16_t unit;
  //                   0123456789012345
  strcpy_P(line2,PSTR("-- Fails  -- i2c"));
  unit = failsafeEvents;
  line2[0] = digit10(unit);
  line2[1] = digit1(unit);
  unit = i2c_errors_count;
  line2[10] = digit10(unit);
  line2[11] = digit1(unit);
  LCDprintChar(line2);
}
void output_annex() {
  //                   0123456789
  strcpy_P(line2,PSTR("annex --"));
  line2[6] = digit10(annex650_overrun_count);
  line2[7] = digit1(annex650_overrun_count);
  LCDprintChar(line2);
}
static char checkboxitemNames[][4] = {
    "Arm",
    #if ACC
      "Ang","Hor",
    #endif
    #if BARO && (!defined(SUPPRESS_BARO_ALTHOLD))
      "Bar",
    #endif
    #ifdef VARIOMETER
      "Var",
    #endif
    "Mag",
    #if defined(HEADFREE)
      "HFr",
      "HAd",
    #endif
    #if defined(SERVO_TILT) || defined(GIMBAL)|| defined(SERVO_MIX_TILT)
      "CSt",
    #endif
    #if defined(CAMTRIG)
      "CTr",
    #endif
    #if GPS
      "GHm",
      "GHd",
    #endif
    #if defined(FIXEDWING) || defined(HELICOPTER)
      "Pas",
    #endif
    #if defined(BUZZER)
      "Buz",
    #endif
    #if defined(LED_FLASHER)
      "LEM",
      "LEL",
    #endif
    #if defined(LANDING_LIGHTS_DDR)
      "LLs",
    #endif
    #ifdef INFLIGHT_ACC_CALIBRATION
      "Cal",
    #endif
    #ifdef GOVERNOR_P
      "Gov",
    #endif
    #ifdef OSD_SWITCH
      "OSD",
    #endif
  ""};
void output_checkboxitems() {
  for (uint8_t i=0; i<CHECKBOXITEMS; i++ ) {
    if (rcOptions[i] || ((i==BOXARM)&&(f.ARMED)) ) {
      LCDprintChar(checkboxitemNames[i]);
      LCDprint(' ');
    }
  }
}
void output_checkboxstatus() {
  #if (defined(DISPLAY_COLUMNS))
    uint8_t cntmax = DISPLAY_COLUMNS /4;
  #else
    uint8_t cntmax = 4;
  #endif
    uint8_t cnt = 0;
  #ifdef BUZZER
    if (isBuzzerON()) { LCDalarmAndReverse(); } // buzzer on? then add some blink for attention
  #endif
  for (uint8_t i=0; (i<CHECKBOXITEMS) && (cnt<cntmax); i++ ) {
    if (rcOptions[i] || ((i==BOXARM)&&(f.ARMED)) ) {
      LCDprintChar(checkboxitemNames[i]);
      LCDprint(' ');
      cnt++;
    }
  }
  for (uint8_t i=cnt; i<cntmax; i++) LCDprintChar(".   "); // padding to EOL
  LCDattributesOff();
}

#define GYROLIMIT 60 // threshold: for larger values replace bar with dots
#define ACCLIMIT 60 // threshold: for larger values replace bar with dots
void outputSensor(uint8_t num, int16_t data, int16_t limit) {
  if (data < -limit)     {LCDprintChar("<<<<");}
  else if (data > limit) {LCDprintChar(">>>>");}
  else LCDbar(num, limit + data *50/limit);
}
void print_uptime(uint16_t sec) {
  uint16_t m, s;
  static char line[6] = "--:--";
  m = sec / 60;
  s = sec - (60 * m);
  line[0] = digit10(m);
  line[1] = digit1(m);
  line[3] = digit10(s);
  line[4] = digit1(s);
  LCDprintChar(line);
}
#if GPS
void fill_line1_gps_lat(uint8_t sat) {
  int32_t aGPS_latitude = abs(GPS_coord[LAT]);
  strcpy_P(line1,PSTR(".---.------- #--"));
  //                   0123456789012345
  line1[0] = GPS_coord[LAT]<0?'S':'N';
  if (sat) {
    //line1[13] = '#';
    line1[14] = digit10(GPS_numSat);
    line1[15] = digit1(GPS_numSat);
  } //                                987654321
  line1[1]  = '0' + aGPS_latitude  / 1000000000;
  line1[2]  = '0' + aGPS_latitude  / 100000000 - (aGPS_latitude/1000000000) * 10;
  line1[3]  = '0' + aGPS_latitude  / 10000000  - (aGPS_latitude/100000000)  * 10;
  line1[5]  = '0' + aGPS_latitude  / 1000000   - (aGPS_latitude/10000000)   * 10;
  line1[6]  = '0' + aGPS_latitude  / 100000    - (aGPS_latitude/1000000)    * 10;
  line1[7]  = '0' + aGPS_latitude  / 10000     - (aGPS_latitude/100000)     * 10;
  line1[8]  = '0' + aGPS_latitude  / 1000      - (aGPS_latitude/10000)      * 10;
  line1[9]  = '0' + aGPS_latitude  / 100       - (aGPS_latitude/1000)       * 10;
  line1[10] = '0' + aGPS_latitude  / 10        - (aGPS_latitude/100)        * 10;
  line1[11] = '0' + aGPS_latitude              - (aGPS_latitude/10)         * 10;
}
void fill_line2_gps_lon(uint8_t status) {
  int32_t aGPS_longitude = abs(GPS_coord[LON]);
  strcpy_P(line2,PSTR(".---.-------    "));
  //                   0123456789012345
  line2[0] = GPS_coord[LON]<0?'W':'E';
  if (status) {
    line2[13] = (GPS_update ? 'U' : '.');
    //line2[15] = (1 ? 'P' : '.');
  }
  line2[1]  = '0' + aGPS_longitude / 1000000000;
  line2[2]  = '0' + aGPS_longitude / 100000000 - (aGPS_longitude/1000000000) * 10;
  line2[3]  = '0' + aGPS_longitude / 10000000  - (aGPS_longitude/100000000)  * 10;
  line2[5]  = '0' + aGPS_longitude / 1000000   - (aGPS_longitude/10000000)   * 10;
  line2[6]  = '0' + aGPS_longitude / 100000    - (aGPS_longitude/1000000)    * 10;
  line2[7]  = '0' + aGPS_longitude / 10000     - (aGPS_longitude/100000)     * 10;
  line2[8]  = '0' + aGPS_longitude / 1000      - (aGPS_longitude/10000)      * 10;
  line2[9]  = '0' + aGPS_longitude / 100       - (aGPS_longitude/1000)       * 10;
  line2[10] = '0' + aGPS_longitude / 10        - (aGPS_longitude/100)        * 10;
  line2[11] = '0' + aGPS_longitude             - (aGPS_longitude/10)         * 10;
}
#endif

void output_gyroX() {
  LCDprintInt16(imu.gyroData[0]); LCDprint(' ');
  outputSensor(DISPLAY_COLUMNS-10, imu.gyroData[0], GYROLIMIT);
}
void output_gyroY() {
  LCDprintInt16(imu.gyroData[1]); LCDprint(' ');
  outputSensor(DISPLAY_COLUMNS-10, imu.gyroData[1], GYROLIMIT);
}
void output_gyroZ() {
  LCDprintInt16(imu.gyroData[2]); LCDprint(' ');
  outputSensor(DISPLAY_COLUMNS-10, imu.gyroData[2], GYROLIMIT);
}
void output_accX() {
  LCDprintInt16(imu.accSmooth[0]); LCDprint(' ');
  outputSensor(DISPLAY_COLUMNS-10, imu.accSmooth[0], ACCLIMIT);
}
void output_accY() {
  LCDprintInt16(imu.accSmooth[1]); LCDprint(' ');
  outputSensor(DISPLAY_COLUMNS-10, imu.accSmooth[1], ACCLIMIT);
}
void output_accZ() {
  LCDprintInt16(imu.accSmooth[2]); LCDprint(' ');
  outputSensor(DISPLAY_COLUMNS-10, imu.accSmooth[2] - ACC_1G, ACCLIMIT);
}

void output_debug0() { LCDprintChar("D1 "); LCDprintInt16(debug[0]); }
void output_debug1() { LCDprintChar("D2 "); LCDprintInt16(debug[1]); }
void output_debug2() { LCDprintChar("D3 "); LCDprintInt16(debug[2]); }
void output_debug3() { LCDprintChar("D4 "); LCDprintInt16(debug[3]); }


#if defined(DEBUG) || defined(DEBUG_FREE)
  #define PRINT_FREE_RAM  { \
    extern unsigned int __bss_end; \
    /*extern unsigned int __heap_start;*/ \
    extern void *__brkval; \
    int free_memory; \
    if((int)__brkval == 0) \
      free_memory = ((int)&free_memory) - ((int)&__bss_end); \
    else \
      free_memory = ((int)&free_memory) - ((int)__brkval); \
    strcpy_P(line1,PSTR(" Free ----")); \
    line1[6] = digit1000( free_memory ); \
    line1[7] = digit100( free_memory ); \
    line1[8] = digit10( free_memory ); \
    line1[9] = digit1( free_memory ); \
    LCDsetLine(1); LCDprintChar(line1); \
    telemetry = 0; \
  }
  #define PRINT_FREE_RAM_v2  { \
    const uint8_t *ptr = &_end; \
    uint16_t       free_memory = 0; \
    while(*ptr == 0xa5 && ptr <= &__stack) \
    {   ptr++; free_memory++; } \
    strcpy_P(line1,PSTR(" Free ----")); \
    line1[6] = digit1000( free_memory ); \
    line1[7] = digit100( free_memory ); \
    line1[8] = digit10( free_memory ); \
    line1[9] = digit1( free_memory ); \
    LCDsetLine(1); LCDprintChar(line1); \
    telemetry = 0; \
  }
#endif

/* ------------ DISPLAY_2LINES ------------------------------------*/
#ifdef DISPLAY_2LINES
void lcd_telemetry() {
  static uint8_t linenr = 0;
  switch (telemetry) { // output telemetry data
    uint16_t unit;
    uint8_t i;
#ifndef SUPPRESS_TELEMETRY_PAGE_1
    case 1: // button A on Textstar LCD -> angles
    case '1':
    if (linenr++ % 2) {
      fill_line1_deg();
      LCDsetLine(1);
      LCDprintChar(line1);
    } else {
      #ifdef POWERMETER_HARD
        LCDsetLine(2);
        output_AmaxA();
      #endif
    }
    break;
#endif
#ifndef SUPPRESS_TELEMETRY_PAGE_2
    case 2: // button B on Textstar LCD -> Voltage, PowerSum and power alarm trigger value
    case '2':
    if (linenr++ % 2) {
      LCDsetLine(1);
      output_V();
    } else {
      LCDsetLine(2);
      output_mAh();
    }
    break;
#endif
#ifndef SUPPRESS_TELEMETRY_PAGE_3
    case 3: // button C on Textstar LCD -> cycle time
    case '3':
    if (linenr++ % 2) {
      LCDsetLine(1);
      output_cycle();
    } else {
#if (LOG_VALUES >= 2)
      LCDsetLine(2);
      output_cycleMinMax());
#endif
    }
    break;
#endif
#ifndef SUPPRESS_TELEMETRY_PAGE_4
    case 4: // button D on Textstar LCD -> sensors
    case '4':
    if (linenr++ % 2) {
      LCDsetLine(1);LCDprintChar("G "); //refresh line 1 of LCD
      outputSensor(4, imu.gyroData[0], GYROLIMIT); LCDprint(' ');
      outputSensor(4, imu.gyroData[1], GYROLIMIT); LCDprint(' ');
      outputSensor(4, imu.gyroData[2], GYROLIMIT);
    } else {
      LCDsetLine(2);LCDprintChar("A "); //refresh line 2 of LCD
      outputSensor(4, imu.accSmooth[0], ACCLIMIT); LCDprint(' ');
      outputSensor(4, imu.accSmooth[1], ACCLIMIT); LCDprint(' ');
      outputSensor(4, imu.accSmooth[2] - ACC_1G, ACCLIMIT);
    }
    break;
#endif
#ifndef SUPPRESS_TELEMETRY_PAGE_5
    case 5:
    case '5':
    if (linenr++ % 2) {
      LCDsetLine(1);
      output_fails();
    } else {
      LCDsetLine(2);
      output_annex();
    }
      break;
#endif
#ifndef SUPPRESS_TELEMETRY_PAGE_6
    case 6: // RX inputs
    case '6':
    if (linenr++ % 2) {
      strcpy_P(line1,PSTR("Roll Pitch Throt"));
      if (f.ARMED) line2[14] = 'A'; else line2[14] = 'a';
      if (failsafeCnt > 5) line2[15] = 'F'; else line2[15] = 'f';
      LCDsetLine(1);LCDprintChar(line1);
    } else {
      // 0123456789012345
      strcpy_P(line2,PSTR("---- ---- ----xx"));
      line2[0] = digit1000( rcData[ROLL] );
      line2[1] = digit100( rcData[ROLL] );
      line2[2] = digit10( rcData[ROLL] );
      line2[3] = digit1( rcData[ROLL] );
      line2[5] = digit1000( rcData[PITCH] );
      line2[6] = digit100( rcData[PITCH] );
      line2[7] = digit10( rcData[PITCH] );
      line2[8] = digit1( rcData[PITCH] );
      line2[10] = digit1000( rcData[THROTTLE] );
      line2[11] = digit100( rcData[THROTTLE] );
      line2[12] = digit10( rcData[THROTTLE] );
      line2[13] = digit1( rcData[THROTTLE] );
      LCDsetLine(2);LCDprintChar(line2);
    }
    break;
#endif
#ifndef SUPPRESS_TELEMETRY_PAGE_7
    case 7:
    case '7':
      #if GPS
      if (linenr++ % 2) {
        fill_line1_gps_lat(1); // including #sat
        LCDsetLine(1);LCDprintChar(line1);
       
      } else {
        fill_line2_gps_lon(1); // including status info
        LCDsetLine(2);LCDprintChar(line2);
      }
      #endif // case 7 : GPS
      break;
#endif
#ifndef SUPPRESS_TELEMETRY_PAGE_9
    case 9:
    case '9':
      LCDsetLine(1);
      LCDprintInt16(debug[0]); LCDprint(' ');
      LCDprintInt16(debug[1]); LCDprint(' ');
      LCDprintInt16(debug[2]); LCDprint(' ');
      LCDprintInt16(debug[3]); LCDprint(' ');
      break;
#endif

#if defined(LOG_VALUES) && defined(DEBUG)
    case 'R':
    //Reset logvalues
    cycleTimeMax = 0;// reset min/max on transition on->off
    cycleTimeMin = 65535;
    telemetry = 0;// no use to repeat this forever
    break;
#endif // case R
#if defined(DEBUG) || defined(DEBUG_FREE)
    case 'F':
    PRINT_FREE_RAM;
    break;
#endif // DEBUG
    // WARNING: if you add another case here, you should also add a case: in Serial.pde, so users can access your case via terminal input
  } // end switch (telemetry)
} // end function lcd_telemetry

#endif // DISPLAY_2LINES
/* ------------ DISPLAY_MULTILINE ------------------------------------*/
#ifdef DISPLAY_MULTILINE
#ifndef SUPPRESS_TELEMETRY_PAGE_5
void outputMotorServo(uint8_t i, uint16_t unit) {
  #ifdef HELICOPTER
    static char outputNames[16][3] = {"M1", " 2"," 3", " 4", " 5", " 6", " 7", " 8",
      "S1", "S2","S3", "SN", "SL", "ST", "SR", "SM",};
  #else
    static char outputNames[16][3] = {"M1", " 2"," 3", " 4", " 5", " 6", " 7", " 8",
      "S1", "S2","S3", "S4", "S5", "S6", "S7", "S8",};
  #endif
  LCDprintChar(outputNames[i]);
  template7[1] = digit1000(unit);
  template7[2] = digit100(unit);
  template7[3] = digit10(unit);
  template7[4] = digit1(unit);
  LCDprintChar(template7);
  unit = constrain(unit,1000,2000);
  LCDbar(DISPLAY_COLUMNS-8, (unit-1000)/10 );
  LCDcrlf();
}
#endif
#ifdef LCD_TELEMETRY_PAGE1
  void (*page1_func_ptr[]) () = LCD_TELEMETRY_PAGE1 ;
#else
  void (*page1_func_ptr[]) () = {
    #ifdef VBAT
      output_V, //1
    #endif
    #ifdef POWERMETER
      output_mAh,
    #endif
    #ifdef VBAT
      output_Vmin,
    #endif
    output_errors_or_armedTime,
    output_checkboxstatus,
    #if BARO
      output_altitude,
    #endif
    #ifdef POWERMETER_HARD
      output_AmaxA,
    #endif
    #ifdef WATTS
      output_WmaxW,
    #endif
    output_uptime_cset,
  };
#endif
#ifdef LCD_TELEMETRY_PAGE9
  void (*page9_func_ptr[]) () = LCD_TELEMETRY_PAGE9 ;
#else
  void (*page9_func_ptr[]) () = {
      output_cycle,
      #if (LOG_VALUES >= 2)
        output_cycleMinMax,
      #endif
      output_fails,
      output_annex,
      #ifdef DEBUG
        output_debug0, output_debug1, output_debug2, output_debug3,
      #endif
  };
#endif
#ifdef LCD_TELEMETRY_PAGE2
  void (*page2_func_ptr[]) () = LCD_TELEMETRY_PAGE2 ;
#else
  void (*page2_func_ptr[]) () = { output_gyroX, output_gyroY, output_gyroZ, output_accX, output_accY, output_accZ, };
#endif

void lcd_telemetry() {
  static uint8_t linenr = 0;
  #ifdef DISPLAY_FONT_DSIZE
    uint8_t offset = 0;
    #define POSSIBLE_OFFSET offset
  #else
    #define POSSIBLE_OFFSET 0
  #endif
  switch (telemetry) { // output telemetry data
    uint16_t unit;
    uint8_t i;
    case '0': // request to turn telemetry off - workaround, cannot enter binary zero \000 into string
      telemetry = 0;
      break;
#ifndef SUPPRESS_TELEMETRY_PAGE_1
  #ifdef DISPLAY_FONT_DSIZE
    case '!':
      { offset = MULTILINE_PRE+MULTILINE_POST; }
      // no break !!
  #endif
    case 1:// overall display
    case '1':
    {
      linenr++;
      linenr %= min(MULTILINE_PRE+MULTILINE_POST, (sizeof(page1_func_ptr)/2) - POSSIBLE_OFFSET);
      LCDsetLine(linenr+1);
      (*page1_func_ptr [linenr + POSSIBLE_OFFSET] ) (); // not really linenumbers
      LCDcrlf();
      break;
    }
#endif
#ifndef SUPPRESS_TELEMETRY_PAGE_2
  #ifdef DISPLAY_FONT_DSIZE
    case '@':
      { offset = 3; }
      // no break !!
  #endif
    case 2: // sensor readings
    case '2':
    static char sensorNames[6][3] = {"Gx", "Gy", "Gz", "Ax", "Ay", "Az"};
    i = linenr++ % min(MULTILINE_PRE+MULTILINE_POST, 6 - POSSIBLE_OFFSET);
    LCDsetLine(i + 1);
    LCDprintChar(sensorNames[i+POSSIBLE_OFFSET]);
    LCDprint(' ');
    (*page2_func_ptr [i+POSSIBLE_OFFSET] ) (); // not really linenumbers
    LCDcrlf();
    break;
#endif
#ifndef SUPPRESS_TELEMETRY_PAGE_3
  #ifdef DISPLAY_FONT_DSIZE
    case '#':
      { offset = MULTILINE_PRE+MULTILINE_POST; }
    // no break !!
  #endif
    case 3: // checkboxes and modes
    case '3':
    {
      i = linenr++ % min(MULTILINE_PRE+MULTILINE_POST, CHECKBOXITEMS - POSSIBLE_OFFSET);
      LCDsetLine(i + 1);
      LCDprintChar(checkboxitemNames[i+POSSIBLE_OFFSET]);
      //LCDprintChar((PGM_P)(boxnames[index]));
      LCDprint(' ');
      LCDprint( rcOptions[i+POSSIBLE_OFFSET] ? 'X' : '.');
      LCDcrlf();
      break;
    }
#endif
#ifndef SUPPRESS_TELEMETRY_PAGE_4
  #ifdef DISPLAY_FONT_DSIZE
    case '$':
      { offset = 4; }
      // no break !!
  #endif
    case 4: // RX inputs
    case '4':
    {
      static char channelNames[8][4] = {"Ail", "Ele", "Yaw", "Thr", "Ax1", "Ax2", "Ax3", "Ax4"};
      i = linenr++ % 8; // 8 channels
      LCDsetLine((i - POSSIBLE_OFFSET)%8 + 1);
      //strcpy_P(line1,PSTR("-Thr ---- "));
      //                   0123456789.12345
      template3[0] = ( '0' + i+1);// channel numbering [1;8]
      LCDprintChar(template3);
      LCDprintChar(channelNames[i]);
      unit = rcData[i];
      template7[1] = digit1000(unit);
      template7[2] = digit100(unit);
      template7[3] = digit10(unit);
      template7[4] = digit1(unit);
      LCDprintChar(template7);
      unit = constrain(rcData[i],1000,2000);
      LCDbar(DISPLAY_COLUMNS-11, (unit-1000)/10 );
      LCDcrlf();
      break;
    }
#endif
#ifndef SUPPRESS_TELEMETRY_PAGE_5
  #ifdef DISPLAY_FONT_DSIZE
    case '%':
      { offset = MULTILINE_PRE+MULTILINE_POST; }
      // no break !!
  #endif
    case 5: // outputs motors+servos
    case '5':
    {
//      static char outputNames[16][3] = {"M1", " 2"," 3", " 4", " 5", " 6", " 7", " 8",
//          "S1", "S2","S3", "S4", "S5", "S6", "S7", "S8",};
      static uint8_t index = 0;
      i = index++ % 16;
      if (i == 0) linenr = 0; //vt100 starts linenumbering @1
      LCDsetLine((linenr - POSSIBLE_OFFSET)%8 +1);
      if (i < 8) {
        if (i < NUMBER_MOTOR) {
          outputMotorServo(i, motor[i]);
          linenr++;
        } else {
          index = 8;
        }
      } else {
        uint8_t j = i-7; // [8;15] -> [1;8]
        #if defined(PRI_SERVO_FROM) && defined(SEC_SERVO_FROM)
          if ((PRI_SERVO_FROM <= j && PRI_SERVO_TO >= j) || (SEC_SERVO_FROM <= j && SEC_SERVO_TO >= j))
        #elif defined(PRI_SERVO_FROM)
          if (j < PRI_SERVO_FROM) index = 7 + PRI_SERVO_FROM;
          else if (j > PRI_SERVO_TO) index = 16;
          else // (PRI_SERVO_FROM <= j && PRI_SERVO_TO >= j)
        #endif
        #if defined(PRI_SERVO_FROM) || defined(SEC_SERVO_FROM)
          {
            outputMotorServo(i, servo[j-1]);
            linenr++;
            break;
          }
        #endif

      }
      break;
    }
#endif // page 5

#ifndef SUPPRESS_TELEMETRY_PAGE_6
  #if defined(VBAT_CELLS)
    #ifdef DISPLAY_FONT_DSIZE
    case '^':
      { offset = 4; }
      // no break !!
    #endif
    case 6: // alarms states
    case '6':
      {
        i = linenr++ % VBAT_CELLS_NUM; // VBAT_CELLS_NUM cells
        LCDsetLine((i - POSSIBLE_OFFSET)% VBAT_CELLS_NUM + 1);
        strcpy_P(line1,PSTR("_:-.-V __._V"));
        //                   0123456789.12345
        line1[0] = digit1(i+1);
        uint16_t v = analog.vbatcells[i];
        if (i>0) v = (analog.vbatcells[i] > analog.vbatcells[i-1] ? analog.vbatcells[i] - analog.vbatcells[i-1] : 0);
        line1[2] = digit10(v);
        line1[4] =  digit1(v);
        line1[7] = digit100(analog.vbatcells[i]);
        line1[8] =  digit10(analog.vbatcells[i]);
        line1[10] =   digit1(analog.vbatcells[i]);
        //      #ifndef OLED_I2C_128x64
        //        if (analog.vbat < conf.vbatlevel_warn1) { LCDattributesReverse(); }
        //      #endif
        if (v > VBATNOMINAL/VBAT_CELLS_NUM) v = VBATNOMINAL/VBAT_CELLS_NUM;
        LCDbar(DISPLAY_COLUMNS-12, (v*100*VBAT_CELLS_NUM)/VBATNOMINAL );
        //      LCDattributesOff(); // turn Reverse off for rest of display
        LCDprintChar(line1);
        LCDcrlf();
        break;
      }
  #endif // vbat.cells
#endif // page 6

#ifndef SUPPRESS_TELEMETRY_PAGE_7
  #if GPS
    #ifdef DISPLAY_FONT_DSIZE
    case '&':
      { offset = MULTILINE_PRE+MULTILINE_POST; }
      // no break !!
    #endif
    case 7: // GPS
    case '7':
      linenr++;
      linenr %= 6;
      LCDsetLine(linenr+1);
      switch (linenr + POSSIBLE_OFFSET) {
        case 0: // lat
          fill_line1_gps_lat(0); // skip #sat
          LCDprintChar(line1);
          break;
        case 1: // lon
          fill_line2_gps_lon(0);
          LCDprintChar(line2);
          break;
        case 2: // # Sats
          strcpy_P(line1,PSTR("-- Sats"));
          //                   0123456789012345
          line1[0] = digit10(GPS_numSat);
          line1[1] = digit1(GPS_numSat);
          LCDprintChar(line1);
          break;
//        case 3: //
//          strcpy_P(line1,PSTR("Status "));
//          //                   0123456789012345
//          LCDprintChar(line1);
//          if (1)
//            LCDprintChar("OK");
//          else {
//            LCDattributesReverse();
//            LCDprintChar("KO");
//            LCDattributesOff();
//          }
//        break;
        case 4: // gps speed
        {
          uint8_t v = (GPS_speed * 0.036f);
          strcpy_P(line1,PSTR("--km/h max--km/h"));
          //                   0123456789012345
          line1[0] = digit10(v);
          line1[1] = digit1(v);
          v = (GPS_speedMax * 0.036f);
          line1[10] = digit10(v);
          line1[11] = digit1(v);
          LCDprintChar(line1);
          break;
        }
        case 5: // vbat
          output_V();
          break;
      }
      LCDcrlf();
    break;
  #endif // gps
#endif // page 7

#ifndef SUPPRESS_TELEMETRY_PAGE_8
  #ifdef DISPLAY_FONT_DSIZE
      case '*':
      { offset = 5; }
      // no break !!
  #endif
    case 8: // alarms states
    case '8':
    //   123456789.1234567890
    static char alarmsNames[][12] = {
        "0: toggle  ",
        "1: failsafe",
        "2: noGPS   ",
        "3: beeperOn",
        "4: pMeter  ",
        "5: runtime ",
        "6: vBat    ",
        "7: confirma",
        "8: Acc     ",
        "9: I2Cerror" };
    linenr++;
    linenr %= min(MULTILINE_PRE+MULTILINE_POST, 10 - POSSIBLE_OFFSET);
    LCDsetLine(linenr+1);
    // [linenr + POSSIBLE_OFFSET]
    LCDprintChar( alarmsNames[linenr + POSSIBLE_OFFSET] );
    LCDprint(' ');
    LCDprint( digit1( alarmArray[linenr + POSSIBLE_OFFSET] ) );
    LCDcrlf();
    break;
#endif // page 8

#ifndef SUPPRESS_TELEMETRY_PAGE_9
  #ifdef DISPLAY_FONT_DSIZE
      case '(':
      { offset = 4; }
      // no break !!
  #endif
    case 9: // diagnostics
    case '9':
    linenr++;
    linenr %= min(MULTILINE_PRE+MULTILINE_POST, (sizeof(page9_func_ptr)/2) - POSSIBLE_OFFSET);
    LCDsetLine(linenr+1);
    (*page9_func_ptr [linenr + POSSIBLE_OFFSET] ) (); // not really linenumbers
    LCDcrlf();
    break;
#endif // page 9
#ifndef SUPPRESS_TELEMETRY_PAGE_R
    case 'R':
    {
      //Reset logvalues
      #if defined(LOG_VALUES) && (LOG_VALUES >= 2)
        cycleTimeMax = 0;
        cycleTimeMin = 65535;
      #endif
      #if BARO
        #if defined(LOG_VALUES)
          BAROaltMax = 0;
        #endif
      #endif
      #if defined(FAILSAFE)
          failsafeEvents = 0; // reset failsafe counter
      #endif
      i2c_errors_count = 0;
      f.OK_TO_ARM = 1; // allow arming again
      telemetry = 0; // no use to repeat this forever
      break;
    }
#endif // case R
#if defined(DEBUG) || defined(DEBUG_FREE)
    case 'F':
      PRINT_FREE_RAM;
      break;
#endif // DEBUG
    // WARNING: if you add another case here, you should also add a case: in Serial.pde, so users can access your case via terminal input
  } // end switch (telemetry)
} // end function lcd_telemetry

#endif // DISPLAY_MULTILINE

void toggle_telemetry(uint8_t t) {
  if (telemetry == t) telemetry = 0; 
  else {
    telemetry = t;
    #if defined( OLED_I2C_128x64)
      if (telemetry != 0) i2c_OLED_init();
    #elif defined(OLED_DIGOLE)
      if (telemetry != 0) i2c_OLED_DIGOLE_init();
    #endif
    LCDclear();
  }
}
#endif //  LCD_TELEMETRY

#ifdef LOG_PERMANENT
  void dumpPLog(uint8_t full) {
    #ifdef HAS_LCD
      /*LCDclear();*/ LCDnextline();
      LCDprintChar("LastOff   "); LCDprintChar(plog.running ? "KO" : "ok");  LCDnextline();
      LCDprintChar("#On      "); LCDprintInt16(plog.start); LCDnextline();
      LCDprintChar("Life[min]"); LCDprintInt16(plog.lifetime/60); LCDnextline();
      if (full) {
        #ifdef DEBUG
          LCDprintChar("#arm   "); LCDprintInt16(plog.arm); LCDnextline();
          LCDprintChar("#disarm"); LCDprintInt16(plog.disarm); LCDnextline();
          LCDprintChar("last[s]"); LCDprintInt16(plog.armed_time/1000000); LCDnextline();
          LCDprintChar("#fail@dis"); LCDprintInt16(plog.failsafe); LCDnextline();
          LCDprintChar("#i2c@dis "); LCDprintInt16(plog.i2c); LCDnextline();
          //            0123456789012345
        #endif
      }
      /*strcpy_P(line2,PSTR("Fail --- i2c ---"));
      line2[5] = digit100(plog.failsafe);
      line2[6] = digit10(plog.failsafe);
      line2[7] = digit1(plog.failsafe);
      line2[13] = digit100(plog.i2c);
      line2[14] = digit10(plog.i2c);
      line2[15] = digit1(plog.i2c);
      LCDprintChar(line2); LCDnextline();*/
      delay(4000);
    #endif
    #ifdef LOG_PERMANENT_SERVICE_LIFETIME
      serviceCheckPLog();
    #endif
    #ifdef HAS_LCD
      LCDclear();
    #endif
  }

  void LCDnextline(void) {
    #if ( defined(DISPLAY_MULTILINE) )
      lnr++;
      if (lnr > (MULTILINE_PRE+MULTILINE_POST)) {
        lnr = 1;
        delay(4000);
        LCDclear();
      }
      LCDsetLine(lnr);
      LCD_FLUSH;
    #elif ( defined(DISPLAY_2LINES))
      #if (! (defined(LCD_TTY)  ) )
        delay(600);
      #endif
      #ifdef HAS_LCD
      LCDprintChar("\r\n");
      #endif
    #else
      // no LCD, nothing to do here
    #endif
  }

  #ifdef LOG_PERMANENT_SERVICE_LIFETIME
  void serviceCheckPLog(void) {
    if ( (!f.ARMED) && (plog.lifetime > LOG_PERMANENT_SERVICE_LIFETIME) ){
      for (uint8_t i = 0; i<max(1, min(9,(plog.lifetime-LOG_PERMANENT_SERVICE_LIFETIME)>>10 )); i++) {
        #ifdef HAS_LCD
          LCDprintChar("SERVICE lifetime"); LCDnextline();
        #endif
        blinkLED(5,200,5);
        delay(5000);
      }
      SET_ALARM(ALRM_FAC_CONFIRM, ALRM_LVL_CONFIRM_ELSE);
    }
  }
  #endif // LOG_PERMANENT_SERVICE_LIFETIME

#endif // LOG_PERMANENT