File content as of revision 45:c23f25c00d0d:

#include "mbed.h"
#include "extern.h"

void CommandLoop(void){
    uint8_t SwState,x=0,y=0, z;
    uint8_t (*Function[STATE_NUM_Y])(uint8_t x) = {
        LoopFunction0,
        LoopFunction1,
        LoopFunction2,
        LoopFunction3,
        LoopFunction4,
        LoopFunction5,
        LoopFunction6,
        LoopFunction7,
        LoopFunction8,
        LoopFunction9,
        LoopFunctionA,
        LoopFunctionB,
        LoopFunctionC,
        LoopFunctionD,
        LoopFunctionE,
        LoopFunctionF
    };
    data.init_point_flag=0;
    while(1){
        SwState = ReadSw();
        if(SwState == NONE){
            if(x!=0){
                z = (*Function[y])(x);
                if(z==1){
                    if((x!=0)&&(data.init_point_flag==1)){
                       data.init_point_flag=0;
                       y = 1;
                    }
                    x=0;
                    Lcd.cls();
                    Lcd.locate(0, 0);
                    Lcd.print(lcdstr[y][0]);
                    Lcd.locate(7, 0);
                    Lcd.print(">");
                    Lcd.locate(9, 0);
                    if(x!=0) Lcd.print(lcdstr[y][x]);
                }
                //Z==1...Once
                //Z==0...Endless
            }
            continue;
        }
        if(SwState == UP){
               y += -1 + STATE_NUM_Y;
               y %= STATE_NUM_Y;
               x=0;
        }
        if(SwState == DOWN){
               y++;
               y %= STATE_NUM_Y;
               x=0;
        }
        if(SwState == RIGHT){
               if(lcdstr[y][1][0]==0) x=0;
               else x++;
               if(x==STATE_NUM_X) x=0;
               if(lcdstr[y][x][0]==0) x=0;
               else x %= STATE_NUM_X;
        }
        if(SwState == LEFT){
               if((x!=0)&&(data.init_point_flag==1)){
                   data.init_point_flag=0;
                   y = 1;
                }
               x=0;
        }
        Lcd.cls();
        Lcd.locate(0, 0);
        Lcd.print(lcdstr[y][0]);
        Lcd.locate(7, 0);
        Lcd.print(">");
        Lcd.locate(9, 0);
        if(x!=0) Lcd.print(lcdstr[y][x]);
    }
}
uint8_t LoopFunction0(uint8_t x){
    char buf[0x10];
    if(x==1){
        sprintf(buf, "Strategy:%2d", data.strategy);
        Lcd.locate(0, 1);Lcd.print(buf);wait_ms(50);return 0;
    }
    else{//x==2
        sprintf(buf, "SeeYouAgain!");
        Lcd.locate(0, 1);Lcd.print(buf);wait(0.5);
        NVIC_SystemReset();
        return 1;
    }
}
uint8_t LoopFunction1(uint8_t x){
    char buf[0x10];
    sprintf(buf, "CatPot");
    Lcd.locate(0, 1);Lcd.print(buf);
    data.strategy=0;
    ActiveLoop();
    return 1;
}
uint8_t LoopFunction2(uint8_t x){
    char buf[0x10];
    ReadIr();
    
    if(x==1) sprintf(buf, "SHRT:%2d, LNG:%2d", data.irSpot[0], data.irSpot[1]);
    if(x==2) sprintf(buf, "NOTE:%2d", data.irNotice);
    if(x==3) sprintf(buf, "POSITION:%2d", data.irPosition);
    Lcd.locate(0, 1);Lcd.print(buf);wait_ms(50);return 0;
}
uint8_t LoopFunction3(uint8_t x){
    char buf[0x10];
    if(x==1){
        sprintf(buf, "A:%1d B:%1d C:%1d ", Line[0].read(), Line[1].read(), Line[2].read());
        Lcd.locate(0, 1);Lcd.print(buf);wait_ms(50);return 0;
    }
    if(x==2){
        ReadPing();
        sprintf(buf, "L:%3d R:%3d", data.ping[L_PING], data.ping[R_PING]);
        Lcd.locate(0, 1);Lcd.print(buf);wait_ms(50);return 0;
    }
    if(x==3){
        ReadIr();
        sprintf(buf, "IR_KEY:%2d", data.irKey);
        Lcd.locate(0, 1);Lcd.print(buf);wait_ms(50);return 0;
    }
    return 0;
}
uint8_t LoopFunction4(uint8_t x){
    char buf[0x10];
    PidUpdate();
    sprintf(buf, "In:%03.0f Out:%+02d", data.InputPID, data.OutputPID);
    Lcd.locate(0, 1);Lcd.print(buf);wait_ms(50);return 0;
}
uint8_t LoopFunction5(uint8_t x){
    char buf[0x10];
    sprintf(buf, "Enter");
    Lcd.locate(0, 1);Lcd.print(buf);
    hmc.setCalibrationMode(HMC6352_EXIT_CALIB);
    return 1;
}
uint8_t LoopFunction6(uint8_t x){
    char buf[0x10];
    sprintf(buf, "Exit");
    Lcd.locate(0, 1);Lcd.print(buf);
    hmc.setCalibrationMode(HMC6352_ENTER_CALIB);
    return 1;
}
uint8_t LoopFunction7(uint8_t x){
    char buf[0x10];
    data.init_point_flag=1;
    sprintf(buf, "FaceToFront!");
    Lcd.locate(0, 1);Lcd.print(buf);
    for(int i=0; i<5; i++){
        ReadCmps();
        data.CmpsInitialValue = data.cmps;
        wait_ms(100);
    }
    data.CmpsDiff = REFERENCE - data.cmps;
    data.FrontDeg=0;
    return 1;
}
uint8_t LoopFunction8(uint8_t x){
    char buf[0x10];
    if(x==1){
        data.s_pow =  20;
        data.l_pow =  20;
    }
    if(x==2){
        data.s_pow =  30;
        data.l_pow =  30;
    }
    if(x==3){
        data.s_pow =  40;
        data.l_pow =  40;
    }
    sprintf(buf, "TuningS_power");
    Lcd.locate(0, 1);Lcd.print(buf);return 0;
}
uint8_t LoopFunction9(uint8_t x){
    char buf[0x10];
    if(x==1){
        data.s_pow =  20;
        data.l_pow =  30;
    }
    if(x==2){
        data.s_pow =  25;
        data.l_pow =  35;
    }
    if(x==3){
        data.s_pow =  35;
        data.l_pow =  45;
    }
    sprintf(buf, "TuningL_power");
    Lcd.locate(0, 1);Lcd.print(buf);return 0;
}
uint8_t LoopFunctionA(uint8_t x){
    char buf[0x10];
    sprintf(buf, "SeeYouAgain!");
    Lcd.locate(0, 1);Lcd.print(buf);wait(0.5);
    NVIC_SystemReset();
    return 1;
}
uint8_t LoopFunctionB(uint8_t x){
    char buf[0x10];
    if(x==1) data.strategy = 6;
    if(x==2) data.strategy = 7;
    if(x==3) data.strategy = 8;
    data.init_point_flag=1;
    sprintf(buf, "Make a strategy");
    Lcd.locate(0, 1);Lcd.print(buf);return 0;
}
uint8_t LoopFunctionC(uint8_t x){
    char buf[0x10];
    if(x==1) data.strategy = 9;
    if(x==2) data.strategy = 10;
    if(x==3) data.strategy = 11;
    data.init_point_flag=1;
    sprintf(buf, "Make a strategy");
    Lcd.locate(0, 1);Lcd.print(buf);return 0;
}
uint8_t LoopFunctionD(uint8_t x){
    char buf[0x10];
    if(x==1) data.strategy = 0;
    if(x==2) data.strategy = 1;
    if(x==3) data.strategy = 2;
    data.init_point_flag=1;
    sprintf(buf, "Make a strategy");
    Lcd.locate(0, 1);Lcd.print(buf);return 0;
}
uint8_t LoopFunctionE(uint8_t x){
    char buf[0x10];
    if(x==1) data.strategy = 3;
    if(x==2) data.strategy = 4;
    if(x==3) data.strategy = 5;
    data.init_point_flag=1;
    sprintf(buf, "Make a strategy");
    Lcd.locate(0, 1);Lcd.print(buf);return 0;
}
uint8_t LoopFunctionF(uint8_t x){
    char buf[0x10];
    sprintf(buf, "CatPotForDebug");
    Lcd.locate(0, 1);Lcd.print(buf);
    ActiveLoop();
    return 1;
}