void m_out(String s)
{
  printf("%s\n",s.c_str());
}


int sleep_command(String s)
{
   int i=0;
   while (newcommand) 
     {
       sleep_us(10);
       i++;
       if (i>20000) {
         m_out("Newcommand error "+s);
         return 1;
       }
     }
  return 0;
}

void set_newcommand(void)
{
  spin_lock_unsafe_blocking(spinlock_count);
  newcommand=true;
  spin_unlock_unsafe(spinlock_count);  
}



void interpretlast(void)
{
 int i=0;
 int j;
 int manual_s;
 if (sleep_command("interpret")==1) return;
 command=lastp.param;
 parameter=lastp.paramdata;
    switch(lastp.param){
        case SMANUAL:
            manual_s=0;
            if (lastp.paramdata==1) manual_s=1;
            if (manual_s==0)
             { 
              started=1;
              lcd.setCursor(0, 0);          
              lcd.print("                   ");
              lcd.setCursor(0, 1);
              lcd.print("          ");
             }  
          parameter=lastp.paramdata;
          set_newcommand();       
          break;
        case SCURRENT:
          set_newcommand();  
        break;
        case SCURRENT_HALL:
          set_newcommand(); 
        break;
        case SCLEAR_C:
          gpio_put(ZERO_Q, 0);
          sleep_ms(100);
          gpio_put(ZERO_Q, 1);
          sleep_ms(100);
          set_newcommand(); 
        break;
        case SOFFSET:
          set_newcommand(); 
          break;
        case SOFFSETZERO:
            set_newcommand();
         break;
         case SFLUX_DATA:
          gpio_put(ZERO_Q, 0);
          sleep_ms(1000);
          gpio_put(ZERO_Q, 1);
          //sleep_ms(10);
          set_newcommand();
          break;
        case SFLUX12:
          set_newcommand();
          break;
        case SGETDATA:
          senddata();
          break;
        case SSAVEPARAM:
          save_params();
          break;
        case SDAGAIN_0:
          da_gain[0]=lastp.paramdata;
          break;
        case SDAZERO_0:
          da_zero[0]=lastp.paramdata;
          break;
        case SDA_0:
          r_da(0,lastp.paramdata);
          break;
        case SDAGAIN_1:
          da_gain[1]=lastp.paramdata;
          break;
        case SDAZERO_1:
          da_zero[1]=lastp.paramdata;
          break;
        case SDA_1:
          r_da(1,lastp.paramdata);
          break;
        case SDAGAIN_2:
          da_gain[2]=lastp.paramdata;
          break;
        case SDAZERO_2:
          da_zero[2]=lastp.paramdata;
          break;
        case SDA_2:
          r_da(2,lastp.paramdata);
          break;
        case SDAGAIN_3:
          da_gain[3]=lastp.paramdata;
          break;
        case SDAZERO_3:
          da_zero[3]=lastp.paramdata;
          break;
        case SDA_3:
          r_da(3,lastp.paramdata);
          break;
        case SADGAIN_0:
          ad_gain[0]=lastp.paramdata;
          break;
        case SADZERO_0:
          ad_zero[0]=lastp.paramdata;
          break;
        case SADGAIN_1:
          ad_gain[1]=lastp.paramdata;
          break;
        case SADZERO_1:
          ad_zero[1]=lastp.paramdata;
          break;
        case SADGAIN_2:
          ad_gain[2]=lastp.paramdata;
          break;
        case SADZERO_2:
          ad_zero[2]=lastp.paramdata;
          break;
        case SADGAIN_3:
          ad_gain[3]=lastp.paramdata;
          break;
        case SADZERO_3:
          ad_zero[3]=lastp.paramdata;
          break;
        case SCALIBRATION:
          calibration_b=1;
          calibration_phase=int(lastp.paramdata);
          if (calibration_phase!=0) calibration_manual=1;
        break;
        case SHELP:
           Serial.println("GETDATA: Get data");
           Serial.println("MANUAL 1/0: Set manual/remote control"),
           Serial.println("CURRENT current, Set current");
           Serial.println("CURRENT_HALL current_hall, Set current hall");
           Serial.println("CLEAR_C , Clear Int. C");
          break;
        case STEST:
          if (lastp.paramdata==1) testb=true;
          else testb=false;
         break;
        case SID:
          if (device==1) Serial.println("Suscept1");
          else Serial.println("Suscept2");
         break;
        case SHRESET:
          softReset();
         break;
        case SDEVICE:
          if (lastp.paramdata==2)
            device=(int) lastp.paramdata;
          else device=1;
          save_params();
         break;
         default:
          printf("%d ",lastp.param);
          //message_out();
          lastp.param=SILLEGAL;
        break;
    }
    return;
}