FRA221_B18 / Mbed 2 deprecated testgy

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Dependencies:   mbed

main.cpp@0:ad7593dc27a6, 2015-12-07 (annotated)

Committer:
palmdotax
Date:
Mon Dec 07 09:20:21 2015 +0000
Revision:
0:ad7593dc27a6
gy

Who changed what in which revision?

UserRevisionLine numberNew contents of line
palmdotax 0:ad7593dc27a6 1 /*****
palmdotax 0:ad7593dc27a6 2 Algorithm based on MPU-9250_Snowda program. It has been modified by Josu? Olmeda Castell? for imasD Tecnolog?a.
palmdotax 0:ad7593dc27a6 3
palmdotax 0:ad7593dc27a6 4 This algorithm calibrates and reads data from accelerometer, gyroscope, magnetometer and the
palmdotax 0:ad7593dc27a6 5 internal temperature sensor. The lecture is made each time has a new mesured value (both gyro and accel data).
palmdotax 0:ad7593dc27a6 6 A comunication with a computer is made using serial interface. The user can see the data measured with 1 second update rate.
palmdotax 0:ad7593dc27a6 7
palmdotax 0:ad7593dc27a6 8 This algorithm uses the STM32L152 development board and the MPU-9250 9-axis InvenSense movement sensor. The communication
palmdotax 0:ad7593dc27a6 9 between both devices is made through I2C serial interface.
palmdotax 0:ad7593dc27a6 10
palmdotax 0:ad7593dc27a6 11 AD0 should be connected to GND.
palmdotax 0:ad7593dc27a6 12
palmdotax 0:ad7593dc27a6 13 04/05/2015
palmdotax 0:ad7593dc27a6 14 *****/
palmdotax 0:ad7593dc27a6 15
palmdotax 0:ad7593dc27a6 16 #include "mbed.h"
palmdotax 0:ad7593dc27a6 17 #include "mpu9250.h"
palmdotax 0:ad7593dc27a6 18 void timer();
palmdotax 0:ad7593dc27a6 19
palmdotax 0:ad7593dc27a6 20
palmdotax 0:ad7593dc27a6 21 Serial pc(USBTX, USBRX); // Huyperterminal default config: 9600 bauds, 8-bit data, 1 stop bit, no parity
palmdotax 0:ad7593dc27a6 22 Serial bell(PA_11,PA_12);
palmdotax 0:ad7593dc27a6 23 MPU9250 mpu9250;
palmdotax 0:ad7593dc27a6 24 Timer t;
palmdotax 0:ad7593dc27a6 25 //DigitalOut myled(LED1);
palmdotax 0:ad7593dc27a6 26
palmdotax 0:ad7593dc27a6 27 float sum = 0;
palmdotax 0:ad7593dc27a6 28 uint32_t sumCount = 0;
palmdotax 0:ad7593dc27a6 29 char buffer[14];
palmdotax 0:ad7593dc27a6 30 uint8_t dato_leido[2];
palmdotax 0:ad7593dc27a6 31 uint8_t whoami;
palmdotax 0:ad7593dc27a6 32 char showtimez[10];
palmdotax 0:ad7593dc27a6 33 int timez=0;
palmdotax 0:ad7593dc27a6 34
palmdotax 0:ad7593dc27a6 35 int main() {
palmdotax 0:ad7593dc27a6 36
palmdotax 0:ad7593dc27a6 37 //___ Set up I2C: use fast (400 kHz) I2C ___
palmdotax 0:ad7593dc27a6 38 i2c.frequency(400000);
palmdotax 0:ad7593dc27a6 39
palmdotax 0:ad7593dc27a6 40 pc.printf("CPU SystemCoreClock is %d Hz\r\n", SystemCoreClock);
palmdotax 0:ad7593dc27a6 41
palmdotax 0:ad7593dc27a6 42 t.start(); // Timer ON
palmdotax 0:ad7593dc27a6 43
palmdotax 0:ad7593dc27a6 44 // Read the WHO_AM_I register, this is a good test of communication
palmdotax 0:ad7593dc27a6 45 whoami = mpu9250.readByte(MPU9250_ADDRESS, WHO_AM_I_MPU9250);
palmdotax 0:ad7593dc27a6 46
palmdotax 0:ad7593dc27a6 47 pc.printf("I AM 0x%x\n\r", whoami); pc.printf("I SHOULD BE 0x71\n\r");
palmdotax 0:ad7593dc27a6 48 if (I2Cstate != 0) // error on I2C
palmdotax 0:ad7593dc27a6 49 pc.printf("I2C failure while reading WHO_AM_I register");
palmdotax 0:ad7593dc27a6 50
palmdotax 0:ad7593dc27a6 51 if (whoami == 0x71) // WHO_AM_I should always be 0x71
palmdotax 0:ad7593dc27a6 52 {
palmdotax 0:ad7593dc27a6 53 pc.printf("MPU9250 WHO_AM_I is 0x%x\n\r", whoami);
palmdotax 0:ad7593dc27a6 54 pc.printf("MPU9250 is online...\n\r");
palmdotax 0:ad7593dc27a6 55 sprintf(buffer, "0x%x", whoami);
palmdotax 0:ad7593dc27a6 56 wait(1);
palmdotax 0:ad7593dc27a6 57
palmdotax 0:ad7593dc27a6 58 mpu9250.resetMPU9250(); // Reset registers to default in preparation for device calibration
palmdotax 0:ad7593dc27a6 59
palmdotax 0:ad7593dc27a6 60 mpu9250.MPU9250SelfTest(SelfTest); // Start by performing self test and reporting values (accelerometer and gyroscope self test)
palmdotax 0:ad7593dc27a6 61 pc.printf("x-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[0]);
palmdotax 0:ad7593dc27a6 62 pc.printf("y-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[1]);
palmdotax 0:ad7593dc27a6 63 pc.printf("z-axis self test: acceleration trim within : %f % of factory value\n\r", SelfTest[2]);
palmdotax 0:ad7593dc27a6 64 pc.printf("x-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[3]);
palmdotax 0:ad7593dc27a6 65 pc.printf("y-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[4]);
palmdotax 0:ad7593dc27a6 66 pc.printf("z-axis self test: gyration trim within : %f % of factory value\n\r", SelfTest[5]);
palmdotax 0:ad7593dc27a6 67
palmdotax 0:ad7593dc27a6 68 mpu9250.calibrateMPU9250(gyroBias, accelBias); // Calibrate gyro and accelerometer, load biases in bias registers
palmdotax 0:ad7593dc27a6 69 pc.printf("x gyro bias = %f\n\r", gyroBias[0]);
palmdotax 0:ad7593dc27a6 70 pc.printf("y gyro bias = %f\n\r", gyroBias[1]);
palmdotax 0:ad7593dc27a6 71 pc.printf("z gyro bias = %f\n\r", gyroBias[2]);
palmdotax 0:ad7593dc27a6 72 pc.printf("x accel bias = %f\n\r", accelBias[0]);
palmdotax 0:ad7593dc27a6 73 pc.printf("y accel bias = %f\n\r", accelBias[1]);
palmdotax 0:ad7593dc27a6 74 pc.printf("z accel bias = %f\n\r", accelBias[2]);
palmdotax 0:ad7593dc27a6 75 wait(2);
palmdotax 0:ad7593dc27a6 76
palmdotax 0:ad7593dc27a6 77 // Initialize device for active mode read of acclerometer, gyroscope, and temperature
palmdotax 0:ad7593dc27a6 78 mpu9250.initMPU9250();
palmdotax 0:ad7593dc27a6 79 pc.printf("MPU9250 initialized for active data mode....\n\r");
palmdotax 0:ad7593dc27a6 80
palmdotax 0:ad7593dc27a6 81 // Initialize device for active mode read of magnetometer, 16 bit resolution, 100Hz.
palmdotax 0:ad7593dc27a6 82 mpu9250.initAK8963(magCalibration);
palmdotax 0:ad7593dc27a6 83 pc.printf("AK8963 initialized for active data mode....\n\r");
palmdotax 0:ad7593dc27a6 84 pc.printf("Accelerometer full-scale range = %f g\n\r", 2.0f*(float)(1<<Ascale));
palmdotax 0:ad7593dc27a6 85 pc.printf("Gyroscope full-scale range = %f deg/s\n\r", 250.0f*(float)(1<<Gscale));
palmdotax 0:ad7593dc27a6 86 if(Mscale == 0) pc.printf("Magnetometer resolution = 14 bits\n\r");
palmdotax 0:ad7593dc27a6 87 if(Mscale == 1) pc.printf("Magnetometer resolution = 16 bits\n\r");
palmdotax 0:ad7593dc27a6 88 if(Mmode == 2) pc.printf("Magnetometer ODR = 8 Hz\n\r");
palmdotax 0:ad7593dc27a6 89 if(Mmode == 6) pc.printf("Magnetometer ODR = 100 Hz\n\r");
palmdotax 0:ad7593dc27a6 90 wait(1);
palmdotax 0:ad7593dc27a6 91 }
palmdotax 0:ad7593dc27a6 92
palmdotax 0:ad7593dc27a6 93 else // Connection failure
palmdotax 0:ad7593dc27a6 94 {
palmdotax 0:ad7593dc27a6 95 pc.printf("Could not connect to MPU9250: \n\r");
palmdotax 0:ad7593dc27a6 96 pc.printf("%#x \n", whoami);
palmdotax 0:ad7593dc27a6 97 sprintf(buffer, "WHO_AM_I 0x%x", whoami);
palmdotax 0:ad7593dc27a6 98 while(1) ; // Loop forever if communication doesn't happen
palmdotax 0:ad7593dc27a6 99 }
palmdotax 0:ad7593dc27a6 100
palmdotax 0:ad7593dc27a6 101 mpu9250.getAres(); // Get accelerometer sensitivity
palmdotax 0:ad7593dc27a6 102 mpu9250.getGres(); // Get gyro sensitivity
palmdotax 0:ad7593dc27a6 103 mpu9250.getMres(); // Get magnetometer sensitivity
palmdotax 0:ad7593dc27a6 104 pc.printf("Accelerometer sensitivity is %f LSB/g \n\r", 1.0f/aRes);
palmdotax 0:ad7593dc27a6 105 pc.printf("Gyroscope sensitivity is %f LSB/deg/s \n\r", 1.0f/gRes);
palmdotax 0:ad7593dc27a6 106 pc.printf("Magnetometer sensitivity is %f LSB/G \n\r", 1.0f/mRes);
palmdotax 0:ad7593dc27a6 107 magbias[0] = +470.; // User environmental x-axis correction in milliGauss, should be automatically calculated
palmdotax 0:ad7593dc27a6 108 magbias[1] = +120.; // User environmental x-axis correction in milliGauss
palmdotax 0:ad7593dc27a6 109 magbias[2] = +125.; // User environmental x-axis correction in milliGauss
palmdotax 0:ad7593dc27a6 110
palmdotax 0:ad7593dc27a6 111 while(1) {
palmdotax 0:ad7593dc27a6 112
palmdotax 0:ad7593dc27a6 113 // If intPin goes high, all data registers have new data
palmdotax 0:ad7593dc27a6 114 if(mpu9250.readByte(MPU9250_ADDRESS, INT_STATUS) & 0x01) { // On interrupt, check if data ready interrupt
palmdotax 0:ad7593dc27a6 115
palmdotax 0:ad7593dc27a6 116 mpu9250.readAccelData(accelCount); // Read the x/y/z adc values
palmdotax 0:ad7593dc27a6 117 // Now we'll calculate the accleration value into actual g's
palmdotax 0:ad7593dc27a6 118 if (I2Cstate != 0) //error on I2C
palmdotax 0:ad7593dc27a6 119 pc.printf("I2C error ocurred while reading accelerometer data. I2Cstate = %d \n\r", I2Cstate);
palmdotax 0:ad7593dc27a6 120 else{ // I2C read or write ok
palmdotax 0:ad7593dc27a6 121 I2Cstate = 1;
palmdotax 0:ad7593dc27a6 122 ax = (float)accelCount[0]*aRes - accelBias[0]; // get actual g value, this depends on scale being set
palmdotax 0:ad7593dc27a6 123 ay = (float)accelCount[1]*aRes - accelBias[1];
palmdotax 0:ad7593dc27a6 124 az = (float)accelCount[2]*aRes - accelBias[2];
palmdotax 0:ad7593dc27a6 125 }
palmdotax 0:ad7593dc27a6 126
palmdotax 0:ad7593dc27a6 127 mpu9250.readGyroData(gyroCount); // Read the x/y/z adc values
palmdotax 0:ad7593dc27a6 128 // Calculate the gyro value into actual degrees per second
palmdotax 0:ad7593dc27a6 129 if (I2Cstate != 0) //error on I2C
palmdotax 0:ad7593dc27a6 130 pc.printf("I2C error ocurred while reading gyrometer data. I2Cstate = %d \n\r", I2Cstate);
palmdotax 0:ad7593dc27a6 131 else{ // I2C read or write ok
palmdotax 0:ad7593dc27a6 132 I2Cstate = 1;
palmdotax 0:ad7593dc27a6 133 gx = (float)gyroCount[0]*gRes - gyroBias[0]; // get actual gyro value, this depends on scale being set
palmdotax 0:ad7593dc27a6 134 gy = (float)gyroCount[1]*gRes - gyroBias[1];
palmdotax 0:ad7593dc27a6 135 gz = (float)gyroCount[2]*gRes - gyroBias[2];
palmdotax 0:ad7593dc27a6 136 }
palmdotax 0:ad7593dc27a6 137
palmdotax 0:ad7593dc27a6 138 mpu9250.readMagData(magCount); // Read the x/y/z adc values
palmdotax 0:ad7593dc27a6 139 // Calculate the magnetometer values in milliGauss
palmdotax 0:ad7593dc27a6 140 // Include factory calibration per data sheet and user environmental corrections
palmdotax 0:ad7593dc27a6 141 if (I2Cstate != 0) //error on I2C
palmdotax 0:ad7593dc27a6 142 pc.printf("I2C error ocurred while reading magnetometer data. I2Cstate = %d \n\r", I2Cstate);
palmdotax 0:ad7593dc27a6 143 else{ // I2C read or write ok
palmdotax 0:ad7593dc27a6 144 I2Cstate = 1;
palmdotax 0:ad7593dc27a6 145 mx = (float)magCount[0]*mRes*magCalibration[0] - magbias[0]; // get actual magnetometer value, this depends on scale being set
palmdotax 0:ad7593dc27a6 146 my = (float)magCount[1]*mRes*magCalibration[1] - magbias[1];
palmdotax 0:ad7593dc27a6 147 mz = (float)magCount[2]*mRes*magCalibration[2] - magbias[2];
palmdotax 0:ad7593dc27a6 148 }
palmdotax 0:ad7593dc27a6 149
palmdotax 0:ad7593dc27a6 150 mpu9250.getCompassOrientation(orientation);
palmdotax 0:ad7593dc27a6 151 }
palmdotax 0:ad7593dc27a6 152
palmdotax 0:ad7593dc27a6 153 Now = t.read_us();
palmdotax 0:ad7593dc27a6 154 deltat = (float)((Now - lastUpdate)/1000000.0f) ; // set integration time by time elapsed since last filter update
palmdotax 0:ad7593dc27a6 155 lastUpdate = Now;
palmdotax 0:ad7593dc27a6 156 sum += deltat;
palmdotax 0:ad7593dc27a6 157 sumCount++;
palmdotax 0:ad7593dc27a6 158
palmdotax 0:ad7593dc27a6 159 // Pass gyro rate as rad/s
palmdotax 0:ad7593dc27a6 160 // mpu9250.MadgwickQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
palmdotax 0:ad7593dc27a6 161 mpu9250.MahonyQuaternionUpdate(ax, ay, az, gx*PI/180.0f, gy*PI/180.0f, gz*PI/180.0f, my, mx, mz);
palmdotax 0:ad7593dc27a6 162
palmdotax 0:ad7593dc27a6 163
palmdotax 0:ad7593dc27a6 164 // Serial print and/or display at 1.5 s rate independent of data rates
palmdotax 0:ad7593dc27a6 165 delt_t = t.read_ms() - count;
palmdotax 0:ad7593dc27a6 166 if (delt_t > 100) { // update LCD once per half-second independent of read rate
palmdotax 0:ad7593dc27a6 167 // pc.printf("ax = %f", 1000*ax);
palmdotax 0:ad7593dc27a6 168 // pc.printf(" ay = %f", 1000*ay);
palmdotax 0:ad7593dc27a6 169 // pc.printf(" az = %f mg\n\r", 1000*az);
palmdotax 0:ad7593dc27a6 170 // pc.printf("gx = %f", gx);
palmdotax 0:ad7593dc27a6 171 // pc.printf(" gy = %f", gy);
palmdotax 0:ad7593dc27a6 172 // pc.printf(" gz = %f deg/s\n\r", gz);
palmdotax 0:ad7593dc27a6 173 // pc.printf("mx = %f", mx);
palmdotax 0:ad7593dc27a6 174 // pc.printf(" my = %f", my);
palmdotax 0:ad7593dc27a6 175 // pc.printf(" mz = %f mG\n\r", mz);
palmdotax 0:ad7593dc27a6 176
palmdotax 0:ad7593dc27a6 177
palmdotax 0:ad7593dc27a6 178 tempCount = mpu9250.readTempData(); // Read the adc values
palmdotax 0:ad7593dc27a6 179 if (I2Cstate != 0) //error on I2C
palmdotax 0:ad7593dc27a6 180 pc.printf("I2C error ocurred while reading sensor temp. I2Cstate = %d \n\r", I2Cstate);
palmdotax 0:ad7593dc27a6 181 else{ // I2C read or write ok
palmdotax 0:ad7593dc27a6 182 I2Cstate = 1;
palmdotax 0:ad7593dc27a6 183 temperature = ((float) tempCount) / 333.87f + 21.0f; // Temperature in degrees Centigrade
palmdotax 0:ad7593dc27a6 184 // pc.printf(" temperature = %f C\n\r", temperature);
palmdotax 0:ad7593dc27a6 185 }
palmdotax 0:ad7593dc27a6 186 // pc.printf("q0 = %f\n\r", q[0]);
palmdotax 0:ad7593dc27a6 187 // pc.printf("q1 = %f\n\r", q[1]);
palmdotax 0:ad7593dc27a6 188 // pc.printf("q2 = %f\n\r", q[2]);
palmdotax 0:ad7593dc27a6 189 // pc.printf("q3 = %f\n\r", q[3]);
palmdotax 0:ad7593dc27a6 190
palmdotax 0:ad7593dc27a6 191 // pc.printf("Compass orientation: %f\n", orientation[0]);
palmdotax 0:ad7593dc27a6 192
palmdotax 0:ad7593dc27a6 193
palmdotax 0:ad7593dc27a6 194
palmdotax 0:ad7593dc27a6 195
palmdotax 0:ad7593dc27a6 196 // Define output variables from updated quaternion---these are Tait-Bryan angles, commonly used in aircraft orientation.
palmdotax 0:ad7593dc27a6 197 // In this coordinate system, the positive z-axis is down toward Earth.
palmdotax 0:ad7593dc27a6 198 // Yaw is the angle between Sensor x-axis and Earth magnetic North (or true North if corrected for local declination, looking down on the sensor positive yaw is counterclockwise.
palmdotax 0:ad7593dc27a6 199 // Pitch is angle between sensor x-axis and Earth ground plane, toward the Earth is positive, up toward the sky is negative.
palmdotax 0:ad7593dc27a6 200 // Roll is angle between sensor y-axis and Earth ground plane, y-axis up is positive roll.
palmdotax 0:ad7593dc27a6 201 // These arise from the definition of the homogeneous rotation matrix constructed from quaternions.
palmdotax 0:ad7593dc27a6 202 // Tait-Bryan angles as well as Euler angles are non-commutative; that is, the get the correct orientation the rotations must be
palmdotax 0:ad7593dc27a6 203 // applied in the correct order which for this configuration is yaw, pitch, and then roll.
palmdotax 0:ad7593dc27a6 204 // For more see http://en.wikipedia.org/wiki/Conversion_between_quaternions_and_Euler_angles which has additional links.
palmdotax 0:ad7593dc27a6 205
palmdotax 0:ad7593dc27a6 206 yaw = atan2(2.0f * (q[1] * q[2] + q[0] * q[3]), q[0] * q[0] + q[1] * q[1] - q[2] * q[2] - q[3] * q[3]);
palmdotax 0:ad7593dc27a6 207 pitch = -asin(2.0f * (q[1] * q[3] - q[0] * q[2]));
palmdotax 0:ad7593dc27a6 208 roll = atan2(2.0f * (q[0] * q[1] + q[2] * q[3]), q[0] * q[0] - q[1] * q[1] - q[2] * q[2] + q[3] * q[3]);
palmdotax 0:ad7593dc27a6 209 pitch *= 180.0f / PI;
palmdotax 0:ad7593dc27a6 210 yaw *= 180.0f / PI;
palmdotax 0:ad7593dc27a6 211 yaw -= 13.8f; // Declination at Danville, California is 13 degrees 48 minutes and 47 seconds on 2014-04-04
palmdotax 0:ad7593dc27a6 212 roll *= 180.0f / PI;
palmdotax 0:ad7593dc27a6 213
palmdotax 0:ad7593dc27a6 214
palmdotax 0:ad7593dc27a6 215 pc.printf("Yaw, Pitch, Roll: %f %f %f\n\r", yaw, pitch, roll);
palmdotax 0:ad7593dc27a6 216 pc.printf("Pitch, Roll: %f %f\n\r", pitch, roll);
palmdotax 0:ad7593dc27a6 217 /* if(pitch>40&&pitch<80){
palmdotax 0:ad7593dc27a6 218 pc.printf("VV\n");}
palmdotax 0:ad7593dc27a6 219 else if(pitch>10&&pitch<40){
palmdotax 0:ad7593dc27a6 220 pc.printf("V\n");}
palmdotax 0:ad7593dc27a6 221 else if(pitch>-80&&pitch<-40){
palmdotax 0:ad7593dc27a6 222 pc.printf("^^\n");}
palmdotax 0:ad7593dc27a6 223 else if(pitch>-40&&pitch<-10){
palmdotax 0:ad7593dc27a6 224 pc.printf("^\n");}
palmdotax 0:ad7593dc27a6 225
palmdotax 0:ad7593dc27a6 226 else if(roll>40&&roll<80){
palmdotax 0:ad7593dc27a6 227 pc.printf("<<\n");}
palmdotax 0:ad7593dc27a6 228 else if(roll>10&&roll<40){
palmdotax 0:ad7593dc27a6 229 pc.printf("<\n");}
palmdotax 0:ad7593dc27a6 230 else if(roll>-80&&roll<-40){
palmdotax 0:ad7593dc27a6 231 pc.printf(">>\n");}
palmdotax 0:ad7593dc27a6 232 else if(roll>-40&&roll<-10){
palmdotax 0:ad7593dc27a6 233 pc.printf(">\n");}
palmdotax 0:ad7593dc27a6 234 else {pc.printf("No move\n");
palmdotax 0:ad7593dc27a6 235 //showtimez=timer();
palmdotax 0:ad7593dc27a6 236 timer;
palmdotax 0:ad7593dc27a6 237 bell.printf("time\n");}
palmdotax 0:ad7593dc27a6 238 // pc.printf("average rate = %f\n\r", (float) sumCount/sum);
palmdotax 0:ad7593dc27a6 239
palmdotax 0:ad7593dc27a6 240
palmdotax 0:ad7593dc27a6 241
palmdotax 0:ad7593dc27a6 242 myled= !myled;
palmdotax 0:ad7593dc27a6 243 count = t.read_ms();
palmdotax 0:ad7593dc27a6 244
palmdotax 0:ad7593dc27a6 245 if(count > 1<<21) {
palmdotax 0:ad7593dc27a6 246 t.start(); // start the timer over again if ~30 minutes has passed
palmdotax 0:ad7593dc27a6 247 count = 0;
palmdotax 0:ad7593dc27a6 248 deltat= 0;
palmdotax 0:ad7593dc27a6 249 lastUpdate = t.read_us();
palmdotax 0:ad7593dc27a6 250 }
palmdotax 0:ad7593dc27a6 251 sum = 0;
palmdotax 0:ad7593dc27a6 252 sumCount = 0;
palmdotax 0:ad7593dc27a6 253 }
palmdotax 0:ad7593dc27a6 254 }
palmdotax 0:ad7593dc27a6 255 }
palmdotax 0:ad7593dc27a6 256
palmdotax 0:ad7593dc27a6 257
palmdotax 0:ad7593dc27a6 258 void timer()
palmdotax 0:ad7593dc27a6 259 {
palmdotax 0:ad7593dc27a6 260 timez=timez+100;
palmdotax 0:ad7593dc27a6 261 //bell.printf(timez);
palmdotax 0:ad7593dc27a6 262 }*/
palmdotax 0:ad7593dc27a6 263 }
palmdotax 0:ad7593dc27a6 264 }
palmdotax 0:ad7593dc27a6 265 }