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main.cpp@12:3a1e7fde5040, 2017-12-07 (annotated)
- Committer:
- davolfman
- Date:
- Thu Dec 07 22:48:14 2017 +0000
- Revision:
- 12:3a1e7fde5040
- Parent:
- 11:286386c0db40
- Child:
- 13:29705e6bf718
partially disabled to test audibility
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
davolfman | 0:b2f7400596ce | 1 | #include "mbed.h" |
davolfman | 3:83ac767f3a63 | 2 | #include "sintable.h" |
davolfman | 0:b2f7400596ce | 3 | |
davolfman | 9:86c0035f5321 | 4 | AnalogOut outMono(PA_4);//Not labeled in the docs for the f401, but seems to be for all |
davolfman | 7:b0cd74923bc6 | 5 | //AnalogOut DAC1(PA_5); |
davolfman | 0:b2f7400596ce | 6 | |
davolfman | 9:86c0035f5321 | 7 | AnalogIn inVol(PA_0); |
davolfman | 7:b0cd74923bc6 | 8 | AnalogIn inModAmt(PA_1); |
davolfman | 6:9f8c8c3c111d | 9 | //AnalogIn ADC2(PA_2);//these are the uart pins!! |
davolfman | 6:9f8c8c3c111d | 10 | //AnalogIn ADC3(PA_3);//these are the uart pins!! |
davolfman | 0:b2f7400596ce | 11 | //AnalogIn ADC4(PA_4);//we're using these for output |
davolfman | 0:b2f7400596ce | 12 | //AnalogIn ADC5(PA_5);//we're using these for output |
davolfman | 9:86c0035f5321 | 13 | AnalogIn inCarA(PA_6); |
davolfman | 9:86c0035f5321 | 14 | AnalogIn inCarD(PA_7); |
davolfman | 0:b2f7400596ce | 15 | //AnalogIn ADC8(PB_0);//lets leave the 2 we aren't using in a single port |
davolfman | 0:b2f7400596ce | 16 | //AnalogIn ADC9(PB_1);//that way we know there's not ADCs on one of them |
davolfman | 9:86c0035f5321 | 17 | AnalogIn inCarS(PC_0); |
davolfman | 9:86c0035f5321 | 18 | AnalogIn inCarR(PC_1); |
davolfman | 9:86c0035f5321 | 19 | AnalogIn inModA(PC_2); |
davolfman | 9:86c0035f5321 | 20 | AnalogIn inModD(PC_3); |
davolfman | 9:86c0035f5321 | 21 | AnalogIn inModS(PC_4); |
davolfman | 9:86c0035f5321 | 22 | AnalogIn inModR(PC_5); |
davolfman | 0:b2f7400596ce | 23 | |
lenzi002 | 8:13b0594510de | 24 | //BusIn keyBank(PC_10, PC_11, PC_12, PC_13, PD_2, PH_1); old |
lenzi002 | 8:13b0594510de | 25 | BusIn keyBank(PH_1, PD_2, PC_13, PC_12, PC_11, PC_10); |
davolfman | 7:b0cd74923bc6 | 26 | BusOut bankSelect(PB_0, PB_1, PB_2, PB_3, PB_4, PB_5, PB_6, PB_7, PB_8); |
davolfman | 2:5454dee210ed | 27 | BusIn numerator(PA_8, PA_9, PA_10, PA_11); |
davolfman | 2:5454dee210ed | 28 | BusIn denominator(PA_12, PA_13, PA_14, PA_15); |
davolfman | 2:5454dee210ed | 29 | |
lenzi002 | 8:13b0594510de | 30 | Serial pc(USBTX, USBRX); |
lenzi002 | 8:13b0594510de | 31 | |
davolfman | 9:86c0035f5321 | 32 | Ticker synthesisClock; |
davolfman | 0:b2f7400596ce | 33 | |
davolfman | 2:5454dee210ed | 34 | #define numKeys 49 |
davolfman | 0:b2f7400596ce | 35 | |
davolfman | 4:1d2a699c95c7 | 36 | //constants |
davolfman | 4:1d2a699c95c7 | 37 | const int carrierIncrements[] = {107, 113, 120, 127, 135, 143, 151, 160, 170, |
davolfman | 4:1d2a699c95c7 | 38 | 180, 190, 202, 214, 227, 240, 254, 270, 286, 303, 321, 340, 360, 381, 404, |
davolfman | 4:1d2a699c95c7 | 39 | 428, 454, 481, 509, 540, 572, 606, 642, 680, 720, 763, 809, 857, 908, 962, |
davolfman | 4:1d2a699c95c7 | 40 | 1019, 1080, 1144, 1212, 1284, 1360, 1441, 1527, 1618, 1714}; |
davolfman | 1:f3350a372732 | 41 | const int attackLimit = (0x1 << 16) - 1; |
davolfman | 10:59c829586a4f | 42 | #define U_PI 3.14159265358979 |
davolfman | 0:b2f7400596ce | 43 | //non-constants |
davolfman | 1:f3350a372732 | 44 | //Most of these will be recalculated or reset on every input cycle of the main |
davolfman | 1:f3350a372732 | 45 | // loop, as appropriate |
davolfman | 0:b2f7400596ce | 46 | int FMmult; |
davolfman | 0:b2f7400596ce | 47 | int Volume; |
davolfman | 1:f3350a372732 | 48 | int modVol; |
davolfman | 2:5454dee210ed | 49 | int64_t keyboard; |
davolfman | 12:3a1e7fde5040 | 50 | int64_t modattack; |
davolfman | 12:3a1e7fde5040 | 51 | int64_t carattack; |
davolfman | 0:b2f7400596ce | 52 | int carrierPhases[numKeys]; |
davolfman | 0:b2f7400596ce | 53 | int modulatorPhases[numKeys]; |
davolfman | 0:b2f7400596ce | 54 | int envelopeAmpsC[numKeys]; |
davolfman | 1:f3350a372732 | 55 | int envelopeAmpsM[numKeys]; |
davolfman | 1:f3350a372732 | 56 | |
davolfman | 12:3a1e7fde5040 | 57 | int testTone = 0; |
davolfman | 12:3a1e7fde5040 | 58 | |
davolfman | 1:f3350a372732 | 59 | int modA; |
davolfman | 1:f3350a372732 | 60 | int modD; |
davolfman | 1:f3350a372732 | 61 | int modS; |
davolfman | 1:f3350a372732 | 62 | int modR; |
davolfman | 1:f3350a372732 | 63 | int carA; |
davolfman | 1:f3350a372732 | 64 | int carD; |
davolfman | 1:f3350a372732 | 65 | int carS; |
davolfman | 1:f3350a372732 | 66 | int carR; |
davolfman | 1:f3350a372732 | 67 | |
davolfman | 1:f3350a372732 | 68 | int fastSin(const int phase){ |
davolfman | 5:ac5c4bd3ef4b | 69 | int index = (phase & 0x3ffc) >> 2; |
davolfman | 5:ac5c4bd3ef4b | 70 | int subindex = phase & 0x3; |
davolfman | 5:ac5c4bd3ef4b | 71 | int quadrant = (phase & 0xc000) >> 14; |
davolfman | 3:83ac767f3a63 | 72 | int sum = 0; |
davolfman | 5:ac5c4bd3ef4b | 73 | switch (quadrant) { |
davolfman | 5:ac5c4bd3ef4b | 74 | case 0: |
davolfman | 7:b0cd74923bc6 | 75 | sum += (4 - subindex) * sinTable[index]; |
davolfman | 7:b0cd74923bc6 | 76 | sum += subindex * sinTable[index+1]; |
davolfman | 5:ac5c4bd3ef4b | 77 | break; |
davolfman | 5:ac5c4bd3ef4b | 78 | case 1: |
davolfman | 7:b0cd74923bc6 | 79 | sum += (4 - subindex) * sinTable[1+4095-index]; |
davolfman | 7:b0cd74923bc6 | 80 | sum += subindex * sinTable[4095-index]; |
davolfman | 5:ac5c4bd3ef4b | 81 | break; |
davolfman | 5:ac5c4bd3ef4b | 82 | case 2: |
davolfman | 7:b0cd74923bc6 | 83 | sum -= (4 - subindex) * sinTable[index]; |
davolfman | 7:b0cd74923bc6 | 84 | sum -= subindex * sinTable[index+1]; |
davolfman | 5:ac5c4bd3ef4b | 85 | break; |
davolfman | 5:ac5c4bd3ef4b | 86 | case 3: |
davolfman | 7:b0cd74923bc6 | 87 | sum -= (4 - subindex) * sinTable[1+4095-index]; |
davolfman | 7:b0cd74923bc6 | 88 | sum -= subindex * sinTable[4095-index]; |
davolfman | 5:ac5c4bd3ef4b | 89 | break; |
davolfman | 5:ac5c4bd3ef4b | 90 | } |
davolfman | 3:83ac767f3a63 | 91 | sum = sum >> 2; |
davolfman | 3:83ac767f3a63 | 92 | |
davolfman | 3:83ac767f3a63 | 93 | return sum; |
davolfman | 1:f3350a372732 | 94 | } |
davolfman | 0:b2f7400596ce | 95 | |
davolfman | 1:f3350a372732 | 96 | void synthesize(){ |
davolfman | 12:3a1e7fde5040 | 97 | int volumeSum = 0;//starting from silence |
davolfman | 12:3a1e7fde5040 | 98 | int CenvAmp, MenvAmp; |
davolfman | 12:3a1e7fde5040 | 99 | bool keypressed; |
davolfman | 12:3a1e7fde5040 | 100 | int tempPhase, modVal, carVal; |
davolfman | 11:286386c0db40 | 101 | |
davolfman | 12:3a1e7fde5040 | 102 | testTone = (testTone + carrierIncrements[25]) & 0xffff; |
davolfman | 12:3a1e7fde5040 | 103 | |
davolfman | 12:3a1e7fde5040 | 104 | for(int64_t i; i < numKeys; ++i){//for all keys |
davolfman | 12:3a1e7fde5040 | 105 | int64_t keymask = 0x00000001 << i; |
davolfman | 12:3a1e7fde5040 | 106 | keypressed = keyboard & keymask; |
davolfman | 12:3a1e7fde5040 | 107 | CenvAmp = envelopeAmpsC[i]; |
davolfman | 12:3a1e7fde5040 | 108 | MenvAmp = envelopeAmpsM[i]; |
davolfman | 11:286386c0db40 | 109 | |
davolfman | 12:3a1e7fde5040 | 110 | if(!keypressed){ |
davolfman | 12:3a1e7fde5040 | 111 | carattack |= keymask;//re-enable attack |
davolfman | 12:3a1e7fde5040 | 112 | modattack |= keymask; |
davolfman | 12:3a1e7fde5040 | 113 | CenvAmp = (CenvAmp > 0) ? CenvAmp - carR : CenvAmp; |
davolfman | 12:3a1e7fde5040 | 114 | MenvAmp = (MenvAmp > 0) ? MenvAmp - modR : CenvAmp; |
davolfman | 12:3a1e7fde5040 | 115 | }else{ |
davolfman | 12:3a1e7fde5040 | 116 | if(carattack & keymask){//if in carrier attack |
davolfman | 12:3a1e7fde5040 | 117 | CenvAmp = (CenvAmp < attackLimit) ? CenvAmp + carA : attackLimit; |
davolfman | 12:3a1e7fde5040 | 118 | }else{ |
davolfman | 12:3a1e7fde5040 | 119 | CenvAmp = (CenvAmp > carS) ? CenvAmp - carD : carS; |
davolfman | 11:286386c0db40 | 120 | } |
davolfman | 11:286386c0db40 | 121 | |
davolfman | 12:3a1e7fde5040 | 122 | if(modattack * keymask){//if in modulator attack |
davolfman | 12:3a1e7fde5040 | 123 | MenvAmp = (MenvAmp < attackLimit) ? MenvAmp + modA : attackLimit; |
davolfman | 12:3a1e7fde5040 | 124 | }else{ |
davolfman | 12:3a1e7fde5040 | 125 | MenvAmp = (MenvAmp > modS) ? MenvAmp - modD : modS; |
davolfman | 1:f3350a372732 | 126 | } |
davolfman | 12:3a1e7fde5040 | 127 | } |
davolfman | 12:3a1e7fde5040 | 128 | |
davolfman | 12:3a1e7fde5040 | 129 | CenvAmp = (CenvAmp < 0) ? 0 : CenvAmp; |
davolfman | 12:3a1e7fde5040 | 130 | MenvAmp = (MenvAmp < 0) ? 0 : MenvAmp; |
davolfman | 12:3a1e7fde5040 | 131 | if(CenvAmp >= attackLimit){ |
davolfman | 12:3a1e7fde5040 | 132 | CenvAmp = attackLimit; |
davolfman | 12:3a1e7fde5040 | 133 | carattack &= ~keymask; // disable attack on this key |
davolfman | 1:f3350a372732 | 134 | } |
davolfman | 12:3a1e7fde5040 | 135 | if(MenvAmp >= attackLimit){ |
davolfman | 12:3a1e7fde5040 | 136 | MenvAmp = attackLimit; |
davolfman | 12:3a1e7fde5040 | 137 | modattack &= ~keymask; |
davolfman | 12:3a1e7fde5040 | 138 | } |
davolfman | 12:3a1e7fde5040 | 139 | if(CenvAmp == 0) |
davolfman | 12:3a1e7fde5040 | 140 | carrierPhases[i] = 0; |
davolfman | 12:3a1e7fde5040 | 141 | if(MenvAmp == 0) |
davolfman | 12:3a1e7fde5040 | 142 | modulatorPhases[i] = 0; |
davolfman | 11:286386c0db40 | 143 | |
davolfman | 12:3a1e7fde5040 | 144 | envelopeAmpsC[i] = CenvAmp; |
davolfman | 12:3a1e7fde5040 | 145 | envelopeAmpsM[i]= MenvAmp; |
davolfman | 12:3a1e7fde5040 | 146 | |
davolfman | 12:3a1e7fde5040 | 147 | modulatorPhases[i] = (modulatorPhases[i] + ((carrierIncrements[i] * FMmult) >> 16)) & 0xffff; |
davolfman | 12:3a1e7fde5040 | 148 | modVal = fastSin(modulatorPhases[i]) * MenvAmp >> 16; |
davolfman | 12:3a1e7fde5040 | 149 | modVal = modVal * modVol >> 16; |
davolfman | 12:3a1e7fde5040 | 150 | |
davolfman | 12:3a1e7fde5040 | 151 | //debug |
davolfman | 12:3a1e7fde5040 | 152 | //modVal = 0; |
davolfman | 12:3a1e7fde5040 | 153 | //CenvAmp = keypressed ? 1 : 0; |
davolfman | 12:3a1e7fde5040 | 154 | |
davolfman | 12:3a1e7fde5040 | 155 | tempPhase = carrierPhases[i] + carrierIncrements[i]; |
davolfman | 12:3a1e7fde5040 | 156 | tempPhase = (tempPhase + modVal) & 0xffff; |
davolfman | 12:3a1e7fde5040 | 157 | carrierPhases[i] = tempPhase; |
davolfman | 12:3a1e7fde5040 | 158 | |
davolfman | 12:3a1e7fde5040 | 159 | carVal = fastSin(tempPhase) * CenvAmp >> 16; |
davolfman | 12:3a1e7fde5040 | 160 | |
davolfman | 12:3a1e7fde5040 | 161 | volumeSum += carVal; |
davolfman | 1:f3350a372732 | 162 | } |
davolfman | 12:3a1e7fde5040 | 163 | |
davolfman | 12:3a1e7fde5040 | 164 | volumeSum = volumeSum / numKeys; |
davolfman | 12:3a1e7fde5040 | 165 | volumeSum = (volumeSum * Volume) >> 16; |
davolfman | 12:3a1e7fde5040 | 166 | //outMono.write_u16((volumeSum + Volume) > 1); |
davolfman | 12:3a1e7fde5040 | 167 | volumeSum = fastSin(testTone) * 8; |
davolfman | 12:3a1e7fde5040 | 168 | volumeSum = (volumeSum > 32767) ? 32767 : volumeSum; |
davolfman | 12:3a1e7fde5040 | 169 | volumeSum = (volumeSum < -32768) ? -32768 : volumeSum; |
davolfman | 12:3a1e7fde5040 | 170 | volumeSum = volumeSum + 32768; |
davolfman | 12:3a1e7fde5040 | 171 | |
davolfman | 12:3a1e7fde5040 | 172 | |
davolfman | 12:3a1e7fde5040 | 173 | outMono.write_u16(volumeSum); |
davolfman | 1:f3350a372732 | 174 | } |
davolfman | 0:b2f7400596ce | 175 | |
davolfman | 0:b2f7400596ce | 176 | |
davolfman | 0:b2f7400596ce | 177 | int main() { |
davolfman | 2:5454dee210ed | 178 | int ratNumer; |
davolfman | 2:5454dee210ed | 179 | int ratDenom; |
davolfman | 2:5454dee210ed | 180 | |
davolfman | 9:86c0035f5321 | 181 | int64_t keytemp = 0; |
davolfman | 9:86c0035f5321 | 182 | |
davolfman | 9:86c0035f5321 | 183 | FMmult = 1; |
davolfman | 9:86c0035f5321 | 184 | Volume = 0; |
davolfman | 9:86c0035f5321 | 185 | modVol = 0; |
davolfman | 9:86c0035f5321 | 186 | keyboard = 0ll; |
davolfman | 12:3a1e7fde5040 | 187 | modattack = 0x1ffffffffffff; |
davolfman | 12:3a1e7fde5040 | 188 | carattack = 0x1ffffffffffff; |
davolfman | 9:86c0035f5321 | 189 | for(int i = 0; i < numKeys; ++i){ |
davolfman | 9:86c0035f5321 | 190 | carrierPhases[i] = 0; |
davolfman | 9:86c0035f5321 | 191 | modulatorPhases[i] = 0; |
davolfman | 9:86c0035f5321 | 192 | envelopeAmpsC[i] = 0; |
davolfman | 9:86c0035f5321 | 193 | envelopeAmpsM[i] = 0; |
davolfman | 9:86c0035f5321 | 194 | } |
davolfman | 9:86c0035f5321 | 195 | modA = 0; |
davolfman | 9:86c0035f5321 | 196 | modD = 0; |
davolfman | 9:86c0035f5321 | 197 | modS = 0; |
davolfman | 9:86c0035f5321 | 198 | modR = 0; |
davolfman | 9:86c0035f5321 | 199 | carA = 0; |
davolfman | 9:86c0035f5321 | 200 | carD = 0; |
davolfman | 9:86c0035f5321 | 201 | carS = 0; |
davolfman | 9:86c0035f5321 | 202 | carR = 0; |
davolfman | 9:86c0035f5321 | 203 | |
lenzi002 | 8:13b0594510de | 204 | keyBank.mode(PullNone); |
davolfman | 9:86c0035f5321 | 205 | synthesisClock.attach(synthesize, 0.000025); |
lenzi002 | 8:13b0594510de | 206 | |
davolfman | 2:5454dee210ed | 207 | while(true){ |
davolfman | 2:5454dee210ed | 208 | ratNumer = 0xf & ~ numerator; |
davolfman | 7:b0cd74923bc6 | 209 | ratDenom = 0xf & ~ denominator; |
davolfman | 7:b0cd74923bc6 | 210 | FMmult = (ratNumer << 16) / ratDenom; |
davolfman | 2:5454dee210ed | 211 | |
davolfman | 12:3a1e7fde5040 | 212 | //Volume = (int)inVol.read_u16(); |
davolfman | 12:3a1e7fde5040 | 213 | Volume = 0xffff; |
davolfman | 12:3a1e7fde5040 | 214 | |
davolfman | 2:5454dee210ed | 215 | modVol = (int)inModAmt.read_u16(); |
davolfman | 2:5454dee210ed | 216 | |
davolfman | 9:86c0035f5321 | 217 | if(! inCarA.read_u16()) |
davolfman | 9:86c0035f5321 | 218 | carA = 0xffff; |
davolfman | 9:86c0035f5321 | 219 | else |
davolfman | 9:86c0035f5321 | 220 | carA = 0xffff / ((int)inCarA.read_u16()); |
davolfman | 9:86c0035f5321 | 221 | |
davolfman | 9:86c0035f5321 | 222 | if(! inCarD.read_u16()) |
davolfman | 9:86c0035f5321 | 223 | carD = 0xffff; |
davolfman | 9:86c0035f5321 | 224 | else |
davolfman | 9:86c0035f5321 | 225 | carD = 0xffff / ((int)inCarD.read_u16()); |
davolfman | 9:86c0035f5321 | 226 | |
davolfman | 2:5454dee210ed | 227 | carS = (int)inCarS.read_u16(); |
davolfman | 9:86c0035f5321 | 228 | |
davolfman | 9:86c0035f5321 | 229 | if(! inCarR.read_u16()) |
davolfman | 9:86c0035f5321 | 230 | carR = 0xffff; |
davolfman | 9:86c0035f5321 | 231 | else |
davolfman | 9:86c0035f5321 | 232 | carR = 0xffff / ((int)inCarR.read_u16()); |
davolfman | 2:5454dee210ed | 233 | |
davolfman | 9:86c0035f5321 | 234 | if(! inModA.read_u16()) |
davolfman | 9:86c0035f5321 | 235 | modA = 0xffff; |
davolfman | 9:86c0035f5321 | 236 | else |
davolfman | 9:86c0035f5321 | 237 | modA = 0xffff / ((int)inModA.read_u16()); |
davolfman | 9:86c0035f5321 | 238 | |
davolfman | 9:86c0035f5321 | 239 | if(! inModD.read_u16()) |
davolfman | 9:86c0035f5321 | 240 | modD = 0xffff; |
davolfman | 9:86c0035f5321 | 241 | else |
davolfman | 9:86c0035f5321 | 242 | modD = 0xffff / ((int)inModD.read_u16()); |
davolfman | 9:86c0035f5321 | 243 | |
davolfman | 2:5454dee210ed | 244 | modS = (int)inModS.read_u16(); |
davolfman | 9:86c0035f5321 | 245 | |
davolfman | 9:86c0035f5321 | 246 | if(! inModR.read_u16()) |
davolfman | 9:86c0035f5321 | 247 | modR = 0xffff; |
davolfman | 9:86c0035f5321 | 248 | else |
davolfman | 9:86c0035f5321 | 249 | modR = 0xffff / ((int)inModR.read_u16()); |
davolfman | 2:5454dee210ed | 250 | |
davolfman | 7:b0cd74923bc6 | 251 | //THIS IS CORRECT (1 means the key is connected) |
davolfman | 7:b0cd74923bc6 | 252 | // B8 B7 B6 B5 B4 B3 B2 B1 B0 |
davolfman | 7:b0cd74923bc6 | 253 | // |----||----||----||----||----||----||----||----|| |
davolfman | 7:b0cd74923bc6 | 254 | //0000000000000001111111111111111111111111111111111111111111111111 |
davolfman | 7:b0cd74923bc6 | 255 | // |
davolfman | 7:b0cd74923bc6 | 256 | //THIS IS NOT CORRECT (1 means the key is connected) |
davolfman | 7:b0cd74923bc6 | 257 | // B8 B7 B6 B5 B4 B3 B2 B1 B0 |
davolfman | 7:b0cd74923bc6 | 258 | // |----||----||----||----||----||----||----||----||----| |
davolfman | 9:86c0035f5321 | 259 | //0000000000111111111111111111111111111111111111111111111111100000 |
davolfman | 9:86c0035f5321 | 260 | //Thus, we need to subtract 5 from our shift |
davolfman | 9:86c0035f5321 | 261 | keytemp = 0; //zero the keys before we start ORing on top of everything |
davolfman | 9:86c0035f5321 | 262 | for(int i = 0; i < 9; ++i) { |
lenzi002 | 8:13b0594510de | 263 | bankSelect = (~(1LL << i)) & (unsigned long long)bankSelect.mask(); |
lenzi002 | 8:13b0594510de | 264 | wait_us(200); |
lenzi002 | 8:13b0594510de | 265 | int shiftOffset = 6LL * i; |
davolfman | 9:86c0035f5321 | 266 | |
davolfman | 7:b0cd74923bc6 | 267 | |
davolfman | 9:86c0035f5321 | 268 | keytemp |= ((~(unsigned long long)keyBank) & (unsigned long long)keyBank.mask()) << (unsigned long long)shiftOffset; |
davolfman | 7:b0cd74923bc6 | 269 | } |
davolfman | 9:86c0035f5321 | 270 | keytemp >>= 5; |
davolfman | 9:86c0035f5321 | 271 | |
davolfman | 12:3a1e7fde5040 | 272 | //keyboard = keytemp; |
davolfman | 12:3a1e7fde5040 | 273 | //debug |
davolfman | 12:3a1e7fde5040 | 274 | keyboard = 0x1000000ll; |
davolfman | 9:86c0035f5321 | 275 | wait_ms(5); |
davolfman | 2:5454dee210ed | 276 | } |
davolfman | 0:b2f7400596ce | 277 | } |