Feng Hong / Mbed OS Nucleo_rtos_basic

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main.cpp@12:5cb359f981f3, 2019-04-20 (annotated)

Committer:
hi1000
Date:
Sat Apr 20 09:31:30 2019 +0000
Revision:
12:5cb359f981f3
Parent:
11:8702316d7fc8
Child:
13:9f581a090e53
Everything work:; CAN, scale, LCD, EEPROM, buttons, 3 output, 2 input

Who changed what in which revision?

UserRevisionLine numberNew contents of line
hi1000 0:765cf978c3e5 1 #include "mbed.h"
hi1000 1:eb499e2a1b9b 2 #include <HX711.h>
hi1000 2:61a0169765bf 3 #include <eeprom.h>
hi1000 7:e0c7e624c5fa 4 #include "eeprom_cust.h"
hi1000 5:4585215afd11 5 //#include "digitLCD.h"
hi1000 5:4585215afd11 6 #include "SB1602E.h"
hi1000 9:486f65124378 7
hi1000 7:e0c7e624c5fa 8 extern void analyzePayload();
hi1000 11:8702316d7fc8 9 #if 1
hi1000 11:8702316d7fc8 10 #ifdef STM32F207xx
hi1000 11:8702316d7fc8 11 HX711 hx711(PB_11, PB_10);// data, clk
hi1000 11:8702316d7fc8 12 #endif
hi1000 11:8702316d7fc8 13
hi1000 11:8702316d7fc8 14 #ifdef STM32F303xE
hi1000 11:8702316d7fc8 15 //HX711 hx711(D8, D9);// data, clk
hi1000 11:8702316d7fc8 16 HX711 hx711(PA_14, PA_15);
hi1000 11:8702316d7fc8 17 #endif
hi1000 7:e0c7e624c5fa 18 extern void scaleCalibration();
hi1000 11:8702316d7fc8 19 extern void init_scale();
hi1000 11:8702316d7fc8 20 Thread scale_thread;
hi1000 11:8702316d7fc8 21 extern void scale_reading();
hi1000 9:486f65124378 22 #endif
hi1000 8:6105ffbaf237 23 unsigned char rx_buffer[8], tx_buffer[8];
hi1000 7:e0c7e624c5fa 24 unsigned char rx_length, tx_length;
hi1000 0:765cf978c3e5 25
hi1000 5:4585215afd11 26 #define LCD_1602
hi1000 9:486f65124378 27 #ifdef STM32F207xx
hi1000 5:4585215afd11 28 SB1602E lcd( PB_9, PB_8 ); // SDA, SCL
hi1000 0:765cf978c3e5 29 CAN can1(PD_0, PD_1);
hi1000 0:765cf978c3e5 30 CAN can2(PB_5, PB_6);
hi1000 1:eb499e2a1b9b 31 DigitalOut led1(LED1);
hi1000 1:eb499e2a1b9b 32 DigitalOut led2(LED2);
hi1000 1:eb499e2a1b9b 33 //FlashIAP flashIAP;
hi1000 1:eb499e2a1b9b 34
hi1000 5:4585215afd11 35 //#define LCD_1621
hi1000 5:4585215afd11 36 //digitLCD lcd(PA_5,PA_4,PB_5); // WO, CS, DATA
hi1000 9:486f65124378 37 #endif
hi1000 9:486f65124378 38 #ifdef STM32F303xE
hi1000 9:486f65124378 39 SB1602E lcd(D14, D15 ); // SDA, SCL
hi1000 9:486f65124378 40 CAN can1(PA_11, PA_12); // RD, TD
hi1000 9:486f65124378 41 DigitalOut led1(LED1); // only one LED PA_5
hi1000 9:486f65124378 42 DigitalOut led2(LED2); // only one LED PA_5
hi1000 9:486f65124378 43 #endif
hi1000 7:e0c7e624c5fa 44
hi1000 12:5cb359f981f3 45 DigitalOut output1(PC_3);
hi1000 12:5cb359f981f3 46 DigitalOut output2(PC_2);
hi1000 12:5cb359f981f3 47 DigitalOut output3(PB_7);
hi1000 12:5cb359f981f3 48 DigitalIn input1(PC_6);
hi1000 12:5cb359f981f3 49 DigitalIn input2(PC_8);
hi1000 2:61a0169765bf 50
hi1000 10:d1104e320de7 51 EEPROM ep(SDA,SCL,EEPROM_ADDR,EEPROM::T24C256);
hi1000 9:486f65124378 52 extern void eeprom_test(void);
hi1000 2:61a0169765bf 53 int init_id = 0x537; // first 8 bit is the address
hi1000 1:eb499e2a1b9b 54
hi1000 9:486f65124378 55 uint8_t can_tx_data[8];
hi1000 9:486f65124378 56 uint8_t can_rx_data[8];
hi1000 0:765cf978c3e5 57
hi1000 0:765cf978c3e5 58 void print_char(char c = '*')
hi1000 0:765cf978c3e5 59 {
hi1000 0:765cf978c3e5 60 printf("%c\r\n", c);
hi1000 0:765cf978c3e5 61 fflush(stdout);
hi1000 0:765cf978c3e5 62 }
hi1000 0:765cf978c3e5 63
hi1000 11:8702316d7fc8 64
hi1000 8:6105ffbaf237 65 Thread can_receivethread;
hi1000 8:6105ffbaf237 66 Thread can_handlethread;
hi1000 1:eb499e2a1b9b 67
hi1000 0:765cf978c3e5 68 CANMessage msg;
hi1000 8:6105ffbaf237 69 MemoryPool<CANMessage, 16> can_mpool;
hi1000 8:6105ffbaf237 70 Queue<CANMessage, 16> can_queue;
hi1000 0:765cf978c3e5 71
hi1000 12:5cb359f981f3 72 InterruptIn button0(USER_BUTTON);
hi1000 12:5cb359f981f3 73 volatile bool button0_pressed = false; // Used in the main loop
hi1000 12:5cb359f981f3 74 volatile bool button0_enabled = true; // Used for debouncing
hi1000 12:5cb359f981f3 75 Timeout button0_timeout; // Used for debouncing
hi1000 12:5cb359f981f3 76 InterruptIn button1(PB_4);
hi1000 0:765cf978c3e5 77 volatile bool button1_pressed = false; // Used in the main loop
hi1000 0:765cf978c3e5 78 volatile bool button1_enabled = true; // Used for debouncing
hi1000 0:765cf978c3e5 79 Timeout button1_timeout; // Used for debouncing
hi1000 12:5cb359f981f3 80 InterruptIn button2(PC_1);
hi1000 12:5cb359f981f3 81 volatile bool button2_pressed = false; // Used in the main loop
hi1000 12:5cb359f981f3 82 volatile bool button2_enabled = true; // Used for debouncing
hi1000 12:5cb359f981f3 83 Timeout button2_timeout; // Used for debouncing
hi1000 12:5cb359f981f3 84 InterruptIn button3(PC_7);
hi1000 12:5cb359f981f3 85 volatile bool button3_pressed = false; // Used in the main loop
hi1000 12:5cb359f981f3 86 volatile bool button3_enabled = true; // Used for debouncing
hi1000 12:5cb359f981f3 87 Timeout button3_timeout; // Used for debouncing
hi1000 12:5cb359f981f3 88 InterruptIn button4(PA_9);
hi1000 12:5cb359f981f3 89 volatile bool button4_pressed = false; // Used in the main loop
hi1000 12:5cb359f981f3 90 volatile bool button4_enabled = true; // Used for debouncing
hi1000 12:5cb359f981f3 91 Timeout button4_timeout; // Used for debouncing
hi1000 12:5cb359f981f3 92
hi1000 0:765cf978c3e5 93
hi1000 0:765cf978c3e5 94 // Enables button when bouncing is over
hi1000 12:5cb359f981f3 95 //button0
hi1000 12:5cb359f981f3 96 void button0_enabled_cb(void)
hi1000 12:5cb359f981f3 97 {
hi1000 12:5cb359f981f3 98 int button_status;
hi1000 12:5cb359f981f3 99 button_status = button0.read();
hi1000 12:5cb359f981f3 100 if (button_status == 0)
hi1000 12:5cb359f981f3 101 {
hi1000 12:5cb359f981f3 102 printf("button0 down\r\n");
hi1000 12:5cb359f981f3 103 }
hi1000 12:5cb359f981f3 104 else
hi1000 12:5cb359f981f3 105 printf("button0 released\r\n");
hi1000 12:5cb359f981f3 106 button0_enabled = true;
hi1000 12:5cb359f981f3 107 }
hi1000 12:5cb359f981f3 108
hi1000 12:5cb359f981f3 109 // ISR handling button pressed event
hi1000 12:5cb359f981f3 110 void button0_onpressed_cb(void)
hi1000 12:5cb359f981f3 111 {
hi1000 12:5cb359f981f3 112 if (button0_enabled) { // Disabled while the button is bouncing
hi1000 12:5cb359f981f3 113 button0_enabled = false;
hi1000 12:5cb359f981f3 114 button0_pressed = true; // To be read by the main loop
hi1000 12:5cb359f981f3 115 button0_timeout.attach(callback(button0_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 12:5cb359f981f3 116 }
hi1000 12:5cb359f981f3 117 }
hi1000 12:5cb359f981f3 118 //button0--
hi1000 12:5cb359f981f3 119 //button1
hi1000 0:765cf978c3e5 120 void button1_enabled_cb(void)
hi1000 0:765cf978c3e5 121 {
hi1000 12:5cb359f981f3 122 int button_status;
hi1000 12:5cb359f981f3 123 button_status = button1.read();
hi1000 12:5cb359f981f3 124 if (button_status == 0)
hi1000 12:5cb359f981f3 125 {
hi1000 12:5cb359f981f3 126 printf("button1 down\r\n");
hi1000 12:5cb359f981f3 127 }
hi1000 12:5cb359f981f3 128 else
hi1000 12:5cb359f981f3 129 printf("button1 released\r\n");
hi1000 0:765cf978c3e5 130 button1_enabled = true;
hi1000 0:765cf978c3e5 131 }
hi1000 0:765cf978c3e5 132
hi1000 0:765cf978c3e5 133 // ISR handling button pressed event
hi1000 0:765cf978c3e5 134 void button1_onpressed_cb(void)
hi1000 0:765cf978c3e5 135 {
hi1000 0:765cf978c3e5 136 if (button1_enabled) { // Disabled while the button is bouncing
hi1000 0:765cf978c3e5 137 button1_enabled = false;
hi1000 0:765cf978c3e5 138 button1_pressed = true; // To be read by the main loop
hi1000 0:765cf978c3e5 139 button1_timeout.attach(callback(button1_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 0:765cf978c3e5 140 }
hi1000 0:765cf978c3e5 141 }
hi1000 12:5cb359f981f3 142 //button1--
hi1000 12:5cb359f981f3 143 //button2
hi1000 12:5cb359f981f3 144 void button2_enabled_cb(void)
hi1000 12:5cb359f981f3 145 {
hi1000 12:5cb359f981f3 146 int button_status;
hi1000 12:5cb359f981f3 147 button_status = button2.read();
hi1000 12:5cb359f981f3 148 if (button_status == 0)
hi1000 12:5cb359f981f3 149 {
hi1000 12:5cb359f981f3 150 printf("button2 down\r\n");
hi1000 12:5cb359f981f3 151 }
hi1000 12:5cb359f981f3 152 else
hi1000 12:5cb359f981f3 153 printf("button2 released\r\n");
hi1000 12:5cb359f981f3 154 button2_enabled = true;
hi1000 12:5cb359f981f3 155 }
hi1000 0:765cf978c3e5 156
hi1000 12:5cb359f981f3 157 // ISR handling button pressed event
hi1000 12:5cb359f981f3 158 void button2_onpressed_cb(void)
hi1000 12:5cb359f981f3 159 {
hi1000 12:5cb359f981f3 160 if (button2_enabled) { // Disabled while the button is bouncing
hi1000 12:5cb359f981f3 161 button2_enabled = false;
hi1000 12:5cb359f981f3 162 button2_pressed = true; // To be read by the main loop
hi1000 12:5cb359f981f3 163 button2_timeout.attach(callback(button2_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 12:5cb359f981f3 164 }
hi1000 12:5cb359f981f3 165 }
hi1000 12:5cb359f981f3 166 //button2--
hi1000 12:5cb359f981f3 167 //button3
hi1000 12:5cb359f981f3 168 void button3_enabled_cb(void)
hi1000 12:5cb359f981f3 169 {
hi1000 12:5cb359f981f3 170 int button_status;
hi1000 12:5cb359f981f3 171 button_status = button3.read();
hi1000 12:5cb359f981f3 172 if (button_status == 0)
hi1000 12:5cb359f981f3 173 {
hi1000 12:5cb359f981f3 174 printf("button3 down\r\n");
hi1000 12:5cb359f981f3 175 }
hi1000 12:5cb359f981f3 176 else
hi1000 12:5cb359f981f3 177 printf("button3 released\r\n");
hi1000 12:5cb359f981f3 178 button3_enabled = true;
hi1000 12:5cb359f981f3 179 }
hi1000 12:5cb359f981f3 180
hi1000 12:5cb359f981f3 181 // ISR handling button pressed event
hi1000 12:5cb359f981f3 182 void button3_onpressed_cb(void)
hi1000 12:5cb359f981f3 183 {
hi1000 12:5cb359f981f3 184 if (button3_enabled) { // Disabled while the button is bouncing
hi1000 12:5cb359f981f3 185 button3_enabled = false;
hi1000 12:5cb359f981f3 186 button3_pressed = true; // To be read by the main loop
hi1000 12:5cb359f981f3 187 button3_timeout.attach(callback(button3_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 12:5cb359f981f3 188 }
hi1000 12:5cb359f981f3 189 }
hi1000 12:5cb359f981f3 190 //button3--
hi1000 12:5cb359f981f3 191 //button4
hi1000 12:5cb359f981f3 192 void button4_enabled_cb(void)
hi1000 12:5cb359f981f3 193 {
hi1000 12:5cb359f981f3 194 int button_status;
hi1000 12:5cb359f981f3 195 button_status = button4.read();
hi1000 12:5cb359f981f3 196 if (button_status == 0)
hi1000 12:5cb359f981f3 197 {
hi1000 12:5cb359f981f3 198 printf("button4 down\r\n");
hi1000 12:5cb359f981f3 199 }
hi1000 12:5cb359f981f3 200 else
hi1000 12:5cb359f981f3 201 printf("button4 released\r\n");
hi1000 12:5cb359f981f3 202 button4_enabled = true;
hi1000 12:5cb359f981f3 203 }
hi1000 12:5cb359f981f3 204
hi1000 12:5cb359f981f3 205 // ISR handling button pressed event
hi1000 12:5cb359f981f3 206 void button4_onpressed_cb(void)
hi1000 12:5cb359f981f3 207 {
hi1000 12:5cb359f981f3 208 if (button4_enabled) { // Disabled while the button is bouncing
hi1000 12:5cb359f981f3 209 button4_enabled = false;
hi1000 12:5cb359f981f3 210 button4_pressed = true; // To be read by the main loop
hi1000 12:5cb359f981f3 211 button4_timeout.attach(callback(button4_enabled_cb), 0.3); // Debounce time 300 ms
hi1000 12:5cb359f981f3 212 }
hi1000 12:5cb359f981f3 213 }
hi1000 12:5cb359f981f3 214 //button4--
hi1000 8:6105ffbaf237 215 void can_rxthread()
hi1000 0:765cf978c3e5 216 {
hi1000 9:486f65124378 217 int loop;
hi1000 0:765cf978c3e5 218 while (true) {
hi1000 9:486f65124378 219 #if 1
hi1000 0:765cf978c3e5 220 if(can1.read(msg)) {
hi1000 0:765cf978c3e5 221 print_char();
hi1000 0:765cf978c3e5 222 printf("got message id=%d 0x%08x\r\n", msg.id, msg.id);
hi1000 0:765cf978c3e5 223 // b = *reinterpret_cast<int*>(msg.data);
hi1000 9:486f65124378 224 for (loop = 0; loop < msg.len; loop++)
hi1000 8:6105ffbaf237 225 {
hi1000 9:486f65124378 226 can_rx_data[loop] = msg.data[loop];
hi1000 8:6105ffbaf237 227 }
hi1000 8:6105ffbaf237 228
hi1000 9:486f65124378 229 printf("got data: length:%d\r\n", msg.len);
hi1000 9:486f65124378 230 for (loop = 0; loop < msg.len; loop++)
hi1000 9:486f65124378 231 {
hi1000 9:486f65124378 232 printf("data[%d]=%d\r\n", loop, can_rx_data[loop]);
hi1000 9:486f65124378 233 }
hi1000 0:765cf978c3e5 234 if(msg.id == 1337) {
hi1000 9:486f65124378 235 //only queue the message belongs to you
hi1000 9:486f65124378 236 CANMessage *can_message = can_mpool.alloc();
hi1000 9:486f65124378 237 memcpy((void *)can_message, (void *)&msg, sizeof(msg));
hi1000 9:486f65124378 238 if (!can_queue.full())
hi1000 9:486f65124378 239 can_queue.put(can_message);
hi1000 9:486f65124378 240 else
hi1000 9:486f65124378 241 {
hi1000 9:486f65124378 242 printf("message queue is full. \r\n");
hi1000 9:486f65124378 243 }
hi1000 0:765cf978c3e5 244 led2 = !led2;
hi1000 0:765cf978c3e5 245 }
hi1000 0:765cf978c3e5 246 }
hi1000 9:486f65124378 247 #endif
hi1000 0:765cf978c3e5 248 // wait(0.2);
hi1000 0:765cf978c3e5 249 }
hi1000 0:765cf978c3e5 250 }
hi1000 0:765cf978c3e5 251
hi1000 0:765cf978c3e5 252 int main()
hi1000 0:765cf978c3e5 253 {
hi1000 9:486f65124378 254 int loop = 0;
hi1000 9:486f65124378 255 int8_t ival;
hi1000 9:486f65124378 256 printf("\n\n*** RTOS basic example ***\r\n");
hi1000 9:486f65124378 257
hi1000 9:486f65124378 258 // wait(1);
hi1000 8:6105ffbaf237 259 #ifdef LCD_1621
hi1000 4:40bb33497de4 260 lcd.clear(); // clears display
hi1000 4:40bb33497de4 261 lcd.allsegson();
hi1000 5:4585215afd11 262
hi1000 4:40bb33497de4 263 // lcd.printf("ABCDEFGHI"); // Standard printf function, All ASCII characters will display
hi1000 5:4585215afd11 264 #endif
hi1000 9:486f65124378 265
hi1000 5:4585215afd11 266 #ifdef LCD_1602
hi1000 5:4585215afd11 267 lcd.printf( 0, "Hello world!" ); // line# (0 or 1), string
hi1000 5:4585215afd11 268 lcd.printf( 1, "pi = %.6f", 3.14159265 );
hi1000 6:a9a03663fa23 269 lcd.putcxy(0x55, 5, 1);
hi1000 6:a9a03663fa23 270 lcd.printf(5, 0, "UUU");
hi1000 9:486f65124378 271 lcd.printf(0, 0, "pressed!" );
hi1000 9:486f65124378 272 #endif
hi1000 11:8702316d7fc8 273
hi1000 12:5cb359f981f3 274 input1.mode(PullUp);
hi1000 12:5cb359f981f3 275 input2.mode(PullUp);
hi1000 9:486f65124378 276 can_receivethread.start(can_rxthread);
hi1000 9:486f65124378 277 can_handlethread.start(analyzePayload);
hi1000 1:eb499e2a1b9b 278 // flashIAP.init();
hi1000 1:eb499e2a1b9b 279 // printf("Flash start address: 0x%08x Flash Size: %d\r\n", flashIAP.get_flash_start(), flashIAP.get_flash_size());
hi1000 0:765cf978c3e5 280 // can1.reset();
hi1000 0:765cf978c3e5 281 // can2.reset();
hi1000 2:61a0169765bf 282 can1.frequency(100000);
hi1000 0:765cf978c3e5 283 // can2.frequency(100000);
hi1000 12:5cb359f981f3 284 //button0.mode(PullUp); // Activate pull-up
hi1000 9:486f65124378 285
hi1000 12:5cb359f981f3 286 button0.fall(callback(button0_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 287 button0.rise(callback(button0_onpressed_cb)); // Attach ISR to handle button press event
hi1000 2:61a0169765bf 288 button1.fall(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 289 button1.rise(callback(button1_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 290 button2.fall(callback(button2_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 291 button2.rise(callback(button2_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 292 button3.fall(callback(button3_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 293 button3.rise(callback(button3_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 294 button4.fall(callback(button4_onpressed_cb)); // Attach ISR to handle button press event
hi1000 12:5cb359f981f3 295 button4.rise(callback(button4_onpressed_cb)); // Attach ISR to handle button press event
hi1000 11:8702316d7fc8 296 // eeprom_test();
hi1000 0:765cf978c3e5 297
hi1000 11:8702316d7fc8 298 #if 1
hi1000 11:8702316d7fc8 299 // scaleCalibration();
hi1000 11:8702316d7fc8 300 init_scale();
hi1000 11:8702316d7fc8 301 scale_thread.start(scale_reading);
hi1000 11:8702316d7fc8 302 #endif
hi1000 0:765cf978c3e5 303 int idx = 0; // Just for printf below
hi1000 9:486f65124378 304 can_tx_data[0] = 0;
hi1000 0:765cf978c3e5 305 while(1) {
hi1000 12:5cb359f981f3 306 if (button0_pressed) { // Set when button is pressed
hi1000 9:486f65124378 307 #if 0
hi1000 1:eb499e2a1b9b 308 printf("scale value %f. \r\n", hx711.getGram());
hi1000 9:486f65124378 309 #endif
hi1000 9:486f65124378 310 can_tx_data[1] = can_tx_data[0]+1;
hi1000 9:486f65124378 311 can_tx_data[2] = can_tx_data[1]+1;
hi1000 9:486f65124378 312 can_tx_data[3] = can_tx_data[2]+1;
hi1000 9:486f65124378 313 can_tx_data[4] = can_tx_data[3]+1;
hi1000 9:486f65124378 314 can_tx_data[5] = can_tx_data[4]+1;
hi1000 9:486f65124378 315 can_tx_data[6] = can_tx_data[5]+1;
hi1000 9:486f65124378 316 can_tx_data[7] = can_tx_data[6]+1;
hi1000 12:5cb359f981f3 317 button0_pressed = false;
hi1000 2:61a0169765bf 318 printf("Button pressed %d\r\n", idx++);
hi1000 9:486f65124378 319 printf("ID=%d data[0]=%d. \r\n", init_id + idx%10, can_tx_data[0]);
hi1000 9:486f65124378 320 #ifdef LCD_1602
hi1000 9:486f65124378 321 lcd.printf(0, 0, "%d ", idx ); // line# (0 or 1), string
hi1000 9:486f65124378 322 #endif
hi1000 9:486f65124378 323 can1.write(CANMessage((init_id + idx%10), reinterpret_cast<char*>(can_tx_data), 8));
hi1000 0:765cf978c3e5 324 led1 = !led1;
hi1000 9:486f65124378 325 can_tx_data[0]++;
hi1000 0:765cf978c3e5 326 }
hi1000 0:765cf978c3e5 327 }
hi1000 9:486f65124378 328
hi1000 9:486f65124378 329 #if 0
hi1000 0:765cf978c3e5 330 while(1) {
hi1000 0:765cf978c3e5 331 // can1.write(CANMessage(1337, reinterpret_cast<char*>(&a), sizeof(a)));
hi1000 0:765cf978c3e5 332 #if
hi1000 0:765cf978c3e5 333 can1.write(CANMessage(1337, reinterpret_cast<char*>(&a), 1));
hi1000 0:765cf978c3e5 334 #endif
hi1000 0:765cf978c3e5 335 printf("loop a=%d\n", a);
hi1000 0:765cf978c3e5 336 led1 = !led1;
hi1000 0:765cf978c3e5 337 a++;
hi1000 0:765cf978c3e5 338 wait(0.2);
hi1000 0:765cf978c3e5 339 }
hi1000 0:765cf978c3e5 340 #endif
hi1000 0:765cf978c3e5 341 }