Luca Antolini / Mbed 2 deprecated AAA_Stabilus322699_LA0016

March 11 2022, Vertically Lined Scope i Working

Dependencies:   mbed QEI DmTftLibraryEx

main.cpp@28:443c82750dd9, 2022-03-04 (annotated)

Committer:
lex9296
Date:
Fri Mar 04 14:03:57 2022 +0000
Revision:
28:443c82750dd9
Parent:
27:654100855f5c
Child:
29:7ce8c5779f5e
04 Marzo 2022

Who changed what in which revision?

UserRevisionLine numberNew contents of line
lex9296 28:443c82750dd9 1
GregCr 0:9c0917bfde97 2
lex9296 23:b9d23a2f390e 3 //Warning: Incompatible redefinition of macro "MBED_RAM_SIZE" in "tmp/HU5Hqj", Line: 39, Col: 10
lex9296 23:b9d23a2f390e 4 #ifndef MBED_RAM_SIZE
lex9296 23:b9d23a2f390e 5 #define MBED_RAM_SIZE 0x00018000
lex9296 23:b9d23a2f390e 6 #endif
lex9296 23:b9d23a2f390e 7
lex9296 23:b9d23a2f390e 8 #include "QEI.h"
lex9296 23:b9d23a2f390e 9 #include "SWPos.h"
lex9296 23:b9d23a2f390e 10
GregCr 0:9c0917bfde97 11 #include "Timers.h"
lex9296 23:b9d23a2f390e 12 //#include "Menu.h"
GregCr 0:9c0917bfde97 13 #include "Eeprom.h"
lex9296 23:b9d23a2f390e 14 //#include "main.h"
lex9296 23:b9d23a2f390e 15 //#include "app_config.h"
GregCr 0:9c0917bfde97 16
lex9296 27:654100855f5c 17 #define MAX_CHAR_PER_LINE 28
lex9296 27:654100855f5c 18 #define TEXT_ROW_SPACING 16
lex9296 27:654100855f5c 19 #define FONT_CHAR_WIDTH 8
lex9296 27:654100855f5c 20 #define FONT_CHAR_HEIGHT 16
lex9296 27:654100855f5c 21
lex9296 27:654100855f5c 22 //#include "mbed.h"
lex9296 27:654100855f5c 23 #include "DisplayDriver.h"
lex9296 27:654100855f5c 24 //#include "DmTftIli9341.h"
lex9296 27:654100855f5c 25 //#include "DmTouch.h"
lex9296 27:654100855f5c 26 //#include "DmTouchCalibration.h"
lex9296 27:654100855f5c 27
lex9296 26:bfca0c471a87 28 // LA: Theory of Operation
lex9296 26:bfca0c471a87 29 // ===================
lex9296 26:bfca0c471a87 30 //
lex9296 26:bfca0c471a87 31 // Il PWM funziona da sè in Interrupt
lex9296 26:bfca0c471a87 32 // Il QEI funziona da sè in Interrupt
lex9296 26:bfca0c471a87 33 // Se si creano dei Ticker (Che sono a loro volta interrupt(s)) è possibile che PWM e QEI perdano correlazione con l'HW.
lex9296 26:bfca0c471a87 34 //
lex9296 26:bfca0c471a87 35 // PQM
lex9296 26:bfca0c471a87 36 //
lex9296 26:bfca0c471a87 37 // Il rinfresco del Display e la gestione del motion vanno fatte il più frequentemente possibile ma fuori dal loop dei Ticker.
lex9296 26:bfca0c471a87 38 // Con qst versione (LA0005, che termina un FORK (il successivo è LA0010) quanto detto sopra è FUNZIONANTE.
lex9296 26:bfca0c471a87 39 // Questo messaggio è incluso nel "commitment"
lex9296 26:bfca0c471a87 40
GregCr 0:9c0917bfde97 41 /*!
GregCr 0:9c0917bfde97 42 * \brief Define IO for Unused Pin
GregCr 0:9c0917bfde97 43 */
lex9296 23:b9d23a2f390e 44 //DigitalOut F_CS (D6); // MBED description of pin
lex9296 23:b9d23a2f390e 45 //DigitalOut SD_CS (D8); // MBED description of pin
lex9296 23:b9d23a2f390e 46
lex9296 23:b9d23a2f390e 47 DigitalIn userButton (USER_BUTTON);
mverdy 15:ed7ed20b7114 48
lex9296 23:b9d23a2f390e 49 AnalogIn adc_temp (ADC_TEMP);
lex9296 23:b9d23a2f390e 50 AnalogIn adc_vref (ADC_VREF);
lex9296 23:b9d23a2f390e 51 AnalogIn adc_vbat (ADC_VBAT);
GregCr 0:9c0917bfde97 52
lex9296 23:b9d23a2f390e 53 // PWM
lex9296 23:b9d23a2f390e 54 // ===
lex9296 23:b9d23a2f390e 55 //
lex9296 25:5fd2d69e2927 56 PwmOut PWM_PB3(PWM_OUT); // LA: PWM_OUT = D3 = PB_3
mverdy 14:ebd89dacc807 57
lex9296 28:443c82750dd9 58 // QEI
lex9296 28:443c82750dd9 59 // ===
lex9296 28:443c82750dd9 60 //
lex9296 28:443c82750dd9 61 QEI Stabilus322699 (PA_1, PA_0, NC, 100, QEI::X4_ENCODING);
lex9296 28:443c82750dd9 62
lex9296 23:b9d23a2f390e 63 // Motion
lex9296 23:b9d23a2f390e 64 // ======
lex9296 23:b9d23a2f390e 65 //
lex9296 28:443c82750dd9 66 //Ticker POS_MotionScan; // LA: Non uso un Ticker. Agisce sotto Interrupt e falsa la lettura QEI e la sincronicità del PWM
lex9296 23:b9d23a2f390e 67 //
lex9296 23:b9d23a2f390e 68 in_sPosizionatoreSW in_PosizionatoreSW;
lex9296 23:b9d23a2f390e 69 out_sPosizionatoreSW out_PosizionatoreSW;
GregCr 0:9c0917bfde97 70
lex9296 23:b9d23a2f390e 71 // LCD Display
lex9296 23:b9d23a2f390e 72 // ===========
lex9296 23:b9d23a2f390e 73 //
lex9296 28:443c82750dd9 74 //Ticker LCD_RefreshViews; // LA: Non uso un Ticker. Agisce sotto Interrupt e falsa la lettura QEI e la sincronicità del PWM
mverdy 15:ed7ed20b7114 75
lex9296 22:12c555cade79 76 void FactoryReset (void) {
mverdy 15:ed7ed20b7114 77 EepromFactoryReset( );
mverdy 15:ed7ed20b7114 78 HAL_NVIC_SystemReset( );
mverdy 15:ed7ed20b7114 79 }
lex9296 23:b9d23a2f390e 80
lex9296 23:b9d23a2f390e 81 // =======
lex9296 23:b9d23a2f390e 82 // =======
lex9296 23:b9d23a2f390e 83 // Main(s)
lex9296 23:b9d23a2f390e 84 // =======
lex9296 23:b9d23a2f390e 85 // =======
lex9296 23:b9d23a2f390e 86 //
lex9296 23:b9d23a2f390e 87 int main (void){
lex9296 28:443c82750dd9 88 char StringText[MAX_CHAR_PER_LINE + 1]; // don't forget the /0 (end of string)
lex9296 28:443c82750dd9 89 //char StringText2[MAX_CHAR_PER_LINE + 1];
lex9296 28:443c82750dd9 90 //char StringText3[MAX_CHAR_PER_LINE + 1];
lex9296 28:443c82750dd9 91
lex9296 28:443c82750dd9 92 //uint16_t ui16_TestColor = 0x0000;
lex9296 28:443c82750dd9 93 //uint16_t ui16_TestStep = 0x0000;
lex9296 28:443c82750dd9 94 //
lex9296 28:443c82750dd9 95 //uint16_t ui16_R = 0x00;
lex9296 28:443c82750dd9 96 //uint16_t ui16_G = 0x00;
lex9296 28:443c82750dd9 97 //uint16_t ui16_B = 0x00;
lex9296 28:443c82750dd9 98
lex9296 28:443c82750dd9 99 uint32_t ui32_PreCallms;
lex9296 28:443c82750dd9 100 uint32_t ui32_PostCallms;
lex9296 28:443c82750dd9 101 uint32_t ui32_Samplems;
lex9296 28:443c82750dd9 102
lex9296 23:b9d23a2f390e 103
lex9296 23:b9d23a2f390e 104 EepromInit(); // LA: Inizializza la EEProm
lex9296 23:b9d23a2f390e 105 TimersInit(); // LA: Parte il Timer a 1ms
lex9296 23:b9d23a2f390e 106
lex9296 23:b9d23a2f390e 107 // LA: FactoryReset se "userButton" premuto all'avvio
lex9296 23:b9d23a2f390e 108 //
lex9296 23:b9d23a2f390e 109 if (userButton == 0) {
lex9296 23:b9d23a2f390e 110 FactoryReset();
lex9296 23:b9d23a2f390e 111 }
lex9296 28:443c82750dd9 112 DisplayDriverInit();
lex9296 23:b9d23a2f390e 113
lex9296 28:443c82750dd9 114 PWM_PB3.period_us(100); // LA: Avvia il PWM con TimeBase 100us
lex9296 28:443c82750dd9 115 PWM_PB3.pulsewidth_us(0); // 0.. 100us -> 0.. 100%, Set to ZERO
lex9296 23:b9d23a2f390e 116
lex9296 23:b9d23a2f390e 117 // LA: Motion (1st) Setup
lex9296 23:b9d23a2f390e 118 //
lex9296 28:443c82750dd9 119 in_PosizionatoreSW.b_AxisPowered = true;
lex9296 28:443c82750dd9 120 in_PosizionatoreSW.b_ACPos_Homed = true;
lex9296 23:b9d23a2f390e 121 in_PosizionatoreSW.i32_Max_Speed = 1024; // [ui]
lex9296 23:b9d23a2f390e 122 in_PosizionatoreSW.i32_ZeroSpeed = 0; //
lex9296 23:b9d23a2f390e 123
lex9296 23:b9d23a2f390e 124 in_PosizionatoreSW.b_JogMode = false;
lex9296 23:b9d23a2f390e 125 in_PosizionatoreSW.b_JogFW = false;
lex9296 23:b9d23a2f390e 126 in_PosizionatoreSW.b_JogBW = false;
lex9296 23:b9d23a2f390e 127 in_PosizionatoreSW.i32_JogAccel_ms = 500; // [ms]
lex9296 23:b9d23a2f390e 128 in_PosizionatoreSW.i32_JogDecel_ms = 250; //
lex9296 23:b9d23a2f390e 129 //
lex9296 23:b9d23a2f390e 130 in_PosizionatoreSW.f_JogSpeed_x100_FW = 25.0; // % of "i32_Max_Speed"
lex9296 23:b9d23a2f390e 131 in_PosizionatoreSW.f_JogSpeed_x100_BW = 25.0; //
lex9296 23:b9d23a2f390e 132
lex9296 28:443c82750dd9 133 in_PosizionatoreSW.b_ServoLock = true;
lex9296 23:b9d23a2f390e 134 in_PosizionatoreSW.rtServoLock_Q = false;
lex9296 23:b9d23a2f390e 135 //
lex9296 28:443c82750dd9 136 in_PosizionatoreSW.i64_TargetPosition = 1000; // [ui]
lex9296 28:443c82750dd9 137 in_PosizionatoreSW.i64_ActualPosition = 200; //
lex9296 28:443c82750dd9 138 in_PosizionatoreSW.i64_AccelerationWindow = 50; // LA: Spazio concesso all'accelerazione.
lex9296 28:443c82750dd9 139 in_PosizionatoreSW.i64_DecelerationWindow = 50; // Spazio concesso alla decelerazione, è prioritario rispetto all'accelerazione.
lex9296 28:443c82750dd9 140 in_PosizionatoreSW.i64_diToleranceWindow = 10; // Finestra di Tolleranza
lex9296 23:b9d23a2f390e 141 //
lex9296 23:b9d23a2f390e 142 in_PosizionatoreSW.f_MaximumSpeed_x100_FW = 25.0; // % of "i32_Max_Speed"
lex9296 23:b9d23a2f390e 143 in_PosizionatoreSW.f_MaximumSpeed_x100_BW = 25.0; //
lex9296 23:b9d23a2f390e 144 in_PosizionatoreSW.f_ServoLockSpeed_x100_FW = 5.0; //
lex9296 23:b9d23a2f390e 145 in_PosizionatoreSW.f_ServoLockSpeed_x100_BW = 5.0; //
lex9296 23:b9d23a2f390e 146
lex9296 28:443c82750dd9 147 // LA: Color RGB Component(s)
lex9296 28:443c82750dd9 148 // ======================
lex9296 28:443c82750dd9 149 //
lex9296 28:443c82750dd9 150 // RED 0000 1000 0000 0000 min 0x0800 02048
lex9296 28:443c82750dd9 151 // 1111 1000 0000 0000 max 0xf800 63488
lex9296 28:443c82750dd9 152 //
lex9296 28:443c82750dd9 153 // GREEN 0000 0000 0010 0000 min 0x0020 00032
lex9296 28:443c82750dd9 154 // 0000 0111 1110 0000 max 0x07e0 02016
lex9296 28:443c82750dd9 155 //
lex9296 28:443c82750dd9 156 // BLUE 0000 0000 0000 0001 min 0x0001 00001
lex9296 28:443c82750dd9 157 // 0000 0000 0001 1111 max 0x001f 00031
lex9296 28:443c82750dd9 158 //
lex9296 28:443c82750dd9 159 // La componente ROSSA ha 5 bit di escursione (0.. 31),
lex9296 28:443c82750dd9 160 // La componente VERDE ha 6 bit di escursione (0.. 63),
lex9296 28:443c82750dd9 161 // La componente BLU ha 5 bit di escursione (0.. 31),
lex9296 28:443c82750dd9 162 //
lex9296 28:443c82750dd9 163 // Le componenti RGB di "Color" sono quindi scritte negli appropriati registri come segue:
lex9296 28:443c82750dd9 164 //
lex9296 28:443c82750dd9 165 // writeReg(RED, (Color & 0xf800) >> 11);
lex9296 28:443c82750dd9 166 // writeReg(GREEN, (Color & 0x07e0) >> 5);
lex9296 28:443c82750dd9 167 // writeReg(BLUE, (Color & 0x001f));
lex9296 28:443c82750dd9 168 //
lex9296 28:443c82750dd9 169 LCM_SetTextColor(Scale2RGBColor (31, 31, 31), Scale2RGBColor (0, 0, 0)); // LA: Black on White
lex9296 28:443c82750dd9 170 LCM_ClearScreen (Scale2RGBColor (31, 31, 31));
lex9296 23:b9d23a2f390e 171
lex9296 28:443c82750dd9 172 // ui16_TestColor = Scale2RGBColor (ui16_R, ui16_G, ui16_B);
lex9296 28:443c82750dd9 173 // LCM_SetTextColor (
lex9296 28:443c82750dd9 174 // Scale2RGBColor (0, 0, 0),
lex9296 28:443c82750dd9 175 // Scale2RGBColor (31, 31, 31)
lex9296 28:443c82750dd9 176 // );
lex9296 28:443c82750dd9 177 LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 0), "You Start Me Up ...");
lex9296 28:443c82750dd9 178
lex9296 28:443c82750dd9 179 while (1) {
lex9296 28:443c82750dd9 180 static int32_t Pulses_Prec;
lex9296 28:443c82750dd9 181 static uint32_t ms_0002_prec;
lex9296 28:443c82750dd9 182 static uint32_t ms_0003_prec;
lex9296 28:443c82750dd9 183 int32_t i32_Pulses;
lex9296 23:b9d23a2f390e 184
lex9296 28:443c82750dd9 185 float f_ai0000_Aux;
lex9296 28:443c82750dd9 186 float f_ai0000_prec;
lex9296 28:443c82750dd9 187 float f_ai0001_prec;
lex9296 28:443c82750dd9 188 float f_ai0002_prec;
lex9296 28:443c82750dd9 189
lex9296 28:443c82750dd9 190 i32_Pulses = Stabilus322699.getPulses();
lex9296 28:443c82750dd9 191 PWM_PB3.pulsewidth_us(((float)i32_Pulses/ (float)5000.0)* (float)100.0); // 0.. 100us -> 0.. 100%
lex9296 28:443c82750dd9 192
lex9296 28:443c82750dd9 193 in_PosizionatoreSW.i64_ActualPosition = (int64_t) i32_Pulses; //
lex9296 27:654100855f5c 194
lex9296 28:443c82750dd9 195 ui32_PreCallms = TimersTimerValue(); // Freezes the Actual Sample.
lex9296 28:443c82750dd9 196 PosizionatoreSW (in_PosizionatoreSW, out_PosizionatoreSW);
lex9296 28:443c82750dd9 197 ui32_PostCallms = TimersTimerValue();
lex9296 28:443c82750dd9 198 //
lex9296 28:443c82750dd9 199 if (ui32_PostCallms >= ui32_PreCallms)
lex9296 28:443c82750dd9 200 ui32_Samplems = ui32_PostCallms- ui32_PreCallms; // Result => Actual - Previous
lex9296 28:443c82750dd9 201 else
lex9296 28:443c82750dd9 202 ui32_Samplems = ui32_PostCallms+ (0x7fffffff- ui32_PreCallms); // Result => Actual+ (Rollover- Previous)
lex9296 28:443c82750dd9 203
lex9296 27:654100855f5c 204
lex9296 28:443c82750dd9 205 // LA: Wedge 4 LCDRefresh
lex9296 28:443c82750dd9 206 if (
lex9296 28:443c82750dd9 207 (i32_Pulses != Pulses_Prec)
lex9296 28:443c82750dd9 208 ) {
lex9296 28:443c82750dd9 209 sprintf (StringText,
lex9296 28:443c82750dd9 210 "Pulses: %d ", i32_Pulses);
lex9296 28:443c82750dd9 211 LCM_SetTextColor (Scale2RGBColor (0, 0, 31), Scale2RGBColor (31, 31, 0));
lex9296 28:443c82750dd9 212 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 1), StringText);
lex9296 28:443c82750dd9 213 }
lex9296 28:443c82750dd9 214
lex9296 28:443c82750dd9 215 // if (out_PosizionatoreSW.ui32_PassedActual_ms != ms_0003_prec) {
lex9296 28:443c82750dd9 216 if (ui32_Samplems != ms_0003_prec) {
lex9296 28:443c82750dd9 217 sprintf (StringText,
lex9296 28:443c82750dd9 218 // "PassedActual_ms: %d ", out_PosizionatoreSW.ui32_PassedActual_ms);
lex9296 28:443c82750dd9 219 "PassedActual_ms: %d ", ui32_Samplems);
lex9296 28:443c82750dd9 220 LCM_SetTextColor (Scale2RGBColor (0, 31, 0), Scale2RGBColor (31, 0, 31));
lex9296 28:443c82750dd9 221 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 2), StringText);
lex9296 28:443c82750dd9 222 // ms_0003_prec = out_PosizionatoreSW.ui32_PassedActual_ms;
lex9296 28:443c82750dd9 223 ms_0003_prec = ui32_Samplems;
lex9296 28:443c82750dd9 224 }
lex9296 28:443c82750dd9 225
lex9296 28:443c82750dd9 226 if (out_PosizionatoreSW.i32_ATVSpeed != ms_0002_prec) {
lex9296 28:443c82750dd9 227 sprintf (StringText,
lex9296 28:443c82750dd9 228 "Speed[ui]: %d ", out_PosizionatoreSW.i32_ATVSpeed);
lex9296 28:443c82750dd9 229 LCM_SetTextColor (Scale2RGBColor (0, 31, 0), Scale2RGBColor (31, 0, 31));
lex9296 28:443c82750dd9 230 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 3), StringText);
lex9296 28:443c82750dd9 231 ms_0002_prec = out_PosizionatoreSW.i32_ATVSpeed;
lex9296 28:443c82750dd9 232 }
lex9296 27:654100855f5c 233
lex9296 28:443c82750dd9 234 f_ai0000_Aux = adc_temp.read();
lex9296 28:443c82750dd9 235 if (f_ai0000_Aux != f_ai0000_prec) {
lex9296 28:443c82750dd9 236 sprintf (StringText,
lex9296 28:443c82750dd9 237 // "ADC Temp = %f\n", (f_ai0000_Aux* 100));
lex9296 28:443c82750dd9 238 "ADC Temp = %f ", (f_ai0000_Aux* 100));
lex9296 28:443c82750dd9 239 LCM_SetTextColor (Scale2RGBColor (0, 31, 0), Scale2RGBColor (31, 0, 31));
lex9296 28:443c82750dd9 240 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 4), StringText);
lex9296 28:443c82750dd9 241 f_ai0000_prec = f_ai0000_Aux;
lex9296 28:443c82750dd9 242 }
lex9296 27:654100855f5c 243
lex9296 28:443c82750dd9 244 f_ai0000_Aux = adc_vbat.read();
lex9296 28:443c82750dd9 245 if (f_ai0000_Aux != f_ai0001_prec) {
lex9296 28:443c82750dd9 246 sprintf (StringText,
lex9296 28:443c82750dd9 247 // "ADC VBat = %f\n", (f_ai0000_Aux* 100));
lex9296 28:443c82750dd9 248 "ADC VBat = %f ", (f_ai0000_Aux));
lex9296 28:443c82750dd9 249 LCM_SetTextColor (Scale2RGBColor (0, 31, 0), Scale2RGBColor (31, 0, 31));
lex9296 28:443c82750dd9 250 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 5), StringText);
lex9296 28:443c82750dd9 251 f_ai0001_prec = f_ai0000_Aux;
lex9296 28:443c82750dd9 252 }
lex9296 27:654100855f5c 253
lex9296 28:443c82750dd9 254 f_ai0000_Aux = adc_vref.read();
lex9296 28:443c82750dd9 255 if (f_ai0000_Aux != f_ai0002_prec) {
lex9296 28:443c82750dd9 256 sprintf (StringText,
lex9296 28:443c82750dd9 257 // "ADC VRef = %f\n", (f_ai0000_Aux* 100));
lex9296 28:443c82750dd9 258 "ADC VRef = %f ", (f_ai0000_Aux));
lex9296 28:443c82750dd9 259 LCM_SetTextColor (Scale2RGBColor (0, 31, 0), Scale2RGBColor (31, 0, 31));
lex9296 28:443c82750dd9 260 LCM_DrawString (0, 0+ (TEXT_ROW_SPACING* 6), StringText);
lex9296 28:443c82750dd9 261 f_ai0002_prec = f_ai0000_Aux;
lex9296 28:443c82750dd9 262 }
lex9296 28:443c82750dd9 263 }
lex9296 28:443c82750dd9 264 }
lex9296 28:443c82750dd9 265
lex9296 28:443c82750dd9 266 /*
lex9296 27:654100855f5c 267 while (ui16_TestStep < 32) {
lex9296 27:654100855f5c 268
lex9296 27:654100855f5c 269 ui16_TestColor = Scale2RGBColor (ui16_R, ui16_G, ui16_B);
lex9296 27:654100855f5c 270 LCM_ClearScreen (ui16_TestColor);
lex9296 27:654100855f5c 271 LCM_SetTextColor(ui16_TestColor, (0xffff- ui16_TestColor));
lex9296 27:654100855f5c 272 sprintf (StringText,
lex9296 27:654100855f5c 273 "Color: %04x %04x ", ui16_TestColor, ui16_TestStep);
lex9296 27:654100855f5c 274 LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 4), StringText);
lex9296 27:654100855f5c 275 sprintf (StringText,
lex9296 27:654100855f5c 276 "R:%02x G:%02x B:%02x ", ui16_R, ui16_G, ui16_B);
lex9296 27:654100855f5c 277 LCM_DrawString (0, 0+(TEXT_ROW_SPACING* 5), StringText);
lex9296 27:654100855f5c 278 // delay (500);
lex9296 27:654100855f5c 279
lex9296 27:654100855f5c 280 ui16_R++;
lex9296 27:654100855f5c 281 ui16_G++;
lex9296 27:654100855f5c 282 ui16_B++;
lex9296 27:654100855f5c 283 // ui16_TestColor += 0x0841;
lex9296 27:654100855f5c 284 ui16_TestStep ++;
lex9296 27:654100855f5c 285 }
lex9296 27:654100855f5c 286 delay (2500);
lex9296 28:443c82750dd9 287 */