Christian Taedcke / Mbed 2 deprecated ObdDisplay

Small project to display some OBD values from the Toyota GT86/ Subaru BRZ/ Scion FRS on an OLED display.

Dependencies:   Adafruit_GFX MODSERIAL mbed-rtos mbed

main.cpp@5:0b229ba8ede5, 2014-04-27 (annotated)

Committer:
chrta
Date:
Sun Apr 27 19:13:35 2014 +0000
Revision:
5:0b229ba8ede5
Parent:
4:0e2d6cc31afb
Child:
6:506b703a8acf
Split pids into files.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
chrta 0:6b1f6139fb25 1 #include "mbed.h"
chrta 0:6b1f6139fb25 2 #include "rtos.h"
chrta 0:6b1f6139fb25 3 #include "IsoTpHandler.h"
chrta 2:d3d61d9d323e 4 #include "MODSERIAL.h"
chrta 1:ca506b88b1d6 5
chrta 2:d3d61d9d323e 6 #define CAN1_TEST
chrta 4:0e2d6cc31afb 7 #define CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 8
chrta 2:d3d61d9d323e 9 // Make TX buffer 1024bytes and RX buffer use 512bytes.
chrta 2:d3d61d9d323e 10 MODSERIAL pc(USBTX, USBRX, 2 * 1024, 512); // tx, rx
chrta 0:6b1f6139fb25 11 DigitalOut led1(LED1);
chrta 0:6b1f6139fb25 12 DigitalOut led2(LED2);
chrta 2:d3d61d9d323e 13 DigitalOut led3(LED3);
chrta 2:d3d61d9d323e 14 DigitalOut led4(LED4);
chrta 2:d3d61d9d323e 15
chrta 2:d3d61d9d323e 16 CAN can1(p9, p10);
chrta 2:d3d61d9d323e 17 DigitalOut can1_disable(p8);
chrta 0:6b1f6139fb25 18 CAN can2(p30, p29);
chrta 2:d3d61d9d323e 19 DigitalOut can2_disable(p28);
chrta 2:d3d61d9d323e 20
chrta 0:6b1f6139fb25 21 IsoTpHandler tpHandler(&can2);
chrta 4:0e2d6cc31afb 22
chrta 5:0b229ba8ede5 23 //#define ACTIVATE_DEBUG_OUTPUT
chrta 4:0e2d6cc31afb 24 #ifdef ACTIVATE_DEBUG_OUTPUT
chrta 4:0e2d6cc31afb 25 #define DEBUG_PRINT(format, ...) pc.printf(format, ##__VA_ARGS__)
chrta 4:0e2d6cc31afb 26 #else
chrta 4:0e2d6cc31afb 27 #define DEBUG_PRINT(format, ...)
chrta 4:0e2d6cc31afb 28 #endif
chrta 0:6b1f6139fb25 29
chrta 0:6b1f6139fb25 30 void led2_thread(void const *args) {
chrta 0:6b1f6139fb25 31 while (true) {
chrta 0:6b1f6139fb25 32 led2 = !led2;
chrta 0:6b1f6139fb25 33 Thread::wait(1000);
chrta 0:6b1f6139fb25 34 }
chrta 0:6b1f6139fb25 35 }
chrta 0:6b1f6139fb25 36
chrta 0:6b1f6139fb25 37 Mail<CANMessage, 16> can_rx_queue;
chrta 0:6b1f6139fb25 38
chrta 0:6b1f6139fb25 39 void can_process_packets(void const *args) {
chrta 0:6b1f6139fb25 40 while (true) {
chrta 4:0e2d6cc31afb 41 //pc.printf("Th wait for can packet\r\n");
chrta 0:6b1f6139fb25 42 osEvent evt = can_rx_queue.get(osWaitForever);
chrta 4:0e2d6cc31afb 43 //pc.printf("Got evt %d\r\n", evt.status);
chrta 0:6b1f6139fb25 44 if (evt.status == osEventMail) {
chrta 4:0e2d6cc31afb 45 //pc.printf("Got can packet\r\n");
chrta 0:6b1f6139fb25 46 CANMessage *msg = (CANMessage*) evt.value.p;
chrta 4:0e2d6cc31afb 47 //pc.printf("Process can packet\r\n");
chrta 0:6b1f6139fb25 48 tpHandler.processCanMessage(msg);
chrta 4:0e2d6cc31afb 49 //pc.printf("Processed can packet\r\n");
chrta 0:6b1f6139fb25 50 can_rx_queue.free(msg);
chrta 4:0e2d6cc31afb 51 //pc.printf("Freed can packet\r\n");
chrta 0:6b1f6139fb25 52 }
chrta 0:6b1f6139fb25 53 }
chrta 0:6b1f6139fb25 54 }
chrta 0:6b1f6139fb25 55
chrta 0:6b1f6139fb25 56
chrta 0:6b1f6139fb25 57 void can_rx_int_handler() {
chrta 2:d3d61d9d323e 58 //pc.printf("can_rx_int_handler\r\n");
chrta 0:6b1f6139fb25 59 CANMessage* msg = can_rx_queue.alloc();
chrta 0:6b1f6139fb25 60 if (!can2.read(*msg))
chrta 0:6b1f6139fb25 61 {
chrta 2:d3d61d9d323e 62 //pc.printf("can_rx_int_handler no read\r\n");
chrta 0:6b1f6139fb25 63 //this should not happen, because this function is called from the rx interrupt
chrta 0:6b1f6139fb25 64 can_rx_queue.free(msg);
chrta 2:d3d61d9d323e 65 //pc.printf("can_rx_int_handler ret 1\r\n");
chrta 2:d3d61d9d323e 66 return;
chrta 2:d3d61d9d323e 67 }
chrta 2:d3d61d9d323e 68 if (msg->id != 0x7E8)
chrta 2:d3d61d9d323e 69 {
chrta 2:d3d61d9d323e 70 //no OBD message
chrta 2:d3d61d9d323e 71 can_rx_queue.free(msg);
chrta 0:6b1f6139fb25 72 return;
chrta 0:6b1f6139fb25 73 }
chrta 2:d3d61d9d323e 74 //pc.printf("can_rx_int_handler got packet\r\n");
chrta 2:d3d61d9d323e 75 osStatus error_code = can_rx_queue.put(msg);
chrta 2:d3d61d9d323e 76 //pc.printf("can_rx_int_handler in queue\r\n");
chrta 2:d3d61d9d323e 77 if (error_code != osOK) {
chrta 2:d3d61d9d323e 78 //pc.printf("can_rx_int_handler failed\r\n");
chrta 2:d3d61d9d323e 79 //error("Putting can message into mailbox failed with code %d!", error);
chrta 2:d3d61d9d323e 80 }
chrta 0:6b1f6139fb25 81
chrta 2:d3d61d9d323e 82 //pc.printf("can_rx_int_handler ok\r\n");
chrta 2:d3d61d9d323e 83 }
chrta 2:d3d61d9d323e 84
chrta 5:0b229ba8ede5 85 Mail<CANMessage, 16> can2_tx_queue;
chrta 5:0b229ba8ede5 86 void can2_send_packets(void const *args) {
chrta 5:0b229ba8ede5 87 DEBUG_PRINT("TX2 start\r\n");
chrta 5:0b229ba8ede5 88 while (true) {
chrta 5:0b229ba8ede5 89 osEvent evt = can2_tx_queue.get(osWaitForever);
chrta 5:0b229ba8ede5 90 if (evt.status == osEventMail) {
chrta 5:0b229ba8ede5 91 CANMessage *msg = (CANMessage*) evt.value.p;
chrta 5:0b229ba8ede5 92 DEBUG_PRINT("TX2 check\r\n");
chrta 5:0b229ba8ede5 93 if (can2.write(*msg))
chrta 5:0b229ba8ede5 94 {
chrta 5:0b229ba8ede5 95 DEBUG_PRINT("TX2 send\r\n");
chrta 5:0b229ba8ede5 96 can2_tx_queue.free(msg);
chrta 5:0b229ba8ede5 97 Thread::wait(150);
chrta 5:0b229ba8ede5 98 }
chrta 5:0b229ba8ede5 99 else
chrta 5:0b229ba8ede5 100 {
chrta 5:0b229ba8ede5 101 DEBUG_PRINT("TX2 wait \r\n");
chrta 5:0b229ba8ede5 102 Thread::wait(150);
chrta 5:0b229ba8ede5 103 }
chrta 5:0b229ba8ede5 104 }
chrta 5:0b229ba8ede5 105 }
chrta 5:0b229ba8ede5 106 }
chrta 5:0b229ba8ede5 107
chrta 5:0b229ba8ede5 108
chrta 5:0b229ba8ede5 109 struct behaviour_t {
chrta 5:0b229ba8ede5 110 unsigned char rxData[8];
chrta 5:0b229ba8ede5 111 char txData[8];
chrta 5:0b229ba8ede5 112 };
chrta 5:0b229ba8ede5 113
chrta 5:0b229ba8ede5 114
chrta 5:0b229ba8ede5 115
chrta 5:0b229ba8ede5 116 behaviour_t behaviour[] =
chrta 5:0b229ba8ede5 117 {
chrta 5:0b229ba8ede5 118 {{0x02, 0x21, 0x01, 0, 0, 0, 0, 0}, {0x10, 0x1F, 0x61, 0x01, 0x51, 0, 0x37, 0x01}}, //first oil temp packet
chrta 5:0b229ba8ede5 119 {{0x30, 0, 0, 0, 0, 0, 0, 0}, {0x21, 0x1F, 0x61, 0x01, 0x51, 0, 0x37, 0x01}}, //second oil temp packet, TODO more pakets must be sent
chrta 5:0b229ba8ede5 120 {{0x02, 0x01, 0x21, 0, 0, 0, 0, 0}, {0x04, 0x41, 0x21, 0, 0, 0, 0, 0}},
chrta 5:0b229ba8ede5 121 {{0x02, 0x01, 0x0C, 0, 0, 0, 0, 0}, {0x04, 0x41, 0x0C, 0x0F, 0xA2, 0, 0, 0}},
chrta 5:0b229ba8ede5 122 {{0x02, 0x01, 0x11, 0, 0, 0, 0, 0}, {0x03, 0x41, 0x11, 0x26, 0, 0, 0, 0}},
chrta 5:0b229ba8ede5 123 {{0x02, 0x01, 0x05, 0, 0, 0, 0, 0}, {0x03, 0x41, 0x05, 0x4D, 0, 0, 0, 0}}, //engine coolant temp
chrta 5:0b229ba8ede5 124 };
chrta 5:0b229ba8ede5 125
chrta 5:0b229ba8ede5 126 void can2_send_requests(void const *args) {
chrta 5:0b229ba8ede5 127 while (true) {
chrta 5:0b229ba8ede5 128 Thread::wait(2000);
chrta 5:0b229ba8ede5 129 CANMessage sendMsg(0x7E0, (char*) behaviour[3].rxData, 8);
chrta 5:0b229ba8ede5 130 CANMessage* msg = can2_tx_queue.alloc();
chrta 5:0b229ba8ede5 131 *msg = sendMsg;
chrta 5:0b229ba8ede5 132 can2_tx_queue.put(msg);
chrta 5:0b229ba8ede5 133 Thread::wait(200);
chrta 5:0b229ba8ede5 134 msg = can2_tx_queue.alloc();
chrta 5:0b229ba8ede5 135 sendMsg.data[2] = behaviour[4].rxData[2];
chrta 5:0b229ba8ede5 136 *msg = sendMsg;
chrta 5:0b229ba8ede5 137 can2_tx_queue.put(msg);
chrta 5:0b229ba8ede5 138 Thread::wait(200);
chrta 5:0b229ba8ede5 139 sendMsg.data[2] = behaviour[5].rxData[2];
chrta 5:0b229ba8ede5 140 *msg = sendMsg;
chrta 5:0b229ba8ede5 141 can2_tx_queue.put(msg);
chrta 5:0b229ba8ede5 142 Thread::wait(200);
chrta 5:0b229ba8ede5 143 CANMessage sendMsg2(0x7E0, (char*) behaviour[0].rxData, 8);
chrta 5:0b229ba8ede5 144 msg = can2_tx_queue.alloc();
chrta 5:0b229ba8ede5 145 *msg = sendMsg2;
chrta 5:0b229ba8ede5 146 can2_tx_queue.put(msg);
chrta 5:0b229ba8ede5 147 }
chrta 5:0b229ba8ede5 148 }
chrta 5:0b229ba8ede5 149
chrta 2:d3d61d9d323e 150 #ifdef CAN1_TEST
chrta 2:d3d61d9d323e 151 Mail<CANMessage, 16> can1_rx_queue;
chrta 2:d3d61d9d323e 152 CANMessage msg1;
chrta 2:d3d61d9d323e 153 void can1_rx_int_handler() {
chrta 2:d3d61d9d323e 154 led3 = !led3;
chrta 2:d3d61d9d323e 155 CANMessage* msg = can1_rx_queue.alloc();
chrta 2:d3d61d9d323e 156 if (!can1.read(*msg))
chrta 2:d3d61d9d323e 157 {
chrta 2:d3d61d9d323e 158 can1_rx_queue.free(msg);
chrta 2:d3d61d9d323e 159 return;
chrta 2:d3d61d9d323e 160 }
chrta 3:eb807d330292 161 if ((msg->id != 0x7E8) && (msg->id != 0x7E0))
chrta 3:eb807d330292 162 {
chrta 3:eb807d330292 163 can1_rx_queue.free(msg);
chrta 3:eb807d330292 164 return;
chrta 3:eb807d330292 165 }
chrta 2:d3d61d9d323e 166 can1_rx_queue.put(msg);
chrta 2:d3d61d9d323e 167 led4 = !led4;
chrta 2:d3d61d9d323e 168 }
chrta 2:d3d61d9d323e 169
chrta 2:d3d61d9d323e 170
chrta 2:d3d61d9d323e 171 #ifdef CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 172
chrta 2:d3d61d9d323e 173 Mail<CANMessage, 16> can1_tx_queue;
chrta 2:d3d61d9d323e 174
chrta 2:d3d61d9d323e 175 void can1_obd_car_simulator_process_packet(CANMessage &msg)
chrta 2:d3d61d9d323e 176 {
chrta 2:d3d61d9d323e 177 if (msg.id != 0x7E0)
chrta 2:d3d61d9d323e 178 {
chrta 2:d3d61d9d323e 179 return;
chrta 2:d3d61d9d323e 180 }
chrta 2:d3d61d9d323e 181
chrta 2:d3d61d9d323e 182 for (unsigned int i = 0; i < sizeof(behaviour) / sizeof (behaviour[0]); i++)
chrta 2:d3d61d9d323e 183 {
chrta 2:d3d61d9d323e 184 if (memcmp(msg.data, behaviour[i].rxData, 8) == 0)
chrta 2:d3d61d9d323e 185 {
chrta 2:d3d61d9d323e 186 CANMessage sendMsg(0x7E8, (char*) behaviour[i].txData, 8);
chrta 2:d3d61d9d323e 187 CANMessage* msg = can1_tx_queue.alloc();
chrta 2:d3d61d9d323e 188 *msg = sendMsg;
chrta 2:d3d61d9d323e 189 can1_tx_queue.put(msg);
chrta 2:d3d61d9d323e 190
chrta 2:d3d61d9d323e 191 if (i == 1)
chrta 2:d3d61d9d323e 192 {
chrta 2:d3d61d9d323e 193 //send additinal packets later
chrta 2:d3d61d9d323e 194 sendMsg.data[0] = 0x22;
chrta 2:d3d61d9d323e 195 msg = can1_tx_queue.alloc();
chrta 2:d3d61d9d323e 196 *msg = sendMsg;
chrta 2:d3d61d9d323e 197 can1_tx_queue.put(msg);
chrta 2:d3d61d9d323e 198 sendMsg.data[0] = 0x23;
chrta 2:d3d61d9d323e 199 msg = can1_tx_queue.alloc();
chrta 2:d3d61d9d323e 200 *msg = sendMsg;
chrta 2:d3d61d9d323e 201 can1_tx_queue.put(msg);
chrta 2:d3d61d9d323e 202 sendMsg.data[0] = 0x24;
chrta 2:d3d61d9d323e 203 msg = can1_tx_queue.alloc();
chrta 2:d3d61d9d323e 204 *msg = sendMsg;
chrta 2:d3d61d9d323e 205 can1_tx_queue.put(msg);
chrta 2:d3d61d9d323e 206 }
chrta 2:d3d61d9d323e 207 }
chrta 0:6b1f6139fb25 208 }
chrta 0:6b1f6139fb25 209 }
chrta 1:ca506b88b1d6 210
chrta 2:d3d61d9d323e 211 #endif //CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 212
chrta 2:d3d61d9d323e 213 void can1_process_packets(void const *args) {
chrta 2:d3d61d9d323e 214 while (true) {
chrta 2:d3d61d9d323e 215 osEvent evt = can1_rx_queue.get(osWaitForever);
chrta 2:d3d61d9d323e 216 if (evt.status == osEventMail) {
chrta 2:d3d61d9d323e 217 CANMessage *msg = (CANMessage*) evt.value.p;
chrta 2:d3d61d9d323e 218
chrta 2:d3d61d9d323e 219 pc.printf("\r\nRX1: '%d' '%d' '%d' '%x' '", msg->format, msg->type, msg->len, msg->id);
chrta 2:d3d61d9d323e 220 for (unsigned int i = 0; i < msg->len; i++)
chrta 2:d3d61d9d323e 221 {
chrta 2:d3d61d9d323e 222 pc.printf("%x ", msg->data[i]);
chrta 2:d3d61d9d323e 223 }
chrta 2:d3d61d9d323e 224 pc.printf("'\r\n");
chrta 2:d3d61d9d323e 225 #ifdef CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 226 can1_obd_car_simulator_process_packet(*msg);
chrta 2:d3d61d9d323e 227 #endif //CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 228 can1_rx_queue.free(msg);
chrta 2:d3d61d9d323e 229 }
chrta 2:d3d61d9d323e 230 }
chrta 2:d3d61d9d323e 231 }
chrta 2:d3d61d9d323e 232
chrta 3:eb807d330292 233 #ifdef CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 234 void can1_send_packets(void const *args) {
chrta 4:0e2d6cc31afb 235 DEBUG_PRINT("TX1 start\r\n");
chrta 2:d3d61d9d323e 236 while (true) {
chrta 2:d3d61d9d323e 237 osEvent evt = can1_tx_queue.get(osWaitForever);
chrta 2:d3d61d9d323e 238 if (evt.status == osEventMail) {
chrta 2:d3d61d9d323e 239 CANMessage *msg = (CANMessage*) evt.value.p;
chrta 4:0e2d6cc31afb 240 DEBUG_PRINT("TX1 check\r\n");
chrta 2:d3d61d9d323e 241 if (can1.write(*msg))
chrta 2:d3d61d9d323e 242 {
chrta 4:0e2d6cc31afb 243 DEBUG_PRINT("TX1 send\r\n");
chrta 2:d3d61d9d323e 244 can1_tx_queue.free(msg);
chrta 4:0e2d6cc31afb 245 Thread::wait(50);
chrta 2:d3d61d9d323e 246 }
chrta 2:d3d61d9d323e 247 else
chrta 2:d3d61d9d323e 248 {
chrta 4:0e2d6cc31afb 249 DEBUG_PRINT("TX1 wait \r\n");
chrta 2:d3d61d9d323e 250 Thread::wait(50);
chrta 2:d3d61d9d323e 251 }
chrta 2:d3d61d9d323e 252 }
chrta 2:d3d61d9d323e 253 }
chrta 2:d3d61d9d323e 254 }
chrta 3:eb807d330292 255 #endif //CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 256
chrta 2:d3d61d9d323e 257 #endif //CAN1_TEST
chrta 2:d3d61d9d323e 258
chrta 2:d3d61d9d323e 259 char can_msg[8] = {0};
chrta 2:d3d61d9d323e 260 CANMessage msg(0x7E0, can_msg, 8);
chrta 1:ca506b88b1d6 261 void serial_int_handler() {
chrta 1:ca506b88b1d6 262 if (!pc.readable()) {
chrta 1:ca506b88b1d6 263 return;
chrta 1:ca506b88b1d6 264 }
chrta 1:ca506b88b1d6 265 uint8_t character = pc.getc();
chrta 2:d3d61d9d323e 266 //pc.printf("Received '%c'\r\n", character);
chrta 1:ca506b88b1d6 267
chrta 4:0e2d6cc31afb 268 msg.data[0] = 0x02;
chrta 2:d3d61d9d323e 269 msg.data[1] = 0x01;
chrta 1:ca506b88b1d6 270 char pid = 0;
chrta 1:ca506b88b1d6 271 switch (character)
chrta 1:ca506b88b1d6 272 {
chrta 1:ca506b88b1d6 273 case '1':
chrta 1:ca506b88b1d6 274 pid = 0x0C; //engine rpm
chrta 1:ca506b88b1d6 275 break;
chrta 1:ca506b88b1d6 276 case '2':
chrta 1:ca506b88b1d6 277 pid = 0x11; //throttle
chrta 1:ca506b88b1d6 278 break;
chrta 1:ca506b88b1d6 279 case '3': //oil 1
chrta 2:d3d61d9d323e 280 msg.data[1] = 0x21; //endian
chrta 1:ca506b88b1d6 281 pid = 1;
chrta 1:ca506b88b1d6 282 break;
chrta 1:ca506b88b1d6 283 case '4': //oil 2
chrta 2:d3d61d9d323e 284 msg.data[1] = 1; //endian
chrta 1:ca506b88b1d6 285 pid = 0x21;
chrta 1:ca506b88b1d6 286 break;
chrta 1:ca506b88b1d6 287 default:
chrta 1:ca506b88b1d6 288 pid = 0x05; //engine coolant temp
chrta 1:ca506b88b1d6 289 }
chrta 2:d3d61d9d323e 290 msg.data[2] = pid;
chrta 2:d3d61d9d323e 291 msg.len = 8;
chrta 1:ca506b88b1d6 292
chrta 2:d3d61d9d323e 293 //pc.printf("Sending message\r\n");
chrta 2:d3d61d9d323e 294 int result = can2.write(msg); //or 0x7DF ?
chrta 2:d3d61d9d323e 295 //pc.printf("Can write %d\r\n", result);
chrta 2:d3d61d9d323e 296 //pc.printf("ret 1\r\n");
chrta 1:ca506b88b1d6 297 }
chrta 0:6b1f6139fb25 298
chrta 0:6b1f6139fb25 299 int main() {
chrta 2:d3d61d9d323e 300 pc.baud(921600);
chrta 2:d3d61d9d323e 301 //pc.attach(&serial_int_handler);
chrta 2:d3d61d9d323e 302 can2_disable = 0;
chrta 0:6b1f6139fb25 303 can2.frequency(500000);
chrta 2:d3d61d9d323e 304 //mbed can filter is not working? check it later
chrta 2:d3d61d9d323e 305 //can2.filter
chrta 0:6b1f6139fb25 306 can2.attach(can_rx_int_handler);
chrta 0:6b1f6139fb25 307 Thread thread(led2_thread);
chrta 0:6b1f6139fb25 308 Thread can_thread(can_process_packets);
chrta 2:d3d61d9d323e 309 #ifdef CAN1_TEST
chrta 2:d3d61d9d323e 310 can1_disable = 0;
chrta 2:d3d61d9d323e 311 can1.frequency(500000);
chrta 2:d3d61d9d323e 312 can1.attach(&can1_rx_int_handler);
chrta 2:d3d61d9d323e 313 Thread can1_thread(can1_process_packets);
chrta 3:eb807d330292 314 #ifdef CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 315 Thread can1_tx_thread(can1_send_packets);
chrta 3:eb807d330292 316 #endif //CAN1_OBD_CAR_SIMULATOR
chrta 2:d3d61d9d323e 317 #endif //CAN1_TEST
chrta 5:0b229ba8ede5 318 Thread can2_send_request_thread(can2_send_requests);
chrta 5:0b229ba8ede5 319 Thread can2_tx_thread(can2_send_packets);
chrta 2:d3d61d9d323e 320 pc.printf("Start\r\n");
chrta 0:6b1f6139fb25 321 while (true) {
chrta 0:6b1f6139fb25 322 led1 = !led1;
chrta 0:6b1f6139fb25 323 Thread::wait(500);
chrta 2:d3d61d9d323e 324 if (pc.readable()) {
chrta 2:d3d61d9d323e 325 serial_int_handler();
chrta 2:d3d61d9d323e 326 }
chrta 0:6b1f6139fb25 327 }
chrta 0:6b1f6139fb25 328 }