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eb9f21b08d3106fed424b1b68f2cdcbd8d0e3b10
vd_960/vd960Loop/utilities/at32f421_freertos_demo/src/TaskLoop.c
wangfq eb9f21b08d fix: 有限存在超时改为通道完整重启, 避免继电器立即重新吸合 
原逻辑设 loop_FLAG_OUT=1 触发正常离车流程,
但线圈物理上仍有车, vd1_task 立刻重新检测到有车→继电器又吸合。

改为与安全复位一致的重启逻辑:
- LC_Reset=1, loop_INI_LOOP=1 → 强制重新初始化
- loop_stable=0, loop_LOOP_OK0=0 → 重建基线(含稳定期128样本)
- 清除所有标志位和计数器
- 移除 loop_VD_FLAG 前置条件 (set_loops_relay_off 无条件执行)
2026-06-26 12:02:00 +08:00

680 lines
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#include "TaskLoop.h"
#include "at32f421_board.h"
#include "cmcng.h"
#include "FreeRTOS.h"
#include "task.h"
#include <stdlib.h>
#include <string.h>
/*===========================================================================
* 灵敏度表 — 对齐 DLD154V4B / M1H
* 进入阈值 = Origin × SensTable[SENS] / 65536
* 离开阈值 = Origin × SensTable_1[SENS] / 65536 （滞回 ~50%）
* SENS: 0=低灵敏, 3=高灵敏
*===========================================================================*/
const uint16_t SensTable[4] = {216, 108, 36, 10};
const uint16_t SensTable_1[4] = {108, 72, 18, 9};
/*===========================================================================
* 全局状态
*===========================================================================*/
Loop154_States g_loop_states = {{0}, {{{0}}}};
uint32_t g_sys_freq = 0;
uint8_t g_input_div = 1;
uint32_t g_safe_max_cnt = LC_HOLD_TIME;
/*===========================================================================
* 一阶 IIR 低通滤波器（对齐 DLD154V4B）
* CAPVD_new = α·new_value + (1-α)·CAPVD_old, α = Flt_Reg/256
*===========================================================================*/
uint32_t get_flt_value(uint32_t new_value, uint32_t last_Value)
{
uint32_t value_Flt;
uint32_t delta = (new_value > last_Value)
? (new_value - last_Value)
: (last_Value - new_value);
uint32_t scaled_delta = (delta * ALFA_CAP1) >> 8;
if (new_value > last_Value) {
value_Flt = last_Value + scaled_delta;
} else {
value_Flt = last_Value - scaled_delta;
}
return value_Flt;
}
/*===========================================================================
* 滑动平均基线更新
*===========================================================================*/
uint8_t update_moving_average(uint32_t* p_sum, uint16_t* p_cnt,
uint32_t* p_origin, uint32_t new_value,
uint8_t window)
{
if (!p_sum || !p_cnt || !p_origin || window == 0) return 0;
*p_sum += new_value;
(*p_cnt)++;
if (*p_cnt >= window) {
*p_origin = *p_sum / window;
*p_cnt = 0;
*p_sum = 0;
return 1;
}
return 0;
}
/*===========================================================================
* 继电器控制
*===========================================================================*/
void set_loops_relay_on(uint8_t loop_num)
{
switch(loop_num) {
case 0: RLY1_ON; break;
case 1: RLY2_ON; break;
case 2: RLY3_ON; break;
case 3: RLY4_ON; break;
}
}
void set_loops_relay_off(uint8_t loop_num)
{
switch(loop_num) {
case 0: RLY1_OFF; break;
case 1: RLY2_OFF; break;
case 2: RLY3_OFF; break;
case 3: RLY4_OFF; break;
}
}
/*===========================================================================
* 单通道初始化
*===========================================================================*/
void init_vd_single(Loop154_Unit *unit)
{
unit->INCNT = 0;
unit->OUTCNT = 0;
unit->loop_CapCnt = 0;
unit->loop_CapLast = 0;
unit->loop_LPCNT = 0;
unit->loop_INI_LOOP = 1;
unit->loop_VD_FLAG = 0;
unit->loop_RF_FLAG = 0;
unit->loop_LOOP_OK = 1;
unit->loop_LOOP_OK0 = 0;
unit->loop_CAP_OK = 0;
unit->loop_CAPVD = 0;
unit->loop_SensLevel = 2; // 默认中灵敏度
unit->Flt_Reg = ALFA_CAP1;
unit->loop_ORG_CNT = 0;
unit->loop_ORG_SUM = 0;
unit->loop_FLAG_IN = 0;
unit->loop_FLAG_OUT = 0;
unit->loop_FLAG_PLUSE = 0;
unit->loop_cnt_release = 0;
unit->loop_stable = 0;
#if USE_FLATNESS_EXIT
unit->exit_state = 0;
unit->max_slope = 0;
unit->max_slope_rate = 0;
unit->delta2 = 0;
unit->delta3 = 0;
unit->prev_capvd = 0;
unit->prev_first_deriv = 0;
unit->slope_flat_cnt = 0;
unit->flat_ok_cnt = 0;
#endif
unit->LC_HOLD = 0;
unit->LC_Reset = 0;
unit->LC_Hold_CNT = 0;
unit->Hold_CNT = 0;
unit->power_up_state = 0;
unit->disconnect_count = 0;
unit->disconnect_active = 0;
unit->fault_phase = 0;
unit->fault_tick = 0;
unit->SET_PLUS = 1; // 存在输出
unit->SET_DLY = 0;
unit->SET_SAFE = 1;
unit->stable_cnt = 0;
unit->xn_counter = 0;
}
void INIT_VDs(Loop154_States *loops)
{
uint8_t i;
for (i = 0; i < LOOP_CAPTURE_MAX; i++) {
loops->loop_unit[i].loop_num = i;
init_vd_single(&loops->loop_unit[i]);
}
}
/*===========================================================================
* TMR3 输入捕获中断 — 四路线圈频率测量（对齐 DLD154V4B CAP0 ISR）
*
* 每个通道独立捕获，使用 MEASUREMENT_BASE 自适应测量窗口。
* LPCNT = MEASUREMENT_BASE / Xn，使 Value ≈ 131072，无需后续 >> 移位。
*===========================================================================*/
void TMR3_GLOBAL_IRQHandler(void)
{
#define PROCESS_CHANNEL(ch_flag, ch_select, idx) \
if (tmr_interrupt_flag_get(TMR3, ch_flag) != RESET) { \
tmr_flag_clear(TMR3, ch_flag); \
uint16_t cap_this = tmr_channel_value_get(TMR3, ch_select); \
Loop154_Unit *unit = &g_loop_states.loop_unit[idx]; \
if (!unit->loop_RF_FLAG) { \
unit->loop_CapLast = cap_this; \
unit->loop_RF_FLAG = 1; \
} else { \
uint16_t xn; \
if (cap_this > unit->loop_CapLast) { \
xn = cap_this - unit->loop_CapLast; \
} else { \
xn = (0x10000 - unit->loop_CapLast) + cap_this; \
} \
unit->loop_Xn = xn; \
unit->xn_counter++; \
unit->loop_CapLast = cap_this; \
unit->loop_CapCnt++; \
if (unit->loop_INI_LOOP) { \
if (unit->loop_LPCNT == 0) { \
if (unit->loop_CapCnt > 10) { \
unit->loop_LPCNT = MEASUREMENT_BASE / xn; \
PRINT("Loop%d LPCNT:%d Xn:%d\n", idx+1, unit->loop_LPCNT, xn); \
if (unit->loop_LPCNT == 0) unit->loop_LPCNT = 100; \
unit->loop_CAPVD = 0; \
unit->loop_CapSum = 0; \
unit->loop_CapCnt = 0; \
} \
} else { \
unit->loop_CapSum += xn; \
if (unit->loop_CapCnt >= unit->loop_LPCNT) { \
unit->loop_CAPVD = unit->loop_CapSum; \
unit->loop_Origin = unit->loop_CAPVD; \
PRINT("Loop%d Origin:%d\n", idx+1, unit->loop_Origin); \
unit->loop_INI_LOOP = 0; \
unit->loop_CapSum = 0; \
unit->loop_Value = 0; \
unit->loop_CapCnt = 0; \
} \
} \
} else { \
unit->loop_CapSum += xn; \
if (unit->loop_CapCnt >= unit->loop_LPCNT) { \
unit->loop_Value = unit->loop_CapSum; \
unit->loop_CAP_OK = 1; \
unit->loop_CapSum = 0; \
unit->loop_CapCnt = 0; \
unit->loop_INI_LOOP = 0; \
} \
} \
} \
}
PROCESS_CHANNEL(TMR_C1_FLAG, TMR_SELECT_CHANNEL_1, 0)
PROCESS_CHANNEL(TMR_C2_FLAG, TMR_SELECT_CHANNEL_2, 1)
PROCESS_CHANNEL(TMR_C3_FLAG, TMR_SELECT_CHANNEL_3, 2)
PROCESS_CHANNEL(TMR_C4_FLAG, TMR_SELECT_CHANNEL_4, 3)
#undef PROCESS_CHANNEL
}
/*===========================================================================
* TMR15 定时器中断 — 5ms tick，主状态机（对齐 DLD154V4B Timer1 ISR）
*
* 职责：
* 1. 50ms tick 分频
* 2. 四通道 进入/离开/脉冲 时序状态机
* 3. 有限存在超时 / 安全复位超时
* 4. 线圈载波检测 (RF_FLAG) 及继电器输出刷新
* 5. 呼吸灯、指示灯驱动
*===========================================================================*/
void TMR15_GLOBAL_IRQHandler(void)
{
static uint16_t _counter1_init = 0;
static uint8_t TM1cnt = 0;
uint8_t i;
if (tmr_interrupt_flag_get(TMR15, TMR_OVF_FLAG) != RESET) {
/*--- 上报计数器 ---*/
g_loop_states.report_counter++;
/*--- 50ms tick 分频 ---*/
TM1cnt++;
if (TM1cnt >= 10) {
TM1cnt = 0;
for (i = 0; i < LOOP_CAPTURE_MAX; i++) {
Loop154_Unit *unit = &g_loop_states.loop_unit[i];
/* FLAG_IN: 进入延时 500ms */
if (unit->loop_FLAG_IN) {
unit->INCNT++;
if (unit->INCNT > IN_DELAY) {
unit->loop_FLAG_IN = 0;
unit->INCNT = 0;
}
}
/* FLAG_OUT: 离开延时 → 脉冲 */
if (unit->loop_FLAG_OUT) {
if (!unit->SET_DLY) {
unit->OUTCNT++;
if (unit->OUTCNT > unit->relay_delay) {
unit->loop_FLAG_OUT = 0;
unit->loop_FLAG_PLUSE = 1;
unit->OUTCNT = 0;
}
} else {
unit->loop_FLAG_OUT = 0;
unit->loop_FLAG_PLUSE = 1;
unit->OUTCNT = 0;
}
}
/* FLAG_PLUSE: 脉冲宽度 500ms */
if (unit->loop_FLAG_PLUSE) {
unit->OUTCNT++;
if (unit->OUTCNT > PULSE_DELAY) {
unit->loop_FLAG_PLUSE = 0;
unit->OUTCNT = 0;
}
}
/* 有限存在超时 — 通道重启，重新建立基线 */
if (unit->loop_VD_HOLD) {
unit->Hold_CNT++;
if (unit->Hold_CNT > unit->hold_time) {
unit->loop_VD_HOLD = 0;
unit->Hold_CNT = 0;
set_loops_relay_off(unit->loop_num);
unit->loop_VD_FLAG = 0;
unit->loop_FLAG_IN = 0;
unit->loop_FLAG_OUT = 0;
unit->loop_FLAG_PLUSE = 0;
unit->LC_HOLD = 0;
unit->LC_Reset = 1;
unit->loop_INI_LOOP = 1;
unit->loop_LOOP_OK0 = 0;
unit->loop_stable = 0;
unit->loop_ORG_CNT = 0;
unit->loop_ORG_SUM = 0;
#if USE_FLATNESS_EXIT
unit->exit_state = 0;
unit->max_slope = 0;
unit->max_slope_rate = 0;
#endif
}
}
/* 安全复位超时 */
if (unit->LC_HOLD) {
unit->LC_Hold_CNT++;
if (unit->LC_Hold_CNT > g_safe_max_cnt) {
unit->LC_Reset = 1;
unit->loop_INI_LOOP = 1;
unit->loop_LOOP_OK0 = 0;
unit->loop_stable = 0;
#if USE_FLATNESS_EXIT
unit->exit_state = 0;
unit->max_slope = 0;
unit->max_slope_rate = 0;
#endif
unit->LC_Hold_CNT = 0;
unit->loop_ORG_CNT = 0;
unit->loop_ORG_SUM = 0;
}
}
}
}
/*================================================================
* 线圈载波检测 & 继电器输出刷新（每 5ms）
*================================================================*/
for (i = 0; i < LOOP_CAPTURE_MAX; i++) {
Loop154_Unit *unit = &g_loop_states.loop_unit[i];
if (unit->loop_RF_FLAG) {
unit->loop_LOOP_OK = 1;
unit->loop_RF_FLAG = 0;
if (unit->LC_Reset == 0) {
if (unit->SET_PLUS) {
/* 存在输出模式：有车或离开延时中 */
if (unit->loop_VD_FLAG || unit->loop_FLAG_OUT)
set_loops_relay_on(unit->loop_num);
else
set_loops_relay_off(unit->loop_num);
} else {
/* 脉冲输出模式：脉冲期间吸合 */
if (unit->loop_FLAG_PLUSE)
set_loops_relay_on(unit->loop_num);
else
set_loops_relay_off(unit->loop_num);
}
}
} else {
unit->loop_LOOP_OK0 = unit->loop_LOOP_OK;
unit->loop_LOOP_OK = 0;
}
/*--- LED 指示 ---*/
poll_green_led(unit);
}
/*--- 呼吸灯 ---*/
poll_red_pwm();
tmr_flag_clear(TMR15, TMR_OVF_FLAG);
}
}
/*===========================================================================
* 绿灯指示 — 每通道独立
*
* 模式：
* 自检/稳定中 (loop_INI_LOOP || 未连 || !loop_stable):
* → 慢闪 (200ms 亮/灭)
* 正常工作:
* → 有车亮, 无车灭
*===========================================================================*/
void poll_green_led(Loop154_Unit *unit)
{
#define GREEN_SLOW_HALF 40 // 200ms (40 × 5ms)
static uint16_t _slow_tick[LOOP_CAPTURE_MAX] = {0};
uint8_t idx = unit->loop_num;
if (unit->disconnect_active) {
at32_led_off(idx);
_slow_tick[idx] = 0;
return;
}
if (unit->loop_INI_LOOP || !unit->power_up_state || !unit->loop_stable) {
_slow_tick[idx]++;
if (_slow_tick[idx] >= GREEN_SLOW_HALF) {
_slow_tick[idx] = 0;
at32_led_toggle(idx);
}
return;
}
_slow_tick[idx] = 0;
if (unit->loop_VD_FLAG)
at32_led_on(idx);
else
at32_led_off(idx);
}
/*===========================================================================
* vd1_task_per_channel — 核心检测算法（移植自 DLD154V4B vd1_task）
*
* 每次 loop_CAP_OK 时调用。
* 流程：
* 1. IIR 滤波：CAPVD = α·Value + (1-α)·CAPVD
* 2. 稳定期：只跟踪基线，不检测车辆 (STABLE_SAMPLES=128)
* 3. 无车时：基线跟踪 + 进入检测（带基线污染保护）
* 4. 有车时：平坦性离开 (USE_FLATNESS_EXIT=1) 或 cnt_release 防抖
*===========================================================================*/
void vd1_task_per_channel(Loop154_Unit *unit)
{
if (unit->loop_Origin == 0) return;
/*--- 1. IIR 一阶低通滤波 ---*/
if (unit->loop_CAPVD == 0) {
unit->loop_CAPVD = unit->loop_Value;
} else {
unit->loop_CAPVD = get_flt_value(unit->loop_Value, unit->loop_CAPVD);
}
/*--- 2. 稳定期：只跟踪基线，不检测车辆 ---*/
if (!unit->loop_stable) {
update_moving_average(&unit->loop_ORG_SUM, &unit->loop_ORG_CNT,
&unit->loop_Origin, unit->loop_CAPVD, WINDOW_ORIGIN);
unit->stable_cnt++;
if (unit->stable_cnt >= STABLE_SAMPLES) {
unit->loop_stable = 1;
PRINT("Loop%d stable, Origin:%d\n", unit->loop_num + 1, unit->loop_Origin);
}
return;
}
if (!unit->loop_VD_FLAG) {
/*================================================================
* 无车状态
*================================================================*/
/* 基线跟踪（有车时冻结）
* 保护: CAPVD 异常上升时暂停跟踪，防止基线被污染 */
unit->loop_dlt_ORG = ((uint32_t)unit->loop_Origin * SensTable[unit->loop_SensLevel]) >> 16;
{
int32_t dev = (int32_t)unit->loop_CAPVD - (int32_t)unit->loop_Origin;
if (dev < (int32_t)(unit->loop_dlt_ORG * 4)) {
update_moving_average(&unit->loop_ORG_SUM, &unit->loop_ORG_CNT,
&unit->loop_Origin, unit->loop_CAPVD, WINDOW_ORIGIN);
} else {
unit->loop_ORG_CNT = 0;
unit->loop_ORG_SUM = 0;
}
}
/* 进入检测 */
if (unit->loop_CAPVD < (unit->loop_Origin - unit->loop_dlt_ORG)) {
PRINT("Loop%d Car_In, Value:%d CAPVD:%d Origin:%d dlt:%d\n",
unit->loop_num + 1, unit->loop_Value, unit->loop_CAPVD,
unit->loop_Origin, unit->loop_dlt_ORG);
unit->loop_VD_FLAG = 1;
unit->loop_FLAG_IN = 1;
if (unit->hold_time > 0) {
unit->loop_VD_HOLD = 1;
}
at32_led_on(unit->loop_num);
if (!unit->SET_SAFE) {
unit->LC_HOLD = 1;
} else {
unit->LC_HOLD = 0;
}
if (unit->LC_Reset)
unit->LC_Reset = 0;
unit->loop_ORG_CNT = 0;
unit->loop_ORG_SUM = 0;
#if USE_FLATNESS_EXIT
unit->exit_state = 0;
unit->max_slope = 0;
unit->max_slope_rate = 0;
unit->delta2 = 0;
unit->delta3 = 0;
unit->slope_flat_cnt = 0;
unit->flat_ok_cnt = 0;
#endif
}
} else {
#if USE_FLATNESS_EXIT
/*================================================================
* 有车状态 — 平坦性判定离开 (CN200910309382)
*================================================================*/
int32_t first_deriv, abs_fd, abs_sd, second_deriv;
first_deriv = (int32_t)unit->loop_CAPVD - unit->prev_capvd;
second_deriv = first_deriv - unit->prev_first_deriv;
abs_fd = (first_deriv >= 0) ? first_deriv : -first_deriv;
abs_sd = (second_deriv >= 0) ? second_deriv : -second_deriv;
if (unit->exit_state == 0) {
/* 追踪第一上升坡面最大斜率 */
if (abs_fd > unit->max_slope) unit->max_slope = abs_fd;
if (abs_sd > unit->max_slope_rate) unit->max_slope_rate = abs_sd;
if (abs_fd < SLOPE_FLAT_THRESH) {
unit->slope_flat_cnt++;
if (unit->slope_flat_cnt >= 3) {
unit->delta2 = unit->max_slope / K1;
unit->delta3 = unit->max_slope_rate / K2;
if (unit->delta2 < MIN_DELTA2) unit->delta2 = MIN_DELTA2;
if (unit->delta3 < MIN_DELTA3) unit->delta3 = MIN_DELTA3;
unit->exit_state = 1;
unit->flat_ok_cnt = 0;
}
} else {
unit->slope_flat_cnt = 0;
}
} else {
int32_t dev = (int32_t)unit->loop_CAPVD - (int32_t)unit->loop_Origin;
int32_t cond1 = (dev >= 0) ? dev : -dev;
unit->loop_dlt_ORG = ((uint32_t)unit->loop_Origin * SensTable_1[unit->loop_SensLevel]) >> 16;
if (cond1 < (int32_t)unit->loop_dlt_ORG && abs_fd < (int32_t)unit->delta2
&& abs_sd < (int32_t)unit->delta3) {
unit->flat_ok_cnt++;
if (unit->flat_ok_cnt >= FLAT_CONFIRM_CNT) {
PRINT("Loop%d Car_OFF_FLAT, CAPVD:%d Origin:%d d1:%d d2:%d d3:%d f':%d f'':%d\n",
unit->loop_num + 1, unit->loop_CAPVD, unit->loop_Origin,
unit->loop_dlt_ORG, unit->delta2, unit->delta3,
first_deriv, second_deriv);
unit->loop_VD_FLAG = 0;
unit->loop_FLAG_OUT = 1;
unit->loop_VD_HOLD = 0;
unit->LC_HOLD = 0;
unit->loop_ORG_CNT = 0;
unit->loop_ORG_SUM = 0;
unit->Hold_CNT = 0;
unit->flat_ok_cnt = 0;
unit->exit_state = 0;
}
} else {
unit->flat_ok_cnt = 0;
}
}
unit->prev_capvd = unit->loop_CAPVD;
unit->prev_first_deriv = first_deriv;
#else
/*================================================================
* 有车状态 — cnt_release 防抖离开
*================================================================*/
unit->loop_dlt_ORG = ((uint32_t)unit->loop_Origin * SensTable_1[unit->loop_SensLevel]) >> 16;
if ((unit->loop_Origin - unit->loop_dlt_ORG) < unit->loop_CAPVD) {
unit->loop_cnt_release++;
if (unit->loop_cnt_release >= 3) {
PRINT("Loop%d Car_OFF, Value:%d CAPVD:%d Origin:%d dlt:%d\n",
unit->loop_num + 1, unit->loop_Value, unit->loop_CAPVD,
unit->loop_Origin, unit->loop_dlt_ORG);
unit->loop_VD_FLAG = 0;
unit->loop_FLAG_OUT = 1;
unit->loop_VD_HOLD = 0;
unit->LC_HOLD = 0;
unit->loop_ORG_CNT = 0;
unit->loop_ORG_SUM = 0;
unit->Hold_CNT = 0;
unit->loop_cnt_release = 0;
}
} else {
if (unit->loop_cnt_release > 0) unit->loop_cnt_release = 0;
}
#endif
}
}
/*===========================================================================
* loop_task_function — FreeRTOS 主任务（对齐 DLD154V4B main 循环）
* 10ms 周期，独立处理每路线圈。
*===========================================================================*/
void loop_task_function(void *pvParameters)
{
uint8_t i;
g_sys_freq = g_crm_clocks_freq_struct.sclk_freq;
INIT_VDs(&g_loop_states);
while (1) {
for (i = 0; i < LOOP_CAPTURE_MAX; i++) {
Loop154_Unit *unit = &g_loop_states.loop_unit[i];
if (unit->loop_LOOP_OK) {
/* 线圈重连 */
if (!unit->loop_LOOP_OK0) {
unit->loop_LOOP_OK0 = 1;
unit->disconnect_active = 0;
unit->loop_CAPVD = 0; // 强制 IIR 重新收敛
}
if (unit->loop_CAP_OK) {
taskENTER_CRITICAL();
unit->loop_CAP_OK = 0;
taskEXIT_CRITICAL();
if (!unit->power_up_state) {
unit->power_up_state = 1;
}
/* 核心检测算法 */
vd1_task_per_channel(unit);
}
} else {
/* 线圈断开 */
set_loops_relay_off(unit->loop_num);
if (unit->power_up_state && !unit->disconnect_active) {
unit->disconnect_active = 1;
if (unit->disconnect_count < 3) {
unit->disconnect_count++;
}
unit->fault_phase = 0;
unit->fault_tick = 0;
}
}
}
wdt_feed();
vTaskDelay(10);
}
}
/*===========================================================================
* LED 指示灯后台任务 — 线圈未连接时的闪烁指示
*===========================================================================*/
void led_indicator_task_function(void *pvParameters)
{
uint8_t i;
static uint8_t led_step[LOOP_CAPTURE_MAX] = {0};
while (1) {
for (i = 0; i < LOOP_CAPTURE_MAX; i++) {
Loop154_Unit *unit = &g_loop_states.loop_unit[i];
if (unit->loop_LOOP_OK0 == 0) {
if (led_step[i] % 2 == 0) {
at32_led_toggle(i);
}
if (unit->loop_stable) {
unit->loop_LOOP_OK0 = 1;
continue;
}
led_step[i]++;
if (led_step[i] > 16) {
led_step[i] = 0;
unit->loop_LOOP_OK0 = 1;
at32_led_off(i);
}
}
}
vTaskDelay(200);
}
}
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