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Index: analog.c

===================================================================

--- analog.c    (revision 1255)

+++ analog.c    (working copy)

@@ -80,6 +80,40 @@

 int8_t ExpandBaro = 0;

 uint8_t PressureSensorOffset;

+#define AD_GYRO_YAW            0

+#define AD_GYRO_ROLL   1

+#define AD_GYRO_NICK   2

+#define AD_AIRPRESS            3

+#define AD_UBAT                        4

+#define AD_ACC_TOP             5

+#define AD_ACC_ROLL            6

+#define AD_ACC_NICK            7

+

+

+int VibTestData[VIBTEST_NB_SAMPLES];

+volatile unsigned int VibTestCount;

+volatile unsigned int VibTestDone;

+int* VibTestDataP;

+uint8_t VibTestChannel;

+

+

+void StartVibTest(uint8_t channel)

+{

+       VibTestChannel = channel;

+       VibTestDataP = VibTestData;

+       VibTestCount = VIBTEST_NB_SAMPLES;

+       ADMUX = AD_ACC_ROLL;

+       VibTestDone = 0;

+

+       ADC_Enable();

+

+       while(!VibTestDone);

+

+       if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2

+       else                   PORTC &= ~(1<<PORTC7);// Speaker at PC7

+

+}

+

 /*****************************************************/

 /*     Initialize Analog Digital Converter           */

 /*****************************************************/

@@ -202,15 +236,8 @@

 */

-#define AD_GYRO_YAW            0

-#define AD_GYRO_ROLL   1

-#define AD_GYRO_NICK   2

-#define AD_AIRPRESS            3

-#define AD_UBAT                        4

-#define AD_ACC_TOP             5

-#define AD_ACC_ROLL            6

-#define AD_ACC_NICK            7

+

 ISR(ADC_vect)

 {

     static uint8_t ad_channel = AD_GYRO_NICK, state = 0;

@@ -218,6 +245,24 @@

     static int32_t filtergyronick, filtergyroroll;

     static int16_t tmpAirPressure = 0;

+    if (VibTestCount)

+       {

+               *(VibTestDataP++) = ADC;

+               ADMUX = VibTestChannel;

+               ADC_Enable();

+

+               // set speaker port to high

+               if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2

+               else                   PORTC |= (1<<PORTC7); // Speaker at PC7

+

+

+               VibTestCount--;

+

+               return;

+       }

+

+    VibTestDone = 1;

+

     // state machine

        switch(state++)

        {

Index: analog.h

===================================================================

--- analog.h    (revision 1255)

+++ analog.h    (working copy)

@@ -25,7 +25,12 @@

 void SearchDacGyroOffset(void);

 void ADC_Init(void);

+#define VIBTEST_NB_SAMPLES 1000

+extern int VibTestData[VIBTEST_NB_SAMPLES];

+extern volatile unsigned int VibTestCount;

+void StartVibTest(uint8_t channel);

+

 // clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit

 #define ADC_Disable() (ADCSRA &= ~((1<<ADEN)|(1<<ADSC)|(1<<ADIE)))

 // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit

Index: makefile

===================================================================

--- makefile    (revision 1255)

+++ makefile    (working copy)

@@ -50,63 +50,8 @@

 # Output format. (can be srec, ihex, binary)

 FORMAT = ihex

-# Target file name (without extension).

+TARGET = Flight-Ctrl_MEGA644p_VibrationTest

-ifeq ($(VERSION_PATCH), 0)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 1)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 2)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 3)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 4)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 5)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 6)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 7)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 8)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 9)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 10)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 11)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)l_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 12)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 13)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 14)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 15)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 16)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV)

-endif

-ifeq ($(VERSION_PATCH), 17)

-TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV)

-endif

-

 # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization.

 # (Note: 3 is not always the best optimization level. See avr-libc FAQ.)

 OPT = 2

Index: menu.c

===================================================================

--- menu.c      (revision 1255)

+++ menu.c      (working copy)

@@ -139,9 +139,10 @@

        switch(MenuItem)

        {

        case 0:// Version Info Menu Item

-               LCD_printfxy(0,0,"+ MikroKopter +");

-               LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a');

-               LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name);

+               LCD_printfxy(0,0,"MK ==VIBR TEST==");

+               LCD_printfxy(0,1,"      v1.0      ");

+               LCD_printfxy(0,2,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a');

+               //LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name);

                if(I2CTimeout < 6)

                {

                        LCD_printfxy(0,3,"I2C Error!!!");

Index: timer0.c

===================================================================

--- timer0.c    (revision 1255)

+++ timer0.c    (working copy)

@@ -173,18 +173,18 @@

        }

        // if beeper is on

-       if(Beeper_On)

-       {

-               // set speaker port to high

-               if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2

-               else                   PORTC |= (1<<PORTC7); // Speaker at PC7

-       }

-       else // beeper is off

-       {

-               // set speaker port to low

-               if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2

-               else                   PORTC &= ~(1<<PORTC7);// Speaker at PC7

-       }

+//     if(Beeper_On)

+//     {

+//             // set speaker port to high

+//             if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2

+//             else                   PORTC |= (1<<PORTC7); // Speaker at PC7

+//     }

+//     else // beeper is off

+//     {

+//             // set speaker port to low

+//             if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2

+//             else                   PORTC &= ~(1<<PORTC7);// Speaker at PC7

+//     }

        #ifndef USE_NAVICTRL

        // update compass value if this option is enabled in the settings

Index: twimaster.c

===================================================================

--- twimaster.c (revision 1255)

+++ twimaster.c (working copy)

@@ -211,7 +211,7 @@

                // Master Transmit

         case 0: // TWI_STATE_MOTOR_TX

                        // skip motor if not used in mixer

-                       while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;

+                       //while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;

                        if(motor_write >= MAX_MOTORS) // writing finished, read now

                        {

                                        motor_write = 0;

Index: uart0.c

===================================================================

--- uart0.c     (revision 1255)

+++ uart0.c     (working copy)

@@ -68,8 +68,11 @@

 #ifdef USE_MK3MAG

 #include "mk3mag.h"

 #endif

+#include "printf_P.h"

+#include "analog.h"

+

 #define FC_ADDRESS 1

 #define NC_ADDRESS 2

 #define MK3MAG_ADDRESS 3

@@ -117,6 +120,7 @@

 uint16_t Data3D_Timer;

 uint16_t DebugData_Interval = 500; // in 1ms

 uint16_t Data3D_Interval = 0; // in 1ms

+int16_t requestedVibData;

 #ifdef USE_MK3MAG

 int16_t Compass_Timer;

@@ -491,6 +495,7 @@

                                if(RxDataLen > 20) //

                                {

                                        memcpy(&MotorTest[0], (uint8_t*)pRxData, sizeof(MotorTest));

+                                       //MotorTest[0] = MotorTest[4];

                                }

                                else

                                {

@@ -501,6 +506,28 @@

                                PcAccess = 255;

                                break;

+                       case 'f':       // VibrationTest

+                               {

+                                       requestedVibData = pRxData[1];

+                                       if (requestedVibData == 0)

+                                       {

+//                                             while(!txd_complete); // wait for previous frame to be sent

+

+//                                             printf("VibTest Start...\r");

+                                               StartVibTest(pRxData[0] /*channel*/);

+//                                             printf("VibTest Done!\r");

+

+//                                             {

+//                                                     int i;

+//                                                     for (i=0;i<VIBTEST_NB_SAMPLES;i++)

+//                                                             VibTestData[i]=i;

+//                                             }

+                                       }

+                                       if (MotorTest_Active)

+                                               MotorTest_Active = 255; // Extend motor test Timeout

+                               }

+                               break;

+

                        case 'n':// "Get Mixer Table

                                while(!txd_complete); // wait for previous frame to be sent

                                SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer));

@@ -637,6 +664,7 @@

        loop_until_bit_is_set(UCSR0A, UDRE0);

        // send character

        UDR0 = c;

+       loop_until_bit_is_set(UCSR0A, UDRE0);

        return (0);

 }

@@ -646,6 +674,11 @@

 {

        if(!txd_complete) return;

+       if (requestedVibData>=0 && txd_complete)

+       {

+               SendOutData('F', FC_ADDRESS, 1, &VibTestData[requestedVibData*50], 100);

+               requestedVibData = -1;

+       }

        if(Request_VerInfo && txd_complete)

        {

                SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo));