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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 555 | FredericG | 1 | Index: analog.c |
| 2 | =================================================================== |
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| 3 | --- analog.c (revision 1255) |
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| 4 | +++ analog.c (working copy) |
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| 583 | FredericG | 5 | @@ -80,6 +80,40 @@ |
| 555 | FredericG | 6 | int8_t ExpandBaro = 0; |
| 7 | uint8_t PressureSensorOffset; |
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| 8 | |||
| 9 | +#define AD_GYRO_YAW 0 |
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| 10 | +#define AD_GYRO_ROLL 1 |
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| 11 | +#define AD_GYRO_NICK 2 |
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| 12 | +#define AD_AIRPRESS 3 |
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| 13 | +#define AD_UBAT 4 |
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| 14 | +#define AD_ACC_TOP 5 |
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| 15 | +#define AD_ACC_ROLL 6 |
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| 16 | +#define AD_ACC_NICK 7 |
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| 17 | + |
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| 18 | + |
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| 19 | +int VibTestData[VIBTEST_NB_SAMPLES]; |
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| 20 | +volatile unsigned int VibTestCount; |
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| 583 | FredericG | 21 | +volatile unsigned int VibTestDone; |
| 555 | FredericG | 22 | +int* VibTestDataP; |
| 23 | +uint8_t VibTestChannel; |
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| 24 | + |
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| 25 | + |
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| 26 | +void StartVibTest(uint8_t channel) |
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| 27 | +{ |
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| 28 | + VibTestChannel = channel; |
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| 29 | + VibTestDataP = VibTestData; |
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| 30 | + VibTestCount = VIBTEST_NB_SAMPLES; |
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| 31 | + ADMUX = AD_ACC_ROLL; |
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| 583 | FredericG | 32 | + VibTestDone = 0; |
| 33 | + |
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| 555 | FredericG | 34 | + ADC_Enable(); |
| 583 | FredericG | 35 | + |
| 36 | + while(!VibTestDone); |
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| 37 | + |
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| 38 | + if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
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| 39 | + else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
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| 40 | + |
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| 555 | FredericG | 41 | +} |
| 42 | + |
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| 43 | /*****************************************************/ |
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| 44 | /* Initialize Analog Digital Converter */ |
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| 45 | /*****************************************************/ |
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| 583 | FredericG | 46 | @@ -202,15 +236,8 @@ |
| 555 | FredericG | 47 | */ |
| 48 | |||
| 49 | |||
| 50 | -#define AD_GYRO_YAW 0 |
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| 51 | -#define AD_GYRO_ROLL 1 |
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| 52 | -#define AD_GYRO_NICK 2 |
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| 53 | -#define AD_AIRPRESS 3 |
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| 54 | -#define AD_UBAT 4 |
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| 55 | -#define AD_ACC_TOP 5 |
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| 56 | -#define AD_ACC_ROLL 6 |
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| 57 | -#define AD_ACC_NICK 7 |
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| 58 | |||
| 59 | + |
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| 60 | ISR(ADC_vect) |
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| 61 | { |
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| 62 | static uint8_t ad_channel = AD_GYRO_NICK, state = 0; |
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| 583 | FredericG | 63 | @@ -218,6 +245,24 @@ |
| 555 | FredericG | 64 | static int32_t filtergyronick, filtergyroroll; |
| 65 | static int16_t tmpAirPressure = 0; |
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| 66 | |||
| 67 | + if (VibTestCount) |
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| 68 | + { |
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| 69 | + *(VibTestDataP++) = ADC; |
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| 70 | + ADMUX = VibTestChannel; |
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| 583 | FredericG | 71 | + ADC_Enable(); |
| 72 | + |
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| 73 | + // set speaker port to high |
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| 74 | + if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
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| 75 | + else PORTC |= (1<<PORTC7); // Speaker at PC7 |
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| 76 | + |
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| 77 | + |
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| 555 | FredericG | 78 | + VibTestCount--; |
| 583 | FredericG | 79 | + |
| 555 | FredericG | 80 | + return; |
| 81 | + } |
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| 82 | + |
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| 583 | FredericG | 83 | + VibTestDone = 1; |
| 84 | + |
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| 555 | FredericG | 85 | // state machine |
| 86 | switch(state++) |
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| 87 | { |
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| 88 | Index: analog.h |
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| 89 | =================================================================== |
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| 90 | --- analog.h (revision 1255) |
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| 91 | +++ analog.h (working copy) |
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| 92 | @@ -25,7 +25,12 @@ |
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| 93 | void SearchDacGyroOffset(void); |
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| 94 | void ADC_Init(void); |
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| 95 | |||
| 96 | +#define VIBTEST_NB_SAMPLES 1000 |
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| 97 | +extern int VibTestData[VIBTEST_NB_SAMPLES]; |
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| 98 | +extern volatile unsigned int VibTestCount; |
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| 99 | +void StartVibTest(uint8_t channel); |
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| 100 | |||
| 101 | + |
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| 102 | // clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
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| 103 | #define ADC_Disable() (ADCSRA &= ~((1<<ADEN)|(1<<ADSC)|(1<<ADIE))) |
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| 104 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
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| 568 | FredericG | 105 | Index: makefile |
| 555 | FredericG | 106 | =================================================================== |
| 568 | FredericG | 107 | --- makefile (revision 1255) |
| 108 | +++ makefile (working copy) |
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| 109 | @@ -50,63 +50,8 @@ |
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| 110 | # Output format. (can be srec, ihex, binary) |
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| 111 | FORMAT = ihex |
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| 555 | FredericG | 112 | |
| 568 | FredericG | 113 | -# Target file name (without extension). |
| 114 | +TARGET = Flight-Ctrl_MEGA644p_VibrationTest |
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| 115 | |||
| 116 | -ifeq ($(VERSION_PATCH), 0) |
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| 117 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV) |
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| 118 | -endif |
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| 119 | -ifeq ($(VERSION_PATCH), 1) |
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| 120 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV) |
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| 121 | -endif |
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| 122 | -ifeq ($(VERSION_PATCH), 2) |
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| 123 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
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| 124 | -endif |
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| 125 | -ifeq ($(VERSION_PATCH), 3) |
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| 126 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
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| 127 | -endif |
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| 128 | -ifeq ($(VERSION_PATCH), 4) |
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| 129 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
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| 130 | -endif |
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| 131 | -ifeq ($(VERSION_PATCH), 5) |
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| 132 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
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| 133 | -endif |
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| 134 | -ifeq ($(VERSION_PATCH), 6) |
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| 135 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
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| 136 | -endif |
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| 137 | -ifeq ($(VERSION_PATCH), 7) |
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| 138 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
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| 139 | -endif |
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| 140 | -ifeq ($(VERSION_PATCH), 8) |
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| 141 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
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| 142 | -endif |
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| 143 | -ifeq ($(VERSION_PATCH), 9) |
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| 144 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
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| 145 | -endif |
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| 146 | -ifeq ($(VERSION_PATCH), 10) |
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| 147 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV) |
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| 148 | -endif |
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| 149 | -ifeq ($(VERSION_PATCH), 11) |
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| 150 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)l_SVN$(REV) |
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| 151 | -endif |
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| 152 | -ifeq ($(VERSION_PATCH), 12) |
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| 153 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV) |
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| 154 | -endif |
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| 155 | -ifeq ($(VERSION_PATCH), 13) |
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| 156 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV) |
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| 157 | -endif |
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| 158 | -ifeq ($(VERSION_PATCH), 14) |
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| 159 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV) |
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| 160 | -endif |
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| 161 | -ifeq ($(VERSION_PATCH), 15) |
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| 162 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV) |
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| 163 | -endif |
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| 164 | -ifeq ($(VERSION_PATCH), 16) |
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| 165 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV) |
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| 166 | -endif |
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| 167 | -ifeq ($(VERSION_PATCH), 17) |
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| 168 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV) |
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| 169 | -endif |
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| 170 | - |
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| 171 | # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
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| 172 | # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
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| 173 | OPT = 2 |
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| 555 | FredericG | 174 | Index: menu.c |
| 175 | =================================================================== |
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| 176 | --- menu.c (revision 1255) |
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| 177 | +++ menu.c (working copy) |
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| 178 | @@ -139,7 +139,7 @@ |
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| 179 | switch(MenuItem) |
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| 180 | { |
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| 181 | case 0:// Version Info Menu Item |
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| 182 | - LCD_printfxy(0,0,"+ MikroKopter +"); |
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| 568 | FredericG | 183 | + LCD_printfxy(0,0,"MK ==VIBR TEST=="); |
| 555 | FredericG | 184 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a'); |
| 185 | LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name); |
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| 186 | if(I2CTimeout < 6) |
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| 187 | Index: timer0.c |
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| 188 | =================================================================== |
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| 189 | --- timer0.c (revision 1255) |
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| 190 | +++ timer0.c (working copy) |
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| 583 | FredericG | 191 | @@ -173,18 +173,18 @@ |
| 555 | FredericG | 192 | } |
| 193 | |||
| 194 | // if beeper is on |
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| 195 | - if(Beeper_On) |
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| 583 | FredericG | 196 | - { |
| 197 | - // set speaker port to high |
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| 198 | - if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
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| 199 | - else PORTC |= (1<<PORTC7); // Speaker at PC7 |
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| 200 | - } |
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| 201 | - else // beeper is off |
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| 202 | - { |
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| 203 | - // set speaker port to low |
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| 204 | - if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
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| 205 | - else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
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| 206 | - } |
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| 555 | FredericG | 207 | +// if(Beeper_On) |
| 208 | +// { |
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| 209 | +// // set speaker port to high |
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| 210 | +// if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
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| 211 | +// else PORTC |= (1<<PORTC7); // Speaker at PC7 |
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| 212 | +// } |
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| 213 | +// else // beeper is off |
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| 583 | FredericG | 214 | +// { |
| 215 | +// // set speaker port to low |
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| 216 | +// if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
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| 217 | +// else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
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| 218 | +// } |
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| 219 | |||
| 220 | #ifndef USE_NAVICTRL |
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| 221 | // update compass value if this option is enabled in the settings |
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| 555 | FredericG | 222 | Index: uart0.c |
| 223 | =================================================================== |
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| 224 | --- uart0.c (revision 1255) |
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| 225 | +++ uart0.c (working copy) |
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| 226 | @@ -68,8 +68,11 @@ |
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| 227 | #ifdef USE_MK3MAG |
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| 228 | #include "mk3mag.h" |
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| 229 | #endif |
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| 230 | +#include "printf_P.h" |
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| 231 | |||
| 232 | +#include "analog.h" |
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| 233 | |||
| 234 | + |
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| 235 | #define FC_ADDRESS 1 |
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| 236 | #define NC_ADDRESS 2 |
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| 237 | #define MK3MAG_ADDRESS 3 |
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| 238 | @@ -117,6 +120,7 @@ |
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| 239 | uint16_t Data3D_Timer; |
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| 240 | uint16_t DebugData_Interval = 500; // in 1ms |
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| 241 | uint16_t Data3D_Interval = 0; // in 1ms |
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| 242 | +int16_t requestedVibData; |
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| 243 | |||
| 244 | #ifdef USE_MK3MAG |
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| 245 | int16_t Compass_Timer; |
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| 246 | @@ -501,6 +505,26 @@ |
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| 247 | PcAccess = 255; |
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| 248 | break; |
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| 249 | |||
| 250 | + case 'f': // VibrationTest |
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| 251 | + { |
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| 252 | + requestedVibData = pRxData[1]; |
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| 253 | + if (requestedVibData == 0) |
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| 254 | + { |
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| 583 | FredericG | 255 | +// while(!txd_complete); // wait for previous frame to be sent |
| 256 | + |
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| 257 | +// printf("VibTest Start...\r"); |
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| 555 | FredericG | 258 | + StartVibTest(pRxData[0] /*channel*/); |
| 583 | FredericG | 259 | +// printf("VibTest Done!\r"); |
| 260 | + |
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| 261 | +// { |
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| 262 | +// int i; |
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| 263 | +// for (i=0;i<VIBTEST_NB_SAMPLES;i++) |
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| 264 | +// VibTestData[i]=i; |
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| 265 | +// } |
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| 555 | FredericG | 266 | + } |
| 267 | + } |
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| 268 | + break; |
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| 269 | + |
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| 270 | case 'n':// "Get Mixer Table |
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| 271 | while(!txd_complete); // wait for previous frame to be sent |
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| 272 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
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| 273 | @@ -637,6 +661,7 @@ |
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| 274 | loop_until_bit_is_set(UCSR0A, UDRE0); |
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| 275 | // send character |
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| 276 | UDR0 = c; |
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| 277 | + loop_until_bit_is_set(UCSR0A, UDRE0); |
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| 278 | return (0); |
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| 279 | } |
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| 280 | |||
| 281 | @@ -646,6 +671,11 @@ |
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| 282 | { |
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| 283 | if(!txd_complete) return; |
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| 284 | |||
| 285 | + if (requestedVibData>=0 && txd_complete) |
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| 286 | + { |
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| 287 | + SendOutData('F', FC_ADDRESS, 1, &VibTestData[requestedVibData*50], 100); |
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| 288 | + requestedVibData = -1; |
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| 289 | + } |
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| 290 | if(Request_VerInfo && txd_complete) |
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| 291 | { |
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| 292 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |