WebSVN - Projects - Blame - Rev 568 - /VibrationTest/trunk/FlightCtrl/74d_Killagreg

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

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(root)/VibrationTest/trunk/FlightCtrl/74d_Killagreg_VibrationTest.patch @ 698 - Rev 568