| 0,0 → 1,209 |
|---|
| Index: analog.c |
| =================================================================== |
| --- analog.c (revision 1255) |
| +++ analog.c (working copy) |
| @@ -80,6 +80,31 @@ |
| 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; |
| +int* VibTestDataP; |
| +uint8_t VibTestChannel; |
| + |
| + |
| +void StartVibTest(uint8_t channel) |
| +{ |
| + VibTestChannel = channel; |
| + VibTestDataP = VibTestData; |
| + VibTestCount = VIBTEST_NB_SAMPLES; |
| + ADMUX = AD_ACC_ROLL; |
| + ADC_Enable(); |
| +} |
| + |
| /*****************************************************/ |
| /* Initialize Analog Digital Converter */ |
| /*****************************************************/ |
| @@ -202,15 +227,8 @@ |
| */ |
| |
| |
| -#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 +236,15 @@ |
| static int32_t filtergyronick, filtergyroroll; |
| static int16_t tmpAirPressure = 0; |
| |
| + if (VibTestCount) |
| + { |
| + *(VibTestDataP++) = ADC; |
| + ADMUX = VibTestChannel; |
| + VibTestCount--; |
| + ADC_Enable(); |
| + return; |
| + } |
| + |
| // 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: main.c |
| =================================================================== |
| --- main.c (revision 1255) |
| +++ main.c (working copy) |
| @@ -175,7 +175,7 @@ |
| sei(); |
| |
| printf("\n\r==================================="); |
| - printf("\n\rFlightControl"); |
| + printf("\n\rFlightControl FRED"); |
| printf("\n\rHardware: %d.%d", BoardRelease/10, BoardRelease%10); |
| if(CPUType == ATMEGA644P) |
| printf("\r\n CPU: Atmega644p"); |
| Index: menu.c |
| =================================================================== |
| --- menu.c (revision 1255) |
| +++ menu.c (working copy) |
| @@ -139,7 +139,7 @@ |
| switch(MenuItem) |
| { |
| case 0:// Version Info Menu Item |
| - LCD_printfxy(0,0,"+ MikroKopter +"); |
| + LCD_printfxy(0,0,"+ MikroKopter F"); |
| 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); |
| if(I2CTimeout < 6) |
| Index: timer0.c |
| =================================================================== |
| --- timer0.c (revision 1255) |
| +++ timer0.c (working copy) |
| @@ -173,14 +173,14 @@ |
| } |
| |
| // if beeper is on |
| - if(Beeper_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 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 |
| 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; |
| @@ -501,6 +505,26 @@ |
| PcAccess = 255; |
| break; |
| |
| + case 'f': // VibrationTest |
| + { |
| + requestedVibData = pRxData[1]; |
| + if (requestedVibData == 0) |
| + { |
| +// int i; |
| + while(!txd_complete); // wait for previous frame to be sent |
| + //printf("VibTest Start...\r"); |
| + StartVibTest(pRxData[0] /*channel*/); |
| + while (VibTestCount); |
| + //printf("VibTest Done!\r"); |
| +// for (i=0;i<VIBTEST_NB_SAMPLES;i++) |
| +// VibTestData[i]=i; |
| + //printf("%d %d %d\r", VibTestData[0], VibTestData[1], VibTestData[2]); |
| + } |
| + //SendOutData('F', FC_ADDRESS, 1, &VibTestData[index*25], 50); |
| + |
| + } |
| + 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 +661,7 @@ |
| loop_until_bit_is_set(UCSR0A, UDRE0); |
| // send character |
| UDR0 = c; |
| + loop_until_bit_is_set(UCSR0A, UDRE0); |
| return (0); |
| } |
| |
| @@ -646,6 +671,11 @@ |
| { |
| 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)); |