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1 | Index: analog.c |
1 | Index: analog.c |
2 | =================================================================== |
2 | =================================================================== |
3 | --- analog.c (revision 1255) |
3 | --- analog.c (revision 1255) |
4 | +++ analog.c (working copy) |
4 | +++ analog.c (working copy) |
5 | @@ -80,6 +80,40 @@ |
5 | @@ -80,6 +80,40 @@ |
6 | int8_t ExpandBaro = 0; |
6 | int8_t ExpandBaro = 0; |
7 | uint8_t PressureSensorOffset; |
7 | uint8_t PressureSensorOffset; |
8 | 8 | ||
9 | +#define AD_GYRO_YAW 0 |
9 | +#define AD_GYRO_YAW 0 |
10 | +#define AD_GYRO_ROLL 1 |
10 | +#define AD_GYRO_ROLL 1 |
11 | +#define AD_GYRO_NICK 2 |
11 | +#define AD_GYRO_NICK 2 |
12 | +#define AD_AIRPRESS 3 |
12 | +#define AD_AIRPRESS 3 |
13 | +#define AD_UBAT 4 |
13 | +#define AD_UBAT 4 |
14 | +#define AD_ACC_TOP 5 |
14 | +#define AD_ACC_TOP 5 |
15 | +#define AD_ACC_ROLL 6 |
15 | +#define AD_ACC_ROLL 6 |
16 | +#define AD_ACC_NICK 7 |
16 | +#define AD_ACC_NICK 7 |
17 | + |
17 | + |
18 | + |
18 | + |
19 | +int VibTestData[VIBTEST_NB_SAMPLES]; |
19 | +int VibTestData[VIBTEST_NB_SAMPLES]; |
20 | +volatile unsigned int VibTestCount; |
20 | +volatile unsigned int VibTestCount; |
21 | +volatile unsigned int VibTestDone; |
21 | +volatile unsigned int VibTestDone; |
22 | +int* VibTestDataP; |
22 | +int* VibTestDataP; |
23 | +uint8_t VibTestChannel; |
23 | +uint8_t VibTestChannel; |
24 | + |
24 | + |
25 | + |
25 | + |
26 | +void StartVibTest(uint8_t channel) |
26 | +void StartVibTest(uint8_t channel) |
27 | +{ |
27 | +{ |
28 | + VibTestChannel = channel; |
28 | + VibTestChannel = channel; |
29 | + VibTestDataP = VibTestData; |
29 | + VibTestDataP = VibTestData; |
30 | + VibTestCount = VIBTEST_NB_SAMPLES; |
30 | + VibTestCount = VIBTEST_NB_SAMPLES; |
31 | + ADMUX = AD_ACC_ROLL; |
31 | + ADMUX = AD_ACC_ROLL; |
32 | + VibTestDone = 0; |
32 | + VibTestDone = 0; |
33 | + |
33 | + |
34 | + ADC_Enable(); |
34 | + ADC_Enable(); |
35 | + |
35 | + |
36 | + while(!VibTestDone); |
36 | + while(!VibTestDone); |
37 | + |
37 | + |
38 | + if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
38 | + if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
39 | + else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
39 | + else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
40 | + |
40 | + |
41 | +} |
41 | +} |
42 | + |
42 | + |
43 | /*****************************************************/ |
43 | /*****************************************************/ |
44 | /* Initialize Analog Digital Converter */ |
44 | /* Initialize Analog Digital Converter */ |
45 | /*****************************************************/ |
45 | /*****************************************************/ |
46 | @@ -202,15 +236,8 @@ |
46 | @@ -202,15 +236,8 @@ |
47 | */ |
47 | */ |
48 | 48 | ||
49 | 49 | ||
50 | -#define AD_GYRO_YAW 0 |
50 | -#define AD_GYRO_YAW 0 |
51 | -#define AD_GYRO_ROLL 1 |
51 | -#define AD_GYRO_ROLL 1 |
52 | -#define AD_GYRO_NICK 2 |
52 | -#define AD_GYRO_NICK 2 |
53 | -#define AD_AIRPRESS 3 |
53 | -#define AD_AIRPRESS 3 |
54 | -#define AD_UBAT 4 |
54 | -#define AD_UBAT 4 |
55 | -#define AD_ACC_TOP 5 |
55 | -#define AD_ACC_TOP 5 |
56 | -#define AD_ACC_ROLL 6 |
56 | -#define AD_ACC_ROLL 6 |
57 | -#define AD_ACC_NICK 7 |
57 | -#define AD_ACC_NICK 7 |
58 | 58 | ||
59 | + |
59 | + |
60 | ISR(ADC_vect) |
60 | ISR(ADC_vect) |
61 | { |
61 | { |
62 | static uint8_t ad_channel = AD_GYRO_NICK, state = 0; |
62 | static uint8_t ad_channel = AD_GYRO_NICK, state = 0; |
63 | @@ -218,6 +245,24 @@ |
63 | @@ -218,6 +245,24 @@ |
64 | static int32_t filtergyronick, filtergyroroll; |
64 | static int32_t filtergyronick, filtergyroroll; |
65 | static int16_t tmpAirPressure = 0; |
65 | static int16_t tmpAirPressure = 0; |
66 | 66 | ||
67 | + if (VibTestCount) |
67 | + if (VibTestCount) |
68 | + { |
68 | + { |
69 | + *(VibTestDataP++) = ADC; |
69 | + *(VibTestDataP++) = ADC; |
70 | + ADMUX = VibTestChannel; |
70 | + ADMUX = VibTestChannel; |
71 | + ADC_Enable(); |
71 | + ADC_Enable(); |
72 | + |
72 | + |
73 | + // set speaker port to high |
73 | + // set speaker port to high |
74 | + if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
74 | + if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
75 | + else PORTC |= (1<<PORTC7); // Speaker at PC7 |
75 | + else PORTC |= (1<<PORTC7); // Speaker at PC7 |
76 | + |
76 | + |
77 | + |
77 | + |
78 | + VibTestCount--; |
78 | + VibTestCount--; |
79 | + |
79 | + |
80 | + return; |
80 | + return; |
81 | + } |
81 | + } |
82 | + |
82 | + |
83 | + VibTestDone = 1; |
83 | + VibTestDone = 1; |
84 | + |
84 | + |
85 | // state machine |
85 | // state machine |
86 | switch(state++) |
86 | switch(state++) |
87 | { |
87 | { |
88 | Index: analog.h |
88 | Index: analog.h |
89 | =================================================================== |
89 | =================================================================== |
90 | --- analog.h (revision 1255) |
90 | --- analog.h (revision 1255) |
91 | +++ analog.h (working copy) |
91 | +++ analog.h (working copy) |
92 | @@ -25,7 +25,12 @@ |
92 | @@ -25,7 +25,12 @@ |
93 | void SearchDacGyroOffset(void); |
93 | void SearchDacGyroOffset(void); |
94 | void ADC_Init(void); |
94 | void ADC_Init(void); |
95 | 95 | ||
96 | +#define VIBTEST_NB_SAMPLES 1000 |
96 | +#define VIBTEST_NB_SAMPLES 1000 |
97 | +extern int VibTestData[VIBTEST_NB_SAMPLES]; |
97 | +extern int VibTestData[VIBTEST_NB_SAMPLES]; |
98 | +extern volatile unsigned int VibTestCount; |
98 | +extern volatile unsigned int VibTestCount; |
99 | +void StartVibTest(uint8_t channel); |
99 | +void StartVibTest(uint8_t channel); |
100 | 100 | ||
101 | + |
101 | + |
102 | // clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
102 | // clear ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
103 | #define ADC_Disable() (ADCSRA &= ~((1<<ADEN)|(1<<ADSC)|(1<<ADIE))) |
103 | #define ADC_Disable() (ADCSRA &= ~((1<<ADEN)|(1<<ADSC)|(1<<ADIE))) |
104 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
104 | // set ADC enable & ADC Start Conversion & ADC Interrupt Enable bit |
105 | Index: makefile |
105 | Index: makefile |
106 | =================================================================== |
106 | =================================================================== |
107 | --- makefile (revision 1255) |
107 | --- makefile (revision 1255) |
108 | +++ makefile (working copy) |
108 | +++ makefile (working copy) |
109 | @@ -50,63 +50,8 @@ |
109 | @@ -50,63 +50,8 @@ |
110 | # Output format. (can be srec, ihex, binary) |
110 | # Output format. (can be srec, ihex, binary) |
111 | FORMAT = ihex |
111 | FORMAT = ihex |
112 | 112 | ||
113 | -# Target file name (without extension). |
113 | -# Target file name (without extension). |
114 | +TARGET = Flight-Ctrl_MEGA644p_VibrationTest |
114 | +TARGET = Flight-Ctrl_MEGA644p_VibrationTest |
115 | 115 | ||
116 | -ifeq ($(VERSION_PATCH), 0) |
116 | -ifeq ($(VERSION_PATCH), 0) |
117 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV) |
117 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)a_SVN$(REV) |
118 | -endif |
118 | -endif |
119 | -ifeq ($(VERSION_PATCH), 1) |
119 | -ifeq ($(VERSION_PATCH), 1) |
120 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV) |
120 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)b_SVN$(REV) |
121 | -endif |
121 | -endif |
122 | -ifeq ($(VERSION_PATCH), 2) |
122 | -ifeq ($(VERSION_PATCH), 2) |
123 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
123 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)c_SVN$(REV) |
124 | -endif |
124 | -endif |
125 | -ifeq ($(VERSION_PATCH), 3) |
125 | -ifeq ($(VERSION_PATCH), 3) |
126 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
126 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)d_SVN$(REV) |
127 | -endif |
127 | -endif |
128 | -ifeq ($(VERSION_PATCH), 4) |
128 | -ifeq ($(VERSION_PATCH), 4) |
129 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
129 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)e_SVN$(REV) |
130 | -endif |
130 | -endif |
131 | -ifeq ($(VERSION_PATCH), 5) |
131 | -ifeq ($(VERSION_PATCH), 5) |
132 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
132 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)f_SVN$(REV) |
133 | -endif |
133 | -endif |
134 | -ifeq ($(VERSION_PATCH), 6) |
134 | -ifeq ($(VERSION_PATCH), 6) |
135 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
135 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)g_SVN$(REV) |
136 | -endif |
136 | -endif |
137 | -ifeq ($(VERSION_PATCH), 7) |
137 | -ifeq ($(VERSION_PATCH), 7) |
138 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
138 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)h_SVN$(REV) |
139 | -endif |
139 | -endif |
140 | -ifeq ($(VERSION_PATCH), 8) |
140 | -ifeq ($(VERSION_PATCH), 8) |
141 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
141 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)i_SVN$(REV) |
142 | -endif |
142 | -endif |
143 | -ifeq ($(VERSION_PATCH), 9) |
143 | -ifeq ($(VERSION_PATCH), 9) |
144 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
144 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)j_SVN$(REV) |
145 | -endif |
145 | -endif |
146 | -ifeq ($(VERSION_PATCH), 10) |
146 | -ifeq ($(VERSION_PATCH), 10) |
147 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV) |
147 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)k_SVN$(REV) |
148 | -endif |
148 | -endif |
149 | -ifeq ($(VERSION_PATCH), 11) |
149 | -ifeq ($(VERSION_PATCH), 11) |
150 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)l_SVN$(REV) |
150 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)l_SVN$(REV) |
151 | -endif |
151 | -endif |
152 | -ifeq ($(VERSION_PATCH), 12) |
152 | -ifeq ($(VERSION_PATCH), 12) |
153 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV) |
153 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)m_SVN$(REV) |
154 | -endif |
154 | -endif |
155 | -ifeq ($(VERSION_PATCH), 13) |
155 | -ifeq ($(VERSION_PATCH), 13) |
156 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV) |
156 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)n_SVN$(REV) |
157 | -endif |
157 | -endif |
158 | -ifeq ($(VERSION_PATCH), 14) |
158 | -ifeq ($(VERSION_PATCH), 14) |
159 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV) |
159 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)o_SVN$(REV) |
160 | -endif |
160 | -endif |
161 | -ifeq ($(VERSION_PATCH), 15) |
161 | -ifeq ($(VERSION_PATCH), 15) |
162 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV) |
162 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)p_SVN$(REV) |
163 | -endif |
163 | -endif |
164 | -ifeq ($(VERSION_PATCH), 16) |
164 | -ifeq ($(VERSION_PATCH), 16) |
165 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV) |
165 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)q_SVN$(REV) |
166 | -endif |
166 | -endif |
167 | -ifeq ($(VERSION_PATCH), 17) |
167 | -ifeq ($(VERSION_PATCH), 17) |
168 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV) |
168 | -TARGET = Flight-Ctrl_$(HEX_NAME)_V$(VERSION_MAJOR)_$(VERSION_MINOR)r_SVN$(REV) |
169 | -endif |
169 | -endif |
170 | - |
170 | - |
171 | # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
171 | # Optimization level, can be [0, 1, 2, 3, s]. 0 turns off optimization. |
172 | # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
172 | # (Note: 3 is not always the best optimization level. See avr-libc FAQ.) |
173 | OPT = 2 |
173 | OPT = 2 |
174 | Index: menu.c |
174 | Index: menu.c |
175 | =================================================================== |
175 | =================================================================== |
176 | --- menu.c (revision 1255) |
176 | --- menu.c (revision 1255) |
177 | +++ menu.c (working copy) |
177 | +++ menu.c (working copy) |
178 | @@ -139,7 +139,7 @@ |
178 | @@ -139,7 +139,7 @@ |
179 | switch(MenuItem) |
179 | switch(MenuItem) |
180 | { |
180 | { |
181 | case 0:// Version Info Menu Item |
181 | case 0:// Version Info Menu Item |
182 | - LCD_printfxy(0,0,"+ MikroKopter +"); |
182 | - LCD_printfxy(0,0,"+ MikroKopter +"); |
183 | + LCD_printfxy(0,0,"MK ==VIBR TEST=="); |
183 | + LCD_printfxy(0,0,"MK ==VIBR TEST=="); |
184 | LCD_printfxy(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a'); |
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); |
185 | LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name); |
186 | if(I2CTimeout < 6) |
186 | if(I2CTimeout < 6) |
187 | Index: timer0.c |
187 | Index: timer0.c |
188 | =================================================================== |
188 | =================================================================== |
189 | --- timer0.c (revision 1255) |
189 | --- timer0.c (revision 1255) |
190 | +++ timer0.c (working copy) |
190 | +++ timer0.c (working copy) |
191 | @@ -173,18 +173,18 @@ |
191 | @@ -173,18 +173,18 @@ |
192 | } |
192 | } |
193 | 193 | ||
194 | // if beeper is on |
194 | // if beeper is on |
195 | - if(Beeper_On) |
195 | - if(Beeper_On) |
196 | - { |
196 | - { |
197 | - // set speaker port to high |
197 | - // set speaker port to high |
198 | - if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
198 | - if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
199 | - else PORTC |= (1<<PORTC7); // Speaker at PC7 |
199 | - else PORTC |= (1<<PORTC7); // Speaker at PC7 |
200 | - } |
200 | - } |
201 | - else // beeper is off |
201 | - else // beeper is off |
202 | - { |
202 | - { |
203 | - // set speaker port to low |
203 | - // set speaker port to low |
204 | - if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
204 | - if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
205 | - else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
205 | - else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
206 | - } |
206 | - } |
207 | +// if(Beeper_On) |
207 | +// if(Beeper_On) |
208 | +// { |
208 | +// { |
209 | +// // set speaker port to high |
209 | +// // set speaker port to high |
210 | +// if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
210 | +// if(BoardRelease == 10) PORTD |= (1<<PORTD2); // Speaker at PD2 |
211 | +// else PORTC |= (1<<PORTC7); // Speaker at PC7 |
211 | +// else PORTC |= (1<<PORTC7); // Speaker at PC7 |
212 | +// } |
212 | +// } |
213 | +// else // beeper is off |
213 | +// else // beeper is off |
214 | +// { |
214 | +// { |
215 | +// // set speaker port to low |
215 | +// // set speaker port to low |
216 | +// if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
216 | +// if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2 |
217 | +// else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
217 | +// else PORTC &= ~(1<<PORTC7);// Speaker at PC7 |
218 | +// } |
218 | +// } |
219 | 219 | ||
220 | #ifndef USE_NAVICTRL |
220 | #ifndef USE_NAVICTRL |
221 | // update compass value if this option is enabled in the settings |
221 | // update compass value if this option is enabled in the settings |
222 | Index: uart0.c |
222 | Index: uart0.c |
223 | =================================================================== |
223 | =================================================================== |
224 | --- uart0.c (revision 1255) |
224 | --- uart0.c (revision 1255) |
225 | +++ uart0.c (working copy) |
225 | +++ uart0.c (working copy) |
226 | @@ -68,8 +68,11 @@ |
226 | @@ -68,8 +68,11 @@ |
227 | #ifdef USE_MK3MAG |
227 | #ifdef USE_MK3MAG |
228 | #include "mk3mag.h" |
228 | #include "mk3mag.h" |
229 | #endif |
229 | #endif |
230 | +#include "printf_P.h" |
230 | +#include "printf_P.h" |
231 | 231 | ||
232 | +#include "analog.h" |
232 | +#include "analog.h" |
233 | 233 | ||
234 | + |
234 | + |
235 | #define FC_ADDRESS 1 |
235 | #define FC_ADDRESS 1 |
236 | #define NC_ADDRESS 2 |
236 | #define NC_ADDRESS 2 |
237 | #define MK3MAG_ADDRESS 3 |
237 | #define MK3MAG_ADDRESS 3 |
238 | @@ -117,6 +120,7 @@ |
238 | @@ -117,6 +120,7 @@ |
239 | uint16_t Data3D_Timer; |
239 | uint16_t Data3D_Timer; |
240 | uint16_t DebugData_Interval = 500; // in 1ms |
240 | uint16_t DebugData_Interval = 500; // in 1ms |
241 | uint16_t Data3D_Interval = 0; // in 1ms |
241 | uint16_t Data3D_Interval = 0; // in 1ms |
242 | +int16_t requestedVibData; |
242 | +int16_t requestedVibData; |
243 | 243 | ||
244 | #ifdef USE_MK3MAG |
244 | #ifdef USE_MK3MAG |
245 | int16_t Compass_Timer; |
245 | int16_t Compass_Timer; |
246 | @@ -501,6 +505,26 @@ |
246 | @@ -501,6 +505,28 @@ |
247 | PcAccess = 255; |
247 | PcAccess = 255; |
248 | break; |
248 | break; |
249 | 249 | ||
250 | + case 'f': // VibrationTest |
250 | + case 'f': // VibrationTest |
251 | + { |
251 | + { |
252 | + requestedVibData = pRxData[1]; |
252 | + requestedVibData = pRxData[1]; |
253 | + if (requestedVibData == 0) |
253 | + if (requestedVibData == 0) |
254 | + { |
254 | + { |
255 | +// while(!txd_complete); // wait for previous frame to be sent |
255 | +// while(!txd_complete); // wait for previous frame to be sent |
256 | + |
256 | + |
257 | +// printf("VibTest Start...\r"); |
257 | +// printf("VibTest Start...\r"); |
258 | + StartVibTest(pRxData[0] /*channel*/); |
258 | + StartVibTest(pRxData[0] /*channel*/); |
259 | +// printf("VibTest Done!\r"); |
259 | +// printf("VibTest Done!\r"); |
260 | + |
260 | + |
261 | +// { |
261 | +// { |
262 | +// int i; |
262 | +// int i; |
263 | +// for (i=0;i<VIBTEST_NB_SAMPLES;i++) |
263 | +// for (i=0;i<VIBTEST_NB_SAMPLES;i++) |
264 | +// VibTestData[i]=i; |
264 | +// VibTestData[i]=i; |
265 | +// } |
265 | +// } |
266 | + } |
266 | + } |
- | 267 | + if (MotorTest_Active) |
|
- | 268 | + MotorTest_Active = 255; // Extend motor test Timeout |
|
267 | + } |
269 | + } |
268 | + break; |
270 | + break; |
269 | + |
271 | + |
270 | case 'n':// "Get Mixer Table |
272 | case 'n':// "Get Mixer Table |
271 | while(!txd_complete); // wait for previous frame to be sent |
273 | while(!txd_complete); // wait for previous frame to be sent |
272 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
274 | SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer)); |
273 | @@ -637,6 +661,7 @@ |
275 | @@ -637,6 +663,7 @@ |
274 | loop_until_bit_is_set(UCSR0A, UDRE0); |
276 | loop_until_bit_is_set(UCSR0A, UDRE0); |
275 | // send character |
277 | // send character |
276 | UDR0 = c; |
278 | UDR0 = c; |
277 | + loop_until_bit_is_set(UCSR0A, UDRE0); |
279 | + loop_until_bit_is_set(UCSR0A, UDRE0); |
278 | return (0); |
280 | return (0); |
279 | } |
281 | } |
280 | 282 | ||
281 | @@ -646,6 +671,11 @@ |
283 | @@ -646,6 +673,11 @@ |
282 | { |
284 | { |
283 | if(!txd_complete) return; |
285 | if(!txd_complete) return; |
284 | 286 | ||
285 | + if (requestedVibData>=0 && txd_complete) |
287 | + if (requestedVibData>=0 && txd_complete) |
286 | + { |
288 | + { |
287 | + SendOutData('F', FC_ADDRESS, 1, &VibTestData[requestedVibData*50], 100); |
289 | + SendOutData('F', FC_ADDRESS, 1, &VibTestData[requestedVibData*50], 100); |
288 | + requestedVibData = -1; |
290 | + requestedVibData = -1; |
289 | + } |
291 | + } |
290 | if(Request_VerInfo && txd_complete) |
292 | if(Request_VerInfo && txd_complete) |
291 | { |
293 | { |
292 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
294 | SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo)); |
293 | 295 |