WebSVN - Projects - Diff - Rev 659 and 666 - /VibrationTest/trunk/FlightCtrl/74d_Killagreg


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));
 

Rev 659	Rev 666
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	@@ -139,9 +139,10 @@	178	@@ -139,9 +139,10 @@
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(0,1,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a');	183	- 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(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name);	184	- LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name);
185	+ LCD_printfxy(0,0,"MK ==VIBR TEST==");	185	+ LCD_printfxy(0,0,"MK ==VIBR TEST==");
186	+ LCD_printfxy(0,1," v0.9 RC4 ");	186	+ LCD_printfxy(0,1," v1.0 ");
187	+ LCD_printfxy(0,2,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a');	187	+ LCD_printfxy(0,2,"HW:V%d.%d SW:%d.%d%c",BoardRelease/10,BoardRelease%10,VERSION_MAJOR, VERSION_MINOR, VERSION_PATCH+'a');
188	+ //LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name);	188	+ //LCD_printfxy(0,2,"Setting: %d %s", GetActiveParamSet(), Mixer.Name);
189	if(I2CTimeout < 6)	189	if(I2CTimeout < 6)
190	{	190	{
191	LCD_printfxy(0,3,"I2C Error!!!");	191	LCD_printfxy(0,3,"I2C Error!!!");
192	Index: timer0.c	192	Index: timer0.c
193	===================================================================	193	===================================================================
194	--- timer0.c (revision 1255)	194	--- timer0.c (revision 1255)
195	+++ timer0.c (working copy)	195	+++ timer0.c (working copy)
196	@@ -173,18 +173,18 @@	196	@@ -173,18 +173,18 @@
197	}	197	}
198		198
199	// if beeper is on	199	// if beeper is on
200	- if(Beeper_On)	200	- if(Beeper_On)
201	- {	201	- {
202	- // set speaker port to high	202	- // set speaker port to high
203	- if(BoardRelease == 10) PORTD \|= (1<<PORTD2); // Speaker at PD2	203	- if(BoardRelease == 10) PORTD \|= (1<<PORTD2); // Speaker at PD2
204	- else PORTC \|= (1<<PORTC7); // Speaker at PC7	204	- else PORTC \|= (1<<PORTC7); // Speaker at PC7
205	- }	205	- }
206	- else // beeper is off	206	- else // beeper is off
207	- {	207	- {
208	- // set speaker port to low	208	- // set speaker port to low
209	- if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2	209	- if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2
210	- else PORTC &= ~(1<<PORTC7);// Speaker at PC7	210	- else PORTC &= ~(1<<PORTC7);// Speaker at PC7
211	- }	211	- }
212	+// if(Beeper_On)	212	+// if(Beeper_On)
213	+// {	213	+// {
214	+// // set speaker port to high	214	+// // set speaker port to high
215	+// if(BoardRelease == 10) PORTD \|= (1<<PORTD2); // Speaker at PD2	215	+// if(BoardRelease == 10) PORTD \|= (1<<PORTD2); // Speaker at PD2
216	+// else PORTC \|= (1<<PORTC7); // Speaker at PC7	216	+// else PORTC \|= (1<<PORTC7); // Speaker at PC7
217	+// }	217	+// }
218	+// else // beeper is off	218	+// else // beeper is off
219	+// {	219	+// {
220	+// // set speaker port to low	220	+// // set speaker port to low
221	+// if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2	221	+// if(BoardRelease == 10) PORTD &= ~(1<<PORTD2);// Speaker at PD2
222	+// else PORTC &= ~(1<<PORTC7);// Speaker at PC7	222	+// else PORTC &= ~(1<<PORTC7);// Speaker at PC7
223	+// }	223	+// }
224		224
225	#ifndef USE_NAVICTRL	225	#ifndef USE_NAVICTRL
226	// update compass value if this option is enabled in the settings	226	// update compass value if this option is enabled in the settings
227	Index: twimaster.c	227	Index: twimaster.c
228	===================================================================	228	===================================================================
229	--- twimaster.c (revision 1255)	229	--- twimaster.c (revision 1255)
230	+++ twimaster.c (working copy)	230	+++ twimaster.c (working copy)
231	@@ -211,7 +211,7 @@	231	@@ -211,7 +211,7 @@
232	// Master Transmit	232	// Master Transmit
233	case 0: // TWI_STATE_MOTOR_TX	233	case 0: // TWI_STATE_MOTOR_TX
234	// skip motor if not used in mixer	234	// skip motor if not used in mixer
235	- while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;	235	- while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;
236	+ //while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;	236	+ //while((Mixer.Motor[motor_write][MIX_GAS] <= 0) && (motor_write < MAX_MOTORS)) motor_write++;
237	if(motor_write >= MAX_MOTORS) // writing finished, read now	237	if(motor_write >= MAX_MOTORS) // writing finished, read now
238	{	238	{
239	motor_write = 0;	239	motor_write = 0;
240	Index: uart0.c	240	Index: uart0.c
241	===================================================================	241	===================================================================
242	--- uart0.c (revision 1255)	242	--- uart0.c (revision 1255)
243	+++ uart0.c (working copy)	243	+++ uart0.c (working copy)
244	@@ -68,8 +68,11 @@	244	@@ -68,8 +68,11 @@
245	#ifdef USE_MK3MAG	245	#ifdef USE_MK3MAG
246	#include "mk3mag.h"	246	#include "mk3mag.h"
247	#endif	247	#endif
248	+#include "printf_P.h"	248	+#include "printf_P.h"
249		249
250	+#include "analog.h"	250	+#include "analog.h"
251		251
252	+	252	+
253	#define FC_ADDRESS 1	253	#define FC_ADDRESS 1
254	#define NC_ADDRESS 2	254	#define NC_ADDRESS 2
255	#define MK3MAG_ADDRESS 3	255	#define MK3MAG_ADDRESS 3
256	@@ -117,6 +120,7 @@	256	@@ -117,6 +120,7 @@
257	uint16_t Data3D_Timer;	257	uint16_t Data3D_Timer;
258	uint16_t DebugData_Interval = 500; // in 1ms	258	uint16_t DebugData_Interval = 500; // in 1ms
259	uint16_t Data3D_Interval = 0; // in 1ms	259	uint16_t Data3D_Interval = 0; // in 1ms
260	+int16_t requestedVibData;	260	+int16_t requestedVibData;
261		261
262	#ifdef USE_MK3MAG	262	#ifdef USE_MK3MAG
263	int16_t Compass_Timer;	263	int16_t Compass_Timer;
264	@@ -491,6 +495,7 @@	264	@@ -491,6 +495,7 @@
265	if(RxDataLen > 20) //	265	if(RxDataLen > 20) //
266	{	266	{
267	memcpy(&MotorTest[0], (uint8_t*)pRxData, sizeof(MotorTest));	267	memcpy(&MotorTest[0], (uint8_t*)pRxData, sizeof(MotorTest));
268	+ //MotorTest[0] = MotorTest[4];	268	+ //MotorTest[0] = MotorTest[4];
269	}	269	}
270	else	270	else
271	{	271	{
272	@@ -501,6 +506,28 @@	272	@@ -501,6 +506,28 @@
273	PcAccess = 255;	273	PcAccess = 255;
274	break;	274	break;
275		275
276	+ case 'f': // VibrationTest	276	+ case 'f': // VibrationTest
277	+ {	277	+ {
278	+ requestedVibData = pRxData[1];	278	+ requestedVibData = pRxData[1];
279	+ if (requestedVibData == 0)	279	+ if (requestedVibData == 0)
280	+ {	280	+ {
281	+// while(!txd_complete); // wait for previous frame to be sent	281	+// while(!txd_complete); // wait for previous frame to be sent
282	+	282	+
283	+// printf("VibTest Start...\r");	283	+// printf("VibTest Start...\r");
284	+ StartVibTest(pRxData[0] /channel/);	284	+ StartVibTest(pRxData[0] /channel/);
285	+// printf("VibTest Done!\r");	285	+// printf("VibTest Done!\r");
286	+	286	+
287	+// {	287	+// {
288	+// int i;	288	+// int i;
289	+// for (i=0;i<VIBTEST_NB_SAMPLES;i++)	289	+// for (i=0;i<VIBTEST_NB_SAMPLES;i++)
290	+// VibTestData[i]=i;	290	+// VibTestData[i]=i;
291	+// }	291	+// }
292	+ }	292	+ }
293	+ if (MotorTest_Active)	293	+ if (MotorTest_Active)
294	+ MotorTest_Active = 255; // Extend motor test Timeout	294	+ MotorTest_Active = 255; // Extend motor test Timeout
295	+ }	295	+ }
296	+ break;	296	+ break;
297	+	297	+
298	case 'n':// "Get Mixer Table	298	case 'n':// "Get Mixer Table
299	while(!txd_complete); // wait for previous frame to be sent	299	while(!txd_complete); // wait for previous frame to be sent
300	SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer));	300	SendOutData('N', FC_ADDRESS, 1, (uint8_t *) &Mixer, sizeof(Mixer));
301	@@ -637,6 +664,7 @@	301	@@ -637,6 +664,7 @@
302	loop_until_bit_is_set(UCSR0A, UDRE0);	302	loop_until_bit_is_set(UCSR0A, UDRE0);
303	// send character	303	// send character
304	UDR0 = c;	304	UDR0 = c;
305	+ loop_until_bit_is_set(UCSR0A, UDRE0);	305	+ loop_until_bit_is_set(UCSR0A, UDRE0);
306	return (0);	306	return (0);
307	}	307	}
308		308
309	@@ -646,6 +674,11 @@	309	@@ -646,6 +674,11 @@
310	{	310	{
311	if(!txd_complete) return;	311	if(!txd_complete) return;
312		312
313	+ if (requestedVibData>=0 && txd_complete)	313	+ if (requestedVibData>=0 && txd_complete)
314	+ {	314	+ {
315	+ SendOutData('F', FC_ADDRESS, 1, &VibTestData[requestedVibData*50], 100);	315	+ SendOutData('F', FC_ADDRESS, 1, &VibTestData[requestedVibData*50], 100);
316	+ requestedVibData = -1;	316	+ requestedVibData = -1;
317	+ }	317	+ }
318	if(Request_VerInfo && txd_complete)	318	if(Request_VerInfo && txd_complete)
319	{	319	{
320	SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo));	320	SendOutData('V', FC_ADDRESS, 1, (uint8_t *) &UART_VersionInfo, sizeof(UART_VersionInfo));
321		321

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(root)/VibrationTest/trunk/FlightCtrl/74d_Killagreg_VibrationTest.patch - Rev 659 → 666