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
));