Rev 1400 | Go to most recent revision | Show entire file | Regard whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1400 | Rev 1452 | ||
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Line 231... | Line 231... | ||
231 | Mixer.Revision = MIXER_REVISION; |
231 | Mixer.Revision = MIXER_REVISION; |
232 | memcpy(Mixer.Name, "Quadro\0", 11); |
232 | memcpy(Mixer.Name, "Quadro\0", 11); |
233 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
233 | eeprom_write_block(&Mixer, &EEPromArray[EEPROM_ADR_MIXER_TABLE], sizeof(Mixer)); |
234 | } |
234 | } |
235 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
235 | printf("\n\rMixer-Config: '%s' (%u Motors)",Mixer.Name,RequiredMotors); |
236 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
237 | // + Check connected BL-Ctrls |
- | |
238 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
- | |
239 | printf("\n\rFound BL-Ctrl: "); |
- | |
240 | motorread = 0; UpdateMotor = 0; SendMotorData(); while(!UpdateMotor); motorread = 0; // read the first I2C-Data |
- | |
241 | timer = SetDelay(2000); |
- | |
242 | for(i=0; i < MAX_MOTORS; i++) |
- | |
243 | { |
- | |
244 | UpdateMotor = 0; |
- | |
245 | SendMotorData(); |
- | |
246 | while(!UpdateMotor); |
- | |
247 | if(Mixer.Motor[i][0] > 0) // wait max 2 sec for the BL-Ctrls to wake up |
- | |
248 | { |
- | |
249 | while(!CheckDelay(timer) && !MotorPresent[i]) {UpdateMotor = 0; SendMotorData(); while(!UpdateMotor);}; |
- | |
250 | } |
- | |
251 | if(MotorPresent[i]) printf("%d ",i+1); |
- | |
252 | } |
- | |
253 | for(i=0; i < MAX_MOTORS; i++) |
- | |
254 | { |
- | |
255 | if(!MotorPresent[i] && Mixer.Motor[i][0] > 0) |
- | |
256 | { |
- | |
257 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i+1); |
- | |
258 | ServoActive = 1; // just in case the FC would be used as camera-stabilizer |
- | |
259 | } |
- | |
260 | MotorError[i] = 0; |
- | |
261 | } |
- | |
262 | printf("\n\r==================================="); |
- | |
263 | SendMotorData(); |
- | |
Line 264... | Line 236... | ||
264 | 236 | ||
265 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
237 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
266 | // + Check Settings |
238 | // + Check Settings |
267 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
239 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
Line 368... | Line 340... | ||
368 | { |
340 | { |
369 | GPS_Nick = 0; |
341 | GPS_Nick = 0; |
370 | GPS_Roll = 0; |
342 | GPS_Roll = 0; |
371 | } |
343 | } |
372 | } |
344 | } |
373 | if(!--I2CTimeout || MissingMotor) |
345 | if(!--I2CTimeout) |
374 | { |
346 | { |
375 | if(!I2CTimeout) |
347 | if(!I2CTimeout) |
376 | { |
348 | { |
377 | i2c_reset(); |
349 | i2c_reset(); |
378 | I2CTimeout = 5; |
350 | I2CTimeout = 5; |