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| Rev 1868 | Rev 1960 | ||
|---|---|---|---|
| Line 196... | Line 196... | ||
| 196 | static uint8_t missing_motor = 0; |
196 | static uint8_t missing_motor = 0; |
| 197 | switch (twi_state++) { // First i2c_start from SendMotorData() |
197 | switch (twi_state++) { // First i2c_start from SendMotorData() |
| 198 | // Master Transmit |
198 | // Master Transmit |
| 199 | case 0: // TWI_STATE_MOTOR_TX |
199 | case 0: // TWI_STATE_MOTOR_TX |
| 200 | // skip motor if not used in mixer |
200 | // skip motor if not used in mixer |
| 201 | while ((Mixer.Motor[motor_write][MIX_THROTTLE] <= 0) && (motor_write |
201 | while ((mixerMatrix.motor[motor_write][MIX_THROTTLE] <= 0) && (motor_write < MAX_MOTORS)) |
| 202 | < MAX_MOTORS)) |
- | |
| 203 | motor_write++; |
202 | motor_write++; |
| 204 | if (motor_write >= MAX_MOTORS) { // writing finished, read now |
203 | if (motor_write >= MAX_MOTORS) { // writing finished, read now |
| 205 | motor_write = 0; |
204 | motor_write = 0; |
| 206 | twi_state = TWI_STATE_MOTOR_RX; |
205 | twi_state = TWI_STATE_MOTOR_RX; |
| 207 | I2C_WriteByte(0x53 + (motor_read * 2)); // select slave adress in rx mode |
206 | I2C_WriteByte(0x53 + (motor_read * 2)); // select slave adress in rx mode |
| Line 310... | Line 309... | ||
| 310 | if (motor[i].Present) |
309 | if (motor[i].Present) |
| 311 | printf("%d ",i+1); |
310 | printf("%d ",i+1); |
| 312 | } |
311 | } |
| Line 313... | Line 312... | ||
| 313 | 312 | ||
| 314 | for (i = 0; i < MAX_MOTORS; i++) { |
313 | for (i = 0; i < MAX_MOTORS; i++) { |
| 315 | if (!motor[i].Present && Mixer.Motor[i][MIX_THROTTLE] > 0) |
314 | if (!motor[i].Present && mixerMatrix.motor[i][MIX_THROTTLE] > 0) |
| 316 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i + 1); |
315 | printf("\n\r\n\r!! MISSING BL-CTRL: %d !!",i + 1); |
| 317 | motor[i].Error = 0; |
316 | motor[i].Error = 0; |
| 318 | } |
317 | } |