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| Rev 1682 | Rev 1683 | ||
|---|---|---|---|
| Line 165... | Line 165... | ||
| 165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
165 | // +++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++ |
| 166 | // Check connected BL-Ctrls |
166 | // Check connected BL-Ctrls |
| 167 | BLFlags |= BLFLAG_READ_VERSION; |
167 | BLFlags |= BLFLAG_READ_VERSION; |
| 168 | motor_read = 0; // read the first I2C-Data |
168 | motor_read = 0; // read the first I2C-Data |
| 169 | SendMotorData(); |
169 | SendMotorData(); |
| - | 170 | timer = SetDelay(500); |
|
| 170 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
171 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| Line 171... | Line 172... | ||
| 171 | 172 | ||
| 172 | printf("\n\rFound BL-Ctrl: "); |
173 | printf("\n\rFound BL-Ctrl: "); |
| 173 | timer = SetDelay(4000); |
174 | timer = SetDelay(4000); |
| 174 | for(i=0; i < MAX_MOTORS; i++) |
175 | for(i=0; i < MAX_MOTORS; i++) |
| 175 | { |
176 | { |
| 176 | SendMotorData(); |
177 | SendMotorData(); |
| 177 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
178 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 178 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
179 | if(Mixer.Motor[i][0] > 0) // wait max 4 sec for the BL-Ctrls to wake up |
| 179 | { |
180 | { |
| 180 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
181 | while(!CheckDelay(timer) && !(Motor[i].State & MOTOR_STATE_PRESENT_MASK) ) |
| 181 | { |
182 | { |
| 182 | SendMotorData(); |
183 | SendMotorData(); |
| 183 | while(!(BLFlags & BLFLAG_TX_COMPLETE)); //wait for complete transfer |
184 | while(!(BLFlags & BLFLAG_TX_COMPLETE) && !CheckDelay(timer)); //wait for complete transfer |
| 184 | } |
185 | } |
| 185 | } |
186 | } |
| 186 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
187 | if(Motor[i].State & MOTOR_STATE_PRESENT_MASK) |
| 187 | { |
188 | { |
| Line 324... | Line 325... | ||
| 324 | beeptime = 15000; |
325 | beeptime = 15000; |
| 325 | BeepMuster = 0xA000; |
326 | BeepMuster = 0xA000; |
| 326 | } |
327 | } |
| 327 | GPS_Nick = 0; |
328 | GPS_Nick = 0; |
| 328 | GPS_Roll = 0; |
329 | GPS_Roll = 0; |
| 329 | //if(!beeptime) |
330 | //if(!beeptime) |
| 330 | FCFlags |= FCFLAG_SPI_RX_ERR; |
331 | FCFlags |= FCFLAG_SPI_RX_ERR; |
| 331 | } |
332 | } |
| 332 | if(UBat < BattLowVoltageWarning) |
333 | if(UBat < BattLowVoltageWarning) |
| 333 | { |
334 | { |
| 334 | FCFlags |= FCFLAG_LOWBAT; |
335 | FCFlags |= FCFLAG_LOWBAT; |