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@ -3464,15 +3464,12 @@ arming_start: |
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; Initialize flash keys to invalid values |
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; Initialize flash keys to invalid values |
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mov Flash_Key_1, #0 |
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mov Flash_Key_1, #0 |
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mov Flash_Key_2, #0 |
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mov Flash_Key_2, #0 |
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call wait100ms ; Wait for new throttle value |
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call wait100ms ; Wait for new throttle value |
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clr C |
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mov A, New_Rcp ; Load new RC pulse value |
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subb A, #1 ; Below stop? |
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jc arm_end_beep ; Yes - proceed |
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jmp arming_start ; No - start over |
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mov A, New_Rcp ; Load new RC pulse value |
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jnz arming_start ; Start over if not below stop |
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arm_end_beep: |
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; Beep arm sequence end signal |
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; Beep arm sequence end signal |
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clr IE_EA ; Disable all interrupts |
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clr IE_EA ; Disable all interrupts |
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call beep_f4 ; Signal that rcpulse is ready |
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call beep_f4 ; Signal that rcpulse is ready |
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@ -3543,17 +3540,13 @@ wait_for_power_on_no_beep: |
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jmp init_no_signal ; If pulses missing - go back to detect input signal |
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jmp init_no_signal ; If pulses missing - go back to detect input signal |
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wait_for_power_on_not_missing: |
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wait_for_power_on_not_missing: |
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clr C |
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mov A, New_Rcp ; Load new RC pulse value |
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mov A, New_Rcp ; Load new RC pulse value |
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subb A, #1 ; Higher than stop |
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jnc wait_for_power_on_nonzero ; Yes - proceed |
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jnz wait_for_power_on_nonzero ; Higher than stop, Yes - proceed |
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clr C |
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mov A, Dshot_Cmd |
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mov A, Dshot_Cmd |
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subb A, #1 ; 1 or higher |
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jnc check_dshot_cmd ; Check Dshot command |
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jnz check_dshot_cmd ; Check DShot command (if not zero) |
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ljmp wait_for_power_on_loop ; If not Dshot command - start over |
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ljmp wait_for_power_on_loop ; If notDShot command - start over |
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wait_for_power_on_nonzero: |
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wait_for_power_on_nonzero: |
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lcall wait100ms ; Wait to see if start pulse was only a glitch |
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lcall wait100ms ; Wait to see if start pulse was only a glitch |
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@ -4007,10 +4000,8 @@ run6: |
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jmp normal_run_checks |
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jmp normal_run_checks |
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direct_start_check_rcp: |
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direct_start_check_rcp: |
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clr C |
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mov A, New_Rcp ; Load new pulse value |
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mov A, New_Rcp ; Load new pulse value |
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subb A, #1 ; Check if pulse is below stop value |
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jc ($+5) |
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jz ($+5) ; Check if pulse is below stop value |
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ljmp run1 ; Continue to run |
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ljmp run1 ; Continue to run |
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@ -4037,10 +4028,8 @@ initial_run_check_startup_rot: |
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jb Flags3.PGM_BIDIR, initial_run_continue_run ; Check if bidirectional operation |
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jb Flags3.PGM_BIDIR, initial_run_continue_run ; Check if bidirectional operation |
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clr C |
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mov A, New_Rcp ; Load new pulse value |
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mov A, New_Rcp ; Load new pulse value |
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subb A, #1 ; Check if pulse is below stop value |
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jc ($+5) |
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jz ($+5) ; Check if pulse is below stop value |
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initial_run_continue_run: |
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initial_run_continue_run: |
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ljmp run1 ; Continue to run |
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ljmp run1 ; Continue to run |
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