diff --git a/baseflight.uvgui.timecop b/baseflight.uvgui.timecop
index 4bf5aae45b..c325186e66 100755
--- a/baseflight.uvgui.timecop
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+      </Doc>
+      <Doc>
+        <Name>lib\STM32F10x_StdPeriph_Driver\inc\stm32f10x_gpio.h</Name>
+        <ColumnNumber>15</ColumnNumber>
+        <TopLine>53</TopLine>
+        <CurrentLine>74</CurrentLine>
+      </Doc>
+      <Doc>
+        <Name>.\drv_pwm.c</Name>
         <ColumnNumber>0</ColumnNumber>
         <TopLine>1</TopLine>
-        <CurrentLine>24</CurrentLine>
+        <CurrentLine>1</CurrentLine>
       </Doc>
     </MDIGroup>
   </MDIGroups>
diff --git a/baseflight.uvopt b/baseflight.uvopt
index 3e4b1e61fa..cdb0cb202f 100755
--- a/baseflight.uvopt
+++ b/baseflight.uvopt
@@ -229,7 +229,7 @@
         <Mm>
           <WinNumber>1</WinNumber>
           <SubType>0</SubType>
-          <ItemText>write_p</ItemText>
+          <ItemText>buf</ItemText>
         </Mm>
       </MemoryWindow1>
       <MemoryWindow2>
@@ -545,10 +545,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>32</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
       <TopLine>1</TopLine>
-      <CurrentLine>8</CurrentLine>
+      <CurrentLine>23</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\main.c</PathWithFileName>
       <FilenameWithoutPath>main.c</FilenameWithoutPath>
@@ -559,10 +559,10 @@
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>14</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>22</TopLine>
+      <CurrentLine>28</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\board.h</PathWithFileName>
       <FilenameWithoutPath>board.h</FilenameWithoutPath>
@@ -575,8 +575,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>57</TopLine>
-      <CurrentLine>67</CurrentLine>
+      <TopLine>27</TopLine>
+      <CurrentLine>27</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\imu.c</PathWithFileName>
       <FilenameWithoutPath>imu.c</FilenameWithoutPath>
@@ -587,10 +587,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>8</ColumnNumber>
+      <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>5</TopLine>
-      <CurrentLine>5</CurrentLine>
+      <TopLine>624</TopLine>
+      <CurrentLine>631</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\mw.c</PathWithFileName>
       <FilenameWithoutPath>mw.c</FilenameWithoutPath>
@@ -601,10 +601,10 @@
       <FileType>5</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>20</ColumnNumber>
+      <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>154</TopLine>
+      <CurrentLine>167</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\mw.h</PathWithFileName>
       <FilenameWithoutPath>mw.h</FilenameWithoutPath>
@@ -618,7 +618,7 @@
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
       <TopLine>187</TopLine>
-      <CurrentLine>214</CurrentLine>
+      <CurrentLine>212</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\sensors.c</PathWithFileName>
       <FilenameWithoutPath>sensors.c</FilenameWithoutPath>
@@ -643,10 +643,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>12</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>180</TopLine>
-      <CurrentLine>212</CurrentLine>
+      <TopLine>162</TopLine>
+      <CurrentLine>181</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\serial.c</PathWithFileName>
       <FilenameWithoutPath>serial.c</FilenameWithoutPath>
@@ -680,8 +680,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>95</TopLine>
-      <CurrentLine>105</CurrentLine>
+      <TopLine>283</TopLine>
+      <CurrentLine>300</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_i2c.c</PathWithFileName>
       <FilenameWithoutPath>drv_i2c.c</FilenameWithoutPath>
@@ -694,8 +694,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>1</TopLine>
+      <CurrentLine>1</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_pwm.c</PathWithFileName>
       <FilenameWithoutPath>drv_pwm.c</FilenameWithoutPath>
@@ -706,10 +706,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>6</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>18</TopLine>
+      <CurrentLine>18</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_adc.c</PathWithFileName>
       <FilenameWithoutPath>drv_adc.c</FilenameWithoutPath>
@@ -722,8 +722,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>213</TopLine>
+      <CurrentLine>232</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_bmp085.c</PathWithFileName>
       <FilenameWithoutPath>drv_bmp085.c</FilenameWithoutPath>
@@ -776,10 +776,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>25</ColumnNumber>
+      <ColumnNumber>115</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>169</TopLine>
-      <CurrentLine>196</CurrentLine>
+      <TopLine>55</TopLine>
+      <CurrentLine>60</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\drv_system.c</PathWithFileName>
       <FilenameWithoutPath>drv_system.c</FilenameWithoutPath>
@@ -909,10 +909,10 @@
       <FileType>1</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>0</ColumnNumber>
+      <ColumnNumber>34</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>1095</TopLine>
+      <CurrentLine>1102</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_rcc.c</PathWithFileName>
       <FilenameWithoutPath>stm32f10x_rcc.c</FilenameWithoutPath>
@@ -953,8 +953,8 @@
       <Focus>0</Focus>
       <ColumnNumber>0</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>0</TopLine>
-      <CurrentLine>0</CurrentLine>
+      <TopLine>576</TopLine>
+      <CurrentLine>591</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\lib\STM32F10x_StdPeriph_Driver\src\stm32f10x_gpio.c</PathWithFileName>
       <FilenameWithoutPath>stm32f10x_gpio.c</FilenameWithoutPath>
@@ -979,10 +979,10 @@
       <FileType>2</FileType>
       <tvExp>0</tvExp>
       <Focus>0</Focus>
-      <ColumnNumber>17</ColumnNumber>
+      <ColumnNumber>21</ColumnNumber>
       <tvExpOptDlg>0</tvExpOptDlg>
-      <TopLine>122</TopLine>
-      <CurrentLine>133</CurrentLine>
+      <TopLine>133</TopLine>
+      <CurrentLine>143</CurrentLine>
       <bDave2>0</bDave2>
       <PathWithFileName>.\startup_stm32f10x_md.s</PathWithFileName>
       <FilenameWithoutPath>startup_stm32f10x_md.s</FilenameWithoutPath>
diff --git a/baseflight.uvproj b/baseflight.uvproj
index d05ca046cd..305ed6fe39 100755
--- a/baseflight.uvproj
+++ b/baseflight.uvproj
@@ -390,6 +390,45 @@
               <FileName>main.c</FileName>
               <FileType>1</FileType>
               <FilePath>.\main.c</FilePath>
+              <FileOption>
+                <CommonProperty>
+                  <UseCPPCompiler>2</UseCPPCompiler>
+                  <RVCTCodeConst>0</RVCTCodeConst>
+                  <RVCTZI>0</RVCTZI>
+                  <RVCTOtherData>0</RVCTOtherData>
+                  <ModuleSelection>0</ModuleSelection>
+                  <IncludeInBuild>2</IncludeInBuild>
+                  <AlwaysBuild>2</AlwaysBuild>
+                  <GenerateAssemblyFile>2</GenerateAssemblyFile>
+                  <AssembleAssemblyFile>2</AssembleAssemblyFile>
+                  <PublicsOnly>2</PublicsOnly>
+                  <StopOnExitCode>11</StopOnExitCode>
+                  <CustomArgument></CustomArgument>
+                  <IncludeLibraryModules></IncludeLibraryModules>
+                </CommonProperty>
+                <FileArmAds>
+                  <Cads>
+                    <interw>2</interw>
+                    <Optim>4</Optim>
+                    <oTime>2</oTime>
+                    <SplitLS>2</SplitLS>
+                    <OneElfS>2</OneElfS>
+                    <Strict>2</Strict>
+                    <EnumInt>2</EnumInt>
+                    <PlainCh>2</PlainCh>
+                    <Ropi>2</Ropi>
+                    <Rwpi>2</Rwpi>
+                    <wLevel>0</wLevel>
+                    <uThumb>2</uThumb>
+                    <VariousControls>
+                      <MiscControls></MiscControls>
+                      <Define></Define>
+                      <Undefine></Undefine>
+                      <IncludePath></IncludePath>
+                    </VariousControls>
+                  </Cads>
+                </FileArmAds>
+              </FileOption>
             </File>
             <File>
               <FileName>board.h</FileName>
diff --git a/drv_bmp085.c b/drv_bmp085.c
index e16d9707cd..202cfe7454 100755
--- a/drv_bmp085.c
+++ b/drv_bmp085.c
@@ -228,9 +228,10 @@ uint16_t bmp085_get_ut(void)
 {
     uint16_t ut;
     uint8_t data[2];    
+    uint16_t timeout = 10000;
 
     // wait in case of cockup
-    while (!convDone) {
+    while (!convDone && timeout-- > 0) {
         __nop();
     }
 
@@ -256,9 +257,10 @@ uint32_t bmp085_get_up(void)
 {
     uint32_t up = 0;
     uint8_t data[3];
+    uint16_t timeout = 10000;
     
     // wait in case of cockup
-    while (!convDone) {
+    while (!convDone && timeout-- > 0) {
         __nop();
     }
     
diff --git a/drv_i2c.c b/drv_i2c.c
index d07a0cbf05..e84a27d9d0 100755
--- a/drv_i2c.c
+++ b/drv_i2c.c
@@ -4,11 +4,27 @@
 // SCL  PB10
 // SDA  PB11
 
+#ifdef __gnuc__ // TODO check this
+#define DMB() asm volatile ("dmb":::"memory")
+#else
+#define DMB() __DMB()
+#endif
+
 static I2C_TypeDef *I2Cx;
 static void i2c_er_handler(void);
 static void i2c_ev_handler(void);
 static void i2cUnstick(void);
 
+void I2C1_ER_IRQHandler(void)
+{
+    i2c_er_handler();
+}
+
+void I2C1_EV_IRQHandler(void)
+{
+    i2c_ev_handler();
+}
+
 void I2C2_ER_IRQHandler(void)
 {
     i2c_er_handler();
@@ -19,6 +35,10 @@ void I2C2_EV_IRQHandler(void)
     i2c_ev_handler();
 }
 
+
+#define I2C_DEFAULT_TIMEOUT 30000
+static volatile uint16_t i2cErrorCount = 0;
+
 static volatile bool error = false;
 static volatile bool busy;
 
@@ -62,6 +82,7 @@ static void i2c_er_handler(void)
 bool i2cWrite(uint8_t addr_, uint8_t reg_, uint8_t data)
 {
     uint8_t my_data[1];
+    uint32_t timeout = I2C_DEFAULT_TIMEOUT;
 
     addr = addr_ << 1;
     reg = reg_;
@@ -81,12 +102,21 @@ bool i2cWrite(uint8_t addr_, uint8_t reg_, uint8_t data)
         I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE);        //allow the interrupts to fire off again
     }
     
-    while (busy); // TODO timeout
+    while (busy && --timeout > 0);
+    if (timeout == 0) {
+        i2cErrorCount++;
+        // reinit peripheral + clock out garbage
+        i2cInit(I2Cx);
+        return false;
+    }
+
     return true;
 }
 
 bool i2cRead(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
 {
+    uint32_t timeout = I2C_DEFAULT_TIMEOUT;
+
     addr = addr_ << 1;
     reg = reg_;
     writing = 0;
@@ -103,7 +133,15 @@ bool i2cRead(uint8_t addr_, uint8_t reg_, uint8_t len, uint8_t* buf)
         }
         I2C_ITConfig(I2Cx, I2C_IT_EVT | I2C_IT_ERR, ENABLE);        //allow the interrupts to fire off again
     }
-    while (busy); // TODO timeout
+
+    while (busy && --timeout > 0);
+    if (timeout == 0) {
+        i2cErrorCount++;
+        // reinit peripheral + clock out garbage
+        i2cInit(I2Cx);
+        return false;
+    }
+
     return true;
 }
 
@@ -130,17 +168,17 @@ void i2c_ev_handler(void)
     } else if (SReg_1 & 0x0002) {       //we just sent the address - EV6 in ref manual
         //Read SR1,2 to clear ADDR
         volatile uint8_t a;
-        __DMB(); // asm volatile ("dmb":::"memory");        //memory fence to control hardware
+        DMB(); // memory fence to control hardware
         if (bytes == 1 && reading && subaddress_sent) { //we are receiving 1 byte - EV6_3
             I2C_AcknowledgeConfig(I2Cx, DISABLE);       //turn off ACK
-            __DMB(); // asm volatile ("dmb":::"memory");
+            DMB();
             a = I2Cx->SR2;      //clear ADDR after ACK is turned off
             I2C_GenerateSTOP(I2Cx, ENABLE);     //program the stop
             final_stop = 1;
             I2C_ITConfig(I2Cx, I2C_IT_BUF, ENABLE);     //allow us to have an EV7
         } else {                //EV6 and EV6_1
             a = I2Cx->SR2;      //clear the ADDR here
-            __DMB(); // asm volatile ("dmb":::"memory");
+            DMB();
             if (bytes == 2 && reading && subaddress_sent) {     //rx 2 bytes - EV6_1
                 I2C_AcknowledgeConfig(I2Cx, DISABLE);   //turn off ACK
                 I2C_ITConfig(I2Cx, I2C_IT_BUF, DISABLE);        //disable TXE to allow the buffer to fill
@@ -255,6 +293,11 @@ void i2cInit(I2C_TypeDef *I2C)
 
 }
 
+uint16_t i2cGetErrorCounter(void)
+{
+    return i2cErrorCount;
+}
+
 static void i2cUnstick(void)
 {
     GPIO_InitTypeDef GPIO_InitStructure;
diff --git a/drv_i2c.h b/drv_i2c.h
index e3041911ab..f7148d7011 100755
--- a/drv_i2c.h
+++ b/drv_i2c.h
@@ -3,4 +3,4 @@
 void i2cInit(I2C_TypeDef *I2Cx);
 bool i2cWrite(uint8_t addr_, uint8_t reg, uint8_t data);
 bool i2cRead(uint8_t addr_, uint8_t reg, uint8_t len, uint8_t* buf);
-
+uint16_t i2cGetErrorCounter(void);
diff --git a/main.c b/main.c
index a661cb8464..2d6385e948 100755
--- a/main.c
+++ b/main.c
@@ -5,6 +5,14 @@ int main(void)
 {
     uint8_t i;
     
+#if 0
+    RCC->APB2ENR |= RCC_APB2Periph_GPIOB | RCC_APB2Periph_AFIO; // GPIOB + AFIO
+    AFIO->MAPR &= 0xF0FFFFFF;
+    AFIO->MAPR = 0x02000000;
+    GPIOB->BRR = 0x18; // set low 4 & 3
+    GPIOB->CRL = 0x44433444; // PIN 4 & 3 Output 50MHz
+#endif    
+
     systemInit();
 
     readEEPROM();
diff --git a/mw.c b/mw.c
index 259b07cc3e..b76176928b 100755
--- a/mw.c
+++ b/mw.c
@@ -15,7 +15,6 @@ uint8_t headFreeMode = 0;        // if head free mode is a activated
 uint8_t passThruMode = 0;        // if passthrough mode is activated
 int16_t headFreeModeHold;
 int16_t annex650_overrun_count = 0;
-int16_t i2c_errors_count = 0;
 uint8_t armed = 0;
 uint8_t vbat;            // battery voltage in 0.1V steps
 
diff --git a/mw.h b/mw.h
index 5d9ce61dfb..08c6afd99d 100755
--- a/mw.h
+++ b/mw.h
@@ -164,7 +164,6 @@ extern uint8_t calibratingM;
 extern uint16_t calibratingG;
 extern int16_t heading;
 extern int16_t annex650_overrun_count;
-extern int16_t i2c_errors_count;
 extern int32_t pressure;
 extern int16_t BaroAlt;
 extern uint8_t headFreeMode;
diff --git a/serial.c b/serial.c
index 7ab37fc925..d33d68fead 100755
--- a/serial.c
+++ b/serial.c
@@ -178,7 +178,7 @@ void serialCom(void)
             serialize16(intPowerTrigger1);
             serialize8(vbat);
             serialize16(BaroAlt);       // 4 variables are here for general monitoring purpose
-            serialize16(i2c_errors_count);      // debug2
+            serialize16(i2cGetErrorCounter());      // debug2
             serialize16(debug3);        // debug3
             serialize16(debug4);        // debug4
             serialize8('M');
diff --git a/startup_stm32f10x_md.s b/startup_stm32f10x_md.s
index 44065c6b5b..af36eeeaf4 100644
--- a/startup_stm32f10x_md.s
+++ b/startup_stm32f10x_md.s
@@ -141,9 +141,37 @@ Reset_Handler    PROC
                  LDR     R0, =__main
                  BX      R0
                  ENDP
-                 
+
+RCC_APB2ENR      EQU     0x40021018
+GPIO_AFIO_MASK   EQU     0x00000009
+GPIOB_CRL        EQU     0x40010C00
+GPIOB_BRR        EQU     0x40010C14
+AFIO_MAPR        EQU     0x40010004
+
 Reboot_Loader    PROC
                  EXPORT    Reboot_Loader
+
+                 ; RCC Enable GPIOB+AFIO
+                 LDR     R6, =RCC_APB2ENR
+                 LDR     R0, =GPIO_AFIO_MASK
+                 STR     R0, [R6]
+                 ; MAPR pt1
+                 LDR     R0, =AFIO_MAPR
+                 LDR     R1, [R0]
+                 BIC     R1, R1, #0xF000000
+                 STR     R1, [R0]
+                 ; MAPR pt2
+                 LSLS    R1, R0, #9
+                 STR     R1, [R0]
+                 ; BRR
+                 LDR     R4, =GPIOB_BRR
+                 MOVS    R0, #0x18
+                 STR     R0, [R4]
+                 ; CRL
+                 LDR     R1, =GPIOB_CRL
+                 LDR     R0, =0x44433444
+                 STR     R0, [R1]
+                 ; Reboot to ROM
                  LDR     R0, =0x1FFFF000
                  LDR     SP,[R0, #0]
                  LDR     R0,[R0, #4]