From 6c3ef981e248111ac87c6df1b48aab26b6e32309 Mon Sep 17 00:00:00 2001
From: midelic <midelic@gmail.com>
Date: Thu, 22 Sep 2016 20:11:59 +0300
Subject: [PATCH] Delete Multiprotocol.ino

---
 Multiprotocol.ino | 1558 ---------------------------------------------
 1 file changed, 1558 deletions(-)
 delete mode 100644 Multiprotocol.ino

diff --git a/Multiprotocol.ino b/Multiprotocol.ino
deleted file mode 100644
index 918d07d..0000000
--- a/Multiprotocol.ino
+++ /dev/null
@@ -1,1558 +0,0 @@
-/*********************************************************
-	Multiprotocol Tx code
-	by Midelic and Pascal Langer(hpnuts)
-	http://www.rcgroups.com/forums/showthread.php?t=2165676
-	https://github.com/pascallanger/DIY-Multiprotocol-TX-Module/edit/master/README.md
-	
-	Thanks to PhracturedBlue, Hexfet, Goebish, Victzh and all protocol developers
-	Ported  from deviation firmware 
-	
-	This project is free software: you can redistribute it and/or modify
-	it under the terms of the GNU General Public License as published by
-	the Free Software Foundation, either version 3 of the License, or
-	(at your option) any later version.
-	
-	Multiprotocol is distributed in the hope that it will be useful,
-	but WITHOUT ANY WARRANTY; without even the implied warranty of
-	MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-	GNU General Public License for more details.
-	
-	You should have received a copy of the GNU General Public License
-	along with Multiprotocol.  If not, see <http://www.gnu.org/licenses/>.
-*/
-#define STM32_board
-//#undef __cplusplus
-#if defined STM32_board
-#include "Multiprotocol_STM32.h"
-#include <EEPROM.h>
-#include <libmaple/usart.h>
-#include <libmaple/timer.h>
-#include <SPI.h>
-uint16_t OCR1A = 0;
-uint16_t TCNT1=0;
-HardwareTimer timer(2);
-#else
-#include <avr/eeprom.h>
-#include <util/delay.h>
-#include "Multiprotocol.h"
-#endif
-
-#include <avr/pgmspace.h>
-#include "_Config.h"
-#include "TX_Def.h"
-//Multiprotocol module configuration file
-
-//Global constants/variables
-uint32_t MProtocol_id;//tx id,
-uint32_t MProtocol_id_master;
-uint32_t Model_fixed_id=0;
-uint32_t fixed_id;
-uint32_t blink=0;
-uint8_t  prev_option;//change option value on the fly.
-uint8_t  prev_power=0xFD; // unused power value
-//
-uint16_t counter;
-uint8_t  channel;
-uint8_t  packet[40];
-
-#define NUM_CHN 16
-// Servo data
-uint16_t Servo_data[NUM_CHN];
-uint8_t  Servo_AUX;
-uint16_t servo_max_100,servo_min_100,servo_max_125,servo_min_125;
-
-#ifndef STM32_board
-uint16_t servo_max_100,servo_min_100,servo_max_125,servo_min_125;
-#endif
-// Protocol variables
-uint8_t  cyrfmfg_id[6];//for dsm2 and devo
-uint8_t  rx_tx_addr[5];
-uint8_t  phase;
-uint16_t bind_counter;
-uint8_t  bind_phase;
-uint8_t  binding_idx;
-uint16_t packet_period;
-uint8_t  packet_count;
-uint8_t  packet_sent;
-uint8_t  packet_length;
-uint8_t  hopping_frequency[23];
-uint8_t  *hopping_frequency_ptr;
-uint8_t  hopping_frequency_no=0;
-uint8_t  rf_ch_num;
-uint8_t  throttle, rudder, elevator, aileron;
-uint8_t  flags;
-uint16_t crc;
-uint8_t  crc8;
-uint16_t seed;
-//
-uint16_t state;
-uint8_t  len;
-uint8_t  RX_num;
-
-#if defined(FRSKYX_CC2500_INO) || defined(SFHSS_CC2500_INO)
-uint8_t calData[48];
-#endif
-
-//Channel mapping for protocols
-const uint8_t CH_AETR[]={AILERON, ELEVATOR, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
-const uint8_t CH_TAER[]={THROTTLE, AILERON, ELEVATOR, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
-const uint8_t CH_RETA[]={RUDDER, ELEVATOR, THROTTLE, AILERON, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
-const uint8_t CH_EATR[]={ELEVATOR, AILERON, THROTTLE, RUDDER, AUX1, AUX2, AUX3, AUX4, AUX5, AUX6, AUX7, AUX8};
-
-// Mode_select variables
-uint8_t mode_select;
-uint8_t protocol_flags=0,protocol_flags2=0;
-
-// PPM variable
-volatile uint16_t PPM_data[NUM_CHN];
-
-// Serial variables
-#ifdef INVERT_TELEMETRY
-// enable bit bash for serial
-#define	BASH_SERIAL 1
-#define	INVERT_SERIAL 1
-#endif
-#define BAUD 100000
-#define RXBUFFER_SIZE 25
-#define TXBUFFER_SIZE 32
-volatile uint8_t rx_buff[RXBUFFER_SIZE];
-volatile uint8_t rx_ok_buff[RXBUFFER_SIZE];
-#ifndef BASH_SERIAL
-volatile uint8_t tx_buff[TXBUFFER_SIZE];
-#endif
-volatile uint8_t discard_frame = 0;
-
-//Serial protocol
-uint8_t sub_protocol;
-uint8_t option;
-uint8_t cur_protocol[2];
-uint8_t prev_protocol=0;
-
-#ifdef STM32_board
-void PPM_decode();
-void ISR_COMPB();
-#endif
-// Telemetry
-#define MAX_PKT 27
-uint8_t pkt[MAX_PKT];//telemetry receiving packets
-#if defined(TELEMETRY)
-uint8_t pass = 0;
-uint8_t pktt[MAX_PKT];//telemetry receiving packets
-#ifndef BASH_SERIAL
-volatile uint8_t tx_head=0;
-volatile uint8_t tx_tail=0;
-#endif // BASH_SERIAL
-uint8_t v_lipo;
-int16_t RSSI_dBm;
-uint8_t telemetry_link=0; 
-uint8_t telemetry_counter=0;
-#endif 
-
-// Callback
-typedef uint16_t (*void_function_t) (void);//pointer to a function with no parameters which return an uint16_t integer
-void_function_t remote_callback = 0;
-static void CheckTimer(uint16_t (*cb)(void));
-
-// Init
-void setup()
-{
-	#ifdef XMEGA
-	PORTD.OUTSET = 0x17 ;
-	PORTD.DIRSET = 0xB2 ;
-	PORTD.DIRCLR = 0x4D ;
-	PORTD.PIN0CTRL = 0x18 ;
-	PORTD.PIN2CTRL = 0x18 ;
-	PORTE.DIRSET = 0x01 ;
-	PORTE.DIRCLR = 0x02 ;
-	PORTE.OUTSET = 0x01 ;
-	
-	for ( uint8_t count = 0 ; count < 20 ; count += 1 )
-	asm("nop") ;
-	PORTE.OUTCLR = 0x01 ;
-	#else	
-	// General pinout
-	#if defined STM32_board	
-	pinMode(CS_pin,OUTPUT);
-	pinMode(CC25_CSN_pin,OUTPUT);
-	pinMode(NRF_CSN_pin,OUTPUT);
-	pinMode(CYRF_CSN_pin,OUTPUT);
-	pinMode(CYRF_RST_pin,OUTPUT);
-	pinMode(CTRL1,OUTPUT);
-	pinMode(CTRL2,OUTPUT);
-	#if defined TELEMETRY
-	pinMode(TX_INV_pin,OUTPUT);
-	pinMode(RX_INV_pin,OUTPUT);
-	#if defined TARANIS
-	TX_INV_on;
-	RX_INV_on;
-	#else
-	TX_INV_off;
-	RX_INV_off;
-	#endif	
-	#endif
-	//pinMode(SDI_pin,OUTPUT);
-	//pinMode(SCK_pin,OUTPUT);//spi pins initialized with spi init
-	//pinMode(SDO_pin,INPUT);			
-	pinMode(BIND_pin,INPUT_PULLUP);
-	pinMode(PPM_pin,INPUT);
-	pinMode(S1_pin,INPUT_PULLUP);//dial switch
-	pinMode(S2_pin,INPUT_PULLUP);
-	pinMode(S3_pin,INPUT_PULLUP);
-	pinMode(S4_pin,INPUT_PULLUP);			
-	#else
-	DDRD = (1<<CS_pin)|(1<<SDI_pin)|(1<<SCLK_pin)|(1<<CS_pin)|(1<< CC25_CSN_pin);
-	DDRC = (1<<CTRL1)|(1<<CTRL2); //output
-	DDRC |= (1<<5);//RST pin A5(C5) CYRF output
-	DDRB  = _BV(0)|_BV(1);
-	PORTB = _BV(2)|_BV(3)|_BV(4)|_BV(5);//pullup 10,11,12 and bind button
-	PORTC = _BV(0);//A0 high pullup
-	#endif
-	#endif
-	
-	// Set Chip selects
-	CS_on;
-	CC25_CSN_on;
-	NRF_CSN_on;
-	CYRF_CSN_on;
-	//	Set SPI lines
-	#ifndef STM32_board
-	SDI_on;
-	SCK_off;
-	#endif
-	//#ifdef XMEGA
-	//	// SPI enable, master, prescale of 16
-	//	SPID.CTRL = SPI_ENABLE_bm | SPI_MASTER_bm | SPI_PRESCALER0_bm ;
-	//#endif	
-	// Timer1 config
-	#ifdef XMEGA
-	// TCC1 16-bit timer, clocked at 0.5uS
-	EVSYS.CH3MUX = 0x80 + 0x04 ;	// Prescaler of 16
-	TCC1.CTRLB = 0; TCC1.CTRLC = 0; TCC1.CTRLD = 0; TCC1.CTRLE = 0;
-	TCC1.INTCTRLA = 0; TCC1.INTCTRLB = 0;
-	TCC1.PER = 0xFFFF ;
-	TCC1.CNT = 0 ;
-	TCC1.CTRLA = 0x0B ;	// Event3 (prescale of 16)
-	#else
-	#if defined STM32_board//16 bits timer for 0.5 us
-	//select the counter clock.
-	start_timer2();//0.5us
-	#else	
-	TCCR1A = 0;
-	TCCR1B = (1 << CS11);	//prescaler8, set timer1 to increment every 0.5us(16Mhz) and start timer
-	#endif
-	#endif
-	
-	// Set servos positions
-	for(uint8_t i=0;i<NUM_CHN;i++)
-	Servo_data[i]=1500;
-	Servo_data[THROTTLE]=servo_min_100;
-#ifdef ENABLE_PPM
-	memcpy((void *)PPM_data,Servo_data, sizeof(Servo_data));
-#endif
-	
-	//Wait for every component to start
-	delayMilliseconds(100);
-	
-	// Read status of bind button
-	// Read status of bind button
-	if( IS_BIND_BUTTON_on )
-	BIND_BUTTON_FLAG_on;	// If bind button pressed save the status for protocol id reset under hubsan
-
-	// Read status of mode select binary switch
-	// after this mode_select will be one of {0000, 0001, ..., 1111}
-	#ifdef XMEGA
-	mode_select = MODE_SERIAL ;
-	#else
-	#if defined STM32_board		
-	mode_select= 0x0F -(uint8_t)(((GPIOA->regs->IDR)>>4)&0x0F);
-	#else
-	mode_select=0x0F - ( ( (PINB>>2)&0x07 ) | ( (PINC<<3)&0x08) );//encoder dip switches 1,2,4,8=>B2,B3,B4,C0
-	#endif
-	#endif
-	
-	//**********************************
-	//mode_select=0;	// here to test PPM
-	//**********************************
-	// Update LED
-	
-	LED_OFF;
-	LED_SET_OUTPUT; 	
-	// Read or create protocol id
-	MProtocol_id_master=random_id(10,false);
-	
-	#ifdef STM32_board
-	initSPI2();
-	#endif
-	//Init RF modules
-	modules_reset();
-	//LED_ON;	
-	//Protocol and interrupts initialization
-#ifdef ENABLE_PPM	
-	if(mode_select != MODE_SERIAL)
-	{ // PPM
-		mode_select--;
-		cur_protocol[0]	=	PPM_prot[mode_select].protocol;
-		sub_protocol   	=	PPM_prot[mode_select].sub_proto;
-		RX_num			=	PPM_prot[mode_select].rx_num;
-		MProtocol_id	=	RX_num + MProtocol_id_master;
-		option			=	PPM_prot[mode_select].option;
-		if(PPM_prot[mode_select].power)		POWER_FLAG_on;
-		if(PPM_prot[mode_select].autobind)	AUTOBIND_FLAG_on;
-		mode_select++;
-		servo_max_100=PPM_MAX_100; servo_min_100=PPM_MIN_100;
-		servo_max_125=PPM_MAX_125; servo_min_125=PPM_MIN_125;
-		
-		protocol_init();
-		
-		#ifndef XMEGA
-		#ifndef STM32_board	
-		//Configure PPM interrupt
-		EICRA |=(1<<ISC11);		// The rising edge of INT1 pin D3 generates an interrupt request
-		EIMSK |= (1<<INT1);		// INT1 interrupt enable
-		#endif		
-		#endif
-		#ifdef STM32_board
-		attachInterrupt(PPM_pin,PPM_decode,FALLING);
-		#endif
-		
-		#if defined(TELEMETRY)
-		PPM_Telemetry_serial_init();		// Configure serial for telemetry
-		#endif
-	}
-	else
-#endif
-	{ // Serial
-#ifdef ENABLE_SERIAL
-		cur_protocol[0]=0;
-		cur_protocol[1]=0;
-		prev_protocol=0;
-		servo_max_100=SERIAL_MAX_100; servo_min_100=SERIAL_MIN_100;
-		servo_max_125=SERIAL_MAX_125; servo_min_125=SERIAL_MIN_125;
-		Mprotocol_serial_init(); // Configure serial and enable RX interrupt
-#endif //ENABLE_SERIAL		
-	}
-
-}
-
-// Main
-void loop()
-{
-	uint16_t next_callback,diff=0xFFFF;
-	
-	while(1)
-	{
-		if(remote_callback==0 || diff>2*200)
-		{
-			do
-			{
-				Update_All();
-			}
-			while(remote_callback==0);
-		}
-		#ifdef XMEGA		
-		if( (TCC1.INTFLAGS & TC1_CCAIF_bm) != 0)
-		{
-			cli();					// disable global int
-			TCC1.CCA = TCC1.CNT ;	// Callback should already have been called... Use "now" as new sync point.
-			sei();					// enable global int
-		}
-		else
-		while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait before callback
-		#else
-		#if defined STM32_board
-		if((TIMER2_BASE->SR & TIMER_SR_CC1IF)!=0){
-			cli();
-			OCR1A = TIMER2_BASE->CNT;
-			TIMER2_BASE->CCR1=OCR1A; 
-			sei();
-		}
-		else
-		while((TIMER2_BASE->SR & TIMER_SR_CC1IF )==0);//walit till compare match	
-		#else
-		if( (TIFR1 & (1<<OCF1A)) != 0)
-		{
-			cli();			// disable global int
-			OCR1A=TCNT1;	// Callback should already have been called... Use "now" as new sync point.
-			sei();			// enable global int
-		}
-		else
-		while((TIFR1 & (1<<OCF1A)) == 0); // wait before callback
-		#endif		
-		#endif
-		do
-		{
-			#ifndef STM32_board			
-			TX_ON;
-			TX_MAIN_PAUSE_on;
-			tx_pause();
-			#endif
-			next_callback=remote_callback();
-			#ifndef STM32_board	
-			TX_MAIN_PAUSE_off;
-			tx_resume();
-			TX_OFF;
-			#endif		   
-			while(next_callback>4000)
-			{ 										// start to wait here as much as we can...
-				next_callback-=2000;
-				
-				#ifdef XMEGA
-				cli();								// disable global int
-				TCC1.CCA +=2000*2;					// set compare A for callback
-				TCC1.INTFLAGS = TC1_CCAIF_bm ;		// clear compare A=callback flag
-				sei();								// enable global int
-				Update_All();
-				if(IS_CHANGE_PROTOCOL_FLAG_on)
-				break; // Protocol has been changed
-				while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait 2ms...
-				#else
-				
-				#if defined STM32_board	
-				cli();
-				OCR1A+=2000*2;// clear compare A=callback flag 
-				TIMER2_BASE->CCR1=OCR1A;
-				TCNT1 = TIMER2_BASE->CNT; 
-				TIMER2_BASE->SR &= ~TIMER_SR_CC1IF;	//clear compare Flag
-				sei();
-				Update_All();
-				if(IS_CHANGE_PROTOCOL_FLAG_on)
-				break; // Protocol has been changed
-				while((TIMER2_BASE->SR &TIMER_SR_CC1IF)==0);//2ms wait
-				#else
-				cli();
-				OCR1A+=2000*2;	// clear compare A=callback flag 
-				TIFR1=(1<<OCF1A);					// clear compare A=callback flag
-				sei();								// enable global int
-				Update_All();
-				if(IS_CHANGE_PROTOCOL_FLAG_on)
-				break; // Protocol has been changed
-				while((TIFR1 & (1<<OCF1A)) == 0);	// wait 2ms...
-				#endif			
-				#endif
-			}
-			// at this point we have between 2ms and 4ms in next_callback
-			next_callback *= 2 ;									// disable global int
-			#ifdef XMEGA
-			cli();
-			TCC1.CCA +=next_callback;				// set compare A for callback
-			TCC1.INTFLAGS = TC1_CCAIF_bm ;			// clear compare A=callback flag
-			diff=TCC1.CCA-TCC1.CNT;					// compare timer and comparator
-			sei();// enable global int			
-			#else
-			#if defined STM32_board
-			OCR1A+=next_callback;
-			cli();
-			TIMER2_BASE->CCR1 = OCR1A;
-			TCNT1 = TIMER2_BASE->CNT;
-			TIMER2_BASE->SR &= ~TIMER_SR_CC1IF;//clear compare Flag write zero 
-			diff=OCR1A-TCNT1;						// compare timer and comparator
-			sei();
-			#else
-			cli();
-			OCR1A+=next_callback;					// set compare A for callback
-			TIFR1=(1<<OCF1A);						// clear compare A=callback flag
-			diff=OCR1A-TCNT1;						// compare timer and comparator
-			sei();									// enable global int
-			#endif		
-			#endif
-		}
-		while(diff&0x8000);	 						// Callback did not took more than requested time for next callback
-		// so we can launch Update_All before next callback
-	}
-}
-
-
-void Update_All()
-{
-#ifndef STM32_board
-	TX_ON;
-	NOP();
-	TX_OFF;
-#endif
-
-#ifdef ENABLE_SERIAL
-	if(mode_select==MODE_SERIAL && IS_RX_FLAG_on)	// Serial mode and something has been received
-	{
-		update_serial_data();	// Update protocol and data
-		update_aux_flags();
-		if(IS_CHANGE_PROTOCOL_FLAG_on)
-		{ // Protocol needs to be changed
-			LED_OFF;									//led off during protocol init
-			modules_reset();							//reset all modules
-			protocol_init();							//init new protocol
-		}
-	}
-#endif //ENABLE_SERIAL
-#ifdef ENABLE_PPM
-	if(mode_select!=MODE_SERIAL && IS_PPM_FLAG_on)	// PPM mode and a full frame has been received
-	{
-		for(uint8_t i=0;i<NUM_CHN;i++)
-		{ // update servo data without interrupts to prevent bad read in protocols
-			uint16_t temp_ppm ;
-			cli();	// disable global int
-			temp_ppm = PPM_data[i] ;
-			sei();	// enable global int
-			if(temp_ppm<PPM_MIN_125) temp_ppm=PPM_MIN_125;
-			else if(temp_ppm>PPM_MAX_125) temp_ppm=PPM_MAX_125;
-			Servo_data[i]= temp_ppm ;
-		}
-		update_aux_flags();
-		PPM_FLAG_off;	// wait for next frame before update
-	}
-#endif //ENABLE_PPM
-	update_led_status();
-	#if defined(TELEMETRY)
-	uint8_t protocol=cur_protocol[0]&0x1F;
-	if( (protocol==MODE_FRSKY) || (protocol==MODE_HUBSAN) || (protocol==MODE_FRSKYX) || (protocol==MODE_DSM2) )
-	TelemetryUpdate();
-	#endif
-#ifndef STM32_board
-	TX_ON;
-	NOP();
-	TX_OFF;
-#endif
-}
-
-
-// Update Servo_AUX flags based on servo AUX positions
-static void update_aux_flags(void)
-{
-	Servo_AUX=0;
-	for(uint8_t i=0;i<8;i++)
-	if(Servo_data[AUX1+i]>PPM_SWITCH)
-	Servo_AUX|=1<<i;
-}
-
-// Update led status based on binding and serial
-static void update_led_status(void)
-{
-	if(blink<millis())
-	{
-		if(cur_protocol[0]==0)	// No valid serial received at least once
-		blink+=BLINK_SERIAL_TIME;					//blink slowly while waiting a valid serial input
-		else
-		if(remote_callback == 0)
-		{ // Invalid protocol
-			if(IS_LED_on)							//flash to indicate invalid protocol
-			blink+=BLINK_BAD_PROTO_TIME_LOW;
-			else
-			blink+=BLINK_BAD_PROTO_TIME_HIGH;
-		}
-		else
-		if(IS_BIND_DONE_on)
-		LED_OFF;									//bind completed -> led on
-		else
-		blink+=BLINK_BIND_TIME;				//blink fastly during binding
-		LED_TOGGLE;
-	}
-}
-
-inline void tx_pause()
-{
-#ifdef TELEMETRY
-	#ifdef XMEGA
-	USARTC0.CTRLA &= ~0x03 ;		// Pause telemetry by disabling transmitter interrupt
-	#else
-	#ifndef BASH_SERIAL
-	#ifdef STM32_board
-	USART3_BASE->CR1 &= ~ USART_CR1_TXEIE;//disable TX intrerupt
-	#else
-	UCSR0B &= ~_BV(UDRIE0);		// Pause telemetry by disabling transmitter interrupt
-	#endif	
-	#endif
-	#endif
-#endif
-}
-
-
-inline void tx_resume()
-{
-#ifdef TELEMETRY
-	if(!IS_TX_PAUSE_on)
-	#ifdef XMEGA
-	USARTC0.CTRLA = (USARTC0.CTRLA & 0xFC) | 0x01 ;	// Resume telemetry by enabling transmitter interrupt
-	#else
-	#ifdef STM32_board
-	USART3_BASE->CR1 |= USART_CR1_TXEIE;// TX intrrupt enabled
-	#else		
-	UCSR0B |= _BV(UDRIE0);			// Resume telemetry by enabling transmitter interrupt
-	#endif	
-	#endif
-#endif
-}
-
-
-#ifdef STM32_board	
-void start_timer2(){	
-	// Pause the timer while we're configuring it
-	timer.pause();
-	TIMER2_BASE->PSC = 35;//36-1;for 72 MHZ /0.5sec/(35+1)
-	TIMER2_BASE->ARR = 0xFFFF;	//count till max
-	timer.setMode(TIMER_CH1, TIMER_OUTPUT_COMPARE);
-	timer.setMode(TIMER_CH2, TIMER_OUTPUT_COMPARE);
-	// Refresh the timer's count, prescale, and overflow
-	timer.refresh();
-	timer.resume();
-}
-#endif
-
-// Protocol scheduler
-static void CheckTimer(uint16_t (*cb)(void))
-{ 
-	uint16_t next_callback,diff;
-	#ifdef XMEGA		
-	if( (TCC1.INTFLAGS & TC1_CCAIF_bm) != 0)
-	{
-		cli();					// disable global int
-		TCC1.CCA = TCC1.CNT ;	// Callback should already have been called... Use "now" as new sync point.
-		sei();					// enable global int
-	}
-	else
-	while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait before callback
-	#else
-	#if defined STM32_board
-	if((TIMER2_BASE->SR & TIMER_SR_CC1IF)!=0){
-		cli();
-		OCR1A = TIMER2_BASE->CNT;
-		TIMER2_BASE->CCR1=OCR1A; 
-		sei();
-	}
-	else
-	while((TIMER2_BASE->SR & TIMER_SR_CC1IF )==0);//walit till compare match	
-	#else
-	if( (TIFR1 & (1<<OCF1A)) != 0)
-	{
-		cli();			// disable global int
-		OCR1A=TCNT1;	// Callback should already have been called... Use "now" as new sync point.
-		sei();			// enable global int
-	}
-	else
-	while((TIFR1 & (1<<OCF1A)) == 0); // wait before callback
-	#endif		
-	#endif
-	do
-	{
-		next_callback=cb();
-		while(next_callback>4000)
-		{ 										// start to wait here as much as we can...
-			next_callback=next_callback-2000;
-			
-			#ifdef XMEGA
-			cli();								// disable global int
-			TCC1.CCA +=2000*2;					// set compare A for callback
-			TCC1.INTFLAGS = TC1_CCAIF_bm ;		// clear compare A=callback flag
-			sei();								// enable global int
-			while((TCC1.INTFLAGS & TC1_CCAIF_bm) == 0); // wait 2ms...
-			#else
-			
-			#if defined STM32_board	
-			cli();
-			OCR1A+=2000*2;// clear compare A=callback flag 
-			TIMER2_BASE->CCR1=OCR1A;
-			TCNT1 = TIMER2_BASE->CNT; 
-			TIMER2_BASE->SR &= ~TIMER_SR_CC1IF;	//clear compare Flag
-			sei();
-			while((TIMER2_BASE->SR &TIMER_SR_CC1IF)==0);//2ms wait
-			#else
-			cli();
-			OCR1A+=2000*2;	// clear compare A=callback flag 
-			TIFR1=(1<<OCF1A);					// clear compare A=callback flag
-			sei();								// enable global int
-			while((TIFR1 & (1<<OCF1A)) == 0);	// wait 2ms...
-			#endif			
-			#endif
-		}
-		// at this point we have between 2ms and 4ms in next_callback
-		next_callback *= 2 ;									// disable global int
-		#ifdef XMEGA
-		cli();
-		TCC1.CCA +=next_callback;				// set compare A for callback
-		TCC1.INTFLAGS = TC1_CCAIF_bm ;			// clear compare A=callback flag
-		diff=TCC1.CCA-TCC1.CNT;					// compare timer and comparator
-		sei();// enable global int			
-		#else
-		#if defined STM32_board
-		OCR1A+=next_callback;
-		cli();
-		TIMER2_BASE->CCR1 = OCR1A;
-		TCNT1 = TIMER2_BASE->CNT;
-		TIMER2_BASE->SR &= ~TIMER_SR_CC1IF;//clear compare Flag write zero 
-		diff=OCR1A-TCNT1;						// compare timer and comparator
-		sei();
-		#else
-		cli();
-		OCR1A+=next_callback;					// set compare A for callback
-		TIFR1=(1<<OCF1A);						// clear compare A=callback flag
-		diff=OCR1A-TCNT1;						// compare timer and comparator
-		sei();									// enable global int
-		#endif		
-		#endif
-	}
-	while(diff&0x8000);	 						// Callback did not took more than requested time for next callback
-	// so we can let main do its stuff before next callback
-}
-
-// Protocol start
-static void protocol_init()
-{
-	uint16_t next_callback=0;		// Default is immediate call back
-	remote_callback = 0;
-	
-	set_rx_tx_addr(MProtocol_id);
-	// reset telemetry
-	#ifdef TELEMETRY
-	#ifndef STM32_board
-	tx_pause();
-	#endif
-	pass=0;
-	telemetry_link=0;
-	tx_tail=0;
-	tx_head=0;
-	#endif
-	
-	blink=millis();
-	if(IS_BIND_BUTTON_FLAG_on)
-	AUTOBIND_FLAG_on;
-	if(IS_AUTOBIND_FLAG_on)
-	BIND_IN_PROGRESS;			// Indicates bind in progress for blinking bind led
-	else
-	BIND_DONE;
-	
-	CTRL1_on;	//NRF24L01 antenna RF3 by default
-	CTRL2_off;	//NRF24L01 antenna RF3 by default
-	
-	switch(cur_protocol[0]&0x1F)	// Init the requested protocol
-	{
-		#if defined(FLYSKY_A7105_INO)
-	case MODE_FLYSKY:
-		CTRL1_off;	//antenna RF1
-		next_callback = initFlySky();
-		remote_callback = ReadFlySky;
-		break;
-		#endif
-		#if defined(HUBSAN_A7105_INO)
-	case MODE_HUBSAN:
-		CTRL1_off;	//antenna RF1
-		if(IS_BIND_BUTTON_FLAG_on) random_id(10,true); // Generate new ID if bind button is pressed.	
-		next_callback = initHubsan();
-		remote_callback = ReadHubsan;
-		break;
-		#endif
-		#if defined(FRSKY_CC2500_INO)
-	case MODE_FRSKY:
-		CTRL1_off;	//antenna RF2
-		CTRL2_on;
-		next_callback = initFrSky_2way();
-		remote_callback = ReadFrSky_2way;
-		break;
-		#endif
-		#if defined(FRSKYX_CC2500_INO)
-	case MODE_FRSKYX:
-		CTRL1_off;	//antenna RF2
-		CTRL2_on;
-		next_callback = initFrSkyX();
-		remote_callback = ReadFrSkyX;
-		break;
-		#endif
-		#if defined(SFHSS_CC2500_INO)
-	case MODE_SFHSS:
-		CTRL1_off;	//antenna RF2
-		CTRL2_on;
-		next_callback = initSFHSS();
-		remote_callback = ReadSFHSS;
-		break;
-		#endif
-		#if defined(DSM2_CYRF6936_INO)
-	case MODE_DSM2:
-		CTRL2_on;	//antenna RF4
-		next_callback = initDsm2();
-		//Servo_data[2]=1500;//before binding
-		remote_callback = ReadDsm2;
-		break;
-		#endif
-		#if defined(DEVO_CYRF6936_INO)
-	case MODE_DEVO:
-		#ifdef ENABLE_PPM
-		if(mode_select) //PPM mode
-		{
-			if(IS_BIND_BUTTON_FLAG_on)
-			{
-				#ifdef STM32_board
-				EEPROM.write((200+mode_select),0x00);		// reset to autobind mode for the current model
-				#else
-				eeprom_write_byte((uint8_t*)(30+mode_select),0x00);		// reset to autobind mode for the current model
-				#endif	
-				option=0;
-			}
-			else
-			{	
-				#ifdef STM32_board
-				option=EEPROM.read((200+mode_select));	// load previous mode: autobind or fixed id
-				#else
-				option=eeprom_read_byte((uint8_t*)(30+mode_select));	// load previous mode: autobind or fixed id
-				#endif	
-				if(option!=1) option=0;									// if not fixed id mode then it should be autobind								// if not fixed id mode then it should be autobind
-			}
-		}
-		#endif //ENABLE_PPM
-		CTRL2_on;	//antenna RF4
-		next_callback = DevoInit();
-		remote_callback = devo_callback;
-		break;
-		#endif
-		#if defined(J6PRO_CYRF6936_INO)
-	case MODE_J6PRO:
-		CTRL2_on;	//antenna RF4
-		next_callback = initJ6Pro();
-		remote_callback = ReadJ6Pro;
-		break;
-		#endif
-		#if defined(HISKY_NRF24L01_INO)
-	case MODE_HISKY:
-		next_callback=initHiSky();
-		remote_callback = hisky_cb;
-		break;
-		#endif
-		#if defined(V2X2_NRF24L01_INO)
-	case MODE_V2X2:
-		next_callback = initV2x2();
-		remote_callback = ReadV2x2;
-		break;
-		#endif
-		#if defined(YD717_NRF24L01_INO)
-	case MODE_YD717:
-		next_callback=initYD717();
-		remote_callback = yd717_callback;
-		break;
-		#endif
-		#if defined(KN_NRF24L01_INO)
-	case MODE_KN:
-		next_callback = initKN();
-		remote_callback = kn_callback;
-		break;
-		#endif
-		#if defined(SYMAX_NRF24L01_INO)
-	case MODE_SYMAX:
-		next_callback = initSymax();
-		remote_callback = symax_callback;
-		break;
-		#endif
-		#if defined(SLT_NRF24L01_INO)
-	case MODE_SLT:
-		next_callback=initSLT();
-		remote_callback = SLT_callback;
-		break;
-		#endif
-		#if defined(CX10_NRF24L01_INO)
-	case MODE_CX10:
-		next_callback=initCX10();
-		remote_callback = CX10_callback;
-		break;
-		#endif
-		#if defined(CG023_NRF24L01_INO)
-	case MODE_CG023:
-		next_callback=initCG023();
-		remote_callback = CG023_callback;
-		break;
-		#endif
-		#if defined(BAYANG_NRF24L01_INO)
-	case MODE_BAYANG:
-		next_callback=initBAYANG();
-		remote_callback = BAYANG_callback;
-		break;
-		#endif
-		#if defined(ESKY_NRF24L01_INO)
-	case MODE_ESKY:
-		next_callback=initESKY();
-		remote_callback = ESKY_callback;
-		break;
-		#endif
-		#if defined(MT99XX_NRF24L01_INO)
-	case MODE_MT99XX:
-		next_callback=initMT99XX();
-		remote_callback = MT99XX_callback;
-		break;
-		#endif
-		#if defined(MJXQ_NRF24L01_INO)
-	case MODE_MJXQ:
-		next_callback=initMJXQ();
-		remote_callback = MJXQ_callback;
-		break;
-		#endif
-		#if defined(SHENQI_NRF24L01_INO)
-	case MODE_SHENQI:
-		next_callback=initSHENQI();
-		remote_callback = SHENQI_callback;
-		break;
-		#endif
-		#if defined(FY326_NRF24L01_INO)
-	case MODE_FY326:
-		next_callback=initFY326();
-		remote_callback = FY326_callback;
-		break;
-		#endif
-		#if defined(FQ777_NRF24L01_INO)
-	case MODE_FQ777:
-		next_callback=initFQ777();
-		remote_callback = FQ777_callback;
-		break;
-		#endif
-		#if defined(ASSAN_NRF24L01_INO)
-	case MODE_ASSAN:
-		next_callback=initASSAN();
-		remote_callback = ASSAN_callback;
-		break;
-		#endif
-		
-	}
-	
-	if(next_callback>32000)
-	{ // next_callback should not be more than 32767 so we will wait here...
-		uint16_t temp=(next_callback>>10)-2;
-		delay(temp);
-		next_callback-=temp<<10;	// between 2-3ms left at this stage
-	}
-
-	#ifdef XMEGA
-	cli();							// disable global int
-	TCC1.CCA = TCC1.CNT + next_callback*2;	// set compare A for callback
-	sei();							// enable global int
-	TCC1.INTFLAGS = TC1_CCAIF_bm ;	// clear compare A flag
-	#else
-	#if defined STM32_board 
-	cli();							// disable global int
-	TCNT1 = TIMER2_BASE->CNT;			
-	OCR1A=TCNT1+next_callback*2;
-	TIMER2_BASE->CCR1 = OCR1A;
-	sei();
-	TIMER2_BASE->SR &= ~TIMER_SR_CC1IF;//clear compare Flag write zero 
-	#else
-	cli();							// disable global int
-	OCR1A=TCNT1+next_callback*2;	// set compare A for callback
-	sei();							// enable global int
-	TIFR1=(1<<OCF1A);				// clear compare A flag
-	#endif	
-	#endif
-	BIND_BUTTON_FLAG_off;			// do not bind/reset id anymore even if protocol change
-}
-
-static void update_serial_data()
-{
-	RX_DONOTUPDTAE_on;
-	RX_FLAG_off;								//data has been processed	
-	if(rx_ok_buff[0]&0x20)						//check range
-	RANGE_FLAG_on;
-	else
-	RANGE_FLAG_off;		
-	if(rx_ok_buff[0]&0xC0)						//check autobind(0x40) & bind(0x80) together
-	AUTOBIND_FLAG_on;
-	else
-	AUTOBIND_FLAG_off;
-	if(rx_ok_buff[1]&0x80)						//if rx_ok_buff[1] ==1,power is low ,0-power high
-	POWER_FLAG_off;	//power low
-	else
-	POWER_FLAG_on;	//power high
-	
-	option=rx_ok_buff[2];
-	
-	if( ((rx_ok_buff[0]&0x5F) != (cur_protocol[0]&0x5F)) || ( (rx_ok_buff[1]&0x7F) != cur_protocol[1] ) )
-	{ // New model has been selected
-		prev_protocol=cur_protocol[0]&0x1F;		//store previous protocol so we can reset the module
-		cur_protocol[1] = rx_ok_buff[1]&0x7F;	//store current protocol
-		CHANGE_PROTOCOL_FLAG_on;				//change protocol
-		sub_protocol=(rx_ok_buff[1]>>4)& 0x07;					//subprotocol no (0-7) bits 4-6
-		RX_num=rx_ok_buff[1]& 0x0F;
-		MProtocol_id=MProtocol_id_master+RX_num;	//personalized RX bind + rx num // rx_num bits 0---3
-	}
-	else
-	if( ((rx_ok_buff[0]&0x80)!=0) && ((cur_protocol[0]&0x80)==0) )	// Bind flag has been set
-	CHANGE_PROTOCOL_FLAG_on;			//restart protocol with bind
-	else
-	cur_protocol[0] = rx_ok_buff[0];			//store current protocol
-	
-	// decode channel values
-	volatile uint8_t *p=rx_ok_buff+2;
-	uint8_t dec=-3;
-	for(uint8_t i=0;i<NUM_CHN;i++)
-	{
-		dec+=3;
-		if(dec>=8)
-		{
-			dec-=8;
-			p++;
-		}
-		p++;
-		Servo_data[i]=((((*((uint32_t *)p))>>dec)&0x7FF)*5)/8+860;	//value range 860<->2140 -125%<->+125%
-	}
-	RX_DONOTUPDTAE_off;							
-
-#ifdef XMEGA
-	cli();
-	#else
-	#ifdef STM32_board
-	//here code fro RX intrurpt disable
-	USART3_BASE->CR1 &= ~ USART_CR1_RXNEIE;//disable 
-	#else
-	UCSR0B &= ~(1<<RXCIE0);	// RX interrupt disable
-	#endif	
-	#endif
-	if(IS_RX_MISSED_BUFF_on)	// If the buffer is still valid
-	{	memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
-		RX_FLAG_on;				// data to be processed next time...
-		RX_MISSED_BUFF_off;
-	}
-	#ifdef XMEGA
-	sei();
-	#else
-	#ifdef STM32_board
-	//here code fro RX intrurpt enable
-	USART3_BASE->CR1 |=  USART_CR1_RXNEIE ;//disable 
-	#else
-	UCSR0B |= (1<<RXCIE0) ;	// RX interrupt enable
-	#endif	
-	#endif
-}
-
-void modules_reset()
-{
-	#ifdef	CC2500_INSTALLED
-	CC2500_Reset();
-	#endif
-	#ifdef	A7105_INSTALLED
-	A7105_Reset();
-	#endif
-	#ifdef	CYRF6936_INSTALLED
-	CYRF_Reset();
-	#endif
-	#ifdef	NFR24L01_INSTALLED
-	NRF24L01_Reset();
-	#endif
-
-	//Wait for every component to reset
-	delayMilliseconds(100);
-	prev_power=0xFD;		// unused power value
-}
-
-#ifndef STM32_board
-int16_t map( int16_t x, int16_t in_min, int16_t in_max, int16_t out_min, int16_t out_max)
-{
-	//  return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
-	long y ;
-	x -= in_min ;
-	y = out_max - out_min ;
-	y *= x ;
-	x = y / (in_max - in_min) ;
-	return x  + out_min ;
-}
-#endif
-// Channel value is converted to 8bit values full scale
-uint8_t convert_channel_8b(uint8_t num)
-{
-	return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,0,255));	
-}
-
-// Channel value is converted to 8bit values to provided values scale
-uint8_t convert_channel_8b_scale(uint8_t num,uint8_t min,uint8_t max)
-{
-	return (uint8_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,min,max));	
-}
-
-// Channel value is converted sign + magnitude 8bit values
-uint8_t convert_channel_s8b(uint8_t num)
-{
-	uint8_t ch;
-	ch = convert_channel_8b(num);
-	return (ch < 128 ? 127-ch : ch);	
-}
-
-// Channel value is converted to 10bit values
-uint16_t convert_channel_10b(uint8_t num)
-{
-	return (uint16_t) (map(limit_channel_100(num),servo_min_100,servo_max_100,1,1023));
-}
-
-// Channel value is multiplied by 1.5
-uint16_t convert_channel_frsky(uint8_t num)
-{
-	return Servo_data[num] + Servo_data[num]/2;
-}
-
-// Channel value is converted for HK310
-void convert_channel_HK310(uint8_t num, uint8_t *low, uint8_t *high)
-{
-	uint16_t temp=0xFFFF-(4*Servo_data[num])/3;
-	*low=(uint8_t)(temp&0xFF);
-	*high=(uint8_t)(temp>>8);
-}
-
-// Channel value is limited to PPM_100
-uint16_t limit_channel_100(uint8_t ch)
-{
-	if(Servo_data[ch]>servo_max_100)
-	return servo_max_100;
-	else
-	if (Servo_data[ch]<servo_min_100)
-	return servo_min_100;
-	return Servo_data[ch];
-}
-
-//	void Serial_write(uint8_t data){
-//		return;
-//	}
-
-static void Mprotocol_serial_init()
-{
-	
-	#ifdef XMEGA
-	
-	PORTC.OUTSET = 0x08 ;
-	PORTC.DIRSET = 0x08 ;
-	
-	USARTC0.BAUDCTRLA = 19 ;
-	USARTC0.BAUDCTRLB = 0 ;
-	
-	USARTC0.CTRLB = 0x18 ;
-	USARTC0.CTRLA = (USARTC0.CTRLA & 0xCF) | 0x10 ;
-	USARTC0.CTRLC = 0x2B ;
-	USARTC0.DATA ;
-	#else
-	
-	#if defined STM32_board
-	Serial1.begin(100000,SERIAL_8E2);//USART2
-	Serial2.begin(100000,SERIAL_8E2);//USART3 
-	USART2_BASE->CR1 |= USART_CR1_PCE_BIT;
-	USART3_BASE->CR1 &= ~ USART_CR1_RE;//disable 
-	USART2_BASE->CR1 &= ~ USART_CR1_TE;//disable transmit
-	#else	
-	#include <util/setbaud.h>	
-	UBRR0H = UBRRH_VALUE;
-	UBRR0L = UBRRL_VALUE;
-	UCSR0A = 0 ;	// Clear X2 bit
-	//Set frame format to 8 data bits, even parity, 2 stop bits
-	UCSR0C = (1<<UPM01)|(1<<USBS0)|(1<<UCSZ01)|(1<<UCSZ00);
-	while ( UCSR0A & (1 << RXC0) )//flush receive buffer
-	UDR0;
-	//enable reception and RC complete interrupt
-	UCSR0B = (1<<RXEN0)|(1<<RXCIE0);//rx enable and interrupt
-	#ifdef DEBUG_TX
-	TX_SET_OUTPUT;
-	#else
-	#if defined(TELEMETRY)
-	initTXSerial( SPEED_100K ) ;
-	#endif //TELEMETRY
-	#endif
-	#endif
-	#endif
-}
-
-#if defined(TELEMETRY)
-void PPM_Telemetry_serial_init()
-{
-	initTXSerial( SPEED_9600 ) ;
-}
-#endif
-
-
-// Convert 32b id to rx_tx_addr
-static void set_rx_tx_addr(uint32_t id)
-{ // Used by almost all protocols
-	rx_tx_addr[0] = (id >> 24) & 0xFF;
-	rx_tx_addr[1] = (id >> 16) & 0xFF;
-	rx_tx_addr[2] = (id >>  8) & 0xFF;
-	rx_tx_addr[3] = (id >>  0) & 0xFF;
-	rx_tx_addr[4] = 0xC1;	// for YD717: always uses first data port
-}
-
-#if defined STM32_board
-static uint32_t random_id(uint16_t adress, uint8_t create_new)
-{
-	uint32_t id;
-	uint8_t txid[4];
-	pinMode(PB0, INPUT_ANALOG); // set up pin for analog input
-	pinMode(PB1, INPUT_ANALOG); // set up pin for analog input
-	
-	if ((EEPROM.read(adress+100)==0xf0) && !create_new)
-	{  // TXID exists in EEPROM
-		for(uint8_t i=0;i<4;i++)
-		txid[i]=EEPROM.read(adress+110);
-		id=(txid[0] | ((uint32_t)txid[1]<<8) | ((uint32_t)txid[2]<<16) | ((uint32_t)txid[3]<<24));
-	}
-	else
-	{ // if not generate a random ID
-		randomSeed((uint32_t)analogRead(PB0)<<10|analogRead(PB1));//seed
-		//
-		id = random(0xfefefefe) + ((uint32_t)random(0xfefefefe) << 16);
-		txid[0]=  (id &0xFF);
-		txid[1] = ((id >> 8) & 0xFF);
-		txid[2] = ((id >> 16) & 0xFF);
-		txid[3] = ((id >> 24) & 0xFF);
-		for(uint8_t i=0;i<4;i++) 
-		EEPROM.write((adress+110),txid[i]);
-		EEPROM.write(adress+100,0xF0);
-	}
-	return id;
-}
-
-#else
-static uint32_t random_id(uint16_t adress, uint8_t create_new)
-{
-	uint32_t id;
-	uint8_t txid[4];
-	
-	if (eeprom_read_byte((uint8_t*)(adress+10))==0xf0 && !create_new)
-	{  // TXID exists in EEPROM
-		eeprom_read_block((void*)txid,(const void*)adress,4);
-		id=(txid[0] | ((uint32_t)txid[1]<<8) | ((uint32_t)txid[2]<<16) | ((uint32_t)txid[3]<<24));
-	}
-	else
-	{ // if not generate a random ID
-		randomSeed((uint32_t)analogRead(A6)<<10|analogRead(A7));//seed
-		//
-		id = random(0xfefefefe) + ((uint32_t)random(0xfefefefe) << 16);
-		txid[0]=  (id &0xFF);
-		txid[1] = ((id >> 8) & 0xFF);
-		txid[2] = ((id >> 16) & 0xFF);
-		txid[3] = ((id >> 24) & 0xFF);
-		eeprom_write_block((const void*)txid,(void*)adress,4);
-		eeprom_write_byte((uint8_t*)(adress+10),0xf0);//write bind flag in eeprom.
-	}
-	return id;
-}
-
-#endif
-
-#ifndef XMEGA
-#ifndef STM32_board 
-/************************************/
-/**  Arduino replacement routines  **/
-/************************************/
-// replacement millis() and micros()
-// These work polled, no interrupts
-// micros() MUST be called at least once every 32 milliseconds
-uint16_t MillisPrecount ;
-uint16_t lastTimerValue ;
-uint32_t TotalMicros ;
-uint32_t TotalMillis ;
-uint8_t Correction ;
-
-uint32_t micros()
-{
-	uint16_t elapsed ;
-	uint8_t millisToAdd ;
-	uint8_t oldSREG = SREG ;
-	cli() ;
-	uint16_t time = TCNT1 ;   // Read timer 1
-	SREG = oldSREG ;
-
-	elapsed = time - lastTimerValue ;
-	elapsed += Correction ;
-	Correction = elapsed & 0x01 ;
-	elapsed >>= 1 ;
-
-	uint32_t ltime = TotalMicros ;
-	ltime += elapsed ;
-	cli() ;
-	TotalMicros = ltime ;   // Done this way for RPM to work correctly
-	lastTimerValue = time ;
-	SREG = oldSREG ;   // Still valid from above
-
-	elapsed += MillisPrecount;
-	millisToAdd = 0 ;
-
-	if ( elapsed  > 15999 )
-	{
-		millisToAdd = 16 ;
-		elapsed -= 16000 ;
-	}
-	if ( elapsed  > 7999 )
-	{
-		millisToAdd += 8 ;
-		elapsed -= 8000 ;
-	}
-	if ( elapsed  > 3999 )
-	{
-		millisToAdd += 4 ;      
-		elapsed -= 4000 ;
-	}
-	if ( elapsed  > 1999 )
-	{
-		millisToAdd += 2 ;
-		elapsed -= 2000 ;
-	}
-	if ( elapsed  > 999 )
-	{
-		millisToAdd += 1 ;
-		elapsed -= 1000 ;
-	}
-	TotalMillis += millisToAdd ;
-	MillisPrecount = elapsed ;
-	return TotalMicros ;
-}
-
-uint32_t millis()
-{
-	micros() ;
-	return TotalMillis ;
-}
-
-void delayMilliseconds(unsigned long ms)
-{
-	uint16_t start = (uint16_t)micros();
-	uint16_t lms = ms ;
-
-	while (lms > 0) {
-		if (((uint16_t)micros() - start) >= 1000) {
-			lms--;
-			start += 1000;
-		}
-	}
-}
-
-/* Important notes:
-	- Max value is 16000µs
-	- delay is not accurate due to interrupts happening */
-void delayMicroseconds(unsigned int us)
-{
-	if (--us == 0)
-	return;
-	us <<= 2;	// * 4
-	us -= 2;		// - 2
-	__asm__ __volatile__ (
-	"1: sbiw %0,1" "\n\t" // 2 cycles
-	"brne 1b" : "=w" (us) : "0" (us) // 2 cycles
-	);
-}
-
-void init()
-{
-	// this needs to be called before setup() or some functions won't work there
-	sei();
-}
-
-#endif
-#endif
-
-
-/**************************/
-/**************************/
-/**  Interrupt routines  **/
-/**************************/
-/**************************/
-
-//PPM
-#ifdef ENABLE_PPM
-#ifdef XMEGA
-ISR(PORTD_INT0_vect)
-#else
-#ifdef STM32_board
-void PPM_decode()	
-#else		
-ISR(INT1_vect)
-#endif
-#endif
-{	// Interrupt on PPM pin
-	static int8_t chan=-1;
-	static uint16_t Prev_TCNT1=0;
-	uint16_t Cur_TCNT1;
-	
-	#ifdef XMEGA
-	Cur_TCNT1 = TCC1.CNT - Prev_TCNT1 ; // Capture current Timer1 value
-	#else
-	#if defined STM32_board
-	uint16_t time=TIMER2_BASE->CNT;
-	Cur_TCNT1=time-Prev_TCNT1; // Capture current Timer1 value			
-	#else
-	Cur_TCNT1=TCNT1-Prev_TCNT1; // Capture current Timer1 value
-	#endif	
-	#endif
-	if(Cur_TCNT1<1000)
-	chan=-1;				// bad frame
-	else
-	if(Cur_TCNT1>4840)
-	{
-		chan=0;				// start of frame
-		PPM_FLAG_on;		// full frame present (even at startup since PPM_data has been initialized)
-	}
-	else
-	if(chan!=-1)		// need to wait for start of frame
-	{  //servo values between 500us and 2420us will end up here
-		PPM_data[chan]= Cur_TCNT1>>1;;
-		if(chan++>=NUM_CHN)
-		chan=-1;	// don't accept any new channels
-	}
-	Prev_TCNT1+=Cur_TCNT1;
-}
-#endif //ENABLE_PPM
-
-
-
-#ifdef ENABLE_SERIAL
-//Serial RX
-#ifdef XMEGA
-ISR(USARTC0_RXC_vect)
-#else
-#if defined STM32_board
-#ifdef __cplusplus
-extern "C" {
-	#endif	
-	void __irq_usart2()			
-	#else
-	ISR(USART_RX_vect)
-	#endif
-	#endif
-	
-	{	// RX interrupt
-		static uint8_t idx=0;
-		#ifdef XMEGA
-		if((USARTC0.STATUS & 0x1C)==0)			// Check frame error, data overrun and parity error
-		#else
-		#ifndef STM32_board
-		UCSR0B &= ~_BV(RXCIE0) ;		// RX interrupt disable
-		#endif
-		sei();
-		#if defined STM32_board
-		if(USART2_BASE->SR & USART_SR_RXNE) {
-			if((USART2_BASE->SR &0x0F)==0)					
-			#else				
-			if((UCSR0A&0x1C)==0)			// Check frame error, data overrun and parity error
-			#endif	
-			#endif
-			{ // received byte is ok to process
-				if(idx==0||discard_frame==1)
-				{	// Let's try to sync at this point
-					idx=0;discard_frame=0;
-					#ifdef XMEGA
-					if(USARTC0.DATA==0x55)			// If 1st byte is 0x55 it looks ok
-					
-					#else
-					#if defined STM32_board
-					if(USART2_BASE->DR==0x55)						
-					#else
-					if(UDR0==0x55)			// If 1st byte is 0x55 it looks ok
-					#endif			
-					#endif
-					{
-						#ifdef XMEGA
-						TCC1.CCB = TCC1.CNT+(6500L) ;		// Full message should be received within timer of 3250us
-						TCC1.INTFLAGS = TC1_CCBIF_bm ;		// clear OCR1B match flag
-						TCC1.INTCTRLB = (TCC1.INTCTRLB & 0xF3) | 0x04 ;	// enable interrupt on compare B match
-						
-						#else
-						#if defined STM32_board
-						uint16_t OCR1B = TIMER2_BASE->CNT;
-						OCR1B +=6500L;
-						timer.setCompare(TIMER_CH2,OCR1B);
-						timer.attachCompare2Interrupt(ISR_COMPB);
-						#else
-						OCR1B=TCNT1+6500L;		// Full message should be received within timer of 3250us
-						TIFR1=(1<<OCF1B);		// clear OCR1B match flag
-						TIMSK1 |=(1<<OCIE1B);	// enable interrupt on compare B match
-						#endif				
-						#endif
-						idx++;
-					}
-				}
-				else
-				{
-					RX_MISSED_BUFF_off;					// if rx_buff was good it's not anymore...
-					
-					#ifdef XMEGA
-					rx_buff[(idx++)-1]=USARTC0.DATA;	// Store received byte
-					#else
-					#if defined STM32_board
-					
-					rx_buff[(idx++)-1]=USART2_BASE->DR&0xff;			// Store received byte	
-					#else						
-					rx_buff[(idx++)-1]=UDR0;			// Store received byte
-					#endif			
-					#endif
-					if(idx>RXBUFFER_SIZE)
-					{	// A full frame has been received
-
-						if(!IS_RX_DONOTUPDTAE_on)
-						{ //Good frame received and main has finished with previous buffer
-							memcpy((void*)rx_ok_buff,(const void*)rx_buff,RXBUFFER_SIZE);// Duplicate the buffer
-							RX_FLAG_on;					// flag for main to process servo data
-						}
-						else
-						RX_MISSED_BUFF_on;			// notify that rx_buff is good
-						discard_frame=1; 				// start again
-					}
-				}
-			}
-			else
-			{
-				#ifdef XMEGA
-				idx = USARTC0.DATA ;	// Dummy read
-				#else
-				#if defined STM32_board					
-				idx=USART2_BASE->DR&0xff;	
-				#else					
-				idx=UDR0;	// Dummy read
-				#endif
-				#endif
-				discard_frame=1;		// Error encountered discard full frame...
-			}
-			
-			if(discard_frame==1)
-			{
-				#ifdef XMEGA
-				TCC1.INTCTRLB &=0xF3;			// disable interrupt on compare B match
-				#else
-				#if defined STM32_board
-				detachInterrupt(2);//disable interrupt on ch2	
-				#else							
-				TIMSK1 &=~(1<<OCIE1B);			// disable interrupt on compare B match				
-				#endif				
-				#endif
-				#ifndef STM32_board
-				#ifndef XMEGA
-				TX_RX_PAUSE_off;
-				tx_resume();
-				#endif
-				#endif
-			}
-			#ifndef STM32_board)
-			cli() ;
-			UCSR0B |= _BV(RXCIE0) ;	// RX interrupt enable
-			
-			#endif
-			#if defined STM32_board	//If activated telemetry it doesn't work activated 
-		}
-		#endif			
-	}			
-	#if defined STM32_board			
-	#ifdef __cplusplus
-}
-#endif
-#endif
-
-//Serial timer
-#ifdef XMEGA
-ISR(TCC1_CCB_vect)
-#else
-#if defined STM32_board
-void ISR_COMPB()		
-#else
-ISR(TIMER1_COMPB_vect,ISR_NOBLOCK)
-#endif
-#endif
-
-{	// Timer1 compare B interrupt
-	discard_frame=1;	// Error encountered discard full frame...
-	#ifdef XMEGA
-	TCC1.INTCTRLB &=0xF3;			// Disable interrupt on compare B match
-	#else
-	#ifdef STM32_board
-	detachInterrupt(2);//disable interrupt on ch2
-	#else
-	TIMSK1 &=~(1<<OCIE1B);			// Disable interrupt on compare B match
-	#endif
-	#endif
-	#ifndef STM32_board
-	tx_resume();
-	#endif
-}
-
-
-#endif //ENABLE_SERIAL