diff --git a/Multiprotocol.ino b/Multiprotocol.ino
new file mode 100644
index 0000000..918d07d
--- /dev/null
+++ b/Multiprotocol.ino
@@ -0,0 +1,1558 @@
+/*********************************************************
+	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