Fixed two bugs in SBUS code caused by previous incomplete merge of code

Signed-off-by: Eberhard Rensch <eberhard@pleasantsoftware.com>
zaggo · Nov 5, 2011 · 36b0e34 · 36b0e34
1 parent 9f8117b
commit 36b0e34
Showing 1 changed file with 6 additions and 2 deletions.
diff --git a/MultiWii/RX.pde b/MultiWii/RX.pde
@@ -1,4 +1,4 @@
-volatile uint16_t rcValue[8] = {1502,1502,1502,1502,1502,1502,1502,1502}; // interval [1000;2000]
+volatile uint16_t rcValue[18] = {1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502, 1502}; // interval [1000;2000]
 
 #if defined(SERIAL_SUM_PPM)
   static uint8_t rcChannel[8] = {SERIAL_SUM_PPM};
@@ -237,6 +237,9 @@ void  readSBus(){
 
 uint16_t readRawRC(uint8_t chan) {
   uint16_t data;
+#if defined(SBUS)
+  data = rcValue[rcChannel[chan]]; // Let's copy the data Atomically
+#else
   uint8_t oldSREG;
   oldSREG = SREG; cli(); // Let's disable interrupts
   data = rcValue[rcChannel[chan]]; // Let's copy the data Atomically
@@ -264,6 +267,7 @@ uint16_t readRawRC(uint8_t chan) {
       #endif
     }
   #endif
+#endif
   return data; // We return the value correctly copied when the IRQ's where disabled
 }
 
@@ -285,4 +289,4 @@ void computeRC() {
     if ( rcDataMean[chan] > rcData[chan] +3)  rcData[chan] = rcDataMean[chan]-2;
   }
 }
-
+