cleanup

Core/Src/main.c

@@ -91,8 +91,10 @@ volatile uint8_t dataL;
 volatile uint8_t dataI;
 volatile uint32_t uart_timeout = MAX_SYSTICK;
 
+#if MODULE == MODULE_IMU
 volatile uint8_t icm_data_ready = 0;
-//volatile uint8_t uart_data_ready = 0;
+#endif
+
 
 inline void uart_send(uint8_t *data, int n)
 {
@@ -126,14 +128,16 @@ inline void app_delay(uint8_t ms){
 }
 
 static inline uint8_t loop_callback() {
+
+#if MODULE == MODULE_IMU
 	if(icm_data_ready == 1){
 		icm_data_ready = 0;
 		return 1;  // interrupt from external sensor: data ready
 	}
+#endif
 
-	uint32_t ht = HAL_GetTick();
 	// timemout: 1 - 2 ms
-	if(ht - 1 > uart_timeout) {
+	if(HAL_GetTick() - 1 > uart_timeout) {
 		dataL = 0;
 		dataI = 0;
 		data[0] = 0;
@@ -160,7 +164,6 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
 			return;
 		}
 
-		//dataI = 1;
 		Size--;
 		copy_offset = 1;
 	}
@@ -180,7 +183,9 @@ void HAL_UARTEx_RxEventCallback(UART_HandleTypeDef *huart, uint16_t Size){
 }
 
 void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
+#if MODULE == MODULE_IMU
 	icm_data_ready = 1;
+#endif
 }
 
 

Modules/nbus

@@ -1 +1 @@
-Subproject commit 2902994f3f8000b42c6cb25da0fd142f8c44287a
+Subproject commit 4aa585d4416f25e8b5032dbd110dac2222a0d9b5