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/**
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/**
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 * transmit interrupt handler
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 * transmit interrupt handler
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 * unused
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 * unused
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 */
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 */
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ISR(SIG_USART1_DATA) {
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ISR(USART1_TXC_vect) {
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}
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}
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/*
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/*
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 * receive data through usart1
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 * receive data through usart1
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 * portions taken and adapted from
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 * portions taken and adapted from
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c
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 * http://svn.mikrokopter.de/mikrowebsvn/filedetails.php?repname=FlightCtrl&path=%2Fbranches%2FV0.72p+Code+Redesign+killagreg%2Fuart0.c
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 */
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 */
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ISR(SIG_USART1_RECV) {
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ISR(USART1_RXC_vect) {
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    uint8_t c;
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    uint8_t c;
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    // catch the received byte
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    // catch the received byte
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    c = UDR1;
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    c = UDR1;
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    if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return
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    if (rxd_buffer_locked) return; // if rxd buffer is locked immediately return
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    static uint16_t crc;
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    static uint16_t crc;