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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Copyright (c) 04.2007 Holger Buss
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// + Nur für den privaten Gebrauch
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// + www.MikroKopter.com
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Es gilt für das gesamte Projekt (Hardware, Software, Binärfiles, Sourcecode und Dokumentation),
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// + dass eine Nutzung (auch auszugsweise) nur für den privaten (nicht-kommerziellen) Gebrauch zulässig ist.
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// + Sollten direkte oder indirekte kommerzielle Absichten verfolgt werden, ist mit uns (info@mikrokopter.de) Kontakt
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// + bzgl. der Nutzungsbedingungen aufzunehmen.
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// + Eine kommerzielle Nutzung ist z.B.Verkauf von MikroKoptern, Bestückung und Verkauf von Platinen oder Bausätzen,
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// + Verkauf von Luftbildaufnahmen, usw.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Werden Teile des Quellcodes (mit oder ohne Modifikation) weiterverwendet oder veröffentlicht,
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// + unterliegen sie auch diesen Nutzungsbedingungen und diese Nutzungsbedingungen incl. Copyright müssen dann beiliegen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Sollte die Software (auch auszugesweise) oder sonstige Informationen des MikroKopter-Projekts
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// + auf anderen Webseiten oder sonstigen Medien veröffentlicht werden, muss unsere Webseite "http://www.mikrokopter.de"
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// + eindeutig als Ursprung verlinkt werden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Keine Gewähr auf Fehlerfreiheit, Vollständigkeit oder Funktion
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// + Benutzung auf eigene Gefahr
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// + Wir übernehmen keinerlei Haftung für direkte oder indirekte Personen- oder Sachschäden
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Portierung der Software (oder Teile davon) auf andere Systeme (ausser der Hardware von www.mikrokopter.de) ist nur
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// + mit unserer Zustimmung zulässig
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Die Funktion printf_P() unterliegt ihrer eigenen Lizenz und ist hiervon nicht betroffen
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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// + Redistributions of source code (with or without modifications) must retain the above copyright notice,
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// + this list of conditions and the following disclaimer.
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// +   * Neither the name of the copyright holders nor the names of contributors may be used to endorse or promote products derived
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// +     from this software without specific prior written permission.
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// +   * The use of this project (hardware, software, binary files, sources and documentation) is only permittet
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// +     for non-commercial use (directly or indirectly)
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// +     Commercial use (for example: selling of MikroKopters, selling of PCBs, assembly, ...) is only permitted
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// +     with our written permission
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// +   * If sources or documentations are redistributet on other webpages, out webpage (http://www.MikroKopter.de) must be
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// +     clearly linked as origin
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// +   * porting to systems other than hardware from www.mikrokopter.de is not allowed
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// +  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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// +  AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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// +  IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
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// +  ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
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// +  LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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// +  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
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// +  SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
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// +  INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN// +  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
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// +  ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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// +  POSSIBILITY OF SUCH DAMAGE.
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// ++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include "eeprom.h"
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#include "uart0.h"
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#include "rc.h"
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#include "attitude.h"
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#define SLOW 1
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1980 - 60
#ifdef SLOW
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#define NEUTRAL_PULSELENGTH 938
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#define SERVOLIMIT 500
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#define SCALE_FACTOR 4
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#define CS2 ((1<<CS21)|(1<<CS20))
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#else
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#define NEUTRAL_PULSELENGTH 3750
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#define SERVOLIMIT 2000
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#define SCALE_FACTOR 16
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#define CS2 (<<CS21)
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#endif
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#define MAX_SERVOS 8
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#define FRAMELEN ((NEUTRAL_PULSELENGTH + SERVOLIMIT) * staticParams.servoCount + 128)
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#define MIN_PULSELENGTH (NEUTRAL_PULSELENGTH - SERVOLIMIT)
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#define MAX_PULSELENGTH (NEUTRAL_PULSELENGTH + SERVOLIMIT)
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//volatile uint8_t servoActive = 0;
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volatile uint8_t recalculateServoTimes = 0;
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volatile uint16_t servoValues[MAX_SERVOS];
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volatile uint16_t previousManualValues[2];
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#define HEF4017R_ON     PORTC |=  (1<<PORTC6)
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#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)
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/*****************************************************
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 *              Initialize Timer 2                  
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 *****************************************************/
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void timer2_init(void) {
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        uint8_t sreg = SREG;
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        // disable all interrupts before reconfiguration
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        cli();
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        // set PD7 as output of the PWM for pitch servo
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        DDRD |= (1 << DDD7);
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        PORTD &= ~(1 << PORTD7); // set PD7 to low
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        DDRC |= (1 << DDC6); // set PC6 as output (Reset for HEF4017)
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        HEF4017R_ON; // enable reset
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        // Timer/Counter 2 Control Register A
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        // Timer Mode is CTC (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 0)
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        // PD7: Output OCR2 match, (Bits: COM2A1 = 1, COM2A0 = 0)
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        // PD6: Normal port operation, OC2B disconnected, (Bits: COM2B1 = 0, COM2B0 = 0)
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        TCCR2A &= ~((1 << COM2A0) | (1 << COM2B1) | (1 << COM2B0) | (1 << WGM20) | (1 << WGM22));
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        TCCR2A |= (1 << COM2A1) | (1 << WGM21);
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        // Timer/Counter 2 Control Register B
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        // Set clock divider for timer 2 to 20MHz / 8 = 2.5 MHz
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        // The timer increments from 0x00 to 0xFF with an update rate of 2.5 kHz or 0.4 us
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        // hence the timer overflow interrupt frequency is 625 kHz / 256 = 9.765 kHz or 0.1024ms
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        TCCR2B &= ~((1 << FOC2A) | (1 << FOC2B) | (1 << CS20) | (1 << CS21) | (1 << CS22));
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        TCCR2B |= CS2;
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        // Initialize the Timer/Counter 2 Register
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        TCNT2 = 0;
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        // Initialize the Output Compare Register A used for signal generation on port PD7.
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        OCR2A = 255;
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        // Timer/Counter 2 Interrupt Mask Register
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        // Enable timer output compare match A Interrupt only
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        TIMSK2 &= ~((1 << OCIE2B) | (1 << TOIE2));
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        TIMSK2 |= (1 << OCIE2A);
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        for (uint8_t axis=0; axis<2; axis++)
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          previousManualValues[axis] = dynamicParams.servoManualControl[axis] * SCALE_FACTOR;
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        SREG = sreg;
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}
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/*
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void servo_On(void) {
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        servoActive = 1;
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}
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void servo_Off(void) {
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        servoActive = 0;
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        HEF4017R_ON; // enable reset
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}
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*/
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/*****************************************************
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 * Control Servo Position              
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 *****************************************************/
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/*typedef struct {
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  uint8_t manualControl;
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  uint8_t compensationFactor;
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  uint8_t minValue;
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  uint8_t maxValue;
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  uint8_t flags;
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} servo_t;*/
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int16_t calculateStabilizedServoAxis(uint8_t axis) {
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  int32_t value = angle[axis] / 64L; // between -500000 to 500000 extreme limits. Just about
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  // With full blast on stabilization gain (255) we want to convert a delta of, say, 125000 to 2000.
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  // That is a divisor of about 1<<14. Same conclusion as H&I.
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  value *= staticParams.servoConfigurations[axis].stabilizationFactor;
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  value /= 256L;
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  if (staticParams.servoConfigurations[axis].flags & SERVO_STABILIZATION_REVERSE)
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        return -value;
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  return value;
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}
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// With constant-speed limitation.
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uint16_t calculateManualServoAxis(uint8_t axis, uint16_t manualValue) {
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  int16_t diff = manualValue - previousManualValues[axis];
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  uint8_t maxSpeed = staticParams.servoManualMaxSpeed;
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  if (diff > maxSpeed) diff = maxSpeed;
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  else if (diff < -maxSpeed) diff = -maxSpeed;
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  manualValue = previousManualValues[axis] + diff;
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  previousManualValues[axis] = manualValue;
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  return manualValue;
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}
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// add stabilization and manual, apply soft position limits.
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// All in a [0..255*SCALE_FACTOR] space (despite signed types used internally)
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int16_t featuredServoValue(uint8_t axis) {
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  int16_t value = calculateManualServoAxis(axis, dynamicParams.servoManualControl[axis] * SCALE_FACTOR);
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  value += calculateStabilizedServoAxis(axis);
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  int16_t limit = staticParams.servoConfigurations[axis].minValue * SCALE_FACTOR;
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  if (value < limit) value = limit;
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  limit = staticParams.servoConfigurations[axis].maxValue * SCALE_FACTOR;
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  if (value > limit) value = limit;
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  return value;
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}
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uint16_t servoValue(uint8_t axis) {
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  int16_t value;
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  if (axis<2) value = featuredServoValue(axis);
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  else value = 128 * SCALE_FACTOR; // dummy. Replace by something useful for servos 3..8.
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  // Shift out of the [0..255*SCALE_FACTOR] space 
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  value -= (128 * SCALE_FACTOR);
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  if (value < -SERVOLIMIT) value = -SERVOLIMIT;
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  else if (value > SERVOLIMIT) value = SERVOLIMIT;
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  // Shift into the [NEUTRAL_PULSELENGTH-SERVOLIMIT..NEUTRAL_PULSELENGTH+SERVOLIMIT] space.
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  return value + NEUTRAL_PULSELENGTH;
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}
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void calculateServoValues(void) {
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  if (!recalculateServoTimes) return;
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  for (uint8_t axis=0; axis<MAX_SERVOS; axis++) {
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        servoValues[axis] = servoValue(axis);
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  }  
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  recalculateServoTimes = 0;
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}
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ISR(TIMER2_COMPA_vect) {
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  static uint16_t remainingPulseTime;
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  static uint8_t servoIndex = 0;
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  static uint16_t sumOfPulseTimes = 0;
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  if (!remainingPulseTime) {
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    // Pulse is over, and the next pulse has already just started. Calculate length of next pulse.
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    if (servoIndex < staticParams.servoCount) {
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      // There are more signals to output.
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      sumOfPulseTimes += (remainingPulseTime = servoValues[servoIndex]);
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      servoIndex++;
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    } else {
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      // There are no more signals. Reset the counter and make this pulse cover the missing frame time.
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      remainingPulseTime = FRAMELEN - sumOfPulseTimes;
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      sumOfPulseTimes = servoIndex = 0;
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      recalculateServoTimes = 1;
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      HEF4017R_ON;
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    }
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  }
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1980 - 230
  // Schedule the next OCR2A event. The counter is already reset at this time.
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  if (remainingPulseTime > 256+128) {
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    // Set output to reset to zero at next OCR match. It does not really matter when the output is set low again, 
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    // as long as it happens once per pulse. This will, because all pulses are > 255+128 long.
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    OCR2A = 255;
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    TCCR2A &= ~(1<<COM2A0);
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    remainingPulseTime-=256;
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  } else if (remainingPulseTime > 256) {
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    // Remaining pulse lengths in the range [256..256+128] might cause trouble if handled the standard 
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    // way, which is in chunks of 256. The remainder would be very small, possibly causing an interrupt on interrupt
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    // condition. Instead we now make a chunk of 128. The remaining chunk will then be in [128..255] which is OK.
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    remainingPulseTime-=128;
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    OCR2A=127;
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  } else {
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    // Set output to high at next OCR match. This is when the 4017 counter will advance by one. Also set reset low
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    TCCR2A |= (1<<COM2A0);
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    OCR2A = remainingPulseTime-1;
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    remainingPulseTime=0;
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    HEF4017R_OFF; // implement servo-disable here, by only removing the reset signal if ServoEnabled!=0.
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  }
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}