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Rev 2108 Rev 2109
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    // disable all interrupts before reconfiguration
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    // disable all interrupts before reconfiguration
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    cli();
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    cli();
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    // set PD7 as output of the PWM for pitch servo
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    // set PD7 as output of the PWM for pitch servo
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    DDRB |= (1 << DDB3);
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    DDRD |= (1 << DDD3);
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    PORTB &= ~(1 << PORTB3); // set PD7 to low
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    PORTD &= ~(1 << PORTD3); // set PD7 to low
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//  oc2b  DDRD |= (1 << DDD4); // set PC6 as output (Reset for HEF4017)
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    DDRD |= (1 << DDD4); // set PC6 as output (Reset for HEF4017)
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    DDRD |= (1 << DDD4); // set PC6 as output (Reset for HEF4017)
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    HEF4017R_ON; // enable reset
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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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    // Timer/Counter 2 Control Register A
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    // PD3: Output OCR2 match, (Bits: COM2B1 = 1, COM2B0 = 0)
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    // Timer Mode is CTC (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 0)
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    // PB3: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
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    // PD3: Output OCR2 match, (Bits: COM2B1 = 1, COM2B0 = 0)
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    // ardu TCCR2A &= ~((1 << COM2B0) | (1 << COM2A1) | (1 << COM2A0) | (1 << WGM20) | (1 << WGM22));
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    // PB3: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0)
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    // ardu TCCR2A |= (1 << COM2B1) | (1 << WGM21);
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    TCCR2A &= ~((1 << COM2B0) | (1 << COM2A1) | (1 << COM2A0) | (1 << WGM20) | (1 << WGM22));
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    TCCR2A &= ~((1 << COM2A0) | (1 << COM2B1) | (1 << COM2B0) | (1 << WGM20) | (1 << WGM22));