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volatile uint16_t previousManualValues[2];
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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_ON     PORTC |=  (1<<PORTC6)
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#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)
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//#define HEF4017R_ON ;
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#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)
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//#define HEF4017R_OFF ;
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/*****************************************************
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/*****************************************************
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 *              Initialize Timer 2
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 *              Initialize Timer 2
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 *****************************************************/
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 *****************************************************/
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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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    DDRD |= (1 << DDD7);
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    DDRD |= (1 << DDD7);
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    PORTD &= ~(1 << PORTD7); // set PD7 to low
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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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    DDRC |= (1 << DDC6); // set PC6 as output (Reset for HEF4017)
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    HEF4017R_ON; // enable reset
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    HEF4017R_ON; // reset
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    // Timer/Counter 2 Control Register A
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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 Mode is CTC (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 0)