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Rev 1077 Rev 1078
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#include <avr/io.h>
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#include <avr/io.h>
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#include <avr/interrupt.h>
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#include <avr/interrupt.h>
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#include "fc.h"
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#include "fc.h"
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#include "eeprom.h"
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#include "eeprom.h"
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#include "uart.h"
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#include "uart.h"
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#include "main.h"
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volatile uint16_t ServoValue = 0;
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volatile uint16_t ServoValue = 0;
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#define HEF4017R_ON     PORTC |=  (1<<PORTC6)
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#define HEF4017R_OFF    PORTC &= ~(1<<PORTC6)
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        // set PD7 as output of the PWM for nick servo
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        // set PD7 as output of the PWM for nick 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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        PORTC &= ~(1<<PORTC6);  // set PC6 to low
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        static uint16_t FilterServo = 100;      // initial value, after some iterations it becomes the average value of 2 * FCParam.ServoNickControl
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        static uint16_t FilterServo = 100;      // initial value, after some iterations it becomes the average value of 2 * FCParam.ServoNickControl
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        static uint16_t ServoState = 40;        // cycle down counter for this ISR
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        static uint16_t ServoState = 40;        // cycle down counter for this ISR
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        #define MULTIPLIER 4
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        #define MULTIPLIER 4
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        if(BoardRelease < 99)
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        {
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        switch(ServoState)
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                switch(ServoState)
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        {
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                {
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                case 4:
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                        case 4:
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                default:
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                        default:
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                        // do nothing
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                                // do nothing
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                        break;
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                                break;
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        }
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                }
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        ServoState--;
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        ServoState--;
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        } // EOF BoardRelease < 20
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        else // output to HEF4014
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        {
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                // code for HEF4014 output must be placed here
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        }
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}
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}