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Rev 2108 | Rev 2109 | ||
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Line 42... | Line 42... | ||
42 | 42 | ||
43 | // disable all interrupts before reconfiguration |
43 | // disable all interrupts before reconfiguration |
Line 44... | Line 44... | ||
44 | cli(); |
44 | cli(); |
45 | 45 | ||
46 | // set PD7 as output of the PWM for pitch servo |
46 | // set PD7 as output of the PWM for pitch servo |
Line -... | Line 47... | ||
- | 47 | DDRB |= (1 << DDB3); |
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47 | DDRD |= (1 << DDD3); |
48 | PORTB &= ~(1 << PORTB3); // set PD7 to low |
48 | PORTD &= ~(1 << PORTD3); // set PD7 to low |
49 | |
Line 49... | Line 50... | ||
49 | 50 | // oc2b DDRD |= (1 << DDD4); // set PC6 as output (Reset for HEF4017) |
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50 | DDRD |= (1 << DDD4); // set PC6 as output (Reset for HEF4017) |
51 | DDRD |= (1 << DDD4); // set PC6 as output (Reset for HEF4017) |
51 | HEF4017R_ON; // enable reset |
52 | HEF4017R_ON; // enable reset |
52 | 53 | ||
- | 54 | // Timer/Counter 2 Control Register A |
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- | 55 | // Timer Mode is CTC (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 0) |
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53 | // Timer/Counter 2 Control Register A |
56 | // PD3: Output OCR2 match, (Bits: COM2B1 = 1, COM2B0 = 0) |
54 | // Timer Mode is CTC (Bits: WGM22 = 0, WGM21 = 1, WGM20 = 0) |
57 | // PB3: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
Line 55... | Line 58... | ||
55 | // PD3: Output OCR2 match, (Bits: COM2B1 = 1, COM2B0 = 0) |
58 | // ardu TCCR2A &= ~((1 << COM2B0) | (1 << COM2A1) | (1 << COM2A0) | (1 << WGM20) | (1 << WGM22)); |
Line 56... | Line 59... | ||
56 | // PB3: Normal port operation, OC2A disconnected, (Bits: COM2A1 = 0, COM2A0 = 0) |
59 | // ardu TCCR2A |= (1 << COM2B1) | (1 << WGM21); |
57 | TCCR2A &= ~((1 << COM2B0) | (1 << COM2A1) | (1 << COM2A0) | (1 << WGM20) | (1 << WGM22)); |
60 | TCCR2A &= ~((1 << COM2A0) | (1 << COM2B1) | (1 << COM2B0) | (1 << WGM20) | (1 << WGM22)); |