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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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  // Configure speaker port as output.
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  // Configure speaker port as output.
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  if (boardRelease == 10) { // Speaker at PD2
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  if (boardRelease == 10) { // Speaker at PD2
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    DDRD |= (1 << DDD2);
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    DDRD |= (1 << DDD2);
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    PORTD &= ~(1 << PORTD2);
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    PORTD &= ~(1 << PORTD2);
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      PORTC &= ~(1 << PORTC7);// Speaker at PC7
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      PORTC &= ~(1 << PORTC7);// Speaker at PC7
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  }
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  }
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#ifdef USE_MK3MAG
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#ifdef USE_MK3MAG
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  // update compass value if this option is enabled in the settings
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  // update compass value if this option is enabled in the settings
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  if (staticParams.bitConfig & (CFG_COMPASS_ENABLED | CFG_GPS_ENABLED)) {
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  if (staticParams.bitConfig & CFG_COMPASS_ENABLED) {
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    MK3MAG_periodicTask(); // read out mk3mag pwm
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    MK3MAG_periodicTask(); // read out mk3mag pwm
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  }
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  }
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#endif
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#endif