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#ifndef _TIMER2_H
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#ifndef _TIMER2_H
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#define _TIMER2_H
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#define _TIMER2_H
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#include <inttypes.h>
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#include <math.h>
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#include "configuration.h"
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extern volatile uint16_t pwmChannels[MAX_PWMCHANNELS];
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#define SERVO_RESOLUTION FINE
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#if (SERVO_RESOLUTION == COARSE)
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#define F_TIMER2 (F_CPU/32)
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#define CS2 ((1<<CS21)|(1<<CS20))
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#else
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#define F_TIMER2(F_CPU/8)
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#define CS2 (1<<CS21)
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#endif
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//#define ABSOLUTE_MIN ((float)F_TIMER2*0.00075 + 0.5)
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//#define ABSOLUTE_MAX ((float)F_TIMER2*0.00225 + 0.5)
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#define PULSELENGTH_800  ((float)F_TIMER2*0.0008)
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#define PULSELENGTH_1000 ((float)F_TIMER2*0.0010)
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#define PULSELENGTH_1500 ((float)F_TIMER2*0.0015)
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#define PULSELENGTH_2000 ((float)F_TIMER2*0.0020)
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#define PULSELENGTH_2200 ((float)F_TIMER2*0.0022)
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#define PWM_CONTROL_SCALE_FACTOR (PULSELENGTH_1000/(float)CONTROL_RANGE)
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#define PWM_BYTE_SCALE_FACTOR (PULSELENGTH_1000/256.0)
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// Prevent damage even if grossly misconfigured:
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// Multiply this by angle in int16-degrees and again by 100 to get servo deflection to same angle
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#include <inttypes.h>
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// (assuming 90 degrees over 1 ms, which is the norm):
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void timer2_init(void);
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void timer2_init(void);
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void calculateServoValues(void);
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