Resolve DUE Servo pulse issue
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@@ -71,12 +71,15 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *pTc, uint8_t channel);
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#endif
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void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) {
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// clear interrupt
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tc->TC_CHANNEL[channel].TC_SR;
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if (Channel[timer] < 0)
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tc->TC_CHANNEL[channel].TC_CCR |= TC_CCR_SWTRG; // channel set to -1 indicated that refresh interval completed so reset the timer
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else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
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else {
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//else if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && SERVO(timer, Channel[timer]).Pin.isActive)
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extDigitalWrite(SERVO(timer, Channel[timer]).Pin.nbr, LOW); // pulse this channel low if activated
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}
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// clear interrupt
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tc->TC_CHANNEL[channel].TC_SR;
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Channel[timer]++; // increment to the next channel
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if (SERVO_INDEX(timer, Channel[timer]) < ServoCount && Channel[timer] < SERVOS_PER_TIMER) {
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@@ -92,6 +95,7 @@ void Servo_Handler(timer16_Sequence_t timer, Tc *tc, uint8_t channel) {
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: tc->TC_CHANNEL[channel].TC_CV + 4; // at least REFRESH_INTERVAL has elapsed
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Channel[timer] = -1; // this will get incremented at the end of the refresh period to start again at the first channel
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}
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}
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static void _initISR(Tc *tc, uint32_t channel, uint32_t id, IRQn_Type irqn) {
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