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Summary of change:
New mainloop with dispatcher allow make cheap pwm with any frequency. 4-100ms (10-250Hz) is a good range. It is allow: - stable frequency (old softpwm has variable freq, max at dc=50%, and min at 0% and 100%) - use frequency depended iac control (old softpwm has only duty control), it is needed for good idle with aan solenoid etc.
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