Olá, gostaria de saber se é possível modificar e utilizar o código feito para o arduino mega no Pic16f877A ?. Estou começando a programar Pic com a IDE Mplab X e compilador XC8. Código abaixo:

Tenho a duvida de como implementar as partes em Vermelho no Pic16f877a com o Mplab X e o XC8

Deste já agradeço pela atenção. Obrigado

// PPM Encoder Joystick to Futaba Trainer Port
// For use with Arduino Mega V1.0
// Ian Johnston 29/04/2010
// Version 1.1

int AI_Pin_AEL = 6;    // Ana In - Aeleron potentiometer (Ana In Ch.0 playing up?)
int AI_Pin_ELE = 1;    // Ana In - Elevator potentiometer
int AI_Pin_THR = 2;    // Ana In - Throttle potentiometer
int AI_Pin_RUD = 3;    // Ana In - Rudder potentiometer
int AI_Pin_TIpot = 4;    // Ana In - TI potentiometer
int AI_Raw_AEL;        // Ana In raw var - 0->1023
int AI_Raw_ELE;        // Ana In raw var - 0->1023
int AI_Raw_THR;        // Ana In raw var - 0->1023
int AI_Raw_RUD;        // Ana In raw var - 0->1023
int AI_Raw_TIpot;        // Ana In raw var - 0->1023
int AI_AEL;           // Ana In var - 0->1023 compensated
int AI_ELE;           // Ana In var - 0->1023 compensated
int AI_THR;           // Ana In var - 0->1023 compensated
int AI_RUD;           // Ana In var - 0->1023 compensated
int AI_TIpot;           // Ana In var - 0->1023 compensated
int Aeleron_uS = 750;     // Ana In Ch.0 uS var - Aeleron
int Elevator_uS = 750;    // Ana In Ch.1 uS var - Elevator
int Throttle_uS = 750;    // Ana In Ch.2 uS var - Throttle
int Rudder_uS = 750;      // Ana In Ch.3 uS var - Rudder
int TI_uS = 750;          // Ana In Ch.4 uS var - TI
int TIsw_uS = 750;        // Ana In Ch.4 uS var - TI Switch

int Fixed_uS = 300;       // PPM frame fixed LOW phase
int pulseMin = 750;          // pulse minimum width minus start in uS
int pulseMax = 1700;      // pulse maximum width in uS

float DualrateMultAel = 0.9; // Dual rate mult
float DualrateMultEle = 0.9; // Dual rate mult
float DualrateMultThr = 0.9; // Dual rate mult
float DualrateMultRud = 0.9; // Dual rate mult
float DualrateMultTI = 0.9; // Dual rate mult
int DualrateAdjAel = 0;   // Dual rate mid adjustment
int DualrateAdjEle = 0;      // Dual rate mid adjustment
int DualrateAdjThr = 0;      // Dual rate mid adjustment
int DualrateAdjRud = 0;      // Dual rate mid adjustment
int DualrateAdjTI = 0;      // Dual rate mid adjustment

int outPinPPM = 10;       // digital pin 10
int outPinTEST = 8;       // digital pin 8
int inPinD6 = 6;          // digital pin 6
int inPinD11 = 11;        // digital pin 11

ISR(TIMER1_COMPA_vect) {
    ppmoutput(); // Jump to ppmoutput subroutine
}

void setup() {

  // Serial.begin(9600) ; // Test

  pinMode(outPinPPM, OUTPUT);   // sets the digital pin as output
  pinMode(inPinD6, INPUT);      // sets the digital pin as input
  digitalWrite(inPinD6, HIGH);  // turn on pull-up resistor
  pinMode(inPinD11, INPUT);     // sets the digital pin as input
  digitalWrite(inPinD11, HIGH); // turn on pull-up resistor

   // Setup timer
  TCCR1A = B00110001; // Compare register B used in mode '3'
  TCCR1B = B00010010; // WGM13 and CS11 set to 1
  TCCR1C = B00000000; // All set to 0
  TIMSK1 = B00000010; // Interrupt on compare B
  TIFR1  = B00000010; // Interrupt on compare B
  OCR1A = 22000; // 22mS PPM output refresh
  OCR1B = 1000;
 
}


void ppmoutput() { // PPM output sub

 // test pulse - used to trigger scope
 // digitalWrite(outPinTEST, LOW);
 // delayMicroseconds(100);    // Hold
 // digitalWrite(outPinTEST, HIGH);

 // Channel 1 - Aeleron
  digitalWrite(outPinPPM, LOW);
  delayMicroseconds(Fixed_uS);    // Hold
  digitalWrite(outPinPPM, HIGH);
  delayMicroseconds(Aeleron_uS);  // Hold for Aeleron_uS microseconds      

 // Channel 2 - Elevator
  digitalWrite(outPinPPM, LOW);
  delayMicroseconds(Fixed_uS);    // Hold
  digitalWrite(outPinPPM, HIGH);
  delayMicroseconds(Elevator_uS); // Hold for Elevator_uS microseconds      

 // Channel 3 - Throttle
  digitalWrite(outPinPPM, LOW);
  delayMicroseconds(Fixed_uS);    // Hold
  digitalWrite(outPinPPM, HIGH);
  delayMicroseconds(Throttle_uS); // Hold for Throttle_uS microseconds      

 // Channel 4 - Rudder
  digitalWrite(outPinPPM, LOW);
  delayMicroseconds(Fixed_uS);    // Hold
  digitalWrite(outPinPPM, HIGH);
  delayMicroseconds(Rudder_uS);   // Hold for Rudder_uS microseconds

 // Channel 5 - TI Switch
  digitalWrite(outPinPPM, LOW);
  delayMicroseconds(Fixed_uS);    // Hold
  digitalWrite(outPinPPM, HIGH);
  delayMicroseconds(TIsw_uS);     // Hold for TIsw_uS microseconds        

 // Channel 6 - TI pot
  digitalWrite(outPinPPM, LOW);
  delayMicroseconds(Fixed_uS);    // Hold
  digitalWrite(outPinPPM, HIGH);
  delayMicroseconds(TI_uS);       // Hold for TI_uS microseconds  

 // Synchro pulse
  digitalWrite(outPinPPM, LOW);
  delayMicroseconds(Fixed_uS);    // Hold
  digitalWrite(outPinPPM, HIGH);  // Start Synchro pulse

}


void loop() { // Main loop

 // Read analogue ports
   AI_Raw_AEL = analogRead(AI_Pin_AEL);
   AI_Raw_ELE = analogRead(AI_Pin_ELE);
   AI_Raw_THR = analogRead(AI_Pin_THR);
   AI_Raw_RUD = analogRead(AI_Pin_RUD);
   AI_Raw_TIpot = analogRead(AI_Pin_TIpot);

 // Compensate for discrepancy in pot inputs including centering offset.
 // Also use this to invert inputs if necessary (swap x1 & y1)
 // y=mx+c, x to y scales to x1 to y1
   AI_AEL = map(AI_Raw_AEL, 0, 1023, 1200, 0) - 100; // Invert Aeleron pot and slight centre offset
   AI_ELE = map(AI_Raw_ELE, 0, 1023, 1200, 0) - 120; // Invert Elevator pot and slight centre offset
   AI_THR = map(AI_Raw_THR, 0, 1023, 0, 1023) + 0;  // Throttle
   AI_RUD = map(AI_Raw_RUD, 0, 1023, 0, 1023) + 0;  // Rudder
   AI_TIpot = map(AI_Raw_TIpot, 0, 1023, 1023, 0) + 0;  // Thermal Intelligence pot (TI)
   
 // Map analogue inputs to PPM rates for each of the channels
   Aeleron_uS = (AI_AEL * DualrateMultAel) + pulseMin + DualrateAdjAel;
   Elevator_uS = (AI_ELE * DualrateMultEle) + pulseMin + DualrateAdjEle;
   Throttle_uS = (AI_THR * DualrateMultThr) + pulseMin + DualrateAdjThr;
   Rudder_uS = (AI_RUD * DualrateMultRud) + pulseMin + DualrateAdjRud;
   TI_uS = (AI_TIpot * DualrateMultTI) + pulseMin + DualrateAdjTI;

 // Check limits
  if (Aeleron_uS <= 750) Aeleron_uS = 750;     // Min
  if (Aeleron_uS >= 1700) Aeleron_uS = 1700;   // Max   
  if (Elevator_uS <= 750) Elevator_uS = 750;   // Min
  if (Elevator_uS >= 1700) Elevator_uS = 1700; // Max
  if (Throttle_uS <= 750) Throttle_uS = 750;   // Min
  if (Throttle_uS >= 1700) Throttle_uS = 1700; // Max
  if (Rudder_uS <= 750) Rudder_uS = 750;       // Min
  if (Rudder_uS >= 1700) Rudder_uS = 1700;     // Max   
  if (TI_uS <= 750) TI_uS = 750;               // Min
  if (TI_uS >= 1700) TI_uS = 1700;             // Max
   
  if (digitalRead(inPinD6) == 0) { // Low rate
         DualrateMultAel = 0.5;
        DualrateMultEle = 0.5;
        DualrateMultThr = 0.9;
        DualrateMultRud = 0.7;
        DualrateMultTI = 0.9;
        DualrateAdjAel = 200;
        DualrateAdjEle = 200;
        DualrateAdjThr = 0;
        DualrateAdjRud = 100;
        DualrateAdjTI = 0;
  }
 
  if (digitalRead(inPinD6) == 1) { // Normal/high rate
        DualrateMultAel = 0.9;
        DualrateMultEle = 0.9;
        DualrateMultThr = 0.9;
        DualrateMultRud = 0.9;
        DualrateMultTI = 0.9;
        DualrateAdjAel = 0;
        DualrateAdjEle = 0;
        DualrateAdjThr = 0;
        DualrateAdjRud = 0;
        DualrateAdjTI = 0;
  }
 
  if (digitalRead(inPinD11) == 1) { // TI Switch    
        TIsw_uS = 1700;
  } else {
        TIsw_uS = 750;
  }

}