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Rev 12 Rev 15
Line 16... Line 16...
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volatile uint8_t pcIntCurr = 0;
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volatile uint8_t pcIntCurr = 0;
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volatile uint8_t pcIntLast = 0;
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volatile uint8_t pcIntLast = 0;
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volatile uint8_t pcIntMask = 0;
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volatile uint8_t pcIntMask = 0;
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volatile uint8_t timer0_ovf = 0;
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volatile uint8_t time_rot = 0;
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void doInt();
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void doInt();
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int main() {
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int main() {
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	cbi(DDRB, PCINT2);
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	cbi(DDRB, PCINT2);
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	cbi(DDRB, PCINT3);
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	cbi(DDRB, PCINT3);
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	TIMSK = (1<<TOIE0);                   // Eable timer overflow for Timer0
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	TCNT0 = 0x00;                         // Set Timer0 to 0
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	TCCR0B = (1<< CS02) | (1<<CS00);      // /1024 prescaler
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	PORTB |= (( 1 << PCINT2 ) | ( 1 << PCINT3 )); //turn on pullups
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	PORTB |= (( 1 << PCINT2 ) | ( 1 << PCINT3 )); //turn on pullups
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	PCMSK |= (( 1 << PCINT2 ) | ( 1 << PCINT3 )); //enable encoder pins interrupt sources
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	PCMSK |= (( 1 << PCINT2 ) | ( 1 << PCINT3 )); //enable encoder pins interrupt sources
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	sei();
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	sei();
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	GIMSK |= ( 1 << PCIE ); //enable pin change interupts
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	GIMSK |= ( 1 << PCIE ); //enable pin change interupts
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	_delay_ms(1000);
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	_delay_ms(1000);
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        cbi(PORTD, PD6);
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        cbi(PORTD, PD6);
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	for (;;) {
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	for (;;) {
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		if (!time_rot) {
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			cbi(PORTD, PD4);
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			cbi(PORTD, PD5);
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		}
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		if (pcIntMask)
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		if (pcIntMask)
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			doInt();
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			doInt();
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	}
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	}
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}
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}
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void doInt() {
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void doInt() {
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  xbi(PORTD, PD6);
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  xbi(PORTD, PD6);
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  if (rbi(pcIntCurr, PCINT2) == 0 && rbi(pcIntCurr, PCINT3) == 0 && rbi(pcIntMask, PCINT2) ) {
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  if (rbi(pcIntCurr, PCINT2) == 0 && rbi(pcIntCurr, PCINT3) == 0 && rbi(pcIntMask, PCINT2) ) {
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	cbi(PORTD, PD5);	// Clear oppposite direction
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	cbi(PORTD, PD5);
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	sbi(PORTD, PD4);	// Depress current direction for DEPRESS time
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	_delay_ms(DEPRESS_TIME);
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	sbi(PORTD, PD4);
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	cbi(PORTD, PD4);
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	time_rot = 5;
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  } else if (rbi(pcIntCurr, PCINT3) == 0 && rbi(pcIntCurr, PCINT2) == 0 && rbi(pcIntMask, PCINT3) ) {
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  } else if (rbi(pcIntCurr, PCINT3) == 0 && rbi(pcIntCurr, PCINT2) == 0 && rbi(pcIntMask, PCINT3) ) {
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	cbi(PORTD, PD4);
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	cbi(PORTD, PD4);
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	sbi(PORTD, PD5);
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	sbi(PORTD, PD5);
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	_delay_ms(DEPRESS_TIME);
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	cbi(PORTD, PD5);
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	time_rot = 5;
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  }
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  }
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  pcIntMask = 0;
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  pcIntMask = 0;
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}
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}
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ISR(TIMER0_OVF_vect) {
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        timer0_ovf++;
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        if (time_rot) {
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                time_rot--;
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        }
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}
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ISR(PCINT_vect)
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ISR(PCINT_vect)
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{
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{
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  pcIntCurr = PINB;
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  pcIntCurr = PINB;
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  pcIntMask = pcIntCurr ^ pcIntLast;
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  pcIntMask = pcIntCurr ^ pcIntLast;