#include <ioavr.h>
#include <inavr.h>
#include <math.h>

unsigned int timer_phase_A0,timer_phase_B0,timer_phase_C0;
unsigned int timer_phase_A1,timer_phase_B1,timer_phase_C1;
char PORTD_buffer, PINA_buffer;
unsigned int phase_A,phase_B,phase_C;
char flag_A0=0,flag_B0=0,flag_C0=0;
unsigned int angle_alpha;
#pragma vector=TIMER1_COMPA_vect
__interrupt void TIMER1_comp(void){
  TCNT1=0;
 
  if((PINB&1)==1){
    phase_B=65535;}
  else{phase_B=0;}
  if((PINB&2)==2){
    phase_A=65535;}
  else{phase_A=0;}
  if((PINB&4)==4){
    phase_C=65535;}
  else{phase_C=0;}
  timer_phase_A0&=phase_A;
  timer_phase_A1&=(~phase_A);
  timer_phase_B0&=phase_B;
  timer_phase_B1&=(~phase_B);
  timer_phase_C0&=phase_C;
  timer_phase_C1&=(~phase_C);
  if((timer_phase_A0<1000)&&(timer_phase_B0<1000)&&(timer_phase_C0<1000)){
  timer_phase_A0++;
  timer_phase_B0++;
  timer_phase_C0++;
  timer_phase_A1++;
  timer_phase_B1++;
  timer_phase_C1++;}
}

void main(void)
{
TCCR1A=0;
TCCR1B|=(1<<CS11);//x8
OCR1A=100;
TIMSK|=(1<<OCIE1A);
TCCR2|=(1<<WGM21);
TCCR2|=(1<<COM20);
TCCR2|=(1<<CS20);
OCR2=40;
ADMUX|=(1<<REFS0);
ADCSRA|=(1<<ADEN);
ADCSRA|=(1<<ADPS0);
ADCSRA|=(1<<ADPS1);
ADCSRA|=(1<<ADPS2);
ADCSRA|=(1<<ADSC);
SREG|=128;
DDRD=0xff;
DDRC=0xff;
unsigned int blinker=0;
while(1){
  //if((PINA&8)==8){
  PORTD_buffer=0;
if((timer_phase_A0<1000)&&(timer_phase_B0<1000)&&(timer_phase_C0<1000)){ 
  if(timer_phase_A0>angle_alpha){
   PORTD_buffer|=2&phase_A;}
  if(timer_phase_A1>angle_alpha){
   PORTD_buffer|=4&(~phase_A);}
  if(timer_phase_B0>angle_alpha){
   PORTD_buffer|=8&phase_B;}
  if(timer_phase_B1>angle_alpha){
   PORTD_buffer|=16&(~phase_B);}
  if(timer_phase_C0>angle_alpha){
   PORTD_buffer|=32&phase_C;}
  if(timer_phase_C1>angle_alpha){
   PORTD_buffer|=64&(~phase_C);}
  PORTC&=~(8+4);
  blinker=0;
  }
  PORTD=PORTD_buffer;
  if((ADCSRA&16)==16){
  angle_alpha=(ADC/10);
  if(angle_alpha>100){angle_alpha=100;}
  angle_alpha=100-angle_alpha;
  ADCSRA&=~16;
  ADCSRA|=(1<<ADSC);
  }
  PINA_buffer=PINA;
  if(blinker<20000){
  PORTC|=2*(PINA_buffer&4);
  PORTC|=4&~(PINA_buffer&4);}
  else{PORTC&=~(8+4);}
  if(blinker>40000){
    blinker=0;}
  blinker++;
  if((PINA_buffer&4)==4){
    ADMUX|=(1<<MUX0);}
  else{ADMUX&=~(1<<MUX0);}
  //}
  //else{
    //PORTD=0;
    //PORTC=0;}
  }//while(1)
}//main

ISR (TIMER1_COMPA_vect){
   OCR1AH=0x34;
   OCR1AL=0x08;
   static char i=0;
   PORTC=0xff; //это напимал
   //PORTC=mode[j][i]; - это закоментировал
   _delay_us(100);
   PORTC=0;
   i++;
   if (i==6){
      i=0;
      TCCR1B=0;
   }
}