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#include <mega48.h>
volatile char portB_sost[8]={0x01, 0x02, 0x04, 0x08, 0x10, 0x20, 0x40, 0x80}, ocra0_servo[8];
unsigned char servo_n, old_reg, new_reg, i;
unsigned int sechenie_soplo, soplo_sum;
 
 
 void port_b (void) 
{  
PORTB=portB_sost[i];   
OCR0A=ocra0_servo[i];  
i++;  
soplo_sum+=ocra0_servo[i];
if (i>8) {i=1; soplo();  sechenie_soplo=soplo_sum; soplo_sum=0;} 
}    
 
void port_b0 (void)
  {
   PORTB=0x00;
  }


 
// Timer 0 overflow interrupt service routine
interrupt [TIM0_OVF] void timer0_ovf_isr(void)
{  
port_b();
// Reinitialize Timer 0 value
}

// Timer 0 output compare A interrupt service routine
interrupt [TIM0_COMPA] void timer0_compa_isr(void)
{
port_b0();   
}

   void encoder (void)
   { 
          if (old_reg==0) {if(new_reg == 3) ocra0_servo[servo_n]++;  if(new_reg == 1) ocra0_servo[servo_n]--; } 
          if (old_reg==1) {if(new_reg == 0) ocra0_servo[servo_n]++;  if(new_reg == 3) ocra0_servo[servo_n]--; }
          if (old_reg==3) {if(new_reg == 1) ocra0_servo[servo_n]++;  if(new_reg == 0) ocra0_servo[servo_n]--; }  
          if ( ocra0_servo[servo_n]<80)  ocra0_servo[servo_n]=80;
          if ( ocra0_servo[servo_n]>253) ocra0_servo[servo_n]=253;
   }

          void regul (void)
          {
           encoder();
          if (old_reg>3)  servo_n++;
 
          switch (servo_n) {
          case 1: servo_n=1; encoder(); break;
          case 2: servo_n=2; encoder(); break;
          case 3: servo_n=3; encoder(); break;
          case 4: servo_n=4; encoder(); break;
          case 5: servo_n=5; encoder(); break;
          case 6: servo_n=6; encoder(); break;
          case 7: servo_n=7; encoder(); break;
          case 8: servo_n=8; encoder(); break;   //znacheniya povorota servo zaslonok
                           }; 
          }     
          
          

void main(void)
{
// Declare your local variables here
port_b();
// Crystal Oscillator division factor: 1
#pragma optsize-
CLKPR=0x80;
CLKPR=0x00;
#ifdef _OPTIMIZE_SIZE_
#pragma optsize+
#endif

// Input/Output Ports initialization
// Port B initialization
// Func7=Out Func6=Out Func5=Out Func4=Out Func3=Out Func2=Out Func1=Out Func0=Out 
// State7=0 State6=0 State5=0 State4=0 State3=0 State2=0 State1=0 State0=0 
PORTB=0x00;
DDRB=0xFF;

// Port C initialization
// Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTC=0x00;
DDRC=0x00;

// Port D initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=P State6=P State5=T State4=T State3=T State2=T State1=T State0=T 
PORTD=0xC0;
DDRD=0x00;


// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 125,000 kHz
// Mode: Normal top=FFh
// OC0A output: Disconnected
// OC0B output: Disconnected
TCCR0A=0x00;
TCCR0B=0x03;
TCNT0=0x00;
OCR0A=0x90;
OCR0B=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: Timer 1 Stopped
// Mode: Normal top=FFFFh
// OC1A output: Discon.
// OC1B output: Discon.
// Noise Canceler: Off
// Input Capture on Falling Edge
// Timer 1 Overflow Interrupt: Off
// Input Capture Interrupt: Off
// Compare A Match Interrupt: Off
// Compare B Match Interrupt: Off
TCCR1A=0x00;
TCCR1B=0x00;
TCNT1H=0x00;
TCNT1L=0x00;
ICR1H=0x00;
ICR1L=0x00;
OCR1AH=0x00;
OCR1AL=0x00;
OCR1BH=0x00;
OCR1BL=0x00;

// Timer/Counter 2 initialization
// Clock source: System Clock
// Clock value: Timer 2 Stopped
// Mode: Normal top=FFh
// OC2A output: Disconnected
// OC2B output: Disconnected
ASSR=0x00;
TCCR2A=0x00;
TCCR2B=0x00;
TCNT2=0x00;
OCR2A=0x00;
OCR2B=0x00;

// External Interrupt(s) initialization
// INT0: Off
// INT1: Off
// Interrupt on any change on pins PCINT0-7: Off
// Interrupt on any change on pins PCINT8-14: Off
// Interrupt on any change on pins PCINT16-23: Off
EICRA=0x00;
EIMSK=0x00;
PCICR=0x00;

// Timer/Counter 0 Interrupt(s) initialization
TIMSK0=0x03;
// Timer/Counter 1 Interrupt(s) initialization
TIMSK1=0x00;
// Timer/Counter 2 Interrupt(s) initialization
TIMSK2=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
ADCSRB=0x00;

// Global enable interrupts
#asm("sei")  

while (1)
      {
      new_reg = 4*!PIND.5+2*!PIND.6+!PIND.7; 
      if (old_reg!=new_reg) regul(); 
      old_reg=new_reg;  
 
      }; 


}