#include <mega16.h>
#include <delay.h>

// Declare your global variables here
unsigned char step;
unsigned char tok[32]={0,13,25,37,50,62,74,86,98,109,120,131,142,152,162,171,180,189,197,205,212,219,225,231,236,240,244,247,250,252,254,255};
unsigned char minstep;

// External Interrupt 0 service routine
interrupt [EXT_INT0] void ext_int0_isr(void)
{ 
        

}

void main(void)
{
// Declare your local variables here

// Input/Output Ports initialization
// Port A initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTA=0x00;
DDRA=0x00;

// Port B initialization
// Func7=In Func6=In Func5=In Func4=In Func3=Out Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=0 State2=T State1=T State0=T 
PORTB=0x00;
DDRB=0x08;

// Port C initialization
// Func7=In Func6=In Func5=In Func4=In Func3=In Func2=In Func1=In Func0=In 
// State7=T State6=T State5=T State4=T State3=T State2=T State1=T State0=T 
PORTC=0x00;
DDRC=0x00;

// Port D initialization
// Func7=Out Func6=In Func5=Out Func4=Out Func3=In Func2=In Func1=In Func0=In 
// State7=0 State6=T State5=0 State4=0 State3=T State2=T State1=T State0=T 
PORTD=0x00;
DDRD=0xB0;

// Timer/Counter 0 initialization
// Clock source: System Clock
// Clock value: 8000,000 kHz
// Mode: Fast PWM top=FFh
// OC0 output: Non-Inverted PWM
TCCR0=0x61;
TCNT0=0x00;
OCR0=0x00;

// Timer/Counter 1 initialization
// Clock source: System Clock
// Clock value: 8000,000 kHz
// Mode: Fast PWM top=00FFh
// OC1A output: Non-Inv.
// OC1B output: Non-Inv.
// 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=0xA1;
TCCR1B=0x01;
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: Fast PWM top=FFh
// OC2 output: Non-Inverted PWM
ASSR=0x00;
TCCR2=0x61;
TCNT2=0x00;
OCR2=0x00;

// External Interrupt(s) initialization
// INT0: On
// INT0 Mode: Rising Edge
// INT1: Off
// INT2: Off
GICR|=0x40;
MCUCR=0x03;
MCUCSR=0x00;
GIFR=0x40;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;

// Analog Comparator initialization
// Analog Comparator: Off
// Analog Comparator Input Capture by Timer/Counter 1: Off
ACSR=0x80;
SFIOR=0x00;
            
OCR0=0x00;
OCR1AL=0x00;
OCR1BL=0x00;
OCR2=0x00;

step=0; 
minstep=0;
// Global enable interrupts
      
#asm("sei")

while (1)
      {  
      
        minstep++;
        if (minstep==32) {
                step++;
                step&=3;
                minstep=0;
        };        
        if (step==0){
                OCR0=tok[31-minstep];
                OCR1AL=tok[minstep];
                OCR2=0;
                OCR1BL=0;
        } else if (step==1) {
                OCR1AL=tok[31-minstep];                
                OCR1BL=tok[minstep];
                OCR2=0;
                OCR0=0;
        } else if (step==2) {        
                OCR1BL=tok[31-minstep];                
                OCR2=tok[minstep];                       
                OCR0=0;
                OCR1AL=0;
                
        } else if (step==3) {        
                OCR2=tok[31-minstep];        
                OCR0=tok[minstep];        
                OCR1AL=0;
                OCR1BL=0;

        }

       delay_ms(1);    
    
}
};

#include <mega8.h>
#include <delay.h>

#define dir0  PINC.6
#define dir1  PIND.4

unsigned char stepsMicro[8],steplimit;
unsigned char step0,step1;

// External Interrupt 0 service routine
interrupt [EXT_INT0] void ext_int0_isr(void)
{
if (dir0==1){step0++;} else {step0--;};
        step0 &=steplimit;
        PORTC = stepsMicro[step0]<<1;
        
}
// External Interrupt 1 service routine
interrupt [EXT_INT1] void ext_int1_isr(void)
{ 
if (dir1==1){step1++;} else {step1--;};
        step1 &=steplimit;
        PORTB =stepsMicro[step1]<<1;
        
}

// Declare your global variables here
void main(void)
{

PORTB=0x00;
DDRB=0xFF;

PORTC=0x00;
DDRC=0xFF;

PORTD=0x00;
DDRD=0xFF;

// External Interrupt(s) initialization
// INT0: On
// INT0 Mode: Rising Edge
// INT1: On
// INT1 Mode: Rising Edge
GICR|=0xC0;
MCUCR=0x0F;
GIFR=0xC0;

// Timer(s)/Counter(s) Interrupt(s) initialization
TIMSK=0x00;

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

stepsMicro[0] = 0x08;
stepsMicro[1] = 0x04;
stepsMicro[2] = 0x02;
stepsMicro[3] = 0x01;
steplimit=3;

if (PINB.6==1) {   //полный шаг

        stepsMicro[0] = 0x08;
        stepsMicro[1] = 0x04;
        stepsMicro[2] = 0x02;
        stepsMicro[3] = 0x01;
        steplimit=3;
} else if(PINB.5==1){ //полушаг
        stepsMicro[0] = 0x08;
        stepsMicro[1] = 0x0C;;
        stepsMicro[2] = 0x04;
        stepsMicro[3] = 0x06;
        stepsMicro[4] = 0x02;
        stepsMicro[5] = 0x03;
        stepsMicro[6] = 0x01;
        stepsMicro[7] = 0x09;
        steplimit=7;
} else if (PIND.5==1) { //полный шаг,включено по 2 обмотки
        stepsMicro[0] = 0x0C;
        stepsMicro[1] = 0x06;
        stepsMicro[2] = 0x03;
        stepsMicro[3] = 0x09;
        steplimit=3;
}


step0=0;
step1=0;
         
PORTC = stepsMicro[step0]<<1;
PORTB =stepsMicro[step1]<<1;
 
// Global enable interrupts
#asm("sei")
while (1)
      {
     
      };
}