Unnamed

/*                       ATmega32 - 40 PIN DIP LAYOUT FOR LCD-                                       _______________________                                      [ 1]PB0         PA0[40]                                       [ 2]PB1         PA1[39]                                      [ 3]PB2         PA2[38]                                       [ 4]PB3         PA3[37]                                       [ 5]PB4         PA4[36]                                       [ 6]PB5         PA5[35]                                       [ 7]PB6         PA6[34]                                       [ 8]PB7         PA7[33]                              RESET -> [ 9]RST        AREF[32] <- +5V VCC                            5V VCC -> [10]VCC         GND[31] <- GROUND                            GROUND -> [11]GND        AVCC[30] <- +5V VCC                       16 MHZ XTAL -> [12]XTAL1       PC7[29] -> LCD DATA 7                       16 MHZ XTAL -> [13]XTAL2       PC6[28] -> LCD DATA 6                                      [14]PD0         PC5[27] -> LCD DATA 5                                      [15]PD1         PC4[26] -> LCD DATA 4                     encoder 1        [16]PD2         PC3[25] -> LCD E                       encoder 2        [17]PD3         PC2[24] -> LCD RS                                       [18]PD4         PC1[23] -> LCD RW                                       [19]PD5         PC0[22]    not connected                                       [20]PD6         PD7[21]                                        ______________________                         */#include <avr/io.h>#include <avr/interrupt.h>#include <avr/signal.h>#include "global.h"#include "rprintf.h"#include "lcd.h"#include "timer.h" void setupEncoder(void);void updatePos(void);int position;           // note that this is signedunsigned char oldstate; // for quadrature decodingint main(void)  {        // initialize the timer system        timerInit();	// initialize LCD on PortC	lcdInit();	// direct printf output to LCD	rprintfInit(lcdDataWrite); 	lcdClear();	setupEncoder();	sei(); 	while (1) {//	PORTA = position >> 8; // example use of the result                             // try sending it to an lcd!	lcdGotoXY(0,1);	rprintf("Pos - %d ",position);   	}} void setupEncoder() {   // clear position  position = 0;    // we need to set up int0 and int1 to   // trigger interrupts on both edges  MCUCR = (1<<ISC10) | (1<<ISC00);   // then enable them.  GICR  = (1<<INT0) | (1<<INT1);   // don't forget to turn on interrupts!} #define ERROR 0signed char offsets[] = {/* 0000 */   0,/* 0001 */  +1,/* 0010 */  -1,/* 0011 */   ERROR,/* 0100 */  -1,/* 0101 */   0,/* 0110 */   ERROR,/* 0111 */  +1,/* 1000 */  +1,/* 1001 */   ERROR,/* 1010 */   0,/* 1011 */  -1,/* 1100 */   ERROR,/* 1101 */  -1,/* 1110 */  +1,/* 1111 */   0   }; SIGNAL (SIG_INTERRUPT0) {  // fix this signal name!!! INT0  updatePos();} SIGNAL (SIG_INTERRUPT1) { // fix this signal name!!! INT1  updatePos();}  void updatePos() { unsigned char temp;/* get the bits        PIND     = XXXXiiXX   clear space       & 0x0C     = 0000ii00   or in old status  | oldstate = XX00iijj   clean up          & 0x0F     = 0000iijj  */    temp = ((PIND & 0x0C) | oldstate) & 0x0F; oldstate = (temp >> 2);                     // update oldstate position += offsets[temp];                  // update position	if (position == 2016) position = 0; 	if (position == -1) position = 2016;//	if (position == 2016) position = 0;  //rues first thought//	if (position == 16384) position = 2016; }