+ISR(SIG_OUTPUT_COMPARE0A)
+{
+ if(trstate == 0) {
+ ztime++;
+ if(tron && (ztime >= trdelay)) {
+ PORTD |= 1;
+ trstate = 1;
+ trtime = 0;
+ }
+ } else if(trstate == 1) {
+ trtime++;
+ if(trtime >= 5) {
+ PORTD &= ~1;
+ trstate = 0;
+ }
+ }
+}
+
+ISR(SIG_OUTPUT_COMPARE2A)
+{
+ ledcycle();
+}
+