[kokare.git] / kokare.c

#include <avr/io.h>
#include <avr/interrupt.h>
#include <inttypes.h>
#include <math.h>

#define SEGA 4
#define SEGB 2
#define SEGC 1
#define SEGD 32
#define SEGE 64
#define SEGF 16
#define SEGG 8
#define SEGP 128

uint8_t font[16] = {
    SEGA | SEGB | SEGC | SEGD | SEGE | SEGF,
    SEGB | SEGC,
    SEGA | SEGB | SEGD | SEGE | SEGG,
    SEGA | SEGB | SEGC | SEGD | SEGG,
    SEGB | SEGC | SEGF | SEGG,
    SEGA | SEGC | SEGD | SEGF | SEGG,
    SEGA | SEGC | SEGD | SEGE | SEGF | SEGG,
    SEGA | SEGB | SEGC,
    SEGA | SEGB | SEGC | SEGD | SEGE | SEGF | SEGG,
    SEGA | SEGB | SEGC | SEGD | SEGF | SEGG,
    SEGA | SEGB | SEGC | SEGE | SEGF | SEGG,
    SEGC | SEGD | SEGE | SEGF | SEGG,
    SEGA | SEGD | SEGE | SEGF,
    SEGB | SEGC | SEGD | SEGE | SEGG,
    SEGA | SEGD | SEGE | SEGF | SEGG,
    SEGA | SEGE | SEGF | SEGG,
};
/* LED */
uint8_t dsp[2] = {0, 0};
char leda = 0;
char ledc = 0;
/* Timer */
volatile int oticks = 0;
unsigned long mnow;
/* Pulse counter */
volatile char pstate = 0;
char pval = 0;
/* Switch */
volatile char sstate = 0;
int stime = 0;
/* Temp sensor */
volatile char tstate = 0;
volatile char tlock = 0;
unsigned long tstart;
unsigned long ttime;
unsigned long ttimea = 10000;
char tavgok = 0;
/* Conversion loop */
int tempk;
volatile ktok = 0;
/* Zero-cross detector*/
volatile char zok = 0;
volatile char ztime = 0;
/* Triac */
char trstate = 0;
char tron = 0;
volatile char trtime;
volatile char trdelay = 0;

void init(void)
{
    /* Timer init
     * Timer 0 cycles the Triac
     * Timer 1 is used for global timing
     * Timer 2 cycles the LED display
     */
    OCR0A = 100;
    TCCR0A = 2;
    TCCR0B = 1;
    TIMSK0 = 2;
    TCCR1A = 0;
    TCCR1B = 1;
    TIMSK1 = 1;
    OCR2A = 16;
    TCCR2A = 2;
    TCCR2B = 4;
    TIMSK2 = 2;
    
    /*
     * B0..2 = Pulse sensor
     * B3..5 = ISP
     * B6..7 = CLK
     */
    DDRB = 0x38;
    PORTB = 0x07;
    PCMSK0 = 0x07;
    PCICR = 0x01;
    /*
     * C0..5 = LEDA0..5
     * C6 = /RESET
     * C7 = NC
     */
    DDRC = 0x3f;
    PORTC = 0x00;
    /*
     * D0 = Triac
     * D1 = NTC FET
     * D2 = ZCD (INT0)
     * D3 = NTC Op-amp (INT1)
     * D4..5 = LEDA6..7
     * D6..7 = LEDC0..1
     */
    DDRD = 0xf3;
    PORTD = 0x00;
    EICRA = 0x0d;
    EIMSK = 0x03;
}

unsigned char bindisp(unsigned char num)
{
    unsigned char ret;
    
    ret = 0;
    if(num & 1)
	ret |= SEGA;
    if(num & 2)
	ret |= SEGB;
    if(num & 4)
	ret |= SEGC;
    if(num & 8)
	ret |= SEGD;
    if(num & 16)
	ret |= SEGE;
    if(num & 32)
	ret |= SEGF;
    if(num & 64)
	ret |= SEGG;
    if(num & 128)
	ret |= SEGP;
    return(ret);
}

void display(char num)
{
    dsp[0] = font[(num / 10) % 10];
    dsp[1] = font[num % 10];
}

void disphex(unsigned char num)
{
    dsp[0] = font[(num & 0xf0) >> 4];
    dsp[1] = font[num & 0x0f];
}

unsigned long getticks(void)
{
    uint16_t v;
    unsigned long r;
    
    cli();
    v = TCNT1;
    r = v + (((unsigned long)oticks) << 16);
    if((TIFR1 & 0x01) && !(v & 0x8000))
	r += 0x10000;
    sei();
    return(r);
}

void ledcycle(void)
{
    uint8_t c, d, v;
    
    if(++leda >= 8) {
	leda = 0;
	if(++ledc >= 2)
	    ledc = 0;
    }
    if(dsp[ledc] & (1 << leda)) {
	if(leda < 6) {
	    c = 1 << leda;
	    d = 0;
	} else {
	    c = 0;
	    d = 0x10 << (leda - 6);
	}
	d |= ledc?0x40:0x80;
    } else {
	c = d = 0;
    }
    PORTC = c;
    PORTD = (PORTD & 0x0f) | d;
}

void tempcycle(void)
{
    if(tstate == 0) {
	if((PIND & 8) && (tlock == 0)) {
	    cli();
	    PORTD |= 2;
	    sei();
	    tstart = mnow;
	    tstate = 1;
	}
    } else if(tstate == 1) {
	if(mnow - tstart > 1000) {
	    cli();
	    PORTD &= ~2;
	    sei();
	    tstate = 0;
	    tstart = mnow;
	}
    }
}

void calcavg(void)
{
    if(tlock == 1) {
	tlock = 2;
	ttimea = ((ttimea * 15) + ttime) >> 4;
	tlock = 0;
	tavgok = 1;
    }
}

void convcycle(void)
{
    static char state = 0;
    static unsigned long last = 0;
    static float a, ra, l, t;
    
    /*
     * Theoretically:
     *  t = RC * ln(2) => R = t / (C * ln(2))
     *  R = A * exp(B / T) => T = B / ln(R / A)
     *  T = B / ln(R / (A * C * ln(2)))
     * In the following: 
     *  a = ttimea as float
     *  C = 1e6 / (A * C * ln(2))
     *  ra = a * C
     *  l = ln(ra)
     *  t = B / l
     * Note, temperature is in Kelvin
     */
#define C 9.792934
#define B 4020.0
    if(state == 0) {
	if((mnow - last > 200000) && tavgok) {
	    a = (float)ttimea;
	    state = 1;
	    tavgok = 0;
	    last = mnow;
	}
    } else if(state == 1) {
	ra = a * C;
	state = 2;
    } else if(state == 2) {
	l = log(ra);
	state = 3;
    } else if(state == 3) {
	t = B / l;
	state = 4;
    } else if(state == 4) {
	tempk = (int)t;
	ktok = 1;
	state = 0;
    }
}

int main(void)
{
    int state, cur, run;
    unsigned long utime;
    
    state = 0;
    cur = 100;
    run = 0;
    init();
    sei();
    display(0);

    while(1) {
	mnow = getticks();
	tempcycle();
	calcavg();
	convcycle();

#if 1
	/*
	 * User interface
	 */
	if(state == 0) {
	    /* Display temperature */
	    if(ktok) {
		ktok = 0;
		if((tempk >= 273) && (tempk <= 372)) {
		    display(tempk - 273);
		} else {
		    dsp[0] = dsp[1] = SEGG;
		}
	    }
	    if(pval != 0)
		state = 1;
	    if(sstate == 2) {
		sstate = 0;
		if(stime > 10)
		    state = 2;
		else
		    run = !run;
	    }
	    if(run)
		dsp[1] |= SEGP;
	    else
		dsp[1] &= ~SEGP;
	} else if(state == 1) {
	    /* Temp setting */
	    if(pval != 0) {
		cur += pval;
		pval = 0;
		if(cur < 0)
		    cur = 0;
		if(cur > 100)
		    cur = 100;
		if(cur < 100)
		    display(cur);
		else
		    dsp[0] = dsp[1] = SEGG;
		utime = mnow;
	    }
	    if(mnow - utime > 1000000)
		state = 0;
	    if(sstate == 2) {
		run = !run;
		sstate = 0;
	    }
	} else if(state == 2) {
	    /* Display raw temp time reading */
	    if(ttimea < 20000) {
		display((ttimea / 100) % 100);
		dsp[0] |= SEGP;
		if(ttimea >= 10000)
		    dsp[1] |= SEGP;
	    } else {
		display(ttimea / 1000);
	    }
	    if(sstate == 2) {
		state = 0;
		sstate = 0;
	    }
	}
	/*
	 * Set Triac to match temperature
	 */
	if(run) {
	    if(tempk - 273 < cur) {
		tron = 1;
		if(cur - (tempk - 273) > 5) {
		    /* For some reason, the Triac currently doesn't
		     * trigger on one of the AC half-cycles below 0.7
		     * ms. */
		    trdelay = 7;
		} else if(cur - (tempk - 273) >= 3) {
		    trdelay = 20;
		} else if(cur - (tempk - 273) >= 2) {
		    trdelay = 40;
		} else {
		    trdelay = 70;
		}
	    } else {
		tron = 0;
	    }
	} else {
	    tron = 0;
	}
#endif
	/*
	  dsp[0] = bindisp((ttimea & 0xff00) >> 8);
	  dsp[1] = bindisp(ttimea & 0x00ff);
	*/
	/*
	  disphex((ttimea & 0xff000) >> 12);
	*/
#if 0
	/*
	  Temp display
	*/
	if(ttimea < 20000) {
	    display((ttimea / 100) % 100);
	    dsp[0] |= SEGP;
	    if(ttimea >= 10000)
		dsp[1] |= SEGP;
	} else {
	    display(ttimea / 1000);
	}
#endif
#if 0
	/*
	 * ZVD debug
	 */
	if(zok) {
	    if(++cur > 99)
		cur = 0;
	    display(cur);
	    zok = 0;
	}
#endif
#if 0
	/*
	  Phony Triac control
	 */
	if(pval != 0) {
	    cur += pval;
	    if(cur < 0)
		cur = 0;
	    if(cur > 99)
		cur = 99;
	    display(cur);
	    trdelay = 99 - cur;
	    pval = 0;
	}
	if(sstate == 2) {
	    tron = !tron;
	    sstate = 0;
	}
	if(tron)
	    dsp[1] |= SEGP;
	else
	    dsp[1] &= ~SEGP;
#endif
#if 0
	/*
	  Pulse counter display
	*/
	cur += pval;
	pval = 0;
	if(sstate == 2) {
	    cur = stime;
	    sstate = 0;
	}
	if(cur > 99)
	    cur = 99;
	if(cur < -99)
	    cur = -99;
	if(cur < 0) {
	    display(-cur);
	    dsp[0] |= SEGP;
	} else {
	    display(cur);
	}
	if(PINB & 4)
	    dsp[1] |= SEGP;
#endif
    }
}

ISR(SIG_INTERRUPT0)
{
    ztime = 0;
    zok = 1;
}

ISR(SIG_INTERRUPT1)
{
    unsigned long now;
    
    now = getticks();
    if(tstate == 0) {
	tstate = 1;
	if(tlock != 2)
	    ttime = now - tstart;
	tstart = now;
	PORTD |= 2;
	tlock = 1;
    }
}

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();
}

ISR(SIG_OVERFLOW1)
{
    oticks++;
}

ISR(SIG_PIN_CHANGE0)
{
    if((sstate == 0) && !(PINB & 4)) {
	stime = oticks;
	sstate = 1;
    }
    if((sstate == 1) && (PINB & 4)) {
	stime = oticks - stime;
	sstate = 2;
    }
    if(pstate == 0) {
	if((PINB & 2) == 0) {
	    pstate = 1;
	} else if((PINB & 1) == 0) {
	    pstate = 2;
	}
    } else if(pstate == 1) {
	if((PINB & 1) == 0) {
	    pval++;
	    pstate = 3;
	} else {
	    pstate = 0;
	}
    } else if(pstate == 2) {
	if((PINB & 2) == 0) {
	    pval--;
	    pstate = 3;
	} else {
	    pstate = 0;
	}
    } else {
	if((PINB & 2) && (PINB & 1))
	    pstate = 0;
    }
}
Commit	Line	Data
	1	#include <avr/io.h>
	2	#include <avr/interrupt.h>
	3	#include <inttypes.h>
	4	#include <math.h>
	5
	6	#define SEGA 4
	7	#define SEGB 2
	8	#define SEGC 1
	9	#define SEGD 32
	10	#define SEGE 64
	11	#define SEGF 16
	12	#define SEGG 8
	13	#define SEGP 128
	14
	15	uint8_t font[16] = {
	16	SEGA \| SEGB \| SEGC \| SEGD \| SEGE \| SEGF,
	17	SEGB \| SEGC,
	18	SEGA \| SEGB \| SEGD \| SEGE \| SEGG,
	19	SEGA \| SEGB \| SEGC \| SEGD \| SEGG,
	20	SEGB \| SEGC \| SEGF \| SEGG,
	21	SEGA \| SEGC \| SEGD \| SEGF \| SEGG,
	22	SEGA \| SEGC \| SEGD \| SEGE \| SEGF \| SEGG,
	23	SEGA \| SEGB \| SEGC,
	24	SEGA \| SEGB \| SEGC \| SEGD \| SEGE \| SEGF \| SEGG,
	25	SEGA \| SEGB \| SEGC \| SEGD \| SEGF \| SEGG,
	26	SEGA \| SEGB \| SEGC \| SEGE \| SEGF \| SEGG,
	27	SEGC \| SEGD \| SEGE \| SEGF \| SEGG,
	28	SEGA \| SEGD \| SEGE \| SEGF,
	29	SEGB \| SEGC \| SEGD \| SEGE \| SEGG,
	30	SEGA \| SEGD \| SEGE \| SEGF \| SEGG,
	31	SEGA \| SEGE \| SEGF \| SEGG,
	32	};
	33	/* LED */
	34	uint8_t dsp[2] = {0, 0};
	35	char leda = 0;
	36	char ledc = 0;
	37	/* Timer */
	38	volatile int oticks = 0;
	39	unsigned long mnow;
	40	/* Pulse counter */
	41	volatile char pstate = 0;
	42	char pval = 0;
	43	/* Switch */
	44	volatile char sstate = 0;
	45	int stime = 0;
	46	/* Temp sensor */
	47	volatile char tstate = 0;
	48	volatile char tlock = 0;
	49	unsigned long tstart;
	50	unsigned long ttime;
	51	unsigned long ttimea = 10000;
	52	char tavgok = 0;
	53	/* Conversion loop */
	54	int tempk;
	55	volatile ktok = 0;
	56	/* Zero-cross detector*/
	57	volatile char zok = 0;
	58	volatile char ztime = 0;
	59	/* Triac */
	60	char trstate = 0;
	61	char tron = 0;
	62	volatile char trtime;
	63	volatile char trdelay = 0;
	64
	65	void init(void)
	66	{
	67	/* Timer init
	68	* Timer 0 cycles the Triac
	69	* Timer 1 is used for global timing
	70	* Timer 2 cycles the LED display
	71	*/
	72	OCR0A = 100;
	73	TCCR0A = 2;
	74	TCCR0B = 1;
	75	TIMSK0 = 2;
	76	TCCR1A = 0;
	77	TCCR1B = 1;
	78	TIMSK1 = 1;
	79	OCR2A = 16;
	80	TCCR2A = 2;
	81	TCCR2B = 4;
	82	TIMSK2 = 2;
	83
	84	/*
	85	* B0..2 = Pulse sensor
	86	* B3..5 = ISP
	87	* B6..7 = CLK
	88	*/
	89	DDRB = 0x38;
	90	PORTB = 0x07;
	91	PCMSK0 = 0x07;
	92	PCICR = 0x01;
	93	/*
	94	* C0..5 = LEDA0..5
	95	* C6 = /RESET
	96	* C7 = NC
	97	*/
	98	DDRC = 0x3f;
	99	PORTC = 0x00;
	100	/*
	101	* D0 = Triac
	102	* D1 = NTC FET
	103	* D2 = ZCD (INT0)
	104	* D3 = NTC Op-amp (INT1)
	105	* D4..5 = LEDA6..7
	106	* D6..7 = LEDC0..1
	107	*/
	108	DDRD = 0xf3;
	109	PORTD = 0x00;
	110	EICRA = 0x0d;
	111	EIMSK = 0x03;
	112	}
	113
	114	unsigned char bindisp(unsigned char num)
	115	{
	116	unsigned char ret;
	117
	118	ret = 0;
	119	if(num & 1)
	120	ret \|= SEGA;
	121	if(num & 2)
	122	ret \|= SEGB;
	123	if(num & 4)
	124	ret \|= SEGC;
	125	if(num & 8)
	126	ret \|= SEGD;
	127	if(num & 16)
	128	ret \|= SEGE;
	129	if(num & 32)
	130	ret \|= SEGF;
	131	if(num & 64)
	132	ret \|= SEGG;
	133	if(num & 128)
	134	ret \|= SEGP;
	135	return(ret);
	136	}
	137
	138	void display(char num)
	139	{
	140	dsp[0] = font[(num / 10) % 10];
	141	dsp[1] = font[num % 10];
	142	}
	143
	144	void disphex(unsigned char num)
	145	{
	146	dsp[0] = font[(num & 0xf0) >> 4];
	147	dsp[1] = font[num & 0x0f];
	148	}
	149
	150	unsigned long getticks(void)
	151	{
	152	uint16_t v;
	153	unsigned long r;
	154
	155	cli();
	156	v = TCNT1;
	157	r = v + (((unsigned long)oticks) << 16);
	158	if((TIFR1 & 0x01) && !(v & 0x8000))
	159	r += 0x10000;
	160	sei();
	161	return(r);
	162	}
	163
	164	void ledcycle(void)
	165	{
	166	uint8_t c, d, v;
	167
	168	if(++leda >= 8) {
	169	leda = 0;
	170	if(++ledc >= 2)
	171	ledc = 0;
	172	}
	173	if(dsp[ledc] & (1 << leda)) {
	174	if(leda < 6) {
	175	c = 1 << leda;
	176	d = 0;
	177	} else {
	178	c = 0;
	179	d = 0x10 << (leda - 6);
	180	}
	181	d \|= ledc?0x40:0x80;
	182	} else {
	183	c = d = 0;
	184	}
	185	PORTC = c;
	186	PORTD = (PORTD & 0x0f) \| d;
	187	}
	188
	189	void tempcycle(void)
	190	{
	191	if(tstate == 0) {
	192	if((PIND & 8) && (tlock == 0)) {
	193	cli();
	194	PORTD \|= 2;
	195	sei();
	196	tstart = mnow;
	197	tstate = 1;
	198	}
	199	} else if(tstate == 1) {
	200	if(mnow - tstart > 1000) {
	201	cli();
	202	PORTD &= ~2;
	203	sei();
	204	tstate = 0;
	205	tstart = mnow;
	206	}
	207	}
	208	}
	209
	210	void calcavg(void)
	211	{
	212	if(tlock == 1) {
	213	tlock = 2;
	214	ttimea = ((ttimea * 15) + ttime) >> 4;
	215	tlock = 0;
	216	tavgok = 1;
	217	}
	218	}
	219
	220	void convcycle(void)
	221	{
	222	static char state = 0;
	223	static unsigned long last = 0;
	224	static float a, ra, l, t;
	225
	226	/*
	227	* Theoretically:
	228	* t = RC * ln(2) => R = t / (C * ln(2))
	229	* R = A * exp(B / T) => T = B / ln(R / A)
	230	* T = B / ln(R / (A * C * ln(2)))
	231	* In the following:
	232	* a = ttimea as float
	233	* C = 1e6 / (A * C * ln(2))
	234	* ra = a * C
	235	* l = ln(ra)
	236	* t = B / l
	237	* Note, temperature is in Kelvin
	238	*/
	239	#define C 9.792934
	240	#define B 4020.0
	241	if(state == 0) {
	242	if((mnow - last > 200000) && tavgok) {
	243	a = (float)ttimea;
	244	state = 1;
	245	tavgok = 0;
	246	last = mnow;
	247	}
	248	} else if(state == 1) {
	249	ra = a * C;
	250	state = 2;
	251	} else if(state == 2) {
	252	l = log(ra);
	253	state = 3;
	254	} else if(state == 3) {
	255	t = B / l;
	256	state = 4;
	257	} else if(state == 4) {
	258	tempk = (int)t;
	259	ktok = 1;
	260	state = 0;
	261	}
	262	}
	263
	264	int main(void)
	265	{
	266	int state, cur, run;
	267	unsigned long utime;
	268
	269	state = 0;
	270	cur = 100;
	271	run = 0;
	272	init();
	273	sei();
	274	display(0);
	275
	276	while(1) {
	277	mnow = getticks();
	278	tempcycle();
	279	calcavg();
	280	convcycle();
	281
	282	#if 1
	283	/*
	284	* User interface
	285	*/
	286	if(state == 0) {
	287	/* Display temperature */
	288	if(ktok) {
	289	ktok = 0;
	290	if((tempk >= 273) && (tempk <= 372)) {
	291	display(tempk - 273);
	292	} else {
	293	dsp[0] = dsp[1] = SEGG;
	294	}
	295	}
	296	if(pval != 0)
	297	state = 1;
	298	if(sstate == 2) {
	299	sstate = 0;
	300	if(stime > 10)
	301	state = 2;
	302	else
	303	run = !run;
	304	}
	305	if(run)
	306	dsp[1] \|= SEGP;
	307	else
	308	dsp[1] &= ~SEGP;
	309	} else if(state == 1) {
	310	/* Temp setting */
	311	if(pval != 0) {
	312	cur += pval;
	313	pval = 0;
	314	if(cur < 0)
	315	cur = 0;
	316	if(cur > 100)
	317	cur = 100;
	318	if(cur < 100)
	319	display(cur);
	320	else
	321	dsp[0] = dsp[1] = SEGG;
	322	utime = mnow;
	323	}
	324	if(mnow - utime > 1000000)
	325	state = 0;
	326	if(sstate == 2) {
	327	run = !run;
	328	sstate = 0;
	329	}
	330	} else if(state == 2) {
	331	/* Display raw temp time reading */
	332	if(ttimea < 20000) {
	333	display((ttimea / 100) % 100);
	334	dsp[0] \|= SEGP;
	335	if(ttimea >= 10000)
	336	dsp[1] \|= SEGP;
	337	} else {
	338	display(ttimea / 1000);
	339	}
	340	if(sstate == 2) {
	341	state = 0;
	342	sstate = 0;
	343	}
	344	}
	345	/*
	346	* Set Triac to match temperature
	347	*/
	348	if(run) {
	349	if(tempk - 273 < cur) {
	350	tron = 1;
	351	if(cur - (tempk - 273) > 5) {
	352	/* For some reason, the Triac currently doesn't
	353	* trigger on one of the AC half-cycles below 0.7
	354	* ms. */
	355	trdelay = 7;
	356	} else if(cur - (tempk - 273) >= 3) {
	357	trdelay = 20;
	358	} else if(cur - (tempk - 273) >= 2) {
	359	trdelay = 40;
	360	} else {
	361	trdelay = 70;
	362	}
	363	} else {
	364	tron = 0;
	365	}
	366	} else {
	367	tron = 0;
	368	}
	369	#endif
	370	/*
	371	dsp[0] = bindisp((ttimea & 0xff00) >> 8);
	372	dsp[1] = bindisp(ttimea & 0x00ff);
	373	*/
	374	/*
	375	disphex((ttimea & 0xff000) >> 12);
	376	*/
	377	#if 0
	378	/*
	379	Temp display
	380	*/
	381	if(ttimea < 20000) {
	382	display((ttimea / 100) % 100);
	383	dsp[0] \|= SEGP;
	384	if(ttimea >= 10000)
	385	dsp[1] \|= SEGP;
	386	} else {
	387	display(ttimea / 1000);
	388	}
	389	#endif
	390	#if 0
	391	/*
	392	* ZVD debug
	393	*/
	394	if(zok) {
	395	if(++cur > 99)
	396	cur = 0;
	397	display(cur);
	398	zok = 0;
	399	}
	400	#endif
	401	#if 0
	402	/*
	403	Phony Triac control
	404	*/
	405	if(pval != 0) {
	406	cur += pval;
	407	if(cur < 0)
	408	cur = 0;
	409	if(cur > 99)
	410	cur = 99;
	411	display(cur);
	412	trdelay = 99 - cur;
	413	pval = 0;
	414	}
	415	if(sstate == 2) {
	416	tron = !tron;
	417	sstate = 0;
	418	}
	419	if(tron)
	420	dsp[1] \|= SEGP;
	421	else
	422	dsp[1] &= ~SEGP;
	423	#endif
	424	#if 0
	425	/*
	426	Pulse counter display
	427	*/
	428	cur += pval;
	429	pval = 0;
	430	if(sstate == 2) {
	431	cur = stime;
	432	sstate = 0;
	433	}
	434	if(cur > 99)
	435	cur = 99;
	436	if(cur < -99)
	437	cur = -99;
	438	if(cur < 0) {
	439	display(-cur);
	440	dsp[0] \|= SEGP;
	441	} else {
	442	display(cur);
	443	}
	444	if(PINB & 4)
	445	dsp[1] \|= SEGP;
	446	#endif
	447	}
	448	}
	449
	450	ISR(SIG_INTERRUPT0)
	451	{
	452	ztime = 0;
	453	zok = 1;
	454	}
	455
	456	ISR(SIG_INTERRUPT1)
	457	{
	458	unsigned long now;
	459
	460	now = getticks();
	461	if(tstate == 0) {
	462	tstate = 1;
	463	if(tlock != 2)
	464	ttime = now - tstart;
	465	tstart = now;
	466	PORTD \|= 2;
	467	tlock = 1;
	468	}
	469	}
	470
	471	ISR(SIG_OUTPUT_COMPARE0A)
	472	{
	473	if(trstate == 0) {
	474	ztime++;
	475	if(tron && (ztime >= trdelay)) {
	476	PORTD \|= 1;
	477	trstate = 1;
	478	trtime = 0;
	479	}
	480	} else if(trstate == 1) {
	481	trtime++;
	482	if(trtime >= 5) {
	483	PORTD &= ~1;
	484	trstate = 0;
	485	}
	486	}
	487	}
	488
	489	ISR(SIG_OUTPUT_COMPARE2A)
	490	{
	491	ledcycle();
	492	}
	493
	494	ISR(SIG_OVERFLOW1)
	495	{
	496	oticks++;
	497	}
	498
	499	ISR(SIG_PIN_CHANGE0)
	500	{
	501	if((sstate == 0) && !(PINB & 4)) {
	502	stime = oticks;
	503	sstate = 1;
	504	}
	505	if((sstate == 1) && (PINB & 4)) {
	506	stime = oticks - stime;
	507	sstate = 2;
	508	}
	509	if(pstate == 0) {
	510	if((PINB & 2) == 0) {
	511	pstate = 1;
	512	} else if((PINB & 1) == 0) {
	513	pstate = 2;
	514	}
	515	} else if(pstate == 1) {
	516	if((PINB & 1) == 0) {
	517	pval++;
	518	pstate = 3;
	519	} else {
	520	pstate = 0;
	521	}
	522	} else if(pstate == 2) {
	523	if((PINB & 2) == 0) {
	524	pval--;
	525	pstate = 3;
	526	} else {
	527	pstate = 0;
	528	}
	529	} else {
	530	if((PINB & 2) && (PINB & 1))
	531	pstate = 0;
	532	}
	533	}