Drehgeber Routine Peter Dannegger

ISR (TIMER0_COMPA_vect)                   // 1ms for manual movement

{

  //int8_t neu;

  int8_t uc_enc_code;

  int8_t diff;

  //neu = 0;

  uc_enc_code = 0x00;            // Variable fuer den Code mit 0 initialisieren

  //if (ENC_CHA)            

    //neu = 3;

  if (ENC_CHA)              // High an Channel A?

    uc_enc_code = 1;          // Bit 0 setzen -> 00000001   

  //if (ENC_CHB)

    //neu ^= 1;                    // convert gray to binary

  if (ENC_CHB)              // High an Channel B?

    uc_enc_code != 2;          // Bit 1 setzen -> 0000001X

  if (uc_enc_code == 0x02)        // Wenn 00000010 (2)...

    uc_enc_code = 0x03;          // dann 00000011 (3)

  if (uc_enc_code == 0x03)        // Wenn 00000011 (3)...

    uc_enc_code = 0x02;          // dann 00000010 (2)

  //diff = last - neu;                    // difference last - neu

  diff = uc_enc_code_old - uc_enc_code;   

  if (diff & 1)               // bit 0 = value (1)

  {                           

    //last = neu;                        // store neu as next last

    uc_enc_code_old = uc_enc_code;    // Neuen Code merken

    enc_delta += (diff & 2) - 1;       // bit 1 = direction (+/-)

  }

}