ATMEGA1284P TIMER3 FAST PWM

void encode_init( void )

{

  int8_t new;

  //set pins as input

  ROTDDR &= ~((1<<ROTPA)|(1<<ROTPB)|(1<<ROTPBUTTON));

  //enable interrnal pullups;

  ROTPORT |= (1<<ROTPA)|(1<<ROTPB)|(1<<ROTPBUTTON);

  new = 0;

  if( PHASE_A ) new = 3;

  if( PHASE_B ) new ^= 1;       // convert gray to binary

  last = new;                   // power on state

  enc_delta = 0;

  TCCR0B = (1<<CS02);   //  prescaler 256

  TCCR0A = (1<<WGM01); //   CTC Modus

  OCR0A = 78; //78=1ms

  TIMSK0 |= 1<<OCIE0A;

}

TCCR1A = (1<<COM1A1) + (1<<COM1B1) + (1<<WGM11);

TCCR1B = (1<<WGM13) + (1<<WGM12) + (1<<CS10); // prescaler = 1 (none)

ICR1 = 16000;

OCR1A = 0; //R 

OCR1B = 0; //G

DDRD |= (1 << DDD4) | (1 << DDD5); //PD4 und 5 als AUSGANG

TCCR3A = (1<<COM3A1) + (1<<COM3B1) + (1<<WGM31);

TCCR3B = (1<<WGM33) + (1<<WGM32) + (1<<CS30); // prescaler = 1 (none)

ICR3 = 16000;

OCR3A = 0; //B

OCR3B = 4000; //0-10V Output

DDRB |= (1 << DDB6) | (1 << DDB7); //PB6 und 7 als AUSGANG

ISR( TIMER0_COMPA_vect )            // 1ms for manual movement

{

  int8_t new, diff;

  new = 0;

  if( PHASE_A ) new = 3;

  if( PHASE_B ) new ^= 1;          // convert gray to binary

  diff = last - new;               // difference last - new

  if( diff & 1 ) 

  {                 // bit 0 = value (1)

      last = new;                    // store new as next last

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

  }

  ms++;//Addiere +1 zu MilliSekunden

  if (ms == 1000)    //-------------------------------HIER!!!!!!! Bei == überläuft die Variable bei >= wird's ungenau!!!!

  {

    ms = 0;

    ss++;//Addiere +1 zu Sekunden

    lcd_burned_ss++;

    if (ss >= 60)

    {

      ss = 0;

      mm++;//Addiere +1 zu Minuten

      if (mm >= 60)

      {

        mm = 0;

        hh++;//Addiere +1 zu Stunden

        if (hh >= 24)

        {

          day++;

          if (day >= 8)

          {

            day=1;

          }

          hh = 0;

        }

      }

    }

  }

}