m_value = PIND & (1 << PD2);
        if (m_value == 0){
            m_trigger = 1;
        } else {
            if (m_trigger == 1){
                ++m_counter;
            }
            m_trigger = 0;
        }

static uint_fast8_t old_val;

void spool_encinterrupt(void)
{
    const uint_fast8_t new_val = hardware_get_encoder_bits();    /* Состояние фазы A - в бите с весом 2, фазы B - в бите с весом 1 */

    // dimensions are:
    // old_bits new_bits
    static const int_fast8_t graydecoder [4][4] =
    {
        {
            +0,        /* 00 -> 00 stopped                */
            -1,        /* 00 -> 01 rotate left            */
            +1,        /* 00 -> 10 rotate right        */
            +0,        /* 00 -> 11 invalid combination */        
        },
        {
            +1,        /* 01 -> 00 rotate right        */
            +0,        /* 01 -> 01 stopped                */
            +0,        /* 01 -> 10 invalid combination */
            -1,        /* 01 -> 11 rotate left            */
        },
        {
            -1,        /* 10 -> 00 rotate left            */
            +0,        /* 10 -> 01 invalid combination */
            +0,        /* 10 -> 10 stopped                */
            +1,        /* 10 -> 11 rotate right        */
        },
        {
            +0,        /* 11 -> 00 invalid combination */
            +1,        /* 11 -> 01 rotate right        */
            -1,        /* 11 -> 10 rotate left            */
            +0,        /* 11 -> 11 stopped                */
        },
    };


#if ENCODER_REVERSE
    position1 -= graydecoder [old_val][new_val];
#else
    position1 += graydecoder [old_val][new_val];
#endif
    old_val = new_val;
}

    old_val = hardware_get_encoder_bits();    /* Состояние фазы A - в бите с весом 2, фазы B - в бите с весом 1 */

/*
* File: main.c
* Author: dmitriy
*
* Created on September 17, 2013, 10:55 PM
*/

#include <htc.h>
#include <stdlib.h>
#include <stdint.h> /* For uint8_t definition */

#include "config.h"

uint8_t values;

void Init()
{
// Input PB4, PB5 for encoder
// Output PC1, PC2
TRISC = 0xF1;
ANSEL = 0;
ANSELH = 0;

// Enable pullups on PORTB
INTCON2bits.NOT_RABPU = 0;

//Enable interrupt on change for PB4, PB5, PB6
IOCBbits.IOCB4 = 1;
IOCBbits.IOCB5 = 1;

//Enable interrupt on change
INTCON2bits.RABIP = 1;
INTCONbits.RBIE = 1;
INTCONbits.PEIE = 1;
INTCONbits.GIE = 1;


}

void interrupt isr(void) {
if (INTCONbits.RBIF) {
values = (PORTB & 0x30) >> 4;
INTCONbits.RBIF = 0;
}
}


/*
*
*/
int main(int argc, char** argv) {
uint8_t edges = 0;
uint8_t edge;
uint8_t old_values;
uint8_t grey = 0;
uint8_t myvalue;

Init();
old_values = (PORTB & 0x30) >> 4;

while (1) {
myvalue = values;
edge = myvalue ^ old_values;
old_values = myvalue;
if (edge) {
//activity detected
if (edge != edges) {
//activity on new edge
edges = edge;
if (!myvalue) {
//fix direction
// which depends on edge
if (edge & 0x01) {
switch (grey) {
case 00:
grey = 0x01;
break;
case 0x01:
grey = 0x03;
break;
case 0x03:
grey = 0x02;
break;
case 0x02:
grey = 0x00;
break;
} //switch
} else {
switch (grey) {
case 00:
grey = 0x02;
break;
case 0x02:
grey = 0x03;
break;
case 0x03:
grey = 0x01;
break;
case 0x01:
grey = 0x00;
break;
} //switch
} //if (edge & 0x01)
PORTC = grey << 1;
} //if (!myvalue)
} //if (edge != edges)
}
}

return (EXIT_SUCCESS);
}