#define numletterBytes 7
void step_Move(char step);
unsigned char i = 0 ,j =0 ,k=0 , n=0, START_flag = 0 , RELOAD_flag = 0 ;
char stepdelay = 0;
unsigned int  numbofturns = 0;

char letter_M[] = {0xfe,0xfe,0x60,0x30,0x60,0xfe,0xfe};
char letter_i[] = {0x00,0x82,0xfe,0xfe,0x82,0x00,0x00};
char letter_c[] = {0x38,0x7c,0xc6,0x82,0x82,0xc6,0x44};
char letter_R[] = {0x82,0xfe,0xfe,0x98,0x9c,0xf6,0x62};
char letter_O[] = {0X38,0X7C,0XC6,0X82,0XC6,0X7C,0X38};
char letter_p[] = {0x82,0xfe,0xfe,0x92,0x90,0xf0,0x60};


void interrup() iv IVT_ADDR_PCINT0 ics ICS_AUTO {
 PCIFR.PCIF0 = 1;
 if ((PINB & 0X02) && (START_flag == 0) ) {START_flag = 1;}
 else if ((PINB & 0X02) && (START_flag == 1) ) {RELOAD_flag = 1;}
}

void step_Move(char step){
char i;
 for (i=0; i< step; i++){
     delay_us(500);        // decrease for more speed  in moving.
 }
}
char *all_letters[] = {letter_m,letter_i,letter_c,letter_r,letter_o} ;
char message[] = "ABCDE";
char divide =0;

void main() {
DDRD = 0XFF;
PORTD = 0;
DDRB = 0XFD;
PORTB = 2;

SREG_I_bit = 1;
PCICR |= 1<<PCIE0;
PCMSK0 |= 1<<PCINT1;
      while(1){
              stepdelay = 0;
                  for(i=(numletterBytes * strlen(message))-1; i>=0; i--){
                     while(1){
                       while(START_flag == 0){ }
                        SREG_I_bit = 1;
                        step_Move(stepdelay);

                          for (k=i ; k<(numletterBytes * strlen(message)); k++){
                             divide = k/numletterBytes;
                             PORTD=all_letters[(message[divide] - 65)][k - divide*numletterBytes];
                            
                             if (RELOAD_flag ==1){SREG_I_bit = 0; break;}/////
                            
                             delay_us(400);
                             if (( !(k - divide)%(numletterBytes-1)) && (k % numletterBytes)){
                             portd = 0;
                             delay_us(1200);}
                          }
                         portd = 0;
                         START_flag = 0;
                         
                         numbofturns++;
                          if (numbofturns == 3 ) {     // decrease for more speed  in writing message .
                                  numbofturns = 0;
                                    if(i==0){stepdelay++;
                                              if (RELOAD_flag ==1){ RELOAD_flag = 0; START_flag = 1;}
                                              continue;
                                     }
                                  break;
                           }
                          if (RELOAD_flag ==1){ RELOAD_flag = 0; START_flag = 1; if(k==0){break;}}
                           
                      }

                  }
          }
 }