From c1e95c9295e25a80231b00c237859eb0b8b49c36 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?=D0=90=D1=80=D1=82=D1=91=D0=BC=20=D0=9D=D0=BE=D0=B2=D0=B8?=
 =?UTF-8?q?=D0=BA=D0=BE=D0=B2?= <stud126169@vyatsu.ru>
Date: Fri, 2 Feb 2024 16:50:06 +0000
Subject: [PATCH] =?UTF-8?q?=D0=9E=D0=B1=D0=BD=D0=BE=D0=B2=D0=B8=D1=82?=
 =?UTF-8?q?=D1=8C=20Encoder.c?=
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---
 Encoder.c | 107 ++++++++++++++++++++----------------------------------
 1 file changed, 39 insertions(+), 68 deletions(-)

diff --git a/Encoder.c b/Encoder.c
index cbc69f9..5952461 100644
--- a/Encoder.c
+++ b/Encoder.c
@@ -1,72 +1,43 @@
-#include "Encoder.h"
-#include <avr/interrupt.h>
-#include <avr/io.h>
-
-/* Дефайны */
-#define PIND_MASK 0b00001100
-
-/* Переменные */
-volatile int32_t next_state, prev_state, up_state, down_state, state;
-int sw34; // Передача
-int32_t encoder_value = 0;
-
-/* Прерывания */
-ISR(TIMER1_COMPA_vect) {
-    next_state = PIND & PIND_MASK;
-    if (next_state != prev_state) {
-        switch (prev_state) {
-        case 8: {
-            if (next_state == 3) state++;
-            if (next_state == 0) state--;
-            break;
-        }
-        case 0: {
-            if (next_state == 2) state++;
-            if (next_state == 1) state--;
-            break;
-        }
-        case 4: {
-            if (next_state == 0) state++;
-            if (next_state == 3) state--;
-            break;
-        }
-        case 12: {
-            if (next_state == 1) state++;
-            if (next_state == 2) state--;
-            break;
-        }
-        default: {
-            break;
-        }
-        }
-        prev_state = next_state; // Присваиваем текущему состоянию предыдущее
+#define ENC_CLK   0b00000100
+#define ENC_DAT   0b00001000
+#define ENC_PIN   PIND
+//----------------------------------------------------------------------
+int  state;
+int old_state = 0;
+//----------------------------------------------------------------------
+int encoder()
+{ 
+  if ( !(ENC_PIN & ENC_CLK) )
+  {
+    if ( ENC_PIN & ENC_DAT)   
+    { 
+      state++;
     }
-    TCNT1H = 0x00;
-    TCNT1L = 0x00; // Обнуляем счетчик(на всякий случай)
-    encoder_value = state;
+    if ( !(ENC_PIN & ENC_DAT) )
+    { 
+      state--;
+    }
+    while(!(ENC_PIN & ENC_CLK))
+    {
+      
+    }
+  }
+  return state;
 }
-
-void timer1_init() {
-    TCCR1A = 0x00;
-    TCCR1B |= (1 << CS11); // устанавливаем коэффициент деления 8
-    TCNT1H = 0x00; // Обнуляем старший и младший байты счетного регистра
-    TCNT1L = 0x00;
-    OCR1AH = 0x03; // Настройка регистра сравнения для старшего и младщего байта
-    OCR1AL = 0xE8;
-    TIMSK1 |= (1 << OCIE1A);// Разрешаем прерывание таймера по совпадению с OCR1A
+//----------------------------------------------------------------------
+void encoder_Initialization() 
+{
+  DDRD  = 0b00000010; 
+  PORTD = 0b00001110; 
 }
-
-void ports_init() {
-    DDRD = 0x00;
-    PORTD = 0x0C;
+//----------------------------------------------------------------------
+int get_encoder_value() 
+{
+  encoder();
+  if(old_state != state)
+  {
+    old_state = encoder();
+  }
+  return state;
 }
-
-void encoder_Initialization() {
-    ports_init();  // Настройка портов
-    timer1_init(); // Инициализация таймера
-    sei(); // Разрешаем глобальные прерывания
-}
-
-int32_t get_encoder_value() {
-    return encoder_value;
-}
\ No newline at end of file
+//----------------------------------------------------------------------