4_Ust-vo_poluchenia_velichin_s_datchikov/Encoder.c

#include <avr/io.h>

#define F_CPU 1000000UL
#define PIND_CLK 0b00010000
#define PIND_DT 0b01000000
//#define PIND_MASK PIND_CLK + PIND_DT

volatile uint8_t next_state, prev_state, state, state_1;
int sw34, PIND_SHIFT_1, PIND_SHIFT_2, PIND_MASK, PIN_CLK_2, PIN_DT_2; // Передача


void read_encoder_state()
{
    PIND_SHIFT_1 = 0;
    PIND_SHIFT_2 = 0;
    PIND_MASK = 0;

    if(PIND_CLK == 4 & PIND_DT == 8) //0b00001100 = 12
    {
      PIND_SHIFT_1 = 2;
      PIND_SHIFT_2 = 2;
    }
    if(PIND_CLK == 4 & PIND_DT == 16) //0b00010100 = 20
    {
      PIND_SHIFT_1 = 2;
      PIND_SHIFT_2 = 3;
    }
    if(PIND_CLK == 4 & PIND_DT == 32) //0b00100100 = 36
    {
      PIND_SHIFT_1 = 2;
      PIND_SHIFT_2 = 4;
    }
    if(PIND_CLK == 4 & PIND_DT == 64) //0b01000100 = 68
    {
      PIND_SHIFT_1 = 2;
      PIND_SHIFT_2 = 5;
    }
    if(PIND_CLK == 4 & PIND_DT == 128) //0b10000100 = 132
    {
      PIND_SHIFT_1 = 2;
      PIND_SHIFT_2 = 6;
    }


    if(PIND_CLK == 8 & PIND_DT == 4) //0b00001100 = 12
    {
      PIND_SHIFT_1 = 3;
      PIND_SHIFT_2 = 2;
    }
    if(PIND_CLK == 8 & PIND_DT == 16) //0b00011000 = 24
    {
      PIND_SHIFT_1 = 3;
      PIND_SHIFT_2 = 3;
    }
    if(PIND_CLK == 8 & PIND_DT == 32) //0b00101000 = 40
    {
      PIND_SHIFT_1 = 3;
      PIND_SHIFT_2 = 4;
    }
    if(PIND_CLK == 8 & PIND_DT == 64) //0b01001000 = 72
    {
      PIND_SHIFT_1 = 3;
      PIND_SHIFT_2 = 5;
    }
    if(PIND_CLK == 8 & PIND_DT == 128) //0b10001000 = 136
    {
      PIND_SHIFT_1 = 3;
      PIND_SHIFT_2 = 6;
    }


    if(PIND_CLK == 16 & PIND_DT == 4) //0b00010100 = 16
    {
      PIND_SHIFT_1 = 4;
      PIND_SHIFT_2 = 2;
    }
    if(PIND_CLK == 16 & PIND_DT == 8) //0b00011000 = 24
    {
      PIND_SHIFT_1 = 4;
      PIND_SHIFT_2 = 3;
    }
    if(PIND_CLK == 16 & PIND_DT == 32) //0b00110000 = 48
    {
      PIND_SHIFT_1 = 4;
      PIND_SHIFT_2 = 4;
    }
    if(PIND_CLK == 16 & PIND_DT == 64) //0b01010000 = 80
    {
      PIND_SHIFT_1 = 4;
      PIND_SHIFT_2 = 5;
    }
    if(PIND_CLK == 16 & PIND_DT == 128) //0b10010000 = 144
    {
      PIND_SHIFT_1 = 4;
      PIND_SHIFT_2 = 6;
    }


    if(PIND_CLK == 32 & PIND_DT == 4) //0b00100100 = 36
    {
      PIND_SHIFT_1 = 5;
      PIND_SHIFT_2 = 2;
    }
    if(PIND_CLK == 32 & PIND_DT == 8) //0b00101000 = 40
    {
      PIND_SHIFT_1 = 5;
      PIND_SHIFT_2 = 3;
    }
    if(PIND_CLK == 32 & PIND_DT == 16) //0b00110000 = 48
    {
      PIND_SHIFT_1 = 5;
      PIND_SHIFT_2 = 4;
    }
    if(PIND_CLK == 32 & PIND_DT == 64) //0b01100000 = 96
    {
      PIND_SHIFT_1 = 5;
      PIND_SHIFT_2 = 5;
    }
    if(PIND_CLK == 32 & PIND_DT == 128) //0b10100000 = 160
    {
      PIND_SHIFT_1 = 5;
      PIND_SHIFT_2 = 6;
    }


    if(PIND_CLK == 64 & PIND_DT == 4) //0b01000100 = 68
    {
      PIND_SHIFT_1 = 6;
      PIND_SHIFT_2 = 2;
    }
    if(PIND_CLK == 64 & PIND_DT == 8) //0b01001000 = 72
    {
      PIND_SHIFT_1 = 6;
      PIND_SHIFT_2 = 3;
    }
    if(PIND_CLK == 64 & PIND_DT == 16) //0b01010000 = 80
    {
      PIND_SHIFT_1 = 6;
      PIND_SHIFT_2 = 4;
    }
    if(PIND_CLK == 64 & PIND_DT == 32) //0b01100000 = 96
    {
      PIND_SHIFT_1 = 6;
      PIND_SHIFT_2 = 5;
    }
    if(PIND_CLK == 64 & PIND_DT == 128) //0b11000000 = 192
    {
      PIND_SHIFT_1 = 6;
      PIND_SHIFT_2 = 6;
    }

    
    PIN_CLK_2 = (PIND & PIND_CLK) >> PIND_SHIFT_1;
    PIN_DT_2 = (PIND & PIND_DT) >> PIND_SHIFT_2;
    PIND_MASK = (PIN_CLK_2 + PIN_DT_2);

    // Читаем состояние энкодера
    next_state = (PIND & PIND_MASK);

    // Обновляем состояние энкодера
    if (next_state != prev_state)
    {
        switch (next_state)
        {
            case 0: // CW
                if (prev_state == 3) state++;
                else if (prev_state == 0) state--;
                break;
            case 1: // CCW
                if (prev_state == 1) state++;
                else if (prev_state == 2) state--;
                break;
            case 2: // CW
                if (prev_state == 1) state++;
                else if (prev_state == 3) state--;
                break;
            case 3: // CCW
                if (prev_state == 2) state++;
                else if (prev_state == 0) state--;
                break;
        }
        prev_state = next_state;
    }
}

void setup()
{
    // Инициализация последовательного порта
    Serial.begin(9600);

    // Настройка портов ввода-вывода
    DDRD = 0x00;
    PORTD = (PIND_CLK + PIND_DT);
}

void loop()
{
    // Читаем состояние энкодера
    read_encoder_state();

    // Если состояние энкодера изменилось, выводим его в последовательный порт
    if (state != sw34)
    {
        Serial.println(state);
        sw34 = state;
    }
}