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Код: Выделить всё

encoder[c].pos += encoder_states[encoder[c].state] == state ? 1 : -1;

Код: Выделить всё

encoder_states[encoder[c].state] != state

Код: Выделить всё

#include <stdio.h>
#include <stdint.h>

uint32_t states[4] = {0b01, 0b11, 0b00, 0b10};
uint32_t A = 0, B = 0, AB_old = 0, AB_new = 0;
int32_t pos = 0;

void encoder_main_loop() {
    AB_new = (A ? 0b10 : 0x00) | ( B ? 0b01 : 0x00);
    if ( AB_new == AB_old ) return;
    pos += states[AB_old] == AB_new ? 1 : -1;
    printf("A:%u, B:%u, AB_new:%u, AB_old:%u, pos:%i \n",A,B,AB_new,AB_old,pos);
    AB_old = AB_new;
}

int main() {
    uint32_t i, p, pulses = 100;
    printf("--- making %u pulses forward --------------\n", pulses);
    for ( i = pulses, p = 0; i--; ) {
        // Encoder pulses generator, direction = Clockwise
        // A _____|`````|_____|`````|_____|`````|__
        // B __|`````|_____|`````|_____|`````|_____
        switch (p) {
          case 0: { B = !B; break; }
          case 1: { A = !A; break; }
          case 2: { B = !B; break; }
          case 3: { A = !A; break; }
        }
        p = (++p) & 0b11;
        // encoder counter
        encoder_main_loop();
    }
    printf("--- making %u pulses back --------------\n", pulses);
    for ( i = pulses, p = 0; i--; ) {
        // Encoder pulses generator, direction = Counter-Clockwise
        // A __|`````|_____|`````|_____|`````|_____
        // B _____|`````|_____|`````|_____|`````|__
        switch (p) {
          case 0: { A = !A; break; }
          case 1: { B = !B; break; }
          case 2: { A = !A; break; }
          case 3: { B = !B; break; }
        }
        p = (++p) & 0b11;
        // encoder counter
        encoder_main_loop();
    }
    return 0;
}

Код: Выделить всё

#include <stdio.h>
#include <stdint.h>

uint32_t states[4] = {0b01, 0b11, 0b00, 0b10};
uint32_t A = 0, B = 0, AB_old = 0, AB_new = 0, A_old = 0, B_old = 0;
int32_t pos = 0;

#if 0
void encoder_main_loop() {
    AB_new = (A ? 0b10 : 0x00) | ( B ? 0b01 : 0x00);
    if ( AB_new == AB_old ) return;
    pos += states[AB_old] == AB_new ? 1 : -1;
    AB_old = AB_new;
}
#else
void encoder_main_loop() {
    if ( A != A_old ) {
        A_old = A;
        if ( A ) pos += B ? -1 :  1;
        else     pos += B ?  1 : -1;
    } else if ( B != B_old ) {
        B_old = B;
        if ( B ) pos += A ?  1 : -1;
        else     pos += A ? -1 :  1;
    }
}
#endif