// ENCODER
#define PHASE_A			(PINC & (1<<PC3))	// PC3
#define PHASE_B			(PINC & (1<<PC2))	// PC2
#define DIR_CCW			0x10
#define DIR_CW			0x20
#define DIR_NONE		0x00

#define R_START			0x00

#define HALF_STEP		1

#ifdef HALF_STEP
// Use the half-step state table (emits a code at 00 and 11)
#define R_CCW_BEGIN		0x1
#define R_CW_BEGIN		0x2
#define R_START_M		0x3
#define R_CW_BEGIN_M	0x4
#define R_CCW_BEGIN_M	0x5

const uint8_t ttable[6][4] = {
	// R_START (00)
	{R_START_M,            R_CW_BEGIN,     R_CCW_BEGIN,  R_START},
	// R_CCW_BEGIN
	{R_START_M | DIR_CCW, R_START,        R_CCW_BEGIN,  R_START},
	// R_CW_BEGIN
	{R_START_M | DIR_CW,  R_CW_BEGIN,     R_START,      R_START},
	// R_START_M (11)
	{R_START_M,            R_CCW_BEGIN_M,  R_CW_BEGIN_M, R_START},
	// R_CW_BEGIN_M
	{R_START_M,            R_START_M,      R_CW_BEGIN_M, R_START | DIR_CW},
	// R_CCW_BEGIN_M
	{R_START_M,            R_CCW_BEGIN_M,  R_START_M,    R_START | DIR_CCW},
};
#else
// Use the full-step state table (emits a code at 00 only)
#define R_CW_FINAL		0x1
#define R_CW_BEGIN		0x2
#define R_CW_NEXT		0x3
#define R_CCW_BEGIN		0x4
#define R_CCW_FINAL		0x5
#define R_CCW_NEXT		0x6

const uint8_t ttable[7][4] = {
	// R_START
	{R_START,    R_CW_BEGIN,  R_CCW_BEGIN, R_START},
	// R_CW_FINAL
	{R_CW_NEXT,  R_START,     R_CW_FINAL,  R_START | DIR_CW},
	// R_CW_BEGIN
	{R_CW_NEXT,  R_CW_BEGIN,  R_START,     R_START},
	// R_CW_NEXT
	{R_CW_NEXT,  R_CW_BEGIN,  R_CW_FINAL,  R_START},
	// R_CCW_BEGIN
	{R_CCW_NEXT, R_START,     R_CCW_BEGIN, R_START},
	// R_CCW_FINAL
	{R_CCW_NEXT, R_CCW_FINAL, R_START,     R_START | DIR_CCW},
	// R_CCW_NEXT
	{R_CCW_NEXT, R_CCW_FINAL, R_CCW_BEGIN, R_START},
};
#endif