From 4de0443b353ffa9796a10b28eded54fce2988617 Mon Sep 17 00:00:00 2001 From: Alexey Zholtikov Date: Sun, 18 Oct 2026 10:18:39 +0300 Subject: [PATCH] perf: updated error checks --- include/zh_encoder.h | 77 +++++--- zh_encoder.c | 454 +++++++++++++++++++++++++------------------ 2 files changed, 310 insertions(+), 221 deletions(-) diff --git a/include/zh_encoder.h b/include/zh_encoder.h index 3df834e..6df92b1 100644 --- a/include/zh_encoder.h +++ b/include/zh_encoder.h @@ -1,19 +1,25 @@ /** * @file zh_encoder.h * - * @brief Rotary encoder driver for ESP-IDF using PCNT peripheral. + * @brief Rotary encoder driver for ESP-IDF using the PCNT peripheral. * * Provides a FreeRTOS-based driver for rotary encoders with optional * push-button support. Uses ESP-IDF PCNT peripheral for quadrature * decoding and esp_event for asynchronous event notification. + * Rotation counts are accumulated in a shared task, converted into + * configurable steps and clamped to the configured value range. * * Key features: - * - Quadrature decoding via PCNT peripheral + * - Quadrature decoding via PCNT peripheral (ESP-IDF-style edge/level actions) * - Configurable min/max/step values with float precision - * - Push-button support with debouncing - * - Multiple simultaneous encoders (up to 8) - * - Event-based notification (ISR context) + * - Configurable PCNT counts per encoder step (detent) + * - Push-button support with timer-based debouncing + * - Multiple simultaneous encoders (number is limited by available PCNT units and GPIOs) + * - Event-based notification (rotation and button events are posted from task context) * - Error statistics tracking + * + * @note All public functions require a valid handle pointer obtained through zh_encoder_init(). + * @note Rotation and button events are posted from task context (shared processing task and timer callback). */ #pragma once @@ -37,12 +43,13 @@ .a_gpio_number = GPIO_NUM_MAX, \ .b_gpio_number = GPIO_NUM_MAX, \ .s_gpio_number = GPIO_NUM_MAX, \ - .s_gpio_debounce_time = 10, \ + .s_gpio_debounce_time = 15000, \ .pullup = true, \ .encoder_min_value = -10, \ .encoder_max_value = 10, \ .encoder_step = 1, \ - .encoder_number = 0} + .pcnt_counts_per_step = 4, \ + .encoder_number = 1} #ifdef __cplusplus extern "C" @@ -56,56 +63,60 @@ extern "C" /** * @brief Opaque encoder handle. - * - * Opaque pointer to the internal encoder structure. - * Used to reference a specific encoder instance across all API functions. */ typedef struct _zh_encoder_handle_t zh_encoder_handle_t; /** * @brief Configuration structure for encoder initialization. * - * Contains all parameters required to configure a rotary encoder, - * including GPIO pins, value range, step size, and task settings. + * Holds all parameters required to create an encoder: GPIO assignments, + * value range, step size, shared task settings and a unique encoder number. + * Use ZH_ENCODER_INIT_CONFIG_DEFAULT() to obtain a valid starting configuration. * * @note All GPIO numbers must be valid ESP-IDF GPIO numbers or GPIO_NUM_MAX (disabled). * @note encoder_number must be unique across all initialized encoders. + * @note Only the first initialized encoder's task_priority, stack_size and + * queue_size take effect (shared processing task/queue). */ typedef struct { - float encoder_step; /*!< Encoder step. @note Must be greater than 0 */ + float encoder_step; /*!< Encoder step per detent. @note Must be greater than 0 */ float encoder_min_value; /*!< Encoder min value. @note Must be less than encoder_max_value */ float encoder_max_value; /*!< Encoder max value. @note Must be greater than encoder_min_value */ gpio_num_t a_gpio_number; /*!< Encoder A GPIO number */ gpio_num_t b_gpio_number; /*!< Encoder B GPIO number */ gpio_num_t s_gpio_number; /*!< Encoder button GPIO number */ - uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. @note In microseconds */ - uint16_t stack_size; /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is configMINIMAL_STACK_SIZE */ - uint8_t task_priority; /*!< Task priority for the encoder isr processing. @note Minimum value is 1 */ - uint8_t queue_size; /*!< Queue size for task for the encoder processing. @note Minimum value is 1 */ + uint16_t s_gpio_debounce_time; /*!< Encoder button debounce time in microseconds. Rounded up to whole milliseconds for the debounce timer */ + uint16_t stack_size; /*!< Stack size for the shared processing task. @note Minimum configMINIMAL_STACK_SIZE */ + uint8_t task_priority; /*!< Task priority for the shared processing task. @note Minimum value is 1 */ + uint8_t queue_size; /*!< Queue size for the shared processing queue. @note Minimum value is 1 */ uint8_t encoder_number; /*!< Unique encoder number. @note Must be greater than 0 */ - bool pullup; /*!< Pullup GPIO enable/disable */ + uint8_t pcnt_counts_per_step; /*!< PCNT counts per encoder step (detent). @note Must be greater than 0. Typically 4 for EC11 with proper quadrature */ + bool pullup; /*!< Pullup GPIO enable/disable for encoder A/B and button */ } zh_encoder_init_config_t; /** * @brief Structure for encoder error statistics. * - * Tracks runtime errors and task health metrics for diagnostic purposes. + * Collects error counters and task health metrics reported by the shared + * processing task and the interrupt handlers. */ typedef struct { - uint32_t event_post_error; /*!< Number of event post error */ - uint32_t queue_overflow_error; /*!< Number of queue overflow error */ - uint32_t min_stack_size; /*!< Minimum free stack size */ + uint32_t event_post_error; /*!< Number of event post errors */ + uint32_t queue_overflow_error; /*!< Number of queue overflow errors */ + uint32_t min_stack_size; /*!< Minimum free stack size (watermark) */ } zh_encoder_stats_t; /** * @brief Encoder event identifiers for esp_event base. + * + * Used as the event ID when registering handlers on the ZH_ENCODER event base. */ typedef enum { - ZH_BUTTON_EVENT, /*!< Encoder push-button interrupt event */ - ZH_ENCODER_EVENT /*!< Encoder rotation interrupt event */ + ZH_BUTTON_EVENT, /*!< Encoder push-button event */ + ZH_ENCODER_EVENT /*!< Encoder rotation event */ } zh_encoder_event_id_t; ESP_EVENT_DECLARE_BASE(ZH_ENCODER); @@ -113,7 +124,7 @@ extern "C" /** * @brief Event data structure for encoder rotation events. * - * Posted from ISR context via esp_event_isr_post when encoder position changes. + * Posted from the shared processing task via esp_event_post() (not from ISR). * * @note Should be used with ZH_ENCODER event base and ZH_ENCODER_EVENT event ID. */ @@ -121,13 +132,14 @@ extern "C" { float encoder_position; /*!< Encoder current position */ uint8_t encoder_number; /*!< Encoder unique number */ - bool encoder_status; /*!< Encoder status (true when position increased, false when position reduced) */ + bool encoder_status; /*!< true if position increased, false if reduced */ } zh_encoder_event_on_isr_t; /** * @brief Event data structure for encoder button events. * - * Posted from ISR context via esp_event_isr_post when encoder button state changes. + * Posted from the button debounce timer callback via esp_event_post() when the + * debounced button state actually changed. * * @note Should be used with ZH_ENCODER event base and ZH_BUTTON_EVENT event ID. */ @@ -160,14 +172,14 @@ extern "C" /** * @brief Deinitialize encoder and release all resources. * - * Stops the PCNT peripheral, removes GPIO ISR handlers, and frees allocated memory. - * If this is the last encoder, the shared processing task and queue are also deleted. + * Stops the PCNT peripheral, removes GPIO ISR handlers and the button debounce timer, + * and frees allocated memory. If this is the last encoder, the shared processing task + * and queue are also deleted. * * @param[in,out] handle Pointer to unique encoder handle (must not be NULL) * * @return ESP_OK on success * @return ESP_ERR_INVALID_ARG if handle is NULL or points to an uninitialized encoder - * @return ESP_FAIL if PCNT or GPIO cleanup fails */ esp_err_t zh_encoder_deinit(zh_encoder_handle_t **handle); @@ -186,6 +198,7 @@ extern "C" * * @return ESP_OK on success * @return ESP_ERR_INVALID_ARG if handle is NULL, or parameters are invalid + * @return ESP_FAIL if PCNT count clear fails */ esp_err_t zh_encoder_reinit(zh_encoder_handle_t **handle, float min, float max, float step); @@ -197,6 +210,7 @@ extern "C" * * @return ESP_OK on success * @return ESP_ERR_INVALID_ARG if handle is NULL, or parameters are invalid + * @return ESP_FAIL if PCNT count clear fails */ esp_err_t zh_encoder_set(zh_encoder_handle_t **handle, float position); @@ -220,6 +234,7 @@ extern "C" * * @return ESP_OK on success * @return ESP_ERR_INVALID_ARG if handle is NULL + * @return ESP_FAIL if PCNT count clear fails */ esp_err_t zh_encoder_reset(zh_encoder_handle_t **handle); @@ -237,6 +252,8 @@ extern "C" * @brief Reset all error statistics to zero. * * Clears error counters and stack watermarks. + * + * @return No return value */ void zh_encoder_reset_stats(void); diff --git a/zh_encoder.c b/zh_encoder.c index 8364e62..81aa41e 100644 --- a/zh_encoder.c +++ b/zh_encoder.c @@ -18,106 +18,115 @@ { \ ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__); \ cleanup; \ - continue; \ } -#define ZH_ENCODER_DIRECTION_CW 1 -#define ZH_ENCODER_DIRECTION_CCW -1 +#define ZH_ENCODER_PCNT_HIGH_LIMIT 100 +#define ZH_ENCODER_PCNT_LOW_LIMIT -100 /** * @brief Internal encoder handle structure. * - * Stores all runtime state for a single encoder instance, - * including GPIO configuration, PCNT handles, and position tracking. + * Stores the runtime state of a single encoder: button GPIO state and the software + * debounce timer, value range and step, PCNT count accumulator, and PCNT unit/channel handles. + * + * @note Fields accessed from both ISR and task context are protected by a spinlock + * in the public API functions. */ struct _zh_encoder_handle_t { bool s_gpio_status; /*!< Current encoder button status */ uint8_t encoder_number; /*!< Unique encoder number */ gpio_num_t s_gpio_number; /*!< Encoder button GPIO number */ - uint16_t s_gpio_debounce_time; /*!< Encoder button debounce time in microseconds */ - uint64_t s_gpio_prev_time; /*!< Timestamp of the previous button interrupt */ - float encoder_step; /*!< Encoder step size */ + float encoder_step; /*!< Encoder step per detent */ float encoder_position; /*!< Current encoder position */ float encoder_min_value; /*!< Encoder minimum value */ float encoder_max_value; /*!< Encoder maximum value */ - pcnt_unit_handle_t pcnt_unit_handle; /*!< PCNT unit handle for quadrature decoding */ - pcnt_channel_handle_t pcnt_channel_a_handle; /*!< PCNT channel A handle (A phase) */ - pcnt_channel_handle_t pcnt_channel_b_handle; /*!< PCNT channel B handle (B phase) */ + int32_t count_accumulator; /*!< Leftover PCNT counts not yet converted into a full step */ + uint8_t pcnt_counts_per_step; /*!< PCNT counts per encoder step (detent) */ + pcnt_unit_handle_t pcnt_unit_handle; /*!< PCNT unit handle */ + pcnt_channel_handle_t pcnt_channel_a_handle; /*!< PCNT channel A handle */ + pcnt_channel_handle_t pcnt_channel_b_handle; /*!< PCNT channel B handle */ + TimerHandle_t button_timer; /*!< One-shot debounce timer for the button */ }; /** * @brief Queue message structure for encoder ISR processing. * - * Sent from ISR context to the processing task when encoder position changes. + * Passed from the PCNT watch-point ISR to the shared processing task through + * the queue. Carries the raw PCNT count together with the source encoder handle. + * + * @note The handle pointer is read without holding the spinlock. It is safe because + * the handle is freed in zh_encoder_deinit() only after the processing task + * has been deleted (the last encoder removal). */ typedef struct { - int watch_point_value; /*!< PCNT watch point value (CW or CCW direction) */ + int32_t count; /*!< PCNT count read before clearing (signed) */ zh_encoder_handle_t *handle; /*!< Pointer to the encoder handle */ } zh_encoder_queue_t; -TaskHandle_t zh_encoder = NULL; /*!< Handle to the shared encoder ISR processing task */ -static QueueHandle_t _queue_handle = NULL; /*!< Queue for passing encoder events from ISR to processing task */ -static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED; /*!< Spinlock for protecting encoder position access */ +TaskHandle_t zh_encoder = NULL; +static QueueHandle_t _queue_handle = NULL; +static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED; -static zh_encoder_stats_t _stats = {0}; /*!< Global error statistics */ - -static zh_vector_t *_vector = NULL; /*!< Vector storing encoder numbers */ +static zh_encoder_stats_t _stats = {0}; +static zh_vector_t *_vector = NULL; /** - * @brief Validate encoder initialization configuration. + * @brief Validate the initialization configuration and copy parameters into the handle. * - * Checks all configuration parameters for validity and initializes - * the encoder handle with configuration values. + * Checks task, queue, range, step, encoder number and watch-point settings. When a + * vector of registered encoders exists, verifies that the encoder number is not yet used. + * On success, populates the handle fields and sets the position to the midpoint of the range. * - * @param config Pointer to encoder configuration structure - * @param handle Pointer to encoder handle to initialize + * @param config Pointer to the encoder configuration structure + * @param handle Pointer to the encoder handle to populate * * @return ESP_OK on success - * @return ESP_ERR_INVALID_ARG if any configuration parameter is invalid + * @return ESP_ERR_INVALID_ARG if any configuration parameter is invalid or the encoder number is already present */ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle); /** - * @brief Initialize PCNT peripheral for quadrature decoding. + * @brief Initialize the PCNT unit, channels, watch points and event callbacks. * - * Configures PCNT unit with two channels (A and B phases), - * sets up glitch filter, edge/level actions for CW/CCW counting, - * registers watch points and event callbacks. + * Configures encoder A/B GPIOs as inputs, creates a PCNT unit with a glitch filter, + * adds two channels with quadrature edge/level actions, registers high and low watch + * points, then enables, clears and starts the unit. Any failure frees the resources + * created so far before returning. * - * @param config Pointer to encoder configuration structure - * @param handle Pointer to encoder handle to populate with PCNT handles + * @param config Pointer to the encoder configuration structure + * @param handle Pointer to the encoder handle to store PCNT handles in * * @return ESP_OK on success - * @return ESP_ERR_INVALID_ARG if GPIO numbers are invalid or identical - * @return ESP_FAIL if PCNT peripheral initialization fails + * @return ESP_ERR_INVALID_ARG if A/B GPIO numbers are invalid or identical + * @return ESP_FAIL if any GPIO or PCNT operation fails */ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle); /** - * @brief Initialize GPIO pin for encoder button (if configured). + * @brief Initialize the push-button GPIO and register its interrupt handler. * - * Configures the button GPIO as input with interrupt on any edge. - * Installs ISR service if not already installed and registers the button ISR handler. + * Does nothing when the button is disabled (s_gpio_number equals GPIO_NUM_MAX). Installs + * the shared GPIO ISR service when needed, configures the button pin for any-edge + * interrupt, creates the one-shot software debounce timer (microseconds rounded up to + * milliseconds, minimum 1 ms) and registers the button interrupt handler. * - * @param config Pointer to encoder configuration structure - * @param handle Pointer to encoder handle to populate with GPIO settings + * @param config Pointer to the encoder configuration structure + * @param handle Pointer to the encoder handle to store button state in * * @return ESP_OK on success - * @return ESP_ERR_INVALID_ARG if GPIO numbers conflict with encoder pins - * @return ESP_FAIL if GPIO or ISR service initialization fails + * @return ESP_ERR_INVALID_ARG if the button GPIO number is invalid or equals the A/B GPIO number + * @return ESP_FAIL if GPIO configuration, ISR service installation or handler registration fails */ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle); /** - * @brief Initialize shared resources (queue) for the first encoder. + * @brief Create the shared processing queue for the first registered encoder. * - * Creates the FreeRTOS queue used for passing encoder events - * from ISR context to the processing task. Only executed once - * when the first encoder is initialized. + * The queue is allocated once, when the encoder vector contains exactly one entry. * - * @param config Pointer to encoder configuration structure + * @param config Pointer to the encoder configuration structure * * @return ESP_OK on success * @return ESP_FAIL if queue creation fails @@ -125,12 +134,12 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config); /** - * @brief Initialize the shared ISR processing task for the first encoder. + * @brief Create the shared ISR processing task for the first registered encoder. * - * Creates the FreeRTOS task that processes encoder events from the queue. - * Only executed once when the first encoder is initialized. + * The task is created once, when the encoder vector contains exactly one entry, + * pinned to no specific core with the configured priority and stack size. * - * @param config Pointer to encoder configuration structure + * @param config Pointer to the encoder configuration structure * * @return ESP_OK on success * @return ESP_FAIL if task creation fails @@ -138,36 +147,59 @@ static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *conf static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config); /** - * @brief PCNT event callback invoked when watch point is reached. + * @brief PCNT watch-point interrupt handler. * - * Clears the PCNT counter and sends the watch point value - * to the processing task queue. Executed in ISR context. + * Reads and clears the unit count, then posts a queue message to the shared processing + * task. Increments the queue overflow counter when the queue is full. * - * @param unit PCNT unit handle that triggered the event - * @param edata Pointer to PCNT watch event data - * @param user_ctx Pointer to encoder handle + * @param unit PCNT unit handle that reached the watch point + * @param edata Watch-point event data (unused) + * @param user_ctx Pointer to the encoder handle passed during callback registration + * + * @return true if a higher priority task was woken and a context switch is required + * @return false otherwise */ static bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx); /** - * @brief FreeRTOS task for processing encoder events from the queue. + * @brief Shared processing task body for encoder rotation events. * - * Receives queue messages from the ISR handler, updates encoder position - * based on CW/CCW direction, and posts esp_event notifications - * when position changes. Runs indefinitely until the queue is deleted. + * Receives queue messages, converts raw PCNT counts into whole steps using the + * accumulator, clamps the position to the configured range, snaps values closer to + * zero than half a step to zero, and posts a rotation event when the position changes. + * Updates the stack watermark on each iteration. * * @param pvParameter Task parameter (unused) + * + * @return Never returns, the task deletes itself when the queue receive fails */ static void _zh_encoder_isr_processing_task(void *pvParameter); /** - * @brief GPIO ISR handler for encoder button press/release. + * @brief Button debounce timer callback. * - * Implements debouncing by checking the time since the last interrupt. - * Posts a button event via esp_event_isr_post when button state changes. - * Executed in ISR context. + * Runs in the timer daemon task context after the debounce period elapses. Reads the + * button level and posts a button event only when the state actually changed. Increments + * the event post error counter when posting fails. * - * @param arg Pointer to encoder handle + * @note @c s_gpio_status is read and written without holding the spinlock. It is safe + * because only this callback ever touches the field, so no concurrent access occurs. + * + * @param xTimer Timer handle whose ID holds the encoder handle pointer + * + * @return No return value + */ +static void _zh_encoder_button_timer_cb(TimerHandle_t xTimer); + +/** + * @brief Push-button GPIO interrupt handler. + * + * Restarts the one-shot software debounce timer on every edge. The button state is + * checked in the timer callback, so the ISR itself performs no event posting. + * + * @param arg Pointer to the encoder handle passed during handler registration + * + * @return No return value */ static void _zh_encoder_button_isr_handler(void *arg); @@ -187,19 +219,19 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han } ZH_ERROR_CHECK(zh_vector_push_back(&_vector, &config->encoder_number) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Failed to add vector data."); ZH_ERROR_CHECK(_zh_encoder_resources_init(config) == ESP_OK, ESP_FAIL, zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Resources initialization failed."); - // clang-format off ZH_ERROR_CHECK(_zh_encoder_task_init(config) == ESP_OK, ESP_FAIL, - zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Processing task initialization failed."); + zh_vector_delete_back(&_vector); + heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Processing task initialization failed."); ZH_ERROR_CHECK(_zh_encoder_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL, - zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. PCNT initialization failed."); + zh_vector_delete_back(&_vector); + heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. PCNT initialization failed."); ZH_ERROR_CHECK(_zh_encoder_gpio_init(config, *handle) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT unit stop fail.")}; - {ZH_ERROR_CHECK(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT unit disable fail.")}; - {ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT delete channel fail.")}; - {ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT delete channel fail.")}; - {ZH_ERROR_CHECK(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT delete unit fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit stop fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "PCNT unit disable fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}; zh_vector_delete_back(&_vector); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. GPIO initialization failed."); - // clang-format on if (_stats.min_stack_size == 0) { _stats.min_stack_size = config->stack_size; @@ -212,30 +244,42 @@ esp_err_t zh_encoder_deinit(zh_encoder_handle_t **handle) { ZH_LOGI("Encoder deinitialization started."); ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Invalid argument."); - ZH_ERROR_CHECK(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit stop fail."); - ZH_ERROR_CHECK(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit disable fail."); - ZH_ERROR_CHECK(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail."); - ZH_ERROR_CHECK(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail."); - ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT delete channel fail."); - ZH_ERROR_CHECK(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT delete channel fail."); - ZH_ERROR_CHECK(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. PCNT delete unit fail."); + ZH_ERROR_CHECK_CONT(pcnt_unit_stop((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit stop fail."); + ZH_ERROR_CHECK_CONT(pcnt_unit_disable((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit disable fail."); + ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, (*handle)->pcnt_counts_per_step) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail."); + ZH_ERROR_CHECK_CONT(pcnt_unit_remove_watch_point((*handle)->pcnt_unit_handle, -(*handle)->pcnt_counts_per_step) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT unit remove watch point fail."); + ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_a_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT delete channel fail."); + ZH_ERROR_CHECK_CONT(pcnt_del_channel((*handle)->pcnt_channel_b_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT delete channel fail."); + ZH_ERROR_CHECK_CONT(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, NULL, "Encoder deinitialization failed. PCNT delete unit fail."); if ((*handle)->s_gpio_number != GPIO_NUM_MAX) { - ZH_ERROR_CHECK(gpio_isr_handler_remove((*handle)->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Remove GPIO isr handler failed."); - ZH_ERROR_CHECK(gpio_reset_pin((*handle)->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Reset GPIO failed."); + ZH_ERROR_CHECK_CONT(gpio_isr_handler_remove((*handle)->s_gpio_number) == ESP_OK, NULL, "Encoder deinitialization failed. Remove GPIO isr handler failed."); + ZH_ERROR_CHECK_CONT(gpio_reset_pin((*handle)->s_gpio_number) == ESP_OK, NULL, "Encoder deinitialization failed. Reset GPIO failed."); + if ((*handle)->button_timer != NULL) + { + xTimerStop((*handle)->button_timer, portMAX_DELAY); + xTimerDelete((*handle)->button_timer, portMAX_DELAY); + (*handle)->button_timer = NULL; + } } int32_t index = 0; - ZH_ERROR_CHECK(zh_vector_find_item(&_vector, &(*handle)->encoder_number, &index) == ESP_ERR_NOT_FOUND, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Failed to find vector item."); + ZH_ERROR_CHECK(zh_vector_find_item(&_vector, &(*handle)->encoder_number, &index) == ESP_OK, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Failed to find vector item."); ZH_ERROR_CHECK(zh_vector_delete_item(&_vector, (uint16_t)index) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Vector delete item failed."); uint16_t vector_size = 0; ZH_ERROR_CHECK(zh_vector_get_size(&_vector, &vector_size) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Failed to get vector size."); if (vector_size == 0) { - vQueueDelete(_queue_handle); - _queue_handle = NULL; - vTaskDelete(zh_encoder); - zh_encoder = NULL; - ZH_ERROR_CHECK(zh_vector_free(&_vector) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Free vector failed."); + if (zh_encoder != NULL) + { + vTaskDelete(zh_encoder); + zh_encoder = NULL; + } + if (_queue_handle != NULL) + { + vQueueDelete(_queue_handle); + _queue_handle = NULL; + } + ZH_ERROR_CHECK_CONT(zh_vector_free(&_vector) == ESP_OK, NULL, "Encoder deinitialization failed. Free vector failed."); } heap_caps_free(*handle); *handle = NULL; @@ -254,7 +298,9 @@ esp_err_t zh_encoder_reinit(zh_encoder_handle_t **handle, float min, float max, (*handle)->encoder_max_value = max; (*handle)->encoder_step = step; (*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2; + (*handle)->count_accumulator = 0; taskEXIT_CRITICAL(&_spinlock); + ZH_ERROR_CHECK(pcnt_unit_clear_count((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder reinitialization failed. Internal error."); ZH_LOGI("Encoder reinitialization completed successfully."); return ESP_OK; } @@ -263,10 +309,12 @@ esp_err_t zh_encoder_set(zh_encoder_handle_t **handle, float position) { ZH_LOGI("Encoder set position started."); ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument."); - ZH_ERROR_CHECK(position <= (*handle)->encoder_max_value && position >= (*handle)->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument."); taskENTER_CRITICAL(&_spinlock); + ZH_ERROR_CHECK(position <= (*handle)->encoder_max_value && position >= (*handle)->encoder_min_value, ESP_ERR_INVALID_ARG, taskEXIT_CRITICAL(&_spinlock), "Encoder set position failed. Invalid argument."); (*handle)->encoder_position = position; + (*handle)->count_accumulator = 0; taskEXIT_CRITICAL(&_spinlock); + ZH_ERROR_CHECK(pcnt_unit_clear_count((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder set position failed. Internal error."); ZH_LOGI("Encoder set position completed successfully."); return ESP_OK; } @@ -275,7 +323,9 @@ esp_err_t zh_encoder_get(zh_encoder_handle_t **handle, float *position) { ZH_LOGI("Encoder get position started."); ZH_ERROR_CHECK(handle != NULL && *handle != NULL && position != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument."); + taskENTER_CRITICAL(&_spinlock); *position = (*handle)->encoder_position; + taskEXIT_CRITICAL(&_spinlock); ZH_LOGI("Encoder get position completed successfully."); return ESP_OK; } @@ -286,7 +336,9 @@ esp_err_t zh_encoder_reset(zh_encoder_handle_t **handle) ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reset failed. Invalid argument."); taskENTER_CRITICAL(&_spinlock); (*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2; + (*handle)->count_accumulator = 0; taskEXIT_CRITICAL(&_spinlock); + ZH_ERROR_CHECK(pcnt_unit_clear_count((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder reset failed. Internal error."); ZH_LOGI("Encoder reset completed successfully."); return ESP_OK; } @@ -312,6 +364,7 @@ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *con ZH_ERROR_CHECK(config->encoder_max_value > config->encoder_min_value, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder min/max value."); ZH_ERROR_CHECK(config->encoder_step > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder step."); ZH_ERROR_CHECK(config->encoder_number > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder number."); + ZH_ERROR_CHECK(config->pcnt_counts_per_step > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid pcnt_counts_per_step."); if (_vector != NULL) { int32_t index = 0; @@ -321,7 +374,9 @@ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *con handle->encoder_min_value = config->encoder_min_value; handle->encoder_max_value = config->encoder_max_value; handle->encoder_step = config->encoder_step; + handle->pcnt_counts_per_step = config->pcnt_counts_per_step; handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2; + handle->s_gpio_number = GPIO_NUM_MAX; return ESP_OK; } @@ -329,9 +384,17 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z { ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.") ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder A and B GPIO is same.") + gpio_config_t io_config = { + .pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number), + .mode = GPIO_MODE_INPUT, + .pull_up_en = config->pullup == true ? GPIO_PULLUP_ENABLE : GPIO_PULLUP_DISABLE, + .pull_down_en = GPIO_PULLDOWN_DISABLE, + .intr_type = GPIO_INTR_DISABLE, + }; + ZH_ERROR_CHECK(gpio_config(&io_config) == ESP_OK, ESP_FAIL, NULL, "GPIO initialization failed."); pcnt_unit_config_t pcnt_unit_config = { - .high_limit = 10, - .low_limit = -10, + .high_limit = ZH_ENCODER_PCNT_HIGH_LIMIT, + .low_limit = ZH_ENCODER_PCNT_LOW_LIMIT, }; pcnt_unit_handle_t pcnt_unit_handle = NULL; ZH_ERROR_CHECK(pcnt_new_unit(&pcnt_unit_config, &pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT initialization failed."); @@ -339,44 +402,44 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z .max_glitch_ns = 1000, }; ZH_ERROR_CHECK(pcnt_unit_set_glitch_filter(pcnt_unit_handle, &pcnt_glitch_filter_config) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); pcnt_chan_config_t pcnt_chan_a_config = { .edge_gpio_num = config->a_gpio_number, .level_gpio_num = config->b_gpio_number, }; pcnt_channel_handle_t pcnt_channel_a_handle = NULL; ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_a_config, &pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); pcnt_chan_config_t pcnt_chan_b_config = { .edge_gpio_num = config->b_gpio_number, .level_gpio_num = config->a_gpio_number, }; pcnt_channel_handle_t pcnt_channel_b_handle = NULL; ZH_ERROR_CHECK(pcnt_new_channel(pcnt_unit_handle, &pcnt_chan_b_config, &pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; - {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); - ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD) == ESP_OK, ESP_FAIL, + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); + ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_a_handle, PCNT_CHANNEL_EDGE_ACTION_DECREASE, PCNT_CHANNEL_EDGE_ACTION_INCREASE) == ESP_OK, ESP_FAIL, + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); + ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_a_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE) == ESP_OK, ESP_FAIL, + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); + ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_b_handle, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_DECREASE) == ESP_OK, ESP_FAIL, + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); + ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_b_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_INVERSE) == ESP_OK, ESP_FAIL, + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, NULL, "PCNT delete channel fail.")}; + {ZH_ERROR_CHECK_CONT(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); + ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); - ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_a_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; - {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; - {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); - ZH_ERROR_CHECK(pcnt_channel_set_edge_action(pcnt_channel_b_handle, PCNT_CHANNEL_EDGE_ACTION_INCREASE, PCNT_CHANNEL_EDGE_ACTION_HOLD) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; - {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; - {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); - ZH_ERROR_CHECK(pcnt_channel_set_level_action(pcnt_channel_b_handle, PCNT_CHANNEL_LEVEL_ACTION_KEEP, PCNT_CHANNEL_LEVEL_ACTION_HOLD) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; - {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; - {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); - ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; - {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; - {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); - ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; + ZH_ERROR_CHECK(pcnt_unit_add_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, + {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); @@ -384,36 +447,31 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z .on_reach = _zh_encoder_isr_handler, }; ZH_ERROR_CHECK(pcnt_unit_register_event_callbacks(pcnt_unit_handle, &cbs, handle) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); ZH_ERROR_CHECK(pcnt_unit_enable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); ZH_ERROR_CHECK(pcnt_unit_clear_count(pcnt_unit_handle) == ESP_OK, ESP_FAIL, {ZH_ERROR_CHECK(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.")}; - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); ZH_ERROR_CHECK(pcnt_unit_start(pcnt_unit_handle) == ESP_OK, ESP_FAIL, {ZH_ERROR_CHECK(pcnt_unit_disable(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail.")}; - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; - {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, ZH_ENCODER_DIRECTION_CCW) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; + {ZH_ERROR_CHECK(pcnt_unit_remove_watch_point(pcnt_unit_handle, -handle->pcnt_counts_per_step) == ESP_OK, ESP_FAIL, NULL, "PCNT unit remove watch point fail.")}; {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_channel(pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.")}; {ZH_ERROR_CHECK(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail.")}, "PCNT initialization failed."); - if (config->pullup == false) - { - ZH_ERROR_CHECK(gpio_pullup_dis(config->a_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail."); - ZH_ERROR_CHECK(gpio_pullup_dis(config->b_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail."); - } handle->pcnt_unit_handle = pcnt_unit_handle; handle->pcnt_channel_a_handle = pcnt_channel_a_handle; handle->pcnt_channel_b_handle = pcnt_channel_b_handle; @@ -422,8 +480,8 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) { - ZH_ERROR_CHECK(config->s_gpio_number <= GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.") - ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is same.") + ZH_ERROR_CHECK(config->s_gpio_number <= GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number."); + ZH_ERROR_CHECK(config->a_gpio_number != config->s_gpio_number && config->b_gpio_number != config->s_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Encoder GPIO and button GPIO is the same."); if (config->s_gpio_number != GPIO_NUM_MAX) { gpio_config_t pin_config = { @@ -432,14 +490,22 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z .pin_bit_mask = (1ULL << config->s_gpio_number), .intr_type = GPIO_INTR_ANYEDGE}; ZH_ERROR_CHECK(gpio_config(&pin_config) == ESP_OK, ESP_FAIL, NULL, "GPIO initialization failed."); + uint32_t debounce_ms = (config->s_gpio_debounce_time + 999) / 1000; + if (debounce_ms < 1) + { + debounce_ms = 1; + } + handle->button_timer = xTimerCreate("zh_encoder_button_timer", pdMS_TO_TICKS(debounce_ms), pdFALSE, handle, _zh_encoder_button_timer_cb); + ZH_ERROR_CHECK(handle->button_timer != NULL, ESP_FAIL, gpio_isr_handler_remove(config->s_gpio_number); gpio_reset_pin(config->s_gpio_number), "Failed to create button debounce timer."); + handle->s_gpio_number = config->s_gpio_number; + handle->s_gpio_status = gpio_get_level(config->s_gpio_number); esp_err_t err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED); ZH_ERROR_CHECK(err == ESP_OK || err == ESP_ERR_INVALID_STATE, ESP_FAIL, - {ZH_ERROR_CHECK(gpio_reset_pin(config->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Reset GPIO failed.")}, "Failed install isr service."); + {ZH_ERROR_CHECK_CONT(gpio_reset_pin(config->s_gpio_number) == ESP_OK, NULL, "Reset GPIO failed.")}; + xTimerDelete(handle->button_timer, portMAX_DELAY); handle->button_timer = NULL, "Failed install isr service."); ZH_ERROR_CHECK(gpio_isr_handler_add(config->s_gpio_number, _zh_encoder_button_isr_handler, handle) == ESP_OK, ESP_FAIL, - {ZH_ERROR_CHECK(gpio_reset_pin(config->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Reset GPIO failed.")}, "Interrupt initialization failed."); - handle->s_gpio_number = config->s_gpio_number; - handle->s_gpio_debounce_time = config->s_gpio_debounce_time; - handle->s_gpio_status = gpio_get_level(config->s_gpio_number); + {ZH_ERROR_CHECK_CONT(gpio_reset_pin(config->s_gpio_number) == ESP_OK, NULL, "Reset GPIO failed.")}; + xTimerDelete(handle->button_timer, portMAX_DELAY); handle->button_timer = NULL, "Interrupt initialization failed."); } return ESP_OK; } @@ -468,17 +534,27 @@ static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config) return ESP_OK; } -static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx) +static bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx) { + (void)edata; zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx; zh_encoder_queue_t encoder_queue = {0}; - BaseType_t xHigherPriorityTaskWoken = pdFALSE; - if (pcnt_unit_clear_count(unit) != ESP_OK) + int count = 0; + taskENTER_CRITICAL_ISR(&_spinlock); + if (pcnt_unit_get_count(unit, &count) != ESP_OK) { + taskEXIT_CRITICAL_ISR(&_spinlock); return false; } - encoder_queue.watch_point_value = edata->watch_point_value; + if (pcnt_unit_clear_count(unit) != ESP_OK) + { + taskEXIT_CRITICAL_ISR(&_spinlock); + return false; + } + taskEXIT_CRITICAL_ISR(&_spinlock); + encoder_queue.count = count; encoder_queue.handle = encoder_handle; + BaseType_t xHigherPriorityTaskWoken = pdFALSE; if (xQueueSendFromISR(_queue_handle, &encoder_queue, &xHigherPriorityTaskWoken) != pdTRUE) { ++_stats.queue_overflow_error; @@ -490,84 +566,80 @@ static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcn return false; } -static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter) +static void _zh_encoder_isr_processing_task(void *pvParameter) { (void)pvParameter; zh_encoder_queue_t encoder_queue = {0}; while (xQueueReceive(_queue_handle, &encoder_queue, portMAX_DELAY) == pdTRUE) { - bool is_value_changed = false; + zh_encoder_handle_t *handle = encoder_queue.handle; + bool position_changed = false; bool encoder_status = false; - zh_encoder_handle_t *encoder_handle = encoder_queue.handle; - switch (encoder_queue.watch_point_value) + float encoder_position = 0.0; + uint8_t encoder_number = 0; + taskENTER_CRITICAL(&_spinlock); + int32_t total = handle->count_accumulator + encoder_queue.count; + int32_t full_steps = total / (int32_t)handle->pcnt_counts_per_step; + handle->count_accumulator = total - full_steps * (int32_t)handle->pcnt_counts_per_step; + if (full_steps != 0) { - case ZH_ENCODER_DIRECTION_CW: - if (encoder_handle->encoder_position < encoder_handle->encoder_max_value) + float candidate = handle->encoder_position + (float)full_steps * handle->encoder_step; + if (candidate > handle->encoder_max_value) { - encoder_handle->encoder_position = encoder_handle->encoder_position + encoder_handle->encoder_step; - if (encoder_handle->encoder_position > encoder_handle->encoder_max_value) - { - encoder_handle->encoder_position = encoder_handle->encoder_max_value; - } - is_value_changed = true; - encoder_status = true; + candidate = handle->encoder_max_value; } - break; - case ZH_ENCODER_DIRECTION_CCW: - if (encoder_handle->encoder_position > encoder_handle->encoder_min_value) + else if (candidate < handle->encoder_min_value) { - encoder_handle->encoder_position = encoder_handle->encoder_position - encoder_handle->encoder_step; - if (encoder_handle->encoder_position < encoder_handle->encoder_min_value) - { - encoder_handle->encoder_position = encoder_handle->encoder_min_value; - } - is_value_changed = true; + candidate = handle->encoder_min_value; + } + if (fabsf(candidate) < handle->encoder_step * 0.5f) + { + candidate = 0.0f; + } + if (candidate != handle->encoder_position) + { + handle->encoder_position = candidate; + position_changed = true; + encoder_status = full_steps > 0 ? true : false; + encoder_position = candidate; + encoder_number = handle->encoder_number; } - break; - default: - break; } - if (is_value_changed == true) + taskEXIT_CRITICAL(&_spinlock); + if (position_changed == true) { - is_value_changed = false; zh_encoder_event_on_isr_t encoder_data = {0}; - encoder_data.encoder_number = encoder_handle->encoder_number; - if (fabsf(encoder_handle->encoder_position) < 1e-6f) - { - memset(&encoder_handle->encoder_position, 0, sizeof(float)); - } - encoder_data.encoder_position = encoder_handle->encoder_position; + encoder_data.encoder_number = encoder_number; + encoder_data.encoder_position = encoder_position; encoder_data.encoder_status = encoder_status; - ZH_ERROR_CHECK_CONT(esp_event_post(ZH_ENCODER, ZH_ENCODER_EVENT, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS) == ESP_OK, ++_stats.event_post_error, "Encoder isr processing failed. Failed to post interrupt event."); + ZH_ERROR_CHECK_CONT(esp_event_post(ZH_ENCODER, ZH_ENCODER_EVENT, &encoder_data, sizeof(zh_encoder_event_on_isr_t), pdMS_TO_TICKS(10)) == ESP_OK, ++_stats.event_post_error, "Encoder isr processing failed. Failed to post interrupt event."); } _stats.min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL); } vTaskDelete(NULL); } -static void IRAM_ATTR _zh_encoder_button_isr_handler(void *arg) +static void _zh_encoder_button_timer_cb(TimerHandle_t xTimer) +{ + zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)pvTimerGetTimerID(xTimer); + bool s_gpio_status = gpio_get_level(encoder_handle->s_gpio_number); + if (encoder_handle->s_gpio_status != s_gpio_status) + { + encoder_handle->s_gpio_status = s_gpio_status; + zh_encoder_button_event_on_isr_t encoder_data = {0}; + encoder_data.encoder_number = encoder_handle->encoder_number; + encoder_data.button_status = s_gpio_status; + ZH_ERROR_CHECK_CONT(esp_event_post(ZH_ENCODER, ZH_BUTTON_EVENT, &encoder_data, sizeof(encoder_data), pdMS_TO_TICKS(10)) == ESP_OK, ++_stats.event_post_error, "Encoder button isr processing failed. Failed to post interrupt event."); + } +} + +static void _zh_encoder_button_isr_handler(void *arg) { zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg; BaseType_t xHigherPriorityTaskWoken = pdFALSE; - uint64_t _current_us = esp_timer_get_time(); - if (_current_us - encoder_handle->s_gpio_prev_time >= encoder_handle->s_gpio_debounce_time) - { - bool s_gpio_status = gpio_get_level(encoder_handle->s_gpio_number); - if (encoder_handle->s_gpio_status != s_gpio_status) - { - encoder_handle->s_gpio_status = s_gpio_status; - zh_encoder_button_event_on_isr_t encoder_data = {0}; - encoder_data.encoder_number = encoder_handle->encoder_number; - encoder_data.button_status = encoder_handle->s_gpio_status; - if (esp_event_isr_post(ZH_ENCODER, ZH_BUTTON_EVENT, &encoder_data, sizeof(zh_encoder_button_event_on_isr_t), &xHigherPriorityTaskWoken) != ESP_OK) - { - ++_stats.event_post_error; - } - } - } - encoder_handle->s_gpio_prev_time = _current_us; + xTimerResetFromISR(encoder_handle->button_timer, &xHigherPriorityTaskWoken); if (xHigherPriorityTaskWoken == pdTRUE) { portYIELD_FROM_ISR(); - }; + } } \ No newline at end of file