aZholtikov/zh_encoder
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fix: several encoders do not work simultaneous

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aZholtikov committed 2026-04-18 09:14:17 +03:00
1 parent 49f7273c40
commit 911d402e47
3 files changed
+22 -13
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zh_encoder.c
+21 -11
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@@ -16,6 +16,12 @@
#define ZH_ENCODER_DIRECTION_CW 1
#define ZH_ENCODER_DIRECTION_CCW -1
typedef struct
{
int watch_point_value;
zh_encoder_handle_t *handle;
} zh_encoder_queue_t;
TaskHandle_t zh_encoder = NULL;
static QueueHandle_t _queue_handle = NULL;
static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED;
@@ -28,7 +34,7 @@ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *con
static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config);
static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config);
static bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx);
static void _zh_encoder_isr_processing_task(void *pvParameter);
static void _zh_encoder_button_isr_handler(void *arg);
@@ -43,7 +49,7 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
ZH_ERROR_CHECK(_encoder_counter < sizeof(_encoder_number_matrix), ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Maximum quantity reached.");
ZH_ERROR_CHECK(_zh_encoder_validate_config(config, handle) == ESP_OK, ESP_FAIL, NULL, "Encoder initialization failed. Initial configuration check failed.");
ZH_ERROR_CHECK(_zh_encoder_resources_init(config) == ESP_OK, ESP_FAIL, NULL, "Encoder initialization failed. Resources initialization failed.");
ZH_ERROR_CHECK(_zh_encoder_task_init(config, handle) == ESP_OK, ESP_FAIL,
ZH_ERROR_CHECK(_zh_encoder_task_init(config) == ESP_OK, ESP_FAIL,
vQueueDelete(_queue_handle), "Encoder initialization failed. Processing task initialization failed.");
ZH_ERROR_CHECK(_zh_encoder_pcnt_init(config, handle) == ESP_OK, ESP_FAIL,
vQueueDelete(_queue_handle);
@@ -253,7 +259,7 @@ static esp_err_t _zh_encoder_pcnt_init(const zh_encoder_init_config_t *config, z
pcnt_event_callbacks_t cbs = {
.on_reach = _zh_encoder_isr_handler,
};
ZH_ERROR_CHECK(pcnt_unit_register_event_callbacks(pcnt_unit_handle, &cbs, NULL) == ESP_OK, ESP_FAIL,
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_del_channel(pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail.");
@@ -318,17 +324,17 @@ static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *conf
{
if (_encoder_counter == 0)
{
_queue_handle = xQueueCreate(config->queue_size, sizeof(int));
_queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_queue_t));
ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
}
return ESP_OK;
}
static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
{
if (_encoder_counter == 0)
{
ZH_ERROR_CHECK(xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, handle, config->task_priority, &zh_encoder, tskNO_AFFINITY) == pdPASS,
ZH_ERROR_CHECK(xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, NULL, config->task_priority, &zh_encoder, tskNO_AFFINITY) == pdPASS,
ESP_FAIL, NULL, "Failed to create isr processing task.");
}
return ESP_OK;
@@ -336,13 +342,17 @@ static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config, z
static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_event_data_t *edata, void *user_ctx)
{
zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx;
zh_encoder_queue_t encoder_queue = {0};
BaseType_t xHigherPriorityTaskWoken = pdFALSE;
esp_err_t err = pcnt_unit_clear_count(unit);
encoder_queue.watch_point_value = edata->watch_point_value;
encoder_queue.handle = encoder_handle;
if (err != ESP_OK)
{
return false;
}
if (xQueueSendFromISR(_queue_handle, &edata->watch_point_value, &xHigherPriorityTaskWoken) != pdTRUE)
if (xQueueSendFromISR(_queue_handle, &encoder_queue, &xHigherPriorityTaskWoken) != pdTRUE)
{
++_stats.queue_overflow_error;
}
@@ -355,12 +365,12 @@ static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcn
static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
{
zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)pvParameter;
int pcnt_count = {0};
zh_encoder_queue_t encoder_queue = {0};
bool is_value_changed = false;
while (xQueueReceive(_queue_handle, &pcnt_count, portMAX_DELAY) == pdTRUE)
while (xQueueReceive(_queue_handle, &encoder_queue, portMAX_DELAY) == pdTRUE)
{
switch (pcnt_count)
zh_encoder_handle_t *encoder_handle = encoder_queue.handle;
switch (encoder_queue.watch_point_value)
{
case ZH_ENCODER_DIRECTION_CW:
if (encoder_handle->encoder_position < encoder_handle->encoder_max_value)