aZholtikov/zh_encoder
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feat: added encoder status (increased / reduced)

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aZholtikov committed 2026-09-13 08:06:13 +03:00
1 parent 85b5a8998d
commit ae27426dd0
5 files changed
+12 -6
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zh_encoder.c
+5 -2
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@@ -496,6 +496,7 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
while (xQueueReceive(_queue_handle, &encoder_queue, portMAX_DELAY) == pdTRUE)
{
bool is_value_changed = false;
bool encoder_status = false;
zh_encoder_handle_t *encoder_handle = encoder_queue.handle;
switch (encoder_queue.watch_point_value)
{
@@ -508,6 +509,7 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
encoder_handle->encoder_position = encoder_handle->encoder_max_value;
}
is_value_changed = true;
encoder_status = true;
}
break;
case ZH_ENCODER_DIRECTION_CCW:
@@ -529,11 +531,12 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
is_value_changed = false;
zh_encoder_event_on_isr_t encoder_data = {0};
encoder_data.encoder_number = encoder_handle->encoder_number;
if (encoder_handle->encoder_position < 0 && encoder_handle->encoder_position > -1e-12)
if (fabsf(encoder_handle->encoder_position) < 1e-6f)
{
encoder_handle->encoder_position = 0;
memset(&encoder_handle->encoder_position, 0, sizeof(float));
}
encoder_data.encoder_position = encoder_handle->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.");
}
_stats.min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);