aZholtikov/zh_encoder
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perf: spinlock moved to handle

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aZholtikov committed 2026-10-19 10:12:40 +03:00
1 parent 7f9f1b7f6f
commit b28ff61343
1 file changed
+17 -16
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zh_encoder.c
+17 -16
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@@ -55,6 +55,7 @@ struct _zh_encoder_handle_t
pcnt_channel_handle_t pcnt_channel_a_handle; /*!< PCNT channel A 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 */ pcnt_channel_handle_t pcnt_channel_b_handle; /*!< PCNT channel B handle */
TimerHandle_t button_timer; /*!< One-shot debounce timer for the button */ TimerHandle_t button_timer; /*!< One-shot debounce timer for the button */
portMUX_TYPE lock; /*!< Spinlock protecting fields accessed from ISR and task context */
}; };
/** /**
@@ -75,7 +76,6 @@ typedef struct
TaskHandle_t zh_encoder = NULL; TaskHandle_t zh_encoder = NULL;
static QueueHandle_t _queue_handle = NULL; static QueueHandle_t _queue_handle = NULL;
static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED;
static zh_encoder_stats_t _stats = {0}; static zh_encoder_stats_t _stats = {0};
static zh_vector_t *_vector = NULL; static zh_vector_t *_vector = NULL;
@@ -251,6 +251,7 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
_zh_encoder_rollback_task_and_resources(); _zh_encoder_rollback_task_and_resources();
{ZH_ERROR_CHECK_CONT(zh_vector_delete_back(&_vector) == ESP_OK, NULL, "Failed delete vector data.")}; {ZH_ERROR_CHECK_CONT(zh_vector_delete_back(&_vector) == ESP_OK, NULL, "Failed delete vector data.")};
heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. GPIO initialization failed."); heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. GPIO initialization failed.");
portMUX_INITIALIZE(&(*handle)->lock);
if (_stats.min_stack_size == 0) if (_stats.min_stack_size == 0)
{ {
_stats.min_stack_size = config->stack_size; _stats.min_stack_size = config->stack_size;
@@ -312,13 +313,13 @@ esp_err_t zh_encoder_reinit(zh_encoder_handle_t **handle, float min, float max,
ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument."); ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument.");
ZH_ERROR_CHECK(max > min, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder min/max value."); ZH_ERROR_CHECK(max > min, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder min/max value.");
ZH_ERROR_CHECK(step > 0, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder step."); ZH_ERROR_CHECK(step > 0, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder step.");
taskENTER_CRITICAL(&_spinlock); taskENTER_CRITICAL(&(*handle)->lock);
(*handle)->encoder_min_value = min; (*handle)->encoder_min_value = min;
(*handle)->encoder_max_value = max; (*handle)->encoder_max_value = max;
(*handle)->encoder_step = step; (*handle)->encoder_step = step;
(*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2; (*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2;
(*handle)->count_accumulator = 0; (*handle)->count_accumulator = 0;
taskEXIT_CRITICAL(&_spinlock); taskEXIT_CRITICAL(&(*handle)->lock);
ZH_ERROR_CHECK(pcnt_unit_clear_count((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder reinitialization failed. Internal error."); 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."); ZH_LOGI("Encoder reinitialization completed successfully.");
return ESP_OK; return ESP_OK;
@@ -328,11 +329,11 @@ esp_err_t zh_encoder_set(zh_encoder_handle_t **handle, float position)
{ {
ZH_LOGI("Encoder set position started."); 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(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument.");
taskENTER_CRITICAL(&_spinlock); taskENTER_CRITICAL(&(*handle)->lock);
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."); ZH_ERROR_CHECK(position <= (*handle)->encoder_max_value && position >= (*handle)->encoder_min_value, ESP_ERR_INVALID_ARG, taskEXIT_CRITICAL(&(*handle)->lock), "Encoder set position failed. Invalid argument.");
(*handle)->encoder_position = position; (*handle)->encoder_position = position;
(*handle)->count_accumulator = 0; (*handle)->count_accumulator = 0;
taskEXIT_CRITICAL(&_spinlock); taskEXIT_CRITICAL(&(*handle)->lock);
ZH_ERROR_CHECK(pcnt_unit_clear_count((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder set position failed. Internal error."); 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."); ZH_LOGI("Encoder set position completed successfully.");
return ESP_OK; return ESP_OK;
@@ -342,9 +343,9 @@ esp_err_t zh_encoder_get(zh_encoder_handle_t **handle, float *position)
{ {
ZH_LOGI("Encoder get position started."); 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."); ZH_ERROR_CHECK(handle != NULL && *handle != NULL && position != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument.");
taskENTER_CRITICAL(&_spinlock); taskENTER_CRITICAL(&(*handle)->lock);
*position = (*handle)->encoder_position; *position = (*handle)->encoder_position;
taskEXIT_CRITICAL(&_spinlock); taskEXIT_CRITICAL(&(*handle)->lock);
ZH_LOGI("Encoder get position completed successfully."); ZH_LOGI("Encoder get position completed successfully.");
return ESP_OK; return ESP_OK;
} }
@@ -353,10 +354,10 @@ esp_err_t zh_encoder_reset(zh_encoder_handle_t **handle)
{ {
ZH_LOGI("Encoder reset started."); ZH_LOGI("Encoder reset started.");
ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reset failed. Invalid argument."); ZH_ERROR_CHECK(handle != NULL && *handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reset failed. Invalid argument.");
taskENTER_CRITICAL(&_spinlock); taskENTER_CRITICAL(&(*handle)->lock);
(*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2; (*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2;
(*handle)->count_accumulator = 0; (*handle)->count_accumulator = 0;
taskEXIT_CRITICAL(&_spinlock); taskEXIT_CRITICAL(&(*handle)->lock);
ZH_ERROR_CHECK(pcnt_unit_clear_count((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "Encoder reset failed. Internal error."); 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."); ZH_LOGI("Encoder reset completed successfully.");
return ESP_OK; return ESP_OK;
@@ -581,18 +582,18 @@ static bool _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcnt_watch_ev
zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx; zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)user_ctx;
zh_encoder_queue_t encoder_queue = {0}; zh_encoder_queue_t encoder_queue = {0};
int count = 0; int count = 0;
taskENTER_CRITICAL_ISR(&_spinlock); taskENTER_CRITICAL_ISR(&encoder_handle->lock);
if (pcnt_unit_get_count(unit, &count) != ESP_OK) if (pcnt_unit_get_count(unit, &count) != ESP_OK)
{ {
taskEXIT_CRITICAL_ISR(&_spinlock); taskEXIT_CRITICAL_ISR(&encoder_handle->lock);
return false; return false;
} }
if (pcnt_unit_clear_count(unit) != ESP_OK) if (pcnt_unit_clear_count(unit) != ESP_OK)
{ {
taskEXIT_CRITICAL_ISR(&_spinlock); taskEXIT_CRITICAL_ISR(&encoder_handle->lock);
return false; return false;
} }
taskEXIT_CRITICAL_ISR(&_spinlock); taskEXIT_CRITICAL_ISR(&encoder_handle->lock);
encoder_queue.count = count; encoder_queue.count = count;
encoder_queue.handle = encoder_handle; encoder_queue.handle = encoder_handle;
BaseType_t xHigherPriorityTaskWoken = pdFALSE; BaseType_t xHigherPriorityTaskWoken = pdFALSE;
@@ -618,7 +619,7 @@ static void _zh_encoder_isr_processing_task(void *pvParameter)
bool encoder_status = false; bool encoder_status = false;
float encoder_position = 0.0; float encoder_position = 0.0;
uint8_t encoder_number = 0; uint8_t encoder_number = 0;
taskENTER_CRITICAL(&_spinlock); taskENTER_CRITICAL(&handle->lock);
int32_t total = handle->count_accumulator + encoder_queue.count; int32_t total = handle->count_accumulator + encoder_queue.count;
int32_t full_steps = total / (int32_t)handle->pcnt_counts_per_step; 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; handle->count_accumulator = total - full_steps * (int32_t)handle->pcnt_counts_per_step;
@@ -646,7 +647,7 @@ static void _zh_encoder_isr_processing_task(void *pvParameter)
encoder_number = handle->encoder_number; encoder_number = handle->encoder_number;
} }
} }
taskEXIT_CRITICAL(&_spinlock); taskEXIT_CRITICAL(&handle->lock);
if (position_changed == true) if (position_changed == true)
{ {
zh_encoder_event_on_isr_t encoder_data = {0}; zh_encoder_event_on_isr_t encoder_data = {0};