aZholtikov/zh_encoder
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perf: encoder counter moved to vector

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aZholtikov committed 2026-09-05 23:22:07 +03:00
1 parent e88225d4c6
commit c38f4c22a5
3 files changed
+34 -34
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idf_component.yml
+4 -1
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@@ -5,4 +5,7 @@ license: "Apache-2.0"
maintainers: maintainers:
- "Alexey Zholtikov <alexey.zholtikov@yandex.ru>" - "Alexey Zholtikov <alexey.zholtikov@yandex.ru>"
dependencies: dependencies:
idf: ">=5.0" idf: ">=5.0"
zh_vector:
git: "https://github.com/aZholtikov/zh_vector.git"
version: "dev"
include/zh_encoder.h
+1
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@@ -25,6 +25,7 @@
#include "freertos/FreeRTOS.h" #include "freertos/FreeRTOS.h"
#include "freertos/task.h" #include "freertos/task.h"
#include "esp_event.h" #include "esp_event.h"
#include "zh_vector.h"
#define ZH_ENCODER_INIT_CONFIG_DEFAULT() \ #define ZH_ENCODER_INIT_CONFIG_DEFAULT() \
{ \ { \
zh_encoder.c
+29 -33
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@@ -33,7 +33,6 @@
struct _zh_encoder_handle_t struct _zh_encoder_handle_t
{ {
bool s_gpio_status; /*!< Current encoder button status */ bool s_gpio_status; /*!< Current encoder button status */
bool is_initialized; /*!< Encoder initialization flag */
uint8_t encoder_number; /*!< Unique encoder number */ uint8_t encoder_number; /*!< Unique encoder number */
gpio_num_t s_gpio_number; /*!< Encoder button GPIO number */ gpio_num_t s_gpio_number; /*!< Encoder button GPIO number */
uint16_t s_gpio_debounce_time; /*!< Encoder button debounce time in microseconds */ uint16_t s_gpio_debounce_time; /*!< Encoder button debounce time in microseconds */
@@ -62,9 +61,9 @@ TaskHandle_t zh_encoder = NULL; /*!< Handle to the
static QueueHandle_t _queue_handle = NULL; /*!< Queue for passing encoder events from ISR to 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 */ static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED; /*!< Spinlock for protecting encoder position access */
volatile static uint8_t _encoder_counter = 0; /*!< Total number of initialized encoders */ static zh_encoder_stats_t _stats = {0}; /*!< Global error statistics */
static zh_encoder_stats_t _stats = {0}; /*!< Global error statistics */
volatile static uint8_t _encoder_number_matrix[8] = {0}; /*!< Matrix tracking used encoder numbers for uniqueness validation */ static zh_vector_t *_vector = NULL; /*!< Vector storing encoder numbers */
/** /**
* @brief Validate encoder initialization configuration. * @brief Validate encoder initialization configuration.
@@ -180,35 +179,30 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument."); ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument.");
ZH_ERROR_CHECK(*handle == NULL, ESP_ERR_INVALID_STATE, NULL, "Encoder initialization failed. Encoder is already initialized."); ZH_ERROR_CHECK(*handle == NULL, ESP_ERR_INVALID_STATE, NULL, "Encoder initialization failed. Encoder is already initialized.");
*handle = heap_caps_calloc(1, sizeof(zh_encoder_handle_t), MALLOC_CAP_8BIT); *handle = heap_caps_calloc(1, sizeof(zh_encoder_handle_t), MALLOC_CAP_8BIT);
ZH_ERROR_CHECK(_encoder_counter < sizeof(_encoder_number_matrix), ESP_ERR_INVALID_ARG, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Maximum quantity reached.");
ZH_ERROR_CHECK(_zh_encoder_validate_config(config, *handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Initial configuration check failed."); ZH_ERROR_CHECK(_zh_encoder_validate_config(config, *handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Initial configuration check failed.");
ZH_ERROR_CHECK(_zh_encoder_resources_init(config) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Resources initialization failed."); if (_vector == NULL)
{
ZH_ERROR_CHECK(zh_vector_init(&_vector, sizeof(uint8_t)) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Failed to create vector.");
}
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 // clang-format off
ZH_ERROR_CHECK(_zh_encoder_task_init(config) == ESP_OK, ESP_FAIL, ZH_ERROR_CHECK(_zh_encoder_task_init(config) == ESP_OK, ESP_FAIL,
vQueueDelete(_queue_handle); _queue_handle = NULL; heap_caps_free(*handle); *handle = NULL, "Encoder initialization failed. Processing task initialization failed."); zh_vector_delete_back(&_vector); vQueueDelete(_queue_handle); _queue_handle = NULL; 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_ERROR_CHECK(_zh_encoder_pcnt_init(config, *handle) == ESP_OK, ESP_FAIL,
vQueueDelete(_queue_handle); _queue_handle = NULL; heap_caps_free(*handle); *handle = NULL; vTaskDelete(zh_encoder); zh_encoder = NULL, "Encoder initialization failed. PCNT initialization failed."); zh_vector_delete_back(&_vector); vQueueDelete(_queue_handle); _queue_handle = NULL; heap_caps_free(*handle); *handle = NULL; vTaskDelete(zh_encoder); zh_encoder = NULL, "Encoder initialization failed. PCNT initialization failed.");
ZH_ERROR_CHECK(_zh_encoder_gpio_init(config, *handle) == ESP_OK, ESP_FAIL, 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_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_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_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_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(pcnt_del_unit((*handle)->pcnt_unit_handle) == ESP_OK, ESP_FAIL, heap_caps_free(*handle); *handle = NULL, "PCNT delete unit fail.")};
vQueueDelete(_queue_handle); _queue_handle = NULL; heap_caps_free(*handle); *handle = NULL; vTaskDelete(zh_encoder); zh_encoder = NULL, "Encoder initialization failed. GPIO initialization failed."); zh_vector_delete_back(&_vector); vQueueDelete(_queue_handle); _queue_handle = NULL; heap_caps_free(*handle); *handle = NULL; vTaskDelete(zh_encoder); zh_encoder = NULL, "Encoder initialization failed. GPIO initialization failed.");
// clang-format on // clang-format on
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;
} }
++_encoder_counter;
for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
{
if (_encoder_number_matrix[i] == 0)
{
_encoder_number_matrix[i] = (*handle)->encoder_number;
break;
}
}
ZH_LOGI("Encoder initialization completed successfully."); ZH_LOGI("Encoder initialization completed successfully.");
return ESP_OK; return ESP_OK;
} }
@@ -229,21 +223,18 @@ esp_err_t zh_encoder_deinit(zh_encoder_handle_t **handle) // -V2008
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_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(gpio_reset_pin((*handle)->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Reset GPIO failed.");
} }
if (_encoder_counter == 1) 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_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); vQueueDelete(_queue_handle);
_queue_handle = NULL; _queue_handle = NULL;
vTaskDelete(zh_encoder); vTaskDelete(zh_encoder);
zh_encoder = NULL; zh_encoder = NULL;
} ZH_ERROR_CHECK(zh_vector_free(&_vector) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Free vector failed.");
--_encoder_counter;
for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i)
{
if (_encoder_number_matrix[i] == (*handle)->encoder_number)
{
_encoder_number_matrix[i] = 0;
break;
}
} }
heap_caps_free(*handle); heap_caps_free(*handle);
*handle = NULL; *handle = NULL;
@@ -320,9 +311,10 @@ 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_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_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->encoder_number > 0, ESP_ERR_INVALID_ARG, NULL, "Invalid encoder number.");
for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i) if (_vector != NULL)
{ {
ZH_ERROR_CHECK(config->encoder_number != _encoder_number_matrix[i], ESP_ERR_INVALID_ARG, NULL, "Encoder number already present."); int32_t index = 0;
ZH_ERROR_CHECK(zh_vector_find_item(&_vector, &config->encoder_number, &index) == ESP_ERR_NOT_FOUND, ESP_ERR_INVALID_ARG, NULL, "Encoder number already present.");
} }
handle->encoder_number = config->encoder_number; handle->encoder_number = config->encoder_number;
handle->encoder_min_value = config->encoder_min_value; handle->encoder_min_value = config->encoder_min_value;
@@ -453,7 +445,9 @@ 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) static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config)
{ {
if (_encoder_counter == 0) uint16_t vector_size = 0;
zh_vector_get_size(&_vector, &vector_size);
if (vector_size == 1)
{ {
_queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_queue_t)); _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_queue_t));
ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue."); ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
@@ -463,7 +457,9 @@ 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) static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
{ {
if (_encoder_counter == 0) uint16_t vector_size = 0;
zh_vector_get_size(&_vector, &vector_size);
if (vector_size == 1)
{ {
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, 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."); ESP_FAIL, NULL, "Failed to create isr processing task.");
@@ -533,7 +529,7 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
is_value_changed = false; is_value_changed = false;
zh_encoder_event_on_isr_t encoder_data = {0}; zh_encoder_event_on_isr_t encoder_data = {0};
encoder_data.encoder_number = encoder_handle->encoder_number; encoder_data.encoder_number = encoder_handle->encoder_number;
if (encoder_handle->encoder_position == -0) if (encoder_handle->encoder_position < 0 && encoder_handle->encoder_position > -1e-12)
{ {
encoder_handle->encoder_position = 0; encoder_handle->encoder_position = 0;
} }