From e88225d4c69d78d546a0e7f31c3e6887e5690738 Mon Sep 17 00:00:00 2001 From: Alexey Zholtikov Date: Mon, 31 Aug 2026 12:43:57 +0300 Subject: [PATCH] feat!: main structure of handle changed to double pointer --- README.md | 30 ++-- idf_component.yml | 8 + include/zh_encoder.h | 228 +++++++++++++++----------- version.txt | 2 +- zh_encoder.c | 381 +++++++++++++++++++++++++++++-------------- 5 files changed, 410 insertions(+), 239 deletions(-) create mode 100644 idf_component.yml diff --git a/README.md b/README.md index 901dec1..08ba623 100644 --- a/README.md +++ b/README.md @@ -1,20 +1,21 @@ -# ESP32 ESP-IDF component for rotary encoder - -## Tested on - -1. [ESP32 ESP-IDF v6.0.0](https://docs.espressif.com/projects/esp-idf/en/v6.0/esp32/index.html) +# ESP32 ESP-IDF component for rotary encoder using PCNT peripheral ## SAST Tools -[PVS-Studio](https://pvs-studio.com/pvs-studio/?utm_source=website&utm_medium=github&utm_campaign=open_source) - static analyzer for C, C++, C#, and Java code. +[PVS-Studio](https://pvs-studio.com/pvs-studio/?utm_source=website&utm_medium=github&utm_campaign=open_source) — static analyzer for C, C++, C#, and Java code. ## Features -1. Support up to 8 encoders on one device. +1. Quadrature decoding via PCNT peripheral. +2. Configurable min/max/step values with float precision. +3. Push-button support with debouncing. +4. Multiple simultaneous encoders (up to 8). +5. Event-based notification via esp_event (ISR context). +6. Error statistics tracking for diagnostics. -## Attention +## Note -1. For correct operation, please enable the following settings in the menuconfig: +Enable the following settings in menuconfig: ```text GPIO_CTRL_FUNC_IN_IRAM @@ -24,9 +25,9 @@ PCNT_ISR_IRAM_SAFE ## Using -In an existing project, run the following command to install the components: +In an existing project, run the following command to install the component: -```text +```bash cd ../your_project/components git clone https://github.com/aZholtikov/zh_encoder ``` @@ -37,16 +38,14 @@ In the application, add the component: #include "zh_encoder.h" ``` -## Examples - -One encoder with button on device: +## Example ```c #include "zh_encoder.h" #define ENCODER_NUMBER 0x01 -zh_encoder_handle_t encoder_handle = {0}; +zh_encoder_handle_t *encoder_handle = NULL; void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data); @@ -82,6 +81,7 @@ void app_main(void) void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data) { + (void)arg; switch (event_id) { case ZH_BUTTON_EVENT: diff --git a/idf_component.yml b/idf_component.yml new file mode 100644 index 0000000..0eae406 --- /dev/null +++ b/idf_component.yml @@ -0,0 +1,8 @@ +description: ESP32 ESP-IDF component for rotary encoder +url: https://github.com/aZholtikov/zh_encoder +version: "3.0.0" +license: "Apache-2.0" +maintainers: + - "Alexey Zholtikov " +dependencies: + idf: ">=5.0" \ No newline at end of file diff --git a/include/zh_encoder.h b/include/zh_encoder.h index 6d86087..c1e4606 100644 --- a/include/zh_encoder.h +++ b/include/zh_encoder.h @@ -1,5 +1,19 @@ /** * @file zh_encoder.h + * + * @brief Rotary encoder driver for ESP-IDF using 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. + * + * Key features: + * - Quadrature decoding via PCNT peripheral + * - Configurable min/max/step values with float precision + * - Push-button support with debouncing + * - Multiple simultaneous encoders (up to 8) + * - Event-based notification (ISR context) + * - Error statistics tracking */ #pragma once @@ -12,9 +26,6 @@ #include "freertos/task.h" #include "esp_event.h" -/** - * @brief Encoder initial default values. - */ #define ZH_ENCODER_INIT_CONFIG_DEFAULT() \ { \ .task_priority = 1, \ @@ -35,169 +46,192 @@ extern "C" { #endif - extern TaskHandle_t zh_encoder; /*!< Encoder Task Handle. */ + /** + * @brief Handle to the shared encoder ISR processing task. + */ + extern TaskHandle_t zh_encoder; /** - * @brief Structure for initial initialization of encoder. + * @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. + * + * @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. */ typedef struct { - float encoder_step; /*!< Encoder step. @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. */ - 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. */ - uint8_t a_gpio_number; /*!< Encoder A GPIO number. */ - uint8_t b_gpio_number; /*!< Encoder B GPIO number. */ - uint8_t s_gpio_number; /*!< Encoder button GPIO number. */ - bool pullup; /*!< Pullup GPIO enable/disable. */ - uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. @note In microseconds. */ - uint8_t encoder_number; /*!< Unique encoder number. @note Must be greater than 0. */ - uint16_t stack_size; /*!< Stack size for task for the encoder isr processing processing. @note The minimum size is configMINIMAL_STACK_SIZE. */ + float encoder_step; /*!< Encoder step. @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 */ + uint8_t encoder_number; /*!< Unique encoder number. @note Must be greater than 0 */ + bool pullup; /*!< Pullup GPIO enable/disable */ } zh_encoder_init_config_t; /** - * @brief Encoder handle. + * @brief Structure for encoder error statistics. + * + * Tracks runtime errors and task health metrics for diagnostic purposes. */ typedef struct { - bool s_gpio_status; /*!< Encoder button status. */ - bool is_initialized; /*!< Encoder initialization flag. */ - uint8_t encoder_number; /*!< Encoder unique number. */ - uint8_t s_gpio_number; /*!< Encoder button GPIO number. */ - uint16_t s_gpio_debounce_time; /*!< Encoder button debounce_time. */ - uint64_t s_gpio_prev_time; /*!< Encoder button prev interrupt time. */ - float encoder_step; /*!< Encoder step. */ - float encoder_position; /*!< Encoder position. */ - float encoder_min_value; /*!< Encoder min value. */ - float encoder_max_value; /*!< Encoder max value. */ - pcnt_unit_handle_t pcnt_unit_handle; /*!< Encoder unique pcnt unit handle. */ - pcnt_channel_handle_t pcnt_channel_a_handle; /*!< Encoder unique pcnt channel handle. */ - pcnt_channel_handle_t pcnt_channel_b_handle; /*!< Encoder unique pcnt channel handle. */ - } zh_encoder_handle_t; - - /** - * @brief Structure for error statistics storage. - */ - 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 error */ + uint32_t queue_overflow_error; /*!< Number of queue overflow error */ + uint32_t min_stack_size; /*!< Minimum free stack size */ } zh_encoder_stats_t; /** - * @brief Enumeration of encoder event ID. + * @brief Encoder event identifiers for esp_event base. */ typedef enum { - ZH_BUTTON_EVENT, /*!< Button event. */ - ZH_ENCODER_EVENT /*!< Encoder event. */ + ZH_BUTTON_EVENT, /*!< Encoder push-button interrupt event */ + ZH_ENCODER_EVENT /*!< Encoder rotation interrupt event */ } zh_encoder_event_id_t; ESP_EVENT_DECLARE_BASE(ZH_ENCODER); /** - * @brief Structure for sending data to the event handler when cause encoder interrupt. + * @brief Event data structure for encoder rotation events. + * + * Posted from ISR context via esp_event_isr_post when encoder position changes. * * @note Should be used with ZH_ENCODER event base and ZH_ENCODER_EVENT event ID. */ typedef struct { - float encoder_position; /*!< Encoder current position. */ - uint8_t encoder_number; /*!< Encoder unique number. */ + float encoder_position; /*!< Encoder current position */ + uint8_t encoder_number; /*!< Encoder unique number */ } zh_encoder_event_on_isr_t; /** - * @brief Structure for sending data to the event handler when cause encoder button interrupt. + * @brief Event data structure for encoder button events. + * + * Posted from ISR context via esp_event_isr_post when encoder button state changes. * * @note Should be used with ZH_ENCODER event base and ZH_BUTTON_EVENT event ID. */ typedef struct { - uint8_t encoder_number; /*!< Encoder unique number. */ - bool button_status; /*!< Encoder button status. */ + uint8_t encoder_number; /*!< Encoder unique number */ + bool button_status; /*!< Encoder button status */ } zh_encoder_button_event_on_isr_t; /** - * @brief Initialize encoder. + * @brief Initialize encoder with the provided configuration. + * + * Creates and configures a rotary encoder using the ESP-IDF PCNT peripheral. + * The encoder is initialized at the midpoint of the configured range. + * + * @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2. + * @note Before initialization, configure zh_encoder_init_config_t with default values. + * + * @param[in] config Pointer to encoder configuration structure. Can point to a temporary variable (must not be NULL) + * @param[out] handle Pointer to store the unique encoder handle (must be NULL) + * + * @return ESP_OK on success + * @return ESP_ERR_INVALID_ARG if config or handle is NULL, or parameters are invalid + * @return ESP_ERR_INVALID_STATE if the encoder is already initialized + * @return ESP_FAIL if resource allocation or peripheral initialization fails + */ + esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t **handle); + + /** + * @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. + * + * @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); + + /** + * @brief Reinitialize encoder by updating min, max, and step values. + * + * Updates the encoder's value range and step size without reallocating resources. + * The encoder position is reset to the midpoint of the new range. * * @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2. * - * @param[in] config Pointer to encoder initialized configuration structure. Can point to a temporary variable. - * @param[out] handle Pointer to unique encoder handle. + * @param[in,out] handle Pointer to unique encoder handle (must not be NULL) + * @param[in] min Encoder minimum value. Must be less than max + * @param[in] max Encoder maximum value. Must be greater than min + * @param[in] step Encoder step size. Must be greater than 0 * - * @note Before initialize the encoder recommend initialize zh_encoder_init_config_t structure with default values. - * - * @code zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT() @endcode - * - * @return ESP_OK if success or an error code otherwise. + * @return ESP_OK on success + * @return ESP_ERR_INVALID_ARG if handle is NULL, or parameters are invalid */ - esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle); - - /** - * @brief Deinitialize encoder. - * - * @param[in, out] handle Pointer to unique encoder handle. - * - * @return ESP_OK if success or an error code otherwise. - */ - esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle); - - /** - * @brief Reinitialize encoder (change min, max and step values). - * - * @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2. - * - * @param[in, out] handle Pointer to unique encoder handle. - * @param[in] min Encoder min value. @note Must be less than encoder_max_value. - * @param[in] max Encoder max value. @note Must be greater than encoder_min_value. - * @param[in] step Encoder step. @note Must be greater than 0. - * - * @return ESP_OK if success or an error code otherwise. - */ - esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, float min, float max, float step); + esp_err_t zh_encoder_reinit(zh_encoder_handle_t **handle, float min, float max, float step); /** * @brief Set encoder position. * - * @param[in, out] handle Pointer to unique encoder handle. - * @param[in] position Encoder position (must be between encoder_min_value and encoder_max_value). + * @param[in,out] handle Pointer to unique encoder handle (must not be NULL) + * @param[in] position Encoder position (must be between encoder_min_value and encoder_max_value) * - * @return ESP_OK if success or an error code otherwise. + * @return ESP_OK on success + * @return ESP_ERR_INVALID_ARG if handle is NULL, or parameters are invalid */ - esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, float position); + esp_err_t zh_encoder_set(zh_encoder_handle_t **handle, float position); /** * @brief Get encoder position. * - * @param[in] handle Pointer to unique encoder handle. - * @param[out] position Encoder position. + * @param[in] handle Pointer to unique encoder handle (must not be NULL) + * @param[out] position Pointer to store the current encoder position * - * @return ESP_OK if success or an error code otherwise. + * @return ESP_OK on success + * @return ESP_ERR_INVALID_ARG if handle or position is NULL */ - esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, float *position); + esp_err_t zh_encoder_get(zh_encoder_handle_t **handle, float *position); /** - * @brief Reset encoder position. + * @brief Reset encoder position to the midpoint of the configured range. * * @note The encoder will be set to the position (encoder_min_value + encoder_max_value)/2. * - * @param[in, out] handle Pointer to unique encoder handle. + * @param[in,out] handle Pointer to unique encoder handle (must not be NULL) * - * @return ESP_OK if success or an error code otherwise. + * @return ESP_OK on success + * @return ESP_ERR_INVALID_ARG if handle is NULL */ - esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle); + esp_err_t zh_encoder_reset(zh_encoder_handle_t **handle); /** - * @brief Get error statistics. + * @brief Get a pointer to the encoder error statistics. * - * @return Pointer to the statistics structure. + * Returns a read-only pointer to the global statistics structure + * containing error counts and task health metrics. + * + * @return Pointer to the statistics structure. Valid until zh_encoder_reset_stats() is called */ const zh_encoder_stats_t *zh_encoder_get_stats(void); /** - * @brief Reset error statistics. + * @brief Reset all error statistics to zero. + * + * Clears error counters and stack watermarks. */ void zh_encoder_reset_stats(void); diff --git a/version.txt b/version.txt index 58073ef..56fea8a 100644 --- a/version.txt +++ b/version.txt @@ -1 +1 @@ -2.4.1 \ No newline at end of file +3.0.0 \ No newline at end of file diff --git a/zh_encoder.c b/zh_encoder.c index ce343c3..ecbc867 100644 --- a/zh_encoder.c +++ b/zh_encoder.c @@ -13,66 +13,199 @@ return err; \ } +#define ZH_ERROR_CHECK_CONT(cond, cleanup, msg, ...) \ + if (!(cond)) \ + { \ + ZH_LOGE(msg, ESP_FAIL, ##__VA_ARGS__); \ + cleanup; \ + continue; \ + } + #define ZH_ENCODER_DIRECTION_CW 1 #define ZH_ENCODER_DIRECTION_CCW -1 +/** + * @brief Internal encoder handle structure. + * + * Stores all runtime state for a single encoder instance, + * including GPIO configuration, PCNT handles, and position tracking. + */ +struct _zh_encoder_handle_t +{ + bool s_gpio_status; /*!< Current encoder button status */ + bool is_initialized; /*!< Encoder initialization flag */ + 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_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) */ +}; + +/** + * @brief Queue message structure for encoder ISR processing. + * + * Sent from ISR context to the processing task when encoder position changes. + */ typedef struct { - int watch_point_value; - zh_encoder_handle_t *handle; + int watch_point_value; /*!< PCNT watch point value (CW or CCW direction) */ + zh_encoder_handle_t *handle; /*!< Pointer to the encoder handle */ } zh_encoder_queue_t; -TaskHandle_t zh_encoder = NULL; -static QueueHandle_t _queue_handle = NULL; -static portMUX_TYPE _spinlock = portMUX_INITIALIZER_UNLOCKED; +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 */ -volatile static uint8_t _encoder_counter = 0; -static zh_encoder_stats_t _stats = {0}; -volatile static uint8_t _encoder_number_matrix[8] = {0}; +volatile static uint8_t _encoder_counter = 0; /*!< Total number of initialized encoders */ +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 */ +/** + * @brief Validate encoder initialization configuration. + * + * Checks all configuration parameters for validity and initializes + * the encoder handle with configuration values. + * + * @param config Pointer to encoder configuration structure + * @param handle Pointer to encoder handle to initialize + * + * @return ESP_OK on success + * @return ESP_ERR_INVALID_ARG if any configuration parameter is invalid + */ 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. + * + * 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. + * + * @param config Pointer to encoder configuration structure + * @param handle Pointer to encoder handle to populate with PCNT handles + * + * @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 + */ 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). + * + * Configures the button GPIO as input with interrupt on any edge. + * Installs ISR service if not already installed and registers the button ISR handler. + * + * @param config Pointer to encoder configuration structure + * @param handle Pointer to encoder handle to populate with GPIO settings + * + * @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 + */ 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. + * + * 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. + * + * @param config Pointer to encoder configuration structure + * + * @return ESP_OK on success + * @return ESP_FAIL if queue creation fails + */ 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. + * + * Creates the FreeRTOS task that processes encoder events from the queue. + * Only executed once when the first encoder is initialized. + * + * @param config Pointer to encoder configuration structure + * + * @return ESP_OK on success + * @return ESP_FAIL if task creation fails + */ 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. + * + * Clears the PCNT counter and sends the watch point value + * to the processing task queue. Executed in ISR context. + * + * @param unit PCNT unit handle that triggered the event + * @param edata Pointer to PCNT watch event data + * @param user_ctx Pointer to encoder handle + */ 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. + * + * 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. + * + * @param pvParameter Task parameter (unused) + */ static void _zh_encoder_isr_processing_task(void *pvParameter); + +/** + * @brief GPIO ISR handler for encoder button press/release. + * + * 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. + * + * @param arg Pointer to encoder handle + */ static void _zh_encoder_button_isr_handler(void *arg); ESP_EVENT_DEFINE_BASE(ZH_ENCODER); -esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle) // -V2008 +esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t **handle) // -V2008 { ZH_LOGI("Encoder initialization started."); ZH_ERROR_CHECK(config != NULL && handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder initialization failed. Invalid argument."); - ZH_ERROR_CHECK(handle->is_initialized == false, ESP_ERR_INVALID_STATE, NULL, "Encoder initialization failed. Encoder is already initialized."); - 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(*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); + 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_resources_init(config) == ESP_OK, ESP_FAIL, 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, - 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); - vTaskDelete(zh_encoder), "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, NULL, "PCNT unit stop fail."); - ZH_ERROR_CHECK(pcnt_unit_disable(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT unit disable fail."); - ZH_ERROR_CHECK(pcnt_del_channel(handle->pcnt_channel_a_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail."); - ZH_ERROR_CHECK(pcnt_del_channel(handle->pcnt_channel_b_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete channel fail."); - ZH_ERROR_CHECK(pcnt_del_unit(handle->pcnt_unit_handle) == ESP_OK, ESP_FAIL, NULL, "PCNT delete unit fail."); - vQueueDelete(_queue_handle); - vTaskDelete(zh_encoder), "Encoder initialization failed. GPIO initialization failed."); + 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, + 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(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.")}; + 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 if (_stats.min_stack_size == 0) { _stats.min_stack_size = config->stack_size; } - handle->is_initialized = true; ++_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; + _encoder_number_matrix[i] = (*handle)->encoder_number; break; } } @@ -80,89 +213,87 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han return ESP_OK; } -esp_err_t zh_encoder_deinit(zh_encoder_handle_t *handle) // -V2008 +esp_err_t zh_encoder_deinit(zh_encoder_handle_t **handle) // -V2008 { ZH_LOGI("Encoder deinitialization started."); - ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder deinitialization failed. Invalid argument."); - ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder deinitialization failed. Encoder not initialized."); - 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."); - if (handle->s_gpio_number != GPIO_NUM_MAX) + 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."); + if ((*handle)->s_gpio_number != GPIO_NUM_MAX) { - ZH_ERROR_CHECK(gpio_isr_handler_remove((gpio_num_t)handle->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Remove GPIO isr handler failed."); - ZH_ERROR_CHECK(gpio_reset_pin((gpio_num_t)handle->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Encoder deinitialization failed. Reset GPIO 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."); } if (_encoder_counter == 1) { vQueueDelete(_queue_handle); + _queue_handle = NULL; vTaskDelete(zh_encoder); + zh_encoder = NULL; } - handle->is_initialized = false; --_encoder_counter; for (uint8_t i = 0; i < sizeof(_encoder_number_matrix); ++i) { - if (_encoder_number_matrix[i] == handle->encoder_number) + if (_encoder_number_matrix[i] == (*handle)->encoder_number) { _encoder_number_matrix[i] = 0; break; } } + heap_caps_free(*handle); + *handle = NULL; ZH_LOGI("Encoder deinitialization completed successfully."); return ESP_OK; } -esp_err_t zh_encoder_reinit(zh_encoder_handle_t *handle, float min, float max, float step) // -V2008 +esp_err_t zh_encoder_reinit(zh_encoder_handle_t **handle, float min, float max, float step) // -V2008 { ZH_LOGI("Encoder reinitialization started."); - ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid argument."); - ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder reinitialization failed. Encoder not initialized."); + 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(step > 0, ESP_ERR_INVALID_ARG, NULL, "Encoder reinitialization failed. Invalid encoder step."); taskENTER_CRITICAL(&_spinlock); - handle->encoder_min_value = min; - handle->encoder_max_value = max; - handle->encoder_step = step; - handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2; + (*handle)->encoder_min_value = min; + (*handle)->encoder_max_value = max; + (*handle)->encoder_step = step; + (*handle)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2; taskEXIT_CRITICAL(&_spinlock); ZH_LOGI("Encoder reinitialization completed successfully."); return ESP_OK; } -esp_err_t zh_encoder_set(zh_encoder_handle_t *handle, float position) +esp_err_t zh_encoder_set(zh_encoder_handle_t **handle, float position) { ZH_LOGI("Encoder set position started."); - ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder set position failed. Invalid argument."); - ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder set position failed. Encoder not initialized."); - ZH_ERROR_CHECK(position <= handle->encoder_max_value && position >= handle->encoder_min_value, 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."); + 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); - handle->encoder_position = position; + (*handle)->encoder_position = position; taskEXIT_CRITICAL(&_spinlock); ZH_LOGI("Encoder set position completed successfully."); return ESP_OK; } -esp_err_t zh_encoder_get(const zh_encoder_handle_t *handle, float *position) +esp_err_t zh_encoder_get(zh_encoder_handle_t **handle, float *position) { ZH_LOGI("Encoder get position started."); - ZH_ERROR_CHECK(handle != NULL && position != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument."); - ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder get position failed. Encoder not initialized."); - *position = handle->encoder_position; + ZH_ERROR_CHECK(handle != NULL && *handle != NULL && position != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder get position failed. Invalid argument."); + *position = (*handle)->encoder_position; ZH_LOGI("Encoder get position completed successfully."); return ESP_OK; } -esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle) +esp_err_t zh_encoder_reset(zh_encoder_handle_t **handle) { ZH_LOGI("Encoder reset started."); - ZH_ERROR_CHECK(handle != NULL, ESP_ERR_INVALID_ARG, NULL, "Encoder reset failed. Invalid argument."); - ZH_ERROR_CHECK(handle->is_initialized == true, ESP_FAIL, NULL, "Encoder reset failed. Encoder not initialized."); + 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)->encoder_position = ((*handle)->encoder_min_value + (*handle)->encoder_max_value) / 2; taskEXIT_CRITICAL(&_spinlock); ZH_LOGI("Encoder reset completed successfully."); return ESP_OK; @@ -215,80 +346,80 @@ 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(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, 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(pcnt_del_unit(pcnt_unit_handle) == ESP_OK, ESP_FAIL, 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_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(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_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_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_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_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_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_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_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_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."); pcnt_event_callbacks_t cbs = { .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_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_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.")}; + {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_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_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.")}; + {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_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_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_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_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_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_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((gpio_num_t)config->a_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail."); - ZH_ERROR_CHECK(gpio_pullup_dis((gpio_num_t)config->b_gpio_number) == ESP_OK, ESP_FAIL, NULL, "GPIO pullup disable fail."); + 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; @@ -310,12 +441,12 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, z ZH_ERROR_CHECK(gpio_config(&pin_config) == ESP_OK, ESP_FAIL, NULL, "GPIO initialization failed."); 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((gpio_num_t)config->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Reset GPIO failed."), "Failed install isr service."); - ZH_ERROR_CHECK(gpio_isr_handler_add((gpio_num_t)config->s_gpio_number, _zh_encoder_button_isr_handler, handle) == ESP_OK, ESP_FAIL, - ZH_ERROR_CHECK(gpio_reset_pin((gpio_num_t)config->s_gpio_number) == ESP_OK, ESP_FAIL, NULL, "Reset GPIO failed."), "Interrupt initialization failed."); + {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(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((gpio_num_t)config->s_gpio_number); + handle->s_gpio_status = gpio_get_level(config->s_gpio_number); } return ESP_OK; } @@ -345,13 +476,12 @@ static bool IRAM_ATTR _zh_encoder_isr_handler(pcnt_unit_handle_t unit, const pcn 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) + if (pcnt_unit_clear_count(unit) != ESP_OK) { return false; } + encoder_queue.watch_point_value = edata->watch_point_value; + encoder_queue.handle = encoder_handle; if (xQueueSendFromISR(_queue_handle, &encoder_queue, &xHigherPriorityTaskWoken) != pdTRUE) { ++_stats.queue_overflow_error; @@ -365,10 +495,11 @@ 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) { + (void)pvParameter; zh_encoder_queue_t encoder_queue = {0}; - bool is_value_changed = false; while (xQueueReceive(_queue_handle, &encoder_queue, portMAX_DELAY) == pdTRUE) { + bool is_value_changed = false; zh_encoder_handle_t *encoder_handle = encoder_queue.handle; switch (encoder_queue.watch_point_value) { @@ -402,13 +533,12 @@ 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; - encoder_data.encoder_position = encoder_handle->encoder_position; - esp_err_t err = esp_event_post(ZH_ENCODER, ZH_ENCODER_EVENT, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS); - if (err != ESP_OK) + if (encoder_handle->encoder_position == -0) { - ++_stats.event_post_error; - ZH_LOGE("Encoder isr processing failed. Failed to post interrupt event.", err); + encoder_handle->encoder_position = 0; } + encoder_data.encoder_position = encoder_handle->encoder_position; + 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); } @@ -422,15 +552,14 @@ static void IRAM_ATTR _zh_encoder_button_isr_handler(void *arg) 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((gpio_num_t)encoder_handle->s_gpio_number); + 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; - esp_err_t err = esp_event_isr_post(ZH_ENCODER, ZH_BUTTON_EVENT, &encoder_data, sizeof(zh_encoder_button_event_on_isr_t), &xHigherPriorityTaskWoken); - if (err != ESP_OK) + 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; }