aZholtikov/zh_encoder
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feat!: main structure of handle changed to double pointer

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aZholtikov committed 2026-08-31 12:43:57 +03:00
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README.md
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@@ -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:
idf_component.yml
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@@ -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 <alexey.zholtikov@yandex.ru>"
dependencies:
idf: ">=5.0"
include/zh_encoder.h
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@@ -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);
version.txt
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@@ -1 +1 @@
2.4.1
3.0.0
zh_encoder.c
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@@ -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;
}