96 lines
2.9 KiB
Markdown
96 lines
2.9 KiB
Markdown
# ESP32 ESP-IDF component for rotary encoder using PCNT peripheral
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## Features
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1. Quadrature decoding via PCNT peripheral.
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2. Configurable min/max/step values with float precision.
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3. Push-button support with debouncing.
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4. Multiple simultaneous encoders (up to 8).
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5. Event-based notification via esp_event (ISR context).
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6. Error statistics tracking for diagnostics.
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## Note
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Enable the following settings in menuconfig:
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```text
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GPIO_CTRL_FUNC_IN_IRAM
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PCNT_CTRL_FUNC_IN_IRAM
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PCNT_ISR_IRAM_SAFE
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```
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## Using
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In an existing project, run the following command to install the component:
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```bash
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cd ../your_project/components
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git clone https://github.com/aZholtikov/zh_encoder
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```
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In the application, add the component:
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```c
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#include "zh_encoder.h"
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```
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## Example
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```c
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#include "zh_encoder.h"
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#define ENCODER_NUMBER 0x01
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zh_encoder_handle_t *encoder_handle = NULL;
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void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);
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void app_main(void)
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{
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esp_log_level_set("zh_encoder", ESP_LOG_ERROR);
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esp_event_loop_create_default();
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esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &zh_encoder_event_handler, NULL, NULL);
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zh_encoder_init_config_t config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
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config.task_priority = 5;
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config.stack_size = configMINIMAL_STACK_SIZE;
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config.queue_size = 5;
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config.a_gpio_number = GPIO_NUM_4;
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config.b_gpio_number = GPIO_NUM_16;
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config.s_gpio_number = GPIO_NUM_15;
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config.encoder_min_value = -10;
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config.encoder_max_value = 10;
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config.encoder_step = 0.001;
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config.encoder_number = ENCODER_NUMBER;
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zh_encoder_init(&config, &encoder_handle);
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float encoder_position = 0;
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zh_encoder_get(&encoder_handle, &encoder_position);
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printf("Encoder position %0.3f.\n", encoder_position);
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for (;;)
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{
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const zh_encoder_stats_t *stats = zh_encoder_get_stats();
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printf("Number of event post error: %ld.\n", stats->event_post_error);
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printf("Number of queue overflow error: %ld.\n", stats->queue_overflow_error);
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printf("Minimum free stack size: %ld.\n", stats->min_stack_size);
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vTaskDelay(60000 / portTICK_PERIOD_MS);
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}
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}
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void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
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{
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(void)arg;
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switch (event_id)
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{
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case ZH_BUTTON_EVENT:
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zh_encoder_button_event_on_isr_t *button_event = event_data;
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printf("Encoder number %d button was %s.\n", button_event->encoder_number, (button_event->button_status == true) ? "released" : "pressed");
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break;
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case ZH_ENCODER_EVENT:
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zh_encoder_event_on_isr_t *encoder_event = event_data;
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printf("Encoder number %d position %0.3f was %s.\n", encoder_event->encoder_number, encoder_event->encoder_position, (encoder_event->encoder_status == true) ? "increased" : "reduced");
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break;
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default:
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break;
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}
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}
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```
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